Vehicle Control Device

Abstract

This vehicle control device is provided with: an environment recognition unit for recognizing the surrounding environment of a vehicle; a parking route generation unit for generating a travel route to a parking position which is determined on the basis of the recognized surrounding environment; a signal input unit to which a parking command signal is input; and a travel control unit for causing the vehicle to travel along the travel route to the parking position on the basis of the input parking command signal. The vehicle control device drives the vehicle to travel to the parking position for automatic parking while behaving differently depending on whether the parking command signal input to the signal input unit is a first parking command signal or a second parking command signal.

1 . A vehicle control device, comprising:
 an environment recognition unit that recognizes a surrounding environment of a vehicle;   a parking route generation unit that generates a travel route to a parking position determined on the basis of the surrounding environment that is recognized;   a signal input unit to which a parking command signal is input; and   a travel control unit that allows the vehicle to travel to the parking position along the travel route on the basis of the parking command signal that is input,   wherein the vehicle is driven to perform automatic parking travel to the parking position in a behavior different between a situation in which the parking command signal input to the signal input unit is a first parking command signal and a situation in which the parking command signal input to the signal input unit is a second parking command signal.   
     
     
         2 . The vehicle control device according to  claim 1 , further comprising:
 a passenger recognition unit that recognizes presence or absence of a passenger in a vehicle,   wherein in a case where it is determined by the passenger recognition unit that the passenger is not present, the parking command signal is recognized as the first parking command signal, and in a case where it is determined by the passenger recognition unit that the passenger is present, the parking command signal is recognized as the second parking command signal.   
     
     
         3 . The vehicle control device according to  claim 1 ,
 wherein the parking command signal, which is input from an outer side of the vehicle, is recognized as the first parking command signal, and the parking command signal, which is input from an inner side of the vehicle, is recognized as the second parking command signal.   
     
     
         4 . The vehicle control device according to  claim 2 ,
 wherein the travel control unit controls the behavior of the vehicle so that in a case where the first parking command signal is input, time necessary for parking completion is further shortened in comparison to a case where the second parking command signal is input.   
     
     
         5 . The vehicle control device according to  claim 4 ,
 wherein the travel control unit controls the vehicle so that at least one of a steering speed, a speed, an acceleration, and stopping time in direction switching becomes different on the basis of a signal that is input to the signal input unit.   
     
     
         6 . The vehicle control device according to  claim 2 ,
 wherein the parking route generation unit generates a travel route to the determined parking position which is different between a situation in which the parking command signal input to the signal input unit is the first parking command signal and a situation in which the parking command signal input to the signal input unit is the second parking command signal.   
     
     
         7 . The vehicle control device according to  claim 6 ,
 wherein the parking route generation unit generates the travel route so that the closest distance between the vehicle and a peripheral obstacle is further lengthened in a case where the first parking command signal is input in comparison to a case where the second parking command signal is input.   
     
     
         8 . The vehicle control device according to  claim 1 , further comprising:
 an in-vehicle output unit that is provided on an inner side of the vehicle and outputs the second parking command signal to the signal input unit; and   an outside-of-vehicle output unit that outputs either the first parking command signal or the second parking command signal to the signal input unit from an outer side of the vehicle.   
     
     
         9 . The vehicle control device according to  claim 2 ,
 wherein when the parking command signal is input to the signal input unit, the travel control unit drives the vehicle to perform automatic parking travel, and when the parking command signal is not input to the signal input unit, the travel control unit stops the automatic parking travel.   
     
     
         10 . The vehicle control device according to  claim 6 ,
 wherein the environment recognition unit recognizes the surrounding environment by receiving an image capturing signal from at least two image capturing units which are fixed to the vehicle and photograph two left and right directions of the vehicle, and   when the first parking command signal is input, the parking route generation unit generates a travel route including a route in which the image capturing units go straight on a lateral side of the parking position while photographing the parking position.   
     
     
         11 . The vehicle control device according to  claim 1 ,
 wherein the parking command signal is input to the signal input unit through a wireless communication,   a heartbeat signal, which indicates that the wireless communication is normally performed, is input to the signal input unit, and   in a case where the heartbeat signal is not input, the travel control unit does not drive the vehicle.   
     
     
         12 . The vehicle control device according to  claim 3 ,
 wherein the travel control unit controls the behavior of the vehicle so that in a case where the first parking command signal is input, time necessary for parking completion is further shortened in comparison to a case where the second parking command signal is input.   
     
     
         13 . The vehicle control device according to  claim 3 ,
 wherein the parking route generation unit generates a travel route to the determined parking position which is different between a situation in which the parking command signal input to the signal input unit is the first parking command signal and a situation in which the parking command signal input to the signal input unit is the second parking command signal.   
     
     
         14 . The vehicle control device according to  claim 3 ,
 wherein when the parking command signal is input to the signal input unit, the travel control unit drives the vehicle to perform automatic parking travel, and when the parking command signal is not input to the signal input unit, the travel control unit stops the automatic parking travel.