JP2012066630A - Cruise control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a cruise control device that can make a vehicle accurately reach to a target position, when autonomous cuise of the vehicle is carried out along a travel route to the target position.SOLUTION: The cruise control device 100 takes an image of an imaging area KF by a third camera 26c, before the vehicle 1 arrives at parking scheduled area PK, performs image analysis and recognizes again a new target parking location O', corrects the present vehicle position, etc. of the vehicle 1, and makes the vehicle 1 to travel along with existing travel routes RT1-RT3. Since there is a threat that travel route with long travel distance may be formed, if regenerating the travel route, and extension of the travel route can be inhibited by making the vehicle 1 travel along the existing travel route RT1-RT3, and displacement of the vehicle 1 can be inhibited. Consequently since the vehicle 1 can be inhibited from deviating from travel routes RT1-RT3, the vehicle 1 can be made to park with sufficient accuracy to the target parking position O'.

Description

  The present invention relates to a travel control device, and more particularly to a travel control device capable of accurately arriving a vehicle at a target position when the vehicle autonomously travels along a travel route to a target position.

  Conventionally, when the driver travels the host vehicle to the target position, a travel route that allows the host vehicle to travel from the current vehicle position to the target position is generated, and the driver does not need to perform a steering operation. A travel control device that controls the travel of the host vehicle so that the host vehicle travels along a travel route is known. The travel control device controls the travel of the vehicle so that the vehicle travels along the travel route. However, as the vehicle travels, a delay in steering control, a tire rotation error, and the like occur. The longer the is, the easier the vehicle will be off the travel route. With regard to this type of travel control device, in the travel control device described in Patent Document 1 below, when it is detected that the vehicle has deviated from the travel route while the vehicle is traveling, the vehicle is again positioned at the current vehicle position. A travel route that allows the vehicle to travel to the target position is generated, and the travel of the vehicle is controlled so that the vehicle travels along the regenerated travel route.

Japanese Patent No. 4235026 (paragraph 0043, etc.)

  However, in the travel control device described in Patent Document 1, since the travel route is regenerated, there is a travel route with a long travel distance, such as once the vehicle is moved away from the target position and turned back and then brought closer to the target position. May be regenerated. For this reason, even if the travel route is regenerated and the vehicle travels along the travel route, the vehicle may be removed from the travel route again during travel, and the vehicle may arrive at a position outside the target position.

  The present invention has been made to solve the above-described problems, and a travel control device capable of accurately arriving the vehicle at the target position when the vehicle autonomously travels along the travel route to the target position. The purpose is to provide.

Means for Solving the Problems and Effects of the Invention

  According to the travel control device of the first aspect, route information for causing the vehicle to travel along the travel route to the target position is stored in the route information storage means, and the vehicle position and the vehicle direction are represented. The vehicle information indicating the direction is updated by the vehicle information update unit as the vehicle travels and is stored in the vehicle information storage unit. Then, based on the vehicle information stored in the vehicle information storage means and the route information stored in the route information storage means, when the travel of the vehicle is controlled by the travel control means, the vehicle is caused to travel by the control. Prior to the arrival of the vehicle at the target position, the actual positional relationship between the vehicle and the target position is specified by the specifying means. The information used by the travel control means is based on the actual positional relationship specified by the specifying means so that the vehicle uses the route information stored in the route information storage means to the actual target position. It is corrected by the information correction means. Therefore, even if the vehicle is traveling with the vehicle deviating from the travel route by the control of the travel control means, the vehicle uses the existing travel route to the actual target position before the vehicle arrives at the target position. Thus, the information used by the traveling control means can be corrected. Therefore, thereafter, the vehicle travel can be controlled so that the vehicle travels along the travel route to the actual target position. In addition, when the actual positional relationship between the vehicle and the target position is specified, a new travel route is generated, and the vehicle is used by using the existing travel route instead of causing the vehicle to travel along the new travel route. It can be run. Therefore, it is possible to suppress an increase in the travel route of the vehicle as compared with a case where a travel route is newly generated. Accordingly, since it is possible to prevent the vehicle from deviating from the travel route after specifying the actual positional relationship between the vehicle and the target position, it is possible to bring the vehicle to the target position with high accuracy. Examples of the actual positional relationship between the vehicle and the target position include the distance between the vehicle and the target position, and the other direction viewed from one of the vehicle and the target position.

  According to the travel control device of the second aspect, in addition to the effect exhibited by the travel control device according to the first aspect, the following effect is exhibited. In other words, the vehicle information and the route information are indicated by the coordinates of the coordinate system used in the traveling control of the vehicle and the vehicle orientation of the vehicle at the coordinates. Further, the vehicle travels so that the coordinates and the vehicle orientation stored as the vehicle information in the vehicle information storage means coincide with the coordinates stored as the route information in the route information storage means and the vehicle orientation that the vehicle should take at the coordinates. The travel of the vehicle is controlled by the control means. In the travel control device, on the assumption that the coordinates indicated as the route information and the vehicle orientation to be taken by the vehicle at the coordinates are appropriate, the actual position relationship between the vehicle specified by the specifying means and the target position is The coordinates in the coordinate system and the vehicle direction are calculated by the coordinate direction calculation means. And the vehicle information memorize | stored in the vehicle information storage means is correct | amended by the information correction means to the vehicle information which shows the coordinate and vehicle orientation which were calculated by the coordinate direction calculation means. It is estimated that the vehicle actually exists in the coordinate system by calculating the vehicle coordinate and the vehicle orientation on the assumption that the coordinates indicated as the route information and the vehicle orientation to be taken by the vehicle at the coordinates are appropriate. The position coordinates and vehicle direction can be calculated. Then, by storing the calculated coordinates and vehicle orientation in the vehicle information storage means, the positional relationship between the vehicle and the travel route is corrected, so that the vehicle travels along the travel route to the actual target position. It is possible to control the running of the vehicle. Further, since the travel route can be used as it is without being changed, it is possible to suppress an increase in the travel distance of the vehicle as compared to a case where a travel route is newly generated. Therefore, since it is possible to prevent the vehicle from deviating from the travel route after specifying the actual positional relationship between the vehicle and the target position, there is an effect that the vehicle can arrive at the target position with high accuracy.

  According to the travel control device of the third aspect, in addition to the effect produced by the travel control device according to the second aspect, the following effect is exhibited. That is, the movement amount calculation means calculates the movement amount of the vehicle while the actual positional relationship between the vehicle and the target position is specified after the processing by the specification means is started. Then, in the coordinate direction calculation means, the movement amount calculated by the movement amount calculation means is added to the actual positional relationship between the vehicle specified by the specification means and the target position, and the coordinates and vehicle direction in the vehicle coordinate system are added. Is calculated. Therefore, the coordinates of the position and the vehicle direction at which the vehicle is estimated to actually exist in the coordinate system can be calculated with high accuracy by the amount of movement calculated by the movement amount calculation means. Therefore, since the vehicle can be accurately traveled along the travel route, there is an effect that the vehicle can arrive at the target position with high accuracy. Examples of the moving amount include the moving distance of the vehicle and the vehicle azimuth changed during the movement.

  According to the travel control device of the fourth aspect, in addition to the effect exhibited by the travel control device according to the first aspect, the following effect is exhibited. That is, the vehicle information and the route information are indicated by the coordinates of the coordinate system used in the traveling control of the vehicle and the vehicle direction at the coordinates. Further, the vehicle travels so that the coordinates and the vehicle orientation stored as the vehicle information in the vehicle information storage means coincide with the coordinates stored as the route information in the route information storage means and the vehicle orientation that the vehicle should take at the coordinates. The travel of the vehicle is controlled by the control means. In the travel control device, the target position on the travel route matches the actual target position based on the actual positional relationship specified by the specifying unit on the assumption that the coordinates and the vehicle orientation indicated as the vehicle information are appropriate. In this way, the coordinates of the travel route in which the position of the travel route is moved are calculated by the coordinate calculation means. In addition, the vehicle orientation that the vehicle should take at the calculated coordinates is calculated by the orientation calculation means based on the actual positional relationship specified by the specifying means. Then, the route information stored in the route information storage unit is corrected by the information correction unit into the route information indicating the coordinates and the vehicle direction calculated by the coordinate calculation unit and the direction calculation unit. Therefore, under the control of the travel control means, the vehicle is traveling with the vehicle off the travel route, and as a result, even if the target position to be reached by the vehicle changes, the target position on the travel route and the actual target position are different. Since the position of the travel route can be moved so as to match, the travel of the vehicle can be controlled so that the vehicle travels along the travel route to the actual target position. In addition, since the travel route is not newly generated and the position thereof is moved, it is possible to suppress an increase in the travel distance of the vehicle as compared with a case where a new travel route is generated. Accordingly, since it is possible to prevent the vehicle from deviating from the travel route after specifying the actual positional relationship between the vehicle and the target position, it is possible to bring the vehicle to the target position with high accuracy.

It is the schematic diagram which showed typically the top view of the vehicle by which the traveling control apparatus which is an example of this invention is mounted. It is a schematic diagram for demonstrating an example of the traveling control point produced | generated with respect to the whole traveling route. It is a schematic diagram which shows an example of the route pattern used in order to produce | generate a pattern driving | running | working part among the whole driving | running routes. It is a schematic diagram for demonstrating the movement destination at the time of moving a vehicle according to a route pattern, and the vehicle azimuth | direction. (A) is a schematic diagram for demonstrating an example of the route point on a driving | running route, (b) is a schematic diagram for demonstrating parking possible conditions. It is the block diagram which showed the electrical structure of the traveling control apparatus. It is a schematic diagram which shows an example of the content of the traveling control point memory. It is a flowchart which shows the automatic parking process of a traveling control apparatus. It is a flowchart which shows the point course production | generation process of a traveling control apparatus. It is a flowchart which shows the pattern travel part control point generation process of a travel control apparatus. It is a schematic diagram for demonstrating an example of the traveling control point produced | generated with respect to a pattern traveling part among the whole traveling paths. It is a flowchart which shows the reverse turning part control point production | generation process of a traveling control apparatus. It is a schematic diagram for demonstrating an example of the traveling control point produced | generated with respect to a reverse turning part among the whole traveling paths. It is a flowchart which shows the last reverse part control point production | generation process of a traveling control apparatus. It is a schematic diagram for demonstrating an example of the traveling control point produced | generated with respect to the last reverse part among the whole traveling paths. (A) is a schematic diagram for demonstrating an example in case a vehicle drive | works autonomously along a driving | running route, (b) is a schematic diagram which shows an example of the shape of a vehicle, and the shape of an obstruction determination area | region. It is. (A) is a schematic diagram for demonstrating an example when a parking position is re-recognized by a traveling control apparatus, (b) is an example when the vehicle position of a vehicle is correct | amended by a traveling control apparatus. It is a schematic diagram for demonstrating, (c) is a schematic diagram for demonstrating an example in the case of drive | working toward the parking position which the vehicle recognized again. It is a flowchart which shows the route travel process of a travel control apparatus. It is a flowchart which shows the position shift correction process of a traveling control apparatus. (A) is a schematic diagram for demonstrating the method of calculating the movement amount which the vehicle moved during re-recognition of the target parking position, (b) makes the re-recognized parking position the origin. It is a schematic diagram for demonstrating the method of calculating the vehicle position of a vehicle when re-recognition is complete | finished using a coordinate system. It is a flowchart which shows the modification of the position shift correction process of a traveling control apparatus. (A) is a schematic diagram for demonstrating an example in case the position of a travel route is correct | amended by a travel control apparatus, (b) is a schematic diagram for demonstrating the method of correct | amending the position of a travel route. It is.

  Hereinafter, preferred embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a schematic diagram schematically showing a top view of a vehicle 1 on which a travel control device 100 as an example of the present invention is mounted. Note that arrows UD, LR, and FB in FIG. 1 indicate the up-down direction, the left-right direction, and the front-rear direction of the vehicle 1, respectively.

  The vehicle 1 is a vehicle that can be driven by a driver. The vehicle 1 can autonomously travel from a current position to a parking position set by the driver, and can park the vehicle 1 at the parking position. A travel control device 100 is included. In addition, the autonomous running in this embodiment means running the vehicle 1 without the driving operation of the driver. That is, when the vehicle 1 is traveling autonomously, the driver does not have to operate an accelerator pedal 11, a brake pedal 12, and a steering wheel 13 described later.

  When the target parking position is set by the driver, the traveling control device 100 combines a plurality of pre-stored ten route patterns PT1 to PT10 (see FIG. 3) and sets the target from the current vehicle position. A travel route of the vehicle 1 to the parking position is generated, and the vehicle 1 is configured to autonomously travel according to the generated travel route. Furthermore, when the vehicle 1 starts autonomous traveling, the traveling control device 100 re-checks the target parking position before the vehicle 1 arrives at the target parking position, and occurs during autonomous traveling. The vehicle 1 is configured to correct the positional deviation of the vehicle 1 and stop the vehicle 1 at a target parking position with high accuracy.

  In the present embodiment, when the vehicle 1 is parked at the target parking position, the left and right rear wheels 2RL and 2RR are set on the axles of the left and right rear wheels 2RL and 2RR, and the front and rear axes of the center of the vehicle 1 are taken as the y-axis. The position of the vehicle 1 and the positions of the travel routes RT1 to RT3 are calculated using a coordinate system in which the intersection of the axis and the y axis is the origin O.

  Therefore, in the following description, each position of the vehicle 1 and the travel routes RT1 to RT3 is shown using this coordinate system. Further, the intersection of the front and rear axes of the vehicle 1 and the axles of the left and right rear wheels 2RL and 2RR in the vehicle 1 is used as the reference point of the vehicle 1, and the position of the reference point of the vehicle 1 in the above-described coordinate system is defined as the vehicle of the vehicle 1 Position. Further, the direction in which the vehicle 1 is traveling in the longitudinal axis direction of the vehicle 1 is defined as the traveling direction of the vehicle 1.

  In addition to the travel control device 100, the vehicle 1 includes a vehicle body frame BF, a plurality of (four wheels in this embodiment) wheels 2FL, 2FR, 2RL, 2RR supported by the vehicle body frame BF, and the plurality of wheels 2FL˜ 2RR (in this embodiment, left and right front wheels 2FL, 2FR), a wheel drive device 3 that rotationally drives, a suspension device 4 that suspends each wheel 2FL-2RR on the body frame BF, and a plurality of wheels 2FL To 2RR (in this embodiment, the left and right front wheels 2FL, 2FR) are steered by a steering device 6, a steering drive device 5, a steering sensor device 21, a gyro sensor device 22, and a wheel rotation sensor 23. The accelerator pedal 11, the brake pedal 12, the steering wheel 13, the first to third distance sensors 24a to 24c, and the automatic parking switch 25. A camera 26a~26d of the first to fourth, the mainly provided.

  As shown in FIG. 1, the wheels 2FL and 2FR are left and right front wheels disposed on the front side (arrow F side) of the body frame BF, and are configured as drive wheels that are rotationally driven by the wheel drive device 3. . On the other hand, the wheels 2RL and 2RR are left and right rear wheels disposed on the rear side (arrow B side) of the body frame BF, and are configured as driven wheels that are driven as the vehicle 1 travels. Of the four wheels 2FL to 2RR, the left and right front wheels 2FL and 2FR are each equipped with a wheel rotation sensor 23 for detecting the rotation amount of the wheel.

  The wheel rotation sensor 23 is a sensor that detects the amount of rotation of the wheels 2FL and 2FR to which the sensor 23 is attached and outputs the detection result to the CPU 91 (see FIG. 6). The wheels 2FL and 2FR are at a predetermined angle. Every time it rotates, a rotation detection signal is output to the CPU 91. Since the outer circumferences of the wheels 2FL and 2FR and the rotation angle at which the rotation detection signal is output are determined in advance, the vehicle 1 travels from the output of the rotation detection signal to the output of the next rotation detection signal. The travel distance is also determined in advance. When the vehicle 1 travels autonomously, the CPU 91 individually counts the rotation detection signals of the two wheel rotation sensors 23 and calculates the travel distance from the departure point using the average value of the two count numbers.

The gyro sensor device 22 is a device for detecting a roll angle, a pitch angle, and a yaw angle with respect to a horizontal plane of the vehicle 1 and outputting the detection result to the CPU 91, and a reference axis (see FIG. A gyro sensor (not shown) for detecting rotation angles (roll angle, pitch angle, yaw angle) of the vehicle 1 (body frame BF) around one arrow FB, LR, UD direction axis) An output circuit (not shown) that mainly processes the detection result of the gyro sensor and outputs it to the CPU 91 is provided.

  In the following description, the yaw angle of the vehicle 1 is described as the vehicle orientation of the vehicle 1. Note that the reference axis of the vehicle orientation in the vehicle 1 is the x axis described above, and the counterclockwise angle from the x axis to the traveling direction of the vehicle 1 is the vehicle orientation of the vehicle 1.

  When the vehicle 1 travels autonomously, the CPU 91 acquires the vehicle direction of the vehicle 1 output from the gyro sensor device 22 and calculates the traveling direction of the vehicle 1. Based on the traveling direction of the vehicle 1 and the travel distance of the vehicle 1 calculated from the rotation detection signal of the wheel rotation sensor 23, the travel distance from the departure point is calculated. The CPU 91 can calculate the current position of the vehicle 1 with reference to the origin O based on the moving distance from the departure point.

  The vehicle direction of the vehicle 1 can also be calculated. Specifically, a gyro sensor device that detects an angular velocity in the yaw direction is mounted on the vehicle 1. And the vehicle azimuth | direction of the vehicle 1 is computable by carrying out the time integration of the detected angular velocity.

  The wheel drive device 3 includes a motor 3a (see FIG. 6) that applies a rotational driving force to the left and right front wheels 2FL and 2FR. The motor 3a is connected to the left and right front wheels 2FL, 2FR via a differential gear (not shown) and a pair of drive shafts 31.

  For example, when the driver operates the accelerator pedal 11, a rotational driving force is applied from the motor 3a to the left and right front wheels 2FL and 2FR, and the left and right front wheels 2FL and 2FR are inclined (inclination angle, It is rotationally driven at a speed corresponding to the inclination speed.

