VEHICLE CONTROL DEVICE AND PARKING SPACE

• Main Authors: TANAKA MASARU, KUNO KOSHI, HIYOKAWA TOYOJI
• Format: Patent
• Language: English; Japanese
• Published: 13.06.2019
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; PHYSICS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; TRAFFIC CONTROL SYSTEMS; TRANSPORTING; VEHICLES IN GENERAL

To accurately grasp an initial position of a vehicle, which serves as an initial point for start of moving in automatic parking.SOLUTION: A vehicle control device as an example of an embodiment comprises: a travel control unit that controls a traveling state of a vehicle such that, in a parking space including a stop area and a parking area, automatic parking is achieved in which, after a vehicle is stopped in the stop area, the vehicle parks by automatically moving to the parking area from the stop area according a predetermined instruction; an image data acquisition unit that acquires image data obtained by an on-vehicle camera for capturing a surrounding situation of the vehicle; and an initial-position estimating unit that, when the vehicle starts moving from the stop area in automatic parking, detects sign data about signs provided in at least two predetermined positions in different directions with respect to the vehicle in a periphery of the stop area, on the basis of image data acquired by the image data acquisition unit and that, on the basis of the detected sign data and map data in the parking space, estimates an initial position serving as an initial point for start moving within the stop area.SELECTED DRAWING: Figure 5 【課題】自動駐車の発進の起点となる車両の初期位置を正確に把握すること。【解決手段】実施形態の一例としての車両制御装置は、停車領域と駐車領域とを含む駐車場において、停車領域で車両が停車した後、所定の指示に応じて車両が停車領域から駐車領域へ自動で移動して駐車する自動駐車を実現するように車両の走行状態を制御する走行制御部と、車両の周辺の状況を撮像する車載カメラによって得られる画像データを取得する画像データ取得部と、自動駐車における停車領域からの発進時に、画像データ取得部により取得される画像データに基づいて、停車領域の周辺において車両に対して異なる方向の予め決められた少なくとも２つの位置に設けられた標識に関する標識データを検出し、検出した標識データと、駐車場の地図データと、に基づいて、停車領域内における発進の起点となる初期位置を推定する初期位置推定部と、を備える。【選択図】図５