JP7081149B2 - Parking control method and parking control device - Google Patents

Description

The present invention relates to a parking control method and a parking control device.

A parking control technique for stopping a vehicle when an obstacle is detected is known (Patent Document 1).

Japanese Unexamined Patent Publication No. 2008-74296

When an operator outside the vehicle monitors the positional relationship between the vehicle and an obstacle, if the vehicle approaches the obstacle while turning, the vehicle appears to be too close to the obstacle, and the obstacle. There is a problem that it is difficult to grasp the positional relationship between the vehicle and the vehicle.

The problem to be solved by the present invention is to park the vehicle so that the operator outside the vehicle can easily grasp the positional relationship between the obstacle and the vehicle.

According to the present invention, when a control command for moving a vehicle to a target parking space is executed based on an operation command acquired from an operator outside the vehicle, the first path of the first control command calculated earlier as the control command is executed. However, when the first turning point for avoiding the obstacle detected around the vehicle is included, the distance is shorter than the first route, and the second route including the second turning point is calculated. , The curvature of the second predetermined section including the second turning point in the second path is smaller than the curvature of the first predetermined section including the first turning point in the first path, thereby solving the above problem. ..

According to the present invention, the operator outside the vehicle can park the vehicle so that the positional relationship between the obstacle and the vehicle can be easily grasped.

FIG. 1 is a block configuration diagram showing an example of a parking control system according to the present embodiment of the present invention. FIG. 2A is a diagram for explaining a first method for detecting the position of the operator. FIG. 2B is a diagram for explaining a second method of detecting the position of the operator. FIG. 2C is a diagram for explaining a third method for detecting the position of the operator. FIG. 2D is a diagram for explaining a fourth detection method of the position of the operator. FIG. 2E is a diagram for explaining a fifth method of detecting the position of the operator. FIG. 3A is a diagram for explaining a first method for detecting an obstacle. FIG. 3B is a diagram for explaining a second method for detecting an obstacle. FIG. 4 is a flowchart showing an example of the control procedure of the parking control system of the present embodiment. FIG. 5 is a flowchart showing an example of the calculation process of the second path and the calculation process of the second control command. FIG. 6A is a diagram for explaining the first route. FIG. 6B is a first diagram for explaining the second route. FIG. 6C is a second diagram for explaining the second route. FIG. 6D is a third diagram for explaining the second path. FIG. 7A is a diagram showing an example of the relationship between the distance to the object and the radius of curvature. FIG. 7B is a diagram showing an example of the relationship between the distance to the object and the change in the radius of curvature. FIG. 8A is a diagram showing an example of the relationship between the distance to the operator and the correction amount. FIG. 8B is a diagram showing a first example of the relationship between the distance to the corrected object and the radius of curvature. FIG. 8C is a diagram showing a second example of the relationship between the distance to the corrected object and the radius of curvature. FIG. 9A is a diagram showing an example of the relationship between the distance to the operator and the correction amount. FIG. 9B is a diagram showing a first example of the relationship between the distance to the corrected object and the change in the radius of curvature. FIG. 9C is a diagram showing a second example of the relationship between the distance to the corrected object and the change in the radius of curvature. FIG. 10A is a diagram showing the relationship between the approach angle to the object and the vehicle speed. FIG. 10B is a diagram showing the relationship between the change in the approach angle to the object and the vehicle speed.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
In the present embodiment, a case where the parking control device according to the present invention is applied to a parking control system will be described as an example. The parking control device may be applied to a portable operation terminal (smartphone, PDA: personal digital assistant, or other device) capable of exchanging information with the in-vehicle device. Further, the parking control method according to the present invention can be used in the parking control device described later.

FIG. 1 is a block diagram of a parking control system 1000 having a parking control device 100 according to an embodiment of the present invention. The parking control system 1000 of the present embodiment includes cameras 1a to 1d, a distance measuring device 2, an information server 3, an operation terminal 5, a parking control device 100, a vehicle controller 70, a drive system 40, and a steering angle. It includes a sensor 50 and a vehicle speed sensor 60. The parking control device 100 of the present embodiment controls an operation of moving (parking) a vehicle to be controlled to a parking space based on an operation command input from the operation terminal 5.

The parking control device 100 of the present embodiment is a control command (parking control command) for moving a vehicle to be controlled along a first route to a target parking space (Parking lot) based on an operation command acquired from the operator. Is executed by the vehicle control device (ECU: Electric control unit). The control command includes a first control command or a second control command described later. The parking control device 100 of the present embodiment controls an operation of moving (parking) the vehicle V to be controlled to the target parking space based on the operation command input from the operation terminal 5. In the present embodiment, the case where the operator M exists outside the vehicle will be described as an example, but the operator M may exist inside the vehicle interior of the vehicle. In addition, an occupant including a driver may be present in the vehicle interior, and an operator M (parking lot manager, etc.) may be present outside the vehicle.

The operation terminal 5 is a computer having a portable input function and a communication function that can be taken out of the vehicle. The operation terminal 5 receives an input of an operation command of the operator M for controlling the operation (operation) of the vehicle for parking. Driving includes parking (warehousing and leaving) operations. The operator M inputs a command including an operation command for executing parking via the operation terminal 5. The operation command includes execution / stop of parking control, selection / change of target parking position, selection / change of parking route, and other information necessary for parking. The operator M can also make the parking control device 100 recognize (input) a command including an operation command by a gesture or the like of the operator M without using the operation terminal 5. The operation command input by the operator M via the operation terminal 5 includes not only the operation command for executing parking but also the evacuation command for separating the vehicle from the target parking space.

The operation terminal 5 is provided with a communication device, and can exchange information with the parking control device 100 and the information server 3. The operation terminal 5 transmits an operation command input outside the vehicle to the parking control device 100 via a communication network, and causes the parking control device 100 to input the operation command. The operation terminal 5 communicates with the parking control device 100 by using a signal including a unique identification symbol. The operation terminal 5 includes a display 53. The display 53 presents an input interface and various information. When the display 53 is a touch panel type display, it has a function of receiving an operation command. The operation terminal 5 is a mobile phone such as a smartphone, PDA: Personal Digital Assistant, or the like, which receives an input of an operation command used in the parking control method of the present embodiment and has an application installed to send an operation command to the parking control device 100. It may be a type device.

