VEHICLE CONTROL DEVICE AND VEHICLE CONTROL SYSTEM

A vehicle control device includes: a route generating unit that generates a parking lot leaving route of a vehicle based on sensing results of a sensor group mounted on the vehicle; a communication control unit that transmits the parking lot leaving route to an information processing device and receives a stop position where the vehicle stops from the information processing device; and a projection control unit that projects light emitted from a light source at a position on a road surface corresponding to the stop position.

CROSS-REFERENCE TO RELATED APPLICATIONS

The present application claims priority under 35 U.S.C.§ 119 to Japanese Patent Application No. 2022-092725 filed on Jun. 8, 2022. The content of the application is incorporated herein by reference in its entirety.

BACKGROUND OF THE INVENTION

Field of the Invention

The present invention relates to a vehicle control device and a vehicle control system.

Description of the Related Art

Patent Document 1 discloses a vehicle travel route display method in which, when a vehicle VO having an autonomous travel control function is caused to travel by autonomous travel control or by autonomous travel control based on a remote operation from outside of the vehicle VO, a travel route that causes the vehicle VO to travel by autonomous travel control is set, a display pattern Pt1 indicating the travel route is generated, and the display pattern Pt1 indicating the travel route is visibly displayed on a road surface in a travel direction of the vehicle VO.

PRIOR ART DOCUMENTS

Patent Documents

Problem Solved by the Present Invention

However, during autonomous driving, when a user sets a stop position where a vehicle leaving a parking lot from a parking position is to stop using an information processing device, the user may not be able to accurately recognize a position at which the vehicle actually stops at the stop position displayed by the information processing device. Therefore, there is demand for a technique for accurately notifying the user of the stop position of the vehicle.

SUMMARY OF THE INVENTION

In light of the foregoing, an object of the present invention is to provide a vehicle control device and a vehicle control system capable of accurately providing notification of a stop position of a vehicle leaving a parking lot by autonomous driving.

One aspect of the present invention provides a vehicle control device, including: a route generating unit that generates a parking lot leaving route of a vehicle based on sensing results of a sensor mounted on the vehicle; a communication control unit that transmits the parking lot leaving route to an external device and receives a stop position where the vehicle will stop from the external device; and a projection control unit that projects light emitted from a light source onto a position on a road surface corresponding to the stop position.

Effect of the Invention

The present invention can accurately provide notification of a stop position for a vehicle leaving a parking lot by autonomous driving.

DETAILED DESCRIPTION OF THE INVENTION

[1. System Configuration of Vehicle Control System]

FIG.1is a system configuration diagram of a vehicle control system1.

The vehicle control system1includes an information processing device100and an in-vehicle device200mounted on a vehicle5. Examples of the information processing device100can be a smartphone or a tablet personal computer. The information processing device100corresponds to an external device.

The information processing device100and the in-vehicle device200are wirelessly connected together by short-range wireless communication such as Bluetooth, Wi-Fi, or the like, and can perform data communication with each other. Bluetooth and Wi-Fi are registered trademarks.

The in-vehicle device200includes a vehicle control device270illustrated inFIG.3to be described later. The vehicle control device270generates route information that is information on a route on which the vehicle5leaves a parking lot from a parking position where the vehicle has parked, and transmits the generated route information to the information processing device100.

The information processing device100receives a selection of a stop position where the vehicle5will stop based on the route information received from the in-vehicle device200. The information processing device100transmits the received information on the stop position to the in-vehicle device200. The in-vehicle device200performs control such that the vehicle5travels to the stop position received from the information processing device100.

[2. Configuration of Information Processing Device]

FIG.2is a block diagram illustrating a configuration of an information processing device100.

A configuration of the information processing device100will be described with reference toFIG.2.

The information processing device100includes a first short-range wireless interface110, a wireless I/F120, a camera130, a light detection and ranging device (Lidar)140, a touch panel150, and a processing control unit160. Hereinafter, the term interface is abbreviated as I/F. The camera130corresponds to an imaging unit, and the touch panel150corresponds to an operating unit and a display unit.