  As shown in FIG. 1, the steering device 6 mainly includes a steering shaft 61, a hook joint 62, a steering gear 63, a tie rod 64, and a knuckle arm 65. The steering device 6 includes a rack and pinion mechanism in which the steering gear 63 includes a pinion (not shown) and a rack (not shown).

  For example, when the driver operates the steering wheel 13, the operation of the steering wheel 13 is transmitted to the hook joint 62 through the steering shaft 61, and the angle is changed by the hook joint 62, and the pinion of the steering gear 63 rotates. As transmitted. Then, the rotational motion transmitted to the pinion is converted into the linear motion of the rack, and the rack moves linearly, so that the tie rods 64 connected to both ends of the rack move, and the wheels 2FL to 2RR move via the knuckle arm 65. Steered.

  Similar to the steering device 6, the steering drive device 5 is a device for steering the left and right front wheels 2FL, 2FR, and includes a motor 5a (see FIG. 6) that applies a rotational driving force to the steering shaft 61. ing. That is, when the motor 5a is driven and the steering shaft 61 rotates, the wheels 2FL and 2FR are steered in the same manner as when the steering wheel 13 is operated by the driver.

  A steering sensor device 21 that calculates the steering angle δ of the left and right front wheels 2FL, 2FR and outputs it to the CPU 91 is attached to the steering shaft 61. The steering sensor device 21 calculates the steering angle δ of the left and right front wheels 2FL, 2FR based on the rotation angle of the steering shaft 61 from the reference position, and the calculation result is a CPU 91 (FIG. 6) provided in the travel control device 100. Output).

  The accelerator pedal 11, the brake pedal 12, and the steering wheel 13 are all operation members controlled by the driver, and the acceleration force of the vehicle 1 according to the inclination state (inclination angle, inclination speed, etc.) of the pedals 11 and 12. And the braking force are determined, and the turning radius and turning direction of the vehicle 1 are determined according to the operation state (operation amount, operation direction) of the steering wheel 13.

  The first to third distance sensors 24a to 24c are devices for outputting distance data to an object existing around the vehicle 1 to the CPU 91 (see FIG. 6). Each of the distance sensors 24a, 24b, and 24c is configured by a laser range finder that irradiates laser light toward an object and measures the distance to the object with the intensity of reflection.

  The first distance sensor 24 a is attached to the front right end of the vehicle 1, the second distance sensor 24 b is attached to the front left end of the vehicle 1, and the third distance sensor 24 c is attached to the rear center of the vehicle 1. In the present embodiment, the three distance sensors 24a to 24c are configured to be able to detect the distance to each object existing in an area of at least 60 m square with the vehicle 1 as the center.

  The automatic parking switch 25 is a switch that is pressed by the driver when the vehicle 1 is desired to be parked at a target parking position by autonomous traveling. A parking process (see FIG. 8) is executed. As a result, the vehicle 1 is autonomously traveled from the current position to the parking position set by the driver, and the vehicle 1 is stopped at the parking position.

  Each of the first to fourth cameras 26a to 26d is an imaging device for imaging the surroundings of the vehicle 1, and is composed of a digital camera equipped with an imaging device such as a CCD image sensor or a CMOS image sensor. Yes. Each of the first to fourth cameras 26a to 26c converts captured images into image data and outputs the image data to the CPU 91 (see FIG. 6).

  The first camera 26 a is attached to the front center of the vehicle 1, the second camera 26 b is attached to a side mirror (not shown) on the right side of the vehicle 1, and the third camera 26 c is attached to the vehicle 1. The fourth camera 26 d is attached to a rear side center (not shown) of the vehicle 1. In the present embodiment, the first to fourth cameras 26a to 26d are at least 15 m in the front-rear direction of the vehicle 1 with the vehicle 1 as the center, and at least 12 m in the left-right direction of the vehicle 1 with the vehicle 1 as the center. The range can be imaged.

  The travel control device 100 controls the wheel drive device 3, the steering drive device 5, the brake device (not shown), and the like so that the vehicle 1 autonomously travels from the current position to the parking position set by the driver. The vehicle 1 is stopped at the parking position.

  Next, travel routes RT1 to RT3 generated by the travel control device 100 will be described with reference to FIGS. In the present embodiment, when the automatic parking switch 25 is pressed by the driver and the target parking position is set by the driver, the travel control device 100 can travel from the current position to the target parking position. RT1 to RT3 are generated (see FIG. 2). Although details will be described later, the entire travel routes RT1 to RT3 are configured by three of a pattern travel portion RT1, a reverse turning portion RT2, and a final reverse portion RT3.

  The travel routes RT1 to RT3 are continuously configured as lines, but the data indicating the travel routes RT1 to RT3 is composed of data indicating points at predetermined intervals among the points constituting the travel routes RT1 to RT3. Is done. Hereinafter, this point at every predetermined interval is referred to as a route point P, and data indicating the route point P is referred to as route point information. The route point P is a point to be passed when the vehicle 1 autonomously travels on the travel routes RT1 to RT3. The route point information includes the vehicle position of the vehicle 1 at the route point P and the route point P. And a vehicle orientation θ of the vehicle 1. The route point information of each route point P is stored in a point route memory 93b (see FIG. 6) described later. Although details will be described later, for example, in the case of the travel route RT1, the points at intervals of 2 m among the points constituting the travel route RT1 are set as the route points P.

  In the present embodiment, when the entire travel routes RT1 to RT3 are generated, the travel control point Q, which is a point for controlling the vehicle state of the vehicle 1 when the travel control device 100 makes the vehicle 1 autonomously travel next. Is virtually generated at intervals of 0.05 m on the travel routes RT1 to RT3. That is, in this embodiment, the traveling state of the vehicle 1 is controlled every 0.05 m. The vehicle setting information of each traveling control point Q is stored in a traveling control point memory 93c (see FIG. 6) described later.

  Although details of the vehicle setting information will be described later, the travel control device 100 causes the travel control point Q to reach each travel control point Q when the vehicle 1 autonomously travels along the travel routes RT1 to RT3. The traveling state of the vehicle 1 is set based on the vehicle setting information corresponding to, and the vehicle 1 is autonomously traveled to the parking position set by the driver.

  Here, with reference to FIG. 2, the travel routes RT1 to RT3 generated by the travel control device 100 and the travel control points Q generated for the travel routes RT1 to RT3 will be described. FIG. 2 is a schematic diagram for explaining an example of the entire travel routes RT1 to RT3, a route point P indicating the travel routes RT1 to RT3, and a travel control point Q generated for the travel routes RT1 to RT3. FIG. The travel control point Q is not generated on the route point P0 (starting position of the vehicle 1), but is generated from a position approaching the target parking position by 0.05 m from the route point P0.

  Hereinafter, in the drawings including the travel routes RT1 to RT3 including FIG. 2, the route point P is indicated by a white circle, and the travel control point Q is indicated by a black circle. Further, the route point P0 indicates the departure position of the vehicle 1, and the route point P8 indicates the parking position targeted by the driver. Details of other path points P1 to P7 will be described later. In addition, the traveling control points Q are originally generated virtually at intervals of 0.05 m, but only a part of the traveling control points Q is shown for easy understanding of the drawing.

  As described above, the entire travel routes RT1 to RT3 are configured by the pattern travel portion RT1, the reverse turning portion RT2, and the final reverse portion RT3. The pattern travel unit RT1 is a travel route generated by a combination of route patterns PT1 to PT10 stored in a route pattern memory 92a (see FIG. 6) described later. In the example shown in FIG. 2, the travel route from the route point P0 to the route point P6 is the pattern travel unit RT1.

  Further, the reverse turning portion RT2 is a travel route following the pattern travel portion RT1, and is a travel route from the end of the pattern travel portion RT1 to the vehicle position where the vehicle 1 can be moved straight back to the target parking position. It is. In the example shown in FIG. 2, the route from the route point P6 to the route point P7 is the backward turning portion RT2. In the reverse turning section RT2, the travel route is determined so that the vehicle 1 makes a reverse turn at the same steering angle δ.

  The final reverse portion RT3 is a travel route that follows the reverse turning portion RT2, and is a travel route from the end of the reverse turning portion RT2 to the target parking position. In the example shown in FIG. 2, the route from the route point P7 to the route point P8 is the final retreat part RT3. Note that the travel path of the final reverse portion RT3 is determined so that the vehicle 1 moves straight backward.

  Here, the path patterns PT1 to PT10 will be described with reference to FIG. FIG. 3 is a schematic diagram showing an example of route patterns PT1 to PT10 used for generating the pattern travel portion RT1 out of the entire travel routes RT1 to RT3.

  In the present embodiment, ten types of fragmented travel routes are set in advance, and each is stored as a route pattern in a route pattern memory 92a (see FIG. 6) described later. Ten types of route patterns PT1 to PT10 are assigned pattern numbers from “PT1” to “PT10”. In the 10 types of route patterns PT1 to PT10, the trajectories of the respective travel routes are different, but the lengths (namely, travel distances) CL of the respective travel routes are all set to 2 m. The pattern travel unit RT1 is generated by combining travel routes corresponding to the route patterns PT1 to PT10.

  In the pattern travel unit RT1, the start point and the end point of the travel route corresponding to the route patterns PT1 to PT10 are route points P, respectively. That is, the route points P1 to P5 indicate connection points of travel routes corresponding to the route patterns PT1 to PT10.

The route pattern PT1 is a pattern that indicates a travel route that moves the vehicle 1 straight forward from the route point P _i and moves 2 m, and the route pattern PT2 indicates a travel route that moves the vehicle 1 backward from the route point P _i and moves 2 m. It is a pattern.

Pathway pattern PT3 are the turning radius R of the vehicle 1 and 2 times the minimum turning radius, a pattern indicating a travel route to 2m moves to the front left turning of the vehicle 1 from the path points P _i, Similarly, the route pattern PT4 Makes the turning radius R of the vehicle 1 twice the minimum turning radius and turns the vehicle 1 forward right, and the route pattern PT5 sets the turning radius R of the vehicle 1 twice the minimum turning radius and turns the vehicle 1 backward to the left. The route pattern PT6 is a pattern showing a traveling route in which the turning radius R of the vehicle 1 is set to twice the minimum turning radius, the vehicle 1 is turned backward by the turning radius R, and each vehicle is moved 2 m.

The route pattern PT7 is the turning radius R of the vehicle 1 and the minimum turning radius, a pattern indicating a travel route to 2m moves to the front left turning of the vehicle 1 from the path points P _i, following Similarly, the route pattern PT8 is The vehicle 1 is turned to the right and the vehicle 1 is turned to the right with the turning radius R of the vehicle 1 being the minimum turning radius. The route pattern PT9 is turned to the left with the turning radius R of the vehicle 1 being the minimum turning radius and the route pattern PT10 is This is a pattern showing a traveling route in which the turning radius R of the vehicle 1 is set to the minimum turning radius, the vehicle 1 is turned backward, and the vehicle 1 is moved 2 m.

Referring now to FIG. 4, the destination in each path points P and vehicle direction θ corresponding explaining the case of moving the vehicle 1 from the path points P _i in accordance with the route pattern PT1～PT10. FIG. 4 is a schematic diagram for calculating each route point P and vehicle orientation θ corresponding to the destination when the vehicle 1 is moved according to the route patterns PT1 to PT10. Here, the route point P _i (x _i , y _i ) indicates the vehicle position of the vehicle 1 before movement. Further, the vehicle orientation of the vehicle 1 at the route point P _i is denoted by θ _i, and the traveling direction of the vehicle 1 is denoted by an arrow.

First, the route point P _A (x _A , y _A ) corresponding to the destination when the vehicle 1 is moved from the route point P _i according to the route pattern PT8 and the vehicle direction θ _A at the route point P _A are obtained. A calculation method will be described.

If the travel distance of the vehicle 1 and CL, the turning radius of the vehicle 1 and R, which further includes a vehicle direction theta _A in the route point P _A, and Δθ the variation of the vehicle direction theta _i in the route point P _i, The amount of change Δθ is
Δθ = CL / R
Can be calculated. Therefore, the route point P _A (x _A , y _A ) and the vehicle orientation θ _{A at the} route point P _A are:
θ _A = θ _i −Δθ
x _A = x _i + 2R · sin (Δθ / 2) · cos (θ _i −Δθ / 2)
y _A = y _i + 2R · sin (Δθ / 2) · sin (θ _i −Δθ / 2)
Can be calculated. Similarly, for the route pattern PT4, the route point P and the vehicle orientation θ can be calculated by this equation.

Next, the route point _{P B (x B, y B} ) corresponding to the destination when moving the vehicle 1 from the path points _{P i} in accordance with the route pattern PT7 and, heading theta _B at the path point _{P B} A method for calculating the value will be described. Incidentally, the amount of change Δθ in the vehicle direction theta _B in the path point P _B, and heading theta _i in the route point P _i can be calculated similarly by the above expression. Therefore, the route point P _B (x _B , y _B ) and the vehicle orientation θ _{B at the} route point P _B are:
θ _B = θ _i + Δθ
x _B = x _i + 2R · sin (Δθ / 2) · cos (θ _i + Δθ / 2)
y _B = y _i + 2R · sin (Δθ / 2) · sin (θ _i + Δθ / 2)
Can be calculated. Similarly, for the route pattern PT3, the route point P and the vehicle orientation θ can be calculated by this equation.

Similarly, path points corresponding to the destination when moving the vehicle 1 from the path points P _i in accordance with the route pattern _{PT9 P C (x C, y} C) and, heading θ at that path points P _{C With C}
θ _C = θ _i −Δθ
x _C = x _i + 2R · sin (Δθ / 2) · cos (θ _i −Δθ / 2−π)
y _C = y _i + 2R · sin (Δθ / 2) · sin (θ _i −Δθ / 2−π)
Can be calculated. Similarly, for the route pattern PT5, the route point P and the vehicle orientation θ can be calculated by this equation.

The route point _{P D (x D, y D} ) that corresponds to the destination when moving the vehicle 1 from the path points _{P i} in accordance with the route pattern PT10 and the vehicle direction theta _D at the path point _{P D} Is
θ _D = θ _i + Δθ
x _D = x _i + 2R · sin (Δθ / 2) · cos (θ _i + Δθ / 2−π)
y _D = y _i + 2R · sin (Δθ / 2) · sin (θ _i + Δθ / 2−π)
Can be calculated. Similarly, for the route pattern PT6, the route point P and the vehicle direction θ can be calculated by this equation.

Further, although not shown, the route point _{P E (x E, y E} ) that corresponds to the destination when moving the vehicle 1 from the path points P _i in accordance with the route pattern PT1 and, the route point P the vehicle direction theta _E in _E,
θ _E = θ _i
x _E = x _i + CL · cos (θ _i )
y _E = y _i + CL · sin (θ _i )
Can be calculated.

The route point _{P F (x F, y F} ) that corresponds to the destination when moving the vehicle 1 from the path points _{P i} in accordance with the route pattern PT2 and a vehicle direction theta _F at the route point _{P F} Is
θ _F = θ _i
x _F = x _i + CL · cos (θ _i + π)
y _F = y _i + CL · sin (θ _i + π)
Can be calculated.

By using the equations described with reference to FIG. 4 described above, the path points P corresponding to the destination when moving the vehicle 1 from the path points P _i in accordance with the route pattern PT1～PT10, the vehicle direction θ can be calculated. Therefore, each route point P which comprises pattern running part RT1 can be specified.

  In the present embodiment, the temporary travel route RT1 is generated by combining the route patterns PT1 to PT10 in a predetermined order. When this temporary travel route RT1 is generated, it is next determined whether or not the reverse turning portion RT2 following the temporary traveling route RT1 and the final reverse portion RT3 following the reverse turning portion RT2 can be generated. This determination condition is referred to as a parking condition in the present embodiment.

  When the parking available condition is satisfied, the temporary travel route RT1 is used as the pattern traveling unit RT1, and based on the established parking enabled condition, the reverse turning part RT2 and the final reverse part RT3 are determined and traveled. The entire paths RT1 to RT3 are generated. On the other hand, if the parking available condition is not satisfied, another temporary travel route RT1 is generated, and it is determined again whether the parking available condition is satisfied. The generation of the provisional travel route RT1 and the determination of the parking available condition are repeated until the parking available condition is satisfied or until all combinations of predetermined route patterns PT1 to PT10 are generated.

  Here, with reference to FIG. 5 (a), (b), the flow until the whole driving | running route RT1-RT3 is produced | generated and parking possible conditions are demonstrated. FIG. 5A is a schematic diagram for explaining an example of a route point P on the travel routes RT1 to RT3, and FIG. 5B is a schematic diagram for explaining parking conditions. In FIG. 5A, the travel route to the route points P0 to P6 corresponds to the pattern travel portion RT1, the travel route to the route points P6 to P7 corresponds to the reverse turning portion RT2, and the route points P7 to P8. The travel route up to corresponds to the final reverse portion RT3.

  In the present embodiment, when the generation of the entire travel route RT1 to RT3 is attempted, the generation of the travel route RT1 is first attempted. For example, as shown in FIG. 5A, at the route point P0 that is the departure point of the vehicle 1, ten temporary travel routes RT1 indicated by dotted lines and solid lines are generated one by one in order. Then, every time the temporary travel route RT1 is generated, it is determined whether or not a parking condition is satisfied at the route point P corresponding to the end of the temporary travel route RT1 (see S34 in FIG. 9).

  Here, if it is determined that the parking condition is satisfied, the temporary travel route RT1 is set as the travel route RT1 of the vehicle 1, and the entire travel routes RT1 to RT3 are generated, where the temporary travel route RT1. The generation of ends. On the other hand, in any of the generated temporary travel routes RT1, if the parking condition is not satisfied, another temporary travel route RT1 is then generated. Specifically, for each of the ten temporary travel routes RT1 generated earlier, another temporary travel route RT1 is generated so as to extend the travel route in 10 directions from the end. Then, for each provisional travel route RT1, it is determined whether or not parking conditions are satisfied.