The information server 3 is an information providing device provided on a communicable network. The information server includes a communication device 31 and a storage device 32. The storage device 32 includes readable map information 33, parking lot information 34, and object information 35. The parking control device 100 and the operation terminal 5 can access the storage device 32 of the information server 3 and acquire each information.

The parking control device 100 of the present embodiment includes a control device 10, an input device 20, and an output device 30. Each configuration of the parking control device 100 is connected by a CAN (Controller Area Network) or other in-vehicle LAN in order to exchange information with each other. The input device 20 includes a communication device 21. The communication device 21 receives an operation command transmitted from the external operation terminal 5 and inputs it to the input device 20. The subject who inputs the operation command to the external operation terminal 5 may be a human being (user, occupant, driver, worker of parking facility). The input device 20 transmits the received operation command to the control device 10. The output device 30 includes a display 31. The output device 30 conveys parking control information to the driver. The display 31 of the present embodiment is a touch panel type display having an input function and an output function. When the display 31 has an input function, the display 31 functions as an input device 20. Even when the vehicle is controlled based on the operation command input from the operation terminal 5, the occupant can input an operation command such as an emergency stop via the input device 20.

The control device 10 of the parking control device 100 of the present embodiment is an operation circuit that functions as the parking control device 100 of the present embodiment by executing the ROM 12 in which the parking control program is stored and the program stored in the ROM 12. It is a computer for parking control, which includes a CPU 11 as an engine and a RAM 13 which functions as an accessible storage device.

The parking control program of the present embodiment causes the vehicle to execute a control command for moving the vehicle along a route to the target parking space based on an operation command acquired from an operator outside the vehicle. Further, the parking control program detects an obstacle, and if the first route of the first calculated control instruction includes a turning point for avoiding the obstacle, the second route is shorter than the first route. It includes a program that calculates a route, calculates a second control command for moving the vehicle to the target parking space along the second route, and causes the vehicle control device to execute the second control command. The parking control program is executed by the vehicle under the processing of the control device 10 of the parking control device 100 of the present embodiment.

The parking control device 100 of the present embodiment is a remote control type that sends an operation command from the operation terminal 5 to control the movement of the vehicle and park the vehicle in a predetermined parking space. The occupant who operates the operation terminal 5 may be outside the vehicle interior or inside the vehicle interior.

The parking control device 100 of the present embodiment may be an automatic control type in which steering operation and accelerator / brake operation are automatically performed. The parking control device 100 may be a semi-automatic type in which the steering operation is automatically performed and the accelerator / brake operation is performed by the driver.
In the parking control program of the present embodiment, the user may arbitrarily select the target parking position, or the parking control device 100 or the parking facility side may automatically set the target parking position.

The control device 10 of the parking control device 100 according to the present embodiment detects obstacles around the vehicle, and based on an operation command acquired from an operator outside the vehicle, along the first route to the target parking space. The first control command for moving the vehicle is calculated, and if the first route includes a turning point for avoiding an obstacle, the second route having a shorter distance than the first route is calculated, and the second route is set to the second route. It has a function of calculating a second control command for moving the vehicle along the line and causing the vehicle to execute the second control command. Each of the above processes is executed by the cooperation of the software for realizing each process and the above-mentioned hardware.

The process of detecting the position of the operator M will be described with reference to FIGS. 2A to 2E. The control device 10 acquires the position of the operator M. The position of the operator M is used in the route calculation process. The position of the operator M includes information on the position of the vehicle V on the moving surface. The position of the operator M includes information on the height position. The position of the operator M may be detected based on the sensor signal from the sensor provided in the vehicle V, or the position of the operation terminal 5 possessed by the operator M may be detected and the position of the operator M may be detected based on the position of the operation terminal 5. The position of the operator M may be calculated. The operation terminal 5 may be provided at a predetermined position, or may be possessed by the operator M. When the operation terminal 5 is provided at a predetermined position, the operator M moves to the arrangement position of the operation terminal 5 and uses the operation terminal 5. In these cases, the position of the operation terminal 5 can be the position of the operator M.

As shown in FIG. 2A, the position of the operator M is detected based on the detection results of the plurality of distance measuring devices 2 provided in the vehicle V and / or the captured image of the camera 1. The position of the operator M can be detected based on the captured images of the cameras 1a to 1d. As the range measuring device 2, a radar device such as a millimeter wave radar, a laser radar, an ultrasonic radar, or a sonar can be used. Since the plurality of distance measuring devices 2 and their detection results are identifiable, the two-dimensional position and / or the three-dimensional position of the operator M can be detected based on the detection results. Similarly for the camera 1, the distance measuring device 2 may be provided at the same position as the cameras 1a to 1d, or may be provided at a different position. Further, the control device 10 can also detect the gesture of the operator M based on the captured images of the cameras 1a to 1d and identify the operation command associated with the feature of the image of the gesture.

As shown in FIG. 2B, the position of the operation terminal 5 or the operator M possessing the operation terminal 5 is detected based on the communication radio wave between each of the antennas 211 provided at different positions of the vehicle V and the operation terminal 5. May be good. When a plurality of antennas 211 communicate with one operation terminal 5, the strength of the received radio wave of each antenna 211 is different. The distance from the vehicle V can be detected based on the difference in the intensity of the received radio waves of each antenna 211. Further, the direction in which the operation terminal 5 exists can be calculated based on the radio waves received by the plurality of antennas 211. The two-dimensional position and / or the three-dimensional position of the operation terminal 5 or the operator M can be calculated from the difference in the intensity of the received radio waves of each antenna 211.

If the vehicle V is equipped with two antennas 211, it is possible to determine whether the operation terminal 5 is located in front of or behind or to the left or right of the vehicle V. As shown in FIG. 2C, it is possible to determine which quadrant (QD1 to QD4) of the coordinate system having the position of the vehicle V as the origin belongs to the operation terminal 5. Further, if the vehicle V1 is equipped with three antennas 211, the position of the operation terminal 5 with respect to the vehicle V can be detected by trigonometry. According to the direction and intensity of the received radio wave, the existing position of the operation terminal 5 can be detected, but as shown in FIG. 2C, as the distance from the antenna 211 increases, the detection of the operation terminal 5 (operator M) The position information (resolution) becomes coarse, and the detection accuracy becomes low. From the viewpoint of ensuring the accuracy of the position information of the operation terminal 5, the distance between the vehicle V and the operation terminal 5 (operator M) is such that the resolution (detection accuracy) according to the distance shown in FIG. 2C is equal to or more than a predetermined value. Etc. may be restricted (for example, 6 m or less or 5 m or less). Of course, the position of the operation terminal 5 (operator M) may be calculated using the position information acquired from the distance measuring device 2 together with the position information acquired by this method.

