JP2009276927A - Empty parking space information transmitter and empty parking space guide system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an empty parking space guide system capable of detecting an empty parking space over a wide range of parking area and hardly having a fear of a dead battery. <P>SOLUTION: An empty parking space information transmitter searches an empty parking space in the vicinity of a vehicle while the vehicle mounting the empty parking space information transmitter travels in the parking area, and radio-transmits empty parking space information including at least position information of the empty parking space on the basis of detection of the empty parking space. An empty parking space information receiving device guides the empty parking space in the parking area to an occupant on the basis of the empty parking space information obtained by receiving the empty parking space information transmitted by the empty parking space information transmitter. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an empty parking space information transmission device and an empty parking space information system including the empty parking space information transmission device and an empty parking space information reception device.

As an empty parking space guidance system, an empty parking space information transmitting device and an empty parking space information receiving device mounted on a vehicle are known (for example, Patent Document 1). In Patent Document 1, a vehicle parked at a parking lot (another vehicle) transmits peripheral image information indicating an empty parking space around the other vehicle and information indicating the position / orientation of the other vehicle. . And the vehicle (own vehicle) which received the information from another vehicle has shown the empty parking space based on the received information. In this way, by installing a device for acquiring information on an empty parking space in a vehicle, it is possible to guide the empty parking space without providing special facilities for guiding the empty parking space in the parking lot. .
Japanese Patent Laid-Open No. 2005-326956

  However, in Patent Document 1, since the surrounding image information indicating the empty parking space around the other vehicle is obtained from the other vehicle parked and stopped, and the empty parking space is determined, the empty parking around the other vehicle is performed. Only spaces can be detected. Therefore, if a large number of vehicles having functions as other vehicles are not parked in the parking lot, it is impossible to determine an empty parking space over a wide range in the parking lot.

  In addition, since it is necessary for other vehicles parked and stopped to transmit the peripheral image information and the like, the other vehicle has the power of the device relating to the function of transmitting the peripheral image information and the like turned on even when parked and stopped. Will have to. However, it is not realistic to keep the on-vehicle device powered on despite the fact that the vehicle is parked or stopped because there is a concern that the battery will run out.

  The present invention has been made based on this situation, and the object of the present invention is to detect an empty parking space over a wide area of a parking lot and to reduce the risk of battery exhaustion. It is to provide a parking space guidance system.

  In order to achieve the object, the invention according to claim 1 is mounted on a vehicle, searching for an empty parking space around the vehicle while the vehicle is traveling in a parking lot, and detecting an empty parking space. The empty parking space information transmitting device is characterized by wirelessly transmitting empty parking space information including at least the position information of the empty parking space.

Moreover, invention of Claim 2 for achieving the objective is the empty parking space information transmitter of Claim 1,
The vacant parking space information transmission device is mounted on a vehicle different from the vehicle, the vacant parking space information transmission device transmits the vacant parking space information, and the received vacant parking space information is received. An empty parking space information receiving system comprising: an empty parking space information receiving device that guides an empty parking space in a parking lot to an occupant.

  According to the empty parking space information transmitting device according to claim 1 or the empty parking space guidance system according to claim 2, a vehicle traveling in a parking lot detects surrounding empty parking spaces during the traveling. A single vehicle can detect an empty parking space over a wide area in the parking lot. In addition, since the traveling vehicle detects, there is little concern about the battery running out.

  Here, the empty parking space information transmitting device may transmit the empty parking space information directly to the empty parking space receiving device, or may indirectly transmit the empty parking space information as shown in claim 3 below. Good.

  3. The empty parking space information system according to claim 2, wherein the empty parking space information system is installed in a parking lot, receives the empty parking space information transmitted by the empty parking space information transmitting device, and receives the received empty parking space information. The parking lot facility transmits the stored empty parking space information into the parking lot at a predetermined transmission time after receiving the empty parking space information. .

  In this way, even if the vehicle equipped with the empty parking space information transmitting device and the vehicle equipped with the empty parking space information receiving device are not in the parking lot at the same time, the empty parking space information is received. The device can receive the empty parking space information from the empty parking space information transmitting device.

