JP2007280078A - 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 appropriately display a map information image of the inside of a parking lot and a guidance route to vacant parking places, to an exit, etc., by superimposing thereon on an on-vehicle display, especially in a multilevel parking lot and a large scale plane parking lot. <P>SOLUTION: A guide device on a car side receives overall information by a DSRC27 at an entrance 12, and also receives divided images 28n, a divided section view 30n, etc., regarding divided parking lot areas 10n of the corresponding-parking lot 10 at the entrance 12 and each communication unit 14. The overall information is necessary for connecting each divided image and each divided section view in searching the guidance route of the parking lot 10 as a whole, and appropriately includes the information of vacant squares and an exit square. The guide device searches a guide route from a current place square to the vacant squares or exit square, on the basis of the received information. A display displays an image in which the guide route is superimposed on the divided image in the divided parking lot area to which a current place belongs. <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 narrow area communication such as DSRC to automatically settle a parking fee for a car using a parking lot (paragraph 0025 of Patent Document 1), and within the parking lot. The image processing of the background difference method is performed on the captured image obtained by photographing, the use state of each parking place is determined (paragraph 0028 of Patent Document 1), and information for guiding the vehicle to an empty parking place is provided on the roadside. The in-vehicle device displays a message “There is an empty space in the“ front ”,“ back right ”, or“ left back ”, provides voice guidance, and images (arrows to the front, etc.) Only) is disclosed (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 or exit of the parking lot when searching for a guidance route with a parking lot as a destination or departure point. (FIG. 3B of Patent Document 2) or so as to search for a guidance route whose exit is the starting point of the guidance 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

  In a large parking place, the road in the parking place becomes complicated and the distance from the entrance to the empty parking place is so that the user can get to the empty parking place on the parking lot map in the same way as the guidance route display of the car navigation device. Often it is desired to display a guidance route. In addition, when the driver tries to leave the parking lot, the road in the parking lot is complicated in a large parking place, and the distance from the parking place to the exit is long, so that the user can display the guidance route on the car navigation device. In addition, it is often desirable to display a 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, when you enter, you can search for a long guide route to an empty parking place, or when you leave, you can search for a long guide route from the parking place to the exit. It is not displayed on the 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 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 the parking lot on the area map, but the map of each parking location in the parking lot is not included in the map database and may be displayed on the display. Can not. In addition, the car navigation device does not have information on an empty parking place at the time of entrance of a parking lot where a car enters, and searches for a guide route to an empty parking place or displays it on a parking lot map. I can't do that either. Similarly, the guidance route from the current location in the parking lot to the exit is not searched and displayed.

  Also, if the parking place is a multi-story parking lot or a flat but large-scale parking lot, displaying the map image of the entire parking lot and the guidance route on the display of the car navigation device will reduce the image too much. It becomes difficult for the driver to recognize. When a part of the image is simply displayed as an enlarged image, the quality of the enlarged image is degraded.

  An object of the present invention is to appropriately display a map information image in a parking lot and a guide route to an empty parking place, an exit, etc. on the map information image in the car display, particularly in a multi-level parking lot or a large-scale flat parking lot. A parking lot guidance system, a parking lot guidance device, a car guidance device, and a parking guidance method are provided.

  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.
A roadside device that is installed in at least one predetermined location in the parking lot and wirelessly transmits information to the vehicle-side guidance device at the information reception location corresponding to the installation location;
Divided image information generating means for generating divided image information corresponding to each divided area obtained by dividing the parking lot into a plurality of areas;
Split detail information generating means for generating split detail information indicating at least which part of the split image is an empty parking place or exit;
Whole information generating means for generating whole information necessary for integrating each piece of divided image information and each piece of divided detailed information, and transmission control means for transmitting the piece of divided image information, the divided detailed information and the whole information from the roadside machine

The automobile side guidance device of the present invention is provided with the following.
Divided image information corresponding to each divided area obtained by dividing the parking lot into a plurality of areas, divided detailed information indicating at least which part of the divided image is an empty parking place or exit, and each divided image information and each divided detail Information receiving means for wirelessly receiving the entire information necessary for integrating information;
The guide route search means searched for the guide route search means for searching the guide route from the current location to the empty parking place or the exit based on the division detail information and the whole information, and the divided image generated from the divided image information corresponding to the current location. Display control means for displaying a guide route with an added route.

The parking lot guidance method of the present invention includes the following steps.
Divided image information corresponding to each divided area obtained by dividing the parking lot into a plurality of areas, divided detailed information indicating at least which part of the divided image is an empty parking place or exit, and each divided image information and each divided detail Generating the overall information necessary for integrating the information in the parking lot side guidance device;
A step of wirelessly transmitting the divided image information, the divided detailed information and the whole information from the roadside machine to the vehicle side guidance device;
A step of searching for a guidance route from the current location to an empty parking place or an exit based on the division detail information and the overall information in the vehicle side guidance device, and a guidance image search means in the division image generated from the division image information corresponding to the current location. A step of displaying the searched guidance route added on the display of the automobile side guidance device.