As shown in FIG. 2D, a predetermined position (direction / distance: D1, D2) with respect to the driver's seat DS of the vehicle V may be designated in advance as the operation position of the operator M or the arrangement position of the operation terminal 5. For example, when the operator M temporarily stops the vehicle V at a designated position, gets off the vehicle, and operates the operation terminal 5 provided at the predetermined position, the operator M or the operator M possesses the vehicle V. The initial position of the operation terminal 5 to be operated can be calculated.

Similarly, as shown in FIG. 2E, image information indicating an operation position with respect to the vehicle V (standing position of the operator M: Operation Position) is displayed on the display 53 of the operation terminal 5. This display control may be executed by an application installed on the operation terminal 5 side, or may be executed based on a command of the control device 10.

The object detection process will be described with reference to FIGS. 3A and 3B. The "object" in the present embodiment includes structures such as parking lot walls and pillars, installations around vehicles, pedestrians, other vehicles, parked vehicles, and the like. In the present embodiment, an object to be considered in the execution of the parking process is detected as an obstacle.
As shown in FIG. 3A, an object is detected based on the detection results of the plurality of distance measuring devices 2 provided in the vehicle V and the captured image of the camera 1. The distance measuring device 2 detects the presence / absence of an object, the position of the object, the size of the object, and the distance to the object based on the received signal of the radar device. The presence / absence of an object, the position of the object, the size of the object, and the distance to the object are detected based on the captured images of the cameras 1a to 1d. The object may be detected by using the motion stereo technique by the cameras 1a to 1d. This detection result is used to determine whether or not the parking space is vacant (whether or not the parking space is parked).

As shown in FIG. 3B, an object including a structure such as a wall or a pillar of a parking lot can be detected based on the parking lot information 34 acquired from the storage device 32 of the information server 3. Parking lot information includes location information such as arrangement of each parking lot (each parking lot), identification number, passage, pillar, wall, storage space in the parking facility. The information server 3 may be managed by the parking lot.

Hereinafter, the control procedure of the parking control will be described based on the flowchart shown in FIG.
FIG. 4 is a flowchart showing a control procedure of the parking control process executed by the parking control system 1000 according to the present embodiment. The trigger for starting the parking control process is not particularly limited, and may be triggered by the operation of the start switch of the parking control device 100.

The parking control device 100 of the present embodiment has a function of automatically moving the vehicle V to the parking space based on an operation command acquired from outside the vehicle.

In step 101, the control device 10 of the parking control device 100 acquires information around the vehicle at a predetermined cycle. The distance measurement signal acquisition process and the captured image acquisition process may be performed alternately. The control device 10 acquires distance measurement signals by distance measuring devices 2 attached to a plurality of locations of the vehicle V, if necessary. The control device 10 acquires the captured images captured by the cameras 1a to 1d attached to a plurality of locations of the vehicle V as needed. Although not particularly limited, the camera 1a is arranged on the front grille portion of the vehicle V, the camera 1d is arranged near the rear bumper, and the cameras 1b and 1c are arranged under the left and right door mirrors. As the cameras 1a to 1d, cameras equipped with a wide-angle lens having a large viewing angle can be used. The cameras 1a to 1d capture images of the boundary line of the parking space around the vehicle V and the objects existing around the parking space. The cameras 1a to 1d are a CCD camera, an infrared camera, and other image pickup devices.

In step 102, the control device 10 detects a parking space that can be parked. The position and size of the parking space are factors in the parking environment that affect the parking control of the vehicle V. The control device 10 detects the frame (area) of the parking space based on the captured images of the cameras 1a to 1d. The control device 10 detects an empty parking space by using the detection data of the distance measuring device 2 and the detection data extracted from the captured image. The control device 10 detects an empty parking space (a parking space in which another vehicle is not parked) and a route for completing parking can be calculated as a parking space. From the parkable spaces, identify the target parking space for parking the vehicle. The fact that the parking route can be calculated in the present embodiment means that the locus of the route from the current position to the target parking position can be drawn in the road surface coordinates without interfering with an object including an obstacle (including a parked vehicle). ..

In step 103, the control device 10 transmits the parkable space to the operation terminal 5, displays it on the display 53, and requests the operator M to input the selection information of the target parking position for parking the vehicle V. The target parking position may be automatically selected by the control device 10 or the parking facility side. When an operation command for specifying one parking space is input to the operation terminal 5, the parking space is set as the target parking position.

In step 104, the control device 10 acquires the detection result of the object detected by the method described above. Objects include pedestrians, signs, road structures, cargo, moving objects, structures that make up parking spaces, curbs that partition parking spaces, and so on. The structures that make up the parking space are the structures that make up the garage, carport, and so on. Object detection includes the detection of obstacles that interfere with the execution of parking control. These are parking environmental factors that affect the parking control of the vehicle V.

In step 105, the control device 10 avoids obstacles and calculates a first route to the target parking space. As the calculation process of the first route to the target parking space, the method known at the time of filing can be used. The parking route is defined as a line and is defined as a band-shaped area corresponding to the occupied area of the vehicle V according to the vehicle width. The occupied area of the vehicle V is defined in consideration of the vehicle width and the margin width reserved for movement. The specific method will be described later.

In step 106, the control device 10 determines whether or not the first path includes a switch. If the cutback is included, the process proceeds to step 107. In step 107, the second route is calculated. If the switching is not included, the process proceeds to step 109 and the first control instruction for moving the first path is calculated.

In step 109, the control device 10 generates a control command for moving the vehicle V on the calculated route. The control device 10 stores in advance the specification information of the vehicle V required for the control command. The control command is the steering amount, steering speed, steering acceleration, shift position, speed (including zero), acceleration, deceleration, etc. of the vehicle V associated with the timing or position when the vehicle V travels on the parking path. Includes operation instructions for. The control command moves the vehicle V to the target parking position by executing the operation command associated with the parking route and the parking route including the execution timing or the execution position of the operation command of the vehicle V by the vehicle V. Can be parked). The same applies to the second control command in step 108, which will be described later.