  Further, according to claim 4, in the empty parking space guidance system according to claim 2 or 3, the empty parking space information transmitted by the empty parking space information transmitting device indicates that a parking space is empty and the parking thereof. In addition to the location of the space, at least one of the size of the parking space and the vehicle type that can use the parking space is included, and the vacant parking space information receiver is vacant based on the received vacant parking space information. The vehicle in which the parking space information receiving device is mounted determines whether or not the empty parking space indicated by the empty parking space information can be used. If it does in this way, it can control guiding an empty parking space which cannot be used.

  Moreover, Claim 5 is a case where the empty parking space is detected in the empty parking space information transmission device according to claim 1, and the vehicle on which the empty parking space information transmission device is mounted is from the parking lot. If it can be determined that the vehicle is leaving, the empty parking space information is immediately transmitted.

  In this way, if it is determined whether the vehicle on which the empty parking space information transmission device is mounted is leaving the parking lot, the empty parking space information is transmitted to the empty parking space after transmitting the empty parking space information. The problem that the vehicle on which the transmission device is mounted is parked can be avoided. And since empty parking space information is transmitted immediately, the time when another vehicle guides an empty parking space using the empty parking space information can also be advanced.

  Further, according to a sixth aspect of the present invention, in the empty parking space information transmitting device according to claim 1 or 5, when the empty parking space is detected, a vehicle equipped with the empty parking space information transmitting device is also parked. When it can be determined that the vehicle is looking for a space, based on the fact that the parking space in which the vehicle is parked can be determined, the information on the free parking space that has been detected so far is transmitted, excluding the parking space. It is characterized by doing.

  Even if it does in this way, after transmitting empty parking space information, the problem that the vehicle by which the empty parking space information transmitter is mounted in an empty parking space can be avoided.

  Moreover, Claim 7 is a case where the empty parking space information transmitting device according to any one of claims 1, 5, and 6 is detected, and the empty parking space information transmitting device is When it can be determined that the mounted vehicle is also looking for a parking space, the empty parking space information about the parking space is transmitted based on the fact that the vehicle is sufficiently separated from the empty parking space. To do.

  Since the possibility of parking in the empty parking space is extremely low when separated from the empty parking space, the empty parking space information transmitting device is transmitted to the empty parking space after transmitting the empty parking space information. It is possible to avoid the problem that the vehicle equipped with is parked.

  Further, claim 8 is the empty parking space information transmitting device according to any one of claims 1, 5 to 7, wherein the vehicle on which the empty parking space information transmitting device is mounted is parked in the parking space. When it is determined that the parking space is to be exited from the state, the empty parking space information about the parking space is wirelessly transmitted.

  In this way, in addition to the empty parking space information about the empty parking space detected while traveling in the parking lot, the empty parking space information about the parked parking space can also be transmitted, so more It is possible to transmit the empty parking space information about the parking space.

  Further, claim 9 is the empty parking space information transmitting device according to any one of claims 1, 5 to 8, further comprising map data in the parking lot, and the empty parking space information transmitting device is mounted. The current position of the current vehicle is sequentially acquired, the estimated error of the current position is sequentially calculated, and among the paths parallel to the detected empty parking space, the path closest to the empty parking space, the empty parking space, and When the distance between the two is smaller than the estimated error, the empty parking space information about the empty parking space is not transmitted even when the empty parking space is detected.

  Of the paths parallel to the detected empty parking space, the path closest to the empty parking space (that is, for the detected empty parking space, to the empty parking space other than the path serving as the entrance path to the empty parking space) If the distance between the closest passage) and the empty parking space is smaller than the estimated error of the current position, there is a possibility that the passage is erroneously detected as an empty parking space. However, if it carries out like this Claim 9, even if it misdetects that a passage is an empty parking space, it can prevent transmitting the location which is actually a passage as an empty parking space.

  However, as in the following claim 10, it may be determined later whether or not the empty parking space information that has not been transmitted is a passage. According to claim 10, in the empty parking space information transmitting device according to claim 9, the empty parking space information that is not transmitted because the distance is smaller than the estimation error is stored, and an empty parking space is stored. When the detected travel locus is stored up to a position where the current position can be corrected by map matching, and based on the corrected current position and the travel locus, it can be determined that the empty parking space information is not a passage. Transmits the vacant parking space information.

