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WO2020008598A1 - Automatic driving control device, information communication terminal, automatic driving control system, automatic driving control method, and parking spot designation method - Google Patents

Automatic driving control device, information communication terminal, automatic driving control system, automatic driving control method, and parking spot designation method Download PDF

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Publication number
WO2020008598A1
WO2020008598A1 PCT/JP2018/025557 JP2018025557W WO2020008598A1 WO 2020008598 A1 WO2020008598 A1 WO 2020008598A1 JP 2018025557 W JP2018025557 W JP 2018025557W WO 2020008598 A1 WO2020008598 A1 WO 2020008598A1
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WO
WIPO (PCT)
Prior art keywords
parking
image
vehicle
parking point
destination
Prior art date
Application number
PCT/JP2018/025557
Other languages
French (fr)
Japanese (ja)
Inventor
賢太朗 重本
下谷　光生
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2018/025557 priority Critical patent/WO2020008598A1/en
Priority to JP2020528631A priority patent/JP6793884B2/en
Publication of WO2020008598A1 publication Critical patent/WO2020008598A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to an automatic driving control system that guides a vehicle to a parking point designated by a user and parks the vehicle.
  • Patent Literature 1 discloses an automatic driving control system that allows a user to specify a parking point of a vehicle using a mobile terminal or to specify a position of a user (a position of the mobile terminal of the user) as a parking point. Have been.
  • the user can easily specify the parking point.
  • a location different from the user's position as a parking point for example, when the user is in a place where parking is not possible (for example, indoors or a park).
  • the user can designate a place different from the current position as a parking point.
  • the user needs to find a place to be a parking point on a map, and it is difficult to intuitively and accurately specify the parking point.
  • the present invention has been made to solve the above-described problem, and has as its object to provide an automatic driving control system that allows a user to intuitively and accurately specify a parking point.
  • An automatic driving control device includes a parking point image acquisition unit that receives data of a parking point image that is a photographed image of a destination to which information of a parking point of a vehicle is added, and a map information acquisition unit that acquires map information.
  • An information communication terminal includes a destination image obtaining unit that obtains a destination image that is a real image of a destination, a display processing unit that displays a destination image on a screen, and a destination image that is operated by a user.
  • a parking point specifying unit that specifies a parking point of the vehicle above, a parking point image generating unit that generates data of a parking point image that is a destination image to which information of the parking point specified by the user is added, and a parking point image generating unit.
  • a parking point image transmitting unit that transmits data to the vehicle.
  • the destination and the parking point on the map are specified from the data of the parking point image which is the photographed image of the destination to which the information of the parking point of the vehicle is added.
  • the designation of the parking point can be performed on the actual image of the destination. Therefore, the user can intuitively and accurately specify a parking point.
  • FIG. 1 is a diagram illustrating an entire configuration of an automatic driving control system according to a first embodiment.
  • FIG. 2 is a functional block diagram illustrating a configuration of the information communication terminal according to Embodiment 1.
  • 5 is a flowchart showing an operation of the information communication terminal according to Embodiment 1.
  • FIG. 5 is a diagram illustrating an example of a screen displayed on the display device by the information communication terminal.
  • FIG. 5 is a diagram illustrating an example of a screen displayed on the display device by the information communication terminal. It is a figure showing an example of a screen which an information communication terminal displays on a display. It is a figure showing an example of a screen which an information communication terminal displays on a display.
  • FIG. 2 is a functional block diagram illustrating a configuration of the automatic operation control device according to the first embodiment.
  • FIG. 4 is a flowchart showing an operation of the automatic driving control device according to the first embodiment.
  • FIG. 2 is a diagram illustrating an example of a hardware configuration of an automatic driving control device and an information communication terminal.
  • FIG. 2 is a diagram illustrating an example of a hardware configuration of an automatic driving control device and an information communication terminal.
  • FIG. 9 is a functional block diagram illustrating a configuration of an information communication terminal according to Embodiment 2.
  • FIG. 13 is a functional block diagram illustrating a configuration of an information communication terminal according to Embodiment 3.
  • FIG. 1 is a diagram illustrating an entire configuration of the automatic driving control system according to the first embodiment.
  • the automatic driving control system according to the first embodiment includes an automatic driving control device 10 mounted on a vehicle 1 and an information communication terminal 30 owned by a user (mainly, a driver of the vehicle 1). Consists of
  • FIG. 2 is a functional block diagram showing the configuration of the information communication terminal 30.
  • the information communication terminal 30 is connected to a camera 41, a display device 42, an operation input unit 43, and a GNSS (Global Navigation Satellite System) receiver 44.
  • GNSS Global Navigation Satellite System
  • One or more of the camera 41, the display device 42, the operation input unit 43, and the GNSS receiver 44 may be built in the information communication terminal 30.
  • the information communication terminal 30 is configured as a portable terminal such as a mobile phone or a smartphone
  • the camera 41, the display device 42, the operation input unit 43, and the GNSS receiver 44 are built in the information communication terminal 30. There will be.
  • the camera 41 is an imaging device for the user to shoot a real image (photograph) of the surrounding scenery.
  • the photographed image captured by the camera 41 is input to the information communication terminal 30.
  • the display device 42 is a user interface for the information communication terminal 30 to present information to a user in an image or text, and is configured by, for example, a liquid crystal display device.
  • the operation input unit 43 is a user interface for the user to operate the information communication terminal 30, and may be, for example, a hardware key such as a keyboard, a mouse, an operation lever, a touch pad, or a software key displayed on a screen. .
  • a software key as the operation input unit 43 may be displayed on the screen of the display device 42.
  • the display device 42 and the operation input unit 43 are configured as one touch panel.
  • the display device 42 and the operation input unit 43 constitute the touch panel 40.
  • the “touch panel 40” may be used without distinguishing the display device 42 and the operation input unit 43.
  • the GNSS receiver 44 calculates the position of the information communication terminal 30 based on a positioning signal transmitted by a GNSS satellite such as a GPS (Global Positioning System) satellite, for example.
  • a GNSS satellite such as a GPS (Global Positioning System) satellite, for example.
  • the information communication terminal 30 includes a communication unit 31, a destination image acquisition unit 32, a display processing unit 33, a parking point designation unit 34, a parking point image generation unit 35, a parking point image transmission unit 36, and a shooting position.
  • An acquisition unit 37 is provided.
  • the communication unit 31 is a communication unit for the information communication terminal 30 to communicate with the automatic driving control device 10 or an external server.
  • the destination image acquisition unit 32 acquires a destination image which is a real image of a place that the user wants to set as a destination.
  • the user may use a photographed image captured by the camera 41 as a destination image or an image downloaded from an external server through the communication unit 31 as a destination image.
  • the data of the destination image includes information on the shooting position of the destination image as additional information.
  • the destination image obtaining unit 32 obtains information on the position of the information communication terminal 30 at the time of shooting from the shooting position obtaining unit 37, and uses that information as information on the shooting position. Is added to the destination image captured by the camera 41.
  • the display processing unit 33 displays the destination image acquired by the destination image acquiring unit 32 on the screen of the display device 42.
  • the user can operate the operation input unit 43 to specify a point at which the vehicle 1 is to be parked (hereinafter referred to as “parking point”) on the destination image displayed on the display device 42.
  • the parking point designation unit 34 performs a process related to the designation of the parking point. That is, the parking point specifying unit 34 specifies the position (coordinates on the destination image) of the parking point of the vehicle 1 on the destination image according to the operation of the operation input unit 43 by the user.
  • the parking point image generation unit 35 causes the information on the parking point designated by the user to be included in the data of the destination image as further additional information.
  • the destination image to which the information of the parking point is added is referred to as a “parking point image”.
  • the parking point image transmitting unit 36 performs a process of transmitting the data of the parking point image generated by the parking point image generating unit 35 to the automatic driving control device 10 of the vehicle 1 through the communication unit 31.
  • FIG. 3 is a flowchart showing the operation of the information communication terminal 30.
  • the operation of the information communication terminal 30 will be described with reference to FIG.
  • the destination image acquisition unit 32 acquires the destination image (step S101).
  • the information of the photographing position acquired by the photographing position acquiring unit 37 from the GNSS receiver 44 is added to the destination image photographed by the camera 41.
  • the destination image downloaded from the server is added with information on the shooting position in advance.
  • the display processing unit 33 causes the touch panel 40 to display the destination image acquired by the destination image acquiring unit 32 (Step S102).
  • FIG. 4 shows an example of the destination image displayed on the touch panel 40.
  • the parking point specifying unit 34 specifies the touched position as the parking point of the vehicle 1 (Step S103).
  • the display processing unit 33 may display the pointer 201 indicating the position pointed by the user on the destination image as shown in FIG.
  • the parking point specifying unit 34 may inquire the user whether or not the point specified by the user may be determined as the parking point as shown in FIG. 5 before the parking point is determined. This can prevent a point different from the user's intention from being set as a parking point due to an erroneous operation.
  • the parking point specifying unit 34 checks whether or not the parking point is located within a parking area (step S104). Any method may be used to determine whether or not the parking point designated by the user is a parking area. For example, a method may be used in which a region where a generally parkable place such as a road or a parking lot is captured is extracted from the destination image, and it is determined whether or not the position (coordinates) of the parking point is within the region. In addition, by analyzing the destination image, the position (latitude, mildness) on the map corresponding to the position (coordinates) of the parking point on the destination image is obtained, and the parking point is located within the parking area on the map. A method of determining whether or not to do so may be used.
  • the parking point specifying unit 34 warns the user as shown in FIG. 6 (step S105), and proceeds to step S103. Return and let the user redo the designation of the parking point.
  • the warning is not limited to the warning by the display as shown in FIG. 6, but may be a warning by sound or a warning by vibration.
  • the parking point image generation unit 35 adds the information of the parking point to the destination image, A parking point image is generated (Step S106).
  • the parking point image transmitting unit 36 transmits the data of the parking point image generated by the parking point image generating unit 35 to the automatic driving control device 10 of the vehicle 1 using the communication unit 31 (Step S107).
  • the parking point image transmitting unit 36 may inquire the user whether to permit the transmission as shown in FIG. As will be described later, the transmission of the parking point image serves as a trigger for starting the movement of the vehicle 1 to the parking point. Therefore, in the example of FIG. 7, an inquiry is made as to whether or not to permit transmission of the parking point image by the expression “Do you want to move the vehicle to the parking point?”.
  • the pointer 201 is displayed at a parking available point closest to the position touched by the user, and that point is displayed as a parking point. May be specified.
  • the user recognizes that a position different from the user's touch position is designated as a parking point, for example, by changing the color of the pointer 201 to a color different from the normal state or blinking the pointer 201. It is preferable to be able to do so.
  • the display processing unit 33 may set the display area of the destination image different from the display area of the parkable area and the non-parkable area.
  • the display mode of the non-parkable area is changed by superimposing a semi-transparent image on the non-parkable area.
  • the parking point image generation unit 35 includes not only the information on the position of the parking point but also the information on the parking direction in the data of the parking point image as additional information.
  • a direction contrary to traffic regulations for example, a direction of reverse running on a one-way road
  • the start point or the end point of the swipe operation is specified as a parking point
  • the direction of the swipe operation is specified as the parking direction. You may do so.
  • the position of the tap operation is designated as a parking point
  • an arrow 201a extends from the pointer 201 as shown in FIG.
  • the parking direction may be designated by setting the direction of the arrow 201a using, for example, the arrow.
  • the display processing unit 33 may display the icon 202 indicating that the specification of the parking point is completed at the position of the parking point on the destination image as shown in FIG. Good.
  • an icon 202 representing the parking direction may be displayed as shown in FIG.
  • the icon 202 may be an image having a shape imitating the vehicle 1 (not shown, but the pointer 201 may have a shape imitating the vehicle 1).
  • the parking direction may be represented by the direction of the icon 202 shaped like the vehicle 1. That is, the direction of the icon 202 shaped like the vehicle 1 may be changed in accordance with the parking direction specified by the user.
  • the size of the icon 202 is reduced so that the size of the icon 202 imitating the vehicle 1 corresponds to the actual size of the vehicle 1 in the destination image.
  • the distance may be changed according to the distance from the shooting point of the destination image to the parking point. This makes it easier for the user to imagine the situation when the vehicle 1 is parked at the parking point. For example, it is more effective if the shape of the icon 202 is a 3D model of the own vehicle.
  • the display processing unit 33 displays the icon 202 when displaying the icon 202 in a parkable area on the destination image and when displaying the icon 202 in a non-parkable area on the destination image.
  • the mode may be changed.
  • FIG. 15 is a functional block diagram showing the configuration of the automatic driving control device 10.
  • the automatic driving control device 10 is connected to the communication device 21, the map information storage device 22, the GNSS receiver 23, the vehicle-mounted sensor 24, the vehicle-mounted camera 25, the vehicle driving device 26, and the route search device 27. Have been.
  • the communication device 21 is a communication unit for the automatic driving control device 10 to communicate with the information communication terminal 30 or an external server.
  • the map information storage device 22 is a storage medium in which map information is stored.
  • the map information storage device 22 may not be mounted on the vehicle 1 and may be configured as, for example, an external server that distributes map information to the automatic driving control device 10 by communication.
  • the GNSS receiver 23 calculates the current position of the vehicle 1 based on a positioning signal transmitted by a GNSS satellite such as a GPS satellite, for example.
  • the vehicle-mounted sensor 24 is a sensor that detects the position of a feature existing around the vehicle 1, and is, for example, an infrared sensor, a millimeter-wave radar, or the like.
  • the in-vehicle camera 25 is a camera that captures an image around the vehicle 1. In the present embodiment, the in-vehicle camera 25 is also used mainly for detecting the position of a feature existing around the vehicle 1.
  • the vehicle drive device 26 is an ECU (Electronic Control Unit) that controls the traveling of the vehicle 1.
  • the route search device 27 searches for a route from the current location of the vehicle 1 to the destination, and sets the detected route as a travel route of the vehicle 1.
  • the route search device 27 acquires information on the current position of the vehicle 1 from the GNSS receiver 23, and the route search is performed using the map information acquired from the map information storage device 22.
  • the map information storage device 22, the GNSS receiver 23, and the route search device 27 those provided in a navigation system (not shown) of the vehicle 1 may be used.