Hereinafter, the calculation process of the second path and the calculation process of the second control command will be described with reference to FIGS. 5 to 10B. FIG. 5 is a diagram showing the subroutines of steps 107 and 108 of FIG. The processing of steps 107 and 108 is performed in step 106 when the previously calculated first path includes a cutback.

In step 201 of FIG. 5, when the first path calculated earlier includes a turning point for avoiding an obstacle, the control device 10 calculates a second path having a shorter distance than the first path. ..

FIG. 6A is a diagram for explaining a calculation method of the first path. The operator M stands at the position OP1 outside the vehicle V and operates the vehicle V.
In the situation shown in FIG. 6A, a case where the vehicle V1 moves to the target parking space P will be described as an example. The control device 10 avoids obstacles and calculates a first path RT to reach the specified target parking space P. The first route RT includes a route RT1A from which the vehicle V1 reaches the turning point CS1 and a route RT1B from the turning point CS1 to the target parking space P. In the scene where the obstacle OB1 shown by the broken line is present in FIG. 6A, the vehicle V1 cannot move to the target parking space P unless it makes at least two turns in order to avoid the obstacle OB1. When the obstacle OB1 is detected, the calculation process of the second path in step 201 is performed. In step 202, the control device 10 confirms the position of the obstacle and the turning point.

6B and 6C are diagrams for explaining the calculation method of the second path.
The second route RT2 includes a route RT2A from which the vehicle V1 reaches the turning point CS2 and a route RT2B from the turning point CS2 to the target parking space P.

When it is necessary to turn back for parking due to the presence of an obstacle, the radius of curvature of the second path becomes larger than that of the first path by obtaining the second path shorter than the calculated first path (). Curvature becomes smaller). In the control of moving the second path to the vehicle, the turning amount of the vehicle is reduced (the steering amount is reduced). Therefore, the change in the posture of the vehicle is small. Since the change in the posture of the vehicle is reduced, the operator M who performs the remote operation can easily grasp the behavior of the vehicle.

In step 203, the control device 10 calculates a second path which is a section of a predetermined distance from the obstacle and includes a predetermined section of a substantially straight line. In order to calculate the second path shorter than the first path, the control device 10 has a predetermined distance from the obstacle WL and at least a part of the section of the second path is set as a predetermined section ST2b, as shown in FIG. 6B. , The curvature of the predetermined section ST2b is made smaller than the curvature of the corresponding section of the first path (see ST2a in FIG. 6A). As shown in FIG. 6C, a section of a predetermined distance from another vehicle V2 existing behind may be defined as a predetermined section ST2c. Although not particularly limited, the predetermined distance of the predetermined section is in the range of about 50 cm or more and about 2 m, and further, about 50 cm or more and about 1 m or less. For a distance of about 50 to 60 cm that brings the vehicle closer to (approaches) an obstacle, high attention is required for the movement of the vehicle and the positional relationship between the vehicle and the obstacle. By making the movement of the vehicle and the positional relationship between the vehicle and the obstacle easy to understand at this time, the monitoring burden of the operator M can be reduced. The control device 10 calculates the second path, which is shorter than the first path, by calculating the second path in which the radius of curvature of the predetermined section close to the obstacle is significantly changed among the first paths.

In step 204, the control device 10 calculates a second path in which the predetermined section is substantially linear. The substantially straight line in the present embodiment is a shape that can be regarded as a straight line when the vehicle is running. Specifically, in order to make the predetermined section substantially linear, the radius of curvature is 990 m or more and 1100 m or less, for example, 1000 m. For the operator M who performs the remote operation, the behavior of the vehicle moving on the substantially linear route is easier to grasp than the behavior of the vehicle moving on the route having a curvature. Since the second route is set so that the predetermined section where the vehicle is closest to the obstacle is substantially straight, the vehicle can go straight in the vicinity of the obstacle. It is possible to reduce the change in the posture of the vehicle in a predetermined section near the obstacle.

The predetermined section ST2b shown in FIG. 6B may be defined as a section at a predetermined distance from the turning point CS2. A predetermined section defined from the turning point CS2 can also be set in the same manner as described above. In the present embodiment, the control device 10 calculates a second path which is a section of a predetermined distance from the turning point and includes a predetermined section of a substantially straight line. Although not particularly limited, the predetermined distance of the predetermined section is in the range of about 50 cm or more and about 2 m, and further, about 50 cm or more and about 1 m or less. In the vicinity of the turning point, high attention is required for the movement of the vehicle and the positional relationship between the vehicle and obstacles. The turning point is the most distant from the operator M and may be the most difficult to confirm. By making it easy to understand the movement of the vehicle and the positional relationship between the vehicle and the obstacle at this time, it is possible to reduce the monitoring burden of the operator M. The control device 10 calculates the second path, which is shorter than the first path, by calculating the second path in which the radius of curvature of the predetermined section near the turning point is significantly changed among the first paths. In order to make the predetermined section substantially linear, the radius of curvature is 990 m or more and 1100 m or less, for example, 1000 m as described above. For the operator M who performs the remote operation, the behavior of the vehicle moving on the substantially linear route is easier to grasp than the behavior of the vehicle moving on the route having a curvature. Since the second route is set so that the predetermined section closest to the turning point is a substantially straight line, the vehicle can go straight in the vicinity of the turning point. It is possible to reduce the change in the posture of the vehicle in a predetermined section near the turning point.

In the control device 10, the surface of the obstacle that intersects the extension line of the route, the surface of the obstacle that the angle formed by the extension line of the predetermined section intersects the extension line of the route in the first route, and the extension line of the predetermined section are Calculate a second path that is larger than the angle formed. The surface of the obstacle that intersects the extension of the route is the surface of the obstacle that the vehicle comes into contact with when traveling on the route. By making the angle between the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section relatively large, the vehicle can go straight to the obstacle. For the operator M who performs the remote operation, it is easier to understand the behavior of the vehicle moving toward the obstacle than the behavior of the vehicle moving while avoiding the obstacle. Further, the positional relationship between the obstacle and the vehicle is easier for the operator M to grasp when moving toward the obstacle than when the vehicle moves while avoiding the obstacle. By calculating the second route in which the angle formed by the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section is relatively large, it is possible for the operator M to easily confirm the behavior of the vehicle.