  Thereafter, similarly, generation of another temporary travel route RT1 and determination of establishment of the parking available condition are repeated. In the example of FIG. 5A, a travel route from route points P0 to P6 is generated, and the parking point condition is satisfied at the route point P6.

  The parking condition is composed of two conditions. The first condition is that the vehicle 1 is turned backward from the route point P corresponding to the end of the temporary travel route RT1 by the same turning radius R, and then The condition is whether the vehicle 1 can be stopped at the target parking position by moving the vehicle 1 backward and straight.

  Here, with reference to FIG.5 (b), the route point P and vehicle direction (theta) in which parking conditions are satisfied are demonstrated. As described above, the first condition in the parking available condition is that the vehicle 1 is turned backward from the route point P with the same turning radius R, and then the vehicle 1 is moved backward and straightly, so that the vehicle 1 is parked as a target. It is a condition that it is possible to stop at the position.

FIG. 5B is a schematic diagram for explaining the parking condition, and the path point P _v0 (x _v0 , y _v0 ) indicates the vehicle position of the vehicle 1 that determines whether the parking condition is satisfied. The path point P _Vn (x _vn , y _vn ) is the parking position targeted by the driver. Further, the vehicle orientation of the vehicle 1 at the route point P _v0 is denoted by θ _v, and the vehicle orientation of the vehicle 1 at the route point P _vn is denoted by θ _p .

When the angle formed between the straight line drawn from the path point P _v0 toward the path point P _vn and the x axis is θ, the angle θ is
θ = tan ⁻¹ ((y _v0 −y _vn ) / (x _v0 −x _vn ))
Can be calculated. Thus, x-axis from the path points _{P v0} to path points _{P vn} (see FIG. 5 (a)) and _{P x} parallel distance, y-axis from the path points _{P v0} to path points _{P vn} (FIG. 5 (a ) When P _y parallel distance to the reference),
P _x = | ((x _v0 −x _vn ) ² + (y _v0 −y _vn ) ² ) ^1/2 · cos (θ + π / 2−θ _p ) |
P _y = | ((x _v0 −x _vn ) ² + (y _v0 −y _vn ) ² ) ^1/2 · sin (θ + π / 2−θ _p ) |
Can be calculated.

Further, an angle formed by a straight line drawn perpendicularly from the turning center K of the vehicle 1 toward the y-axis and a straight line drawn from the turning center K of the vehicle 1 toward the route point P _V0 of the vehicle 1 is _defined as θ _vp . The angle θ _vp is
θ _vp = θ _v0 −θ _vn
Can be calculated. Therefore, from these equations, the turning radius Rp of the vehicle 1 can be calculated by the following equation.

_Rp = _Px / (1-cos ([theta] _Vp ))
It should be noted that when the turning radius _Rp is equal to or greater than the minimum turning radius of the vehicle 1, the first condition that can be parked is satisfied. That is, this expression is the first condition in the parking available condition.

When the distance parallel to the y-axis from the path point P _v0 to the turning center K of the vehicle 1 is P _ry , the distance P _ry is
P _ry = R _p · sin (θ _vp )
Can be calculated. Here, if the distance parallel to the y-axis from the entrance of the parking space to the route point P _vn is PL,
_{P y -PL>} P _ry
Only when the above is established, the vehicle 1 can move backward and go straight into the parking space. That is, this expression is the second condition in the parking available condition.

  The travel control device 100 sets the temporary travel route RT1 as the pattern travel unit RT1 if the two conditions in the above-described parking available condition are satisfied at the route point P corresponding to the end of the temporary travel route RT1, and Then, the reverse turning portion RT2 and the final reverse portion RT3 are determined, and the entire travel routes RT1 to RT3 are generated.

Note that the receding swivel unit RT2, route point P corresponding to the connection position between the final retraction section RT3 _{is, (x v0 -P x, y} v0 -P ry) because the two paths showing a retraction pivot portion RT2 The point P becomes a path point P _V0 and a path point P (x _v0 −P _x , y _v0 −P _ry ), and the two path points P indicating the final retreat part RT3 are the path point P (x _v0 − P _x , y _v0 −P _ry ) and path point P _vn .

  When the pattern travel portion RT1 is generated and the reverse turning portion RT2 and the final reverse portion RT3 are determined, a travel control point Q is virtually generated for each of the travel routes RT1 to RT3. When the traveling control point Q is virtually generated, vehicle setting information for setting the vehicle state of the vehicle 1 is generated for each traveling control point Q, and the traveling control point Q is identified. Index number (hereinafter referred to as “ID number”) is set.

  As for this ID number, the traveling control point Q closest to the route point P0 (starting position of the vehicle 1) among the traveling control points Q on the traveling routes RT1 to RT3 is set to the first. After that, ID numbers are set in order up to the travel control point Q that overlaps the target parking position so that the ID numbers increase by 1 along the travel routes RT1 to RT3. This ID number is used by the CPU 91 to identify which section of the travel control point Q is the travel control point Q.

  Next, the detailed configuration of the travel control device 100 will be described with reference to FIG. FIG. 6 is a block diagram showing an electrical configuration of the travel control device 100. The travel control device 100 includes a CPU 91, a flash memory 92, and a RAM 93, which are connected to an input / output port 95 via a bus line 94. The input / output port 95 includes a wheel driving device 3, a steering driving device 5, a steering sensor device 21, a gyro sensor device 22, a wheel rotation sensor 23, first to third distance sensors 24a to 24c, and automatic parking. The switch 25, the first to fourth cameras 26a to 26d, and other input / output devices 99 are connected.

  The CPU 91 is an arithmetic device that controls each unit connected by the bus line 94, and the flash memory 92 is a non-rewritable nonvolatile memory for storing a control program executed by the CPU 91, fixed value data, and the like. . In addition, the automatic parking process shown in the flowchart of FIG. 8 to be described later, the point route generation process shown in the flowchart of FIG. 9, the pattern travel part control point generation process shown in the flowchart of FIG. 10, and the reverse turning part control point shown in the flowchart of FIG. The programs for executing the generation process, the final backward control point generation process shown in the flowchart of FIG. 14, the route travel process shown in the flowchart of FIG. 18, and the misalignment correction process shown in the flowchart of FIG. 19 are stored in the flash memory 92. ing.

  The flash memory 92 is provided with a path pattern memory 92a. The path pattern memory 92a stores data indicating the shape, characteristics, and the like of each of the ten types of path patterns PT1 to PT10 described above. For example, the length of the travel route, the turning radius R of the vehicle 1 when traveling on the travel route, the steering amount of the vehicle 1, whether the vehicle 1 is moved forward or backward, or whether the vehicle 1 is moved straight Data indicating whether or not to turn is stored for each of the ten types of route patterns PT1 to PT10.

  The RAM 93 is a rewritable volatile memory, and is a memory for temporarily storing various data when the control program executed by the CPU 91 is executed. The RAM 93 includes a point path pattern memory 93a, a point path memory 93b, a travel control point memory 93c, a current position memory 93d, a re-recognition start position memory 93e, and a re-recognition end position memory 93f. .

  The point route pattern memory 93a is a memory in which a combination of route pattern numbers “PT1 to PT10” indicating the pattern travel unit RT1 (hereinafter referred to as a permutation of route pattern numbers “PT1 to PT10”) is stored. The point route pattern memory 93a is cleared by the CPU 91 when an automatic parking process (see FIG. 8) described later is executed. When the entire travel routes RT1 to RT3 from the current vehicle position to the target parking position are generated by the CPU 91, a permutation of route pattern numbers “PT1 to PT10” indicating the pattern travel unit RT1 is stored. .

  The permutation of the route pattern numbers “PT1 to PT10” stored in the point route pattern memory 93a acquires the state of whether the vehicle 1 is moving forward or backward at each route point P on the travel routes RT1 to RT3. Or when acquiring the state of presence / absence of switching (see S59 in FIG. 10, S80 in FIG. 12, and S99 in FIG. 14). It is also referred to when calculating the position of the route point P in the pattern travel unit RT1 (see FIG. 4).

  The point route memory 93b is a memory in which route point information of each route point P indicating the travel routes RT1 to RT3 is stored. As described above, the route point information is configured by the vehicle position of the vehicle 1 at the route point P and the vehicle orientation θ of the vehicle 1 at the route point P. Further, as described above, among the travel routes RT1 to RT3, in the pattern travel unit RT1, the start and end of the travel routes corresponding to the respective route patterns PT1 to PT10 are set as the route points P, respectively. Further, in the backward turning portion RT2 and the final backward portion RT3, the starting point and the ending point of each traveling route RT2, RT3 are set as the route point P.

  When the CPU 91 generates the entire travel routes RT1 to RT3, the route point information of the route point P in the pattern travel unit RT1, the route point information of the route point P in the reverse turning unit RT2, and the route point in the final retreat unit RT3. The P path point information is stored in the point path memory 93b (see S42 in FIG. 9). The route point information of each route point P stored in the point route memory 93b is referred to in order to generate the travel control point Q.

  The travel control point memory 93c is a memory in which vehicle setting information of each travel control point Q, which is a point generated for the travel routes RT1 to RT3, is stored. As described above, the traveling control point Q is for controlling the traveling state of the vehicle 1 such as the traveling direction and the steering amount when the traveling control device 100 causes the vehicle 1 to autonomously travel along the traveling routes RT1 to RT3. Is a point.

  In the present embodiment, when the travel control point Q is generated for the travel routes RT1 to RT3, the travel control is virtually performed on the travel routes RT1 to RT3 at intervals of 0.05 m from the current position to the target parking position. A point Q is generated (see S8, S9, and S10 in FIG. 8). A travel control point Q is always generated on each route point P excluding the route point P0 (starting position of the vehicle 1). For each traveling control point Q, vehicle setting information is generated, an ID number for identifying the traveling control point Q is set, and the generated vehicle setting information of the traveling control point Q is set. The traveling control point Q is associated with the ID number of the traveling control point Q and stored in the traveling control point memory 93c.

  Here, an example of the content of the traveling control point memory 93c will be described with reference to FIG. FIG. 7 is a schematic diagram showing an example of the contents of the travel control point memory 93c. As shown in FIG. 7, the travel control point memory 93 c stores a table indicating vehicle setting information for each travel control point Q. This table shows a state in which the vehicle setting information corresponding to each travel control point Q is associated with the ID number corresponding to that travel control point Q. Moreover, in this table, each vehicle setting information is arranged in order of ID number.

The vehicle setting information of each traveling control point Q includes the vehicle position of the vehicle 1 at the traveling control point Q, the vehicle orientation θ of the vehicle 1 at the traveling control point Q, the steering angle δ of the vehicle 1 at the traveling control point Q, the traveling The traveling direction flag at the control point Q and the switchback determination flag at the traveling control point Q are configured. An ID number is associated with the vehicle setting information of each travel control point Q. The maximum ID number in the table is stored in a predetermined area of the RAM 93 as the maximum index number ID _max .

  Since the vehicle position, the vehicle orientation θ, the steering angle δ, and the ID number have been described above, description thereof will be omitted. The traveling direction flag is a flag indicating whether the vehicle 1 moves forward or backward at the traveling control point Q, and is set to “1” when the vehicle 1 moves forward at the traveling control point Q. Is set to "-1" when the vehicle moves backward. The switchback determination flag is a flag indicating whether the vehicle 1 switches between forward and reverse at the travel control point Q, and is set to “0” when the vehicle 1 travels while maintaining forward or reverse at the travel control point Q. On the other hand, when the vehicle 1 switches forward to backward, or when the vehicle 1 switches backward to forward, it is set to “1”.

  When the vehicle 1 is traveling autonomously on the travel routes RT1 to RT3, the CPU 91 travels the vehicle 1 based on the travel control point Q closest to the current vehicle position of the vehicle 1 at predetermined intervals (for example, 50 ms). A state is set and the vehicle 1 is made to autonomously travel so that the vehicle 1 goes to the traveling control point Q that should pass next.

  Returning to the description of FIG. The current position memory 93d is a memory for storing the current vehicle position of the vehicle 1 and the current vehicle orientation θ of the vehicle 1. In the current position memory 93d, when an automatic parking process (see FIG. 8) described later is started, the CPU 91 causes the vehicle position at the route point P0 (starting position of the vehicle 1) and the vehicle direction θ at the route point P0. Are set (see S112 in FIG. 18).

  The value of the current position memory 93d is updated at predetermined intervals (for example, 50 ms) when the vehicle 1 is autonomously traveling on the travel routes RT1 to RT3. Specifically, the CPU 91 acquires the vehicle orientation θ of the vehicle 1 from the gyro sensor device 22 at predetermined intervals (for example, 50 ms), and calculates the traveling direction of the vehicle 1.

  Further, the CPU 91 obtains the count number counted after the last update of the value of the current position memory 93d from each counter that individually counts the rotation detection signals of the two wheel rotation sensors 23, and the two count numbers. Is used to calculate the travel distance of the vehicle 1 since the previous update of the value. For example, each counter that individually counts the rotation detection signals of the two wheel rotation sensors 23 is cleared each time the value of the current position memory 93d is updated, and counted after the value of the current position memory 93d is updated last time. Count the counted count.

  Then, based on the calculated traveling direction of the vehicle 1 and the calculated traveling distance of the vehicle 1, the movement amount of the vehicle 1 from the point where the value of the current position memory 93d was updated last time (moved) is calculated. The distance and the changed vehicle azimuth) are calculated, and the movement amount is added to the vehicle position and the vehicle azimuth θ stored in the current position memory 93d, and the value of the current position memory 93d is updated.

  The current position memory 93d is also updated when a later-described misalignment correction process (see FIG. 19) is executed and the re-recognition of the target parking position is successful. Although details will be described later, when the positional deviation correction process is executed, the target parking position is re-recognized by the CPU 91. And in order to correct | amend the position shift of the vehicle 1 which arose during autonomous driving | running | working, the vehicle position of the vehicle 1 on the basis of the re-recognized parking position and vehicle direction (theta) are calculated, and each value is present Stored in the position memory 93d.

  In the present embodiment, the traveling control device 100 autonomously operates the vehicle 1 on the assumption that the vehicle position and the vehicle orientation θ stored in the current position memory 93d indicate the vehicle position and the vehicle orientation θ of the current vehicle 1. Let it run. However, when the vehicle 1 travels along the travel routes RT1 to RT3, the vehicle 1 causes a skidding due to various disturbances such as road conditions, the number of passengers and loads of the vehicle 1, and the travel route. The vehicle position of the vehicle 1 may deviate from above RT1 to RT3.

  However, the deviation due to the skidding is not calculated as the amount of movement of the vehicle 1 and therefore is not reflected in the value of the current position memory 93d, and is not reflected in the actual vehicle position and vehicle orientation θ of the vehicle 1 and the current position memory 93d. The stored vehicle position and vehicle orientation θ are different. Then, the actual vehicle position and vehicle orientation θ of the vehicle 1 are different from the vehicle position and vehicle orientation θ stored in the current position memory 93d (hereinafter referred to as “the vehicle 1 is displaced”). In the end, the vehicle 1 is parked not in the target parking position but in another place (hereinafter referred to as “wrong parking position”). Since the displacement of the vehicle 1 is caused as the vehicle 1 travels, the displacement of the vehicle tends to increase as the travel distance of the vehicle 1 increases.

  The details will be described later with reference to FIG. 17. In this embodiment, therefore, the vehicle 1 is located at a place PK where the vehicle 1 is heading as a target parking area PK ′ (hereinafter referred to as “parking scheduled area”). Before the arrival of the image, the third camera 26c images the imaging area KF including the vicinity of the parking scheduled area (in this case, the wrong parking position) PK. Then, the captured image is analyzed, and the current vehicle position and vehicle orientation θ of the vehicle 1 are corrected from the actual positional relationship between the target parking position O ′ and the vehicle position of the vehicle 1. After the position shift is eliminated, the vehicle 1 is directed to the target parking position O ′.

  The re-recognition start position memory 93e and the re-recognition end position memory 93f are memories used by the CPU 91 to calculate the amount of movement of the vehicle 1 during the re-recognition of the target parking position. The re-recognition start position memory 93e stores values (vehicle position and vehicle orientation θ) of the current position memory 93d when the travel control device 100 starts re-recognition of the target parking position. On the other hand, the re-recognition end position memory 93f stores the values (vehicle position and vehicle orientation θ) of the current position memory 93d when the re-recognition of the target parking position is completed by the travel control device 100. A method for calculating the amount of movement of the vehicle 1 during re-recognition of the parking position will be described later with reference to FIG.

  Next, an automatic parking process executed by the CPU 91 of the travel control device 100 mounted on the vehicle 1 will be described with reference to the flowcharts of FIGS. 8 to 20 and schematic diagrams. FIG. 8 is a flowchart showing an automatic parking process executed by the traveling control device 100. In the automatic parking process, the vehicle 1 is autonomously driven from the current position to the parking position set by the driver, and the vehicle 1 is stopped at the parking position, and the automatic parking switch 25 is pressed by the driver. To be executed.

  In the automatic parking process, first, the point route pattern memory 93a in the RAM 93 is cleared (S1). Next, the parking position set by the driver is acquired as the final destination, and when the vehicle 1 is parked at the final destination, the axles of the left and right rear wheels 2RL and 2RR are set as the x-axis, and the center of the vehicle 1 The y-axis is the front-rear axis, and the intersection of the x-axis and y-axis is determined as the origin O (S2). For example, the surrounding images of the vehicle 1 are created by connecting the images captured by the four cameras 26a to 26d. Then, the created image is displayed on a touch panel (not shown) provided in the vehicle 1 to notify the driver to input the parking position. Thereafter, when the display screen is touched by the driver, a parking position corresponding to the touched screen position is calculated and set as the origin O.

  Next, the point route generation process is executed with the current point as the departure point (S3) (S4). Here, with reference to FIG. 9, the point path | route production | generation process performed by CPU91 of the traveling control apparatus 100 mounted in the vehicle 1 is demonstrated. FIG. 9 is a flowchart showing a point route generation process executed by the traveling control device 100. In the point route generation process, one or a plurality of route pattern numbers “PT1 to PT10” are combined to generate a permutation of the route pattern numbers “PT1 to PT10”, and a temporary travel route RT1 corresponding to the permutation is generated. It is a process to do. Further, when the parking condition is satisfied at the end of the generated temporary travel route RT1, the entire travel routes RT1 to RT3 from the departure point to the departure final destination are generated.

