JP2001146853A - Parking guide device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To extend an effective parking space by setting a guide sensor in front of a vehicle on a parking guide device to guide the vehicle to a parking position to reduce driving operation at the time of parking the vehicle. SOLUTION: Guide information to a position to part a vehicle is provided to a driver driving the entering vehicle by using a display means 3 set at a parking area in accordance with a computed result by computing remaining distance information to a position to stop the entering vehicle T1, inclination information of the entering vehicle and left and right deviation information of the entering vehicle by using a horizontal scanning type laser radar 1 and a computing part 2 set at the parking area.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for guiding a vehicle entering a parking space to a parking position.

[0002]

2. Description of the Related Art As society is aging, so-called elderly drivers are increasing year by year. The driving operation in the parking lot is performed while visually confirming the surrounding obstacles by a door mirror and a room mirror, and is an operation that places a heavy burden on the elderly driver.

In order to reduce the burden on the driver, a camera, a monitor, and a position sensor are conventionally installed in a parking lot to guide a vehicle.
There is an apparatus described in JP-A-280722. The device described in this publication is a device installed in a multi-story parking lot, and a parking space is provided with a sensor for detecting left and right positional deviation of a vehicle and a front-back position of a front wheel and a camera device for photographing a side surface of the front wheel. A monitor for projecting the image of the front wheels of the vehicle on the front display and an LE for guiding the vehicle
A D display device is provided to guide the vehicle.

[0004]

However, Japanese Patent Application Laid-Open No.
In the device described in 280722, it is necessary to install a camera on the side surface (lateral direction) of the vehicle so as to photograph the side surface of the front wheel of the vehicle. It is difficult to apply to parking lots. In addition, when the camera is constituted by a visible camera at nighttime, a lighting device for illuminating the side of the vehicle and a space for the lighting device are required, an effective parking space is reduced, and equipment is costly. There is a problem.

The present invention has been made to solve the above-mentioned problem, and proposes an apparatus for guiding a vehicle to a parking position by a sensor installed in front (or behind) a planned parking position of the vehicle. .

[0006]

Means for Solving the Problems A first method for solving the above problems is described below.
The parking guidance device according to the invention of the invention is a parking guidance device that guides an approaching vehicle to a position to be parked in a parking lot, a laser radar installed in a parking lot and scanning in a horizontal direction, and a laser radar installed in a parking lot and the laser radar. Based on the obtained distance distribution information between the laser radar and the approaching vehicle,
A display means for displaying information indicating a remaining distance to a position where the approaching vehicle should be stopped, an inclination of the approaching vehicle, and a lateral deviation between the approaching vehicle and an adjacent vehicle.

The parking guidance device according to a second aspect of the present invention calculates the approach speed of the approaching vehicle based on a change per unit time in distance information between the laser radar and the approaching vehicle obtained from the laser radar. The display means includes a means for displaying a warning such as reducing the vehicle speed if the approach speed calculated by the calculation section is equal to or more than a specified value.

A parking guidance device according to a third aspect of the present invention includes a computing unit that computes information on a remaining distance to a position where the approaching vehicle should stop, information on the inclination of the approaching vehicle, and information on the lateral deviation of the approaching vehicle. The vehicle includes a transmission unit for transmitting the information calculated by the calculation unit to the approaching vehicle, and an automatic driving unit for automatically driving the approaching vehicle to a position to park using the transmitted information.

Further, in the parking guidance apparatus according to a fourth aspect of the present invention, each parking space is provided based on a plurality of laser radars installed in each parking space of the parking lot and distance information output from the plurality of laser radars. Centralized management unit that manages the parking status of empty or parked space; display means installed in the parking lot management room to display the parking status from this centralized management unit; Display means for displaying the parking status from the management unit.