As shown in FIG. 6B, the predetermined section ST2b in the second path has a large angle of intersection with the obstacle WL intersecting the extension line of the path RT. In the example shown in FIG. 6A, the predetermined section ST2b and the obstacle WL are substantially parallel to each other, and an angle at which they intersect is not formed (the angle is zero). In the example shown in FIG. 6B, an angle C1 that intersects the predetermined section ST2b with respect to the obstacle WL is formed. In this way, when the traveling direction of the vehicle V1 advances toward the obstacle WL, it is possible for the operator M outside the vehicle to easily grasp the positional relationship between the vehicle V1 and the obstacle WL. The same applies to the example shown in FIG. 6C. By reducing the curvature of the predetermined section ST2c, the angle C2 at which the predetermined section ST2b intersects the surface (side surface) of the other vehicle V2 in the vehicle length direction intersecting with the extension line of the route RT becomes large. Also in this case, since the traveling direction of the vehicle V1 advances toward the other vehicle V2, it is possible to make it easier for the operator M outside the vehicle to grasp the positional relationship between the vehicle V1 and the other vehicle V2.

In step 205, the control device 10 calculates a second path in which the angle between the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section increases as the vehicle approaches the obstacle. As shown in FIG. 6D, as the vehicle V traveling in the predetermined section ST2d approaches the obstacle WL, the traveling direction of the vehicle V is switched between ST2a1, ST2a2, and ST2a3, and the angles with the obstacle WL are changed accordingly. Increase to C13. The vehicle moving on the second path calculated in the present embodiment does not approach along the obstacle (parallel / the angle becomes zero), but moves so that the angle increases as it approaches the obstacle. Therefore, the situation of approaching an obstacle can be easily understood by the operator M outside the vehicle. The operator M outside the vehicle can easily confirm the situation of approaching an obstacle of the vehicle moving along the second route.

In the route calculation process, the following control may be performed.
FIG. 7A shows an example of the relationship between the distance of an obstacle to the vehicle and the radius of curvature. As shown in FIG. 7A, the control device 10 increases the radius of curvature and approaches a straight line as the obstacle and the vehicle come closer to each other. Increasing the radius of curvature leads to increasing the approach angle to obstacles. Since the vehicle goes straight to the obstacle, the closer the vehicle is to the obstacle, the more the vehicle keeps the traveling direction constant and approaches the obstacle. Since the traveling direction is substantially linear, it becomes easy for the operator M to grasp the positional relationship between the vehicle and the obstacle. FIG. 7B shows an example of the relationship between the distance of an obstacle to the vehicle and the change in the radius of curvature. As shown in FIG. 7B, the control device 10 reduces the change in the radius of curvature as the obstacle and the vehicle come closer to each other. The closer the vehicle is to the obstacle, the closer the vehicle approaches the obstacle while keeping the direction of travel of the vehicle constant. Since the traveling direction does not vary, it becomes easier for the operator M to grasp the positional relationship between the vehicle and the obstacle.

Further, the control device 10 performs a correction process of the radius of curvature. The control device 10 calculates the second route so that the greater the distance between the position of the operator M and the vehicle V, the shorter the distance of the second route. The control device 10 reduces the curvature (increases the radius of curvature), reduces the amount of change in the curvature or radius of curvature, increases the approach angle, and increases the amount of change in the approach angle so that the distance of the second path becomes shorter. Perform correction processing such as making it smaller. By this correction process, when the operator M is separated, the distance of the second path is short, and it is possible to calculate the second path which is easy to monitor.

By the way, in the parking route accompanied by turning back, the operator M is required to judge the positional relationship with the obstacle. When the vehicle V1 approaches an obstacle, for the operator M outside the vehicle, the movement of the vehicle V1 approaching along the obstacle along a path having a large curvature (relatively large curvature) is linear. It is more difficult to grasp than the movement of the vehicle V1 traveling straight toward an obstacle along the route of. Therefore, when the vehicle V1 moves in a curved line, the operator M determines whether the vehicle V1 is avoiding the obstacle, is able to avoid the obstacle, or misidentifies the position of the obstacle. There are things you can't do. In such a state, the work of parking the vehicle V1 by remote operation is a burden on the operator M. Since this mental anxiety hinders the reliability of parking control by remote operation, it is an important issue to eliminate such anxiety that occurs in the operator in the remote operation for turning back.
According to the parking control method or the parking control device of the present embodiment, when the first path calculated by the standard setting calculation method includes a turning point, the distance is determined by the above method such as introducing a predetermined section of a substantially straight line. This problem is solved by calculating the second route in which is shortened.

FIG. 8A shows the relationship between the distance between the operator M and the vehicle and the correction amount. As shown in FIG. 8A, the larger the distance between the operator M and the vehicle, the larger the correction amount, and the larger the radius of curvature. 8B and 8C show the relationship between the distance between the obstacle and the vehicle before and after the correction and the radius of curvature. In FIGS. 8B and 8C, the broken line shows the relationship before the correction, and the solid line shows the relationship after the correction. By the correction, the radius of curvature can be increased as the distance from the obstacle increases.

Further, the control device 10 performs a correction process for the change in the radius of curvature. FIG. 9A shows the relationship between the distance between the operator M and the vehicle and the correction amount. As shown in FIG. 9A, the larger the distance between the operator M and the vehicle, the larger the correction amount, and the larger the radius of curvature. 9B and 9C show the relationship between the distance between the obstacle and the vehicle before and after the correction and the change in the radius of curvature. In FIGS. 9B and 9C, the broken line shows the relationship before the correction, and the solid line shows the relationship after the correction. By the correction, the change in the radius of curvature can be reduced as the distance from the obstacle increases.

In step 206, the position of the operator M to be remotely operated is acquired. In the following step 207, the control device 10 determines a second path in which the larger the distance between the operator M and the vehicle, the larger the angle between the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section. calculate. The operator M who performs the remote operation needs to monitor the behavior of the vehicle. If the position of the operator M is far from the path of the vehicle, it becomes difficult to monitor the behavior of the vehicle. When the operator M is separated from the vehicle, a second route is calculated in which the angle formed by the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section becomes large. Vehicles moving on the second route do not approach (parallel) along the obstacle, but move at a larger angle toward the obstacle, so the operator outside the vehicle can see the situation of approaching the obstacle. It can be made easy for M to understand. The operator M outside the vehicle can easily confirm the situation of approaching an obstacle of the vehicle moving along the second route.