The first short-range wireless I/F110includes an antenna and a wireless communication circuit, and performs short-range wireless communication with an external device such as the in-vehicle device200, or the like.

The wireless I/F120includes an antenna and a wireless communication circuit, and is connected to a network such as the Internet or the like by Wi-Fi communication. The wireless I/F120performs mutual data communication with a server device on a network. An illustration of the server device is omitted.

The wireless I/F120downloads an application program, which will be described later, and 3D image data, or the like, from a server device. Hereinafter, the application program is also simply referred to as an app.

The camera130includes an imaging lens and an imaging element such as a charge coupled device (CCD), a complementary MOS (CMOS), or the like, performs imaging in response to instructions from the processing control unit160or an operation by a user, and generates a captured image. An illustration of the imaging lens and the imaging element is omitted. The camera130outputs the generated captured image to the processing control unit160as sensor data. The first storage unit170temporarily stores the captured image captured by the camera130.

A light detection and ranging device (LiDAR)140detects detection information such as shape, position, distance, and the like of an obstacle present near the information processing device100. The LiDAR140emits detection light such as laser light or the like, and detects detection information based on elapsed time from the emission of the detection light until reception of the reflected light of the detection light reflected by an obstacle. The LiDAR140outputs the detected detection information to the processing control unit160as sensor data.

The touch panel150includes a display panel151such as a liquid crystal panel, organic electro-luminescence (EL) panel, or the like, and a touch sensor153. The touch sensor153outputs coordinate information indicating a position on the display panel151where the touch operation is detected, to the processing control unit160.

The processing control unit160is a computer device including a first storage unit170and a first processor180. The processing control unit160corresponds to a control unit.

The first storage unit170includes read only memory (ROM) and random access memory (RAM). The first storage unit170may be configured to include an auxiliary storage device such as a universal serial bus (USB) memory, an SD card, or the like.

The ROM stores a control program171, license plate number information173, vehicle specification data175, 3D image data177, and the like. The RAM is used as a calculating region of the first processor180.

The control program171includes an application program, an operating system (OS), and the like.

The app stored in the ROM includes a parking lot leaving support app. The parking lot leaving support app supports the vehicle5leaving the parking lot. The operation of the parking lot leaving support app will be described later in detail.

The license plate number information173is information of a number written on a license plate of the vehicle5on which the in-vehicle device200is mounted. The license plate number information173is, for example, information input by the user through a touch operation on the touch panel150.

The vehicle specification data175is data related to the vehicle5on which the in-vehicle device200is mounted, and includes, for example, information on vehicle length, vehicle width, distance from a preset specific site to a center of the vehicle, and the like. The center of the vehicle is, for example, the center in the vehicle length direction and the vehicle width direction of the vehicle5. Examples of the specific site include the license plate, a headlight, a side mirror, and the like.

The 3D image data177is a three dimensional image for displaying a vehicle image corresponding to the vehicle5on the touch panel150. The vehicle image corresponding to the vehicle5is, for example, a three dimensional image of a vehicle of the same vehicle type and the same color as the vehicle5.

The application program and the three-dimensional image data177are downloaded by the processing control unit160from the server device via, for example, a wireless I/F120.

The first processor180is an arithmetic processing device including a processor such as a central processing unit (CPU), a micro processor unit (MPU), or the like. The first processor180may be configured by a single processor, or may be configured by a plurality of processors. In addition, the first processor180may be configured by a system-on-a-chip (SoC) that integrates a part or all of the first storage unit170and other circuits. In addition, the first processor180may be configured by a combination of a CPU that executes a program and a digital signal processor (DSP) that executes prescribed arithmetic processing. Furthermore, all of the functions of the first processor180may be implemented by hardware, or may be configured using a programmable device.

FIG.3is a block diagram illustrating a configuration of the in-vehicle device200. The configuration of the in-vehicle device200will be described with reference toFIG.3.

The in-vehicle device200includes a second short-range wireless I/F210, a position detecting unit220, a sensor group230, a drive control device240, a projecting unit260, and a vehicle control device270. These devices are connected to each other via a communication bus205conforming to a standard such as Ethernet (registered trademark), CAN (Controller Area Network), LIN (Local Interconnect Network), or the like so as to be able to perform mutual data communication.