  In the point path generation process, the variable a is set to 0, the variable m is set to 6, and the variables a and m are initialized (S31). The variable a is for setting the total number of route patterns PT1 to PT10 constituting the temporary travel route RT1, and the variable m is the maximum value of the number of route patterns PT1 to PT10 constituting the temporary travel route RT1. Is set.

  Next, one permutation is acquired from among the 10 perimeter pattern numbers “PT1 to PT10” from among the permutation permutations composed of a path pattern numbers that allow duplication (S32). Here, one duplication permutation is acquired in order from the smallest path pattern number. For example, if a = 0, nothing is acquired, “PT1” is acquired first, “PT2” is acquired second, a duplicate permutation is acquired in the same manner when a = 1. Is done. In the case of a = 2, “PT1, PT1” is acquired first, “PT1, PT2” is acquired second, “PT1, PT3” is acquired third, and so on. An overlapping permutation is acquired, and “PT10, PT10, PT10, PT10, PT10, PT10” is acquired at the end when a = 6.

  Next, a temporary travel route RT1 corresponding to the overlapping permutation acquired in the process of S32 is generated, and the arrival point is acquired (S33). As described above, in the present embodiment, when the temporary travel route RT1 is generated, the route point P indicating the temporary travel route RT1 is generated. Next, it is determined whether parking conditions are satisfied at the route point P indicating the arrival point among the route points P indicating the temporary travel route RT1 (S34).

  In the present embodiment, in the process of S31, the initial setting is performed with a = 0 without performing the initial setting with a = 1. This is because it is determined by the process of S34 whether parking conditions are satisfied at the departure point. If a = 1 is initially set, the travel route RT1 is always generated. If the parking condition is satisfied at the departure point, the useless travel route RT1 is generated. Therefore, the generation of a useless travel route RT1 can be suppressed by initially setting a = 0.

  If the determination in S34 is negative (S34: No), it is determined whether all overlapping permutations composed of a route pattern numbers have been acquired (S35). If the determination in S35 is negative (S35: No), the process returns to S32. If the determination in S35 is affirmative (S35: Yes), it is determined whether the value of the variable a is less than the value of the variable m (S36). If the determination in S36 is affirmative (S36: Yes), 1 is added to the variable a (S37), and the process returns to S32.

  If the determination in S36 is negative (S36: No), all of the predefined duplication permutations have been acquired, but the travel routes RT1 to RT3 have not been found, so the point route memory 93b in the RAM 93 is cleared. (S38), the point route generation process is terminated, and the process returns to the automatic parking process (see FIG. 8).

  On the other hand, if the determination in S34 is affirmative (S34: Yes), the overlapping permutation of the path pattern numbers “PT1 to PT10” acquired in the process of S32 is stored in the point path pattern memory 93a of the RAM 93 (S39). . In the present embodiment, if it is determined in the process of S34 that the parking condition is satisfied, the temporary traveling route RT1 in which the parking condition is satisfied is determined as the pattern traveling unit RT1.

  Next, as described with reference to FIG. 5B, the path point P of the backward revolving part RT2 is determined (S40), and the path point P of the final backward part RT3 is determined (S41). Then, the route point information (vehicle position and vehicle orientation θ) of each route point P corresponding to the series of travel routes RT1 to RT3 is stored in the point route memory 93b (S42), and this point route generation process is terminated. Return to the automatic parking process (see FIG. 8).

  Here, the description returns to FIG. When the point route generation process (S4) is completed, it is next determined whether or not the travel routes RT1 to RT3 are generated by the process of S4 (S5). For example, when the route point information is stored in the point route memory 93b, it is determined that the travel routes RT1 to RT3 are generated, and when the route point information is not stored, the travel routes RT1 to RT3 are not generated. It is determined that If the determination in S5 is negative (S5: No), since the travel route to the final destination has not been found, the driver is informed that there are no travel routes RT1 to RT3 to the final destination ( S12), the automatic parking process is terminated.

On the other hand, if the determination of S5 is affirmative (S5: Yes), then set the maximum index number _ID 1 to _max is variable, performs the initial setting of the maximum index number _{ID max} is a variable (S6). And the process of S7-S10 mentioned later is performed and the driving | running | working control point Q with respect to driving | running route RT1-RT3 produced | generated by the process of S4 is produced | generated.

  Specifically, first, it is determined whether or not the value of the variable a set in the above-described point path generation process (see FIG. 9) is greater than 0 (S7). If the determination in S7 is affirmative (S7: Yes), the pattern travel unit control point generation process is executed (S8), and a travel control point Q for the pattern travel unit RT1 is generated. Then, the process proceeds to S9 process.

  On the other hand, when the determination of S7 is negative (S7: No), the parking condition is satisfied at the departure point. In this case, since there is no pattern traveling part RT1, the process of S8 is skipped and the process proceeds to S9. In the process of S9, a reverse turning part control point generation process is executed (S9), and a traveling control point Q for the reverse turning part RT2 is generated. Thereafter, a final reverse portion control point generation process is executed (S10), and a travel control point Q for the final reverse portion RT3 is generated.

  As described above, in the present embodiment, the above-described point route generation process (S4) is executed, and only when the travel routes RT1 to RT3 are generated (S5: Yes), the processes of S6 to S10 are executed. Thus, a travel control point Q for the travel routes RT1 to RT3 is generated.

  Therefore, when the temporary travel route RT1 in which the vehicle 1 cannot reach the target parking position is generated, the process for generating the travel control point Q is not executed. Therefore, it is possible to suppress unnecessary processing that is irrelevant for causing the vehicle 1 to autonomously travel to the target parking position.

  Further, as described above with reference to FIG. 2, in the present embodiment, not only the position corresponding to each route point P among the travel routes RT <b> 1 to RT <b> 3, but also virtually travels between each route point P. A control point Q is generated. Ideally, if a travel control point Q is virtually generated only at a position corresponding to each route point P and the vehicle 1 is autonomously traveled based on the travel control point Q, the vehicle 1 travels along the travel route RT1. Although the vehicle 1 can travel on the RT3, actually, the vehicle 1 causes a skidding due to various disturbances such as the road surface condition, the number of passengers and the load of the vehicle 1, and the vehicle position is changed from the travel route RT1 to RT3. It may be misaligned.

  Therefore, in the present embodiment, a travel control point Q is virtually generated between the route points P in addition to the position corresponding to each route point P, and the vehicle 1 such as the traveling direction is determined for each travel control point Q. It is possible to correct the running state of. Therefore, when the travel control device 100 causes the vehicle 1 to travel autonomously and travel on the travel routes RT1 to RT3, the travel state of the vehicle 1 is set so that the vehicle 1 can travel smoothly on the travel routes RT1 to RT3. Can be controlled.

  Here, with reference to FIGS. 10 to 15, the pattern travel part control point generation process (S8), the reverse turning part control point generation process (S9), and the final reverse part control point generation process (S10) will be described. First, the pattern traveling unit control point generation process (S8) will be described with reference to FIG. FIG. 10 is a flowchart showing a pattern traveling unit control point generation process executed by the traveling control device 100.

  The pattern travel part control point generation process is a process for generating a travel control point Q for the pattern travel part RT1 among the travel routes RT1 to RT3 generated in the process of S4. Travel control points Q are generated at intervals of 0.05 m. In the pattern travel unit RT1, since the travel distance CL between the adjacent route points P is all 2 m, 41 travel control points Q are always required between the adjacent route points P. In the point generation process, the other 40 traveling control points Q are generated without generating the traveling control points overlapping the route point P closer to the departure point.

  More specifically, of the two adjacent route points, the route point P closer to the departure point is set as the first route point P, and the route point P closer to the final destination is set as the second route point P. In this case, the travel control point Q is not generated on the first route point P, and the first travel control point Q is generated at a position close to the second route point P by 0.05 m from the first route point P. And the traveling control point Q is produced | generated in order, and the 40th traveling control point Q is made to overlap with the 2nd path | route point P. FIG.

  In the pattern traveling unit control point generation process, first, the variable j is set to 0, the variable n is set to 40, and the variables j and n are initially set (S51). Next, the jth route point P from the departure point is set as the first route point P, and the (j + 1) th route point P is set as the second route point P (S52). For example, in the travel route RT1 shown in FIG. 2, seven route points P from P0 to P6 are provided. Here, when the variable j is 0, the route point P0 is the first route point P, and the route point P1 is the second route point P.

  Next, the vehicle position and vehicle direction that are the route point information of the first route point P are acquired from the point route memory 93b of the RAM 93 (S53), and similarly, the vehicle position that is the route point information of the second route point P. The vehicle direction is acquired from the point route memory 93b (S54).

Then, the steering angle δ of the vehicle 1, the turning center K of the vehicle 1, and the turning radius R of the vehicle 1 for calculating the vehicle 1 from the first route point P to the second route point P are calculated (S55). . In the process of S55, the steering angle δ, the turning center K, and the turning radius R are calculated based on the overlapping permutations of the route pattern numbers stored in the point route pattern memory 93a. Since the pattern travel portion RT1 is obtained by connecting travel routes corresponding to the route patterns PT1 to PT10, the travel distance CL and the turning radius R are originally determined. As a result, the steering angle δ and the turning center K The turning radius R is uniquely determined. If the turning radius of the vehicle 1 is R and the distance between the axles of the front wheels 2FL and 2FR in the vehicle 1 and the axles of the rear wheels 2RL and 2RR in the vehicle 1 is the wheel base WL, the steering angle of the vehicle 1 δ is
δ = tan ⁻¹ (WL / R)
Is calculated by Further, a change amount Δθ in the vehicle direction when the vehicle 1 moves from the first route point P to the second route point P is calculated (S56). An expression for calculating the vehicle orientation change Δθ will be described later.

  Then, the variable i is set to 1 and the variable i is initialized (S57). Next, among the travel control points Q provided on the route from the first route point P to the second route point P, the position (vehicle position) of the i-th travel control point Q from the first route point P, and The vehicle direction is calculated (S58). The first travel control point Q is a travel control point Q that approaches the second route point P by 0.05 m from the first route point P, and the 40th travel control point Q overlaps the second route point P. I am doing so.

Here, with reference to FIG. 11, the position of the traveling control point Q generated for the pattern traveling unit RT1 and the vehicle direction thereof will be described. FIG. 11 is a schematic diagram for explaining an example of the travel control point Q generated for the pattern travel unit RT1 among the travel routes RT1 to RT3, and illustrates between two adjacent route points P. It is a thing. Here, the first path point is indicated as P _v0 (x _v0 , y _v0 ), and the second path point is indicated as P _vn (x _vn , y _vn ).

Since the pattern travel unit RT1 is generated based on the travel route corresponding to the route patterns PT1 to PT10, the travel distance CL and the turning radius R are determined in the first place. Therefore, the turning radius R and the turning center K (x _k , y _k ) when the vehicle 1 moves from the first route point P _v0 to the second route P _vn are determined in advance. Further, the travel distance CL of the vehicle 1 from the first route point P _v0 to the second route P _vn is all 2 m. Therefore, the vehicle direction theta _v0 at the first path point P _v0, when the Δθ the variation of the vehicle direction theta _vn at the second path point P _vn, the amount of change Δθ is
Δθ = CL / R
Is calculated by In the process of S56 in FIG. 10, the change amount Δθ of the vehicle direction is calculated by this equation. If the i-th travel control point from the first route point P is Q (x _vi , y _vi ) and the vehicle direction is θ _i ,
θ _i = i · Δθ / 40
x _vi = x _k + R · cos (θ _v0 −π / 2 + θ _i )
y _vi = y _k + R · sin (θ _v0 −π / 2 + θ _i )
Is calculated by Here, the first travel control point Q from the first route point P becomes a travel control point Q that approaches the second route point P by 0.05 m from the first route point P, and the 40th travel control point Q is It overlaps with the second path point P.

By using the mathematical formula described with reference to FIG. 11 above, between the route points P of the pattern travel unit RT1, the positions of the 40 travel control points Q and the vehicle orientation θ _i of the vehicle 1 at those positions Therefore, it is possible to generate all the travel control points Q corresponding to the pattern travel unit RT1.

  In the present embodiment, even if the travel route RT1 in which the route points P are roughly provided at intervals of 2 m is generated based on the combination of the route patterns PT1 to PT10, thereafter, between the route points P of the travel route RT1, 0 is generated. Travel control points Q can be generated virtually at intervals of .05 m. Although details will be described later, also for the travel routes RT2 and RT3, the travel control points Q can be virtually generated at intervals of 0.05 m between the route points P of the travel routes RT2 and RT3.

  Therefore, the length CL of each travel route corresponding to the route patterns PT1 to PT10 is shortened (for example, 0.05 m, etc.), the travel route RT1 is generated in detail, or the pattern types of the route patterns PT1 to PT10 Since it is not necessary to store and store a large number of processes, the processing cost can be suppressed. Therefore, according to the travel control device 100, the travel routes RT1 to RT3 of the vehicle from the initial position to the target parking position can be provided to the driver with a small processing cost.

  Here, the description returns to FIG. Then, the steering angle δ from the first path point P to the i-th travel control point Q, the traveling direction (forward or backward), and the presence / absence of turning back are acquired (S59). In the process of S59, the steering angle δ is acquired for the steering angle δ that is the same as that of the first path point P, regardless of the travel control point Q. Regardless of the traveling control point Q, the value indicating the same direction (forward or backward) is acquired as the traveling direction.

  The traveling direction is uniquely determined based on the route patterns PT1 to RT10 from the first route point P to the second route point P, and is acquired based on the contents of the point route pattern memory 93a. More specifically, if the route patterns PT1 to PT10 from the first route point P to the second route point P are route patterns PT1, PT3, PT4, PT7, and PT8 that cause the vehicle 1 to move forward, the vehicle advances in the traveling direction. Is obtained. On the other hand, in the case of route patterns PT2, PT5, PT6, PT9, and PT10 that cause the vehicle 1 to move backward, a value indicating backward as the traveling direction is acquired.

  As for the presence / absence of switching, a value indicating no switching is acquired except for the traveling control point Q that overlaps the second route point P. And about the traveling control point Q which overlaps with the 2nd path | route point P, the presence or absence of a return is acquired based on the content of the point path | route pattern memory 93a. More specifically, the route patterns PT1 to PT10 from the first route point P to the second route point P and the route patterns PT1 to PT10 from the second route point P to the next route point P are both vehicles. If the route pattern PT1, PT3, PT4, PT7, PT8 for moving forward 1 or the route patterns PT2, PT5, PT6, PT9, PT10 for moving backward the vehicle 1, the travel control point Q overlapping the second route point P As the presence / absence of switching, a value indicating no switching is acquired.

  On the other hand, one of the route patterns PT1 to PT10 from the first route point P to the second route point P and the route patterns PT1 to PT10 from the second route point P to the next route point P move forward in the vehicle 1. If the route patterns PT1, PT3, PT4, PT7, and PT8 to be caused and the other is the route patterns PT2, PT5, PT6, PT9, and PT10 that cause the vehicle 1 to move backward, the travel control point Q that overlaps the second route point P is switched back. As a presence / absence of the value, a value indicating that there is a return is obtained.

When the process of S59 is completed, the current maximum index number ID _max is associated with the vehicle setting information (vehicle position, vehicle direction, steering angle δ, traveling direction flag, turn-off flag) corresponding to the i-th travel control point Q. And stored in the travel control point memory 93c of the RAM 93 (S60).

As described above, the maximum index number ID _max is initially set to 1 by the process of S6 in FIG. 8, and thereafter, the travel control point Q is generated until the travel control point Q overlapping the final destination is generated. 1 is added each time. Therefore, by generating the travel control point Q and repeating the process of associating the current maximum index number ID _max with the vehicle setting information corresponding to the travel control point Q, the vehicle setting information for each travel control point Q is Sequential ID numbers can be associated in order from 1 (see FIG. 7).

  If a value indicating forward is acquired as the traveling direction in the process of S59, the traveling direction flag is set to “1” and a value indicating backward is acquired as the traveling direction in the process of S60. The traveling direction flag is set to “−1”. If a value indicating no return is acquired as the presence / absence of the return in the process of S59, the return flag is set to “0” and the value indicating the return is indicated as the presence / absence of the return in the process of S60. If so, the return flag is set to “1”.

  In the process of S60, when the vehicle setting information of the traveling control point Q is stored in the traveling control point memory 93c, each traveling control point Q is not overwritten so that the vehicle setting information of other traveling control points Q is overwritten. Vehicle setting information is individually stored (see FIG. 7).

When the processing of S60 is completed, then, by adding 1 to the current maximum index number _{ID max,} to update the maximum index number _{ID max} (S61).

  Next, it is determined whether the value of the variable i is less than the value of the variable n (S62). If the determination in S62 is affirmative (S62: Yes), 1 is added to the variable i (S63). ), The process returns to S58. Then, 40 traveling control points Q are sequentially generated on the route from the first route point P to the second route point P.

  On the other hand, when the determination of S62 is negative (S62: No), since 40 travel control points Q are set between the first route point P and the second route point P, the pattern travel unit RT1 It is determined whether all travel control points Q have been generated (S64).

  If the determination in S64 is negative (S64: No), 1 is added to the variable j (S65), the process returns to S52, and 40 driving control points Q between the next route points P are also returned. Is generated. If the determination in S64 is affirmative (S64: Yes), the pattern traveling unit control point generation process (S8) is terminated, and the process returns to the automatic parking process (see FIG. 8).

In addition, when the process of S60 is performed, if the vehicle setting information of the last travel control point Q in the pattern travel unit RT1 is stored in the travel control point memory 93c, then the process of S61 is performed, The index number ID _max is updated. And the determination of S62 is denied and it branches to S62: No, Furthermore, the determination of S64 is denied and it branches to S64: No, and a pattern travel part control point production | generation process is complete | finished.