  According to the present invention, the divided image information, the divided detailed information, and the entire information are wirelessly transmitted from the roadside machine of the parking lot side guidance device to the vehicle side guidance device mounted on the automobile. A guidance route to a predetermined location can be searched based on the detailed information and the entire information, and the guidance route can be displayed on the display together with the divided images.

  According to the present invention, the parking lot image and the detailed information wirelessly transmitted from the roadside machine to the vehicle side guidance device are divided into divided images and divided detailed information corresponding to each divided area obtained by appropriately dividing the parking lot. The transmission process can be streamlined, and an appropriate range of divided images can be displayed on the display of the vehicle-side guidance device based on the divided image information.

  FIG. 1 is a schematic view of a parking lot 10 and a parking lot side guidance device. The parking lot 10 is divided into a plurality of divided parking lot areas 10a to 10d for rationalization of the parking lot guidance process. In FIG. 1, for convenience of explanation, the parking lot 10 is divided into four divided parking lot areas. However, in consideration of the size and shape of the parking lot 10 and appropriate parking lot guidance processing, the parking lot 10 can be divided into an arbitrary number. Note that the division may not be equally divided in both the vertical and horizontal directions.

  The parking lot 10 in FIG. 1 shows the division state in the processing of the in-parking guidance system for a planar large-scale parking lot, but in the area division in the processing of the in-parking guidance system in the case of a three-dimensional parking lot, for example, The division is performed so that one divided parking area is allocated to each floor.

  For convenience of explanation, it is assumed that the entrance 12 is in the divided parking area 10a and the exit 13 is in the divided parking area 10d. A plurality of entrances 12 and exits 13 may be installed in the parking lot 10. A gate device 20 is installed at the entrance 12, and the gate is opened for the automobile 25 that allows entry. A gate device 21 is installed at the exit 13, and the gate is opened for the automobile 25 that is allowed to leave.

  Each connecting portion 14 is a passage portion connecting adjacent divided parking lot regions 10a to 10d. In FIG. 1, for simplification of illustration, there is only one connecting portion 14 between adjacent divided parking lot areas 10a to 10d. However, as shown in FIG. It is normal to do. The server 26 is connected to each roadside device 24 by wire, and can send and receive data to and from each roadside device 24.

  FIG. 2 shows a situation of a predetermined portion in the parking lot 10. 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 car navigation device of the automobile 25 displays a map image in the parking lot 10 and an empty parking on the display based on the divided simple map information, the divided detailed information, and the whole information received from the roadside device 24 via the DSRC communication device by push delivery. The guidance route to the place 17 and the exit 13 is displayed. In addition, the car navigation apparatus can construct | assemble the information of the parking lot 10 whole suitably, connecting the division | segmentation simple map information and division | segmentation detailed information based on whole information.

  Typically, the divided simple map information and the divided detailed information are received by push delivery from the roadside device 24 related to the divided parking lot areas 10a to d corresponding to the information, and the in-vehicle device passes through the entrance 12 for the whole information. In this case, it is received by push delivery from the roadside device 24 installed corresponding to the entrance 12. However, the automobile 25 may receive all the divided simple map information and the divided detailed information together with the entire information from the roadside device 24 installed corresponding to the entrance 12 by push distribution. In that case, roadside machines 24 other than the roadside machine 24 at the entrance 12 can be omitted.

  The divided simple map information is a divided image 28n described later in FIG. 4 (where n means that it corresponds to an arbitrary divided parking area 10n). For example, the current status of the divided parking area is shown. It is a JPEG image generated by photographing with a digital still camera. The digital still camera captures the situation in each of the divided parking lot areas 10a to 10d at predetermined time intervals.

  The division detailed information is information related to the division simple map information. Specifically, (a) information relating to a division division diagram 30n and a cell (or cell) 31 described in FIG. Information relating to the number of the cell 31 where the DSRC communication device receives the divided simple map information and the divided detailed information from each roadside device 24, (c) the actual dimensions of the divided parking lot regions 10a to 10d and the divided images 28a to 28d Scale information, (d) information on the direction in the divided images 28a to 28d, and (f) category information of each cell 31 are included as a ratio to the size.

  With regard to the detailed division information related to the division division diagram 30n and the cell 31 of (a) described above, each cell 31 can specify the position on the division division diagram 30n by the cell number assigned thereto. Each division map is assigned an identifier (the identifier of the division map is referred to as a to d, for example, corresponding to each of the divided parking lot areas a to d). Each cell can specify a position in the entire parking lot 10.

  With respect to the divided detailed information related to the number of the cell 31 from which the in-vehicle communication device of (b) receives the divided simple map information and the divided detailed information from the roadside device 24, the current location on the division map 30n at the time of communication from the cell number You can identify the cells.

  The scale information of (c) described above is typically the same for all the divided images 28a to 28d, and can be included in the entire information, not the divided detailed information. The direction information (d) described above is typically such that the left, right, up, down, left, and right sides of the image are east, west, north, and south, respectively. Here, the scale and the direction are included in the divided detailed information so that they can be set for each divided image 28n. However, if they are common to all the divided images 28a to 28d, they are not divided detailed information but the whole described later. Can be included in the information.