The second short-range wireless I/F210includes an antenna and a wireless communication circuit, and performs short-range wireless communication with an external device such as the information processing device100, or the like.

The position detecting unit220detects the position of the vehicle5. The position detecting unit220includes a global navigation satellite system (GNSS) receiver and a processor. An illustration of the GNSS receiver and the processor is omitted. The GNSS receiver receives a satellite signal transmitted from a satellite. The processor calculates a latitude and a longitude which are position information of the vehicle5based on the satellite signal received by the GNSS receiver, and calculates a direction of the vehicle5based on a difference between the calculated position information. The position detecting unit220outputs position information and direction information of the vehicle5obtained by calculation to the vehicle control device270.

The sensor group230includes a plurality of sensors that detect a state of the vehicle5and a situation around the vehicle5. The sensor group230corresponds to a sensor. The sensor group230includes a steering angle sensor231, a vehicle speed sensor233, a camera unit235, and a sonar unit237as sensors.

The sensor group230outputs sensor data indicating sensing results to the vehicle control device270. The vehicle control device270temporarily stores the sensor data in the second storage unit280.

The steering angle sensor231detects a steering angle of a steering wheel of the vehicle5.

The vehicle speed sensor233detects a vehicle speed of the vehicle5.

The camera unit235includes an imaging lens and an imaging element, and is installed on each of the front, rear, left, and right sides of the vehicle5. The camera unit235captures an image of the surroundings of the vehicle5and generates a captured image.

The sonar unit237is installed, for example, in each of the front, rear, left, and right directions of the vehicle5, and detects a distance, a direction, and the like to obstacles existing around the vehicle5using ultrasonic waves.

The drive control device240is a computer device such as an ECU (Electronic Control Unit) or the like having a storage unit and a processor.

The drive control device240controls the drive device250based on the control information input from the vehicle control device270. The drive device250includes a steering device251, a power device253, a braking device255, and a transmission device257.

The steering device251is a device including an actuator that steers the steered wheels of the vehicle5. The drive control device240drives the actuator in accordance with the control information, and steers the steered wheels of the vehicle5.

The power device253is a device including an actuator that adjusts the driving force of the drive wheels of the vehicle5. The actuator corresponds to a throttle actuator when the power source of the vehicle5is an engine, and corresponds to a motor when the power source is a motor. The drive control device240drives the actuator in accordance with the control information, and controls the vehicle5to travel.

The braking device255is a device including an actuator that controls a brake system provided in the vehicle5in accordance with the control information, and controls a braking force applied to a wheel of the vehicle5. The drive control device240controls the actuator in accordance with the control information, and applies a braking force to the wheel of the vehicle5.

The transmission device257is a device including a transmission and an actuator. The transmission device257drives the actuator to control a shift position of the transmission, and switches a transmission gear ratio of the transmission, as well as forward and backward movement of the vehicle5. The drive device250controls the actuator to change the shift position of the transmission device257.

The projecting unit260includes a projecting unit260A and a projecting unit260B. The projecting unit260A is provided in the headlight on the left side when facing the vehicle5, and the projecting unit260B is provided in the headlight on the right side when facing the vehicle5. Since the projecting unit260A and the projecting unit260B have the same configuration, the configuration of the projecting unit260A will be described below. Further, the projecting unit260A and the projecting unit260B are collectively referred to as the projecting unit260.

The projecting unit260A includes a light source261A, a light modulator263A, a projection lens265A, and a drive unit267A.

The light source261A includes a light source such as a light-emitting diode (LED) or the like, for example.

The light modulator263A includes a light modulation element capable of changing the transmittance of light incident from the light source261A. The drive unit267A controls the transmittance of the light modulation element in accordance with the control of the vehicle control device270to change the transmittance of the light from the light source261A. The drive unit267A controls the light modulator263A to control the range of light output from the light modulator263A. The light modulation element is not limited to a transmissive light modulation element, and may be, for example, a reflective light modulation element, or a digital micromirror device (DMD).