As a result, the maximum index number ID _max indicates the ID number of the travel control point Q that does not exist, but this maximum index number ID _max is obtained when the later-described reverse turning portion control point generation process is executed. This is associated with the vehicle setting information of the first traveling control point Q of the reverse turning section RT2. Therefore, discontinuous ID numbers are not associated with the vehicle setting information of the travel control point Q.

  Next, with reference to FIG. 12, the reverse turning part control point generation process (S9) will be described. FIG. 12 is a flowchart showing the reverse turning unit control point generation process executed by the traveling control device 100.

  The reverse turning part control point generation process is a process for generating a traveling control point Q for the reverse turning part RT2 among the traveling routes RT1 to RT3 generated in the process of S4. Travel control points Q are generated between the route points P at intervals of 0.05 m. Note that the traveling distance CL of the reverse turning portion RT2 is not constant like the pattern traveling portion RT1, and therefore, the number of traveling control points Q corresponding to the traveling distance CL is generated between the two route points P.

  In the reverse turning unit control point generation process, as in the pattern traveling unit control point generation process (see FIG. 10), the route point P closer to the departure point is selected as the first route point among the two adjacent route points. When the route point P closer to the final destination is the second route point P, the travel control point Q is not generated on the first route point P, and only 0.05 m from the first route point P. A first traveling control point Q is generated at a position approaching the second route point P. And the traveling control point Q is produced | generated in order, and the last traveling control point Q is made to overlap with the 2nd path | route point P. FIG.

  In the reverse turning portion control point generation process, first, two route points P indicating the reverse turning portion RT2 are specified among the route points P indicating the traveling routes RT1 to RT3 (S71). For example, in the case of the travel routes RT1 to RT3 shown in FIG. 2, the route point P6 and the route point P7 are specified.

  Next, of the two specified route points P, the route point P closer to the departure point on the travel routes RT1 to RT3 is set as the first route point P, and the route point P closer to the final destination is set as the second route point P. A route point P is set (S72). Then, the vehicle position and vehicle direction that are the route point information of the first route point P are acquired from the point route memory 93b of the RAM 93 (S73), and similarly, the vehicle position and the vehicle point that is the route point information of the second route point P and The vehicle direction is acquired from the point route memory 93b (S74).

Next, the steering angle δ of the vehicle 1, the turning center K of the vehicle 1, and the turning radius R of the vehicle 1 for calculating the vehicle 1 from the first route point P to the second route point P are calculated (S75). ). Incidentally, the turning center K of the vehicle 1 here, the turning radius R of the vehicle 1, and the turning center K calculated when the available parking condition is satisfied, it is the turning radius R _p. When the turning radius of the vehicle 1 is R and the wheel base of the vehicle 1 is WL, the steering angle δ of the vehicle 1 is
δ = tan ⁻¹ (WL / R)
Is calculated by Further, a change amount Δθ in the vehicle direction when the vehicle 1 moves from the first route point P to the second route point P is calculated (S76). An expression for calculating the vehicle orientation change Δθ will be described later.

  Then, the number of travel control points Q generated between the first route point P and the second route point P is calculated and substituted for the variable n (S77). A formula for calculating the number of travel control points Q will also be described later.

  Next, the variable i is set to 1 and the variable i is initialized (S78). Among the travel control points Q generated for the travel route from the first route point P to the second route point P, the position (vehicle position) of the i-th travel control point Q from the first route point P and Then, the vehicle orientation is calculated (S79). The first travel control point Q is a travel control point Q that approaches the second route point P by 0.05 m from the first route point P, and the nth travel control point Q overlaps the second route point P. I am doing so.

Here, with reference to FIG. 13, the position of the traveling control point Q generated for the reverse turning portion RT2 and the vehicle direction thereof will be described. FIG. 13 is a schematic diagram for explaining an example of the traveling control point Q generated for the reverse turning portion RT2 among the traveling routes RT1 to RT3, and between the two route points P indicating the reverse turning portion RT2. Is illustrated. Here, of the two route points P, the first route point is indicated as P _v0 (x _v0 , y _v0 ), and the second route point is indicated as P _vn (0, y _vn ). At the second path point P _vn , the longitudinal axis of the vehicle 1 necessarily overlaps the y-axis, so the x value becomes 0 and the vehicle orientation becomes π / 2.

The reverse turning portion RT2 is a traveling route following the pattern traveling portion RT1, and the traveling route is determined so that the vehicle 1 makes a reverse turn at the same steering angle δ from the end of the pattern traveling portion RT1 to the target parking position. (See S41 in FIG. 9). Therefore, when the backward turning portion RT2 is determined, the turning center K (x _k , y _k ) and the turning radius R are determined.

Accordingly, when the amount of change between the vehicle direction θ _{v0 at} the first path point P _v0 and the vehicle direction π / 2 at the second path point P _vn is Δθ, the amount of change Δθ is
Δθ = θ _v0 −π / 2
Is calculated by In the process of S77 in FIG. 12, the vehicle direction change amount Δθ is calculated by this equation. The travel distance CL from the first route point P _v0 to the second route point P _vn is
CL = R · Δθ
Is calculated by

Therefore, when the traveling control points Q are generated at intervals of 0.05 m between the first path point P _v0 and the second path point P _vn , the total number n is
n = R · Δθ / 0.05
It becomes. When the total number n does not become an integer, the decimal point is rounded up to an integer. In the process of S77 in FIG. 12, the total number n calculated by this equation is substituted into the variable n.

If the i-th travel control point from the first route point P _v0 is Q (x _vi , y _vi ) and the vehicle direction is θ _i ,
θ _i = Δθ · (n−i) / n
x _vi = x _k + R · cos (θ _i )
y _vi = y _k + R · sin (θ _i )
Is calculated by Here, the first travel control point from the first path point _{P v0} Q is only 0.05m from the first path point _{P v0} travel control point Q becomes closer to the second path point P, from the first path point _{P v0} The nth travel control point Q overlaps with the second route point _Pvn .

By using the mathematical formula described with reference to FIG. 13 above, the position of each of the n travel control points Q and the vehicle orientation θ _i of the vehicle 1 at the position between the route points P of the reverse turning portion RT2 Therefore, it is possible to generate all the travel control points Q corresponding to the reverse turning portion RT2.

  Here, the description returns to FIG. Next, the steering angle δ from the first path point P to the i-th travel control point Q, the traveling direction (forward or backward), and the presence / absence of turning back are acquired (S80). Note that, in the processing of S80, the steering angle δ is acquired as the same steering angle δ as that of the first path point P regardless of the travel control point Q. In addition, as the traveling direction, a value indicating reverse is acquired. In addition, for the presence / absence of reversion, a value indicating that there is no reversion is acquired.

When the processing of S80 is completed, the current maximum index number ID _max is associated with the vehicle setting information (vehicle position, vehicle direction, steering angle δ, traveling direction flag, turn-off flag) corresponding to the i-th travel control point Q. And stored in the travel control point memory 93c of the RAM 93 (S81).

As described above, the maximum index number ID _max is initially set to 1 by the process of S6 in FIG. 8, and thereafter, the travel control point Q is generated until the travel control point Q overlapping the final destination is generated. 1 is added each time. Further, in the determination of S7 in FIG. 8, if the determination in S7 is affirmative, it is after the above-described pattern traveling unit control point generation process (see FIG. 10) is executed. Therefore, when the process of S81 is first executed, the maximum index number ID _max is updated to the first ID number of the reverse turning unit RT2 by the process of S61 of FIG.

Therefore, by generating the travel control point Q and repeating the process of associating the current maximum index number ID _max with the vehicle setting information corresponding to the travel control point Q, the IDs that are continuous through the travel routes RT1 to RT2 are obtained. Can be sequentially associated with the vehicle setting information of each travel control point Q.

On the other hand, if the determination in S7 is negative in the process of S7 in FIG. 8, the above-described pattern traveling unit control point generation process (see FIG. 10) is skipped, so the maximum index number ID _max is initially set to 1. It is the state that was done. Therefore, by generating the travel control point Q and repeating the process of associating the current maximum index number ID _max with the vehicle setting information corresponding to the travel control point Q, the vehicle setting information for each travel control point Q is Sequential ID numbers can be associated in order from 1.

  Here, all the traveling direction flags are set to “−1”, and all the turn-back flags are set to off. Further, when the vehicle setting information of the traveling control point Q is stored in the traveling control point memory 93c, the vehicle setting information of each traveling control point Q is not overwritten so that the vehicle setting information of other traveling control points Q is overwritten. Remember each separately.

When the processing of S81 is completed, then, by adding 1 to the current maximum index number _{ID max,} to update the maximum index number _{ID max} (S82). Next, it is determined whether the value of the variable i is less than the value of the variable n (S83). If the determination in S83 is affirmative (S83: Yes), 1 is added to the variable i (S84). ), The process returns to S79. Then, n traveling control points Q are sequentially generated on the route from the first route point P to the second route point P. On the other hand, if the determination in S83 is negative (S83: No), since all n traveling control points Q have been generated, the reverse turning portion control point generation processing (S9) is terminated, and automatic parking processing ( Return to FIG.

If the vehicle setting information of the last traveling control point Q in the reverse turning portion RT2 is stored in the traveling control point memory 93c when the processing in S81 is performed, then the processing in S82 is performed, The index number ID _max is updated. And determination of S83 is denied and it branches to S83: No, and a pattern travel part control point production | generation process is complete | finished.

As a result, the maximum index number ID _max indicates the ID number of the travel control point Q that does not exist, but this maximum index number ID _max is obtained when a later-described backward movement control point generation process is executed. This is associated with the vehicle setting information of the first traveling control point Q of the final reverse portion RT3. Therefore, discontinuous ID numbers are not associated with the vehicle setting information of the travel control point Q.

  Next, with reference to FIG. 14, the final retreat part control point generation process (S10) will be described. FIG. 14 is a flowchart showing the final reverse portion control point generation process executed by the traveling control device 100.

  The final reverse part control point generation process is a process for generating a travel control point Q for the final reverse part RT3 among the travel routes RT1 to RT3 generated in the process of S4. Travel control points Q are generated between the route points P at intervals of 0.05 m. Note that the travel distance CL is not constant in the final reverse portion RT3 as in the reverse turning portion RT2, and therefore, the number of travel control points Q corresponding to the travel distance CL is generated between the two route points P.

  In the final retreat part control point generation process as well, as in the pattern traveling part control point generation process (see FIG. 10), the route point P closer to the departure point is selected as the first route point from the two adjacent route points. When the route point P closer to the final destination is the second route point P, the travel control point Q is not generated on the first route point P, and only 0.05 m from the first route point P. A first traveling control point Q is generated at a position approaching the second route point P. And the traveling control point Q is produced | generated in order, and the last traveling control point Q is made to overlap with the 2nd path | route point P. FIG.

  Each process of S92 to S95 in the final retreat part control point generation process is the same as each process of S72 to S75 in the retreat turning part control point generation process of FIG. 12 described above, and in the final retreat part control point generation process. Each process of S97-S100 is the same process as each process of S78-S81 in the backward turning part control point generation process of FIG. 12 mentioned above.

  Each process of S101 and S102 in the final retreat part control point generation process is the same as each process of S83 and S84 in the retreat turning part control point generation process of FIG. Therefore, detailed description of similar processing is omitted, and only different portions (S91, S96, S103) are described in detail.

  In the final retreat portion control point generation process, first, two route points P indicating the final retreat portion RT3 are specified from among the route points P indicating the travel routes RT1 to RT3 (S91). For example, in the case of the travel routes RT1 to RT3 shown in FIG. 2, the route point P7 and the route point P8 are specified. And each process of S92-S95 is performed, Next, the number of the traveling control points Q produced | generated between the 1st route point P and the 2nd route point P is calculated, and it substitutes for the variable n (S96). A formula for calculating the number of travel control points Q will be described later.

  And each process of S97-100 is performed. In the final retreating part RT3, the vehicle 1 always moves backward with the longitudinal axis of the vehicle 1 overlapping with the y-axis, so that the vehicle direction is always π / 2. Therefore, in the process of S99, all 0 is acquired as the steering angle δ regardless of the travel control point Q. In addition, as the traveling direction, a value indicating reverse is acquired. In addition, for the presence / absence of reversion, a value indicating that there is no reversion is acquired. Therefore, in the process of S100, all the traveling direction flags are set to “−1”, and all the turn-back flags are set to off.

Further, as described above, the maximum index number ID _max is initially set to 1 by the process of S6 in FIG. 8, and thereafter, the travel control point Q is generated until the travel control point Q overlapping the final destination is generated. 1 is added whenever it is done. Since the process of S100 is executed first after the process of S61 of FIG. 10 and the process of S82 of FIG. 12, the maximum index number ID _max is set to the first ID number of the final backward portion RT3. Has been updated.

Therefore, by generating the travel control point Q and repeating the process of associating the current maximum index number ID _max with the vehicle setting information corresponding to the travel control point Q, the IDs that are continuous through the travel routes RT1 to RT3. Can be associated with the vehicle setting information of each travel control point Q.

  In the process of S100, all the traveling direction flags are set to “−1”, and all the return flags are set to off. Further, when the vehicle setting information of the traveling control point Q is stored in the traveling control point memory 93c, the vehicle setting information of each traveling control point Q is not overwritten so that the vehicle setting information of other traveling control points Q is overwritten. Remember each separately.

When the process of S100 is completed, the process of S101 is executed next. If the determination in S101 is affirmative (S101: Yes), the process of S102 is executed. Then, by adding 1 to the current maximum index number _{ID max,} it updates the maximum index number _{ID max} (S103). Thereafter, the process returns to S98. Then, n traveling control points Q are sequentially generated on the route from the first route point P to the second route point P. On the other hand, when the determination in S101 is negative (S101: No), since all the n traveling control points Q have been generated, the final retreat control point generation process (S8) is terminated, and the automatic parking process ( Return to FIG.

In the final retreat control point generation process, only when the process of S100 is executed and the vehicle setting information of the travel control point Q is stored in the travel control point memory 93c, the determination in S101 is affirmed. The process of S103 is executed, and the maximum index number ID _max is updated.

That is, the maximum index number ID _max is updated only when there is a travel control point Q to be generated next. Therefore, after the last travel control point Q in the final reverse portion RT3 is generated, the maximum index number ID _max is not updated. Therefore, the ID number of the last travel control point Q is set as the maximum index number ID _max .

Here, with reference to FIG. 15, the position of the traveling control point Q generated for the final reverse portion RT3 and the vehicle direction thereof will be described. FIG. 15 is a schematic diagram for explaining an example of the travel control point Q generated for the final reverse portion RT3 among the travel routes RT1 to RT3, between the two route points P indicating the final reverse portion RT3. Is illustrated. Here, of the two route points P, the route point P on the side closer to the departure point on the travel routes RT1 to RT3 is indicated as the first route point P _v0 (x _v0 , y _v0 ) and is closer to the final destination. _Is shown as a second route point P _vn (x _vn , y _vn ).

In both the first path point P _v0 and the second path point P _vn , the longitudinal axis of the vehicle 1 always overlaps the y axis, so the x value becomes 0, the vehicle direction becomes π / 2, and the steering angle δ Becomes 0.

The final reverse portion RT3 is a travel route that follows the reverse turning portion RT2, and the travel route is determined so that the vehicle 1 can be moved straight from the end of the reverse turning portion RT2 to the target parking position and stopped. (See S41 in FIG. 9). Therefore, the travel distance CL from the first route point P _v0 (x _v0 , y _v0 ) to the second route point P _vn (x _vn , y _vn ) is
CL = ((x _v0 −x _vn ) ² + (y _v0 −y _vn ) ² ) ^1/2
Is calculated by In this embodiment, since both x _v0 and x _vn are 0, it may be calculated as “CL = | y _v0 −y _vn |”.

Therefore, when the travel control points Q are generated at intervals of 0.05 m between the first route point P _v0 and the second route point P _vn , the total number n is
n = CL / 0.05
It becomes. When the total number n does not become an integer, the decimal point is rounded up to an integer. In the process of S96 of FIG. 14, the total number n calculated by this equation is substituted into the variable n.

If the i-th travel control point from the first route point P _v0 is Q (x _vi , y _vi ) and the vehicle direction is θ _i ,
θ _i = π / 2
x _vi = 0
y _vi = y _v0 −0.05 · n
Is calculated by Here, the first travel control point Q from the first route point P _v0 is the travel control point Q that approaches the second route point by 0.05 m from the first route point P, and is nth from the first route point P _v0. The travel control point Q overlaps with the second path point _Pvn .

By using the mathematical expression described with reference to FIG. 15 above, the position of each of the n travel control points Q and the vehicle orientation θ _i of the vehicle 1 at that position between the path points P of the final retreat part RT3 Therefore, it is possible to generate all the travel control points Q corresponding to the final reverse portion RT3.

  Here, the description returns to FIG. After the processing of S6 to S10 is executed and the travel control points Q for the travel routes RT1 to RT3 are generated, the vehicle 1 can be parked at the parking position set by the driver. The driver is notified (S11).

  Then, it is determined whether the driver has instructed to start autonomous driving and park the vehicle 1 at the parking position, or whether the driver has instructed to stop parking by autonomous driving (S13). When the driver gives an instruction to cancel the parking due to traveling (S13: Cancel), the automatic parking process is terminated. On the other hand, when the driver instructs to start autonomous traveling and park the vehicle 1 at the parking position (S13: start), route traveling processing is executed (S14).

  Although details will be described later, when the route travel process (S14) is executed, the vehicle 1 is autonomously traveled along the travel routes RT1 to RT3. Here, with reference to FIG. 16 and FIG. 17, the outline of the autonomous running of the vehicle 1 is demonstrated. FIG. 16A is a schematic diagram for explaining an example when the vehicle 1 autonomously travels along the travel routes RT1 to RT3, and FIG. 16B illustrates the shape of the vehicle 1 and the obstacle determination area. It is a schematic diagram which shows an example with the shape of E.

