JP2006268648A - Vehicle position distribution system and method, current position calculation device, and delivery device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a vehicle position delivery system and a vehicle position delivery method, facilitating parking to an empty parking space. <P>SOLUTION: Each of current position determination devices mounted on vehicles calculates a position within a parking lot of a vehicle mounted with the own device from an advancing direction, a traveling distance, and parking lot map information, and transmits the calculated position and an advancing direction in this position to a distribution device. The distribution device transmits the position and advancing direction transmitted from each of current position determination devices mounted on the vehicles to the respective current position determination devices of all vehicles within the parking lot. Each current position determination device displays, based on the received position and advancing direction of each vehicle, the position and advancing direction of each vehicle on a parking lot map. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a technique for grasping a vehicle position in a parking lot.

  In the parking lot, it is displayed whether or not there is a vacant parking space. However, it is necessary to actually enter the parking lot and look for the parking space where the driver and passengers can visually check where the parking space can be parked. The parking lot may have a poor outlook, such as a parked vehicle, a column supporting a three-dimensional parking space, and insufficient lighting in the parking lot. Therefore, it is difficult to drive while searching for a vacant parking space.

  In order to solve such a problem, in Patent Document 1, the parking lot server stores the parking lot position and availability, and the stored parking lot location and availability in the vehicle that requested the information. Is described. Patent Document 2 describes that the vacant state of each parking space is stored, and when the vacant parking space is selected, the selected parking space is reserved.

JP 2004-139509 A Japanese Patent No. 3332002

  Since the technique described in Patent Document 1 only transmits a vacant state, a plurality of vehicles may approach one vacant parking space. Since the technique described in Patent Document 2 is not necessarily a technique for parking in a reserved parking space, a plurality of vehicles may approach one parking space. As described above, since the techniques described in Patent Documents 1 and 2 do not know the movement of other vehicles, it is difficult to park in an empty parking space.

  The present invention has been made in view of such circumstances, and it is possible to easily grasp a vacant state of a parking space in a parking lot and to distribute a vehicle position that can facilitate parking in a vacant parking space. It is an object to provide a system, a vehicle position distribution method, a current position calculation device, and a distribution device.

  The present invention has been made to achieve the above object, and a distribution device installed in a parking lot stores parking lot map information, and a parking lot map is stored in a current position determination device mounted on each vehicle. Send information. Each of the current position determination devices calculates the current position in the parking lot of the vehicle on which it is mounted from the traveling direction, the travel distance, and the parking lot map information, and the calculated position and the vehicle at the position. And the position of the vehicle and the traveling direction are displayed on the parking lot map displayed based on the parking lot map information. When the distribution device receives the position and the traveling direction from each of the current position determination devices mounted on each vehicle, the distribution device transmits the position and the traveling direction to each of the current position determination devices mounted on each vehicle in the parking lot. . Each of the current position determination devices mounted on each vehicle displays the position and traveling direction of each other vehicle on the parking lot map based on the received position and traveling direction of each vehicle.

  Specifically, for example, a vehicle position distribution system in which a current position determination device mounted on each of a plurality of vehicles and a distribution device installed in a parking lot are connected via a communication network, The distribution device transmits the parking lot map information to each of a parking lot map information storage unit that stores parking lot map information including a position of the parking space and a route through which the vehicle passes, and a current position determination device of the vehicle. Parking information transmitting means, first vehicle information receiving means for receiving the position of the vehicle in the parking lot and the traveling direction of the vehicle from each of the vehicle current position determination device, and the first Vehicle information storage means for storing the position received by the vehicle information receiving means in association with the traveling direction, and the position and traveling direction of each other vehicle in the parking lot are transmitted to each of the vehicles. 1 vehicle information transmission means Each of the current position determination devices includes storage means for storing the parking lot map information transmitted from the distribution device, and direction detection means for detecting the traveling direction of the vehicle in which the current position determination device is mounted. A distance calculation means for calculating a travel distance of a vehicle on which the current position determination device is mounted, an orientation detected by the orientation detection means, a travel distance calculated by the distance calculation means, and the parking lot map From the information, a current position calculation means for calculating a current position in a parking lot of a vehicle on which the current position determination device is mounted, a position calculated by the current position calculation means, and a traveling direction at the position The second vehicle information transmitting means for transmitting to the distribution device, and the parking lot map information are displayed as a map, and the position and traveling direction calculated by the current position calculating means are displayed on the map. Display means, and second vehicle information receiving means for receiving the position and traveling direction of each other vehicle in the parking lot transmitted from the distribution device, and the second vehicle information receiving means Whenever the position and traveling direction of the other vehicles in the parking lot are received, the display means displays the received position and traveling direction of the other vehicles in the parking lot on the displayed map. It is characterized by that.

  According to the vehicle position distribution system, the vehicle position distribution method, the current position calculation device, and the distribution device according to the present invention, the map of the parking lot, the position of each vehicle in the parking lot, and the traveling direction of each vehicle at the position Since it can be displayed, it becomes easy to predict the movement of the vehicle. For this reason, it becomes possible to make it easy to park in a vacant parking space.

  Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings.

  FIG. 1 is an example of a parking lot described below. A distribution device 1 is installed in the parking lot. The vehicle 3 entering from the entrance can be parked in any of the parking spaces a to m. Each of the vehicles 3 is equipped with the current position calculation device 2 of the present embodiment. The distribution device 1 and the current position calculation device 2 are connected, for example, by narrow area wireless communication such as ETC (Electronic Toll Collection System) and Bluetooth (Bluetooth). Here, in the case where each vehicle 3 is particularly distinguished, a description will be given with reference numerals such as “vehicle 3A”. Further, when the current position calculation device 2 mounted on each vehicle 3 is particularly distinguished, a description will be given with reference numerals such as “current position calculation device 2A”.

  FIG. 2 shows a configuration example of the distribution apparatus 1. 2, the distribution device 2 includes a CPU (Central Processing Unit) 11, a memory 12, a storage device 13, an input device 14, an output device 15, a communication interface 16, and the like.