  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. As will be described later, the position information of the empty cells is typically included in the overall information, so that the category information related to the empty parking place 17 can be excluded from the division detailed information. However, it may be included in the division detail information and the entire information. In the case of a large parking lot, it takes time until the automobile 25 arrives at the target empty parking place 17, and by the time of arrival, the empty parking place 17 is parked in another automobile 25, or the in-use parking place 18 In order to cope with this, the category information of the empty parking place 17 for the mesh 31 is included in the division detailed information and the entire information. The guidance route can be searched and changed by flexibly dealing with changes in the situation during guidance.

  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. In addition, the cells corresponding to the entrance 12 and the exit 13 are referred to as an entrance cell and an exit cell. The passage cell is further given subcategory information corresponding to the branch point of the passage 16 and the direction in which travel is possible depending on which of the upper, lower, left and right 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 divisional map 30n. 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.

  Specific information included in the overall information includes (h) the number of divisions of the parking lot 10, that is, the number of the divided parking lot regions 10 a to d, and (i) the connection relationship of the divided parking lot regions 10 a to 10 d, that is, the parking lot 10. (J) For each connecting part 14, the number of the meshes on the side of each adjacent divided parking area connected to the connecting part 14, (k) in the entire parking lot 10 It includes the position information of the empty cell and (l) the position information of the entrance cell and the exit cell.

  The position information of the empty cell of (k) described above includes an identifier of which divided parking area of the parking lot 10 and information of which cell number of each divided parking area. Similar to the position information and vacant cell information of the entrance cell and the exit cell of (l) described above, information on identifiers and cell numbers for the entrance cell and the exit cell is included.

  FIG. 3 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 a vehicle side guidance device for the automobile 25 as well as a parking lot guidance device including a plurality of roadside machines 24 and one server 26. The vehicle side guidance device is, for example, a car navigation device equipped with a DSRC 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 machine 24 pushes and distributes the entire information and the divided simple map information and the divided detailed information related to the divided parking area 10a to the car passing through the entrance 12. As soon as the vehicle 25 enters another divided parking lot area 10b to 10d, it pushes the divided simple map information and the divided detailed information about the divided parking area 10b to 10d of the entry destination from the roadside machine 24 of the entry destination by the DSRC 27. Receive by delivery.

  Upon receipt of 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. The car navigation device searches for a guide route from the current location to the empty parking space, that is, the empty parking place 17 based on the empty space information in the entire information. When an empty cell exists in the divided parking lot area 10a, all the guidance routes can be searched. When the empty cell does not exist in the divided parking lot area 10a, only the communication part 14 where the empty cell exists or the guide route part to the communication part 14 interposed between the communication part 14 is searched. Then, the automobile 25 receives the divided simple map information and the divided detailed information of the entry destination to the next divided parking lot areas 10a to 10d from the roadside machine 24 of the entry destination, and repeats the same processing (details are shown in FIG. 4 and subsequent figures). And will be described later).

  In each of the divided parking lot areas 10a to 10d, the guide route portions in the divided parking lot areas 10a to 10d are displayed on the display so as to overlap each other on the map image related to the divided parking lot areas 10a to 10d. The driver of the automobile 25 looks at the map image and the guide route portion in the divided parking lot areas 10a to 10d displayed on the display, moves the automobile 25 to a predetermined empty parking place, and the empty parking place. Park your car 25 in an empty parking place 17.

  The parking position of the automobile 25 in the parking lot 10 is stored in the nonvolatile storage device of the car navigation device as a current grid at the time of the next departure start. 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 the like, and an image obtained by superimposing the portion of the guidance route on the parking lot image of the divided parking lot region to which the current location belongs is displayed on the display. . The driver causes the automobile 25 to travel to the exit 13 based on the guidance route of the display.

  FIG. 4 shows a divided image 28n (n means any one of a to d) for a predetermined divided parking lot area 10n. The divided images other than the divided image 28n are the same as the divided image 28n except for the position of the empty parking place 17 or the used parking place 18. The positions of the parking place 15, the passage 16, the empty parking place 17 and the in-use parking place 18 in the divided parking area 10n can be visually recognized. For example, one or more predetermined places in the divided parking area 10n It is created on the basis of a camera image photographed from a digital still camera installed in. In addition, when the image captured by a plurality of digital still cameras is used for one divided image n, one divided image 28n is created based on the combination of the captured images captured by each digital still camera. The latest divided image 28n is created at regular time intervals.

  Since the position of the passage 16 in the captured image of the divided parking area 10n is fixed, for example, the road portion is removed from the divided image 28n created by photographing at each time, and the remaining captured image portions are all By performing image processing using the background difference method with respect to the standard parking lot image where the parking lot 15 is an empty parking place 17, the parking place 15 at the time of each shooting is changed to either an empty parking place 17 or an in-use parking place 18 It can be detected. The divided images 28n in FIG. 4 are appropriately color-coded in order to easily identify the passage 16, the empty parking place 17, and the in-use parking place 18.