  • the automatic driving control device 10 includes a parking point image acquisition unit 11, a map information acquisition unit 12, an analysis unit 13, a vehicle position acquisition unit 14, a surrounding situation acquisition unit 15, and a vehicle control unit 16. .
  • the parking point image acquisition unit 11 transmits the data of the parking point image transmitted from the information communication terminal 30 of the user, that is, the data of the photographed image of the destination to which the information of the parking point of the vehicle 1 is added, via the communication device 21. To get.
  • the map information acquisition unit 12 acquires map information from the map information storage device 22.
  • the analysis unit 13 determines the position of the vehicle 1 on the map based on the data of the parking point image acquired by the parking point image acquisition unit 11 and the map information around the shooting position of the parking point image acquired by the map information acquisition unit 12. Identify destinations and parking points. That is, the analysis unit 13 analyzes the data of the parking point image and calculates the position (latitude, mild) of the destination in the parking point image on the map and the position (coordinate) of the parking point on the parking point image. Identify the corresponding map location (latitude, mild). The position of the destination on the map can be specified from the information of the photographing position included in the data of the parking point image, the position of the feature in the parking point image on the map, and the like.
  • the analysis unit 13 analyzes the parking point image, obtains the positional relationship between the parking point and the feature shown in the parking point image, and determines the position of the parking point on the map on the map of the feature. Identify from location. Thereby, a more accurate position of the parking point is specified.
  • the vehicle position acquisition unit 14 acquires information on the current position of the vehicle 1 from the GNSS receiver 23.
  • the surrounding situation acquisition unit 15 acquires information on the position of a feature existing around the vehicle 1 (relative position from the vehicle 1) based on the output of the on-vehicle sensor 24 and the image captured by the on-vehicle camera 25.
  • the vehicle control unit 16 includes an automatic traveling control unit 161 and an automatic parking control unit 162.
  • the automatic driving control unit 161 controls the vehicle driving device 26 based on the position of the vehicle 1 and the map information, and thereby executes automatic driving for driving the vehicle 1 to a destination parking point.
  • the automatic traveling control unit 161 first causes the route search device 27 to search for a route from the position of the vehicle 1 acquired by the vehicle position acquisition unit 14 to the parking point at the destination identified by the analysis unit 13, The detected route is set as the traveling route of the vehicle 1, and the vehicle driving device 26 is controlled to cause the vehicle 1 to travel along the traveling route.
  • the automatic parking control unit 162 performs automatic parking that parks the vehicle 1 at the parking point based on the position of a feature around the vehicle 1 after the vehicle 1 arrives at the destination parking point by automatic traveling. I do.
  • the automatic parking control unit 162 controls the vehicle 1 so that the positional relationship between the vehicle 1 and the surrounding features coincides with the positional relationship between the parking spot calculated by the analysis unit 13 and the features shown in the parking spot image. Induce. Note that, when the parking point image includes information on the parking direction, the automatic parking control unit 162 sets the direction of the vehicle 1 during parking to be the same as the parking direction when performing automatic parking.
  • FIG. 16 is a flowchart showing the operation of the automatic operation control device 10.
  • the operation of the automatic operation control device 10 will be described with reference to FIG.
  • Step S201 When the data of the parking spot image is transmitted from the information communication terminal 30, the data is received by the communication device 21, and is obtained by the parking spot image obtaining unit 11 of the automatic driving control device 10 (Step S201).
  • the analysis unit 13 determines the destination on the map based on the data of the parking point image acquired by the parking point image acquisition unit 11 and the map information around the shooting position of the parking point image acquired by the map information acquisition unit 12.
  • the position of the parking point is specified (Step S202).
  • the automatic traveling control unit 161 causes the route search device 27 to search for a route from the position of the vehicle 1 acquired by the vehicle position acquisition unit 14 to the destination parking point specified by the analysis unit 13 (Step S203). . Then, the automatic traveling control unit 161 sets the route detected in step S203 as the traveling route of the vehicle 1, and sets the vehicle so that the vehicle 1 travels along the traveling route based on the position and the map information of the vehicle 1. 1 is performed (step S204). During that time, the automatic traveling control unit 161 checks whether the vehicle 1 has arrived at the destination parking point (step S205). If the vehicle 1 has not arrived at the destination parking point (NO in step S205), the automatic traveling control unit 161 continues step S104.
  • step S206 automatic parking for parking the vehicle 1 at the parking point is performed. That is, the automatic parking control unit 162 guides the vehicle 1 such that the positional relationship between the vehicle 1 and the surrounding features matches the positional relationship between the parking spot and the features shown in the parking spot image. During that time, the automatic parking control unit 162 checks whether or not both match (step S207). If they do not match, it is determined that the automatic parking is not completed (NO in step S207), and step S206 is continuously performed. If they match, it is determined that automatic parking has been completed (YES in step S207), and the flow in FIG. 16 ends.
  • the automatic parking control unit 162 sets the direction of the vehicle 1 to the parking direction in step S206.
  • the automatic parking control unit 162 may transmit a parking completion notification to a predetermined information communication terminal when the automatic parking is completed.
  • the information communication terminal to which the parking completion notification is transmitted for example, the information communication terminal 30 of the user who is the transmission source of the parking point image, the portable terminal of the occupant of the vehicle 1, and the like are considered. For example, even when the user is away from the parking point, the user can know that the vehicle 1 has arrived at the parking point, and high convenience can be obtained.
  • an image of the periphery of the vehicle 1 taken by the vehicle-mounted camera 25 when the automatic parking is completed may be attached to the parking completion notification. From the image, the user can grasp that the vehicle 1 has arrived at the parking position, and the image can be a clue for the user to find the vehicle 1 parked at the parking point.
  • the destination on the map and the parking location are determined from the data of the parking location image which is the actual image of the destination to which the information on the parking location of the vehicle 1 is added. A point is specified. Therefore, the user can specify the parking spot on the actual image of the destination, and can intuitively and accurately specify the parking spot.
  • the data of the parking spot image includes an authentication key indicating the transmission source
  • the automatic driving control device 10 determines whether the transmission source of the parking spot image data is a predetermined regular transmission source. Authentication processing for confirming whether or not the authentication may be performed.
  • the automatic driving control device 10 permits the vehicle control unit 16 to perform the automatic traveling and the automatic parking only when the transmission source of the data of the parking spot image is a legitimate transmission source.
  • the information of the parking point image may include information that can specify the distance from the shooting position of the parking point image to the parking point specified by the user.
  • the distance from the shooting position to the subject is measured by using a distance sensor when the destination image is shot, and information on the distance from the shooting position to the subject is included in the data of the parking point image, so that the data from the shooting position to the parking point
  • the distance to the parking point on the image can be specified.
  • a distance image which is a real image in which the distance to the subject is represented by a color may be used as the destination image and the parking point image.
  • the data of the parking point image may include information that can specify the method of the parking point viewed from the shooting position of the parking point image. For example, when a destination image is captured, a shooting direction (the direction of the camera) is measured using an orientation sensor, and information of the shooting position and the shooting direction are included in the data of the parking point image, so that the parking point viewed from the shooting position is obtained.
  • the direction can be.
  • FIGS. 17 and 18 are diagrams illustrating examples of the hardware configuration of the automatic operation control device 10, respectively.
  • Each function of the components of the automatic operation control device 10 shown in FIG. 15 is realized by, for example, a processing circuit 50 shown in FIG. That is, the automatic driving control device 10 receives the data of the parking spot image which is the photographed image of the destination to which the information of the parking spot of the vehicle 1 is added, and displays the data on the map based on the data of the parking spot image and the map information.
  • the processing circuit 50 is provided for performing automatic parking for parking the vehicle 1 at a parking point based on the position of a nearby feature.
  • the processing circuit 50 may be dedicated hardware, or a processor that executes a program stored in a memory (a central processing unit (CPU), a processing unit, an arithmetic unit, a microprocessor, a microcomputer, It may be configured using a DSP (also called Digital Signal Processor).
  • the processing circuit 50 When the processing circuit 50 is dedicated hardware, the processing circuit 50 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable). Gate Array) or a combination of these.
  • Each function of the components of the automatic operation control device 10 may be realized by an individual processing circuit, or the functions may be realized by one processing circuit collectively.
  • FIG. 18 illustrates an example of a hardware configuration of the automatic operation control device 10 when the processing circuit 50 is configured using the processor 51 that executes a program.
  • the functions of the components of the automatic driving control device 10 are realized by software or the like (software, firmware, or a combination of software and firmware).
  • Software and the like are described as programs and stored in the memory 52.
  • the processor 51 realizes the function of each unit by reading and executing the program stored in the memory 52.
  • the automatic driving control device 10 when executed by the processor 51, the process of receiving the data of the parking point image which is the photographed image of the destination to which the information of the parking point of the vehicle 1 is added; Based on the data and the map information, a process of specifying a destination and a parking point on a map is performed, and based on the position and the map information of the vehicle 1, an automatic traveling that causes the vehicle 1 to travel to the destination parking point is performed.
  • the process and the process of performing automatic parking for parking the vehicle 1 at a parking point based on the position of a feature around the vehicle 1 after the vehicle 1 arrives at the destination are consequently executed.
  • a memory 52 for storing a program. In other words, it can be said that this program causes a computer to execute the procedure and method of operation of the components of the automatic driving control device 10.
  • the memory 52 is, for example, a non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, or any storage medium to be used in the future. You may.
  • a non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, or any storage medium to be used in
  • the present invention is not limited to this, and a configuration in which some components of the automatic driving control device 10 are realized by dedicated hardware, and another part of the components are realized by software or the like may be used.
  • the function is realized by a processing circuit 50 as dedicated hardware, and for other components, the processing circuit 50 as a processor 51 executes a program stored in a memory 52. The function can be realized by reading and executing.
  • the information communication terminal 30 shown in FIG. 2 is also realized by the hardware configuration shown in FIG. 17 and FIG.
  • the automatic driving control device 10 acquires a destination image which is a real image of the destination, displays the destination image on a screen, and performs a user operation.
  • the parking point of the vehicle 1 on the destination image is designated, the data of the parking point image which is the destination image to which the information of the parking point designated by the user is added is generated, and the data of the parking point image is transmitted to the vehicle 1.
  • a processing circuit 50 for transmitting is provided.
  • the automatic driving control device 10 acquires a destination image that is a real image of the destination when the processor 51 executes the processing.
  • a process of displaying a destination image on a screen, a process of specifying a parking point of the vehicle 1 on the destination image according to a user operation, and a parking point which is a destination image to which information of a parking point specified by the user is added.
  • a memory 52 is provided for storing a program that results in a process of generating image data and a process of transmitting parking point image data to the vehicle 1.
  • the automatic driving control device 10 and the information communication terminal 30 can realize the above-described functions by hardware, software, or the like, or a combination thereof.
  • Embodiment 2 The process performed by the analysis unit 13 of the automatic driving control device 10 (FIG. 15) according to Embodiment 1, that is, the process of specifying the destination and the parking point on the map from the data of the parking point image involves image analysis. Therefore, the calculation load is relatively large.
  • the processing may be performed by an external server or the information communication terminal 30. In the second embodiment, an example will be described in which the processing is performed on the information communication terminal 30 side.
  • FIG. 19 is a functional block diagram showing a configuration of the information communication terminal 30 according to Embodiment 2.
  • the configuration of the information communication terminal 30 in FIG. 19 is obtained by adding the map information acquisition unit 12, the analysis unit 13, and the map information storage device 22 illustrated in FIG. 15 to the configuration in FIG.
  • the analysis unit 13 is based on the data of the parking point image generated by the parking point image generation unit 35 and the map information around the shooting position of the parking point image acquired by the map information acquisition unit 12 from the map information storage device 22.
  • the destination and the parking point of the vehicle 1 on the map are specified. That is, the analysis unit 13 analyzes the data of the parking point image and calculates the position (latitude, mild) of the destination in the parking point image on the map and the position (coordinate) of the parking point on the parking point image. Identify the corresponding map location (latitude, mild).
  • the parking point image generation unit 35 adds information on the destination on the map and the position of the parking point to the data of the parking point image. Therefore, the information communication terminal 30 according to the second embodiment transmits to the automatic driving control device 10 of the vehicle 1 the data of the parking point image to which the information on the destination on the map and the position of the parking point is added.
  • the automatic driving control device 10 since the automatic driving control device 10 does not need to specify the position of the destination and the parking point on the map, the calculation load of the automatic driving control device 10 can be reduced.
  • the processing performed by the destination image acquisition unit 32, the display processing unit 33, the parking point designation unit 34, and the parking point image generation unit 35 of the information communication terminal 30 according to the first embodiment is described as an automatic driving control.
  • This can be performed by the device 10. That is, the automatic driving control device 10 according to the third embodiment specifies a process of acquiring a destination image, a process of presenting a destination image to a user, and a position of a parking point on the destination image according to a user operation. Processing and processing for generating a parking point image including information on the position of the parking point can be performed.
  • FIG. 20 is a functional block diagram showing a configuration of the automatic operation control device 10 according to the third embodiment.
  • the configuration of the automatic driving control device 10 in FIG. 20 is different from the configuration in FIG. 15 in that the destination image acquisition unit 32, the display processing unit 33, the parking point designation unit 34, the parking point image generation unit 35, and the display shown in FIG.
  • the device 42 and the operation input unit 43 are added.
  • the destination image acquisition unit 32 acquires a destination image through the communication device 21.
  • the acquisition of the destination image may be performed from an external server or from the information communication terminal 30 of the user.
  • the display processing unit 33 displays the destination image acquired by the destination image acquiring unit 32 on the screen of the display device 42.
  • the parking point specifying unit 34 specifies the position of the parking point of the vehicle 1 on the destination image (coordinates on the destination image) according to the operation of the operation input unit 43 by the user.
  • the parking point image generation unit 35 generates a parking point image by including information on the parking point specified by the user in the data of the destination image.
  • the destination image generated by the parking point image generation unit 35 is acquired by the parking point image acquisition unit 11, and thereafter, the same processing as that of the automatic driving control device 10 of the first embodiment is performed.
  • the acquisition of the destination image and the designation of the parking point image can be performed by the automatic driving control device 10, so that the user does not need to cooperate with the information communication terminal 30 to perform the operation.
  • Destinations and parking points can be specified. For example, when the user is in the vehicle 1 and wants to move the vehicle 1 to a destination parking point, high convenience can be obtained.