  Further, claim 11 detects an obstacle around the vehicle in which the empty parking space information transmitting device is mounted in the empty parking space information transmitting device according to any one of claims 1, 5 to 8. The distance to the obstacle is sequentially determined from the detection result of the obstacle detection sensor, and the length and width of the empty space that can be determined based on the distance are within a predetermined length range. Based on the above, it is determined that there is an empty parking space.

  In this way, if the length and width of the vacant space exceed the predetermined length range, it is not determined to be an vacant parking space. It can suppress judging that it is a parking space.

  A twelfth aspect of the present invention is the empty parking space information transmitting device according to any one of the first, fifth to eighth, and eleventh aspects, wherein an image of the vicinity of the vehicle on which the empty parking space information transmitting device is mounted is captured. An empty parking space is detected by analyzing an image captured by the camera.

  Thus, even if an empty parking space is detected by analyzing the image, it is determined whether the empty space is a passage or a parking space, for example, by determining whether there is a white line in the empty space. Since it can distinguish, even if it is a parking lot where the map is not memorize | stored, it can suppress judging that a passage is an empty parking space accidentally.

  Further, according to claim 13, in the empty parking space guidance system according to any one of claims 2 to 4, the empty parking space information receiving device transmits the empty parking space information transmitted by the empty parking space information transmitting device. Information is sequentially received, the empty parking space database is sequentially updated based on the received empty parking space information, and the use for each empty parking space is based on the empty parking space information stored in the empty parking space database. A priority is calculated, and an empty parking space to be guided from a plurality of empty parking spaces is determined based on the usage priority.

  If it does in this way, an appropriate parking space can be selected and guided from a plurality of empty parking spaces.

Further, claim 14 is an empty parking space guidance system according to claim 13,
The empty parking space information transmitting device receives empty parking space information transmitted by another empty parking space information transmitting device, creates an empty parking space database based on the received empty parking space information, and the empty parking space. If the database detects that a parking space that is an empty parking space is being used, it will wirelessly transmit used parking space information indicating that the parking space is being used,
The said empty parking space information receiver updates the said empty parking space database based on the used parking space information, when the used parking space information is received.

  If it does in this way, it can control that a parking space actually used is erroneously guided as an empty parking space.

  Further, according to a fifteenth aspect of the present invention, in the empty parking space information receiving system according to the thirteenth or fourteenth aspect, the empty parking space information receiving device includes a vehicle equipped with the empty parking space information receiving device in the empty parking space database. When it is determined that the vehicle is parked in the stored empty parking space, the parking space use information indicating that the empty parking space is used is transmitted, and the other empty parking space information receiving device receives the information. When parking space usage information is received, the empty parking space database is updated based on the received parking space usage information.

  Even if it does in this way, it can control guiding a parking space actually used as an empty parking space accidentally.

  In addition, according to claim 16, in the empty parking space guidance system according to any one of claims 2 to 4, 13 to 15, the empty parking space information receiving device further includes map data in the parking lot. The received vacant parking space information is determined based on map data in the parking lot whether it is a parking space or a passage.

  In this way, if the receiving side determines whether the empty parking space information is a parking space or a passage, there is no map in the parking lot on the transmitting side (empty parking space information transmitting device), Even if it is impossible to distinguish between a parking space and a passage on the transmission side, it is possible to prevent the passage from being erroneously guided as an empty parking space.

  Further, according to claim 17, in the empty parking space guidance system according to any one of claims 2 to 4, 13 to 15, the empty parking space information receiving device is an empty parking indicated by the received empty parking space information. It is characterized by guiding the direction of the space.

  Thus, when guiding the direction of the empty parking space, the empty parking space information receiving device can guide the empty parking space to the occupant even if the map in the parking lot is not provided.

  Further, according to claim 18, in the empty parking space guidance system according to any one of claims 2 to 4, 13 to 17, the empty parking space information receiving device guides the empty parking space to a passenger. When it is detected that the occupant has made a reservation operation for use of the vacant parking space, the reserved parking space information indicating that the occupant is parked in the vacant parking space is transmitted, and other vacant parking spaces are transmitted. When the reserved parking space information is received from the space information receiving device, the empty parking space indicated by the received reserved parking space information is not guided.

