VEHICLE CONTROL DEVICE
Provided is a vehicle control device capable of quickly obtaining a route for reaching a target parking position re-recognized during automatic parking control. The vehicle control device includes: a connection route generation unit 33 which generates a target route 47 for moving a vehicle 1 from a parking start position 41 to a target parking position 44 a of a target parking frame 44 , and generates a connection route 48 for moving the vehicle to the target parking position of the target parking frame re-recognized by a recognition unit 31 while the vehicle moves along the target route from the position of the vehicle; and a mode switching unit which switches from a first mode in which the vehicle 1 moves along the target route 47 to a second mode in which the vehicle 1 moves along the connection route 48 , on condition that the connection route 48 is generated.
1 . A vehicle control device, comprising:
a recognition unit which recognizes a target parking frame;
a target route generation unit which generates a target route for moving a vehicle from a parking start position to a target parking position of the target parking frame;
a position estimation unit which estimates a position of the vehicle;
a connection route generation unit which generates a connection route for moving the vehicle to the target parking position of the target parking frame re-recognized by the recognition unit while the vehicle moves along the target route from the position of the vehicle; and
a mode switching unit which switches from a first mode in which the vehicle moves along the target route to a second mode in which the vehicle moves along the connection route, on condition that the connection route is generated.
2 . The vehicle control device according to claim 1 , comprising a deviation grasping unit which grasps whether or not there is a deviation between the target parking position of the target parking frame recognized when the target route is generated and the target parking position of the target parking frame re-recognized while the vehicle moves along the target route,
wherein the connection route generation unit generates the connection route when the deviation grasping unit determines that there is the deviation.
3 . The vehicle control device according to claim 2 , wherein the connection route includes a linear section on a straight line passing through a center of a frontage of the target parking frame and the target parking position, and a curved section which is in contact with the linear section.
4 . The vehicle control device according to claim 3 , wherein
a position at which the recognition unit re-recognizes the target parking frame while the vehicle moves along the target route is set as a route start point of the connection route, and
in the second mode, the vehicle moves along the curved section and then moves along the linear section.
5 . The vehicle control device according to claim 4 , wherein a position at which the linear section and the curved section are in contact with each other is the center of the frontage of the target parking frame.
6 . The vehicle control device according to claim 4 , wherein a position at which the linear section and the curved section are in contact with each other is a position between the center of the frontage of the target parking frame and the target parking position of the target parking frame.
7 . The vehicle control device according to claim 4 , wherein a position at which the linear section and the curved section are in contact with each other is determined based on whether or not the vehicle is allowed to cross a left frame line or a right frame line of the target parking frame in the connection route.
8 . The vehicle control device according to claim 1 , wherein the connection route generation unit determines whether or not the position of the vehicle is a position at which the connection route cannot be generated, and when the position of the vehicle is a position at which the connection route cannot be generated, the connection route generation unit regenerates the connection route by moving the vehicle in a direction away from the target parking frame.
9 . The vehicle control device according to claim 8 , wherein, when it is determined that the connection route cannot be regenerated, the connection route generation unit stops generating the connection route.
10 . The vehicle control device according to claim 1 , wherein the connection route generator generates the connection route based on the target parking position of the target parking frame re-recognized by the recognition unit while the vehicle moves from a turning point just in front of the target parking position to the target parking position.
11 . The vehicle control device according to claim 1 , wherein the connection route generation unit generates the connection route when the entire target parking frame is re-recognized by the recognition unit.
12 . The vehicle control device according to claim 1 , wherein the connection route generation unit generates the connection route when left and right ends of the target parking frame are recognized by the recognition unit.
13 . The vehicle control device according to claim 4 , wherein the curved section of the connection route has an arc shape.
14 . The vehicle control device according to claim 1 , wherein the vehicle is parked forward in the target parking frame.
15 . The vehicle control device according to claim 1 , wherein the vehicle is parked backward in the target parking frame.
16 . The vehicle control device according to claim 1 , wherein the connection route generation unit generates, as the connection route, a route including an arc-shaped curved section that is in contact with a straight line connecting a center of a frontage of the target parking frame and the target parking position from a position at which the target parking frame is re-recognized.
17 . The vehicle control device according to claim 16 , wherein a turning radius of the curved section of the connection route is calculated by the following Equation (1):
[
Math
.
1
]
R
=
L
′
2
2
Δ
Y
Formula
(
1
)
(where ΔY is a deviation between the target parking position of the target route and the target parking position of the connection route, and L′ is a length of the curved section of the connection route).