VEHICLE CONTROLLER, PARKING LOT CONTROLLER, AND AUTOMATIC VALLEY PARKING SYSTEM

• Main Authors: TANAKA MASARU, HIYOKAWA TOYOJI
• Format: Patent
• Language: English; Japanese
• Published: 22.08.2019
• Subjects: CALCULATING; COMPUTING; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; COUNTING; ELECTRIC COMMUNICATION TECHNIQUE; ELECTRICITY; HANDLING RECORD CARRIERS; PERFORMING OPERATIONS; PHYSICS; PICTORIAL COMMUNICATION, e.g. TELEVISION; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SIGNALLING; TRAFFIC CONTROL SYSTEMS; TRANSPORTING; VEHICLES IN GENERAL; VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISEPROVIDED FOR

To provide a vehicle controller that: is easily applicable to both general parking and automatic valley parking when an automatic valley parking system is provided in which the general parking is mixed; and can achieve more accurate automatic traveling when the automatic valley parking is performed.SOLUTION: A vehicle control device includes: a parking area data acquisition unit for acquiring parking area data capable of identifying absolute positions of zone identification characters set on a road surface in response to individual parking zones of the parking area; an image data acquisition unit for acquiring image data obtained by an on-vehicle camera for photographing a situation around a vehicle; a position estimation unit that calculates a relative position of the zone identification characters relative to the vehicle on the image data by the detection of road surface character data related to the zone identification characters from the image data and estimates an actual position of the vehicle on the basis of the calculated relative position and the absolute position of the parking area data; and a traveling control unit for making the vehicle travel automatically within the parking area, based on the estimated actual position.SELECTED DRAWING: Figure 5 【課題】一般駐車が混在する自動バレー駐車システムを実現する場合に、一般駐車および自動バレー駐車のいずれにも適用しやすく、自動バレー駐車を実行する場合には、より正確な自動走行を実現できる車両制御装置を提供する。【解決手段】車両制御装置は、駐車場の各駐車区画に対応して路面に設置された区画識別文字の絶対位置を特定可能な駐車場データを取得する駐車場データ取得部と、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、画像データから区画識別文字に関する路面文字データを検出することで、画像データ上における車両に対する区画識別文字の相対位置を算出し、算出した相対位置と、駐車場データの絶対位置と、に基づいて、車両の実位置を推定する位置推定部と、推定した実位置に基づき、車両を駐車場内で自動走行させる走行制御部と、を備える。【選択図】図５