  In the present embodiment, while the vehicle 1 is traveling autonomously, whether or not there is an obstacle in the obstacle determination area E set for the vehicle 1 is monitored at predetermined intervals (for example, 50 ms), If an obstacle is found in the obstacle determination area E, the autonomous running is stopped, and if no obstacle is found, the autonomous running is continued.

  For example, when the vehicle 1 travels autonomously, an obstacle determination area E is set so as to surround the vehicle 1 as shown in FIG. Since this obstacle determination area E is an area set for the vehicle 1, the position of the obstacle determination area E moves as the vehicle 1 moves. The obstacle determination area E is set so that the distance extending from the front of the vehicle 1 to the front and the distance extending from the rear to the rear of the vehicle 1 differ depending on whether the vehicle 1 moves forward or backward. Is done.

  Specifically, while the vehicle 1 is moving forward, as shown in FIG. 16 (b), the obstacle determination area E has a distance extending in the forward direction of the vehicle 1 that is long as ΔL 1, and the backward direction of the vehicle 1. The distance that spreads out becomes as short as ΔL2. On the other hand, while the vehicle 1 is moving backward, the distance extending in the backward direction of the vehicle 1 becomes long as ΔL1, and the distance extending in the forward direction of the vehicle 1 becomes short as ΔL2. Thus, in this embodiment, since the obstacle determination area | region E is comprised so that the length of the advancing direction of the vehicle 1 may become large, the front of the advancing direction of the vehicle 1 can be monitored accurately. .

  Further, in the present embodiment, when the vehicle 1 autonomously travels in the reverse turning portion RT2 or the final reverse portion RT3 in the travel routes RT1 to RT3, the travel control control device 100 repeatedly tries to recognize the target parking position. . And whenever the re-recognition of a parking position succeeds, the position shift of the vehicle 1 which arises during autonomous driving | running | working is correct | amended. As a result, the vehicle 1 can be made to autonomously travel to the target parking position after the position shift is once eliminated.

  Here, with reference to FIG. 17, an example in which the parking position is re-recognized in the travel control device 100 and the positional deviation of the vehicle 1 is corrected will be described. FIG. 17A is a schematic diagram for explaining an example of a case where the parking position is re-recognized by the travel control device 100. FIG. 17B is a diagram illustrating the vehicle position of the vehicle 1 by the travel control device 100. FIG. 17C is a schematic diagram for explaining an example of the case where the vehicle 1 travels toward the parking position O ′ re-recognized. .

  In the example shown in FIG. 17 (a), the vehicle 1 causes a side slip during autonomous traveling, and the vehicle 1 is traveling autonomously with a positional deviation with respect to the traveling routes RT1 to RT3. If the autonomous traveling is continued, the parking area PK ′ is not the target parking area PK ′ but the parking area PK is parked. In other words, the vehicle position and the vehicle direction θ of the actual vehicle 1 are different from the vehicle position and the vehicle direction θ stored in the current position memory 93d, indicating that the vehicle is traveling autonomously. .

  As described above, in the present embodiment, the traveling control device 100 uses the vehicle position and vehicle direction θ stored in the current position memory 93d as the vehicle position and vehicle direction θ of the current vehicle 1 on the assumption that the vehicle is the vehicle. Make 1 run autonomously. Therefore, if the actual vehicle position and vehicle orientation θ of the vehicle 1 and the vehicle position and vehicle orientation θ stored in the current position memory 93d are different (displaced), the traveling control device 100 sets the target. Even if the vehicle 1 is stopped at the parking position, the vehicle 1 actually stops at the wrong parking position. Therefore, in this embodiment, the vehicle position and the vehicle direction θ of the current vehicle 1 are corrected before the vehicle 1 arrives at the planned parking position (in this case, the wrong parking position O). .

  Specifically, as shown in FIG. 17A, the imaging area KF including the vicinity of the planned parking area PK is captured by the third camera 26c before the vehicle 1 arrives at the planned parking area PK. Then, the captured image is analyzed by the CPU 91, and the target parking area PK 'is specified from the captured image. For example, a white line constituting a quadrangle such as a trapezoid, a rhombus, or a rectangle is specified from the captured image as a partition line of a parking lot. Here, when the parking lot marking line is specified, the area surrounded by the specified parking lot marking line is re-recognized as the parking area PK ′.

  As shown in FIG. 17 (b), when the vehicle 1 is parked in the re-recognized parking area PK ′, the axles of the left and right rear wheels 2RL and 2RR are set as the x ′ axis, and the center of the vehicle 1 is The longitudinal axis is the y ′ axis, and the intersection of the x ′ axis and the y ′ axis is recognized as the origin O ′. Next, the ratio between the size of the entire captured image and the size of the identified parking area PK ′, the shape of the image of the parking area PK ′, the inclination of the image of the parking area PK ′, etc. Based on the above, the relative positional relationship between the target parking position O ′ and the vehicle position of the vehicle 1 is calculated.

  Specifically, a linear distance from the origin O ′ to the vehicle position of the vehicle 1 is calculated as a relative positional relationship. Further, with the x ′ axis described above as a reference axis, the counterclockwise angle from the x ′ axis to the traveling direction of the vehicle 1 is calculated as the vehicle orientation θ of the vehicle 1. That is, the actual positional relationship between the target parking position O ′ and the vehicle position of the vehicle 1 is calculated.

  In the present embodiment, processing for specifying an object from the captured image, an imaging point (vehicle position of the vehicle 1 in the present embodiment), and an object in the image (in the present embodiment). The processing for calculating the relative positional relationship with the origin O ′) is configured using a method generally known in the field of image processing. That is, since known methods are used for these methods, description thereof is omitted here. The size of the imaging area KF may be set as appropriate.

  When the relative positional relationship between the target parking position O ′ and the vehicle position of the vehicle 1 is calculated, a coordinate system with the intersection point of the x ′ axis and the y ′ axis as the origin O ′ is then obtained. The vehicle position of the current vehicle 1 in the coordinate system and the vehicle orientation θ of the current vehicle 1 in the coordinate system are calculated, and the respective values are stored in the current position memory 93d.

  As shown in FIG. 17B, when the location of the planned parking area PK and the actual parking area PK ′ is different, the position of the origin O corresponding to the planned parking area PK and the actual parking area PK ′ The position with the corresponding origin O ′ is also different.

  In the present embodiment, while the autonomous traveling of the vehicle 1 is started and the autonomous traveling is continued, a coordinate system with the intersection point of the x axis and the y axis as the origin O is used, and the vehicle position of the vehicle 1 and the vehicle The direction θ is calculated. However, when the target parking position O ′ is re-recognized while the vehicle 1 is autonomously traveling, it is determined that the origin O is the wrong origin (arrival point). Therefore, after it has been found, even if the vehicle position and the vehicle orientation θ of the vehicle 1 are continuously calculated using the coordinate system with the intersection point of the x axis and the y axis as the origin O, the correct vehicle position of the vehicle 1 and Since the vehicle orientation θ cannot be calculated, there is no meaning.

  On the other hand, when the target parking position O ′ is re-recognized during the autonomous traveling of the vehicle 1, it is also found that the origin O ′ is the correct origin (arrival point). Therefore, after it is found, the vehicle position and the vehicle orientation θ of the vehicle 1 are calculated using the coordinate system having the intersection point of the x ′ axis and the y ′ axis as the origin O ′, and the calculated values are stored in the current position memory 93d. Remember. Thereafter, the vehicle position and the vehicle orientation θ of the vehicle 1 are calculated using a coordinate system in which the intersection point of the x ′ axis and the y ′ axis is the origin O ′.

  Further, when the target parking position O ′ is re-recognized during the autonomous traveling of the vehicle 1 and the origin O is found to be the wrong origin, the travel routes RT1 to RT3 having the origin O as the arrival point are also detected. Turns out to be wrong. Therefore, it is necessary to correct the positions of the travel routes RT1 to RT3 so that the travel routes RT1 to RT3 having the origin O as the arrival point become the travel routes RT1 to RT3 having the origin O ′ as the arrival point.

  As described above, in this embodiment, before the autonomous traveling of the vehicle 1 is started, the coordinate system with the intersection point of the x axis and the y axis as the origin O is used to calculate the positions of the traveling routes RT1 to RT3. Is done. At this point, the vehicle 1 is not displaced in the first place, and the coordinate system having the origin of the intersection of the x axis and the y axis is the same as the coordinate system having the origin of the intersection of the x axis and the y axis. O ′ and the origin O also coincide. That is, at this time, the arrival point of the travel routes RT1 to RT3 is the origin O ′.

  However, if the vehicle 1 is displaced during the autonomous traveling of the vehicle 1, as shown in FIG. 17B, a coordinate system having an origin O as the intersection of the x axis and the y axis, and the x axis and the y axis Is different from the coordinate system having the origin O as the intersection point, and the positions of the origin O ′ and the origin O are shifted and do not match. As a result, the arrival point of the travel routes RT1 to RT3 changes from the origin O ′ to the origin O.

  This is because it is necessary to treat the positions of the travel routes RT1 to RT3 as values of a coordinate system having the intersection point of the x ′ axis and the y ′ axis as the origin O ′, but after the vehicle 1 is displaced, This is caused by being handled as a value of a coordinate system having the origin of O at the intersection of the x axis and the y axis. As described above, the route routes RT1 to RT3 are originally travel routes RT1 to RT3 having the origin O ′ as the arrival point, but if the vehicle 1 is displaced during the autonomous traveling, the travel is performed with the origin O as the arrival point. It will change to path | route RT1-RT3.

  Therefore, in the present embodiment, when the target parking position O ′ is re-recognized, the current vehicle position of the vehicle 1 is determined using a coordinate system in which the intersection point of the x ′ axis and the y ′ axis is the origin O ′. The vehicle orientation θ of the current vehicle 1 is calculated and stored in the current position memory 93d. As a result, the vehicle 1 can be returned to a state in which the vehicle 1 is not displaced in the coordinate system having the intersection point of the x ′ axis and the y ′ axis as the origin O ′, as before the autonomous traveling of the vehicle 1 is started. Therefore, the travel routes RT1 to RT3 can be returned to the travel routes RT1 to RT3 having the origin O ′ as the arrival point.

  Thereafter, as described above, the vehicle position and the vehicle orientation θ of the vehicle 1 are calculated using a coordinate system in which the intersection point of the x ′ axis and the y ′ axis is the origin O ′. Therefore, when the vehicle 1 is autonomously traveled by the travel control device 100, the vehicle 1 travels along travel routes RT1 to RT3 with the origin O ′ as the arrival point, as shown in FIG. 17 (c). . Therefore, the vehicle 1 can be parked with high accuracy at the target parking position O ′.

  As described above with reference to FIG. 17, in the present embodiment, the correct vehicle position and vehicle orientation of the vehicle 1 are simply used using a coordinate system in which the intersection point of the x ′ axis and the y ′ axis is the origin O ′. By simply calculating θ and storing them in the current position memory 93d, the travel routes RT1 to RT3 having the origin O and the arrival point can be returned to the travel routes RT1 to RT3 having the origin O ′ as the arrival point. Therefore, it is not necessary to perform complicated calculations such as coordinate conversion to correct the positions of the travel routes RT1 to RT3 having the origin O as the arrival point to the positions of the travel routes RT1 to RT3 having the origin O ′ as the arrival point. Since it is good, the burden concerning the traveling control apparatus 100 can be suppressed.

  In the present embodiment, when the target parking position O ′ is re-recognized, a travel route for causing the vehicle 1 to travel from the current vehicle position of the vehicle 1 to the re-recognized parking position O ′ is regenerated. Instead, the existing travel routes RT1 to RT3 are used as they are. That is, the travel route is regenerated, and the vehicle 1 is traveled along the existing travel routes RT1 to RT3, not the traveled vehicle 1 along the regenerated travel route.

  When the target parking position O ′ is re-recognized and the travel route is regenerated, the vehicle 1 is once moved away from the parking position O ′, turned back, and the route closer to the parking position O ′. Compared with the case where the vehicle 1 travels the existing travel routes RT1 to RT3, a travel route having a long travel distance may be generated. Moreover, every time it is re-recognized, a route for turning back may be generated, and there is a possibility that the vehicle 1 repeats moving forward and backward, and parking cannot be completed. Therefore, the vehicle 1 travels from the current vehicle position of the vehicle 1 to the re-recognized parking position O ′ by causing the vehicle 1 to travel along the existing travel routes RT1 to RT3 without regenerating the travel route. It can suppress that distance becomes long and it becomes impossible to park.

  Therefore, after recognizing the target parking position O ′ and correcting the positional deviation of the vehicle 1, it is possible to suppress the positional deviation of the vehicle 1 again as the vehicle 1 travels. Therefore, since it can suppress that the vehicle 1 remove | deviates from driving | running route RT1-RT3, it can park on the parking position O 'which targets the vehicle 1 accurately and smoothly.

  Here, the route travel processing (S14) will be described with reference to FIGS. FIG. 18 is a flowchart showing route travel processing executed by the travel control device 100. The route travel process is a process for autonomously traveling the vehicle 1 along the travel routes RT1 to RT3, and the target parking position PK before the vehicle 1 arrives at the planned parking area PK (see FIG. 17). Attempt to reconfirm '(see Fig. 17).

  In the route travel processing (S14), first, the route point information at the route point P0 (departure position of the vehicle 1) is acquired from the point route memory 93b (S111), the vehicle position of the route point information, The vehicle direction θ of the route point information is stored in the current position memory 93d of the RAM 93 (S112).

  Next, the vehicle position is closest to the current vehicle position of the vehicle 1 (that is, the vehicle position stored in the current position memory 93d) out of the travel control points Q stored in the travel control point memory 93c. One traveling control point Q is specified (S113). As described above, the traveling control point Q is not generated on the route point P0 (the starting position of the vehicle 1). Therefore, when the route traveling process is started, when the process of S113 is executed, the traveling control point Q at a position approaching the target parking position PK ′ by 0.05 m from the route point P0 is specified. That is, the traveling control point Q with “ID number = 1” is specified.

  And the vehicle setting information corresponding to the traveling control point Q specified by the process of S113 is acquired from the traveling control point memory 93c (S114). Next, it is determined whether there is an obstacle in the obstacle determination area E (see FIG. 16) set for the vehicle 1 (S115). If the determination in S115 is affirmative (S115: Yes) Since there is a possibility of collision with an obstacle, the process proceeds to S119.

  On the other hand, when the determination in S115 is negative (S115: No), the vehicle is caused to travel based on the vehicle setting information acquired in the process of S114 (S116). Specifically, the traveling of the vehicle 1 is controlled so that the vehicle orientation and the vehicle orientation θ stored in the current position memory 93d coincide with the vehicle position and the vehicle orientation θ acquired in the process of S114. As a result, the traveling of the vehicle 1 is controlled so that the vehicle 1 autonomously travels on the travel routes RT1 to RT3.

  Then, the vehicle position and the vehicle orientation θ of the current vehicle 1 are calculated, and the calculated values are stored in the current position memory 93d (S117). Specifically, the amount of movement of the vehicle 1 (the distance moved and the direction of the changed vehicle) from when the value of the current position memory 93d was last updated until the current processing of S117 is executed is calculated. Then, the calculated movement amount is added to the value of the current position memory 93d, and the current vehicle position of the vehicle 1 and the current vehicle direction θ of the vehicle 1 are updated.

  Next, it is determined whether the vehicle 1 has arrived at the final destination (S118). Specifically, if the distance between the vehicle position stored in the current position memory 93d and the final destination is within a predetermined distance (for example, 0.1 m), the vehicle 1 has arrived at the final destination. judge. If the determination in S118 is affirmative (S118: Yes), the process proceeds to S119. In the process of S119, the vehicle 1 is stopped (S119), the route travel process is terminated, and the process returns to the automatic parking process (see FIG. 8).

  On the other hand, if the determination in S118 is negative (S118: No), it is determined whether the vehicle 1 is traveling on the reverse turning portion RT2 or the final reverse portion RT3 in the traveling routes RT1 to RT3 (S120).

  If the determination in S120 is negative (S120: No), the process returns to S113. On the other hand, if the determination in S120 is affirmative (S120: Yes), a misalignment correction process is executed (S121), and the process returns to S113.

  Here, with reference to FIG. 19, the positional deviation correction process (S121) will be described. FIG. 19 is a flowchart showing a misalignment correction process executed by the traveling control device 100. The positional deviation correction process is a process for re-recognizing the target parking position O ′ (see FIG. 17) and recalculating the correct vehicle position and vehicle orientation θ of the vehicle 1.

  In the misalignment correction process (S121), first, the current vehicle position and vehicle orientation θ of the vehicle 1 (that is, the vehicle position and vehicle orientation θ stored in the current position memory 93d) are stored in the re-recognition start position memory of the RAM 93. 93e is stored (S131). Then, the imaging area KF (see FIG. 17) including the vicinity of the planned parking area PK is imaged by the third camera 26c (S132), the captured image is acquired and image analysis is performed, and the target parking position O '(See FIG. 17) is recognized again (S133).

  Then, it is determined whether or not the target parking position O 'has been re-recognized (S134). If the determination in S134 is negative (S134: No), the parking position has not been re-recognized. In this case, the positional deviation correction process is terminated, and the process returns to the route travel process (see FIG. 18). If the determination in S134 is negative, the process returns to the above-described route traveling process while the parking position re-recognition flag 93d remains on. Therefore, after returning to the route travel process, when the process of S120 or the process of S120 is executed again, the process branches to S120: Yes, S120: Yes, and as a result, the misalignment correction process is executed again. The That is, while the parking position cannot be re-recognized, the positional deviation correction process is repeatedly executed.

  If the determination in S134 is affirmative (S134: Yes), the current vehicle position and vehicle orientation θ of the vehicle 1 are calculated, and the calculated values are stored in the current position memory 93d (S135). ). Specifically, the same processing as S117 is executed.