  In order to deal with the case where the vertical / horizontal dimension ratio of the divided image 28n and the vertical / horizontal dimension ratio of the display of the car navigation device of the automobile 25 do not match, the car navigation device uses the vertical and horizontal dimensions of the parking lot image 28n. The server 26 converts the scale of the divided image 28n into an individually adjusted scale so that it matches the vertical / horizontal dimension ratio of the standard display of the car navigation device. May be transmitted to the automobile 25.

  FIG. 5 shows a correspondence relationship between the divided image 28n and the divided section diagram 30n. In the correspondence relationship, the scale of the divided section diagram 30n is adjusted according to the size of the divided image 28n. The divided division diagram 30n is partitioned into a plurality of cells 31 having the same shape and the same size arranged in a lattice pattern. The number of vertical and horizontal cells in the divisional map 30n is adjusted based on the size of the divisional parking lot area 10n.

  Among the detailed division information described above, each direction information and each scale information of the divided image 28n and the divided section diagram 30n are used to accurately overlap the divided image 28n and the divided section diagram 30n. In addition, if each direction and each reduced scale of the divided image 28n and the division | segmentation division | segmentation figure 30n 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 respective parking places 15 in the divided parking lot region 10n 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. 5, 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 30n, each cell 31 is given 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 30n. A specific example of the cell number is as shown in FIG. 5, 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. 5). The hexadecimal value of the digit corresponds to the vertical order from the reference grid. Note that the cell number whose left digit hexadecimal value is 0 is omitted in FIG. 5 and is entered in FIG.

  The cells 31 are classified into the categories of the passage 16, the empty parking place 17, and the busy parking place 18. There is a case where the dividing line of the dividing map 30n and the outlines of the passage 16, the empty parking place 17, and the busy parking place 18 are off. The category of the cell 31 that is included in any one of the aisle 16, the empty parking place 17, and the in-use parking place 18 is the aisle 16, the empty parking place 17, or in use. The category is associated with the parking place 18. The category of the grid 31 spanning a plurality of the passage 16, the empty parking place 17, and the used parking place 18 corresponds to the passage 16, the empty parking place 17 or 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. 6 is a composite of the divided images 28a to 28d and the respective divided sections 30a to 30d to create the entire parking lot image 28 and the section 30. In the overall view, each of the divided images 28a to 28d and each of the divided sections 30a to 30d is assigned identifiers a to d, for example, according to the corresponding divided parking area. The car navigation device of the automobile 25 can link the individual divided images 28a to 28d and the divided division diagrams 30a to 30d based on the whole information and the identifier, and appropriately construct the entire parking lot image 28 and the division drawing 30. It has become.

  As described above, the overall information includes the number of divisions of the parking lot 10, the arrangement relationship between the divided parking lot areas 10 a to 10 d, and the cell numbers in the adjacent divided parking lot areas 10 a to d connected by the communication unit 14. In the case of FIG. 6, the overall information relating to the arrangement relationship of the divided parking lot areas 10 a to 10 d is as follows. Note that the number of divisions = 4. In addition, “upper” and “lower” are defined in the case of a multilevel parking lot, “upper” means a divided parking area on the upper floor, and “lower” means a divided parking area on the lower floor. To do. Front, rear, left and right mean the upper, lower, left and right on the drawing of FIG. The symbols a to d attached to the divided parking lot areas are identifiers corresponding to the divided parking lot areas 10a to 10d, respectively.

Divided parking area a... Top: None, Bottom: None, Front: None, Rear: Divided parking area c, Left: None, Right: Divided parking area b.
Divided parking area b... Top: None, Bottom: None, Front: None, Rear: Divided parking area d, Left: Divided parking area a, Right: None.
Divided parking area c... Upper: None, Lower: None, Front: Divided parking area a, Rear: None, Left: None, Right: Divided parking area d.
Divided parking area d... Upper: None, Lower: None, Front: Divided parking area b, Rear: None, Left: Divided parking area c, Right: None.

About the example of FIG. 6, the whole information which concerns on the cell number in adjacent division | segmentation parking lot area | region 10a-d which each connection part 14 connects is as follows.
・ Divided parking lot area ab: "F0"-"0"
・ Divided parking lot area a-c: "F"-"0", "3F"-"30", "8F"-"80", "DF"-"D0"
・ Divided parking area b-d: "2F"-"20", "7F"-"70", "CF"-"C0", "DF"-"D0"
・ Divided parking lot area cd: "FF"-"F"

  FIG. 7 is an explanatory diagram of how to search for a guidance route to a predetermined empty parking place 17 in the divided parking lot area 10n. FIG. 7 is obtained by adding predetermined marks to FIG. 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 a cell (hereinafter referred to as “entry cell” as appropriate) as the entry communication unit 14 from the divided parking area adjacent to the divided parking area 10n to the divided parking area 10n. is there. The cell “EF” is a cell (hereinafter referred to as “exit cell” where appropriate) as the exit communication unit 14 from the divided parking area 10n to the divided parking area adjacent to the divided parking area 10n. ). When the divided parking area 10n is the divided parking area 10d, the exit cell becomes an exit cell.