The projection lens265A is a lens that projects the light output from the light modulator263A onto a road surface. The drive unit267A drives the projection lens265A in accordance with the control of the vehicle control device270, and changes the position on the road surface where the projection lens265A projects the projection light.

The vehicle control device270is, for example, a computer device such as an ECU or the like, and includes a second storage unit280and a second processor290.

The second storage unit280includes ROM and RAM. The second storage unit280may be configured of non-volatile semiconductor memory such as flash memory or the like.

The ROM stores a control program281and vehicle specification data283.

The RAM is used as a calculating region by the second processor290.

The second processor290is an arithmetic processing device including a processor such as a CPU, MPU, or the like. The second processor290may be configured by a single processor or by a plurality of processors. In addition, the second processor290may be configured by an SoC that integrates a portion or all of the second storage unit280and other circuits. In addition, the second processor290may be configured by a combination of a CPU that executes a program and a DSP that executes prescribed arithmetic processing. Furthermore, all of the functions of the second processor290may be implemented by hardware, or may be configured using a programmable device.

The vehicle control device270includes, as a functional configuration, a situation acquiring unit291, a space map generating unit292, a vehicle position calculating unit293, a route generating unit294, a communication control unit295, a projection control unit296, and a control information generating unit297. These functional configurations are functions achieved by the second processor290executing a computer program and performing arithmetic operations.

The situation acquiring unit291instructs the sensor group230to start sensing. The situation acquiring unit291temporarily stores the sensor data input from the sensor group230in the second storage unit280.

The space map generating unit292generates a space map indicating a situation around the vehicle5based on the position information and the direction information input from the position detecting unit220, the captured image input from the camera unit235, and the sensor data input from the sonar unit237.

In the space map, information such as distance, direction, and the like to an obstacle existing near the vehicle5is recorded. The obstacles recorded in the space map include other vehicles and structures such as columns in a parking lot, or the like.

When the vehicle5starts traveling, the vehicle position calculating unit293calculates the position of the vehicle5based on the position information and the direction information input from the position detecting unit220and the sensor data of the steering angle sensor231and the vehicle speed sensor233.

The route generating unit294generates route information that is information on a route along which the vehicle5travels, based on the space map generated by the space map generating unit292. The route information corresponds to the parking lot leaving route. When a plurality of pieces of route information can be generated, the route generating unit294generates a plurality of pieces of route information. The route generating unit294may generate range information indicating a range in which the vehicle5travels, instead of the route information.

The communication control unit295controls the second short-range wireless I/F210to mutually perform data communication with the information processing device100.

The communication control unit295transmits the route information generated by the route generating unit294to the information processing device100. The communication control unit295also receives projection instructions and travel instructions from the information processing device100. The projection instructions are instructions to project the projection light indicating the stop position set by the user onto the road surface. The travel instructions are instructions for the vehicle5to travel to the stop position set by the user. The communication control unit295outputs the received projection instructions and travel instructions to the projection control unit296and the control information generating unit297.

The projection control unit296acquires the information of the stop position from the communication control unit295, and determines the projection position and the projection range where the projection light is projected based on the size and the orientation the vehicle at the stop position. The projection control unit296controls the drive unit267to project the projection light in the determined projection position and projection range.

The control information generating unit297inputs the selected route information and the information of the stop position from the communication control unit295. The control information generating unit297generates control information for causing the vehicle5to travel from the parking position to the stop position based on the input information, and outputs the generated control information to the drive control device240.

The drive control device240controls driving of the drive device250based on the control information input from the vehicle control device270, and performs control such that the vehicle5travels to the stop position in accordance with the route information.

[4. Operation of Vehicle Control System]

Next, operation of the vehicle control system1will be described.

When receiving a user operation, the processing control unit160activates the parking lot leaving support app and starts the parking lot leaving support for the vehicle5.

First, the processing control unit160controls the first short-range wireless I/F110to connect the information processing device100and the in-vehicle device200by short-range wireless communication.

Next, the processing control unit160instructs the camera130to start imaging, and acquires the captured image generated by the camera130from the first storage unit170. The processing control unit160analyzes the acquired captured image and detects the license plate number of the vehicle5captured in the captured image. The processing control unit160determines whether or not the detected license plate number matches the license plate number information173stored in the first storage unit170.