[0010]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a schematic diagram of a parking guidance device according to a first embodiment, and FIG. 2 is a configuration diagram.
In the figure, reference numeral 1 denotes a light emitter for transmitting light, and a mirror is rotated in the horizontal direction to scan the light transmitted from the light emitter, or a plurality of light emitters arranged linearly in the horizontal direction emit light in order. A scanning unit that performs horizontal scanning by scanning, etc., a light receiving device that receives reflected light from an object, a detector that measures the scanning direction of transmitted light, and a light receiving unit that receives light transmitted from the light emitting device. This is a horizontal scanning type laser radar including a signal processor for measuring time, and is installed near a parking space S1 of a parking lot 2 (in general, this position is a stop position because a laser radar has a resolution of several tens of cm). It may be anywhere from several tens of cm to several meters from the vehicle.). B1 to B2 are the scanning range of the laser radar, and detect the approaching vehicle T1, the parking vehicle T2 in the adjacent parking space, and the parking vehicle T3 next to the approaching vehicle T1. Numeral 2 denotes a calculation unit, based on the distance distribution information output from the laser radar 1, information on the remaining distance to the position where the approaching vehicle T1 should stop, inclination information on the parking space S1 for the approaching vehicle T1, and the approaching vehicle. The left / right deviation information for the parking space S1 for T1 is calculated. S2 is a parking space for the vehicle T2, and S3 is a parking space for the vehicle T3. Reference numeral 3 denotes display means, which is installed near a parking space. However, each parking space referred to here is a predetermined height from a parking frame of a vehicle pulled on a tire contact surface (a rectangular frame for parking a vehicle pulled in a normal parking lot within a frame line). (Space equivalent to vehicle height).

FIG. 3 shows an example of the configuration of the display means 3. In FIG. 3, reference numeral 4 denotes a drawing panel for drawing a situation of a parking space, which is constituted by, for example, an LED dot matrix. 5
Is a character information transmitting means, which is constituted by, for example, an LED dot matrix. The drawing panel 4 includes a drawing S1 ′ corresponding to the parking space S1, a drawing S2 ′ corresponding to the parking space S2, a drawing S3 ′ corresponding to the parking space S3, and a drawing T1 ′ corresponding to the outer shape of the approaching vehicle T1. And a drawing T2 'corresponding to the outer shape of the vehicle T2 and the vehicle T
The drawing T3 'corresponding to the outer shape of No. 3 is drawn. The character transmitting means 5 includes an ID number 6 of the parking space and an entry vehicle T1.
Is based on the remaining distance information 7 to the position where the vehicle should be parked and the amount of change per unit time of the distance information between the laser radar 1 and the approaching vehicle T1 obtained by the laser radar 1.
The calculation unit 2 calculates the approach speed 1 and displays a warning display 8 when the approach speed is equal to or higher than a specified value.

The horizontal scanning type laser radar 1 has a B
Since the laser pulse is transmitted while scanning the space from 1 to B2 in the horizontal direction and the time until the reflected wave from the object is received is obtained, distance information in front of the laser radar 1 is obtained. Output information includes two-dimensional distance distribution information in the left-right direction and the depth direction as viewed from the laser radar 1. If the laser radar 1 is set to obtain distance information from the object located at the shortest distance (distance reflected in the shortest time) for each azimuth angle at which the laser pulse is scanned, the arithmetic unit 2 This eliminates the need for processing such as identification of distance distribution information corresponding to the shape of the vehicle (for example, separation of distance information from the bumper of the vehicle and the front window), which is desirable for efficient data processing. However, at this time, the transmission range and the reception range of the laser radar 1 are set so that the light receiver of the laser radar 1 does not pick up an object in a parking space such as a car stop or a noise due to a reflected wave from the ceiling or the ground in the upper part of the parking space. The level threshold is set appropriately. The calculation unit 2 associates the output information of the laser radar 1 including the two-dimensional distance distribution information with the parking space S1, the parking space S2, and the parking space S3, which are known in advance, to the parking space S1. The distance distribution information relating to the parked entering vehicle T1 and the distance distribution information relating to the vehicles T2 and T3 parked in the adjacent parking spaces S2 and S3 are separated. At this time, the arithmetic unit 2 compares the distance from the laser radar 1 that is known in advance to each area of each of the spaces S1, S2, and S3 with the distance distribution information from the laser radar 1, and determines each of the spaces S1, S2, This separation is performed by extracting only the distance distribution information distributed in S3. Next, the arithmetic unit 2 smoothes the distance distribution information related to the approaching vehicle T1, and the smoothed horizontal (horizontal direction in FIG. 1) distance distribution change has a steep slope equal to or greater than a predetermined value at both ends. Section
It is regarded as a portion corresponding to the front outer shape of the approaching vehicle 1, and tilt information is calculated from the degree of tilt of the portion corresponding to the front outer shape. Further, based on the difference between the shortest distance from the laser radar 1 obtained from the distance distribution information of the portion corresponding to the front outer shape and the preset distance from the laser radar 1 to the parking position, the remaining distance information is obtained. Ask for 7. Further, the arithmetic unit 2 compares the distance distribution information concerning the adjacent vehicles T2 and T3 with the distance distribution information concerning the approaching vehicle T1, thereby obtaining the vehicle T1 adjacent to the approaching vehicle T1.
The shortest distance from T2 and T3 is calculated as left / right deviation information. Further, the calculation unit 2 calculates the approach speed of the approach vehicle T1 based on the amount of change per unit time in the distance between the laser radar 1 and the approach vehicle T1 obtained by the laser radar 1. The calculated inclination information, remaining distance information 7, and left / right deviation information are output to the display unit 3. The display unit 3 displays a drawing T1 'corresponding to the outer shape of the front part of the approaching vehicle T1 on the drawing panel 4 based on the remaining distance information 7 and the inclination information output from the calculation unit 2, and displays left-right deviation information. The drawing T2 ′ corresponding to the side (lateral) outer shape of the vehicle T2 and the drawing T3 ′ corresponding to the side (horizontal) outer shape of the vehicle T3 are displayed on the drawing panel 4 based on. The display unit 3
From the laser radar 1 set in advance to the parking space S
The parking frame indicating the parking space S1 is also displayed on the drawing panel 4 at the same time based on the positions up to 1.