  When the car 25 enters the parking lot 10 from the entrance 12, the DSRC communication device receives the entire information from the roadside device 24 corresponding to the entrance 12 in addition to the simple map information and detailed information related to the divided parking lot area 10a. . The overall information includes the position information of the empty cell, and the car navigation device can detect which cell of which divided parking area 10a to d the empty parking place 17 is based on the entire information.

  When the empty parking place 17 is in the divided parking area 10a, the divided parking area 10n in FIG. 7 becomes the divided parking area 10a. Further, the entry cell in FIG. 7 is an entry cell.

  When the empty parking place 17 is not in the divided parking area 10a, it is further divided into two cases. The first case is a case where there is an empty parking place 17 in the divided parking area adjacent to the divided parking area 10a. In the second case, the empty parking place 17 is not in the adjacent divided parking area of the divided parking area 10a but is in the previous divided parking area.

  In the first case, in the search method to be described later with reference to FIG. 7, the target cell of the guidance route is changed to the exit cell. If there are a plurality of exit cells, one is selected as the exit cell according to a predetermined standard (eg, exit cell that is the shortest route to the empty parking place 17 and any other), and a guidance route is searched. It will be.

  In the second case, the divided parking area 10a (hereinafter referred to as “departure divided parking area”) and the divided parking area (hereinafter referred to as “target divided parking area”) where there is an empty parking place 17 are provided. A divided parking lot area (hereinafter referred to as “intervening divided parking lot area”) interposed therebetween is determined. Then, in each intervening divided parking lot area, in the search method which will be described later with reference to FIG. 7, the departure cell and the destination cell of the guidance route are changed to the entry cell and the exit cell, respectively. Further, in the target division parking area, the starting cell and the target cell of the guidance route are changed to the entry cell and the empty cell, respectively, in the search method described later with reference to FIG. If there are multiple exit cells in the intervening divided parking lot area, one is selected as the exit cell according to a predetermined standard (eg, the exit cell that is the shortest route to the empty parking place 17 and any other option). Thus, the guidance route is searched.

  The search method described later in FIG. 7 is a case where the DSRC communication device of the automobile 25 individually receives the divided simple map information and the divided detailed information from the roadside device 24 for each entry to each divided parking area. . When each divided simple map information and each divided detailed information is received from the corresponding roadside device 24, the vehicle side guidance processing device reduces the communication load and enters the divided parking lot area where the vehicle 25 does not enter. The reception of the simple divided map information and the detailed divided information can be omitted, and the processing at the time of guiding route search can be rationalized.

  However, if the DSRC communication device of the automobile 25 receives all the divided simple map information and the divided detailed information of the parking lot 10 together with the entire information from the roadside device 24 corresponding to the entrance 12, based on the entire information, FIG. The entire parking lot image 28 and the entire section map 30 are constructed, and the constructed route can be searched at once by applying the search method of FIG. 7 to the constructed one. However, the image displayed on the display of the car navigation device is a divided image corresponding to the divided parking area to which the current location belongs, and a part of the guide route 34 superimposed thereon.

  A method for searching for a guidance route in FIG. 7 will be described. When the car 25 enters the cell “3F” as the communication part 14 of the divided parking area 10n, the vehicle-side guidance device of the automobile 25 divides the divided parking area 10n from the roadside machine 24 in the cell “3F”. Simple map information and division detailed information are received.

  The current location mark 33 indicates the current location of the automobile 25 in the divisional map 30n, and the traveling direction mark 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. With the movement of the automobile 25 in the parking lot 10 after entering the divided parking lot area 10n, the current location also changes. However, the current location may be detected from GPS information or the vehicle 25 from the grid "3F" Movement can also be detected by tracking using a gyrometer or speedometer.

  In the division division diagram 30n, the branch cells 31 of the passage 16 are cells "1", "E", "31", "3E", "71", "7E", "C1", "CE", "F1". , “FE”. The cell “EF” is a cell 31 corresponding to the communication unit 14 leaving the divided parking lot area 10n. The specific procedure of the search method and the guidance type of the guidance route 34 for guiding the automobile 25 to the predetermined empty parking place 17 in the divided parking lot area 10n is as follows.

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 vacant parking places 17, in addition to making only one arbitrary vacant parking place 17, the driver selects the category of the parking place and sets the vacant parking place 17 of the selected category as the vacant parking place. It may be determined as 17. Various categories can be set for the category of the parking lot, for example, whether it is close to the entrance of the store or a parking place in the corner. The empty parking place 17 other than the empty parking place associated with the determined empty parking place 17 is regarded as a busy parking place 18, and the guide route 34 to the determined empty parking place 17 is searched.

S43: For the guide route 34, during the search, passage history information traced from the current location 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 divided image 28n 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. Note that what is displayed on the display of the car navigation device of the automobile 25 is typically only the divided image 28n and the guide route 34 in FIG. The division division diagram 30n, the cell 31 and the cell number are not displayed on the display. However, the division division diagram 30n, the cell 31 and / or the cell number may be appropriately displayed on the display.

  Here, for convenience of explanation, as shown in FIG. 7, a method for searching and displaying the guide route 34 from the current location to the empty parking place 17 is referred to as “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. 8 is an explanatory diagram of searching for the guide route 34 in the leaving time search method. It is assumed that the grid corresponding to the parking location as the current location is “26”. The exit cell (exit cell or cell that passes last when moving to the adjacent divided parking area) is assumed to be “EF”.

