US 11,987,286 B2
Vehicle automatic parking control device
Masato Imai, Tokyo (JP)
Assigned to Clarion Co., Ltd, Saitama (JP)
Filed by Clarion Co., Ltd., Saitama (JP)
Filed on Jan. 15, 2020, as Appl. No. 16/743,086.
Application 16/743,086 is a division of application No. 15/557,191, abandoned, previously published as PCT/JP2016/057120, filed on Mar. 8, 2016.
Claims priority of application No. 2015-066363 (JP), filed on Mar. 27, 2015.
Prior Publication US 2020/0148263 A1, May 14, 2020
Int. Cl. B62D 15/02 (2006.01); B60W 30/06 (2006.01); B60W 30/08 (2012.01); B60W 30/09 (2012.01); B60W 30/095 (2012.01); G05D 1/00 (2006.01); G06V 20/58 (2022.01); G08G 1/0962 (2006.01); G08G 1/14 (2006.01); G08G 1/16 (2006.01)
CPC B62D 15/0285 (2013.01) [B60W 30/06 (2013.01); B60W 30/08 (2013.01); B60W 30/09 (2013.01); B60W 30/095 (2013.01); G05D 1/0055 (2013.01); G05D 1/0088 (2013.01); G05D 1/0246 (2013.01); G06V 20/58 (2022.01); G06V 20/586 (2022.01); G08G 1/0962 (2013.01); G08G 1/143 (2013.01); G08G 1/168 (2013.01)] 8 Claims
OG exemplary drawing
 
1. A vehicle control device, comprising:
a central processing unit (CPU) programmed to:
recognize a surrounding environment of a vehicle;
generate a travel route to a single parking position determined based on the surrounding environment that is recognized;
allow the vehicle to travel to the single parking position along the travel route based on a parking command signal; and
determine from where the parking command signal is inputted to the vehicle control device;
a signal interface to which the parking command signal is input;
a communication device that performs a wireless communication with a remote controller disposed outside of the vehicle; and
an operation member that is provided at a position capable of being operated by a driver of the vehicle inside of the vehicle,
wherein the CPU is programmed to determine whether the parking command signal input to the signal interface is a first parking command signal input via the communication device or a second parking command signal input via the operation member,
wherein the CPU is programmed to control the vehicle to be driven to perform automatic parking travel to the single parking position in a behavior different between a situation in which the parking command signal input to the signal interface is the first parking command signal input via the communication device and a situation in which the parking command signal input to the signal interface is the second parking command signal input via the operation member,
wherein the CPU is programmed to set all of a steering speed to be higher, a vehicle speed to be higher, an acceleration to be larger, and a stop time at a time of direction switching to be shorter in a first case where the first parking command signal is input via the communication device than in a second case where the second parking command signal is input via the operation member to control the behavior of the vehicle so that the time necessary for parking completion is controlled to be shorter in the first case than in the second case, and
wherein, in generating the travel route, the CPU is programmed to determine whether the surrounding environment includes an obstacle adjacent to the single parking position, and to lengthen a distance from the obstacle in the first case as compared to the second case, such that the CPU sets an obstacle shortest distance parameter of the travel route at a greater value when the first parking command signal is input via the communication device from outside of the vehicle than when the second parking command signal is input via the operation member inside of the vehicle.