  • the embodiments can be freely combined, or the embodiments can be appropriately modified or omitted within the scope of the invention.

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Abstract

In this automatic driving control device (10), a parking spot image acquisition unit (11) receives parking spot image data consisting of a photographed image of a destination with attached information about a parking spot for a vehicle (1). An analysis unit (13) uses the parking spot image data and map information to specify the destination and the parking spot on a map. The automatic driving control unit (161) uses the position of the vehicle (1) and the map information to carry out automatic driving for driving the vehicle (1) to the parking spot at the destination. After the vehicle (1) arrives at the destination, an automatic parking control unit (162) carries out automatic parking for parking the vehicle (1) at the parking spot on the basis of the positions of objects around the vehicle (1).

Description

自動運転制御装置、情報通信端末、自動運転制御システム、自動運転制御方法および駐車地点の指定方法Automatic driving control device, information communication terminal, automatic driving control system, automatic driving control method, and method for specifying parking spot
　本発明は、ユーザが指定した駐車地点へ車両を誘導して駐車させる自動運転制御システムに関するものである。 The present invention relates to an automatic driving control system that guides a vehicle to a parking point designated by a user and parks the vehicle.
　ユーザが指定した駐車地点に車両を駐車させる自動運転制御システムが種々提案されている。例えば下記の特許文献１には、ユーザが携帯端末を用いて車両の駐車地点を指定したり、ユーザの位置（ユーザの携帯端末の位置）を駐車地点として指定したりできる自動運転制御システムが開示されている。 Various automatic driving control systems for parking a vehicle at a parking point designated by a user have been proposed. For example, Patent Literature 1 below discloses an automatic driving control system that allows a user to specify a parking point of a vehicle using a mobile terminal or to specify a position of a user (a position of the mobile terminal of the user) as a parking point. Have been.
特開２００８－９９１３号公報JP 2008-9913 A
　ユーザの現在位置を駐車地点として設定する方法では、ユーザは容易に駐車地点を指定できる。しかし、例えばユーザが駐車不可能な場所（例えば屋内や公園等）にいるときなど、ユーザの位置とは異なる場所を駐車地点として指定したいという要求もある。例えば、携帯端末に表示された地図上で駐車地点を指定する方法をとれば、ユーザは現在位置とは異なる場所を駐車地点として指定できる。しかしその方法では、ユーザは駐車地点にしたい場所を地図上で探す必要がある上、駐車地点を直観的かつ正確に指定することは難しい。 In the method of setting the current position of the user as a parking point, the user can easily specify the parking point. However, there is also a request to specify a location different from the user's position as a parking point, for example, when the user is in a place where parking is not possible (for example, indoors or a park). For example, if a method of designating a parking point on a map displayed on the mobile terminal is adopted, the user can designate a place different from the current position as a parking point. However, in that method, the user needs to find a place to be a parking point on a map, and it is difficult to intuitively and accurately specify the parking point.
　本発明は以上のような課題を解決するためになされたものであり、ユーザが直観的かつ正確に駐車地点を指定できる自動運転制御システムを提供することを目的とする。 The present invention has been made to solve the above-described problem, and has as its object to provide an automatic driving control system that allows a user to intuitively and accurately specify a parking point.
　本発明に係る自動運転制御装置は、車両の駐車地点の情報が付加された目的地の実写画像である駐車地点画像のデータを受信する駐車地点画像取得部と、地図情報を取得する地図情報取得部と、駐車地点画像のデータおよび地図情報に基づいて、地図上の目的地および駐車地点を特定する解析部と、車両の位置の情報を取得する車両位置取得部と、車両周辺の地物の位置を取得する周辺状況取得部と、車両の位置および地図情報に基づいて、車両を目的地の駐車地点まで走行させる自動走行を実施する自動走行制御部と、車両が目的地に到着した後に、車両周辺の地物の位置に基づいて、車両を駐車地点に駐車させる自動駐車を実施する自動駐車制御部と、を備えるものである。 An automatic driving control device according to the present invention includes a parking point image acquisition unit that receives data of a parking point image that is a photographed image of a destination to which information of a parking point of a vehicle is added, and a map information acquisition unit that acquires map information. Unit, an analysis unit that specifies a destination and a parking point on a map based on the data of the parking point image and the map information, a vehicle position obtaining unit that obtains information on the position of the vehicle, A surrounding situation acquisition unit that acquires a position, an automatic traveling control unit that performs automatic traveling that causes the vehicle to travel to a destination parking point based on the vehicle position and map information, and after the vehicle arrives at the destination, And an automatic parking control unit that performs automatic parking for parking the vehicle at a parking point based on the position of a feature around the vehicle.
　本発明に係る情報通信端末は、目的地の実写画像である目的地画像を取得する目的地画像取得部と、目的地画像を画面に表示する表示処理部と、ユーザの操作に従って、目的地画像上における車両の駐車地点を指定する駐車地点指定部と、ユーザが指定した駐車地点の情報を付加した目的地画像である駐車地点画像のデータを生成する駐車地点画像生成部と、駐車地点画像のデータを車両へ送信する駐車地点画像送信部と、を備えるものである。 An information communication terminal according to the present invention includes a destination image obtaining unit that obtains a destination image that is a real image of a destination, a display processing unit that displays a destination image on a screen, and a destination image that is operated by a user. A parking point specifying unit that specifies a parking point of the vehicle above, a parking point image generating unit that generates data of a parking point image that is a destination image to which information of the parking point specified by the user is added, and a parking point image generating unit. And a parking point image transmitting unit that transmits data to the vehicle.
　本発明に係る自動運転制御装置によれば、車両の駐車地点の情報が付加された目的地の実写画像である駐車地点画像のデータから、地図上の目的地および駐車地点が特定されるため、駐車地点の指定を目的地の実写画像上で行うことができる。よって、ユーザは直観的かつ正確に駐車地点を指定することができる。 According to the automatic driving control device according to the present invention, the destination and the parking point on the map are specified from the data of the parking point image which is the photographed image of the destination to which the information of the parking point of the vehicle is added. The designation of the parking point can be performed on the actual image of the destination. Therefore, the user can intuitively and accurately specify a parking point.
　本発明の目的、特徴、態様、および利点は、以下の詳細な説明と添付図面とによって、より明白となる。 The objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.
実施の形態１に係る自動運転制御システムの全体構成を示す図である。FIG. 1 is a diagram illustrating an entire configuration of an automatic driving control system according to a first embodiment. 実施の形態１に係る情報通信端末の構成を示す機能ブロック図である。FIG. 2 is a functional block diagram illustrating a configuration of the information communication terminal according to Embodiment 1. 実施の形態１に係る情報通信端末の動作を示すフローチャートである。5 is a flowchart showing an operation of the information communication terminal according to Embodiment 1. 情報通信端末が表示装置に表示させる画面の例を示す図である。FIG. 5 is a diagram illustrating an example of a screen displayed on the display device by the information communication terminal. 情報通信端末が表示装置に表示させる画面の例を示す図である。FIG. 5 is a diagram illustrating an example of a screen displayed on the display device by the information communication terminal. 情報通信端末が表示装置に表示する画面の例を示す図である。It is a figure showing an example of a screen which an information communication terminal displays on a display. 情報通信端末が表示装置に表示する画面の例を示す図である。It is a figure showing an example of a screen which an information communication terminal displays on a display. 情報通信端末が表示装置に表示する画面の例を示す図である。It is a figure showing an example of a screen which an information communication terminal displays on a display. 情報通信端末が表示装置に表示する画面の例を示す図である。It is a figure showing an example of a screen which an information communication terminal displays on a display. 情報通信端末が表示装置に表示する画面の例を示す図である。It is a figure showing an example of a screen which an information communication terminal displays on a display. 情報通信端末が表示装置に表示する画面の例を示す図である。It is a figure showing an example of a screen which an information communication terminal displays on a display. 情報通信端末が表示装置に表示する画面の例を示す図である。It is a figure showing an example of a screen which an information communication terminal displays on a display. 情報通信端末が表示装置に表示する画面の例を示す図である。It is a figure showing an example of a screen which an information communication terminal displays on a display. 情報通信端末が表示装置に表示する画面の例を示す図である。It is a figure showing an example of a screen which an information communication terminal displays on a display. 実施の形態１に係る自動運転制御装置の構成を示す機能ブロック図である。FIG. 2 is a functional block diagram illustrating a configuration of the automatic operation control device according to the first embodiment. 実施の形態１に係る自動運転制御装置の動作を示すフローチャートである。4 is a flowchart showing an operation of the automatic driving control device according to the first embodiment. 自動運転制御装置および情報通信端末のハードウェア構成の例を示す図である。FIG. 2 is a diagram illustrating an example of a hardware configuration of an automatic driving control device and an information communication terminal. 自動運転制御装置および情報通信端末のハードウェア構成の例を示す図である。FIG. 2 is a diagram illustrating an example of a hardware configuration of an automatic driving control device and an information communication terminal. 実施の形態２に係る情報通信端末の構成を示す機能ブロック図である。FIG. 9 is a functional block diagram illustrating a configuration of an information communication terminal according to Embodiment 2. 実施の形態３に係る情報通信端末の構成を示す機能ブロック図である。FIG. 13 is a functional block diagram illustrating a configuration of an information communication terminal according to Embodiment 3.
　＜実施の形態１＞
　図１は、実施の形態１に係る自動運転制御システムの全体構成を示す図である。図１に示すように、実施の形態１に係る自動運転制御システムは、車両１に搭載された自動運転制御装置１０と、ユーザ（主に車両１の運転者）が所有する情報通信端末３０とから構成される。 <Embodiment 1>
FIG. 1 is a diagram illustrating an entire configuration of the automatic driving control system according to the first embodiment. As shown in FIG. 1, the automatic driving control system according to the first embodiment includes an automatic driving control device 10 mounted on a vehicle 1 and an information communication terminal 30 owned by a user (mainly, a driver of the vehicle 1). Consists of
　まず、情報通信端末３０の詳細について説明する。図２は、情報通信端末３０の構成を示す機能ブロック図である。図１では省略されているが、情報通信端末３０には、カメラ４１、表示装置４２、操作入力部４３およびＧＮＳＳ（Global Navigation Satellite System）受信機４４が接続されている。なお、カメラ４１、表示装置４２、操作入力部４３およびＧＮＳＳ受信機４４のいずれか１つ以上は、情報通信端末３０に内蔵されていてもよい。例えば、情報通信端末３０が携帯電話やスマートフォンなどの携帯端として構成される場合には、カメラ４１、表示装置４２、操作入力部４３およびＧＮＳＳ受信機４４は、情報通信端末３０に内蔵されるであろう。 First, details of the information communication terminal 30 will be described. FIG. 2 is a functional block diagram showing the configuration of the information communication terminal 30. Although not shown in FIG. 1, the information communication terminal 30 is connected to a camera 41, a display device 42, an operation input unit 43, and a GNSS (Global Navigation Satellite System) receiver 44. One or more of the camera 41, the display device 42, the operation input unit 43, and the GNSS receiver 44 may be built in the information communication terminal 30. For example, when the information communication terminal 30 is configured as a portable terminal such as a mobile phone or a smartphone, the camera 41, the display device 42, the operation input unit 43, and the GNSS receiver 44 are built in the information communication terminal 30. There will be.
　カメラ４１は、ユーザが周辺の風景の実写画像（写真）を撮影するための撮像装置である。カメラ４１が撮影した実写画像は情報通信端末３０に入力される。 The camera 41 is an imaging device for the user to shoot a real image (photograph) of the surrounding scenery. The photographed image captured by the camera 41 is input to the information communication terminal 30.
　表示装置４２は、情報通信端末３０がユーザに情報を画像や文字で提示するためのユーザインタフェースであり、例えば液晶表示装置などで構成される。操作入力部４３は、ユーザが情報通信端末３０を操作するためのユーザインタフェースであり、例えばキーボード、マウス、操作レバー、タッチパッドなどのハードウェアキーでもよいし、画面に表示されるソフトウェアキーでもよい。例えば、操作入力部４３としてのソフトウェアキーを、表示装置４２の画面に表示させてもよく、その場合、表示装置４２および操作入力部４３は１つのタッチパネルとして構成される。本実施の形態では、表示装置４２および操作入力部４３がタッチパネル４０を構成している。以下の説明では、表示装置４２と操作入力部４３とを区別せずに「タッチパネル４０」という場合もある。 The display device 42 is a user interface for the information communication terminal 30 to present information to a user in an image or text, and is configured by, for example, a liquid crystal display device. The operation input unit 43 is a user interface for the user to operate the information communication terminal 30, and may be, for example, a hardware key such as a keyboard, a mouse, an operation lever, a touch pad, or a software key displayed on a screen. . For example, a software key as the operation input unit 43 may be displayed on the screen of the display device 42. In this case, the display device 42 and the operation input unit 43 are configured as one touch panel. In the present embodiment, the display device 42 and the operation input unit 43 constitute the touch panel 40. In the following description, the “touch panel 40” may be used without distinguishing the display device 42 and the operation input unit 43.
　ＧＮＳＳ受信機４４は、例えばＧＰＳ（Global Positioning System）衛星などのＧＮＳＳ衛星が送信する測位信号に基づいて、情報通信端末３０の位置を算出する。 The GNSS receiver 44 calculates the position of the information communication terminal 30 based on a positioning signal transmitted by a GNSS satellite such as a GPS (Global Positioning System) satellite, for example.
　図１のように、情報通信端末３０は、通信部３１、目的地画像取得部３２、表示処理部３３、駐車地点指定部３４、駐車地点画像生成部３５、駐車地点画像送信部３６および撮影位置取得部３７を備えている。 As shown in FIG. 1, the information communication terminal 30 includes a communication unit 31, a destination image acquisition unit 32, a display processing unit 33, a parking point designation unit 34, a parking point image generation unit 35, a parking point image transmission unit 36, and a shooting position. An acquisition unit 37 is provided.
　通信部３１は、情報通信端末３０が自動運転制御装置１０や外部のサーバ等との通信を行うための通信手段である。 The communication unit 31 is a communication unit for the information communication terminal 30 to communicate with the automatic driving control device 10 or an external server.