  When the exit 13 is in the divided parking area 10n, the divided parking area 10n becomes the divided parking area 10d. In the search method described later with reference to FIG. Search for a route.

  When the exit 13 is not in the divided parking lot area 10n, it is further divided into two cases. In the first case, there is an exit 13 in the divided parking area adjacent to the divided parking area 10n. In the second case, the exit 13 is not located in the adjacent divided parking area of the divided parking area 10n but is further located in the previous divided parking area.

  In the first case, in the search method described later with reference to FIG. 8, the target cell of the guidance route is changed to the exit cell. When there are a plurality of exit cells, one is selected as the exit cell according to a predetermined criterion (eg, exit cell that is the shortest route to the exit 13 and any other), and the guidance route is searched. Become.

  In the second case, an intermediate divided parking area between the departure divided parking area and the target divided parking area where the exit 13 is located is determined. Then, in each of the intervening divided parking lot areas, the starting cell and the destination cell of the guidance route are changed to the entry cell and the exit cell, respectively, in the search method described later with reference to FIG. Further, in the target divided parking area (divided parking area having an exit), the departure route and the destination cell of the guidance route are changed to an entry cell and an exit cell, respectively, in the search method described later with reference to FIG. In addition, when there are a plurality of exit cells in the intervening divided parking lot area, one exit region is selected and selected according to a predetermined standard (eg, the exit cell that is the shortest route to the exit 13 and any other option). Thus, the guidance route is searched.

  The search method of FIG. 8 is a case where the DSRC communication device of the automobile 25 individually receives the divided simple map information and the divided detailed information from the roadside device 24 every time it enters each divided parking area. However, if the DSRC communication device of the automobile 25 receives all the divided simple map information and the divided detailed information of the parking lot 10 together with the entire information from the roadside device 24 corresponding to the entrance 12, based on the entire information, FIG. The entire parking lot image 28 and the entire division map 30 are constructed, and the constructed route can be searched at once by applying the search method of FIG. 8 to the construction. However, the image displayed on the display of the car navigation device is a divided image corresponding to the divided parking area to which the current location belongs, and a part of the guide route 34 superimposed thereon.

  In the leaving search method according to FIG. 8, only the departure cell and the destination cell of the guidance route 34 of the entry search method are changed to the parking place cell and the leaving cell, respectively, and the other search processing contents are the same.

  The automobile 25 receives the entire information at the entrance 12 and, when entering the divided parking area 10n, receives the divided simple map information and the divided detailed map information related to the divided parking area 10n. The location information of the current location and the exit location at the start has been obtained.

  In the leaving search method, the parking place cell “26” is set instead of the entry cell “3F” as the departure cell. In addition, an exit cell “EF” is set 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. 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 “cell 31”, the route is “36” → “35” → “34” → “33” → “32” → “31”, and the number of cells is six.

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 cell “EF” is reached or the next movable cell is eliminated.

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 guide route 34. In the example of FIG. 8, the guide route 34 is “36” →... → “31” →... → “71” →... → “7E” →. → "EE".

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

S54 (corresponding to S44 of the search method at the time of entry): In order to reflect the current location on the divided image 28n as the automobile 25 moves from the cell "26", the change of the current cell is utilized using GPS information. 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.

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

  FIG. 9 is a configuration diagram of the parking lot guidance system 100. The parking lot guidance system 100 includes a parking lot side guidance device 110 installed in a parking lot, and an automobile side guidance device 140 mounted on an automobile. The parking lot side guidance device 110 has a roadside machine 120 installed at at least one predetermined location in the parking lot. Each roadside device 120 can transmit information to the vehicle-side guidance device 140 existing at a communication point corresponding to the installation location by wireless communication 160.

  The wireless communication 160 between the roadside device 120 and the vehicle-side guidance device 140 is typically bidirectional communication by DSRC or the like, but is one-way communication from the roadside device 120 to the vehicle-side guidance device 140. It is also good. The parking lot guidance system 22 (FIG. 3) 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 receive information from the roadside device 120 only during a period in which the vehicle on which the vehicle is mounted is passing sufficiently close to the roadside device 120. In addition, the information receiving place can be set to a very narrow limited part.

  The place where a car entering the parking lot receives information from the roadside device 120 is typically an entrance of the parking lot or an entry point of each divided parking lot area (eg, the communication unit 14 in FIG. 1). However, it is not limited to this. It may be a point that enters a part of each divided parking area from the entrance or entry point, or a point on the path from the entrance or entry point to the first branch location.

  FIG. 10 is a block diagram of the parking lot side guidance device 110. In addition to the roadside device 120, the parking lot side guidance device 110 includes a divided image generation unit 111, a divided detailed information generation unit 112, an overall information generation unit 113, and a transmission control unit 114.