  In this way, an occupant who has been informed of an empty parking space first uses the reservation operation, so that after the guidance, other vehicles will use the empty parking space before reaching the empty parking space. Can be suppressed.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the present embodiment, a plurality of vehicles are provided with a vacant parking space guide device having both a function as a vacant parking space information transmitting device and a function as a vacant parking space information receiving device. Moreover, an empty parking space guidance system is constituted by a plurality of these empty parking space guidance devices.

  FIG. 1 is a diagram showing a main configuration of a vehicle including the configuration of the empty parking space guide device. In FIG. 1, each of the ECUs 1 to 5 includes a CPU, a ROM, a RAM, and the like inside, and can send and receive signals to and from each other via the in-vehicle LAN 13. The support control ECU 1 executes processing for detecting an empty parking space and transmitting empty parking space information while a vehicle equipped with this empty parking space guidance device is traveling in the parking lot, and at the same time, A process for receiving the empty parking space information and guiding the empty parking space is also executed.

  The wireless device 10 is a communication-type wireless device having a communication distance (for example, several hundred meters) in which vehicles located on opposite sides in a large-scale parking lot can communicate with each other. When an empty parking space is detected, the wireless device 10 transmits empty parking space information related to the empty parking space. In addition, the vacant parking space information transmitted by the other vehicle is also received by the wireless device 10.

  The display device 11 is disposed at a place visible from the driver's seat in the passenger compartment, and is controlled by the support control ECU 1 to display the position of the empty parking space in a graphic or character display. Further, the speaker 12 is controlled by the assist control ECU 1 to guide the position of the empty parking space by voice.

  The engine ECU 2 is an ECU that controls the rotation of the engine (not shown) based on the vehicle speed detected by the vehicle speed sensor 21. The engine ECU 2 sends a signal (vehicle speed signal) indicating the vehicle speed detected by the vehicle speed sensor 21 to the in-vehicle LAN 13. To the navigation ECU 4.

  The brake ECU 3 is an ECU that controls a brake actuator (not shown) based on the steering angle detected by the steering sensor 31 and the yaw rate detected by the yaw rate sensor 32. In addition, a signal indicating the steering angle detected by the steering sensor 31 (steering angle signal) and a signal indicating the yaw rate detected by the yaw rate sensor 32 (yaw rate signal) are transmitted to the navigation ECU 4 via the in-vehicle LAN 13.

  The navigation ECU 4 sequentially detects the current position and the current direction of the vehicle based on the vehicle speed signal, the steering angle signal, the yaw rate signal, and the radio wave received from the GPS artificial satellite received by the GPS antenna 41.

  The navigation ECU 4 is connected to a hard disk (HDD) 9 in which digital road map data is stored. The navigation ECU 4 includes an autonomous navigation system that corrects a current position estimated based on a travel locus obtained using a vehicle speed signal, a steering angle signal, a yaw rate signal, and the like by comparing the digital road map data with a GPS artificial satellite. The current position is sequentially determined by hybrid navigation combined with radio navigation that determines the current position based on the radio wave from. In addition, the above-mentioned digital road map data also stores a map of the parking lot, and in the parking lot where the map is stored, the current location of the vehicle can be checked by comparing the map with the travel locus even in the parking lot. Correct the position and orientation. In the parking lot, there are many opportunities for the vehicle to make a right or left turn and the width of the passage is narrow. Therefore, the current position can be detected with high accuracy by using autonomous navigation. As a result, the position of the empty parking space can be detected with high accuracy.

  The sonar ECU 5 detects an obstacle around the vehicle based on signals from the first to fourth sonars 51 to 54. In the parking lot, it is also detected whether other vehicles are parked in the parking space. The first to fourth sonars 51 to 54 are arranged at predetermined positions of the vehicle (for example, the front end and the rear end of both side surfaces of the vehicle), output ultrasonic waves toward the periphery of the vehicle, and reflect the reflected waves. Receive.