Thus, the driver driving the approaching vehicle T1 can determine the positional relationship between the approaching vehicle T1 and the vehicles T2 and T3 parked in the adjacent parking spaces S2 and S3 and the position at which the approaching vehicle T1 should be parked. And the relative positional relationship including the degree of inclination of the approaching vehicle T1 with respect to the parking space S1 where the approaching vehicle T1 is parked, based on the information displayed on the character transmitting means 5 and the information drawn on the drawing panel 4. Enjoy. Therefore, the relative position between the approaching vehicle T1 and the adjacent parked vehicles T2 and T3 becomes clear, and it can be easily grasped whether or not the vehicle can travel without contacting the vehicles T2 and T3, which helps to prevent a contact accident. In this case, particularly, the degree of inclination of the approaching vehicle T1 is determined. For example, when the front right corner of the approaching vehicle T1 is close to the vehicle T3, the approaching state can be determined by the drawing panel 4 as shown in FIG. The driver can focus on the location and drive.

Further, the calculation unit 2 previously stores the I
By setting the D number and displaying the ID number using the ID number 6, the driver of the vehicle T1 recognizes the ID number of the parked parking space S1. When the approach speed of the approaching vehicle T1 calculated by the arithmetic unit 2 is higher than a specified value, a warning is displayed to the driver of the approaching vehicle T1 using the warning display 8.

Although FIG. 1 shows a case where the vehicle is parked with the front of each vehicle facing the display unit 3, the present invention can also be applied to a case where the vehicle is parked with the rear of each vehicle facing the display unit 3.
In this case, the driver may operate the vehicle while visually recognizing the drawing panel 4 of the display unit 3 with the room mirror or the door mirror. Further, the display unit 3 adds predetermined vehicle length information to the distance distribution information from the calculation unit 2, and further smoothes the distance distribution information so that the outer shape becomes rectangular, and draws a schematic shape of the outer shape. This makes it possible to grasp the positional relationship between the adjacent vehicles T2 and T3, as well as the position behind and in front of the approaching vehicle 1. As the vehicle length information, a preset value is used, but a vehicle width is obtained from the distance distribution information and the inclination information corresponding to the front part of the approaching vehicle 1, and the vehicle width is set to a vehicle corresponding to the preset vehicle type. The vehicle type is compared with the width range, and based on the comparison result, a vehicle type (for example, a large passenger vehicle, a small passenger vehicle, or a large vehicle) is determined, and vehicle length data set in advance for each vehicle type (for example, regulated by law) Vehicle length information may be set using the maximum length of the vehicle for each vehicle type).