When the detected license plate number does not match the license plate number information173, the processing control unit160acquires another captured image from the first storage unit170, detects the license plate number from the acquired captured image, and determines again whether or not the detected license plate number matches the license plate number information173.

When the vehicle5of the user is detected, the processing control unit160calculates coordinates indicating the position of the information processing device100based on the captured image of the camera130and the sensor data of the LiDAR140.

First, the processing control unit160detects a specific site of the vehicle5captured in the captured image. Examples of the specific site include a license plate, a headlight, a side mirror, and the like, as described above. The processing control unit160acquires the distance and the direction to the detected specific site of the vehicle from the information processing device100. For example, the processing control unit160acquires the distance and the direction to the specific site of the vehicle5from the information processing device100based on the sensor data of the LiDAR140.

Next, the processing control unit160calculates the distance and the direction from the specific site of the vehicle5to the center of the vehicle5based on the vehicle specification data175. When the distance and the direction from the information processing device100to the center of the vehicle5are specified, the processing control unit160sets a coordinate system having the center of the vehicle as an origin, and calculates coordinates indicating the position of the information processing device100in the set coordinate system.

FIG.4is a diagram illustrating an example of a display on the touch panel150.

Next, the processing control unit160generates a three dimensional image of the vehicle5based on the 3D image data177, and superimposes the generated three dimensional image of the vehicle5on the captured image of the camera130. The three dimensional image of the vehicle5is hereinafter referred to as a 3D vehicle image6. An image obtained by superimposing the 3D vehicle image6on the captured image is referred to as a display image190.

The processing control unit160performs control to display the generated display image190on the touch panel150.

FIG.4illustrates a display image190in which a portion of the 3D vehicle image6is superimposed on the vehicle5captured in the captured image. The display image190includes a confirmation button191and a change button193in addition to the 3D vehicle image6. The confirmation button191is a button for confirming a stop position at which the vehicle5stops. The change button193is a button for changing the set stop position.

FIG.5is a diagram illustrating an example of a display on the touch panel150. In particular,FIG.5is a diagram illustrating a state in which the display position of the 3D vehicle image6displayed in the display image190is changed by a touch operation.

When the display image190is displayed on the touch panel150, the user performs a touch operation of touching the 3D vehicle image6with a finger and moving the touching finger to a stopping position where the vehicle5will stop. At this time, when the position of the finger moved by the touch operation is not on the route indicated by the route information received from the vehicle control device270, the processing control unit160does not accept the touch operation. In other words, the 3D vehicle image6returns to the position before the touch operation. As a result, a position where the vehicle5cannot travel due to an obstacle or the like is not selected as the stop position.

When the position of the finger moved by the touch operation is on the route indicated by the route information received from the vehicle control device270, the processing control unit160displays the 3D vehicle image6at the position of the finger after the movement by the touch operation.

When the user changes the position of the 3D vehicle image6moved by the touch operation again, the user presses the change button193. When the change button193is pressed, the processing control unit160receives a change in the position of the 3D vehicle image6by a touch operation.

After determining the stop position, the user presses the confirmation button191. When the confirmation button191is pressed, the processing control unit160calculates information on a stopping position indicating a position at which the vehicle5stops on the route indicated by the route information based on the moving amount and the moving direction of the 3D vehicle image6on the touch panel150. Next, the processing control unit160transmits the projection instructions and the travel instructions to the vehicle control device270. The travel instructions include route information selected by the user and information on a stop position at which the vehicle5stops on a route indicated by the route information.

When receiving the projection instructions and the travel instructions from the information processing device100, the vehicle control device270determines the projection position and the projection range in which the projection light is projected based on the size and the orientation of the vehicle5at the stop position indicated by the information of the stop position included in the travel instructions.

The vehicle control device270controls the drive unit267to project the projection light in the determined projection position and projection range. Since the projection light is projected at the stop position where the vehicle5actually stops, the user can confirm the stop position where the vehicle5stops by the projection light.