　目的地画像取得部３２は、ユーザが目的地として設定したい場所の実写画像である目的地画像を取得する。ユーザは、カメラ４１で撮影した実写画像を目的地画像としてもよいし、通信部３１を通して外部のサーバからダウンロードした画像を目的地画像としてもよい。ここで、目的地画像のデータには、付加情報として、目的地画像の撮影位置の情報が含まれているものとする。ユーザがカメラ４１で目的地画像を撮影した場合、目的地画像取得部３２は、撮影位置取得部３７から撮影時の情報通信端末３０の位置の情報を取得し、その情報を撮影位置の情報として、カメラ４１で撮影された目的地画像に付加する。 The destination image acquisition unit 32 acquires a destination image which is a real image of a place that the user wants to set as a destination. The user may use a photographed image captured by the camera 41 as a destination image or an image downloaded from an external server through the communication unit 31 as a destination image. Here, it is assumed that the data of the destination image includes information on the shooting position of the destination image as additional information. When the user shoots a destination image with the camera 41, the destination image obtaining unit 32 obtains information on the position of the information communication terminal 30 at the time of shooting from the shooting position obtaining unit 37, and uses that information as information on the shooting position. Is added to the destination image captured by the camera 41.
　表示処理部３３は、目的地画像取得部３２が取得した目的地画像を、表示装置４２の画面に表示させる。ユーザは、操作入力部４３を操作して、表示装置４２に表示された目的地画像上で、車両１を駐車させたい地点（以下「駐車地点」という）を指定することができる。駐車地点指定部３４は、この駐車地点の指定に係る処理を行う。すなわち、駐車地点指定部３４は、操作入力部４３に対するユーザの操作に従って、目的地画像上における車両１の駐車地点の位置（目的地画像上の座標）を指定する。 The display processing unit 33 displays the destination image acquired by the destination image acquiring unit 32 on the screen of the display device 42. The user can operate the operation input unit 43 to specify a point at which the vehicle 1 is to be parked (hereinafter referred to as “parking point”) on the destination image displayed on the display device 42. The parking point designation unit 34 performs a process related to the designation of the parking point. That is, the parking point specifying unit 34 specifies the position (coordinates on the destination image) of the parking point of the vehicle 1 on the destination image according to the operation of the operation input unit 43 by the user.
　駐車地点画像生成部３５は、ユーザが指定した駐車地点の情報を、さらなる付加情報として目的地画像のデータに含ませる。以下、駐車地点の情報が付加された目的地画像を、「駐車地点画像」という。 The parking point image generation unit 35 causes the information on the parking point designated by the user to be included in the data of the destination image as further additional information. Hereinafter, the destination image to which the information of the parking point is added is referred to as a “parking point image”.
　駐車地点画像送信部３６は、駐車地点画像生成部３５が生成した駐車地点画像のデータを、通信部３１を通して車両１の自動運転制御装置１０へ送信する処理を行う。 The parking point image transmitting unit 36 performs a process of transmitting the data of the parking point image generated by the parking point image generating unit 35 to the automatic driving control device 10 of the vehicle 1 through the communication unit 31.
　図３は、情報通信端末３０の動作を示すフローチャートである。以下、図３を参照しつつ、情報通信端末３０の動作を説明する。 FIG. 3 is a flowchart showing the operation of the information communication terminal 30. Hereinafter, the operation of the information communication terminal 30 will be described with reference to FIG.
　情報通信端末３０の起動後、ユーザが、カメラ４１で目的地画像を撮影、もしくは、外部のサーバから目的地画像をダウンロードすると、目的地画像取得部３２がその目的地画像を取得する（ステップＳ１０１）。カメラ４１で撮影された目的地画像には、撮影位置取得部３７がＧＮＳＳ受信機４４から取得した撮影位置の情報が付加される。サーバからダウンロードした目的地画像には、予め撮影位置の情報が付加されている。 After the information communication terminal 30 is activated, when the user takes a destination image with the camera 41 or downloads a destination image from an external server, the destination image acquisition unit 32 acquires the destination image (step S101). ). The information of the photographing position acquired by the photographing position acquiring unit 37 from the GNSS receiver 44 is added to the destination image photographed by the camera 41. The destination image downloaded from the server is added with information on the shooting position in advance.
　次に、表示処理部３３が、目的地画像取得部３２が取得した目的地画像をタッチパネル４０に表示させる（ステップＳ１０２）。図４に、タッチパネル４０に表示された目的地画像の例を示す。 Next, the display processing unit 33 causes the touch panel 40 to display the destination image acquired by the destination image acquiring unit 32 (Step S102). FIG. 4 shows an example of the destination image displayed on the touch panel 40.
　ユーザが、タッチパネル４０に表示された目的地画像にタッチすると、駐車地点指定部３４は、そのタッチ位置を車両１の駐車地点として指定する（ステップＳ１０３）。このとき、表示処理部３３は、図５のように、ユーザが指し示す位置を表すポインタ２０１を目的地画像上に表示させるとよい。また、駐車地点指定部３４は、駐車地点を確定する前に、図５のように、ユーザが指定した地点を駐車地点として決定してよいか否か、ユーザに問い合わせてもよい。これにより、誤操作によってユーザの意図とは異なる地点が駐車地点として設定されることを防止できる。 When the user touches the destination image displayed on the touch panel 40, the parking point specifying unit 34 specifies the touched position as the parking point of the vehicle 1 (Step S103). At this time, the display processing unit 33 may display the pointer 201 indicating the position pointed by the user on the destination image as shown in FIG. In addition, the parking point specifying unit 34 may inquire the user whether or not the point specified by the user may be determined as the parking point as shown in FIG. 5 before the parking point is determined. This can prevent a point different from the user's intention from being set as a parking point due to an erroneous operation.
　ユーザが駐車地点を指定すると、駐車地点指定部３４は、その駐車地点が駐車可能な領域内に位置しているか否かを確認する（ステップＳ１０４）。ユーザが指定した駐車地点が駐車可能な領域か否かの判断方法は、任意の方法でよい。例えば、目的地画像から道路や駐車場など一般的に駐車可能な場所が写った領域を抽出し、駐車地点の位置（座標）がその領域内にあるか否かを判断する方法でもよい。また、目的地画像を解析して、目的地画像上の駐車地点の位置（座標）に対応する地図上の位置（緯度、軽度）を求め、駐車地点が地図上の駐車可能な領域内に位置するか否か判断する方法でもよい。 When the user specifies a parking point, the parking point specifying unit 34 checks whether or not the parking point is located within a parking area (step S104). Any method may be used to determine whether or not the parking point designated by the user is a parking area. For example, a method may be used in which a region where a generally parkable place such as a road or a parking lot is captured is extracted from the destination image, and it is determined whether or not the position (coordinates) of the parking point is within the region. In addition, by analyzing the destination image, the position (latitude, mildness) on the map corresponding to the position (coordinates) of the parking point on the destination image is obtained, and the parking point is located within the parking area on the map. A method of determining whether or not to do so may be used.
　ユーザが指定した駐車地点が駐車可能な領域内に位置していなければ（ステップＳ１０４でＮＯ）、駐車地点指定部３４は、図６のようにユーザに対する警告を行い（ステップＳ１０５）、ステップＳ１０３へ戻って、ユーザに駐車地点の指定をやり直させる。警告は、図６のような表示による警告に限られず、音声による警告や、振動による警告でもよい。 If the parking point specified by the user is not located in the area where parking is possible (NO in step S104), the parking point specifying unit 34 warns the user as shown in FIG. 6 (step S105), and proceeds to step S103. Return and let the user redo the designation of the parking point. The warning is not limited to the warning by the display as shown in FIG. 6, but may be a warning by sound or a warning by vibration.
　一方、ユーザが指定した駐車地点が駐車可能な領域内に位置していれば（ステップＳ１０４でＹＥＳ）、駐車地点画像生成部３５が、その駐車地点の情報を目的地画像に付加することで、駐車地点画像を生成する（ステップＳ１０６）。 On the other hand, if the parking point specified by the user is located within the area where parking is possible (YES in step S104), the parking point image generation unit 35 adds the information of the parking point to the destination image, A parking point image is generated (Step S106).
　そして、駐車地点画像送信部３６が、駐車地点画像生成部３５が生成した駐車地点画像のデータを、通信部３１を用いて車両１の自動運転制御装置１０へと送信する（ステップＳ１０７）。このとき、駐車地点画像送信部３６は、駐車地点画像を送信する前に、図７のように、送信を許可するか否かをユーザに問い合わせてもよい。後述するように、駐車地点画像の送信は、車両１の駐車地点への移動を開始させるトリガとなる。そのため、図７の例では、駐車地点画像の送信を許可するか否かを、「駐車地点へ車両を移動させますか？」という表現で問い合わせている。 Then, the parking point image transmitting unit 36 transmits the data of the parking point image generated by the parking point image generating unit 35 to the automatic driving control device 10 of the vehicle 1 using the communication unit 31 (Step S107). At this time, before transmitting the parking point image, the parking point image transmitting unit 36 may inquire the user whether to permit the transmission as shown in FIG. As will be described later, the transmission of the parking point image serves as a trigger for starting the movement of the vehicle 1 to the parking point. Therefore, in the example of FIG. 7, an inquiry is made as to whether or not to permit transmission of the parking point image by the expression “Do you want to move the vehicle to the parking point?”.
　図３のフローでは、ユーザが駐車地点を指定した後に、指定された駐車地点が駐車可能な領域内に位置しているか否かを判断する例を示した。しかし、目的地画像上の駐車可能な領域と駐車不可能な領域とを、ユーザが駐車地点を指定する前に抽出しておき、ユーザが駐車不可能な領域を駐車地点として指定できないようにしてもよい。その場合、図３のステップＳ１０４，Ｓ１０５の処理は不要になる。 (3) In the flow of FIG. 3, an example has been described in which, after the user specifies a parking point, it is determined whether or not the specified parking point is located within a parking area. However, the parkable area and the non-parkable area on the destination image are extracted before the user specifies the parking point, and the user cannot specify the non-parkable area as the parking point. Is also good. In that case, the processing of steps S104 and S105 in FIG. 3 becomes unnecessary.
　ユーザが駐車不可能な領域を駐車地点として指定できないようにする場合、例えば図８のように、ユーザが目的地画像上の駐車不可能な領域にタッチしたときにポインタ２０１を非表示にするなどして、タッチした位置を駐車地点として指定できないことをユーザが認識できるようにすることが好ましい。 To prevent the user from designating a non-parkable area as a parking point, for example, hide the pointer 201 when the user touches a non-parkable area on the destination image as shown in FIG. Then, it is preferable that the user can recognize that the touched position cannot be designated as the parking point.
　あるいは、図９のように、ユーザが目的地画像上の駐車不可能な領域にタッチしたときに、ユーザがタッチした位置から最も近い駐車可能な地点にポインタ２０１を表示し、その地点が駐車地点として指定されるようにしてもよい。このとき、ポインタ２０１の色を通常時とは異なる色にしたり、ポインタ２０１を点滅表示させたりするなどして、ユーザのタッチ位置とは異なる位置が駐車地点として指定されることを、ユーザが認識できるようにすることが好ましい。 Alternatively, as shown in FIG. 9, when the user touches a non-parkable area on the destination image, the pointer 201 is displayed at a parking available point closest to the position touched by the user, and that point is displayed as a parking point. May be specified. At this time, the user recognizes that a position different from the user's touch position is designated as a parking point, for example, by changing the color of the pointer 201 to a color different from the normal state or blinking the pointer 201. It is preferable to be able to do so.
　また、図１０のように、表示処理部３３は、目的地画像における駐車可能な領域と駐車不可能な領域とを互いに異なる表示態様にしてもよい。図１０の例では、駐車不可能な領域に半透過画像を重畳させることで、駐車不可能な領域の表示態様を変化させている。これにより、ユーザが駐車不可能な領域を駐車地点として指定することを防止できる。 As illustrated in FIG. 10, the display processing unit 33 may set the display area of the destination image different from the display area of the parkable area and the non-parkable area. In the example of FIG. 10, the display mode of the non-parkable area is changed by superimposing a semi-transparent image on the non-parkable area. Thus, it is possible to prevent the user from designating an unparkable area as a parking point.
　上の説明では、ユーザが車両１の駐車地点の位置のみを指定する例を示したが、さらに、駐車時の車両１の向き（以下「駐車方向」という）も指定できるようにしてもよい。その場合、駐車地点画像生成部３５は、駐車地点の位置の情報だけでなく、駐車方向の情報も、付加情報として駐車地点画像のデータに含ませる。またその際、交通法規に反した向き（例えば一方通行の道路を逆走する向き）を、駐車方向として指定できないようにするとよい。 In the above description, an example in which the user specifies only the position of the parking point of the vehicle 1 has been described, but the user may also be able to specify the direction of the vehicle 1 during parking (hereinafter, referred to as “parking direction”). In this case, the parking point image generation unit 35 includes not only the information on the position of the parking point but also the information on the parking direction in the data of the parking point image as additional information. At this time, it is preferable that a direction contrary to traffic regulations (for example, a direction of reverse running on a one-way road) cannot be designated as a parking direction.
　例えば、図１１のように、ユーザがタッチパネル４０に表示された目的地画像上でスワイプ操作をすると、スワイプ操作の始点または終点が駐車地点として指定され、スワイプ操作の方向が駐車方向として指定されるようにしてもよい。あるいは、ユーザがタッチパネル４０に表示された目的地画像上でタップ操作すると、タップ操作の位置が駐車地点として指定されるとともに、図１２のように、ポインタ２０１から矢印２０１ａが延び、ユーザがスワイプ操作などで矢印２０１ａの向きを設定することで、駐車方向を指定できるようにしてもよい。 For example, as shown in FIG. 11, when the user performs a swipe operation on the destination image displayed on the touch panel 40, the start point or the end point of the swipe operation is specified as a parking point, and the direction of the swipe operation is specified as the parking direction. You may do so. Alternatively, when the user performs a tap operation on the destination image displayed on the touch panel 40, the position of the tap operation is designated as a parking point, and an arrow 201a extends from the pointer 201 as shown in FIG. The parking direction may be designated by setting the direction of the arrow 201a using, for example, the arrow.
　ユーザにより駐車地点が指定された後、表示処理部３３が、図１３のように、駐車地点の指定が完了したことを示すアイコン２０２を、目的地画像上の駐車地点の位置に表示させてもよい。特に、ユーザが駐車方向を指定した場合には、図１３のように駐車方向を表す形態のアイコン２０２を表示させるとよい。 After the parking point is specified by the user, the display processing unit 33 may display the icon 202 indicating that the specification of the parking point is completed at the position of the parking point on the destination image as shown in FIG. Good. In particular, when the user specifies a parking direction, an icon 202 representing the parking direction may be displayed as shown in FIG.
　また、図１４のように、アイコン２０２を、車両１を模した形状の画像としてもよい（図示は省略するが、ポインタ２０１を、車両１を模した形状としてもよい）。特に、ユーザが駐車方向を指定した場合には、車両１を模した形状のアイコン２０２の向きによって、駐車方向を表してもよい。つまり、車両１を模した形状のアイコン２０２の向きが、ユーザが指定した駐車方向に合わせて変化するようにしてもよい。 Also, as shown in FIG. 14, the icon 202 may be an image having a shape imitating the vehicle 1 (not shown, but the pointer 201 may have a shape imitating the vehicle 1). In particular, when the user specifies the parking direction, the parking direction may be represented by the direction of the icon 202 shaped like the vehicle 1. That is, the direction of the icon 202 shaped like the vehicle 1 may be changed in accordance with the parking direction specified by the user.
　さらに、車両１を模した形状のアイコン２０２のサイズが、目的地画像内での車両１の実際の大きさに相当するものとなるように、アイコン２０２のサイズを、目的地画像の縮尺や、目的地画像の撮影地点から駐車地点までの距離などに応じて変化させてもよい。それにより、ユーザは、駐車地点に車両１が駐車されたときの状況をイメージしやすくなる。例えばアイコン２０２の形状を自車の３Ｄモデルとすると一層効果的である。 Further, the size of the icon 202 is reduced so that the size of the icon 202 imitating the vehicle 1 corresponds to the actual size of the vehicle 1 in the destination image. The distance may be changed according to the distance from the shooting point of the destination image to the parking point. This makes it easier for the user to imagine the situation when the vehicle 1 is parked at the parking point. For example, it is more effective if the shape of the icon 202 is a 3D model of the own vehicle.
　また、表示処理部３３は、アイコン２０２を目的地画像上の駐車可能な領域に表示させるときと、アイコン２０２を目的地画像上の駐車不可能な領域に表示させるときとで、アイコン２０２の表示態様を変化させてもよい。 In addition, the display processing unit 33 displays the icon 202 when displaying the icon 202 in a parkable area on the destination image and when displaying the icon 202 in a non-parkable area on the destination image. The mode may be changed.
　次に、車両１に搭載される自動運転制御装置１０の詳細について説明する。図１５は、自動運転制御装置１０の構成を示す機能ブロック図である。図１では省略されているが、自動運転制御装置１０は、通信装置２１、地図情報記憶装置２２、ＧＮＳＳ受信機２３、車載センサ２４、車載カメラ２５、車両駆動装置２６および経路探索装置２７に接続されている。 Next, details of the automatic driving control device 10 mounted on the vehicle 1 will be described. FIG. 15 is a functional block diagram showing the configuration of the automatic driving control device 10. Although not shown in FIG. 1, the automatic driving control device 10 is connected to the communication device 21, the map information storage device 22, the GNSS receiver 23, the vehicle-mounted sensor 24, the vehicle-mounted camera 25, the vehicle driving device 26, and the route search device 27. Have been.
　通信装置２１は、自動運転制御装置１０が情報通信端末３０や外部のサーバ等との通信を行うための通信手段である。地図情報記憶装置２２は、地図情報が記憶された記憶媒体である。地図情報記憶装置２２は、車両１に搭載されていなくてもよく、例えば、通信により地図情報を自動運転制御装置１０に配信する外部のサーバとして構成されていてもよい。ＧＮＳＳ受信機２３は、例えばＧＰＳ衛星などのＧＮＳＳ衛星が送信する測位信号に基づいて、車両１の現在位置を算出する。 The communication device 21 is a communication unit for the automatic driving control device 10 to communicate with the information communication terminal 30 or an external server. The map information storage device 22 is a storage medium in which map information is stored. The map information storage device 22 may not be mounted on the vehicle 1 and may be configured as, for example, an external server that distributes map information to the automatic driving control device 10 by communication. The GNSS receiver 23 calculates the current position of the vehicle 1 based on a positioning signal transmitted by a GNSS satellite such as a GPS satellite, for example.
　車載センサ２４は、車両１の周辺に存在する地物の位置を検出するセンサであり、例えば、赤外線センサ、ミリ波レーダなどである。車載カメラ２５は、車両１の周辺を撮影するカメラである。本実施の形態では、車載カメラ２５も、主に車両１の周辺に存在する地物の位置を検出するために用いられる。車両駆動装置２６は、車両１の走行を制御するＥＣＵ（Electronic Control Unit）である。 The vehicle-mounted sensor 24 is a sensor that detects the position of a feature existing around the vehicle 1, and is, for example, an infrared sensor, a millimeter-wave radar, or the like. The in-vehicle camera 25 is a camera that captures an image around the vehicle 1. In the present embodiment, the in-vehicle camera 25 is also used mainly for detecting the position of a feature existing around the vehicle 1. The vehicle drive device 26 is an ECU (Electronic Control Unit) that controls the traveling of the vehicle 1.
　経路探索装置２７は、車両１の現在地から目的地までの経路を探索し、検出された経路を車両１の走行経路として設定する。経路探索装置２７は、車両１の現在位置の情報をＧＮＳＳ受信機２３から取得し、経路の探索は、地図情報記憶装置２２から取得した地図情報を用いて行われる。地図情報記憶装置２２、ＧＮＳＳ受信機２３および経路探索装置２７は、車両１のナビゲーションシステム（不図示）が備えるものを利用してもよい。 The route search device 27 searches for a route from the current location of the vehicle 1 to the destination, and sets the detected route as a travel route of the vehicle 1. The route search device 27 acquires information on the current position of the vehicle 1 from the GNSS receiver 23, and the route search is performed using the map information acquired from the map information storage device 22. As the map information storage device 22, the GNSS receiver 23, and the route search device 27, those provided in a navigation system (not shown) of the vehicle 1 may be used.
　図１５のように、自動運転制御装置１０は、駐車地点画像取得部１１、地図情報取得部１２、解析部１３、車両位置取得部１４、周辺状況取得部１５および車両制御部１６を備えている。 As shown in FIG. 15, the automatic driving control device 10 includes a parking point image acquisition unit 11, a map information acquisition unit 12, an analysis unit 13, a vehicle position acquisition unit 14, a surrounding situation acquisition unit 15, and a vehicle control unit 16. .
　駐車地点画像取得部１１は、ユーザの情報通信端末３０から送信された駐車地点画像のデータ、すなわち車両１の駐車地点の情報が付加された目的地の実写画像のデータを、通信装置２１を介して取得する。地図情報取得部１２は、地図情報記憶装置２２から地図情報を取得する。 The parking point image acquisition unit 11 transmits the data of the parking point image transmitted from the information communication terminal 30 of the user, that is, the data of the photographed image of the destination to which the information of the parking point of the vehicle 1 is added, via the communication device 21. To get. The map information acquisition unit 12 acquires map information from the map information storage device 22.
　解析部１３は、駐車地点画像取得部１１が取得した駐車地点画像のデータと、地図情報取得部１２が取得した駐車地点画像の撮影位置周辺の地図情報とに基づいて、地図上の車両１の目的地および駐車地点を特定する。つまり、解析部１３は、駐車地点画像のデータを解析して、駐車地点画像に写った目的地の地図上の位置（緯度、軽度）と、駐車地点画像上の駐車地点の位置（座標）に対応する地図上の位置（緯度、軽度）を特定する。目的地の地図上の位置は、駐車地点画像のデータに含まれる撮影位置の情報、駐車地点画像に写っている地物の地図上の位置などから特定できる。また、解析部１３は、駐車地点画像を解析して、駐車地点と駐車地点画像に写った地物との位置関係とを求め、地図上の駐車地点の位置を、当該地物の地図上の位置とから特定する。それにより、駐車地点のより正確な位置が特定される。 The analysis unit 13 determines the position of the vehicle 1 on the map based on the data of the parking point image acquired by the parking point image acquisition unit 11 and the map information around the shooting position of the parking point image acquired by the map information acquisition unit 12. Identify destinations and parking points. That is, the analysis unit 13 analyzes the data of the parking point image and calculates the position (latitude, mild) of the destination in the parking point image on the map and the position (coordinate) of the parking point on the parking point image. Identify the corresponding map location (latitude, mild). The position of the destination on the map can be specified from the information of the photographing position included in the data of the parking point image, the position of the feature in the parking point image on the map, and the like. In addition, the analysis unit 13 analyzes the parking point image, obtains the positional relationship between the parking point and the feature shown in the parking point image, and determines the position of the parking point on the map on the map of the feature. Identify from location. Thereby, a more accurate position of the parking point is specified.
　車両位置取得部１４は、ＧＮＳＳ受信機２３から車両１の現在位置の情報を取得する。周辺状況取得部１５は、車載センサ２４の出力や車載カメラ２５が撮影した画像に基づいて、車両１の周辺に存在する地物の位置（車両１からの相対位置）の情報を取得する。 The vehicle position acquisition unit 14 acquires information on the current position of the vehicle 1 from the GNSS receiver 23. The surrounding situation acquisition unit 15 acquires information on the position of a feature existing around the vehicle 1 (relative position from the vehicle 1) based on the output of the on-vehicle sensor 24 and the image captured by the on-vehicle camera 25.
　車両制御部１６は、自動走行制御部１６１と自動駐車制御部１６２とを備えている。自動走行制御部１６１は、車両１の位置および地図情報に基づいて車両駆動装置２６を制御することで、車両１を目的地の駐車地点まで走行させる自動走行を実施する。具体的には、自動走行制御部１６１は、まず、車両位置取得部１４が取得した車両１の位置から解析部１３が特定した目的地の駐車地点までの経路を経路探索装置２７に探索させ、検出された経路を車両１の走行経路として設定し、車両駆動装置２６を制御して車両１を走行経路に沿って走行させる。 The vehicle control unit 16 includes an automatic traveling control unit 161 and an automatic parking control unit 162. The automatic driving control unit 161 controls the vehicle driving device 26 based on the position of the vehicle 1 and the map information, and thereby executes automatic driving for driving the vehicle 1 to a destination parking point. Specifically, the automatic traveling control unit 161 first causes the route search device 27 to search for a route from the position of the vehicle 1 acquired by the vehicle position acquisition unit 14 to the parking point at the destination identified by the analysis unit 13, The detected route is set as the traveling route of the vehicle 1, and the vehicle driving device 26 is controlled to cause the vehicle 1 to travel along the traveling route.
　一方、自動駐車制御部１６２は、車両１が自動走行によって目的地の駐車地点に到着した後に、車両１の周辺の地物の位置に基づいて、車両１を駐車地点に駐車させる自動駐車を実施する。自動駐車制御部１６２は、車両１と周辺の地物との位置関係が、解析部１３が求めた駐車地点と駐車地点画像に写った地物との位置関係と一致するように、車両１を誘導する。なお、駐車地点画像に駐車方向の情報が含まれている場合には、自動駐車制御部１６２は、自動駐車を行う際、駐車時の車両１の向きをその駐車方向と同じにする。 On the other hand, the automatic parking control unit 162 performs automatic parking that parks the vehicle 1 at the parking point based on the position of a feature around the vehicle 1 after the vehicle 1 arrives at the destination parking point by automatic traveling. I do. The automatic parking control unit 162 controls the vehicle 1 so that the positional relationship between the vehicle 1 and the surrounding features coincides with the positional relationship between the parking spot calculated by the analysis unit 13 and the features shown in the parking spot image. Induce. Note that, when the parking point image includes information on the parking direction, the automatic parking control unit 162 sets the direction of the vehicle 1 during parking to be the same as the parking direction when performing automatic parking.
　図１６は、自動運転制御装置１０の動作を示すフローチャートである。以下、図１６を参照しつつ、自動運転制御装置１０の動作を説明する。 FIG. 16 is a flowchart showing the operation of the automatic operation control device 10. Hereinafter, the operation of the automatic operation control device 10 will be described with reference to FIG.
　情報通信端末３０から駐車地点画像のデータが送信されると、そのデータは通信装置２１により受信され、自動運転制御装置１０の駐車地点画像取得部１１に取得される（ステップＳ２０１）。 When the data of the parking spot image is transmitted from the information communication terminal 30, the data is received by the communication device 21, and is obtained by the parking spot image obtaining unit 11 of the automatic driving control device 10 (Step S201).
　解析部１３は、駐車地点画像取得部１１が取得した駐車地点画像のデータと、地図情報取得部１２が取得した駐車地点画像の撮影位置周辺の地図情報とに基づいて、地図上の目的地および駐車地点の位置を特定する（ステップＳ２０２）。 The analysis unit 13 determines the destination on the map based on the data of the parking point image acquired by the parking point image acquisition unit 11 and the map information around the shooting position of the parking point image acquired by the map information acquisition unit 12. The position of the parking point is specified (Step S202).
　次に、自動走行制御部１６１は、車両位置取得部１４が取得した車両１の位置から解析部１３が特定した目的地の駐車地点までの経路を、経路探索装置２７に探索させる（ステップＳ２０３）。そして、自動走行制御部１６１は、ステップＳ２０３で検出された経路を車両１の走行経路に設定し、車両１の位置および地図情報に基づいて、車両１が走行経路に沿って走行するように車両１の自動走行を実施する（ステップＳ２０４）。その間、自動走行制御部１６１は、車両１が目的地の駐車地点に到着したか否かを確認する（ステップＳ２０５）。車両１が目的地の駐車地点に到着していなければ（ステップＳ２０５でＮＯ）、自動走行制御部１６１はステップＳ１０４を継続する。 Next, the automatic traveling control unit 161 causes the route search device 27 to search for a route from the position of the vehicle 1 acquired by the vehicle position acquisition unit 14 to the destination parking point specified by the analysis unit 13 (Step S203). . Then, the automatic traveling control unit 161 sets the route detected in step S203 as the traveling route of the vehicle 1, and sets the vehicle so that the vehicle 1 travels along the traveling route based on the position and the map information of the vehicle 1. 1 is performed (step S204). During that time, the automatic traveling control unit 161 checks whether the vehicle 1 has arrived at the destination parking point (step S205). If the vehicle 1 has not arrived at the destination parking point (NO in step S205), the automatic traveling control unit 161 continues step S104.