In FIGS. 8A to 8C and FIGS. 9A to 9C, the curvature / radius of curvature and the amount of change thereof have been described by showing specific examples, but the same applies to the approach angle and the amount of change thereof. The vertical axis of FIGS. 8B and 8C can be read as the approach angle, and the vertical axis of FIGS. 9B and 9C can be read as the amount of change in the approach angle, and can be applied to the present embodiment.

The control device 10 also controls the vehicle speed in the second control command. At important monitoring points, the vehicle speed is reduced and the monitoring burden of the operator M is reduced.
In step 208, the control device 10 calculates a second control command in which the target vehicle speed of the vehicle is lower as the distance between the vehicle moving on the second path and the operator M is larger. As described above, when the position of the operator M who performs the remote operation is far from the vehicle moving on the route, it is difficult for the operator M to confirm the behavior of the vehicle. Therefore, the control device 10 lowers the moving speed of the vehicle as the distance between the operator M and the vehicle increases. This makes it easier for the operator M to check the behavior of the vehicle even from a remote location.

The control device 10 calculates a second control command that lowers the target vehicle speed of the vehicle as the angle formed by the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section of the second route is smaller. For the operator M outside the vehicle, the positional relationship between the vehicle moving along the obstacle (parallel to the obstacle) and the obstacle is the positional relationship between the vehicle and the obstacle when the vehicle approaches the obstacle. It is harder to grasp than the positional relationship. Therefore, the control device 10 lowers the target vehicle speed in the second control command. This makes it easier for the operator M to check the behavior of the vehicle.

The control device 10 calculates a second control command in which the target vehicle speed of the vehicle is lower as the change in the angle between the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section is larger. When the change in angle is large, the change in vehicle movement is large. If the movement of the vehicle is large, the monitoring burden of the operator M who performs the remote operation becomes heavy. Therefore, the control device 10 lowers the target vehicle speed in the second control command. This makes it easier for the operator M to check the behavior of the vehicle.

In the calculation process of the control command, the following control may be performed. An example of the vehicle speed setting method included in the control command is shown.
FIG. 10A shows an example of the relationship between the approach angle of the vehicle to an obstacle and the vehicle speed. As shown in FIG. 10A, the control device 10 lowers the vehicle speed as the approach angle of the vehicle to the obstacle is larger. A large approach angle to an obstacle increases the radius of curvature. Since the vehicle goes straight to the obstacle, reducing the vehicle speed makes it easier for the operator M to grasp the positional relationship between the vehicle and the obstacle. FIG. 10B shows an example of the relationship between the amount of change in the approach angle of the vehicle with respect to the obstacle and the vehicle speed. As shown in FIG. 10B, the control device 10 lowers the vehicle speed as the amount of change in the approach angle of the vehicle to the obstacle increases. The larger the change in the contact angle with the obstacle, the smaller the vehicle speed. Therefore, when there is a change in the traveling direction, the vehicle speed is reduced, so that the operator M can easily grasp the positional relationship between the vehicle and the obstacle.

As described above, the control device 10 changes the values of the curvature of the path, the approach angle of the path, and the speed of the control command in order to calculate the second path shorter than the first path. These controls will be performed based on the parking environment such as the presence of obstacles, but in the parking process, the distance to obstacles such as other vehicles is short, and obstacles (vehicles / pedestrians) move. It has the characteristic of doing. In addition, since the own vehicle also moves, the part that can be detected from the own vehicle may change due to the change in the positional relationship with the obstacle. In addition, there is a unique problem that it is difficult to identify each object because obstacles such as other vehicles and parking lot facilities are in close proximity. Furthermore, the doors of other vehicles may be opened, or the influence of the weather. Therefore, in the parking process, obstacles that affect the parking of the own vehicle may be suddenly detected, or the detected obstacles may suddenly disappear. I have something to do.

The control device 10 of the present embodiment responds to sudden changes in the parking environment including detection of obstacles by changing the amount of change in the values of the controlled object such as the curvature of the route, the approach angle of the route, and the speed of the control command. Set a limiter and change it so that it gradually approaches the target value over time. As a result, it is possible to suppress changes in the behavior of the vehicle and prevent the occurrence of hunting. Further, among the changes in the parking environment, the method of setting the limiter can be different depending on whether the obstacle disappears or the obstacle suddenly appears. The control device 10 sets the limit amount for the detection result that the obstacle has disappeared is larger than the limit amount for the detection result that the obstacle suddenly appears. The control device 10 has determined that an obstacle exists, but if it does not actually exist, the control device 10 sets a large limit amount and immediately returns to the original control content. On the other hand, when an obstacle suddenly appears, the control device 10 may set a small limit amount and gradually approach the target value. The control device 10 may apply hysteresis control to the determination criterion so that it is difficult to determine that the obstacle disappears suddenly.

Finally, in step 209, when the plurality of second paths are calculated, the control device 10 calculates the second path with a smaller number of turns.

Returning to FIG. 4, in step 110, the control device 10 receives an input of a control command execution command from the operator. When the execution instruction is input, the process proceeds to step 111 to start execution of the first or second control instruction. The execution instruction may be an input to the deadman switch of the operation terminal 5. The deadman switch is a switch that has a function of continuing the execution of the parking control process only while the operator is applying a force to the switch, and suspending or stopping the execution of the parking control process except for the force applied to the switch. be. While the deadman switch of the operation terminal 5 is pressed, the parking control process is continuously executed.

The parking control device 100 of the present embodiment controls the operation of the drive system 40 via the vehicle controller 70 in accordance with a control command so that the vehicle V moves along the parking path. The parking control device 100 gives a command to the drive system 40 of the vehicle V such as an EPS motor while feeding back the output value of the steering angle sensor 50 provided in the steering device so that the traveling locus of the vehicle V matches the calculated parking path. The signal is calculated and this command signal is sent to the drive system 40 or the vehicle controller 70 that controls the drive system 40.

The parking control device 100 of the present embodiment includes a parking control control unit. The parking control control unit acquires shift range information from the AT / CVT control unit, wheel speed information from the ABS control unit, steering angle information from the steering angle control unit, engine rotation speed information from the ECM, and the like. Based on these, the parking control control unit calculates and outputs instruction information regarding automatic steering to the EPS control unit, instruction information such as a warning to the meter control unit, and the like. The control device 10 acquires each information acquired by the steering angle sensor 50, the vehicle speed sensor 60, and other sensors included in the vehicle V via the vehicle controller 70.