  Next, the current vehicle position and vehicle orientation θ of the vehicle 1 (that is, the vehicle position and vehicle orientation θ stored in the current position memory 93d) are stored in the re-recognition end position memory 93f of the RAM 93 (S136). Then, based on the vehicle position and vehicle orientation θ stored in the re-recognition start position memory 93e and the vehicle position and vehicle orientation θ stored in the re-recognition end position memory 93f, the target parking position O ′. During the re-recognition, the amount of movement (the distance moved and the changed vehicle direction) of the vehicle 1 is calculated (S137). A method for calculating the movement amount will be described later with reference to FIG.

  Then, using the coordinate system having the re-recognized parking position O ′ as the origin, the vehicle position and the vehicle orientation θ of the vehicle 1 at the start of re-recognition are calculated (S138), and the vehicle of the vehicle 1 calculated in the process of S138 is calculated. Based on the position and the vehicle orientation θ and the movement amount during re-recognition calculated in the process of S137, the current vehicle position and vehicle orientation θ of the vehicle 1 are calculated (S139).

  Here, referring to FIG. 20, a method for calculating the amount of movement of the vehicle 1 during re-recognition of the target parking position O ′ and a coordinate system having the re-recognized parking position O ′ as the origin are described. A method for calculating the vehicle position and the vehicle orientation θ of the vehicle 1 when the re-recognition is completed will be described.

  FIG. 20A is a schematic diagram for explaining a method of calculating the amount of movement of the vehicle 1 during the re-recognition of the target parking position O ′, and FIG. It is a schematic diagram for demonstrating the method of calculating the vehicle position and vehicle direction (theta) of the vehicle 1 when re-recognition is complete | finished using the coordinate system which made the parking position O 'the origin.

  In FIG. 20A, the vehicle position and vehicle orientation of the vehicle 1 are shown using only the coordinate system having the origin O as the intersection of the x axis and the y axis. On the other hand, in FIG. 20B, two coordinate systems are used: a coordinate system having the intersection point of the x axis and the y axis as the origin O, and a coordinate system having the intersection point of the x ′ axis and the y ′ axis as the origin O ′. The vehicle position and vehicle orientation of the vehicle 1 are shown.

More specifically, in FIG. 20A, the vehicle position of the vehicle 1 when the re-recognition of the target parking position O ′ is started is denoted as Q _a (x _a , y _a ), and at that time the vehicle direction of the vehicle 1 shows a theta _a. Further, the vehicle position of the vehicle 1 when the re-recognition of the target parking position O ′ is completed is denoted by Q _b (x _b , y _b ), and the vehicle orientation of the vehicle 1 at that time is denoted by θb. However, these vehicle positions Q _a , Q _b and vehicle orientations θ _a , θ _b are values in a coordinate system in which the intersection point of the x axis and the y axis is the origin O.

On the other hand, in FIG. 20B, when re-recognition of the target parking position O ′ is started in addition to the vehicle positions Q _a and Q _b and the vehicle orientations θ _a and θ _b shown in FIG. The vehicle position of the vehicle 1 is indicated as Q _a ′ (x _a ′, y _a ′), and the vehicle orientation of the vehicle 1 is indicated as θ _a ′. Further, the vehicle position of the vehicle 1 when the re-recognition of the target parking position O ′ is completed in the travel control device 100 is indicated as Q _b ′ (x _b ′, y _b ′), and the vehicle orientation of the vehicle 1 Is denoted as θ _b ′. However, these vehicle positions Q _a ′, Q _b ′ and vehicle orientations θ _a ′, θ _b ′ are values in a coordinate system in which the intersection of the x ′ axis and the y ′ axis is the origin O ′.

In the present embodiment, in the travel control device 100, when re-recognition of the target parking position O ′ is attempted, the imaging area KF (see FIG. 17) is imaged by the third camera 26c, and based on the captured image. Image analysis. Since the image used for image analysis is an image when re-recognition is started, when the target parking position O ′ is re-recognized in the image analysis, the vehicle 1 when re-recognition is started. Vehicle position Q _a ′ (x _a ′, y _a ′) and the vehicle orientation θ _a ′ of the vehicle 1 are calculated.

However, while this image analysis requires a predetermined time, the autonomous traveling of the vehicle 1 is continued. Therefore, after the re-recognition of the target parking position O ′ is started, the vehicle position Q _a ′ (x _a ′, y _a ′) of the vehicle 1 when the re-recognition is started and the vehicle of the vehicle 1 Until the azimuth θ _a ′ is calculated, the vehicle 1 moves, and as a result, the vehicle position of the vehicle 1 and the vehicle azimuth θ change. Therefore, even if the vehicle position Q _a ′ (x _a ′, y _a ′) of the vehicle 1 and the vehicle orientation θ _a ′ of the vehicle 1 are calculated, the calculation is performed as much as the vehicle 1 moves during re-recognition. Each value thus made does not coincide with the actual vehicle position and vehicle orientation θ of the vehicle 1.

Therefore, in the present embodiment, the amount of movement (the distance moved and the changed vehicle orientation) that the vehicle 1 has moved during re-recognition is calculated, and the amount of movement is calculated as the vehicle position Q _a ′ (x _a ′, y _a ′) and the vehicle orientation θ _a ′ of the vehicle 1, and the vehicle position vehicle position Q _b ′ (x _b ′, y _b ′) of the vehicle 1 when the re-recognition ends. The vehicle orientation of the vehicle 1 is calculated as θ _b ′. As a result, the correct vehicle position and vehicle orientation θ of the vehicle 1 when re-recognition is completed can be calculated, so that the positional deviation of the vehicle 1 can be corrected with high accuracy. Therefore, the vehicle 1 can be accurately directed to the re-recognized parking position O ′, and the vehicle 1 can be stopped at the parking position O ′ with high accuracy.

As shown in FIG. 20A, from the vehicle position Q _a (x _a , y _a ) of the vehicle 1 when the re-recognition of the target parking position O ′ is started, the target parking position O ′ is changed. When the straight line distance to the vehicle position Q _b (x _b , y _b ) of the vehicle 1 when the re-recognition is completed is d, the straight line distance d is
^{_{d = ((x b -x a}} ) 2 + (y b -y a) 2) 1/2
Is calculated by Further, when the changed vehicle orientation is Δθ _v , the vehicle orientation is Δθ _v
Δθ _v = θ _b −θ _a
Is calculated by Thereby, it is possible to calculate the amount of movement (the straight line distance d and the changed vehicle orientation Δθ _v ) that the vehicle 1 has moved during re-recognition. When the clockwise angle from the x axis to the linear distance d is θ _d , the angle θ _d is
θ _d = tan ⁻¹ ((y _b −y _a ) / (x _b −x _a ))
Is calculated by Here, the target parking position O ′ is re-recognized, and a re-recognition of the target parking position O ′ is started using a coordinate system in which the intersection point of the x ′ axis and the y ′ axis is the origin O ′. It is assumed that the vehicle position Q _a ′ (x _a ′, y _a ′) of the vehicle 1 at the time and the vehicle orientation θ _a ′ of the vehicle 1 are calculated.

Then, as shown in FIG. 20B, two vehicle positions Q _a and Q _a ′ of the vehicle 1 when the re-recognition of the target parking position O ′ is started are determined. Specifically, the second and the vehicle position Q _a in the coordinate system of the origin O of intersection of x-axis and y-axis, x the intersection of the 'axis and y' axis 'vehicle position Q _a in the coordinate system _of' origin O One is decided. Similarly, the vehicle direction theta _a in the coordinate system of the origin O of intersection of x-axis and y-axis, also determined two and vehicle direction theta _b in the coordinate system of the origin O 'of the intersection of the x' axis and y 'axis.

The two vehicle positions Q _a and Q _a ′ indicate the same point, and the two vehicle directions θ _a and θ _a ′ indicate the same vehicle direction. Therefore, by comparing the two vehicle positions Q _a and Q _a ′ with the two vehicle orientations θ _a and θ _a ′, the degree of inclination of the two coordinate systems can be calculated.

Here, if the angle between the x-axis and the x′-axis is Δθ, the angle Δθ is
Δθ = θ _a '−θ _a
Is calculated by In the coordinate system in which the intersection point of the x ′ axis and the y ′ axis is the origin O ′, the vehicle position of the vehicle 1 when the re-recognition is completed is defined as Q _b ′ (x _b ′, y _b ′). When the vehicle direction of the vehicle 1 is θ _b ′, the vehicle position Q _b ′ (x _b ′, y _b ′) and the vehicle direction θ _b ′ are
x _b ′ = x _a ′ + d · cos (θ _d −Δθ)
y _b ′ = y _a ′ + d · sin (θ _d −Δθ)
θ _b ′ = θ _a ′ + Δθ _v
Is calculated by

As described above, by using the mathematical formula described with reference to FIG. 20, it is possible to calculate the amount of movement (the straight line distance d and the changed vehicle direction Δθ _V ) that the vehicle 1 has moved during re-recognition. In addition to the vehicle position Q _a ′ of the vehicle 1 in the coordinate system with the re-recognized parking position O ′ as the origin, the vehicle position Q _b ′ of the vehicle 1 when the re-recognition is completed can be calculated.

Therefore, the vehicle position calculated by image analysis (that is, the vehicle position of the vehicle 1 when the re-recognition is started) Q without considering the movement of the vehicle 1 during the re-recognition of the target parking position O ′. The position shift of the vehicle 1 can be corrected with higher accuracy than when _a ′ is the vehicle position of the vehicle 1 when the re-recognition is completed. Therefore, the vehicle 1 can be accurately directed to the re-recognized parking position O ′, and the vehicle 1 can be stopped at the parking position O ′ with high accuracy.

Now, the description returns to FIG. When the process of S139 is completed, the vehicle position Q _b ′ (x _b ′, y _b ′) and the vehicle orientation θ _b ′ (see FIG. 20) calculated in the process of S139 are stored in the current position memory 93d. (S140), the positional deviation correction process is terminated, and the process returns to the route travel process (see FIG. 18).

  Since the correct vehicle position of the vehicle 1 when the re-recognition is completed can be calculated by the above-described misalignment correction process shown in FIG. 19, the misalignment of the vehicle 1 can be accurately corrected. Therefore, the vehicle 1 can be accurately directed to the re-recognized parking position O ′, and the vehicle 1 can be stopped at the parking position O ′ with high accuracy.

  Further, when the parking position O set by the driver is acquired when the vehicle 1 starts to travel, even if the parking position O includes an error, the parking position O ′ is recognized again, and the vehicle 1 The error can also be corrected by correcting the positional deviation.

  Here, the description returns to FIG. When the positional deviation correction process (S121) is completed, the process returns to S113. Then, in the process of S113, the current vehicle position of the vehicle 1 (that is, the vehicle position corrected in the positional deviation correction process (see FIG. 19)) from the travel control points Q stored in the travel control point memory 93c. ), One traveling control point Q having the closest vehicle position is specified. Thereafter, when the process of S116 is executed, the vehicle direction and the vehicle direction θ stored in the current position memory 93d match the vehicle position and the vehicle direction θ acquired in the process of S114. Travel is controlled.

  Here, the current position memory 93d stores the vehicle azimuth and the vehicle azimuth θ in which the positional deviation is corrected by the positional deviation correction processing. Therefore, even if the vehicle 1 is autonomously traveling in a state of being off the travel routes RT1 to RT3 until the above-described positional deviation correction processing is performed, the vehicle 1 thereafter autonomously travels on the travel routes RT1 to RT3. Thus, the traveling of the vehicle 1 is controlled.

  By the route traveling process shown in FIG. 18 described above, the positional deviation correction process can be repeatedly executed while the vehicle 1 is traveling on the backward turning portion RT2 or the final backward portion RT3 of the traveling routes RT1 to RT3. Therefore, the possibility that the displacement of the vehicle 1 is corrected by the time the vehicle 1 arrives at the target parking position O ′ increases, so that the possibility that the vehicle 1 travels on the travel routes RT2 to RT3 is improved. be able to. Therefore, the vehicle 1 can be accurately directed to the re-recognized parking position O ′, and the vehicle 1 can be stopped at the parking position O ′ with high accuracy.

  Next, with reference to FIG. 21 and FIG. 22, a modified example of the positional deviation correction process (see FIG. 19) will be described. In the misalignment correction processing shown in FIG. 19, the target parking position O ′ is re-recognized on the assumption that the positions of the travel routes RT1 to RT3 are correct and the current vehicle position and vehicle orientation θ of the vehicle 1 are incorrect. The correct vehicle position and vehicle orientation θ of the vehicle 1 are recalculated.

  On the other hand, in the misalignment correction process shown in FIG. 21, the premise is reversed, and the current vehicle position and vehicle orientation θ of the vehicle 1 are correct and the positions of the travel routes RT1 to RT3 are incorrect. On the premise, the target parking position O ′ is re-recognized, and the correct positions of the travel routes RT1 to RT3 are calculated again.

  Here, with reference to FIG. 21, a modified example of the positional deviation correction process (S121) will be described. FIG. 21 is a flowchart showing a modification of the misalignment correction process executed by the travel control device 100. This misalignment correction process is a process for re-recognizing the target parking position O ′ (see FIG. 17) and recalculating the correct positions of the travel routes RT1 to RT3. Note that steps that execute the same process as the process in the misalignment correction process shown in FIG. 19 are denoted by the same reference numerals and description thereof is omitted.

  In this misalignment correction process (S121), first, each process of S131 to S134 is executed. If the determination in S134 is negative (S134: No), the misregistration correction process is terminated, and the process returns to the route travel process (see FIG. 18). On the other hand, when the determination in S134 is affirmative (S134: Yes), the process of S135 is executed.

  Next, the vehicle position is closest to the current vehicle position of the vehicle 1 (that is, the vehicle position stored in the current position memory 93d) out of the travel control points Q stored in the travel control point memory 93c. One traveling control point Q is specified (S151). As described above, this positional deviation correction process is executed when the vehicle 1 is traveling on the reverse turning portion RT2 or the final reverse portion RT3 in the travel routes RT1 to RT3 (see S120 in FIG. 18). Therefore, in the process of S151, the traveling control point Q in the reverse turning portion RT2 or the final reverse portion RT3 is specified.

  Next, the ID number set for the travel control point Q specified in the process of S151 is set in the variable i (S152), and the vehicle setting information of the travel control point Q whose ID number is i is used as the travel control. Obtained from the point memory 93c (S153).

  Next, the vehicle position and vehicle orientation θ of the vehicle setting information acquired in the process of S153 are corrected based on the vehicle position and vehicle orientation θ at the start of re-recognition and the re-recognized parking position O ′ (S154). . The correction method will be described later with reference to FIG. Then, 1 is added to the variable i to update the value of the variable i (S155), and it is determined whether the value of the variable i is equal to or less than the value of the variable IDmax (S156).

  If the determination in S156 is affirmative (S156: Yes), from the travel control point Q specified in the process of S151 to the re-recognized parking position O ′ on the reverse turning portion RT2 or the final reverse portion RT3. This is a case where there is another traveling control point Q in between. In this case, the process returns to S153, and the processes of S153 to S156 are repeated. As a result, the vehicle position and the vehicle orientation θ can be corrected for each travel control point Q between the travel control point Q identified in the process of S151 and the re-recognized parking position O ′.

  Here, referring to FIG. 22, a method of correcting the vehicle position and vehicle orientation θ of travel control point Q based on the vehicle position and vehicle orientation θ at the start of re-recognition and the re-recognized parking position O ′. Will be described.

  22A is a schematic diagram for explaining an example of the case where the positions of the travel routes RT2 to RT3 are corrected by the travel control device 100, and FIG. 22B is the position of the travel routes RT2 to RT3. It is a schematic diagram for demonstrating the method to correct | amend.

  In FIGS. 22A and 22B, the planned parking position (in this case, the wrong parking position O) is indicated as the origin O, and the re-recognized parking position is indicated as the origin O ′. Also, in FIG. 22B, the vehicle position and vehicle orientation θ when re-recognition is started, the intersection of the x ′ axis and the y ′ axis with the coordinate system having the intersection point of the x axis and the y axis as the origin O are shown. It is shown using two coordinate systems, a coordinate system with the origin O ′.

Specifically, in the coordinate system having the intersection point of the x-axis and the y-axis as the origin O, the vehicle position when re-recognition is started is indicated as (x _v , y _v ), and the vehicle orientation at that vehicle position is θ _v It shows. Further, in the coordinate system in which the intersection point of the x ′ axis and the y ′ axis is the origin O ′, the vehicle position when re-recognition is started is indicated as (x _v ′, y _v ′), and the vehicle orientation at the vehicle position Is denoted as θ _v ′.

  As described above, the vehicle 1 autonomously travels along the travel routes RT1 to RT3 with the origin O as the arrival point, but the target parking position O ′ is re-recognized during the autonomous travel of the vehicle 1. Then, it becomes clear that the origin O is the wrong origin (arrival point). That is, it is found that even if the vehicle 1 travels autonomously as it is, it cannot reach the target parking position O ′.

  Therefore, in the present embodiment, as shown in FIG. 22A, the positions of the travel routes RT2 to RT3 are corrected so that the arrival points of the travel routes RT2 to RT3 become the parking position O ′, and the vehicle 1 is targeted. And arrive at the parking position O ′.

  As described above, in this embodiment, before the autonomous traveling of the vehicle 1 is started, the coordinate system with the intersection point of the x axis and the y axis as the origin O is used to calculate the positions of the traveling routes RT1 to RT3. Is done. At this point, the vehicle 1 is not displaced in the first place, and the coordinate system having the origin of the intersection of the x axis and the y axis is the same as the coordinate system having the origin of the intersection of the x axis and the y axis. O ′ and the origin O also coincide. That is, at this time, the arrival point of the travel routes RT1 to RT3 is the origin O ′.

  However, if the vehicle 1 is displaced during autonomous traveling of the vehicle 1, as shown in FIG. 22 (a), a coordinate system with the intersection point of the x axis and the y axis as the origin O, and the x axis and the y axis Is different from the coordinate system having the origin O as the intersection point, and the positions of the origin O ′ and the origin O are shifted and do not match. As a result, the arrival point of the travel routes RT1 to RT3 changes from the origin O ′ to the origin O.