　車両１が目的地の駐車地点に到着すると（ステップＳ２０５でＹＥＳ）、自動走行制御部１６１の動作が終了し、続いて、自動駐車制御部１６２が、車両１の周辺の地物の位置に基づいて、車両１を駐車地点に駐車させる自動駐車を実施する（ステップＳ２０６）。すなわち、自動駐車制御部１６２は、車両１と周辺の地物との位置関係が、駐車地点と駐車地点画像に写った地物との位置関係と一致するように、車両１を誘導する。その間、自動駐車制御部１６２は、両者が一致するか否かを確認する（ステップＳ２０７）。両者が一致しなければ、自動駐車が未完了と判断され（ステップＳ２０７でＮＯ）、ステップＳ２０６が継続して行われる。両者が一致すれば、自動駐車が完了したと判断されて（ステップＳ２０７でＹＥＳ）、図１６のフローが終了する。 When the vehicle 1 arrives at the parking point at the destination (YES in step S205), the operation of the automatic driving control unit 161 ends, and the automatic parking control unit 162 subsequently performs the operation based on the position of the feature around the vehicle 1. Then, automatic parking for parking the vehicle 1 at the parking point is performed (step S206). That is, the automatic parking control unit 162 guides the vehicle 1 such that the positional relationship between the vehicle 1 and the surrounding features matches the positional relationship between the parking spot and the features shown in the parking spot image. During that time, the automatic parking control unit 162 checks whether or not both match (step S207). If they do not match, it is determined that the automatic parking is not completed (NO in step S207), and step S206 is continuously performed. If they match, it is determined that automatic parking has been completed (YES in step S207), and the flow in FIG. 16 ends.
　なお、駐車地点画像に駐車方向の情報が含まれている場合には、自動駐車制御部１６２は、ステップＳ２０６において、車両１の向きをその駐車方向と同じにする。 If the parking point image includes information on the parking direction, the automatic parking control unit 162 sets the direction of the vehicle 1 to the parking direction in step S206.
　また、自動駐車制御部１６２は、自動駐車が完了したときに、予め定められた情報通信端末へ駐車完了通知を送信してもよい。駐車完了通知の送信先とする情報通信端末としては、例えば、駐車地点画像の送信元であるユーザの情報通信端末３０や、車両１の搭乗者の携帯端末などが考えられる。例えばユーザが駐車地点から離れた場所にいる場合でも、ユーザが車両１の駐車地点への到着を知ることができ、高い利便性が得られる。 The automatic parking control unit 162 may transmit a parking completion notification to a predetermined information communication terminal when the automatic parking is completed. As the information communication terminal to which the parking completion notification is transmitted, for example, the information communication terminal 30 of the user who is the transmission source of the parking point image, the portable terminal of the occupant of the vehicle 1, and the like are considered. For example, even when the user is away from the parking point, the user can know that the vehicle 1 has arrived at the parking point, and high convenience can be obtained.
　さらに、駐車完了通知には、自動駐車が完了したときに車載カメラ２５で撮影した車両１の周辺の画像を添付してもよい。当該画像により、ユーザは車両１が駐車位置に到着したことを把握でき、また、当該画像は、ユーザが駐車地点に駐車された車両１を見つける際の手掛かりにもなる。 Furthermore, an image of the periphery of the vehicle 1 taken by the vehicle-mounted camera 25 when the automatic parking is completed may be attached to the parking completion notification. From the image, the user can grasp that the vehicle 1 has arrived at the parking position, and the image can be a clue for the user to find the vehicle 1 parked at the parking point.
　このように、本実施の形態に係る自動運転制御システムによれば、車両１の駐車地点の情報が付加された目的地の実写画像である駐車地点画像のデータから、地図上の目的地および駐車地点が特定される。そのため、ユーザは、駐車地点の指定を目的地の実写画像上で行うことができ、直観的かつ正確に駐車地点を指定することが可能になる。 As described above, according to the automatic driving control system according to the present embodiment, the destination on the map and the parking location are determined from the data of the parking location image which is the actual image of the destination to which the information on the parking location of the vehicle 1 is added. A point is specified. Therefore, the user can specify the parking spot on the actual image of the destination, and can intuitively and accurately specify the parking spot.
　なお、セキュリティの観点から、駐車地点画像のデータに送信元を示す認証キーを含ませて、自動運転制御装置１０が、駐車地点画像のデータの送信元が予め定められた正規の送信元か否かを確認する認証処理を行ってもよい。その場合、自動運転制御装置１０は、駐車地点画像のデータの送信元が正規の送信元である場合に限り、車両制御部１６による自動走行および自動駐車の実施を許可する。 In addition, from the viewpoint of security, the data of the parking spot image includes an authentication key indicating the transmission source, and the automatic driving control device 10 determines whether the transmission source of the parking spot image data is a predetermined regular transmission source. Authentication processing for confirming whether or not the authentication may be performed. In this case, the automatic driving control device 10 permits the vehicle control unit 16 to perform the automatic traveling and the automatic parking only when the transmission source of the data of the parking spot image is a legitimate transmission source.
　また、駐車地点画像のデータに、駐車地点画像の撮影位置からユーザが指定した駐車地点までの距離を特定可能な情報を含ませてもよい。例えば、目的地画像の撮影時に距離センサを用いて撮影位置から被写体までの距離を測定し、駐車地点画像のデータに撮影位置から被写体までの距離の情報を含ませることで、撮影位置から駐車地点画像上の駐車地点までの距離を特定することができる。またその場合、色によって被写体までの距離を表した実写画像である距離画像を、目的地画像および駐車地点画像として使用してもよい。駐車地点画像の撮影位置から駐車地点までの距離を特定されることで、解析部１３による駐車地点を特定処理が容易になり、処理負荷の低減が期待できる。 The information of the parking point image may include information that can specify the distance from the shooting position of the parking point image to the parking point specified by the user. For example, the distance from the shooting position to the subject is measured by using a distance sensor when the destination image is shot, and information on the distance from the shooting position to the subject is included in the data of the parking point image, so that the data from the shooting position to the parking point The distance to the parking point on the image can be specified. Further, in this case, a distance image which is a real image in which the distance to the subject is represented by a color may be used as the destination image and the parking point image. By specifying the distance from the shooting position of the parking point image to the parking point, the processing of specifying the parking point by the analysis unit 13 becomes easy, and a reduction in processing load can be expected.
　また、駐車地点画像のデータに、駐車地点画像の撮影位置から見た駐車地点の方法を特定可能な情報を含ませてもよい。例えば、目的地画像の撮影時に方位センサを用いて撮影方向（カメラの向き）を測定し、駐車地点画像のデータに撮影位置および撮影方向の情報を含ませることで、撮影位置から見た駐車地点の方向をすることができる。駐車地点画像の撮影位置から見た駐車地点の方向が特定されることで、解析部１３による駐車地点を特定処理が容易になり、処理負荷の低減が期待できる。 The data of the parking point image may include information that can specify the method of the parking point viewed from the shooting position of the parking point image. For example, when a destination image is captured, a shooting direction (the direction of the camera) is measured using an orientation sensor, and information of the shooting position and the shooting direction are included in the data of the parking point image, so that the parking point viewed from the shooting position is obtained. The direction can be. By specifying the direction of the parking point viewed from the shooting position of the parking point image, the processing of specifying the parking point by the analysis unit 13 becomes easy, and a reduction in processing load can be expected.
　図１７および図１８は、それぞれ自動運転制御装置１０のハードウェア構成の例を示す図である。図１５に示した自動運転制御装置１０の構成要素の各機能は、例えば図１７に示す処理回路５０により実現される。すなわち、自動運転制御装置１０は、車両１の駐車地点の情報が付加された目的地の実写画像である駐車地点画像のデータを受信し、駐車地点画像のデータおよび地図情報に基づいて、地図上の目的地および駐車地点を特定し、車両１の位置および地図情報に基づいて、車両１を目的地の駐車地点まで走行させる自動走行を実施し、車両１が目的地に到着した後に、車両１周辺の地物の位置に基づいて、車両１を駐車地点に駐車させる自動駐車を実施するための処理回路５０を備える。処理回路５０は、専用のハードウェアであってもよいし、メモリに格納されたプログラムを実行するプロセッサ（中央処理装置（ＣＰＵ：Central Processing Unit）、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、ＤＳＰ（Digital Signal Processor）とも呼ばれる）を用いて構成されていてもよい。 FIGS. 17 and 18 are diagrams illustrating examples of the hardware configuration of the automatic operation control device 10, respectively. Each function of the components of the automatic operation control device 10 shown in FIG. 15 is realized by, for example, a processing circuit 50 shown in FIG. That is, the automatic driving control device 10 receives the data of the parking spot image which is the photographed image of the destination to which the information of the parking spot of the vehicle 1 is added, and displays the data on the map based on the data of the parking spot image and the map information. Of the vehicle 1 based on the position and the map information of the vehicle 1, the vehicle 1 travels to the destination parking point, and after the vehicle 1 arrives at the destination, the vehicle 1 A processing circuit 50 is provided for performing automatic parking for parking the vehicle 1 at a parking point based on the position of a nearby feature. The processing circuit 50 may be dedicated hardware, or a processor that executes a program stored in a memory (a central processing unit (CPU), a processing unit, an arithmetic unit, a microprocessor, a microcomputer, It may be configured using a DSP (also called Digital Signal Processor).
　処理回路５０が専用のハードウェアである場合、処理回路５０は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Application Specific Integrated Circuit）、ＦＰＧＡ（Field-Programmable Gate Array）、またはこれらを組み合わせたものなどが該当する。自動運転制御装置１０の構成要素の各々の機能が個別の処理回路で実現されてもよいし、それらの機能がまとめて一つの処理回路で実現されてもよい。 When the processing circuit 50 is dedicated hardware, the processing circuit 50 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), and an FPGA (Field-Programmable). Gate Array) or a combination of these. Each function of the components of the automatic operation control device 10 may be realized by an individual processing circuit, or the functions may be realized by one processing circuit collectively.
　図１８は、処理回路５０がプログラムを実行するプロセッサ５１を用いて構成されている場合における自動運転制御装置１０のハードウェア構成の例を示している。この場合、自動運転制御装置１０の構成要素の機能は、ソフトウェア等（ソフトウェア、ファームウェア、またはソフトウェアとファームウェアとの組み合わせ）により実現される。ソフトウェア等はプログラムとして記述され、メモリ５２に格納される。プロセッサ５１は、メモリ５２に記憶されたプログラムを読み出して実行することにより、各部の機能を実現する。すなわち、自動運転制御装置１０は、プロセッサ５１により実行されるときに、車両１の駐車地点の情報が付加された目的地の実写画像である駐車地点画像のデータを受信する処理と、駐車地点画像のデータおよび地図情報に基づいて、地図上の目的地および駐車地点を特定する処理と、車両１の位置および地図情報に基づいて、車両１を目的地の駐車地点まで走行させる自動走行を実施する処理と、車両１が目的地に到着した後に、車両１周辺の地物の位置に基づいて、車両１を駐車地点に駐車させる自動駐車を実施する処理と、が結果的に実行されることになるプログラムを格納するためのメモリ５２を備える。換言すれば、このプログラムは、自動運転制御装置１０の構成要素の動作の手順や方法をコンピュータに実行させるものであるともいえる。 FIG. 18 illustrates an example of a hardware configuration of the automatic operation control device 10 when the processing circuit 50 is configured using the processor 51 that executes a program. In this case, the functions of the components of the automatic driving control device 10 are realized by software or the like (software, firmware, or a combination of software and firmware). Software and the like are described as programs and stored in the memory 52. The processor 51 realizes the function of each unit by reading and executing the program stored in the memory 52. That is, when the automatic driving control device 10 is executed by the processor 51, the process of receiving the data of the parking point image which is the photographed image of the destination to which the information of the parking point of the vehicle 1 is added; Based on the data and the map information, a process of specifying a destination and a parking point on a map is performed, and based on the position and the map information of the vehicle 1, an automatic traveling that causes the vehicle 1 to travel to the destination parking point is performed. The process and the process of performing automatic parking for parking the vehicle 1 at a parking point based on the position of a feature around the vehicle 1 after the vehicle 1 arrives at the destination are consequently executed. And a memory 52 for storing a program. In other words, it can be said that this program causes a computer to execute the procedure and method of operation of the components of the automatic driving control device 10.
　ここで、メモリ５２は、例えば、ＲＡＭ（Random Access Memory）、ＲＯＭ（Read Only Memory）、フラッシュメモリー、ＥＰＲＯＭ（Erasable Programmable Read Only Memory）、ＥＥＰＲＯＭ（Electrically Erasable Programmable Read Only Memory）などの、不揮発性または揮発性の半導体メモリ、ＨＤＤ（Hard Disk Drive）、磁気ディスク、フレキシブルディスク、光ディスク、コンパクトディスク、ミニディスク、ＤＶＤ（Digital Versatile Disc）およびそのドライブ装置等、または、今後使用されるあらゆる記憶媒体であってもよい。 Here, the memory 52 is, for example, a non-volatile memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), and an EEPROM (Electrically Erasable Programmable Read Only Memory). Volatile semiconductor memory, HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc) and its drive device, or any storage medium to be used in the future. You may.
　以上、自動運転制御装置１０の構成要素の機能が、ハードウェアおよびソフトウェア等のいずれか一方で実現される構成について説明した。しかしこれに限ったものではなく、自動運転制御装置１０の一部の構成要素を専用のハードウェアで実現し、別の一部の構成要素をソフトウェア等で実現する構成であってもよい。例えば、一部の構成要素については専用のハードウェアとしての処理回路５０でその機能を実現し、他の一部の構成要素についてはプロセッサ５１としての処理回路５０がメモリ５２に格納されたプログラムを読み出して実行することによってその機能を実現することが可能である。 The configuration in which the functions of the components of the automatic operation control device 10 are realized by one of hardware and software has been described above. However, the present invention is not limited to this, and a configuration in which some components of the automatic driving control device 10 are realized by dedicated hardware, and another part of the components are realized by software or the like may be used. For example, for some components, the function is realized by a processing circuit 50 as dedicated hardware, and for other components, the processing circuit 50 as a processor 51 executes a program stored in a memory 52. The function can be realized by reading and executing.
　また、図２に示した情報通信端末３０も、図１７および図１８に示したハードウェア構成により実現される。例えば、情報通信端末３０が図１７の構成で実現される場合、自動運転制御装置１０は、目的地の実写画像である目的地画像を取得し、目的地画像を画面に表示し、ユーザの操作に従って、目的地画像上における車両１の駐車地点を指定し、ユーザが指定した駐車地点の情報を付加した目的地画像である駐車地点画像のデータを生成し、駐車地点画像のデータを車両１へ送信するための処理回路５０を備える。 (2) The information communication terminal 30 shown in FIG. 2 is also realized by the hardware configuration shown in FIG. 17 and FIG. For example, when the information communication terminal 30 is realized by the configuration of FIG. 17, the automatic driving control device 10 acquires a destination image which is a real image of the destination, displays the destination image on a screen, and performs a user operation. , The parking point of the vehicle 1 on the destination image is designated, the data of the parking point image which is the destination image to which the information of the parking point designated by the user is added is generated, and the data of the parking point image is transmitted to the vehicle 1. A processing circuit 50 for transmitting is provided.
　また、自動運転制御装置１０が図１８の構成で実現される場合、自動運転制御装置１０は、プロセッサ５１により実行されるときに、目的地の実写画像である目的地画像を取得する処理と、目的地画像を画面に表示する処理と、ユーザの操作に従って、目的地画像上における車両１の駐車地点を指定する処理と、ユーザが指定した駐車地点の情報を付加した目的地画像である駐車地点画像のデータを生成する処理と、駐車地点画像のデータを車両１へ送信する処理と、が結果的に実行されることになるプログラムを格納するためのメモリ５２を備える。 When the automatic driving control device 10 is realized by the configuration in FIG. 18, the automatic driving control device 10 acquires a destination image that is a real image of the destination when the processor 51 executes the processing. A process of displaying a destination image on a screen, a process of specifying a parking point of the vehicle 1 on the destination image according to a user operation, and a parking point which is a destination image to which information of a parking point specified by the user is added. A memory 52 is provided for storing a program that results in a process of generating image data and a process of transmitting parking point image data to the vehicle 1.
　以上のように、自動運転制御装置１０および情報通信端末３０は、ハードウェア、ソフトウェア等、またはこれらの組み合わせによって、上述の各機能を実現することができる。 As described above, the automatic driving control device 10 and the information communication terminal 30 can realize the above-described functions by hardware, software, or the like, or a combination thereof.
　＜実施の形態２＞
　実施の形態１に係る自動運転制御装置１０（図１５）の解析部１３が行った処理、すなわち、駐車地点画像のデータから地図上の目的地および駐車地点を特定する処理は、画像解析を伴うため演算負荷が比較的大きい。その処理は、外部のサーバで行ってもよいし、情報通信端末３０で行ってもよい。実施の形態２では、その処理を情報通信端末３０側で行う例を示す。 <Embodiment 2>
The process performed by the analysis unit 13 of the automatic driving control device 10 (FIG. 15) according to Embodiment 1, that is, the process of specifying the destination and the parking point on the map from the data of the parking point image involves image analysis. Therefore, the calculation load is relatively large. The processing may be performed by an external server or the information communication terminal 30. In the second embodiment, an example will be described in which the processing is performed on the information communication terminal 30 side.
　図１９は、実施の形態２に係る情報通信端末３０の構成を示す機能ブロック図である。図１９の情報通信端末３０の構成は、図２の構成に対し、図１５に示した地図情報取得部１２、解析部１３および地図情報記憶装置２２を追加したものである。 FIG. 19 is a functional block diagram showing a configuration of the information communication terminal 30 according to Embodiment 2. The configuration of the information communication terminal 30 in FIG. 19 is obtained by adding the map information acquisition unit 12, the analysis unit 13, and the map information storage device 22 illustrated in FIG. 15 to the configuration in FIG.
　解析部１３は、駐車地点画像生成部３５が生成した駐車地点画像のデータと、地図情報取得部１２が地図情報記憶装置２２から取得した駐車地点画像の撮影位置周辺の地図情報とに基づいて、地図上の車両１の目的地および駐車地点を特定する。つまり、解析部１３は、駐車地点画像のデータを解析して、駐車地点画像に写った目的地の地図上の位置（緯度、軽度）と、駐車地点画像上の駐車地点の位置（座標）に対応する地図上の位置（緯度、軽度）を特定する。 The analysis unit 13 is based on the data of the parking point image generated by the parking point image generation unit 35 and the map information around the shooting position of the parking point image acquired by the map information acquisition unit 12 from the map information storage device 22. The destination and the parking point of the vehicle 1 on the map are specified. That is, the analysis unit 13 analyzes the data of the parking point image and calculates the position (latitude, mild) of the destination in the parking point image on the map and the position (coordinate) of the parking point on the parking point image. Identify the corresponding map location (latitude, mild).
　また、駐車地点画像生成部３５は、駐車地点画像のデータに、地図上の目的地および駐車地点の位置の情報を付加する。よって、実施の形態２の情報通信端末３０は、地図上の目的地および駐車地点の位置の情報が付加された駐車地点画像のデータを、車両１の自動運転制御装置１０へと送信する。 {Circle around (2)} The parking point image generation unit 35 adds information on the destination on the map and the position of the parking point to the data of the parking point image. Therefore, the information communication terminal 30 according to the second embodiment transmits to the automatic driving control device 10 of the vehicle 1 the data of the parking point image to which the information on the destination on the map and the position of the parking point is added.
　本実施の形態によれば、自動運転制御装置１０が、地図上の目的地および駐車地点の位置の特定を行う必要がないため、自動運転制御装置１０の演算負荷を低減できる。 According to the present embodiment, since the automatic driving control device 10 does not need to specify the position of the destination and the parking point on the map, the calculation load of the automatic driving control device 10 can be reduced.
　＜実施の形態３＞
　実施の形態３では、実施の形態１に係る情報通信端末３０の目的地画像取得部３２、表示処理部３３、駐車地点指定部３４および駐車地点画像生成部３５が行った処理を、自動運転制御装置１０でも行えるようにする。すなわち、実施の形態３の自動運転制御装置１０は、目的地画像を取得する処理と、ユーザに目的地画像を提示する処理と、ユーザの操作に従って目的地画像上における駐車地点の位置を指定する処理と、駐車地点の位置の情報を含む駐車地点画像を生成する処理とを行うことができる。 <Embodiment 3>
In the third embodiment, the processing performed by the destination image acquisition unit 32, the display processing unit 33, the parking point designation unit 34, and the parking point image generation unit 35 of the information communication terminal 30 according to the first embodiment is described as an automatic driving control. This can be performed by the device 10. That is, the automatic driving control device 10 according to the third embodiment specifies a process of acquiring a destination image, a process of presenting a destination image to a user, and a position of a parking point on the destination image according to a user operation. Processing and processing for generating a parking point image including information on the position of the parking point can be performed.
　図２０は、実施の形態３に係る自動運転制御装置１０の構成を示す機能ブロック図である。図２０の自動運転制御装置１０の構成は、図１５の構成に対し、図２に示した目的地画像取得部３２、表示処理部３３、駐車地点指定部３４、駐車地点画像生成部３５、表示装置４２および操作入力部４３を追加したものである。 FIG. 20 is a functional block diagram showing a configuration of the automatic operation control device 10 according to the third embodiment. The configuration of the automatic driving control device 10 in FIG. 20 is different from the configuration in FIG. 15 in that the destination image acquisition unit 32, the display processing unit 33, the parking point designation unit 34, the parking point image generation unit 35, and the display shown in FIG. The device 42 and the operation input unit 43 are added.
　目的地画像取得部３２は、通信装置２１を通して目的地画像を取得する。目的地画像の取得は、外部のサーバからでもよいし、ユーザの情報通信端末３０からでもよい。 The destination image acquisition unit 32 acquires a destination image through the communication device 21. The acquisition of the destination image may be performed from an external server or from the information communication terminal 30 of the user.
　表示処理部３３は、目的地画像取得部３２が取得した目的地画像を、表示装置４２の画面に表示させる。駐車地点指定部３４は、操作入力部４３に対するユーザの操作に従って、目的地画像上における車両１の駐車地点の位置（目的地画像上の座標）を指定する。 The display processing unit 33 displays the destination image acquired by the destination image acquiring unit 32 on the screen of the display device 42. The parking point specifying unit 34 specifies the position of the parking point of the vehicle 1 on the destination image (coordinates on the destination image) according to the operation of the operation input unit 43 by the user.
　駐車地点画像生成部３５は、ユーザが指定した駐車地点の情報を目的地画像のデータに含ませることで、駐車地点画像を生成する。 The parking point image generation unit 35 generates a parking point image by including information on the parking point specified by the user in the data of the destination image.
　駐車地点画像生成部３５が生成した目的地画像は、駐車地点画像取得部１１に取得され、その後は実施の形態１の自動運転制御装置１０と同様の処理が行われる。 The destination image generated by the parking point image generation unit 35 is acquired by the parking point image acquisition unit 11, and thereafter, the same processing as that of the automatic driving control device 10 of the first embodiment is performed.
　本実施の形態の自動運転制御装置１０では、目的地画像の取得および駐車地点画像の指定を自動運転制御装置１０で行うことができるため、情報通信端末３０との連携を行うことなく、ユーザは目的地および駐車地点を指定することができる。例えば、ユーザが車両１に搭乗した状態で、車両１を目的地の駐車地点まで移動させたいときなどに高い利便性が得られる。 In the automatic driving control device 10 of the present embodiment, the acquisition of the destination image and the designation of the parking point image can be performed by the automatic driving control device 10, so that the user does not need to cooperate with the information communication terminal 30 to perform the operation. Destinations and parking points can be specified. For example, when the user is in the vehicle 1 and wants to move the vehicle 1 to a destination parking point, high convenience can be obtained.
　なお、本発明は、その発明の範囲内において、各実施の形態を自由に組み合わせたり、各実施の形態を適宜、変形、省略させたりすることが可能である。 In the present invention, the embodiments can be freely combined, or the embodiments can be appropriately modified or omitted within the scope of the invention.
　本発明は詳細に説明されたが、上記した説明は、すべての態様において、例示であって、この発明がそれに限定されるものではない。例示されていない無数の変形例が、この発明の範囲から外れることなく想定され得るものと解される。 Although the present invention has been described in detail, the above description is illustrative in all aspects, and the present invention is not limited thereto. It is understood that numerous modifications that are not illustrated can be envisaged without departing from the scope of the present invention.
　１　車両、１０　自動運転制御装置、１１　駐車地点画像取得部、１２　地図情報取得部、１３　解析部、１４　車両位置取得部、１５　周辺状況取得部、１６　車両制御部、１６１　自動走行制御部、１６２　自動駐車制御部、２１　通信装置、２２　地図情報記憶装置、２３　ＧＮＳＳ受信機、２４　車載センサ、２５　車載カメラ、２６　車両駆動装置、２７　経路探索装置、３０　情報通信端末、３１　通信部、３２　目的地画像取得部、３３　表示処理部、３４　駐車地点指定部、３５　駐車地点画像生成部、３６　駐車地点画像送信部、３７　撮影位置取得部、３８　撮影方向取得部、４０　タッチパネル、４１　カメラ、４２　表示装置、４３　操作入力部、４４　ＧＮＳＳ受信機、４５　方位センサ、２０１　ポインタ、２０２　アイコン。 1 vehicle, 10 automatic driving control device, 11 parking point image acquisition unit, 12 、 map information acquisition unit, 13 analysis unit, 14 vehicle position acquisition unit, 15 surrounding situation acquisition unit, 16 vehicle control unit, 161 automatic traveling control unit, 162 Automatic parking control unit, 21 communication device, 22 map information storage device, 23 GNSS receiver, 24 vehicle sensor, 25 vehicle camera, 26 vehicle driving device, 27 route search device, 30 information communication terminal, 31 communication unit, 32 destination Image acquisition unit, 33 display processing unit, 34 parking point designation unit, 35 parking point image generation unit, 36 parking point image transmission unit, 37 shooting position acquisition unit, 38 shooting direction acquisition unit, 40 touch panel, 41 camera, 42 display device , 43 operation input unit, 44 GNSS receiver, 45 azimuth sensor, 201 pointer, 02 icon.

Claims (26)

  1. 　車両の駐車地点の情報が付加された目的地の実写画像である駐車地点画像のデータを受信する駐車地点画像取得部と、
    　地図情報を取得する地図情報取得部と、
    　前記駐車地点画像のデータおよび前記地図情報に基づいて、地図上の前記目的地および前記駐車地点を特定する解析部と、
    　前記車両の位置の情報を取得する車両位置取得部と、
    　前記車両周辺の地物の位置を取得する周辺状況取得部と、
    　前記車両の位置および前記地図情報に基づいて、前記車両を前記目的地の前記駐車地点まで走行させる自動走行を実施する自動走行制御部と、
    　前記車両が前記目的地に到着した後に、前記車両周辺の前記地物の位置に基づいて、前記車両を前記駐車地点に駐車させる自動駐車を実施する自動駐車制御部と、
    を備える自動運転制御装置。     A parking point image acquisition unit that receives data of a parking point image that is a real image of a destination to which information on a parking point of a vehicle is added,
    A map information acquisition unit for acquiring map information;
    An analysis unit that identifies the destination and the parking point on a map based on the data of the parking point image and the map information;
    A vehicle position acquisition unit that acquires information on the position of the vehicle,
    A peripheral situation acquisition unit that acquires a position of a feature around the vehicle;
    Based on the position of the vehicle and the map information, an automatic driving control unit that performs automatic driving to drive the vehicle to the parking point at the destination,
    After the vehicle arrives at the destination, based on the position of the feature around the vehicle, an automatic parking control unit that performs automatic parking to park the vehicle at the parking point,
    An automatic operation control device comprising:
  2. 　前記解析部は、前記駐車地点と前記駐車地点画像に写った地物との位置関係を特定することで、前記駐車地点の位置を特定し、
    　前記自動駐車制御部は、前記車両と前記車両周辺の前記地物との位置関係が、前記駐車地点と前記駐車地点画像に写った前記地物との位置関係と一致するように、前記車両を誘導する、
    請求項１記載の自動運転制御装置。     The analysis unit specifies the position of the parking point by specifying the positional relationship between the parking point and the feature shown in the parking point image,
    The automatic parking control unit controls the vehicle so that the positional relationship between the vehicle and the feature around the vehicle matches the positional relationship between the parking spot and the feature shown in the parking spot image. Induce,
    The automatic operation control device according to claim 1.