  The divided image generation unit 111 generates divided image (eg, divided image 28n in FIG. 4) information corresponding to each divided area obtained by dividing the parking lot into a plurality of areas. The divided detailed information generation unit 112 generates divided detailed information indicating at least which part of the divided image is an empty parking place or an exit. The overall information generation unit 113 generates overall information necessary for integrating each divided image information and each divided detailed information.

  The transmission control unit 114 causes the divided image information, the divided detailed information, and the entire information to be transmitted from the roadside device 120. Thereby, in the vehicle side guidance device 140, it becomes possible to search for a guidance route to an empty parking place or an exit and to superimpose the guidance route on a corresponding divided image.

  The divided image related to the divided image information is typically a simple figure in which each divided area of the parking lot is simply displayed as a figure, but may alternatively be an image obtained by photographing the inside of the parking lot with a digital camera. And

  Preferably, the divided detailed information includes information indicating which part of the divided image is a passage, information indicating which part of the divided image is a location for receiving information from the roadside device 120 in the automobile, and branching of the passage. It includes point position information, permissible traveling direction information of the automobile in the passage, direction information of the divided image, and / or scale information of the divided image.

  FIG. 11 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 143, and display control means 144.

  The information receiving unit 141 wirelessly receives the divided image information, the divided detailed information, and the entire information from the roadside device 120. The guide route search means 143 searches for a guide route (eg, guide route 34 in FIG. 7) from the current location to an empty parking place or exit based on the divided detailed information and the entire information.

  The display control unit 144 displays on the display 148 an image obtained by adding the guidance route searched by the guidance route search unit 143 to the divided image generated from the divided image information corresponding to the current location.

  The current location when the guide route search means 143 conducts the search for the guide route is typically an information reception location corresponding to the entrance at the time of entry, and a parking location at the time of departure at the time of exit. It is not limited to this. This is because the driver may instruct the vehicle-side guidance device 140 to search for a route from a point where the vehicle is moved a little further from the entrance or the parking place at the start. It is possible to detect which part of the divided image the current location is based on the information reception location and GPS information or movement trajectory record. The movement trajectory of the current location from the information receiving location can be appropriately measured 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. It is not possible to display a map in the parking lot indicating the position of each parking place, and it is also impossible to display which parking place is currently empty. In the parking lot guidance system 100, by transmitting the divided image information from the roadside device 120 to the vehicle side guidance device 140, a divided image that can be used as a map inside the parking lot is appropriately displayed on the display 148 of the vehicle side guidance device 140. In addition, an empty parking place and a guide route to the exit are displayed on the divided image.

  The vehicle-side guidance device 140 can receive, in the information receiving unit 141, other divided detailed information other than the detailed information related to the empty parking lot and the exit. Thereby, the guidance route search means 143 further searches for a guidance route in a parking lot that is a destination other than an empty parking lot or an exit, searches for a more appropriate guidance route, or guides more rationally and efficiently. Or search for a route.

  Typically, when the divided area to which the current location belongs changes, the display control unit 144 switches the screen of the display 148 to a divided image corresponding to the changed divided area.

  Preferably, each information reception place is a range including an entrance where a car enters each divided parking area. On the other hand, the information receiving means 141 receives the divided image and the divided detailed information corresponding to the divided area to which each information receiving place belongs. Typically, the information receiving means 141 receives the entire information at an information receiving place in a range including the entrance of the parking lot (that is, the first information receiving place at the time of entry).

  Preferably, the divided image is divided into cells of the grid array, and each part of the divided image is associated with the cells (for example, FIG. 5). In this case, the guidance route searching means 143 uses a part route that can reach the empty parking place part or 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 an empty parking place part or an exit part 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 the length is minimized. The guide route that is present is the final result guide route (the guide route presented to the driver this time).

  Preferably, the guide route search means 143 searches for a guide route to the empty cell selected based on the category information when there are a plurality of empty cells. As a result, the driver is guided to his / her favorite empty parking place from among a plurality of empty parking places.

  The division detailed information can include category information of each empty parking place. The category of vacant parking places includes, for example, the category of whether each vacant parking place is close to the entrance / exit of a predetermined facility, in a corner, for a light car, and / or for a welfare car. In this case, the guide route search means 143 can search for the guide route to the empty parking location selected based on the category information when there are a plurality of empty parking locations. As a result, the driver is guided to his / her favorite empty parking place from among a plurality of empty parking places.

  FIG. 12 is a flowchart of the parking lot guidance method 170. In S171, divided image information corresponding to each divided region obtained by dividing the parking lot into a plurality of regions, divided detailed information indicating at least which part of the divided image is an empty parking place or an exit, and each divided image information The parking lot side guidance device 110 generates overall information necessary for integrating each piece of divided detailed information.

  In S <b> 172, the divided image information, the divided detailed information, and the entire information are wirelessly transmitted from the roadside device 120 to the vehicle side guidance device 140.

  In S173, the vehicle-side guidance device 140 searches for a guidance route from the current location to an empty parking place or exit based on the divided detailed information and the entire information.

  In S175, the guide route searched by the guide route searching means 143 added to the divided image generated from the divided image information corresponding to the current location is added to the display 148 of the automobile side guide device 140.

  The parking lot guidance method 170 can be implemented in the same manner as the parking lot guidance system 100. For example, the division details can include the above-described various pieces of division details other than those relating to an empty parking place or an exit. Further, the category information described above can be included in the division detail information.

  In the search for the guidance route in S174, a part route that can reach the target part by following a continuous passage part from the current location part can be used as the guidance route.

  Preferably, in S174, when there are a plurality of empty parts, a guide route to the empty part selected based on the category information is searched. When there are a plurality of exits, category information (e.g., an exit close to a highway, an exit on the south side) may be defined for the exit part, and a guide route to the exit desired by the driver may be searched.

  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 a schematic diagram of a parking lot and a parking lot side guidance device. It is a figure which shows the condition of the predetermined part in 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 division | segmentation image about a predetermined | prescribed division | segmentation parking lot area | region. It is a figure which shows the correspondence of a divided image and a division | segmentation division figure.

It is a figure which synthesize | combined each division image and each division | segmentation division figure, and created what produced the whole parking lot image and division | segmentation figure. It is explanatory drawing about the method of searching for the guidance route to the predetermined empty parking place in a division | segmentation parking lot area | region. 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

100: Parking lot guidance system, 110: Parking lot side guidance device, 111: Division image generation means, 112: Division detailed information generation means, 113: Whole information generation means, 114: Transmission control means, 120: Roadside machine, 140: Car-side guidance device, 141: information receiving means, 143: guidance route searching means, 144: display control means, 148 display, 160: wireless communication, 170: guidance method in parking lot.

Claims (8)

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 that is installed in at least one predetermined location in the parking lot and wirelessly transmits information to the vehicle-side guidance device at an information reception location corresponding to the installation location;
Divided image information generating means for generating divided image information corresponding to each divided area obtained by dividing the parking lot into a plurality of areas;
Split detail information generating means for generating split detail information indicating at least which part of the split image is an empty parking place or exit;
Overall information generating means for generating overall information necessary for integrating each divided image information and each divided detailed information, and transmission control means for transmitting the divided image information, the divided detailed information and the whole information from the roadside machine ,
With
The vehicle side guidance device is:
Information receiving means for wirelessly receiving the divided image information, the divided detailed information and the whole information;
Guide route search means for searching for a guide route from the current location to an empty parking place or exit based on the divided detailed information and the overall information, and the guide route search means in the divided image generated from the divided image information corresponding to the current location Display control means for displaying the added guidance route searched for on the display,
A parking lot guidance system comprising: A roadside device that is installed in at least one predetermined location in the parking lot and wirelessly transmits information to the vehicle-side guidance device at an information reception location corresponding to the installation location;
Divided image information generating means for generating divided image information corresponding to each divided area obtained by dividing the parking lot into a plurality of areas;
Split detail information generating means for generating split detail information indicating at least which part of the split image is an empty parking place or exit;
Overall information generating means for generating overall information necessary for integrating each divided image information and each divided detailed information, and transmission control means for transmitting the divided image information, the divided detailed information and the whole information from the roadside machine ,
A parking lot side guidance device comprising: Divided image information corresponding to each divided area obtained by dividing the parking lot into a plurality of areas, divided detailed information indicating at least which part of the divided image is an empty parking place or exit, and each divided image information and each divided detail Information receiving means for wirelessly receiving the entire information necessary for integrating information;
Guide route search means for searching for a guide route from the current location to an empty parking place or exit based on the divided detailed information and the overall information, and the guide route search means in the divided image generated from the divided image information corresponding to the current location Display control means for displaying the added guidance route searched for on the display,
A vehicle-side guidance device comprising:   The divided detailed information includes information indicating which part of the divided image is a passage, information indicating which part of the divided image is a location for receiving information from the roadside device in the automobile, and branching of the passage. 4. The vehicle side guidance device according to claim 3, comprising point position information, information on an allowable traveling direction of the vehicle in the passage, direction information of the divided image, and / or scale information of the divided image. The display control means for switching the display screen to a divided image corresponding to the changed divided area when the divided area to which the current location belongs is changed;
The automobile side guidance device according to claim 3 or 4 characterized by things. Each information reception place is a range including the entrance where the car enters each divided area,
6. The information receiving unit according to claim 3, wherein the information receiving unit is configured to receive a divided image and divided detailed information corresponding to a divided region to which each information reception location belongs. Car side guidance device.   The vehicle-side guidance device according to claim 6, wherein the information receiving unit receives the entire information at an information receiving place in a range including an entrance of the parking lot. Divided image information corresponding to each divided area obtained by dividing the parking lot into a plurality of areas, divided detailed information indicating at least which part of the divided image is an empty parking place or exit, and each divided image information and each divided detail Generating the overall information necessary for integrating the information in the parking lot side guidance device;
Wirelessly transmitting the divided image information, the divided detailed information, and the overall information from the roadside device to the vehicle-side guidance device;
In the vehicle-side guidance device, searching for a guidance route from the current location to an empty parking place or an exit based on the divided detailed information and the overall information, and the divided image generated from the divided image information corresponding to the current location, the guidance Displaying a guidance route searched by the route search means on the display of the vehicle side guidance device;
A parking lot guidance method comprising:

Images