The drive system 40 of the present embodiment moves (runs) the vehicle V1 from the current position to the target parking position by driving based on the control command signal acquired from the parking control device 100. The steering device of the present embodiment is a drive mechanism for moving the vehicle V in the left-right direction. The EPS motor included in the drive system 40 drives the power steering mechanism provided in the steering of the steering device based on the control command signal acquired from the parking control device 100 to control the steering amount and move the vehicle V to the target parking position. Control the operation when doing. The control content and operation method of the vehicle V for parking are not particularly limited, and the method known at the time of filing can be appropriately applied.

In the parking control device 100 in the present embodiment, the accelerator / brake is designated when the vehicle V is moved to the target parking position along the route calculated based on the position of the vehicle V and the position of the target parking position. It is automatically controlled based on the controlled vehicle speed (set vehicle speed), and the operation of the steering device automatically controls the movement of the vehicle V according to the vehicle speed.

In step 112, the control device 10 monitors changes in the parking environment around the vehicle until the vehicle V reaches the turning position. When the vehicle V reaches the turning position, the shift change included in the control command is executed in step 113. After that, the parking control is completed by continuously executing the control command in step 114.

Since the parking control method of the embodiment of the present invention is used in the parking control device as described above, it has the following effects. Since the parking control device 100 of the present embodiment is configured and operates as described above, it has the following effects.

[1] According to the parking control method or the parking control device of the present embodiment, when the first route calculated above includes a turning point for avoiding an obstacle, the distance is shorter than the first route. Calculate the second route. In order to calculate the second path shorter than the first path, the control device 10 makes the curvature of at least a part of the section of the second path smaller than the curvature of the corresponding section of the first path. When it is necessary to turn back for parking due to the presence of obstacles, the radius of curvature of the second path is larger than that of the first path by obtaining the second path shorter than the first path calculated at that time. (The curvature becomes smaller). In the control of moving the second path to the vehicle, the turning amount of the vehicle is reduced (the steering amount is reduced). Therefore, the change in the posture of the vehicle is small. Since the change in the posture of the vehicle is reduced, the operator M who performs the remote operation can easily grasp the behavior of the vehicle. Further, since the moving distance is shortened and the monitoring time is shortened, the monitoring burden of the operator M can be reduced.

[2] According to the parking control method or the parking control device of the present embodiment, a second route including a predetermined section of a substantially straight line, which is a section of a predetermined distance from an obstacle, is calculated. Of the first path, the second path having a shorter distance than the first path is calculated by calculating the second path in which the radius of curvature of the predetermined section near the obstacle is significantly changed. For the operator M who performs the remote operation, the behavior of the vehicle moving on the substantially linear route is easier to grasp than the behavior of the vehicle moving on the route having a curvature. Since the second route is set so that the predetermined section where the vehicle is closest to the obstacle is substantially straight, the vehicle can go straight in the vicinity of the obstacle. It is possible to reduce the change in the posture of the vehicle in a predetermined section near the obstacle.

[3] According to the parking control method or the parking control device of the present embodiment, the angle formed by the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section intersects the extension line of the route in the first route. A second path larger than the angle formed by the surface of the obstacle and the extension line of the predetermined section is calculated. By making the angle between the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section relatively large, the vehicle can go straight to the obstacle. For the operator M who performs the remote operation, it is easier to understand the behavior of the vehicle moving toward the obstacle than the behavior of the vehicle moving while avoiding the obstacle. Further, the positional relationship between the obstacle and the vehicle is easier for the operator M to grasp when moving toward the obstacle than when the vehicle moves while avoiding the obstacle. By calculating the second route in which the angle between the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section is relatively large, it is possible for the operator M to easily confirm the behavior of the vehicle. ..

[4] According to the parking control method or the parking control device of the present embodiment, as the vehicle approaches the obstacle, the angle between the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section becomes larger. The second route is calculated. Vehicles moving on the second route do not approach (parallel) along the obstacle, but move at a larger angle toward the obstacle, so the operator outside the vehicle can see the situation of approaching the obstacle. It can be made easy for M to understand. The operator M outside the vehicle can easily confirm the situation of approaching an obstacle of the vehicle moving along the second route.

[5] According to the parking control method or the parking control device of the present embodiment, the position of the operator M is detected, and the larger the distance between the operator M and the vehicle, the more the surface of the obstacle intersecting with the extension line of the route. , Calculate a second path in which the angle formed by the extension line of the predetermined section becomes large. The operator M who performs the remote operation needs to monitor the behavior of the vehicle. If the position of the operator M is far from the path of the vehicle, it becomes difficult to monitor the behavior of the vehicle. When the operator M is separated from the vehicle, a second route is calculated in which the angle formed by the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section becomes large. Vehicles moving on the second route do not approach (parallel) along the obstacle, but move at a larger angle toward the obstacle, so the operator outside the vehicle can see the situation of approaching the obstacle. It can be made easy for M to understand. The operator M outside the vehicle can easily confirm the situation of approaching an obstacle of the vehicle moving along the second route.

[6] According to the parking control method or the parking control device of the present embodiment, the larger the distance between the vehicle moving on the second route and the operator M, the lower the target vehicle speed of the vehicle is to calculate the second control command. As described above, when the position of the operator M who performs the remote operation is far from the vehicle moving on the route, it is difficult for the operator M to confirm the behavior of the vehicle. Therefore, the control device 10 lowers the moving speed of the vehicle as the distance between the operator M and the vehicle increases. This makes it easier for the operator M to check the behavior of the vehicle even from a remote location.

[7] According to the parking control method or the parking control device of the present embodiment, the smaller the angle between the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section of the second route, the target of the vehicle. The second control command that reduces the vehicle speed is calculated. For the operator M outside the vehicle, the positional relationship between the vehicle moving along the obstacle (parallel to the obstacle) and the obstacle is the positional relationship between the vehicle and the obstacle when the vehicle approaches the obstacle. It is harder to grasp than the positional relationship. Therefore, the control device 10 lowers the target vehicle speed in the second control command. This makes it easier for the operator M to check the behavior of the vehicle.