  3. 　前記駐車地点画像のデータの送信元が予め定められた正規の送信元か否かを確認し、前記駐車地点画像のデータの送信元が前記正規の送信元である場合に限り、前記自動走行および前記自動駐車の実施が許可される、
    請求項１に記載の自動運転制御装置。     Check whether the transmission source of the parking spot image data is a predetermined legitimate transmission source, and only when the transmission source of the parking spot image data is the legitimate transmission source, the automatic driving and The implementation of the automatic parking is permitted,
    The automatic operation control device according to claim 1.
  4. 　前記駐車地点画像取得部は、ユーザの情報通信端末から前記駐車地点画像のデータを取得する、
    請求項１に記載の自動運転制御装置。     The parking point image acquisition unit acquires data of the parking point image from a user's information communication terminal,
    The automatic operation control device according to claim 1.
  5. 　前記駐車地点画像のデータには、駐車時の前記車両を向きの情報がさらに付加されている、
    請求項１に記載の自動運転制御装置。     The information of the direction of the vehicle at the time of parking is further added to the data of the parking point image.
    The automatic operation control device according to claim 1.
  6. 　前記駐車地点画像のデータは、前記駐車地点画像を撮影した位置から前記駐車地点までの距離を特定可能な情報を含んでいる、
    請求項１に記載の自動運転制御装置。     The data of the parking point image includes information that can specify a distance from the position where the parking point image was captured to the parking point,
    The automatic operation control device according to claim 1.
  7. 　前記駐車地点画像のデータは、前記駐車地点画像を撮影した位置からの前記駐車地点の方向を特定可能な情報を含んでいる、
    請求項１に記載の自動運転制御装置。     The data of the parking point image includes information that can specify the direction of the parking point from the position where the parking point image was captured,
    The automatic operation control device according to claim 1.
  8. 　前記自動駐車が完了すると、予め定められた情報通信端末へ駐車完了通知を送信する、
    請求項１に記載の自動運転制御装置。     When the automatic parking is completed, a parking completion notification is transmitted to a predetermined information communication terminal,
    The automatic operation control device according to claim 1.
  9. 　前記駐車完了通知には、前記自動駐車が完了したときに前記車両の車載カメラで前記車両の周辺を撮影した画像が含まれている、
    請求項８に記載の自動運転制御装置。     The parking completion notification includes an image of the periphery of the vehicle taken by the onboard camera of the vehicle when the automatic parking is completed,
    The automatic operation control device according to claim 8.
  10. 　目的地の実写画像である目的地画像を取得する目的地画像取得部と、
    　前記目的地画像を画面に表示する表示処理部と、
    　ユーザの操作に従って、前記目的地画像上における車両の駐車地点を指定する駐車地点指定部と、
    　前記ユーザが指定した前記駐車地点の情報を付加した前記目的地画像である駐車地点画像のデータを生成する駐車地点画像生成部と、
    　駐車地点画像のデータを前記車両へ送信する駐車地点画像送信部と、
    を備える情報通信端末。     A destination image acquisition unit that acquires a destination image that is a real image of the destination,
    A display processing unit that displays the destination image on a screen,
    According to a user's operation, a parking point specifying unit that specifies a parking point of the vehicle on the destination image,
    A parking point image generation unit that generates data of a parking point image that is the destination image to which the information of the parking point specified by the user is added,
    A parking point image transmitting unit that transmits data of the parking point image to the vehicle,
    An information communication terminal comprising:
  11. 　前記目的地画像を撮影可能なカメラをさらに備え、
    　前記目的地画像取得部は、前記目的地画像を前記カメラから取得する、
    請求項１０に記載の情報通信端末。     Further comprising a camera capable of shooting the destination image,
    The destination image acquisition unit acquires the destination image from the camera,
    The information communication terminal according to claim 10.
  12. 　前記目的地画像取得部は、前記目的地画像を外部のサーバから取得する、
    請求項１０に記載の情報通信端末。     The destination image acquisition unit acquires the destination image from an external server,
    The information communication terminal according to claim 10.
  13. 　ユーザにより駐車不可能な位置が前記駐車地点として指定されると、警告を発する、
    請求項１０に記載の情報通信端末。     When a position where parking is impossible is designated as the parking point by the user, a warning is issued;
    The information communication terminal according to claim 10.
  14. 　前記警告は、振動によって行われる、
    請求項１３に記載の情報通信端末。     The warning is performed by vibration,
    An information communication terminal according to claim 13.
  15. 　前記表示処理部は、前記ユーザが指定した前記駐車地点を示すアイコンを前記目的地画像上に表示し、前記目的地画像における駐車可能な領域に前記アイコンを表示させるときと駐車不可能な領域に前記アイコンを表示させるときとで、前記アイコンの表示態様を変化させる、
    請求項１０に記載の情報通信端末。     The display processing unit displays an icon indicating the parking point specified by the user on the destination image, and displays the icon in a parkable area in the destination image and in a non-parkable area. When displaying the icon, changing the display mode of the icon,
    The information communication terminal according to claim 10.
  16. 　前記表示処理部は、前記目的地画像における駐車可能な領域と駐車不可能な領域とを互いに異なる表示態様にする、
    請求項１０に記載の情報通信端末。     The display processing unit sets the parking area and the non-parkable area in the destination image to different display modes.
    The information communication terminal according to claim 10.
  17. 　前記表示処理部は、前記目的地画像における駐車不可能な領域に半透過画像を重畳させる、
    請求項１６に記載の情報通信端末。     The display processing unit superimposes a semi-transparent image on a non-parkable area in the destination image,
    The information communication terminal according to claim 16.
  18. 　前記駐車地点指定部は、駐車時の前記車両の向きも指定でき、
    　前記表示処理部は、前記駐車地点が指定されるまでは、前記ユーザが指し示した位置を表すポインタを前記目的地画像上に表示し、前記駐車地点が指定された後は、前記駐車地点および前記車両の駐車時の向きを表すアイコンを前記目的地画像上に表示する、
    請求項１０に記載の情報通信端末。     The parking point specification unit can also specify the direction of the vehicle at the time of parking,
    The display processing unit displays a pointer indicating the position pointed to by the user on the destination image until the parking point is specified, and after the parking point is specified, the parking point and the Displaying on the destination image an icon indicating the orientation of the vehicle when parked,
    The information communication terminal according to claim 10.
  19. 　前記ポインタまたは前記アイコンは、ユーザが指定した前記車両の向きに応じて向きが変わる、前記車両を模した画像である、
    請求項１８に記載の情報通信端末。     The pointer or the icon is an image simulating the vehicle, the direction of which changes according to the direction of the vehicle specified by a user.
    The information communication terminal according to claim 18.
  20. 　前記駐車地点指定部は、駐車時の前記車両の向きも指定でき、
    　前記駐車地点画像のデータには、駐車時の前記車両を向きの情報がさらに付加されている、
    請求項１０に記載の情報通信端末。     The parking point specification unit can also specify the direction of the vehicle at the time of parking,
    The information of the direction of the vehicle at the time of parking is further added to the data of the parking point image.
    The information communication terminal according to claim 10.
  21. 　前記駐車地点画像のデータは、前記駐車地点画像を撮影した位置から前記駐車地点までの距離を特定可能な情報を含んでいる、
    請求項１０に記載の情報通信端末。     The data of the parking point image includes information that can specify a distance from the position where the parking point image was captured to the parking point,
    The information communication terminal according to claim 10.
  22. 　前記駐車地点画像のデータは、前記駐車地点画像を撮影した位置からの前記駐車地点の方向を特定可能な情報を含んでいる、
    請求項１０に記載の情報通信端末。     The data of the parking point image includes information that can specify the direction of the parking point from the position where the parking point image was captured,
    The information communication terminal according to claim 10.
  23. 　目的地の実写画像である目的地画像を取得する目的地画像取得部と、
    　前記目的地画像を画面に表示する表示処理部と、
    　ユーザの操作に従って、前記目的地画像上における車両の駐車地点を指定する駐車地点指定部と、
    　地図情報を取得する地図情報取得部と、
    　前記ユーザが指定した前記駐車地点の情報が付加された前記目的地画像である駐車地点画像のデータおよび前記地図情報に基づいて、地図上の前記目的地および前記駐車地点を特定する解析部と、
    　前記車両の位置の情報を取得する車両位置取得部と、
    　前記車両周辺の地物の位置を取得する周辺状況取得部と、
    　前記車両の位置および前記地図情報に基づいて、前記車両を前記目的地の前記駐車地点まで走行させる自動走行を実施する自動走行制御部と、
    　前記車両が前記目的地に到着した後に、前記車両周辺の前記地物の位置に基づいて、前記車両を前記駐車地点に駐車させる自動駐車を実施する自動駐車制御部と、
    を備える自動運転制御システム。     A destination image acquisition unit that acquires a destination image that is a real image of the destination,
    A display processing unit that displays the destination image on a screen,
    According to a user's operation, a parking point specifying unit that specifies a parking point of the vehicle on the destination image,
    A map information acquisition unit for acquiring map information;
    An analysis unit that identifies the destination and the parking point on a map based on the data of the parking point image that is the destination image to which the information of the parking point specified by the user is added and the map information;
    A vehicle position acquisition unit that acquires information on the position of the vehicle,
    A peripheral situation acquisition unit that acquires a position of a feature around the vehicle;
    Based on the position of the vehicle and the map information, an automatic driving control unit that performs automatic driving to drive the vehicle to the parking point at the destination,
    After the vehicle arrives at the destination, based on the position of the feature around the vehicle, an automatic parking control unit that performs automatic parking to park the vehicle at the parking point,
    An automatic operation control system comprising:
  24. 　自動運転制御装置の駐車地点画像取得部が、車両の駐車地点の情報が付加された目的地の実写画像である駐車地点画像のデータを受信し、
    　前記自動運転制御装置の解析部が、前記駐車地点画像のデータおよび地図情報に基づいて、地図上の前記目的地および前記駐車地点を特定し、
    　前記自動運転制御装置の自動走行制御部が、前記車両の位置および前記地図情報に基づいて、前記車両を前記目的地の前記駐車地点まで走行させる自動走行を実施し、
    　前記自動運転制御装置の自動駐車制御部が、前記車両が前記目的地に到着した後に、前記車両周辺の地物の位置に基づいて、前記車両を前記駐車地点に駐車させる自動駐車を実施する、
    自動運転制御方法。     The parking point image acquisition unit of the automatic driving control device receives the data of the parking point image which is a photographed image of the destination to which the information of the parking point of the vehicle is added,
    The analysis unit of the automatic driving control device, based on the data and the map information of the parking spot image, specifies the destination and the parking spot on a map,
    The automatic driving control unit of the automatic driving control device, based on the position of the vehicle and the map information, implements automatic driving to drive the vehicle to the parking point at the destination,
    The automatic parking control unit of the automatic driving control device, after the vehicle arrives at the destination, based on the position of a feature around the vehicle, implements automatic parking to park the vehicle at the parking point,
    Automatic operation control method.
  25. 　情報通信端末の目的地画像取得部が、目的地の実写画像である目的地画像を取得し、
    　前記情報通信端末の表示処理部が、前記目的地画像を画面に表示し、
    　前記情報通信端末の駐車地点指定部が、ユーザの操作に従って、前記目的地画像上における車両の駐車地点を指定し、
    　前記情報通信端末の駐車地点画像生成部が、前記ユーザが指定した前記駐車地点の情報を付加した前記目的地画像である駐車地点画像のデータを生成し、
    　前記情報通信端末の駐車地点画像送信部が、駐車地点画像のデータを前記車両へ送信する、
    駐車地点の指定方法。     The destination image acquisition unit of the information communication terminal acquires a destination image which is a real image of the destination,
    The display processing unit of the information communication terminal displays the destination image on a screen,
    A parking point specifying unit of the information communication terminal specifies a parking point of the vehicle on the destination image according to a user operation,
    A parking point image generation unit of the information communication terminal generates data of a parking point image that is the destination image to which information of the parking point specified by the user is added,
    A parking point image transmitting unit of the information communication terminal transmits data of a parking point image to the vehicle,
    How to specify parking points.
  26. 　自動運転制御システムの目的地画像取得部が、目的地の実写画像である目的地画像を取得し、
    　前記自動運転制御システムの表示処理部が、前記目的地画像を画面に表示し、
    　前記自動運転制御システムの駐車地点指定部が、ユーザの操作に従って、前記目的地画像上における車両の駐車地点を指定し、
    　前記自動運転制御システムの解析部が、前記ユーザが指定した前記駐車地点の情報が付加された前記目的地画像である駐車地点画像のデータおよび地図情報に基づいて、地図上の前記目的地および前記駐車地点を特定し、
    　前記自動運転制御システムの自動走行制御部が、前記車両の位置および前記地図情報に基づいて、前記車両を前記目的地の前記駐車地点まで走行させる自動走行を実施し、
    　前記自動運転制御システムの自動駐車制御部が、前記車両が前記目的地に到着した後に、前記車両周辺の地物の位置に基づいて、前記車両を前記駐車地点に駐車させる自動駐車を実施する、
    自動運転制御方法。     A destination image acquisition unit of the automatic driving control system acquires a destination image that is a real image of the destination,
    The display processing unit of the automatic driving control system displays the destination image on a screen,
    The parking point designation unit of the automatic driving control system, according to the operation of the user, designates a parking point of the vehicle on the destination image,
    The analysis unit of the automatic driving control system, based on data and map information of the parking point image is the destination image to which the information of the parking point specified by the user is added, the destination on the map and the Identify the parking spot,
    The automatic driving control unit of the automatic driving control system, based on the position of the vehicle and the map information, implements automatic driving to run the vehicle to the parking point of the destination,
    The automatic parking control unit of the automatic driving control system, after the vehicle arrives at the destination, based on the position of a feature around the vehicle, implements automatic parking to park the vehicle at the parking point,
    Automatic operation control method.
PCT/JP2018/025557 2018-07-05 2018-07-05 Automatic driving control device, information communication terminal, automatic driving control system, automatic driving control method, and parking spot designation method WO2020008598A1 (en)

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