Embodiment 2 FIG. 4 is a schematic diagram of a parking guidance device according to the second embodiment, and FIG. 5 is a configuration diagram. In the figure, 1-3, B1, B2, T2-T3, S1-S3 are:
This is the same as the first embodiment. T4 denotes an approaching vehicle equipped with an automatic driving function, 9 denotes a wireless unit for wirelessly transmitting the calculation result of the calculation unit 2, and a parking space S of the parking lot.
Install near 1 Reference numeral 10 denotes an in-vehicle wireless unit that receives data from the wireless unit 9 and is mounted on the approaching vehicle T4. The wireless unit 9 and the on-vehicle wireless unit 10 form a pair and constitute a transmission unit.

In recent years, interest in safe driving of automobiles has been greatly increased, and an intelligent transportation system (ITS: Intelligent Tran.
sports system) is being actively promoted. In this intelligent transportation system, AHS (Ad
vanced cruise Highway Sys
tem) The driving support road system communicates between road infrastructure facilities and vehicles, and ultimately aims at an automatic driving system. There are many prior arts relating to automatic driving.
For example, Japanese Patent No. 2,841,871 describes a conventional technique relating to an automatic driving device for a vehicle. Patent No. 2
No. 728970 describes a prior art relating to a road-vehicle communication system and an in-vehicle device in a mobile station thereof.

In the second embodiment, the transmission means composed of the radio unit 9 and the on-vehicle radio unit 10 uses, for example, a conventional technique described in Japanese Patent No. 2728970, and is provided with an automatic driving function. The vehicle T4 uses, for example, the conventional technique described in the aforementioned Japanese Patent No. 2841871.

In the same operation as in the first embodiment, information on the remaining distance to the position where the approaching vehicle T4 should be parked, which is output from the arithmetic unit 2, and the parking spaces S2 and S adjacent to the approaching vehicle T4
3, the positional relationship with the vehicles T2 and T3 parked in
The information on the inclination of the approaching vehicle T4 with respect to the parking space is transmitted to the in-vehicle wireless unit 10 by the wireless unit 9, and the in-vehicle T4 equipped with the automatic driving function should be parked using the information received by the in-vehicle wireless unit 10. It is automatically driven to the position.

In this embodiment, an example of application to a vehicle equipped with an automatic driving function has been described.
The function by information exchange between the vehicle and the in-vehicle wireless unit 10 is applied to the first embodiment, and vehicle length information preset in the in-vehicle wireless unit 10 is output to the display unit 3 via the wireless unit 9. It is also useful to add a function of drawing a schematic shape of the vehicle outer shape using the vehicle length information. In this case, the approaching state between the vehicle T2 and the rear left corner of the approaching vehicle T1 (not shown in FIG. 3) can be clearly understood, and support for safer driving is possible.

Embodiment 3 FIG. 6 is a configuration diagram of a parking guidance device according to the third embodiment. In the figure, 1, T1,
T2, S1 to S3 are the same as those in the first embodiment.
Reference numeral 1b denotes a horizontal scanning laser radar for the parking space S2, which is the same as the laser radar 1. 1c
Is a horizontal scanning laser radar for the parking space S3, which is the same as the laser radar 1. Reference numeral 11 denotes a central management unit that centrally manages distance information in front of each laser radar output from the laser radar 1, the laser radar 1b, and the laser radar 1c. Numeral 12 denotes display means installed in the management room of the parking lot, and 13a, 13b,...

In the example shown in the figure, the vehicles T1 and T2 are parked in the parking space S1 and the parking space S2, respectively. However, since there is no parked vehicle in the parking space S3, the laser radar installed in the parking space S1 is used. The distance information output from the laser radar 1b installed in the parking space S2 is short distance information, while the distance information output from the laser radar 1c installed in the parking space S3 is long distance information. The centralized management unit 11 centrally manages the distance information of the laser radar 1, the laser radar 1b, and the laser radar 1c, and recognizes the parking space as an empty space when the distance information of each laser radar is farther than a threshold. If the output information is shorter distance information than the threshold, the parking space is recognized as a parked space. By sending the data of the central management unit 11 to the display unit 12 installed in the parking lot management room, the display unit 12 displays whether each parking space of the parking lot is empty or parked. Similarly, by sending the data of the central management unit 11 to display means 13a, 13b,...
The display means 13a, 13b,... Indicate whether each parking space in the parking lot is empty or parked.