[8] According to the parking control method or the parking control device of the present embodiment, the larger the change in the angle between the surface of the obstacle intersecting the extension line of the route and the extension line of the predetermined section, the larger the target vehicle speed of the vehicle. Calculate the lower second control command. When the change in angle is large, the change in vehicle movement is large. If the movement of the vehicle is large, the monitoring burden of the operator M who performs the remote operation becomes heavy. Therefore, the control device 10 lowers the target vehicle speed in the second control command. This makes it easier for the operator M to check the behavior of the vehicle.

[9] According to the parking control method or the parking control device of the present embodiment, a second route including a predetermined section of a substantially straight line, which is a section of a predetermined distance from the turning point, is calculated. High attention to the movement of the vehicle is required for a distance of about 50 to 60 cm that brings the vehicle closer to (approaches) an obstacle. By making the movement of the vehicle at this time easy to understand, it is possible to reduce the monitoring burden of the operator M. The control device 10 calculates the second path, which is shorter than the first path, by calculating the second path in which the radius of curvature of the predetermined section near the turning point is significantly changed among the first paths. For the operator M who performs the remote operation, the behavior of the vehicle moving on the substantially linear route is easier to grasp than the behavior of the vehicle moving on the route having a curvature. Since the second route is set so that the predetermined section closest to the turning point is a substantially straight line, the vehicle can go straight in the vicinity of the turning point. It is possible to reduce the change in the posture of the vehicle in a predetermined section near the turning point.

[10] According to the parking control method or the parking control device of the present embodiment, the second route is calculated so that the larger the distance between the position of the operator M and the vehicle V, the shorter the distance of the second route. The control device 10 reduces the curvature (increases the radius of curvature), reduces the amount of change in the curvature or radius of curvature, increases the approach angle, and increases the amount of change in the approach angle so that the distance of the second path becomes shorter. Perform correction processing such as making it smaller. By this correction process, when the operator M is separated, the distance of the second path is short, and it is possible to calculate the second path which is easy to monitor.

[11] As described above, the parking control device 100 in which the parking control method of the present embodiment is executed also exhibits the actions and effects described in 1 to 10 above.

It should be noted that the embodiments described above are described for facilitating the understanding of the present invention, and are not described for limiting the present invention. Therefore, each element disclosed in the above-described embodiment is intended to include all design changes and equivalents belonging to the technical scope of the present invention.

1000 ... Parking control system 100 ... Parking control device 10 ... Control device 11 ... CPU
12 ... ROM
13 ... RAM
132 ... Storage device 133 ... Map information 134 ... Parking lot information 135 ... Object information 20 ... Input device 21 ... Communication device 30 ... Output device 31 ... Display 1a to 1d ... Camera 2 ... Distance measuring device 3 ... Information server 31 ... Communication device 32 ... Storage device 33 ... Map information 34 ... Parking lot information 35 ... Object information 5 ... Operation terminal 51 ... Communication device 52 ... Input device 53 ... Display 200 ... In-vehicle device 40 ... Drive system 50 ... Steering angle sensor 60 ... Vehicle speed sensor 70 … Vehicle controller V… Vehicle

Claims (11)

A parking control method in which the vehicle is made to execute a control command for moving the vehicle along a route to a target parking space by using a control device based on an operation command acquired from an operator outside the vehicle.
The control device is
Detecting obstacles around the vehicle,
When the first path of the first control command calculated earlier as the control command includes the first turning point for avoiding the obstacle, the distance is shorter than that of the first path, and the first path is the first. Calculate the second route including the turning point of 2 and
A second control command for moving the vehicle along the second route is calculated .
A parking control method in which the curvature of the second predetermined section including the second turning point in the second route is smaller than the curvature of the first predetermined section including the first turning point in the first route . The control device is
In the process of calculating the second route,
The parking control method according to claim 1, wherein the second route, which is a section of a predetermined distance from the obstacle and includes the second predetermined section of a substantially straight line, is calculated. The control device is
In the process of calculating the second route,
The second angle between the surface of the obstacle intersecting the second extension line at the second turning point of the second path and the second extension line is the first turning point of the first path . The parking control method according to claim 2, wherein the second route is calculated, which is larger than the first angle formed by the surface of the obstacle intersecting the first extension line at the point and the first extension line. The control device is
In the process of calculating the second route,
As the vehicle approaches the obstacle, the second angle between the surface of the obstacle and the second extension line intersecting the second extension line at the second turning point of the second path. The parking control method according to claim 2 or 3, wherein the second route is calculated. The control device is
Acquire the position of the operator and
In the process of calculating the second route,
The larger the distance between the vehicle and the operator, the second the surface of the obstacle intersecting with the second extension line at the second turning point of the second path and the second extension line . The parking control method according to any one of claims 2 to 4, wherein the second route for which the angle of the second is increased is calculated. The control device is
In the calculation process of the second control instruction,
The parking control method according to claim 5, wherein the larger the distance between the vehicle and the operator, the lower the target vehicle speed of the vehicle is. The control device is
In the calculation process of the second control instruction,
The smaller the second angle between the surface of the obstacle intersecting the second extension line at the second turning point of the second route and the second extension line, the lower the target vehicle speed of the vehicle. The parking control method according to any one of claims 2 to 6, wherein the second control command is calculated. The control device is
In the calculation process of the second control instruction,
The larger the change in the second angle between the surface of the obstacle intersecting the second extension line at the second turning point of the second path and the second extension line, the larger the target vehicle speed of the vehicle. The parking control method according to any one of claims 2 to 7, wherein the second control command is calculated. The control device is
In the process of calculating the second route,
The parking control method according to claim 1 , wherein the second route, which is a section of a predetermined distance from the second turning point and includes the second predetermined section of a substantially straight line, is calculated. The control device is
Acquire the position of the operator and
The parking control method according to any one of claims 1 to 9, wherein the second route is calculated so that the distance between the vehicle and the operator becomes shorter as the distance increases. A parking control device including a control device for executing a control command for moving the vehicle along a route to a target parking space based on an operation command acquired from an operator outside the vehicle.
The control device is
Detecting obstacles around the vehicle,
When the first path of the first control command calculated earlier as the control command includes the first turning point for avoiding the obstacle, the distance is shorter than that of the first path, and the first path is the first. Calculate the second route including the turning point of 2 and
A second control command for moving the vehicle along the second route is calculated .
A parking control device in which the curvature of the second predetermined section including the second turning point in the second path is smaller than the curvature of the first predetermined section including the first turning point in the first path .

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