  The CPU 11 implements a parking lot map information transmission processing unit 111, a vehicle position management processing unit 112, a vehicle position transmission processing unit 113, a communication resumption request processing unit 114, and the like by executing a program loaded in the memory 12. The parking lot map information transmission processing unit 111 transmits parking lot map information, which is a map of the parking lot, according to the request transmitted from the current position calculation device 2. The vehicle position management processing unit 112 stores information such as vehicle position information in the parking lot, travel direction information of the vehicle, and vacancy information of each parking space in the storage device 13. The vehicle position transmission processing unit 113 transmits the position information and traveling direction information of each vehicle stored in the storage device 13 to each current position calculation device 2 by broadcasting or the like. The communication resumption request processing unit 114 receives the communication resumption request transmitted from the current position calculation device 2, determines whether there is another vehicle within a predetermined range from the vehicle that has transmitted the communication resumption request, and the corresponding vehicle If there is, the fact that there is a vehicle to start moving is transmitted to the current position calculation device 2 of the vehicle.

  The storage device 13 is, for example, an HDD (Hard Disk Drive) or the like, and stores a vehicle information table 131, a parking space information table 132, a parking lot map information 133, and the like. The vehicle information table 131 is a table that stores information such as position information and traveling direction information of each vehicle in the parking lot. The parking space information table 132 is a table that stores information indicating which vehicle is parked in each parking space. The parking lot map information 133 is map information of a parking lot where the distribution apparatus 1 is installed, and includes information such as a parking space, a route through which a vehicle can pass, positions of entrances and exits in the parking lot, and geomagnetic direction. . In the present embodiment, the parking lot map information 133 indicates the parking space, the route through which the vehicle can pass, the positions of entrances and exits in the parking lot, and the like in XY coordinates.

  The input device 14 is, for example, a keyboard, a mouse, a microphone, a touch panel, or the like. The output device 15 is a display, a speaker, a printer, or the like, for example. The distribution device 1 is connected to the current position calculation device 2 through the communication interface 16.

  FIG. 3 shows a configuration example of the current position calculation device 2. In FIG. 3, the current position calculation device 2 includes an angular velocity sensor 21, an orientation sensor 22, a vehicle speed sensor 23, a gear position detection unit 24, a controller 25, an input device 26, a communication interface 27, a display 28, a voice output device 29, and a storage device. 30 etc.

  The angular velocity sensor 21 detects a change in the direction of the front side of the vehicle by detecting the yaw rate of the vehicle. The direction sensor 22 detects the direction of the front side of the vehicle by detecting geomagnetism. The vehicle speed sensor 23 outputs pulses at time intervals proportional to the rotation of the output shaft of the vehicle transmission. The gear position detection unit 24 detects gear positions such as neutral, parking, drive, first speed, second speed, and back. In order for the gear position detection unit 24 to detect the gear position, for example, an output from an inhibitor switch or the like that detects the position of the shift lever is acquired.

  The input device 26 is, for example, a remote control and a remote control receiving unit, a touch panel, a switch, or the like. The current position calculation device 2 is connected to the distribution device 1 via the communication interface 27.

  The display 28 displays a map of the parking lot, and displays the vehicle and the traveling direction of the vehicle on the displayed map. The audio output device 29 outputs audio. The storage device 30 is, for example, a storage medium such as a CD (Compact Disc) or a DVD (Digital Versatile Disk), a drive device for the storage medium, an HDD, and the like, and stores map data including road data.

  The controller 25 controls the operation of each peripheral device described above, and includes an AD converter 31, an AD converter 32, a counter 33, a DMA (Direct Memory Access) controller 34, a memory 35, a microprocessor (hereinafter referred to as a “processor”). MPU) 36, parallel I / O 37, and the like.

  The AD converter 31 converts the signal (analog) of the angular velocity sensor 21 into a digital signal. The AD converter 32 converts the signal (analog) of the azimuth sensor 22 into a digital signal. The counter 33 counts the number of pulses output from the vehicle speed sensor 23, for example, every 0.1 second.

  The DMA controller 34 transfers the map data read from the storage device 30.

  The MPU 36 implements a parking lot map information request processing unit 361, a vehicle position acquisition processing unit 362, a communication resumption request processing unit 363, a notification processing unit 364, and the like by executing a program loaded in the memory 35. The parking lot map information request processing unit 361 requests the distribution device 1 to transmit parking lot map information. The vehicle position acquisition processing unit 362 calculates the position of the vehicle in the parking lot, determines the traveling direction of the vehicle at the position from the output from the direction sensor 22 and the output from the gear position detection unit 24, and the distribution apparatus 1. The calculated position information, the traveling direction information at the position, and the like are transmitted. The communication resumption request processing unit 363 communicates with the distribution device 1 when the current position calculation device 2 is turned on after the driver leaves the vehicle and the communication with the distribution device 1 is interrupted by stopping the engine. To resume. When the notification processing unit 364 receives information notifying that there is a vehicle that starts moving within a predetermined range from the distribution device 1, the notification processing unit 364 outputs information that notifies the fact.

  The parallel I / O 37 receives an input signal from the input device 26.

  The current position calculation device 2 has a function of realizing a conventional navigation system.

  Next, each piece of information stored in the distribution apparatus 1 will be described.

  FIG. 4 is an example of the vehicle information table 131. In FIG. 4, each piece of information in the vehicle information table 131 is acquired and stored by an operation described later. The vehicle information table 131 includes a position 1312, a traveling direction 1313, a parking flag 1314, a restart flag 1315, an update date / time 1316 and the like in association with the vehicle identification number 1311. The vehicle identification number 1311 is information for identifying a vehicle that has entered the parking lot where the distribution apparatus 1 is installed. The position 1312 is information indicating the position of the vehicle indicated by the corresponding vehicle identification number. In this embodiment, the position of the vehicle is indicated by XY coordinates. The traveling direction 1313 is information indicating the direction in which the vehicle indicated by the corresponding vehicle identification number is traveling. Here, the traveling direction of the vehicle is indicated by the direction of east, west, south, and north. It should be noted that the traveling direction used here does not necessarily match the direction of the front side of the vehicle acquired by the angular velocity sensor 21 and the direction sensor 22 described above. For example, when the vehicle is backing, the traveling direction is opposite to the direction on the front side of the vehicle. The parking flag 1314 is a flag indicating whether or not the vehicle indicated by the corresponding vehicle identification number is parked in the parking space. In the example of FIG. 4, “◯” indicates that the vehicle is parked. The restart flag 1315 is a flag indicating whether a communication restart request has been received from the current position calculation device 2 mounted on the vehicle indicated by the corresponding vehicle identification number. In the example of FIG. 4, “◯” indicates that a communication resumption request has been received. The update date and time 1316 is the date and time when the vehicle information table 131 is updated by receiving position information, traveling direction information, and the like regarding the vehicle indicated by the corresponding vehicle identification number.

  FIG. 5 is an example of the parking space information table 132. In FIG. 3, each piece of information in the parking space information table 132 is acquired and stored by an operation described later. The parking space information table 132 includes a vehicle identification number 1322 and the like in association with the parking space 1321. The parking space 1321 is a parking space that can be parked in a parking lot where the distribution apparatus 1 is installed. The vehicle identification number 1322 is a vehicle identification number of a vehicle parked in the corresponding parking space 1321. In the example of FIG. 4, when the vehicle identification number 1322 is blank, it indicates that there is no vehicle parked in the parking space.

  The parking lot map information of this embodiment will be described with reference to FIG. In the present embodiment, the position in the parking lot is indicated by XY coordinates. In FIG. 6, a route through which the vehicle can pass is indicated by a bold line. The parking space is indicated by a broken line. A route through which the vehicle can pass is composed of one or more line segments. In the case of the parking lot shown in FIG. 1, the route is indicated by a line segment 61 as shown in FIG. 6. Here, when distinguishing each line segment 61 in particular, for example, a description will be given with reference numerals such as “line segment 61a”. Each line segment 61 is indicated by two XY coordinates at both ends, for example, as the line segment 61a is indicated by (Xa, Ya) and (Xb, Yb). The entrance 62 and the exit 63 of the parking lot are indicated by the coordinates (Xa, Ya) of the end points of the line segment 61a and the coordinates (Xc, Yc) of the end points of the line segment 61b. Each parking space is defined by four XY coordinates. For example, the parking space area corresponding to the parking space “f” in FIG. 1 is indicated by (Xd, Yd), (Xe, Ye), (Xf, Yf), (Xg, Yg).

  Next, operations of the distribution apparatus 1 and the current position calculation apparatus 2 will be described. Here, first, a sequence example will be briefly described, and then individual operations of the distribution device 1 and the current position calculation device 2 will be described in detail.

  As shown in FIG. 1, it is assumed that vehicles 3A and 3B are already entering and parking in the parking lot, and vehicle 3C enters the parking lot. It is assumed that the current position calculation device 2C mounted on the vehicle 3C has determined the current position by the operation of the conventional navigation system before reaching the parking lot.

  In FIG. 7, the parking lot map information request processing unit 361C of the current position calculation device 2C mounted on the vehicle 3C transmits a parking lot map information request (S701). For example, a driver who drives the vehicle 3C may instruct that the input device 26C such as a button of the current position calculation device 2C is operated, and is installed at the entrance of the parking lot. When a sensor or the like detects the vehicle 3C, a signal may be sent to the vehicle 3C, and when the current position calculation device 2C receives a signal from the sensor, a parking lot map information request may be transmitted.

  When receiving the parking map information request, the parking map information transmission processing unit 111 of the distribution device 1 reads the parking map information 133 from the storage device 13 and also the position information and traveling direction of the other vehicle 3 from the vehicle information table 131. Information, vacant information indicating a vacant parking space is read from the parking space information table 132, and the current position calculation device 2C is read with the read parking map information, the position information and traveling direction information of other vehicles 3, vacant information, etc. Transmit (S702).

  The vehicle position acquisition processing unit 362C of the current position calculation device 2C is based on the received parking lot map information, the output from the direction sensor 22, the output from the vehicle speed sensor 23, and the output from the gear position detection unit 24. The current position of the vehicle 3C in the parking lot is calculated, and the traveling direction at the position is further determined (S703). Next, the vehicle position acquisition processing unit 362C transmits position information indicating the current position and traveling direction information indicating the traveling direction at the position to the distribution apparatus 1 (S704). Further, the vehicle position acquisition processing unit 362C displays a map of the parking lot on the display 28C based on the received parking lot map information, and acquires the position and traveling direction of the other vehicle 3 and the above determination on the displayed map. The position and traveling direction of the vehicle 3C that has been moved are positioned and displayed (S705).

  On the other hand, each of the current position calculation device 2A of the vehicle 3A and the current position calculation device 2B of the vehicle 3B also transmits the position information and the traveling direction information to the distribution device 1 (S706, S707).

  The vehicle position management processing unit 112 of the distribution apparatus 1 stores the received position information, traveling direction information, and the like of each vehicle 3 in the vehicle information table 131. Further, the vehicle position management processing unit 112 of the distribution device 1 determines whether or not the vehicle 3 is parked in each parking space by an operation described later, and stores the determination result in the parking space information table 132 or the like. The vehicle position transmission processing unit 113 of the distribution apparatus 1 reads out information such as position information and traveling direction information of each vehicle 3 and vacant information of the parking space from the vehicle information table 131 and the parking space information table 132, and the read information Is transmitted to each current position calculation device 2 by broadcasting or the like (S708, S709, S710).

  The vehicle position acquisition processing unit 362 of the current position calculation device 2 of each vehicle 3 adds the vehicle 3 and the vehicle to the already displayed parking lot map based on the received position information, traveling direction information, vacancy information, and the like. 3 is positioned and displayed, and is displayed by changing the color of a vacant parking space (S711, S712, S713).

  The vehicle position acquisition processing unit 362 of the current position calculation device 2 of each vehicle 3 determines the position of the vehicle 3 after traveling a predetermined distance or when a gear change is detected, and the calculated position information and progress The azimuth information is transmitted to the distribution apparatus 1.

  When the driver of the vehicle 3D parked in the parking space c returns to start the engine and the power of the current position calculation device 2D of the vehicle 3D is turned on, the communication resumption request processing unit of the current position calculation device 2D 363 transmits a communication resumption request to the distribution apparatus 1 (S714). Next, the vehicle position acquisition processing unit 362 of the current position calculation device 2D transmits the position information, traveling direction information, and the like of the vehicle 3D to the distribution device 1 (S715).

  The communication resumption request processing unit 114 of the distribution device 1 refers to the vehicle information table 131, and the vehicle 3 is located within a predetermined range based on the vehicle 3 on which the current position calculation device 2 that has transmitted the communication resumption request is mounted. It is determined whether or not there is (S716). Here, the vehicle 3A corresponds. The communication resumption request processing unit 114 transmits information notifying the current position calculation device 2A of the vehicle 3A (S717). In response to the notification, the notification processing unit 364A of the current position calculation device 2A outputs to the display 28A, the audio output device 29A, and the like that there is a vehicle 3 that starts moving within a predetermined range (S718).

  Next, individual operations of the distribution device 1 and the current position calculation device 2 will be described in detail.

  With reference to FIG. 8, the operation example which the delivery apparatus 1 transmits parking lot map information is demonstrated.

  When the parking lot map information transmission processing unit 111 of the distribution device 1 receives the parking lot map information request transmitted from the current position calculation device 2 (S801), the vehicle identification of the vehicle 3 on which the current position calculation device 2 is mounted. A number is acquired (S802). The vehicle identification number may be issued, for example, by the parking lot map information transmission processing unit 111 according to a predetermined rule, and the vehicle identification number stored in advance in each of the current position calculation devices 2 You may use what was included in the map information request and transmitted. The parking lot map information transmission processing unit 111 adds the acquired vehicle identification number to the vehicle identification number 1311 of the vehicle information table 131. Next, the parking lot map information transmission processing unit 111 reads a position 1312 and a traveling direction 1313 associated with a vehicle identification number other than the vehicle identification number added this time from the vehicle information table 131. In addition, the parking lot map information transmission processing unit 111 reads out the parking space 1321 whose vehicle identification number 1322 is blank from the parking space information table 132. Furthermore, the parking lot map information transmission processing unit 111 reads the parking lot map information 133 from the storage device 13. The parking lot map information transmission processing unit 111 transmits the read information to the current position calculation device 2 (S803). This operation corresponds to the operation of S702 described above. In addition, when the vehicle identification number is issued by the distribution device 1, the parking lot map information transmission processing unit 111, together with parking lot map information, position information, traveling direction information, and vacant information indicating a vacant parking space. The vehicle identification number of the vehicle 3 is transmitted.

  With reference to FIG. 9, an operation example in which the current position calculation device 2 transmits a parking lot map request will be described.

  The parking lot map information request processing unit 361 of the current position calculation device 2 transmits a parking lot map information request to the distribution device 1 (S901). This operation corresponds to the operation in S701 described above. When the information transmitted from the distribution device 1 is received (S902), the parking lot map information request processing unit 361 stores the received information in a predetermined storage area of the memory 35 or the like. When the vehicle identification number is received, the vehicle identification number is also stored in a predetermined storage area or the like of the memory 35, and in the subsequent processing, the received vehicle identification number is operated as its own identification number. Next, the vehicle position acquisition processing unit 362 calculates the position information of the vehicle 3 in the parking lot by the conventional map match and dead reckoning (S903). Specifically, for example, here, since the position information is calculated for the first time after receiving the parking lot map information, the vehicle position acquisition processing unit 362 reads the coordinates of the entrance from the received parking lot map information. The coordinates of the entrance closest to the current position calculated immediately before reaching the parking lot by map matching and dead reckoning are used as the current position information. In order to determine whether the vehicle position acquisition processing unit 362 receives the parking lot map information and determines whether or not it is the first current position, for example, a predetermined storage area in the memory 35 is referred to, and the area is stored in the area. Judgment is made based on whether or not position information in the parking lot is stored.

  Next, the vehicle position acquisition processing unit 362 determines the traveling direction of the vehicle from the output from the direction sensor 22 and the output from the gear position detection unit 24. Specifically, for example, the vehicle position acquisition processing unit 362 determines whether the output from the gear position detection unit 24 is a forward gear position such as “drive”, “first speed”, “second speed”, or the like. (S904). As a result of the determination in S904, if the gear position moves forward, the vehicle position acquisition processing unit 362 determines that the vehicle direction indicated by the output from the direction sensor 22 is the traveling direction of the vehicle 3 (S905).

  As a result of the determination in S904, if it is not the forward gear position, the vehicle position acquisition processing unit 362 determines whether the output from the gear position detection unit 24 is a back gear position such as “R” (S906). As a result of the determination in S906, if the gear position is not back, the vehicle position acquisition processing unit 362 determines that there is an error (S907), acquires the output from the gear position detection unit 24 again, and determines the gear position, etc. To do. As a result of the determination in S906, if the back gear position is detected, the vehicle position acquisition processing unit 362 determines that the opposite side of the vehicle direction indicated by the output from the direction sensor 22 is the traveling direction of the vehicle 3 (S908). ). This operation corresponds to the operation of S703 described above.

  The vehicle position acquisition processing unit 362 transmits the calculated position information, the determined traveling direction information, the vehicle identification number, and the like to the distribution apparatus 1 (S909). This operation corresponds to S704 described above.

  The vehicle position acquisition processing unit 362 displays a map of the parking lot on the display 28, and further displays the position of each vehicle 3 and the traveling direction of the vehicle 3, and the determined position and traveling direction of the host vehicle 3 on the map. (S910). Specifically, for example, the vehicle position acquisition processing unit 362 displays the coordinates indicating the current position of each vehicle 3 by applying the coordinates to the coordinates of the parking lot map, and further uses the geomagnetic direction included in the parking lot map information as a reference. The traveling direction is indicated by “↑” or the like. This operation corresponds to S705 described above. A display example on the display 28 is shown in FIG. In FIG. 10, a map 100, a parking space, and the like are displayed on a screen 1001, and each vehicle 1002 is positioned and displayed on the displayed map. An arrow 1003 indicates the traveling direction of each vehicle 1002. The vacant parking space is indicated by changing the display form such as changing the color, as indicated by the hatched portion 1004.

  After starting the display as described above, the MPU 36 of the current position calculation device 2 each time receiving position information and traveling direction information from the distribution device 1, based on the received position information and traveling direction information, The display on the display 28 is updated.

  Next, with reference to FIG. 11, an example of an operation in which the current position calculation device 2 calculates the current position after performing the operation illustrated in FIG. 9 and determines the traveling direction at the position will be described.

  The vehicle position acquisition processing unit 362 refers to the output value of the gear position detection unit 24 at a specific time such as every second, for example, and determines whether or not a change in the gear position is detected (S1101).

  As a result of the determination in S1101, if no change in gear position is detected, the vehicle position acquisition processing unit 362 determines whether or not the vehicle has traveled a specific distance from the previous determination (S1102).

  Specifically, for example, the MPU 36 counts the number of pulses output from the vehicle speed sensor 23 by the counter 33 every 0.1 second, as in the operation of the conventional navigation system, and sets the distance coefficient to the obtained value. By adding up, the distance traveled every 0.1 second is calculated, and the added value obtained by adding the value calculated this time to the previously calculated distance is sequentially stored in a predetermined storage area of the memory 35. Further, the MPU 36 sequentially stores the speed every 0.1 second in a predetermined storage area of the memory 35. Further, the MPU 36 outputs the output from the gear position detection unit 24 such as “drive”, “first speed”, “second speed”, “back”, “parking”, “neutral”, etc., to a predetermined storage area of the memory 35. Are stored sequentially.

  The vehicle position acquisition processing unit 362 refers to a predetermined storage area of the memory 35 at every specific time and determines whether or not the gear position is changed.

  When the gear position has not been changed, the vehicle position acquisition processing unit 362 refers to a predetermined storage area of the memory 35 and determines whether or not the added value of the movement distance is equal to or greater than a predetermined threshold such as 5 m.

  If no change in the gear position is detected as a result of the determination in S1101, or if the result of the determination in S1102 is that the vehicle has not traveled a specific distance from the previous calculation, the vehicle position acquisition processing unit 362 performs S1101 after a predetermined time has elapsed. Repeat the process.

  When the change of the gear position is detected as a result of the determination in S1101, or when the vehicle travels a specific distance from the previous determination as a result of the determination in S1102, the vehicle position acquisition processing unit 362 obtains the position information of the vehicle 3 in the parking lot. Calculate (S1103). The position information of the vehicle 3 is acquired in the XY coordinates indicated by the parking lot map information by map matching and dead reckoning, similarly to the operation of the navigation system of the prior art. The vehicle position acquisition processing unit 362 determines whether the vehicle 3 is moving forward or back based on the output from the gear position detection unit 24 in calculating the position information of the vehicle 3 as a position determination item. Process. The vehicle position acquisition processing unit 362 stores the position information thus calculated in a predetermined storage area of the memory 35.

  Next, the vehicle position acquisition processing unit 362 determines the traveling direction of the vehicle from the output from the direction sensor 22 and the output from the gear position detection unit 24. Specifically, for example, the vehicle position acquisition processing unit 362 determines whether the output from the gear position detection unit 24 is a forward gear position such as “drive”, “first speed”, “second speed”, or the like. (S1104). As a result of the determination in S1104, if the vehicle position is the forward gear position, the vehicle position acquisition processing unit 362 determines that the vehicle direction indicated by the output from the direction sensor 22 is the traveling direction of the vehicle 3 (S1105).

  If the result of determination in S1104 is that the gear position is not forward, the vehicle position acquisition processing unit 362 determines whether or not the output from the gear position detection unit 24 is a back gear position such as “R” (S1106). As a result of the determination in S1106, if the back gear position is detected, the vehicle position acquisition processing unit 362 determines that the opposite side of the vehicle direction indicated by the output from the direction sensor 22 is the traveling direction of the vehicle 3 (S1107). ).

  If the result of determination in S1106 is that the gear position is not the reverse gear position, the vehicle position acquisition processing unit 362 determines whether the output from the gear position detection unit 24 is a gear position that stops, such as “parking” or “neutral” ( S1108). As a result of the determination in S1108, when the vehicle position is the stopping gear position, the vehicle position acquisition processing unit 362 uses the current traveling direction as the vehicle direction indicated by the output from the direction sensor 22 used in the previous traveling direction determination. It is determined that there is (S1109).

  As a result of the determination in S1108, if it is not the gear position to stop, the vehicle position acquisition processing unit 362 determines that there is an error (S1110), acquires the output from the gear position detection unit 24 again, and determines the gear position. .

  The vehicle position acquisition processing unit 362 stores the traveling direction information determined in this way, the gear position information used for the determination, and the vehicle direction used for the determination in a predetermined storage area of the memory 35. .

  Next, the vehicle position acquisition processing unit 362 transmits the calculated position information, the determined traveling direction information, the vehicle identification number, and the like to the distribution device 1 (S1111).

  Next, the vehicle position acquisition processing unit 362 initializes the values used for the determination (S1112). Specifically, for example, the vehicle position acquisition processing unit 362 clears the added value of the movement distance stored in a predetermined storage area of the memory 35.

  Next, with reference to FIG. 12, the operation of the distribution apparatus 1 that receives the position information and the like from the current position calculation apparatus 2 after transmitting the parking lot map information will be described.

  When the vehicle position management processing unit 112 receives position information, traveling direction information, vehicle identification number, gear information, and the like (S1201), the received position information, traveling direction information, vehicle identification number, etc. are stored in a predetermined storage area of the memory 12. To store. Next, the vehicle location management processing unit 112 updates the vehicle information table 131 (S1202). Specifically, for example, when the position information and traveling direction information of the vehicle identification number “1001” are received, the vehicle position management processing unit 112 searches for “1001” from the vehicle identification number 1311 of the vehicle information table 131, The received position information, traveling direction information, and the like are stored in a position 1312 and a traveling direction 1313 associated with the vehicle identification number 1311. Next, the vehicle position management processing unit 112 acquires the date and time information when the information is received by an internal clock (not shown) or the like, and stores the date and time information in the update date and time 1316.

  Next, the vehicle location management processing unit 112 determines which parking space is available (S1202). Specifically, for example, the vehicle position management processing unit 112 refers to the vehicle information table 131 and selects one vehicle 3 in ascending order or the like. Next, the vehicle position management processing unit 112 refers to the position 1312 of the vehicle information table 131, compares the position information 1312 of the selected vehicle 3 with the coordinates indicating the area of each parking space in the parking lot map information 133, It is determined whether or not the position information 1312 of the vehicle 3 is on any parking space area. When located in the area of the parking space, the vehicle position management processing unit 112 refers to the update date and time 1316 of the vehicle information table 131, and indicates the date and time information indicated in the update date and time 1316 of the selected vehicle 3 and the current date and time such as the internal clock. And whether or not a predetermined time (for example, 1 minute) has passed since the update date and time is determined. When the predetermined time has elapsed, the vehicle position management processing unit 112 determines that the selected vehicle 3 is parked in the determined parking space. The vehicle position management processing unit 112 makes such a determination for all the vehicles 3 stored in the vehicle information table 131.

  The vehicle position management processing unit 112 updates the vehicle information table 131 and the parking space information table 132 based on the determination result of S1203 (S1204). Specifically, for example, when it is determined that the vehicle 3 with the vehicle identification number “1003” is parked in the parking space “c”, the vehicle position management processing unit 112 starts from the vehicle identification number 1311 of the vehicle information table 131. “1003” is searched, and “◯” is stored in the parking flag 1314 associated with the vehicle identification number. Next, the vehicle position management processing unit 112 searches for “c” from the parking space 1321 in the parking space information table 132 and stores “1003” in the vehicle identification number 1322 associated with the parking space.

  The vehicle position transmission processing unit 113 reads the position information and traveling direction information of each vehicle 3 from the vehicle information table 131. Further, the vehicle position transmission processing unit 113 reads out vacant information indicating a vacant parking space from the parking space information table 132. The vehicle position transmission treatment unit 113 transmits the position information, traveling direction information, vacancy information, and the like of each vehicle 3 to each current position calculation device 2 by broadcasting or the like (S1205). This operation corresponds to the above-described S708 to S710.

  Next, an operation example will be described in the case where the vehicle is parked in the parking space, the current position calculation device 2 is turned off by stopping the engine and the communication with the distribution device 1 is interrupted, and then the power is turned on by starting the engine. This operation corresponds to S714 to S718 described above.

  First, the operation of the current position calculation device 2 when the power is turned on will be described with reference to FIG.

  When the communication restart request processing unit 363 of the current position calculation device 2 is turned on (S1301), the communication restart request processing unit 363 determines whether or not the communication device 1 communicates with the distribution device 1 by referring to a predetermined storage area of the memory 35. If it is determined that the communication has been made with No. 1, the vehicle identification number and the communication resumption request information are transmitted (S 1302), and the normal operation shown in FIG. 11 is performed. In order to determine whether or not communication with the distribution apparatus 1 has been performed, for example, determination is made based on whether or not position information indicating the position in the parking lot is stored in a predetermined storage area of the memory 35.

  Next, with reference to FIG. 14, the operation of the distribution apparatus 1 that has received the communication resumption request will be described.

  Upon receiving the communication resumption request and the vehicle identification number (S1401), the communication resumption request processing unit 114 of the distribution device 1 stores the received vehicle identification number in a predetermined storage area of the memory 12. Next, the communication resumption request processing unit 114 refers to the vehicle information table 131 and changes the resumption flag 1315 associated with the vehicle identification number transmitted together with the request to information indicating that the communication resumption request has been received. (S1402). Here, the communication resumption request processing unit 114 stores “◯” in the resumption flag 1315.

  Next, the communication resumption request processing unit 114 determines whether or not the movement of the vehicle 3 is started (S1403). As described above, in the present embodiment, after transmitting the communication resumption request, the current position calculation device 2 shifts to the normal operation illustrated in FIG. Generally, the gear position of a vehicle is “parking”, “neutral”, etc. while parked, and is changed to “first speed”, “drive”, “back”, etc. The In the normal operation illustrated in FIG. 11, when the gear position is changed, the current position calculation device 2 transmits information such as position information and traveling direction information to the distribution device 1. The position information and the traveling direction information transmitted from the current position calculation device 2 are stored in the vehicle information table 131 by the vehicle position management processing unit 112 of the distribution device 1 as described above. Therefore, the distribution apparatus 1 can determine whether or not the movement of the vehicle 3 is started based on whether or not the vehicle information table 131 has been updated. The communication resumption request processing unit 114 refers to the vehicle information table 131 and determines whether or not the update date and time 1316 of the vehicle 3 for which “O” is stored in the resumption flag 1315 is updated. When the update date and time 1316 is updated, the communication resumption request processing unit 114 determines that the gear position is changed and the movement of the vehicle 3 is started.

  As a result of the determination in S1403, when the movement of the vehicle 3 is not started, the communication resumption request processing unit 114 refers to the internal clock or the like, and a predetermined time elapses, for example, 10 minutes after receiving the communication resumption request. It is determined whether or not (S1404).

  If the predetermined time has elapsed as a result of the determination in S1404, the communication resumption request processing unit 114 refers to the vehicle information table 131 and changes the resumption flag 1315 of the vehicle 3 to information indicating that the communication resumption request is not received. (S1405), and the process ends. Here, the communication restart request processing unit 114 deletes “O” in the restart flag 1315 and ends the processing.

  If it is determined that the movement of the vehicle 3 is started as a result of the determination in S1403, the communication resumption request processing unit 114 reads the traveling direction 1313 of the vehicle information table 131 (S1406) and stores it in a predetermined storage area of the memory 12 To do. Next, the communication resumption request processing unit 114 determines the vehicle 3 from the traveling direction read out, the parking space 1321 of the parking space information table 132, and the parking lot map information 133 with respect to the vehicle 3 that has transmitted the communication resumption request. A predetermined range is set in the traveling azimuth, and it is determined whether or not the position of the other vehicle 3 is included in the predetermined range (S1407).

  The case of the vehicle 3D parked in the parking space c will be specifically described as an example. The communication resumption request processing unit 114 reads the traveling direction 1313 associated with the identification number “1003” from the vehicle information table 131. Since the current traveling direction is “east”, the communication resumption request processing unit 114 sets the search range of the vehicle 3 on the east side of the parking space c where the vehicle 3D is parked.

  FIG. 15 shows an example of a search range when the vehicle 3D parked in the parking space c starts moving. In FIG. 15, the arrow indicates the traveling direction of the vehicle 3. A hatched portion 1501 is an example when a search range is set on the traveling direction side. In the hatched portion 1501, a rectangle “L1 × L2” including the east side of the parking space c where the vehicle 3D is parked is set as a search range. In the example of FIG. 15, the communication resumption request processing unit 114 determines that the vehicle 3A is the vehicle 3 located within the range.

  In FIG. 14, if there is a corresponding vehicle 3 as a result of the determination in S <b> 1407, the communication resumption request processing unit 114 notifies the current position calculation device 2 of the corresponding vehicle 3 that the movement of the vehicle 3 is started, and communication. Information such as a parking space where the vehicle 3 that transmitted the restart request is parked is transmitted (S1408). Specifically, for example, in the example of FIG. 15, the communication resumption request processing unit 114 refers to the vehicle information table 131 and is associated with the position (X10, Y10) determined to be included in the above range. The vehicle identification number “1010” is read, and based on the vehicle identification number “1010”, information indicating the start of movement of the vehicle 3 and the parking space c is transmitted to the current position calculation device 2 of the vehicle 3A. . This operation corresponds to S717 described above.

  As a result of the determination in S1407, when there is no corresponding vehicle 3 or after transmitting information notifying that the movement of the vehicle 3 is started, the communication resumption request processing unit 114 performs the vehicle information table 131 and the parking space information. The table 132 is updated (S1409). Specifically, for example, the communication resumption request processing unit 114 deletes and overwrites information such as the parking flag 1314 and the resumption flag 1315 in the vehicle information table 131 of the corresponding vehicle 3 based on the vehicle identification number. Furthermore, the communication resumption request processing unit 114 deletes and overwrites the vehicle identification number 1322 and the like associated with the corresponding parking space in the parking space information table 132 based on the vehicle identification number.

  On the other hand, the notification processing unit 364 of the current position calculation device 2 informs that the movement of the vehicle 3 is started from the distribution device 1 and information such as the parking space where the vehicle 3 that has transmitted the communication resumption request is parked. Is output to the audio output device 29, and the vehicle 3 driver or boarding is performed by blinking the color of the received parking space in the parking lot map displayed on the display 28. The person in charge. This operation corresponds to S718 described above.

  The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and includes design changes and the like within a scope not departing from the gist of the present invention.

  For example, in the above-described embodiment, the current position calculation device 2 determines the current position of the vehicle when a change in gear position is detected or when the vehicle has traveled a predetermined distance, but is not limited thereto. Absent. For example, the current position may be determined when the acceleration or deceleration of the vehicle becomes a predetermined value or more.

  In the above-described embodiment, whether or not a vehicle is parked in the parking space is determined based on the position information of each vehicle, but is not limited thereto. For example, a sensor may be provided in a parking space, and when the sensor detects a vehicle, it may be determined that the vehicle is parked in the parking space.

  In the above-described embodiment, the entrance position of the parking lot is set as the current position in the first position calculation after entering the parking lot. However, the present invention is not limited to this. For example, the position may be calculated by entering the first position after entering, or may be calculated by map matching and dead reckoning according to the prior art, or a position separated by an arbitrary distance from the entrance may be set as the current position.

  In the above-described embodiment, the traveling direction of the vehicle is indicated by east, west, south, and north. However, the present invention is not limited to this. For example, it may be indicated by an angle between an arbitrary point and the direction in which the vehicle is facing.

  In the above-described embodiment, whether the vehicle is moving forward or back is determined based on the gear position. However, the present invention is not limited to this. For example, by attaching a magnet or the like to a tire wheel and reading the rotation of this magnet with two or more magnetic sensors, it is possible to determine whether the vehicle is moving forward or back by reading the rotation direction of the tire. Also good.

  In the above-described embodiment, the distribution apparatus transmits position information, travel direction information, vacancy information, and the like to the current position calculation apparatus. However, the present invention is not limited thereto, and position information, travel direction information It may be only. In this case, the current position calculation means determines whether there is a vehicle located in each parking space. If there is a vehicle located in the parking space, the current position calculating means determines that the vehicle is parked and A display such as changing the color of the space may be performed.

  In the above-described embodiment, the vehicle position transmission processing unit of the distribution device transmits position information, traveling direction information, and the like to each vehicle every time it receives position information from the current position calculation device. However, the transmission is not limited to this, and transmission may be performed every predetermined time.

  In the above-described embodiment, a predetermined range is set around the traveling direction of the vehicle on which the current position calculation device that transmitted the distribution re-request is mounted, and the position of the other vehicle is included in the predetermined range. Although it was determined whether or not, it is not limited to this. For example, whether a predetermined range is set around the vehicle on which the current position calculation device that transmitted the distribution re-request is transmitted, regardless of the traveling direction, and the position of the other vehicle is included in the predetermined range. You may judge. Thereby, the driver of other vehicles can recognize that the parking space is vacant. In this case, immediately after receiving the distribution re-request, the distribution device determines whether or not the vehicle position is included within a predetermined range, and sends information to that effect to the current vehicle position calculation device. It is effective to send.

In one Embodiment of this invention, it is a figure which shows an example of a parking lot. In the embodiment, it is a figure which shows the structural example of a delivery apparatus. In the embodiment, it is a figure which shows the structural example of the present position calculation apparatus. In the embodiment, it is a figure which shows an example of a vehicle information table. In the embodiment, it is a figure which shows an example of a parking space information table. In the same embodiment, it is a figure explaining parking lot map information. FIG. 6 is a diagram for explaining a sequence example in the embodiment. In the same embodiment, it is a figure explaining the operation example in which a delivery apparatus transmits parking lot map information. In the same embodiment, it is a figure explaining the operation example in which the present position calculation apparatus transmits a parking lot map information request | requirement. In the embodiment, it is a display example of a map of a parking lot map, a vehicle that has entered the parking lot, a traveling direction of each vehicle, and the like. FIG. 6 is a diagram illustrating an example of normal operation of the current position calculation device in the embodiment. In the embodiment, it is a figure explaining the operation example in which a delivery apparatus receives the positional information on a vehicle, etc. FIG. In the embodiment, it is a figure explaining the operation example in which the present position calculation apparatus transmits a communication resumption request | requirement. In the embodiment, it is a figure explaining the operation example after a delivery apparatus receives a communication resumption request | requirement. In the same embodiment, it is a figure which shows the example of the range which a delivery apparatus searches a vehicle.

Explanation of symbols

  1: distribution device, 2: current position calculation device, 3: vehicle 3, 11: CPU, 111: parking lot map information transmission processing unit, 112: vehicle position management processing unit, 113: vehicle position transmission processing unit, 114: communication Restart request processing unit, 12: memory, 13: storage device, 131: vehicle information parking space information table, 132: parking space information table, 133: parking lot map information, 14: input device, 15: output device, 16: communication Interface: 21: Angular velocity sensor, 22: Direction sensor, 23: Speed sensor, 24: Gear position detection unit, 25: Controller, 26: Input device, 27: Communication interface, 28: Display, 29: Audio output device, 30: Storage device, 31: AD converter, 32: AD converter, 33: counter, 34: DMA controller, 35: memory, 36: MP 361: Parking lot map information request processing unit, 362: Vehicle position acquisition processing unit, 363: Communication resumption request processing unit, 364: Notification processing unit, 37: Parallel I / O, 1311: Vehicle identification number, 1312: Location, 1313: Traveling direction, 1314: Parking flag, 1315: Resumption flag, 1316: Update date, 1321: Parking space, 1322: Vehicle identification number, 61: Line segment, 62: Entrance, 63: Exit, 1001: Screen example, 1002 : Vehicle, 1003: Arrow, 1004: Shaded area, 1501: Shaded area

Claims (5)

A vehicle position distribution system in which a current position determination device mounted on each of a plurality of vehicles and a distribution device installed in a parking lot are connected via a communication network,
The distribution device includes:
A parking lot map information storage means for storing parking lot map information including a position of the parking space and a route through which the vehicle passes;
Parking space information transmitting means for transmitting the parking space map information to each of the current position determination device of the vehicle,
First vehicle information receiving means for receiving the position of the vehicle in the parking lot and the traveling direction of the vehicle from each of the vehicle current position determination devices;
Vehicle information storage means for storing the position received by the first vehicle information receiving means and the traveling direction in association with each other;
Each of the vehicles has a first vehicle information transmitting means for transmitting a position and a traveling direction in the parking lot of each other vehicle,
Each of the current position determination devices,
Storage means for storing the parking lot map information transmitted from the distribution device;
Azimuth detecting means for detecting the traveling azimuth of the vehicle on which the current position determination device is mounted;
A distance calculating means for calculating a travel distance of the vehicle on which the current position determination device is mounted;
From the azimuth detected by the azimuth detection means, the travel distance calculated by the distance calculation means, and the parking lot map information, the current position in the parking lot of the vehicle on which the current position determination device is mounted is determined. Current position calculating means for calculating;
Second vehicle information transmission means for transmitting the position calculated by the current position calculation means and the traveling direction at the position to the distribution device;
Displaying the parking map information as a map, and on the map, displaying means for displaying the position and the traveling direction calculated by the current position calculating means;
Second vehicle information receiving means for receiving the position and traveling direction of the other vehicles in the parking lot, transmitted from the distribution device,
Each time the second vehicle information receiving means receives the position and traveling direction of the other vehicles in the parking lot, the display means displays the received map on the displayed map of the other vehicles. A vehicle position distribution system characterized by displaying the position and traveling direction of the vehicle. The vehicle position distribution system according to claim 1,
The delivery device is
When the information indicating that the movement is started is received from the current position calculation device of the parked vehicle, the vehicle that reads the position of each vehicle from the vehicle information storage unit and transmits the information indicating that the movement is started is transmitted. Vehicle position determination means for determining whether or not the position of another vehicle is included within a predetermined range from
When it is determined by the vehicle position determination means that the position of another vehicle is included within a predetermined range, the current position calculation device of the vehicle determined to be included indicates that there is a vehicle that starts moving. Moving vehicle notification means for transmitting information,
The vehicle position distribution system, wherein each display means of the current position determination device further displays that there is a vehicle to start moving. A vehicle position distribution method in a vehicle position distribution system in which a current position determination device mounted on each of a plurality of vehicles and a distribution device installed in a parking lot are connected via a communication network,
The distribution device includes:
A parking lot map information storage step for storing parking lot map information including the position of the parking space and the route through which the vehicle passes in the parking lot map information storage means;
A parking lot information transmission step for transmitting the parking lot map information to each of the vehicle current position determination device;
A first vehicle information receiving step for receiving a position of the vehicle in a parking lot and a traveling direction of the vehicle from each of the vehicle current position determination devices;
A vehicle information storage step of storing the received position and the traveling direction in association with each other in a vehicle information storage unit;
A first vehicle information transmission step for transmitting to each of the vehicles a position and a traveling direction of each other vehicle in the parking lot; and
Each of the current position determination devices,
A storage step of storing in the storage means the parking lot map information transmitted from the distribution device;
An azimuth detection step for detecting a traveling azimuth of a vehicle on which the current position determination device is mounted;
A distance calculating step for calculating a travel distance of the vehicle on which the current position determination device is mounted;
From the azimuth detected in the azimuth detection step, the travel distance calculated in the distance calculation step, and the parking lot map information, the current position in the parking lot of the vehicle on which the current position determination device is mounted is determined. A current position calculating step to calculate,
A second vehicle information transmission step for transmitting the position calculated in the current position calculation step and the traveling direction at the position to the distribution device;
Displaying the parking map information as a map, and displaying on the map the position and traveling direction calculated by the current position calculating step on a display means;
A second vehicle information receiving step for receiving the position and traveling direction of the other vehicles in the parking lot, transmitted from the distribution device,
Each time the position and traveling direction of each other vehicle in the parking lot are received, the received position and traveling direction of each other vehicle in the parking lot are displayed on the map displayed on the display means. A vehicle position distribution method as a feature. A current position calculation device mounted on each of the vehicles and connected via a communication network to a distribution device that stores parking map information including the position of the parking space and the route through which the vehicle passes,
Storage means for storing the parking lot map information transmitted from the distribution device;
Azimuth detecting means for detecting the traveling azimuth of the vehicle on which the current position determination device is mounted;
A distance calculating means for calculating a travel distance of the vehicle on which the current position determination device is mounted;
From the azimuth detected by the azimuth detection means, the travel distance calculated by the distance calculation means, and the parking lot map information, the current position in the parking lot of the vehicle on which the current position determination device is mounted is determined. Current position calculating means for calculating;
Vehicle information transmitting means for transmitting the position calculated by the current position calculating means and the traveling direction at the position to the distribution device;
Displaying the parking map information as a map, and on the map, displaying means for displaying the position and the traveling direction calculated by the current position calculating means;
Vehicle information receiving means for receiving the position and traveling direction of each other vehicle in the parking lot, transmitted from the distribution device,
Each time the vehicle information receiving means receives the position and traveling direction of each other vehicle in the parking lot, the display means displays the received position and position of each other vehicle in the parking lot on the displayed map. A current position calculation device that displays a traveling direction. A distribution device connected via a communication network to a current position determination device mounted on each of a plurality of vehicles,
The distribution device includes:
A parking lot map information storage means for storing parking lot map information including a position of the parking space and a route through which the vehicle passes;
Parking space information transmitting means for transmitting the parking space map information to each of the current position determination device of the vehicle,
Vehicle information receiving means for receiving the position of the vehicle in the parking lot and the traveling direction of the vehicle from each of the vehicle current position determination devices;
Vehicle information storage means for storing the position received by the vehicle information receiving means and the traveling direction in association with each other;
Vehicle information transmitting means for transmitting to each of the vehicles the position and traveling direction of the other vehicles in the parking lot;
A distribution apparatus comprising:

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