[0023]

According to the first aspect of the present invention, a driver who has entered the parking lot has the remaining distance to the parking position where the driver should park, the parking space where the driver should park, and the driver driving. Since the relative positional relationship including the inclination information with the approaching vehicle and the positional relationship between the vehicle driven by the driver and the vehicle on both sides can be visually recognized, there is an effect that the burden on the driver during parking can be reduced. Also,
Since all devices for guiding the vehicle can be installed in front of the approach direction of the vehicle, there is an effect that the land area can be effectively used. In addition, a laser radar, like a visible camera, has the effect of eliminating the need for lighting equipment required by the conventional technology in an outdoor parking lot because the recognition distance does not become shorter even when the surroundings become dark, and has the effect of introducing the device at low cost. .

According to the second aspect of the present invention, a warning is displayed to the driver that the approach speed of the vehicle driven by the driver is too high, so that the safety at the time of parking is improved.

Further, according to the third aspect of the present invention, since the driving operation from the vicinity of the parking space to the parking position is not required, it is possible to reduce the burden on the driver.

According to the fourth aspect of the present invention, the information as to whether each of the parking spaces in the entire parking space is an empty space or a vacant space can be centrally managed in the parking space management room, so that the parking space management function is improved. Having. Further, since the driver can recognize which parking space is vacant in the whole parking lot by the display means, it is possible to reduce the burden of the driver searching for the parking space.

[Brief description of the drawings]

FIG. 1 is a first embodiment of a parking guidance device according to the present invention;
FIG.

FIG. 2 is a first embodiment of a parking guidance device according to the present invention;
FIG.

FIG. 3 is an explanatory diagram of a configuration example of a display unit.

FIG. 4 is a second embodiment of a parking guidance device according to the present invention;
FIG.

FIG. 5 is a second embodiment of a parking guidance device according to the present invention;
FIG.

FIG. 6 is a third embodiment of the parking guidance device according to the present invention;
FIG.

[Explanation of symbols]

1. Horizontal scanning laser radar, 2. Operation unit, 3.
Display means, 4 drawing panel, 5 character information transmitting means,
6 parking space ID, 7 remaining distance information, 8 warning display,
9 Radio section, 10 On-board radio section, 11 Central management section, 1
2 display means, 13a display means, 13b display means,
T1 approach vehicle, T2 parked vehicle, T3 parked vehicle, T
4 Entering vehicle, S1 parking space, S2 parking space, S3 parking space, B1 laser radar scan range, B2 laser radar scan range.

Claims (4)

[Claims] 1. A parking guidance device for guiding an approaching vehicle to a position to be parked in a parking lot, a laser radar installed in the parking lot and scanning in a horizontal direction, and a laser radar installed in the parking lot and obtained by the laser radar. Display means for displaying information indicating a remaining distance to a position where the approaching vehicle should stop, an inclination of the approaching vehicle, and a lateral deviation between the approaching vehicle and an adjacent vehicle, based on distance distribution information between the approaching vehicle and the vehicle. A parking guidance device comprising: 2. An arithmetic unit for calculating an approach speed of an approaching vehicle based on an amount of change per unit time in distance information between the laser radar and the approaching vehicle obtained from the laser radar, and the display means includes: 2. The parking guidance device according to claim 1, further comprising means for displaying a warning indicating that the vehicle speed is reduced when the approach speed calculated by the calculation unit is equal to or higher than a specified value. 3. An operation unit for calculating information on a remaining distance to a position where the approaching vehicle should stop, information on the inclination of the approaching vehicle, and information on the lateral deviation of the approaching vehicle. The parking guidance device according to claim 1, further comprising: a transmission unit that transmits the vehicle to the vehicle; and an automatic driving unit that automatically drives the approaching vehicle to a position to park using the transmitted information. 4. A plurality of laser radars installed in each parking space of a parking lot, and a parking situation of each parking space being managed as an empty space or a parked space is managed based on distance information output from the plurality of laser radars. A central management unit, a display unit installed in the parking lot management room and displaying the parking status from the central management unit, and a display unit installed at a plurality of locations in the parking lot and displaying the parking status from the central management unit. The parking guidance device according to claim 1, further comprising: