JP2007280076A - Guidance system in parking lot, guidance device on parking lot side, guidance device on car side and guidance method in parking lot - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To accurately guide a car 25 to an exit 13 from a parking place when the car exits outward from an inside of a parking lot 10. <P>SOLUTION: At an entrance 12, a guide device on a car side receives information about a section view 30, information about each square 31 in the a section view 30, communication site square information and exit square information together with a parking lot image 28 by a DSRC 27 from a road side machine 24. A square number indicating a position in the view 30, is granted to each square 31. The information of the square 31 determines which of a passage square (corresponding to a passage 16), an exit square (corresponding to an exit 13) and a parking place square (corresponding to a parking lot 15) has been turned from each square 31. The guide device detects a current site square "26", on the basis of the communication site square, etc., and when the car 25 exits, the guide device searches a guide route 34, depending on the possibility of tracing from the current site square "26" to an exit square "EF" through continuous passage squares to display the route on a display of a car navigation device on the car 25. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  TECHNICAL FIELD The present invention relates to a parking lot guidance system, a parking lot guidance device, a vehicle guidance device, and a parking guidance method that guide a vehicle in a parking lot using short-range wireless communication such as DSRC (Dedicated Short Range Communication). It is.

  Patent Document 1 uses a two-way wireless communication system such as DSRC to automatically settle a parking fee for a car that uses a parking lot (paragraph 0025 of Patent Document 1). The photographed image obtained by photographing is subjected to image processing by the background difference method, the vacancy state of each parking place is determined (paragraph 0028 of Patent Document 1), and information for guiding the vehicle to the vacant parking place is provided on the roadside machine. From the vehicle to the vehicle side guidance device. The vehicle side guidance device displays the message “There is an empty space in the“ front ”,“ back right ”or“ back left ”, provides voice guidance, and displays an image. (Paragraph 0031 of Patent Document 1).

Patent Document 2 searches for a guidance route for smoothly guiding a car to the entrance of a parking lot in consideration of the entrance and exit of the parking lot when searching for a guidance route using the parking lot as a destination and a departure place. (FIG. 3B of Patent Document 2) and so as to search for a guide route whose exit is the starting point of the guide route (FIG. 4B, FIG. 5B and FIG. 6 of Patent Document 2). b)) Discloses the car navigation device to be processed.
JP 2003-58925 A JP 2004-12425 A

  When the driver tries to leave the parking lot, in a large parking place, the road in the parking place becomes complicated and the distance from the parking place to the exit, so the user can see the guidance route display of the car navigation device, In many cases, it is desired to display the guidance route from the parking place to the exit.

  The in-parking guidance system of Patent Document 1 wirelessly transmits photographic image information in a parking lot from a roadside device to an in-vehicle device, and displays the direction of an empty parking place on a display on the parking lot side, or a situation image of a parking lot However, it does not search for a long guide route from the parking place to the exit and display it on the parking lot map.

  The car navigation device of Patent Document 2 searches for and displays an appropriate guidance route from the exit to the parking lot to an entrance to the parking lot and an appropriate guidance route from the exit to the exit from the parking lot. However, the guide route from the current location in the parking lot to the exit is not searched, and the guide route is not displayed on the map image in the parking lot.

  A known car navigation device can display the location of a parking lot on an area map, but the map of each parking location in the parking lot is present in a map database, similar to the car navigation device of Patent Document 2. It is difficult to search and display the guidance route from the current location in the parking lot to the exit.

  An object of the present invention is to provide a parking lot guidance system, a parking lot guidance device, a vehicle guidance device, and a parking lot that can display an image obtained by adding a guidance route to a parking lot exit to a parking lot image on a vehicle display. It is to provide a guidance method.

  The parking lot guidance system of the present invention includes a parking lot guidance device and an automobile guidance device.

The parking lot side guidance apparatus of the present invention includes the following.
Roadside devices that can wirelessly transmit information to the vehicle guidance device,
Image information generating means for generating image information in the parking lot;
Detailed information generating means for generating detailed information indicating at least which part of the parking lot image corresponding to the parking lot image information is the parking lot exit, and transmission control for transmitting the parking lot image information and the detailed information from the roadside machine means.

The automobile side guidance device of the present invention is provided with the following.
Information reception to wirelessly receive detailed information indicating which part of the image in the parking lot and at least the part of the image in the parking lot related to the image information in the parking lot is the exit of the parking lot from the roadside machine installed in the parking lot means,
Guide route search means for searching for a guide route from the current location to the exit based on the detailed information, and display control means for displaying on the display a guide route added to the parking lot image generated from the parking lot image information.

The parking lot guidance method of the present invention includes the following steps.
A step of generating image information in the parking lot and detailed information indicating which part of the image in the parking lot related to the image information in the parking lot is an exit of the parking lot in the parking lot side guidance device;
A step of wirelessly transmitting the image information in the parking lot and the detailed information from the roadside machine of the parking lot side guidance device to the vehicle side guidance device;
The vehicle side guidance device searches for a guidance route from the current location to the exit based on the detailed information, and the vehicle side guidance device displays on the display a guidance route added to the parking lot image generated from the parking lot image information. Step to do.

  According to the present invention, the image information in the parking lot and the detailed information are transmitted wirelessly from the roadside machine of the parking lot side guidance device to the vehicle side guidance device mounted on the automobile, and the vehicle side guidance device receives the received image information in the parking lot. Based on the detailed information, a screen in which a guide route to the parking lot exit is added to the parking lot image is displayed on the display.

  FIG. 1 is an explanatory diagram of the parking lot 10. The parking lot 10 is provided adjacent to the store 11 for customers of the store 11. In the parking lot 10, an entrance 12 for entering the automobile 25 into the parking lot 10 and an exit 13 for leaving the automobile 25 from the parking lot 10 are installed at predetermined locations. In the parking lot 10 of FIG. 1, there are one entrance 12 and one exit 13, but there may be a plurality of each. The parking lot 10 is paid for all hours, or only if you purchase more than a certain fee, the parking fee from the admission time to the predetermined time is free, and after that, it is charged, but all time is free It may be a parking lot. Gate devices 20 and 21 are installed at the entrance 12 and the exit 13, respectively. The gate devices 20 and 21 are opened only when the automobile 25 is allowed to enter and leave, respectively.

  In the parking lot 10, along with the parking places 15, a passage 16 is provided for the automobile 25 to enter and leave the parking places 15. The parking place 15 is divided into a parking place that is not in use (hereinafter referred to as “empty parking place”) 17 and a parking place that is in use (hereinafter referred to as “used parking place”) 18.

  The roadside machine 24 is installed at the entrance 12 and is capable of two-way communication with the vehicle 25 at the entrance 12 by DSRC with an in-vehicle communication device (not shown) of the vehicle 25. The server 26 is connected to the roadside device 24 and transmits / receives data to / from the in-vehicle communication device via the roadside device 24. Based on the simple map information and the detailed information received from the roadside device 24 via the in-vehicle communication device, the car navigation device displays the map image in the parking lot 10 on its display and leads to the empty parking place 17 or the exit 13. The route is displayed.

  The simple map information is a parking lot image 28 described in FIG. 3 to be described later. For example, the simple map information is a JPEG image generated by photographing the current parking lot 10 with a digital still camera. The digital still camera captures the situation in the parking lot 10 at predetermined time intervals.

  The detailed information is information related to the simple map information. Specifically, (a) information related to the division diagram 30 and the mesh 31 described in FIG. 4 described later, and (b) the vehicle-mounted communication device is the roadside device 24. Information relating to the number of the cell 31 that receives the simple map information and the detailed information from (c) scale information as the ratio of the actual size of the parking lot 10 to the size of the parking lot image 28, (d) in the parking lot image 28 Information related to the direction and (f) category information of each cell 31 are included.

  With regard to the detailed information related to the division diagram 30 and the cell 31 of (a) described above, each cell 31 can specify the position on the division diagram 30 by the cell number assigned thereto. With respect to the detailed information relating to the number of the cell 31 where the in-vehicle communication device (b) receives the simple map information and the detailed information from the roadside device 24, the current location on the division map 30 at the time of communication can be identified from the cell number. .

  With regard to the category information of each cell 31 in the above (f), the category indicates which one of the cell 31 corresponds to the passage 16, the empty parking place 17, the busy parking place 18, and the like. For convenience of explanation, the cells corresponding to the passage 16, the empty parking place 17 and the in-use parking place 18 will be referred to as a passage cell, an empty cell, and an in-use cell, respectively. When the category is a passage grid, the category information is further given subcategory information corresponding to the branching point of the passage 16 and the direction in which the advanceable direction is the upper, lower, left or right square. The In the search method described later with reference to FIGS. 6 and 7, predetermined subcategory information is also given to empty cells.

  Link information is also added to the category information. The link information is information indicating which cell is vertically and horizontally adjacent to each cell. As will be described later with reference to FIG. 4, each cell is assigned a 2-digit hexadecimal ID indicating the position on the division diagram 30. Accordingly, by checking the link information ID of each cell, the adjacent cell is determined. Then, by referring to the category information of the adjacent cell, it is possible to detect which of the passage 16 and the empty parking place 17 the adjacent cell is.

  FIG. 2 shows the guidance state of the automobile 25 by the parking lot guidance system 22 applied to the parking lot 10. The parking lot guidance system 22 includes an automobile side guidance device (not shown) of the automobile 25 together with the roadside machine 24 and the server 26. The vehicle side guidance device is, for example, a car navigation device equipped with a DSRC communication device as an in-vehicle communication device. The roadside machine 24 and the car navigation device of the automobile 25 can communicate with each other by the DSRC 27 at the entrance 12 when the automobile 25 passes through the entrance 12. The roadside device 24 push-distributes the above-described simple map information and detailed information to the car passing through the entrance 12.

  Upon receipt of the simple map information and the detailed information at the entrance 12, the car navigation device of the automobile 25 switches from the map display on the display based on the map database to the map display based on the parking lot guidance system 22. Based on the received simple map information and detailed information, the car navigation device searches for a guide route to a predetermined empty parking place 17 and displays it on the map image in the parking lot 10 and displays it on the display. The driver of the automobile 25 looks at the map image in the parking lot 10 and the guidance route displayed on the display, moves the automobile 25 to a predetermined empty parking place 17, and parks his own automobile 25 at the empty parking place 17. Let

  The parking position of the automobile 25 in the parking lot 10 is stored in the non-volatile storage device of the car navigation device as the current grid at the start of the next exit (the grid is described in detail in FIG. 3 and subsequent figures). When the driver finishes the use at the facility and leaves the parking lot 10, the engine of the automobile 25 is started, the car navigation device is activated, and the guidance route from the parking place to the exit 13 is displayed on the display of the car navigation device. Instruct to display.

  The car navigation device searches for a guidance route to the exit 13 based on the current grid, and displays it on the display together with the map in the parking lot. The driver causes the automobile 25 to travel to the exit 13 based on the guidance route of the display.

  FIG. 3 shows a parking lot image 28 for the parking lot 10. In the parking lot image 28, the positions of the parking place 15, the passage 16, the empty parking place 17, and the in-use parking place 18 in the parking lot 10 can be visually recognized. For example, one or more parking places 10 It is created based on a camera image taken from a digital still camera installed at a predetermined location. When a plurality of digital still cameras are used, one parking lot image 28 can be created based on the combination of the captured images captured by the digital still cameras. The latest parking lot image 28 is created at regular time intervals.

  Since the position of the passage 16 in the photographed image of the parking lot 10 is fixed, for example, the road portion is removed from the parking lot image 28 created by photographing at each time, and all the remaining photographed image portions are parked. By performing image processing with the background difference method for the standard parking lot image where the location 15 is an empty parking location 17, the parking location 17 at the time of each shooting becomes either an empty parking location 17 or an in-use parking location 18 It can be detected. The parking lot image 28 shown in FIG. 3 is appropriately color-coded to facilitate identification of the passage 16, the empty parking place 17, and the busy parking place 18.

  In addition, when the vertical / horizontal dimension ratio of the parking lot image 28 and the vertical / horizontal dimension ratio of the display of the car navigation device of the automobile 25 do not coincide with each other, the entire parking lot image 28 fits in the display. When the image is reduced at the vertical / horizontal ratio, an image portion other than the parking lot image 28 may appear on the display. In order to prevent unnecessary parts from being displayed on the display, the car navigation device individually adjusts the vertical and horizontal scales of the parking lot image 28, or the server 26 (FIG. 1) is a standard display of the car navigation device. The vertical and horizontal scales of the parking lot image 28 may be converted to individually adjusted so as to match the vertical / horizontal dimension ratio and transmitted to the automobile 25.

  FIG. 4 associates the partition map 30 with the parking lot image 28. The scale of the segmented map 30 after the association is adjusted so as to match the parking lot image 28. The division diagram 30 is divided into a plurality of cells 31 having the same shape and the same size arranged in a lattice pattern. The numbers of vertical and horizontal grids in the section map 30 are adjusted based on the size of the parking lot image 28.

  Of the detailed information described above, each direction information and each scale information of the parking lot image 28 and the section map 30 are used for accurately superimposing the parking lot image 28 and the section map 30. In addition, if each direction and each scale of the parking lot image 28 and the division | segmentation figure 30 are predetermined between the parking lot side guidance apparatus and the motor vehicle side guidance apparatus, it cannot be overemphasized that transmission of those information is unnecessary. .

  The size of the cells 31 is set such that the positions of the passages 16 and the parking places 15 in the parking lot 10 can be accurately determined by specifying the cells 31 while avoiding being smaller than necessary. Since the parking place 15 is a horizontally long rectangle in FIG. 4, the vertical dimension of the grid 31 is associated with the width of the parking place 15 or less. Further, the horizontal dimension of the mesh 31 is associated with the smaller dimension or less of the width of the passage 16 extending in the vertical direction of the parking lot image 28 and the depth of the parking place 15.

  In order to discriminate each cell 31 in the division diagram 30, each cell 31 is assigned a cell number, and the cell number is, for example, a hexadecimal 2-digit number according to the vertical and horizontal arrangement order in the division diagram 30. A specific example of the cell number is as shown in FIG. 4, and the hexadecimal value of the right digit of the cell number corresponds to the order in the horizontal direction from the reference cell (the cell in the upper left corner in FIG. 4). The hexadecimal value of the digit corresponds to the vertical order from the reference grid. Note that the cell number whose hexadecimal value of the left digit is 0 is entered in FIG. 4 with the 0 omitted.

  The cells 31 are classified into the categories of the passage 16, the empty parking place 17, and the busy parking place 18. In some cases, the dividing line and the outlines of the passage 16, the empty parking place 17, and the busy parking place 18 may be out of alignment. The category of the mesh 31 that is included in any one of the passage 16, the parking place 17, and the in-use parking place 18 is the aisle 16, the empty parking place 17, or the in-use parking that includes the eye 31. The category is associated with the place 18. The category of the grid 31 that spans the passage 16, the empty parking place 17, and the used parking place 18 corresponds to the passage 16, the empty parking place 17, and the used parking place 18 in which the grid 31 is most widely included. The assigned category. As described above, even if the classification of the cells 31 is rough, the driver in the parking lot 10 can present the guidance route in the parking lot 10 on the display of the car navigation device with an accuracy without any trouble.

  FIG. 5 is an explanatory diagram of how to search for a guidance route to a predetermined empty parking place 17 in the parking lot 10. In addition, in order to specify each cell 31, the cell number is given to the cell 31 after the cell. The cell “3F” is the cell 31 at the entrance 12, that is, the cell 31 from which the vehicle-side guidance device of the automobile 25 has received data from the roadside device 24. The cell 31 that enables the vehicle-side guidance device of the vehicle 25 to communicate with the roadside device 24 is the cell “3F”. The current location mark 33 indicates the current location of the automobile 25 in the division diagram 30, and 35 indicates the traveling direction mark in the one-way passage 16. The current location mark 33 also indicates the traveling direction of the automobile 25 depending on its direction. The current location also changes with the movement of the car 25 in the parking lot 10 after entering, but the current position may be detected from GPS information, and the movement of the car 25 from the grid "3F" It can also be detected by tracking using a speedometer.

  In the division diagram 30, the branch cells 31 of the passage 16 are cells “1”, “E”, “31”, “3E”, “71”, “7E”, “C1”, “CE”, “F1”, It is “FE”. The cell “EF” is a cell 31 corresponding to the outlet 13. A description will be given of a procedure for searching for a guide route 34 for guiding the automobile 25 to a predetermined empty parking place 17 in the parking lot 10 and a guide type.

S (Step) 40: Routes from the current location “3F” to each branch location “E”, “3E”, “7E”, “CE”, “FE” that can be moved (the route is composed only of passage locations) .)) Is calculated. The movable branch mesh means that the direction in which the passage mesh can travel is taken into consideration. That is, in the one-way portion of the passage 16, traveling in the reverse direction is prohibited, so that among the branch cells, only the first branch cell in the advanceable direction becomes a movable cell.

The number of squares on the route from the current location “3F” to each branch cell “E”, “3E”, “7E”, “CE”, “FE” that can be moved is as follows.

"3F"-"E" cell count: "2F"->"1F"->"F"->"E" 4 cells "3F"-"3E" cell size: "3E" 1 cell "3F"- Number of cells in "7E": "4F"->"5F"->"6F"->"7F"->"7E" 5 cells "3F"-Number of cells in "CE": "4F"->"5F"->"6F “→” 7F ”→“ 8F ”→“ 9F ”→“ AF ”→“ BF ”→“ CF ”→“ CE ”10 squares“ 3F ”−“ FE ”cell count:“ 4F ”→“ 5F ” → "6F" → "7F" → "8F" → "9F" → "AF" → "BF" → "CF" → "DF" → "EF" → "FF" → "FE"

S41: It is determined whether or not there is an empty parking place 17 between each branch cell for which the number of route cells has been calculated in S40 and the next movable branch cell. In order to determine whether or not there is an empty cell (empty parking place 17) between the next movable branch cells, the above-described link information in the category information is used. That is, based on the link information, a maximum of four squares that are adjacent vertically and horizontally to each square 31 are found, and based on the category information of these neighboring squares, whether the neighboring square is a passage square or a branch within the passage square It can be detected whether it is a dot or an empty grid.

  The processing of S41 based on the link information will be specifically described. The link information of the cell “3F” describes the IDs “2F”, “3E”, and “4F” of the adjacent cell. Since the link information is assigned to all the cells, the entire arrangement state of the cells can be grasped by tracing from any one cell. Next, when determining the number of required squares, for example, when calculating the number of path squares in the movement from “3F” to “7E”, “2F”, “3E”, and “4F” that can be moved from “3F” are paths. It is determined whether the mesh is in use or in use (parking place 18 in use). If it is in use, the movement calculation after that is finished. If it is a passage mesh, the movement calculation is continued. When moving to “4F”, “3F”, “4E”, and “5F” are adjacent. Since “3F” has already passed, it is removed from the next movement destination cell of “4F”. As a result of similarly extending from “4E” and “5F” to the adjacent cell, “7E” is reached. The smallest number of cells to reach “7E” is determined as the number of cells necessary.

  When there is an empty parking place 17, the number of route squares to the empty parking place 17 is calculated, added to the result of S40, and stored. The added value is the total number of cells from the starting place “3F” of the parking lot 10 to the empty parking place 17. If there is no empty parking place 17, the number of route squares to the next movable branch square is calculated.

  For example, the processing of S41 in the case of branch cells “E” and “CE” is as follows. First, in the case of the branch cell “E”, there is no empty parking space 17 → the next branch cell that can be moved is “1” → the number of route cells to the branch cell “1” is 13 → the total cell from the current cell The number is 13 + 4 = 17. In the case of the branch cell “CE”, there is “D8” as an empty parking place 17 → the number of route cells to D8 → the total number of cells from the current cell is 10 + 7 = 17.

S41 is repeated until the empty cell is reached or there is no next movable branch cell.

S42: Among the arrival routes that reach the same empty cell 31, the arrival route with the smallest total number of cells is selected as the guide route 34. When there is only one vacant parking place 17, the arrival route with the minimum total number of cells can be simply selected as the guide route 34. When there are a plurality of empty parking places 17, a predetermined one empty parking place 17 is identified based on the category selection of the parking place by the driver, and an empty parking place other than the empty parking place associated with the specified empty parking place 17 17 can be regarded as a parking place 18 in use, and the guide route 34 to the specific empty parking place 17 can be searched for.

S43: With respect to the guide route 34, during the search, the passage history information traced from the departure point cell to the empty cell is recorded. Therefore, based on the recorded information, an image in which the guide route 34 is superimposed on the parking lot image 28 is displayed on the display of the car navigation device.

S44: In order to reflect the current location on the parking lot image 28 as the vehicle 25 moves from the cell "3F", if the GPS location is used or GPS information is not available, Then, the information of the gyrometer and the speedometer is used for detection, and the display position of the current position mark 33 is updated to the position of the current position grid.

  As soon as the automobile 25 arrives at the target empty parking place 17, the route guidance ends. In addition, what is displayed on the display of the car navigation device of the automobile 25 is typically only the parking lot image 28 and the guide route 34 in FIG. The division diagram 30, the cell 31 and the cell number are not displayed on the display. However, the division map 30, the cell 31 and / or the cell number may be appropriately displayed on the display.

  Here, for convenience of explanation, as shown in FIG. 5, a method for searching and displaying the guide route 34 from the entrance 12 to the vacant parking place 17 is referred to as an “entrance search method”. A method for searching and displaying the guide route 34 from the predetermined parking place in the parking lot 10 to the exit 13 when leaving the vehicle will be referred to as a “retrieval search method”.

  FIG. 6 is an explanatory diagram of searching for the guide route 34 in the leaving time search method. The grid corresponding to the parking place is assumed to be “26”. The exit search method is the same as the entrance search method, except that the starting point and the arrival point of the guide route 34 are changed, and the other search processing contents are the same.

  In other words, in the leaving search method, the cell “26” is set instead of the cell “3F” corresponding to the entrance 12 as a starting point. Further, instead of the cell corresponding to the empty parking place 17 when there is only one empty parking place 17 in the entrance search method, the cell “EF” corresponding to the exit 13 is set. Then, the guidance route 34 from the cell “26” to “EF” is searched in the same manner as the admission search method. The specific procedure of the search method upon leaving is as follows.

S50 (corresponding to S40 of the search method at the time of entry): The number of cells in the route from the current cell “26” to the movable branch cell is calculated. The movable branch cell is “31”, the route is “36” → “35” → “34” → “33” → “32” → “31”, and the number of cells is 6 squares.

S51 (corresponding to S41 of the search method at the time of admission): For each branch cell for which the number of route cells is calculated in S50, it is determined whether there is an exit 13 between the next movable cell. In S51, link information is used as in S41. That is, based on the link information, a maximum of four squares that are adjacent vertically and horizontally to each square 31 are found, and based on the category information of these neighboring squares, whether the neighboring square is a passage square or a branch within the passage square Whether it is a dot grid or an exit grid will be detected.

  If there is an exit 13, the number of path squares to the exit 13 is calculated, added to the result of S50, and stored. The added value is the total number of cells from the parking cell "26" to the exit 13. If there is no exit 13, the number of path squares to the next movable branch square is calculated.

  For example, the processing of S51 in the case of the branch cell “71” is as follows. There is no exit 13 → the next branch cell that can be moved is “71” → the number of route cells to the branch cell “71” is 4 → the total number of cells from the current cell is 6 + 4 = 10.

S51 is repeated until the exit grid “EF” corresponding to the exit 13 is reached or the next movable branch grid disappears.

S52 (corresponding to S42 of the search method at the time of entry): Among the arrival routes that reach the exit cell “EF”, the arrival route with the smallest total number of cells is selected as the guidance route guidance route 34. In the example of FIG. 6, the guide path 34 is “36” →... → “31” →... → “71” →... → “7E” →. → "EE".

S53 (corresponding to S43 of the search method at the time of entry): For the guidance route guide route 34, the passage history information traced from the departure point to the exit point is recorded during the search. Therefore, based on the recorded information, an image in which the guidance route guidance route 34 is superimposed on the parking lot image parking lot image 28 is displayed on the display of the car navigation device.

S54 (corresponding to S44 of the search method at the time of admission): In order to reflect the current location on the parking lot image 28 as the car 25 moves from the cell "26", the GPS information is used for the change of the current cell If the GPS information cannot be used, it is detected using the information of the gyrometer or the speedometer, and the display position of the current location mark 33 is updated to the current location.

  As soon as the car 25 arrives at the exit 13, the route guidance ends. In addition, what is displayed on the display of the car navigation device of the automobile 25 is typically only the parking lot image 28 and the guide route 34 in FIG. The division diagram 30, the cell 31 and the cell number are not displayed on the display. However, the division map 30, the cell 31 and / or the cell number may be appropriately displayed on the display.

  FIG. 7 is a configuration diagram of the parking lot guidance system 100. The parking lot guidance system 100 includes a parking lot guidance device 110 and a vehicle guidance device 140 mounted on a vehicle. The parking lot side guidance device 110 includes a roadside machine 120 installed at a predetermined position in the parking lot, and information can be freely transmitted from the roadside machine 120 to the automobile side guidance device 140 via the radio communication 160 such as DSRC. Yes.

  The communication between the roadside device 120 and the vehicle side guidance device 140 is typically bidirectional communication, but may be unidirectional communication from the roadside device 120 to the vehicle side guidance device 140. The parking lot guidance system 22 (FIG. 2) is a specific example of the parking lot guidance system 100. In DSRC, since the communication distance is short, the vehicle-side guidance device 140 can communicate with the road-side device 120 only during a period when the vehicle on which the vehicle-side guidance device 140 is mounted is sufficiently close to the road-side device 120. In addition, the communication position can be limited to an area corresponding to one cell 31.

  The predetermined position where the roadside machine 120 is installed is typically an entrance of a parking lot, but is not limited thereto. It may be a point entering the parking lot from the entrance, a point on the passage from the entrance to the first branching place, or a predetermined point in the parking lot.

  FIG. 8 is a block diagram of the parking lot side guidance device 110. The parking lot side guidance apparatus 110 includes an image information generation unit 111, a detailed information generation unit 112, and a transmission control unit 113 in addition to the roadside machine 120.

  The image information generation unit 111 generates in-parking image information. The detailed information generation unit 112 generates detailed information indicating at least which part of the parking lot image related to the parking lot image information is the parking lot exit. The transmission control means 113 causes the image information in the parking lot and the detailed information to be transmitted from the roadside device 120.

  Preferably, the detailed information is information indicating which part of the image in the parking lot is a passage in the parking lot, and information indicating which part of the image in the parking lot is an information reception place from the roadside device 120 in the automobile. , Information on the branching point position of the passage, information on the allowable traveling direction of the automobile in the passage, direction information of the image in the parking lot, and / or scale information of the image in the parking lot.

  The branch point position information relates to which path part corresponds to the branch point of the path. The traveling direction information relates to which direction is the allowable traveling direction of the automobile for each passage portion.

  FIG. 9 is a block diagram of the automobile side guidance device 140. The vehicle-side guidance device 140 includes information reception means 141, guidance route search means 142, and display control means 143. The information receiving unit 141 wirelessly receives detailed information indicating image information in the parking lot and at least a portion of the image in the parking lot related to the image information in the parking lot that is the exit of the parking lot.

  The guide route searching means 142 searches for a guide route from the current location to the exit based on the detailed information. The display control means 143 displays on the display 144 an image obtained by adding a guide route to the parking lot image generated from the parking lot image information.

  The image in the parking lot is typically a simple figure that simply displays the inside of the parking lot as a graphic, but may alternatively be an image obtained by photographing the inside of the parking lot with a digital camera.

  The present location is typically a parking place where a car has been stopped until now, but is not limited thereto. This is because the driver may instruct the route search to the exit after leaving the car from the parking place to the passage and for a while. The parking location where the driver's car was parked, that is, which part of the image in the parking lot was the parking location of the car is, for example, the current location from the information receiving location to the parking when the vehicle entered Can be detected by following the movement trajectory. At the start of parking, the location of the parking location as the current location is stored in a predetermined non-volatile memory of the car navigation device, and the current location is read from the non-volatile memory at the start of leaving at the end of parking. The movement trajectory of the current location from the information receiving location can be measured using GPS, or when GPS is disabled, using a gyrometer or a speedometer.

  In general car navigation devices, information about where the parking lot is located in the area map is stored in the database, but information related to the location of each parking place assigned to each car in the parking lot is stored. The map in the parking lot showing the position of each parking place is not displayed. In the parking lot guidance system 100, an image in the parking lot that can be used as a map inside the parking lot is displayed on the display 144 of the vehicle guidance device 140 by transmitting the image information in the parking lot from the roadside device 120 to the vehicle guidance device 140. The guidance route to the exit is searched based on the detailed information, and the guidance route is displayed on the image in the parking lot.

  The detailed information received by the information receiving unit 141 further includes information indicating which part of the parking lot image is a passage in the parking lot, and which part of the parking lot image is the information reception location from the roadside unit 120 in the automobile. Information indicating whether or not, information on a branch point of a passage, information on an allowable traveling direction of a car in a passage, direction information of an image in a parking lot, and / or scale information of an image in a parking lot can be included.

  Preferably, the parking lot image is divided into grids in the lattice arrangement, and each part of the parking lot image is associated with the grid (for example, FIG. 4). In this case, the guidance route searching means 142 uses a part route that can reach the exit part by following a continuous passage part from the current location part as the guidance route.

  Typically, each cell has an equal shape and an equal size. When a plurality of guidance routes to the exit site are found, the guidance route search means 142 determines the length of each guidance route from the number of passage parts of each guidance route, and finally determines the guidance route having the minimum length. The resulting guidance route (the guidance route presented to the driver this time) is used.

  The vehicle-side guidance device 140 can also include a current location detection unit 148 and a current location part detection unit 149. The current location detection means 148 detects the current location. The current location can be detected by using GPS information, or equipped with a gyrometer or speedometer, and tracking the moving direction and moving distance from the information receiving location based on the moving direction and moving distance. .

  Based on the detected current location and the information reception location included in the detailed information, the current location detection unit 149 detects a location corresponding to the current location in the parking lot image. The display control means 143 displays a current location mark (eg, current location mark 33 in FIG. 6) at the current location site in the parking lot image on the display 144.

  FIG. 10 is a flowchart of the parking lot guidance method 170. In S171, the image information in a parking lot and the detailed information which shows at least which site | part of the image in the parking lot which concerns on the image information in a parking lot is an exit of a parking lot are produced | generated. In S172, the image information and detailed information in the parking lot are wirelessly transmitted from the roadside machine 120 of the parking lot side guidance device to the automobile side guidance device 140.

  In S173, the vehicle guidance device 140 searches for a guidance route from the current location to the exit based on the detailed information. In S174, the vehicle-side guidance device 140 displays on the display 144 an image obtained by adding the guidance route to the parking lot image generated from the parking lot image information.

  The parking lot guidance method 170 can be implemented in the same manner as the parking lot guidance system 100. For example, the detailed information generated in S171 and the detailed information transmitted wirelessly in S172 include information indicating which part of the parking lot image is a passage in the parking lot, and which part of the parking lot image is the roadside device 120 in the automobile. Information indicating where the information is received from, branch point position information, allowable traveling direction information, direction information, and / or scale information can be included. In this case, in S173, the guidance route is further appropriately searched based on the detailed information.

  The parking lot guidance method 170 includes a step of detecting the current location, a step of detecting a current location portion on the image in the parking lot corresponding to the current location based on the detected current location and detailed information, and a current location on the image in the parking lot on the display 144. A step of displaying the current location mark can be added as appropriate.

  Although the present invention has been described with reference to various embodiments, the present invention is not limited to this, and can be embodied by modifying each component in the various embodiments without departing from the spirit of the invention. Further, various inventions can be formed by combining or adding a plurality of components for convenience or deleting some components without departing from the scope of the invention.

It is explanatory drawing of a parking lot. It is a figure which shows the guidance condition of the motor vehicle by the parking lot guidance system applied to a parking lot. It is a figure which shows the parking lot image about a parking lot. It is the figure which matched the division | segmentation figure with the parking lot image. It is explanatory drawing about the method of searching for the guidance route to the predetermined empty parking place in a parking lot.

It is a search explanatory drawing of the guidance route in the search system at the time of leaving. It is a block diagram of a parking lot guidance system. It is a block diagram of a parking lot side guidance device. It is a block diagram of a motor vehicle side guidance device. It is a flowchart of the parking lot guidance method.

Explanation of symbols

DESCRIPTION OF SYMBOLS 100: Parking lot guidance system, 110: Parking lot side guidance device, 111: Image information generation means, 112: Detailed information generation means, 113: Transmission control means, 120: Roadside machine, 141: Information reception means, 142: Guidance route Search means, 143: display control means, 144: display, 148: current location detection means, 149: current location part detection means, 160: wireless communication, 170: guidance method in parking lot.

Claims (7)

A parking lot guidance system comprising a parking lot guidance device and an automobile guidance device,
The parking lot side guidance device is:
A roadside device capable of wirelessly transmitting information to the vehicle-side guidance device;
Image information generating means for generating image information in the parking lot;
Detailed information generating means for generating detailed information indicating at least which part of the parking lot image corresponding to the parking lot image information is an exit of the parking lot, and the parking lot image information and the detailed information from the roadside machine Transmission control means for transmitting,
With
The vehicle side guidance device is:
Information receiving means for wirelessly receiving the image information in the parking lot and the detailed information from the roadside machine,
Guidance route search means for searching for a guidance route from the current location to the exit based on the detailed information, and display control means for displaying on the display the image obtained by adding the guidance route to the image in the parking lot generated from the image information in the parking lot;
A parking lot guidance system comprising: Roadside devices that can wirelessly transmit information to the vehicle guidance device,
Image information generating means for generating image information in the parking lot;
Detailed information generating means for generating detailed information indicating at least which part of the parking lot image corresponding to the parking lot image information is an exit of the parking lot, and the parking lot image information and the detailed information from the roadside machine Transmission control means for transmitting,
A parking lot side guidance device comprising:   The detailed information is information indicating which part of the image in the parking lot is a passage in the parking lot, information indicating which part of the image in the parking lot is an information reception place from the roadside device in the automobile 3. The parking lot side according to claim 2, further comprising: information on a branch point of the passage, information on an allowable traveling direction of the vehicle in the passage, direction information of the image in the parking lot, and / or scale information of the image in the parking lot Guidance device. Information to wirelessly receive detailed information indicating which part of the parking lot image information and at least the parking lot image related to the parking lot image information is the parking lot exit from the roadside machine installed in the parking lot Receiving means,
Guidance route search means for searching for a guidance route from the current location to the exit based on the detailed information, and display control means for displaying on the display the image obtained by adding the guidance route to the image in the parking lot generated from the image information in the parking lot;
A vehicle-side guidance device comprising:   The detailed information is information indicating which part of the image in the parking lot is a passage in the parking lot, information indicating which part of the image in the parking lot is an information reception place from the roadside device in the automobile The vehicle-side guidance according to claim 4, further comprising: information on a branch point position of the passage, information on an allowable traveling direction of the vehicle in the passage, direction information of the image in the parking lot, and / or scale information of the image in the parking lot. apparatus. Current location detection means for detecting the current location;
Based on the detected current location and the information reception location included in the detailed information, current location detection means for detecting a location corresponding to the current location in the parking lot image, and displaying a current location mark on the current location location in the parking lot image of the display Display control means,
The automobile side guidance device according to claim 4 or 5 characterized by things. A step of generating in-parking image information in the parking lot-side guidance device and detailed information indicating at least which part of the in-parking image related to the in-parking image information is an exit of the parking lot;
A step of wirelessly transmitting the image information in the parking lot and the detailed information from the roadside machine of the parking lot side guidance device to the vehicle side guidance device;
Searching for a guidance route from the current location to the exit based on the detailed information in the vehicle-side guidance device; and, in the vehicle-side guidance device, adding the guidance route to the parking lot image generated from the parking lot image information. Displaying things on the display,
A parking lot guidance method comprising:

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