  This is because it is necessary to treat the positions of the travel routes RT1 to RT3 as values of a coordinate system having the intersection point of the x ′ axis and the y ′ axis as the origin O ′, but after the vehicle 1 is displaced, This is caused by being handled as a value of a coordinate system having the origin of O at the intersection of the x axis and the y axis. As described above, the route routes RT1 to RT3 are originally travel routes RT1 to RT3 having the origin O ′ as the arrival point, but if the vehicle 1 is displaced during the autonomous traveling, the travel is performed with the origin O as the arrival point. It will change to path | route RT1-RT3.

  Therefore, when the vehicle 1 continues to autonomously travel, the origin O ′ in the coordinate system having the intersection point of the x ′ axis and the y ′ axis as the origin point O ′ becomes the coordinate system having the intersection point of the x axis and the y axis as the origin point O. The vehicle 1 arrives at the projected point (that is, the origin O).

  Therefore, in the present embodiment, in the coordinate system having the intersection point of the x ′ axis and the y ′ axis as the origin O ′, the positions of the travel routes RT2 to RT3 arriving at the parking position O ′ are the intersection points of the x axis and the y axis. Correction (change) to the value of the coordinate system with the origin O. That is, coordinate conversion is performed and correct coordinates are calculated again.

  Thereby, the travel routes RT2 to RT3 in the coordinate system having the intersection point of the x ′ axis and the y ′ axis as the origin O ′ can be projected onto the coordinate system having the intersection point of the x axis and the y axis as the origin O, and the x ′ axis and It is possible to treat the positions of the travel routes RT1 to RT3, which had to be handled as a coordinate system value having the intersection point of the y ′ axis as the origin O ′, as a coordinate system value having the intersection point of the x axis and the y axis as the origin O. it can. Accordingly, the travel routes RT2 to RT3 can be returned to the travel routes RT2 to RT3 having the origin O ′ as the arrival point.

Specifically, coordinate conversion is performed as follows. As shown in FIG. 22 (b), in the coordinate system in which the intersection of the x ′ axis and the y ′ axis is the origin O ′, the vehicle position of an arbitrary travel control point Q _n is (x _n , y _n ) _{Let the} vehicle direction be θ _vn .

Then, the vehicle position of the travel control points Q _n, the vehicle position when starting the re-recognition (x _{v, y v)} the linear distance to the d _n, is the straight line distance d _n,
d _n = ((x _n −x _v ) ² + (y _n −y _v ) ² ) ^1/2
Is calculated by Further, if the angle formed by the x axis and the x ′ axis is Δθ _v , the angle Δθ _v is
Δθ _v = θ _v '−θ _v
Is calculated by

Here, the vehicle position (x _n ′, y _n ′) of the traveling control point Q _n in the coordinate system having the intersection point of the x ′ axis and the y ′ axis as the origin O ′, and the intersection point of the x axis and the y axis as the origin O If the vehicle position (x _n , y _n ) in the coordinate system is, the vehicle position (x _n , y _n ) is
_{x n = x n '+ d} n · cos (θ n -Δθ v)
_{y n = y n '+ d} n · sin (θ n -Δθ v)
Is calculated by

Further, when the vehicle orientation of the vehicle position (x _n , y _n ) in the coordinate system with the intersection point of the x axis and the y axis as the origin O is θ _v , the vehicle orientation θ _v is
θ _v = θ _vn −Δθ _v
Is calculated by

  In this way, by using the mathematical formula described with reference to FIG. 22, the travel routes RT2 to RT3 arriving at the parking position O ′ in the coordinate system having the intersection point of the x ′ axis and the y ′ axis as the origin O ′. The position can be corrected (changed) to a value in a coordinate system with the intersection point of the x-axis and y-axis as the origin O. That is, it is possible to recalculate correct coordinates by performing coordinate conversion.

  Returning to the description of FIG. When the determination in S156 is negative (S156: No), the vehicle position of each travel control point Q between the travel control point Q specified in the process of S151 and the re-recognized parking position O ′ is determined. And the vehicle orientation θ is corrected. In this case, the positional deviation correction process is terminated, and the process returns to the route travel process (see FIG. 18).

  22, the position of the travel routes RT2 to RT3 arriving at the parking position O ′ in the coordinate system in which the intersection point of the x ′ axis and the y ′ axis is the origin O ′ is obtained by the x axis and It can be corrected (changed) to a coordinate system value with the origin of the intersection of the y-axis.

  That is, the travel routes RT2 to RT3 whose arrival point has changed to the origin O due to the positional deviation of the vehicle 1 can be returned to the travel routes RT2 to RT3 whose arrival point is the origin O ′. Therefore, the vehicle 1 can be accurately directed to the re-recognized parking position O ′, and the vehicle 1 can be accurately stopped at the parking position O ′.

  Further, as described above, not all the travel control points Q on the travel routes RT2 to RT3 are re-recognized from the travel control points Q specified in the process of S151, instead of correcting the vehicle position and the vehicle orientation θ. The vehicle position and the vehicle orientation θ are corrected for each travel control point Q up to the parking position O ′. Therefore, the vehicle position and the vehicle orientation θ can be corrected only for the traveling control point Q that is required for the future traveling of the vehicle 1. Therefore, the control burden can be reduced as compared with the case where the vehicle positions and the vehicle orientations θ of all the traveling control points Q are corrected.

  In the present embodiment, when the target parking position O ′ is re-recognized, a travel route for causing the vehicle 1 to travel from the current vehicle position of the vehicle 1 to the re-recognized parking position O ′ is regenerated. Instead, the existing travel routes RT2 to RT3 are used. That is, instead of regenerating the travel route and causing the vehicle 1 to travel along the regenerated travel route, the positions of the existing travel routes RT2 to RT3 are corrected so that the arrival point is the parking position O ′. The vehicle 1 is configured to travel along the corrected travel routes RT2 to RT3.

  When the target parking position O ′ is re-recognized and the travel route is regenerated, the vehicle 1 is once moved away from the parking position O ′, turned back, and the route closer to the parking position O ′. Compared with the case where the corrected travel routes RT2 to RT3 are traveled by the vehicle 1, a travel route having a long travel distance may be generated. Moreover, every time it is re-recognized, a route for turning back may be generated, and there is a possibility that the vehicle 1 repeats moving forward and backward, and parking cannot be completed. Therefore, the vehicle 1 travels from the current vehicle position of the vehicle 1 to the re-recognized parking position O ′ by traveling the vehicle 1 along the corrected travel routes RT1 to RT3 without regenerating the travel route. It can suppress that distance becomes long and it becomes impossible to park.

  Therefore, after recognizing the target parking position O ′ and correcting the positional deviation of the vehicle 1, it is possible to suppress the positional deviation of the vehicle 1 again as the vehicle 1 travels. Therefore, since it can suppress that the vehicle 1 remove | deviates from driving | running | working path | route RT2-RT3 corrected, the vehicle 1 can be parked accurately in the target parking position O '.

  Further, when the parking position O set by the driver is acquired when the vehicle 1 starts to travel, even if the parking position O includes an error, the parking position O ′ is recognized again, and the vehicle 1 The error can also be corrected by correcting the positional deviation.

  The “parking position O” described in the above embodiment corresponds to the “target position” in the claims, and the “parking position O ′” described in the above embodiment is the “real” in the claims. This corresponds to the “target position”. The “vehicle setting information stored in the travel control point memory 93c” described in the above embodiment corresponds to the “route information” described in the claims. The “vehicle position and vehicle orientation θ stored in the current position memory 93d” described in the above embodiment corresponds to “vehicle information” described in the claims. Further, the “relative positional relationship between the parking position O ′ and the vehicle position of the vehicle 1” described in the above embodiment is the “real positional relationship between the vehicle and the target position” described in the claims. Corresponding to

  The present invention has been described above based on the embodiments. However, the present invention is not limited to the above embodiments, and various improvements and modifications can be made without departing from the spirit of the present invention. It can be easily guessed.

  For example, in the misalignment correction process shown in FIG. 21, each travel control point Q between the travel control point Q specified in S151 and the re-recognized parking position O ′ in the travel routes RT2 to RT3. Is corrected for the vehicle position and the vehicle orientation θ. On the other hand, the vehicle position and the vehicle orientation θ may be corrected for all travel control points Q on the travel routes RT2 to RT3 and all travel control points Q on the travel routes RT1 to RT3.

In the misalignment correction process shown in FIG. 19, the amount of movement of the vehicle 1 during the re-recognition of the target parking position O ′ is calculated, and the amount of movement is determined from the re-recognized parking position O ′ as the origin. In addition to the vehicle position Q _a ′ of the vehicle 1 in the coordinate system, the vehicle position Q _b ′ of the vehicle 1 when the re-recognition is finished is calculated. On the other hand, the vehicle position Q _a ′ of the vehicle 1 when the re-recognition is started without adding the movement amount may be simply handled as the vehicle position Q _b ′ of the vehicle 1 when the re-recognition is completed. good. For example, if the traveling speed of the vehicle 1 is slow and the time required for image processing is short, the movement amount of the vehicle 1 is very small, so that the movement amount can be regarded as an error. Therefore, there is no problem even if the vehicle position Q _a ′ of the vehicle 1 when re-recognition is started is handled as the vehicle position Q _b ′ of the vehicle 1 when re-recognition is completed. Then, this When configured in performs the process of calculating the movement amount, the processes of the process of re-recognition calculates the vehicle position of the vehicle 1 Q _{b 'when} finished based on the amount of movement Since it is not necessary, the control burden can be reduced.

Moreover, in this embodiment, when trying to re-recognize the target parking position O ′, the imaging area KF (see FIG. 17) is imaged by the third camera 26c while the vehicle 1 is traveling autonomously. However, the vehicle 1 may be stopped or the traveling speed of the vehicle 1 may be slowed down and the imaging area KF (see FIG. 17) may be imaged by the third camera 26c. Further, the imaging area KF may be imaged by a plurality of cameras 26a to 26d. Thereby, since the imaging area KF can be imaged with high accuracy (with reduced blurring) by the third camera 26c, the accuracy of the image can be improved, and the accuracy of the image analysis can be improved. In addition, since it is not necessary to calculate the movement amount of the vehicle 1 or the movement amount of the vehicle 1 can be regarded as an error, the process of calculating the movement amount and the re-recognition based on the movement amount are completed. It is not necessary to execute each process with the process for calculating the vehicle position Q _b ′ of the vehicle 1, and the control burden can be reduced.

  In the present embodiment, the imaging area KF is imaged by the third camera 26c, and the captured image is analyzed to try to re-recognize the target parking position O ′. You may try re-recognizing the parking position O ′. For example, the target parking position O ′ may be reconfirmed by a measuring device such as a laser radar. In addition, re-confirmation of the parking position O ′ may be attempted using GPS or the like.

  Further, in the above embodiment, when the vehicle 1 is stopped at the target parking position, the travel routes RT1 to RT3 so that the vehicle 1 is finally moved backward and straight and the vehicle 1 is stopped at the target parking position. However, the travel routes RT1 to RT3 may be generated so that the vehicle 1 is finally moved straight forward and stopped at the target parking position.

  Moreover, in the said embodiment, although 10 types of path | route patterns PT1-PT10 are provided, the number of patterns is not restricted to 10 types, You may reduce or increase. Moreover, although all the distance CL of each driving | running route corresponding to each route pattern PT1-PT10 is 2 m, what is necessary is just to set a numerical value suitably. Further, the shape of the travel route corresponding to the route patterns PT1 to PT10 may be set as appropriate.

  In the above embodiment, the travel control point Q is virtually generated on the travel routes RT1 to RT3 at intervals of 0.05 m from the current position to the target parking position, but the interval at which the travel control point Q is provided. May be set as appropriate, such as 0.01 m intervals, 0.1 m intervals, and 0.5 m intervals.

  The travel control device 100 of the above embodiment is configured to autonomously travel the vehicle 1 from the current position to the parking position set by the driver, and park the vehicle 1 at the parking position. The vehicle speed V of 1 may be configured such that the driver can operate the accelerator pedal 11 and the brake pedal 12, and the traveling control device 100 may be configured to control only the steering 13 of the vehicle 1.

  The travel control device 100 of the above embodiment is configured to autonomously travel the vehicle 1 from the current position to the parking position set by the driver, and park the vehicle 1 at the parking position. The vehicle may be configured to notify the driver of the travel route from the current position to the parking position set by the driver without performing the autonomous driving of 1. For example, the travel routes RT1 to RT3 may be displayed on a monitor in the vehicle 1. Alternatively, the driving operation of the driver may be guided by voice so that the vehicle 1 travels on the travel routes RT1 to RT3.

  In the above embodiment, when the vehicle 1 is parked at the target parking position, the axles of the left and right rear wheels 2RL, 2RR are the x-axis, the front-rear axis at the center of the vehicle 1 is the y-axis, The position of the vehicle 1 and the positions of the travel routes RT1 to RT3, etc. are calculated using a coordinate system with the origin of the axis and the y-axis as the origin O. The left and right rear wheels 2FL, A coordinate system in which the 2FR axle is the x axis, the longitudinal axis in the center of the vehicle 1 is the y axis, and the intersection of the x axis and the y axis is the origin O may be used. Alternatively, a coordinate system in which an x-axis and a y-axis are arbitrarily provided and the intersection point of the x-axis and the y-axis is the origin O may be used.

  Moreover, in the said embodiment, although it has comprised so that the driving | running | working control point Q may be produced | generated at intervals of 0.05 m for every between adjacent route points P, between arbitrary two route points P, it is 0.05 m intervals. You may comprise so that the traveling control point Q may be produced | generated. For example, when three or more route points P are arranged in order on the travel route, among the three or more route points P, the first route point P (the side closest to the departure point) and the third You may comprise so that the driving | running | working control point Q may be produced | generated by the 0.05m space | interval between the last (point closest to the final destination) route point P among two or more route points.

  In the above embodiment, the travel routes RT1 to RT3 of the vehicle 1 from the current position to the target parking position are generated, and the vehicle 1 is autonomously traveled according to the travel routes RT1 to RT3, and the target parking position is reached. Although the vehicle 1 is stopped, a configuration in which the vehicle 1 autonomously travels from the current position to the target position may be employed. For example, the target position may be set far and the vehicle 1 may be traveled for a long distance by autonomous travel.

  In the above embodiment, the travel control point Q is not provided on the route point P0 (departure point). However, the travel control point Q is also provided on the route point P0, and the vehicle 1 is referred to when traveling autonomously. You may comprise as follows.

  Moreover, although the said embodiment is embodiment in case the vehicle 1 is a four-wheeled vehicle, this invention is applicable if it is a vehicle irrespective of the number of wheels, and also to construction machines, such as a shovel car, etc. Applicable.

1 Vehicle 93c Travel control point memory (route information storage means)
93d Current position memory (vehicle information storage means)
100 Travel control devices S113, S114, S116 Travel control means S117, S135 Vehicle information update means S131, S136, S137 Movement amount calculation means S132, S133 Identification means S138, S139 Coordinate direction calculation means S140, S154 Information correction means S154 Coordinate calculation means , Bearing calculation means

Claims (4)

Route information storage means for storing route information for causing the vehicle to travel along the travel route to the target position;
Vehicle information updating means for updating the vehicle information indicating the vehicle position of the vehicle and the vehicle orientation indicating the direction of the vehicle as the vehicle travels, and storing the vehicle information in the vehicle information storage means;
Travel control means for controlling travel of the vehicle based on vehicle information stored in the vehicle information storage means and route information stored in the route information storage means;
Specifying means for specifying an actual positional relationship between the vehicle and the target position before the vehicle to be driven by the control of the driving control means arrives at the target position;
Information used by the travel control means is obtained by the specifying means so that the vehicle uses the route information stored in the route information storing means to the actual target position specified by the specifying means. A travel control apparatus comprising: an information correction unit configured to correct based on the identified actual positional relationship. The vehicle information and the route information are indicated by coordinates of a coordinate system used in travel control of the vehicle and a vehicle orientation of the vehicle at the coordinates,
The travel control means includes
The coordinates and vehicle orientation stored as vehicle information in the vehicle information storage means coincide with the coordinates stored as route information in the route information storage means and the vehicle orientation to be taken by the vehicle at the coordinates. Control the running of the vehicle,
The travel control device includes:
From the actual positional relationship between the vehicle specified by the specifying means and the target position, on the assumption that the coordinates indicated as the route information and the vehicle orientation to be taken by the vehicle at the coordinates are appropriate, Coordinate direction calculation means for calculating coordinates in the coordinate system and vehicle direction,
The information correction means includes
2. The travel control apparatus according to claim 1, wherein the vehicle information stored in the vehicle information storage means is corrected to vehicle information indicating the coordinates calculated by the coordinate direction calculation means and the vehicle direction. A movement amount calculating unit that calculates a movement amount of the vehicle while the actual positional relationship between the vehicle and the target position is specified after the processing by the specifying unit is started;
The coordinate direction calculating means includes
The coordinates and the vehicle orientation of the vehicle in the coordinate system are calculated by adding the movement amount calculated by the movement amount calculation means to the actual positional relationship between the vehicle specified by the specification means and the target position. The travel control device according to claim 2, wherein The vehicle information and the route information are indicated by coordinates of a coordinate system used in travel control of the vehicle and a vehicle orientation of the vehicle at the coordinates,
The travel control means includes
The coordinates and vehicle orientation stored as vehicle information in the vehicle information storage means coincide with the coordinates stored as route information in the route information storage means and the vehicle orientation to be taken by the vehicle at the coordinates. Control the running of the vehicle,
The travel control device includes:
Based on the assumption that the coordinates and vehicle direction indicated as the vehicle information are appropriate, the target position on the travel route matches the actual target position based on the actual positional relationship specified by the specifying means. Coordinate calculating means for calculating the coordinates of the travel route in which the position of the travel route is moved,
Azimuth calculating means for calculating a vehicle azimuth to be taken by the vehicle at the coordinates calculated by the coordinate calculating means based on the actual positional relationship specified by the specifying means;
The information changing means includes
2. The travel according to claim 1, wherein the route information stored in the route information storage means is corrected to the route information indicating the coordinates and the vehicle direction calculated by the coordinate calculation means and the direction calculation means. Control device.

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