Next, the vehicle control device270generates control information for causing the vehicle5to travel from a parking position to the stop position based on the route information and the information on the stop position included in the travel instructions. The vehicle control device270transmits the generated control information to the drive control device240. As a result, the vehicle5starts traveling by autonomous driving and moves from the parking position to the stop position.

FIG.6is a diagram showing a state in which the projection light is projected at the stop position P selected by the user.

FIG.7is a diagram showing a state in which the vehicle5has moved to the stop position P indicated by the projection light. Even when the vehicle5is traveling from the parking position to the stop position P, the projecting unit260projects the projection light at a constant position. Therefore, the user and other people near the vehicle5can recognize the position where the vehicle5will move based on the projection light.

FIG.8is a diagram showing a display screen on the touch panel150when the vehicle5is moving along the route of the route information.

As shown inFIG.8, a cancel button195is displayed on the touch panel150of the information processing device100. The cancel button195is a button for stopping travel of the vehicle5. When the user wants to stop travel of the vehicle5, the user presses the cancel button195. When the cancel button195is pressed, the processing control unit160transmits a signal indicating an instruction to stop control of the vehicle5to the vehicle control device270.

When the vehicle control device270receives a signal from the information processing device100indicating an instruction to stop the vehicle5, the vehicle control device instructs the drive control device240to stop travel of the vehicle5. When instructed to stop travel, the drive control device240controls the power device253to stop driving the drive wheels, and controls the braking device255to apply a braking force to the wheels of the vehicle5.

FIG.9is a flowchart showing the operation of the information processing device100.

The operation of the information processing device100will be described with reference to the flowchart shown inFIG.9.

First, the processing control unit160determines whether or not an operation of selecting the parking lot leaving support app has been received (step S1). If an operation of selecting the parking lot leaving support app has not been received (step S1/NO), the processing control unit160stands by until the parking lot leaving support app has been selected.

If the parking lot leaving support app has been selected (step S1/YES), the processing control unit160controls the first short-range wireless I/F110to connect the information processing device100to the in-vehicle device200by short-range wireless communication (step S2).

Next, the processing control unit160transmits imaging instructions to the camera130, and the camera130acquires a captured image (step S3). The processing control unit160analyzes the acquired captured image and determines whether or not the number of the license plate has been detected (step S4).

If the license plate number has not been detected (step S4/NO), the processing control unit160acquires the next captured image from the first storage unit170and continues to detect the license plate number (step S3).

If the license plate number has been detected (step S4/YES), the processing control unit160determines whether or not the detected license plate number matches the license plate number information173stored in the first storage unit170(step S5).

If the detected license plate number does not match the license plate number information173(step S5/NO), the processing control unit160acquires the next captured image from the first storage unit170and continues detection of the license plate number (step S3).

If the detected license plate number matches the license plate number information173(YES in step S5), the processing control unit160sets a coordinate system and calculates coordinates indicating the position of the information processing device100(step S6). The processing control unit160sets the center of the parked vehicle5as the origin of the coordinate system, and calculates coordinates indicating the position of the information processing device100in the set coordinate system.

Next, the processing control unit160determines whether or not route information has been received from the vehicle control device270(step S7). If the route information has not been received (step S7/NO), the processing control unit160stands by until the route information has been received.

If the route information has been received (step S7/YES), the processing control unit160generates a 3D vehicle image6based on the 3D image data177, and the processing control unit160superimposes the generated 3D vehicle image6on the captured image to generate a display image190. The processing control unit160displays the generated display image190on the touch panel150(step S8).

Next, the processing control unit160determines whether or not a button operation has been received (step S9). If the button operation has not been received (step S9/NO), the processing control unit160stands by until the button operation has been received.

When receiving a button operation (step S9/YES), the processing control unit160determines whether or not the received button operation is an operation of the change button193(step S10). If the received operation is an operation of the change button193(step S10/YES), the processing control unit160changes the display position of the 3D vehicle image6in accordance with the touch operation of the user (step S11). Thereafter, the processing control unit160returns to the determination of step S9.

If the received button operation is not an operation of the change button193(NO in step S10), the processing control unit160determines that the received button operation is an operation of the confirmation button191, and transmits projection instructions and travel instructions to the vehicle control device270(step S12). The travel instructions include route information on a route along which the vehicle5travels and information on a stop position at which the vehicle5stops.

Next, the processing control unit160erases the display image190including the 3D vehicle image6displayed on the touch panel150(step S13), and displays the cancel button195on the touch panel150(step S14).

Next, the processing control unit160determines whether or not an operation of the cancel button195has been received (step S15). If an operation of the cancel button195has been received (step S15/YES), the processing control unit160transmits an instruction to stop the control of the vehicle5to the vehicle control device270(step S17) and ends the processing flow. When receiving the stop instruction of control of the vehicle5from the information processing device100, the vehicle control device270instructs the drive control device240to stop control of the vehicle5.

If an operation of the cancel button195has not been received (step S15/NO), the processing control unit160determines whether or not an arrival notification for notifying arrival at the stopping position has been received from the drive control device240(step S16).

If an arrival notification has not been received (step S16/NO), the processing control unit160returns to the determination of step S17. If the arrival notification has been received from the drive control device240(step S16/YES), the processing control unit160ends the processing flow.

FIG.10is a flowchart showing the operation of the vehicle control device270.

The operation of the vehicle control device270will be described with reference to the flowchart shown inFIG.10.

First, the vehicle control device270determines whether or not wireless connection by short-range wireless communication has been detected (step T1). If the wireless connection has not been detected (step T1/NO), the vehicle control device270stands by until the wireless connection by the short-range wireless communication is detected.

If wireless connection by the short-range wireless communication has been detected (step T1/YES), the vehicle control device270transmits a sensing start instruction to the sensor group230and acquires the sensor data from the second storage unit280(step T2).

Next, the vehicle control device270generates a space map based on the acquired sensor data (step T3), and generates route information indicating a route along which the vehicle5leaves the parking position based on the generated space map (step T4). The vehicle control device270transmits the generated route information to the information processing device100(step T5).

Next, the vehicle control device270determines whether or not the projection instructions and the travel instructions have been received from the information processing device100(step T6). If the projection instructions and the travel instructions have not been received (step T6/NO), the vehicle control device270stands by until the projection instructions and the travel instructions have been received from the information processing device100.

If the projection instructions and the travel instructions have been received from the information processing device100(step T6/YES), the vehicle control device270generates control information for causing the vehicle5to travel from the parking position to the stopping position based on the stopping position and the route information included in the received travel instructions (step T7). The vehicle control device270outputs the generated control information to the drive control device240(step T8). The drive control device240drives the drive device250based on the input control information. Thus, the vehicle5starts traveling.

Next, when the vehicle5starts traveling, the vehicle control device270calculates the position of the vehicle5based on the position information and the direction information input from the position detecting unit220and the sensor data of the steering angle sensor231and the vehicle speed sensor233(step T9).

Next, the vehicle control device270determines the projection position and the projection range where the projection light is projected based on the coordinates included in the received projection instructions (step T10). The vehicle control device270controls the drive unit267to project the projection light in the determined projection position and projection range (step T11).

Next, the vehicle control device270determines whether or not the vehicle5has arrived at the stopping position (step T12). If the vehicle5has not arrived at the stopping position (step T12/NO), the vehicle control device270returns to the processing of step T9and recalculates the position of the vehicle5. If the vehicle5arrives at the stopping position (step T12/YES), the vehicle control device270transmits an arrival notification to the information processing device100(step T13), and ends the processing flow.

As described above, the vehicle control device270of the present embodiment includes the route generating unit294, the communication control unit295, and the projection control unit296.

The route generating unit294generates a vehicle parking lot leaving route based on a sensing result of the sensor group230mounted on the vehicle5.

The communication control unit295transmits the parking lot leaving route to the information processing device100and receives the stop position at which the vehicle stops from the information processing device100.

The projection control unit296projects the light emitted from the light source261at a position on the road surface corresponding to the stop position.

Accordingly, since the light emitted from the light source261is projected at the position on the road surface corresponding to the stop position, it is possible to accurately notify the stop position of the vehicle leaving a parking lot by autonomous driving.

The communication control unit295receives a change request for changing the stop position and the changed stop position from the information processing device100.

The projection control unit296projects the light emitted from the light source261at a position on the road surface corresponding to the changed stop position.

Thereby, the stop position of the vehicle5can easily be reset. Since the light emitted from the light source261is projected even at the reset stop position, it is possible to accurately provide notification of the stop position of the vehicle leaving a parking lot by autonomous driving.

The projection control unit296projects the light emitted from the light source261to a position on the road surface corresponding to the stop position even when the vehicle5is traveling on the parking lot leaving route.

As a result, the stop position of the vehicle5can be notified to other people near the vehicle5, and safety when leaving the parking lot can be enhanced.

The vehicle control system1includes an information processing device100in addition to the vehicle control device270.

An information processing device100includes a touch panel150for receiving selection of a stop position for stopping a vehicle leaving a parking lot from a parking position based on a parking lot leaving route, and a processing control unit160for transmitting the stop position received by the touch panel150to a vehicle control device270.

The stop position for stopping the vehicle leaving the parking lot from a parking position can be selected by the operation of the touch panel150, and the stop position can be selected by a simple operation.

The information processing device100includes a camera130.

The processing control unit160displays the display image190in which the 3D vehicle image6corresponding to the vehicle5is superimposed on the captured image generated by the camera130on the touch panel150.

The touch panel150receives a change operation for changing the display position of the 3D vehicle image6in the display image190.

The processing control unit160transmits the position of the 3D vehicle image6after the change by the change operation to the vehicle control device270as the stopping position.

Thus, the stopping position of the vehicle5leaving the parking lot from the parking position can be set while operating the 3D vehicle image6corresponding to the vehicle5. Therefore, the state when the vehicle5actually stops at the stop position can be displayed on the touch panel150, and the setting of the stop position by the information processing device100can be performed more accurately.

If the display position of the 3D vehicle image6after the change is not the position on the display image190corresponding to the parking lot leaving route even if the change operation has been received, the processing control unit160does not receive the change operation.

Thus, it is possible to prevent a route on which the vehicle5cannot travel from being selected due to an obstacle or the like.

The touch panel150receives the request for changing the stopping position and the changed position of the 3D vehicle image6on the display image190. The processing control unit160transmits the change request and the changed stop position to the vehicle control device270.

The communication control unit295receives the change request and the changed stop position from the information processing device100.

The projection control unit296projects the light emitted from the light source261at a position on the road surface corresponding to the changed stop position.

Thereby, the stop position of the vehicle5can easily be reset. Since the light emitted from the light source261is projected even at the reset stop position, it is possible to accurately provide notification of the stop position of the vehicle leaving a parking lot by autonomous driving.

The above-described embodiment merely exemplifies one aspect of the present invention, and can be arbitrarily modified and applied without departing from the gist of the present invention.

For example, in the embodiment described above, the vehicle5of the user is specified by determining whether or not the license plate number detected from the captured image matches the license plate number information173stored in the first storage unit170. As another form, the first storage unit170may store a vehicle image of a vehicle of a vehicle type, a color, or a model year corresponding to the vehicle5, and may specify the vehicle5of the user by comparing the captured image of the camera130with the vehicle image.

A block diagram showing the configuration of the information processing device100shown inFIG.2is a schematic diagram showing components classified according to main processing contents in order to facilitate understanding of the present invention, but the components can also be classified into more components according to processing contents. In addition, one component can be classified so as to execute more processing.

The block diagram showing the configuration of the in-vehicle device200shown inFIG.3is a schematic diagram showing components classified according to main processing contents in order to facilitate understanding of the present invention, but the components can also be classified into more components according to processing contents. In addition, one component can be classified so as to execute more processing.

In addition, the processing units of the flowcharts illustrated inFIGS.8and9are divided according to the main processing content in order to facilitate understanding of the processing of the information processing device100and the vehicle control device270, but the present invention is not limited by the method of dividing the processing units or the names thereof. The processing of the information processing device100and the vehicle control device270may be divided into more processing units according to the processing content. In addition, the processes of the information processing device100and the vehicle control device270may be divided such that one processing unit performs more processes.

DESCRIPTION OF SYMBOLS