  Next, the structure as an empty parking space information transmitter is demonstrated using FIG. As shown in FIG. 2, the vacant parking space information transmission device includes an assist control ECU 1, sonar ECU 5, sonar 51 to 54, navigation ECU 4, and radio 10. Further, the support control ECU 1 includes an empty parking space information transmission device, an empty parking space detection unit 101, an empty parking space position calculation unit 102, a detected empty parking space database (DB) 103, and a transmission determination unit 104. .

  The vacant parking space detection unit 101 uses the information from the sonar ECU 5 to determine whether the vehicle equipped with this device has entered the parking lot using the information from the navigation ECU 4. Detect spaces.

  The empty parking space position calculation unit 102 calculates the position of the empty parking space detected by the empty parking space detection unit 101. And based on a calculation result, detection empty parking space DB103 is updated. The detected empty parking space DB 103 is a database that stores the positions of the empty parking spaces detected by the vehicle on which the device is mounted while traveling in the parking lot.

  The transmission determination unit 104, when an empty parking space information transmission condition (any of steps S72, S74, and S75 in FIG. 7 described later) is established, information indicating an empty parking space stored in the detected empty parking space DB 103, It transmits toward other vehicles located around this vehicle. In addition, the process of the said empty parking space detection part 101, the empty parking space position calculating part 102, and the transmission judgment part 104 is explained in full detail later using a flowchart.

  Next, the structure as an empty parking space information receiver is demonstrated using FIG. As shown in FIG. 3, the vacant parking space information receiving device includes an assist control ECU 1, a navigation ECU 4, a radio device 10, a display device 11, and a speaker 12. In addition, the support control ECU 1 includes a service start determination unit 111, a reception information processing unit 112, a reception information database (DB) 113, a use priority calculation unit 114, an empty parking space database (DB) as a configuration related to an empty parking space information reception device. ) 115 and a driver support generation unit 116.

  The service start determination unit 111 sequentially determines whether or not the vehicle equipped with this device is located in the parking lot, and determines that the parking space guidance service is started based on the determination that the vehicle has entered the parking lot. . This parking space guidance service means processing executed by the next reception information processing unit 112, usage priority calculation unit 114, and driver support generation unit 116.

  Each time reception information is received by the wireless device 10, the reception information processing unit 112 stores the reception information in the reception information DB 113. The reception information includes empty parking space information, and the reception information processing unit 112 receives the empty parking space information stored in the reception information DB 113 and the empty parking space information stored in the empty parking space DB 115. When the content of the empty parking space DB 115 is different from the content of the reception information DB 113 for the empty parking space for which the empty parking space information is stored in the reception information DB 113, the content of the empty parking space DB 115 is Update the contents of the reception information DB 113.

  Based on the empty parking space information stored in the empty parking space DB 115, the usage priority calculating unit 114 (1) whether the empty parking space is a space that can be parked for a vehicle equipped with this device, and (2 ) Calculate ease of parking, and further consider the distance to the empty parking space, the position of other vehicles in the vicinity, etc. (3) Time expected to park, (4) Possible to park Calculate gender. Then, the use priority is calculated based on the calculation results of (1) to (4). This usage priority is used to determine an empty parking space for guidance from a plurality of empty parking spaces in the driver assistance generation unit 116 described below, and can also be referred to as a guidance priority.

  The driver support generation unit 116 causes the display device 11 to display a guidance display for guiding the vehicle to the empty parking space with the highest usage priority calculated by the usage priority calculation unit 114, and to the empty parking space. A guidance voice for guiding the user is output from the speaker 12. The processes of the service start determination unit 111, the reception information processing unit 112, and the usage priority calculation unit 114 will be described in detail later with reference to flowcharts.

  Next, processing of the above-described empty parking space detection unit 101, empty parking space position calculation unit 102, and transmission determination unit 104, which is a configuration of the assist control ECU 1 as an empty parking space information transmission device, will be described using a flowchart and the like.

  FIG. 4 is a flowchart illustrating a detection function start process that is a process of the first half of the empty parking space detection unit 101. First, in step S41, the current position is acquired from the navigation ECU 4, and in the subsequent step S42, a map around the current position acquired in step S41 is acquired from the navigation ECU 4.

  In step S43, it is determined whether or not the vehicle is traveling in the parking lot. Specifically, this determination uses the current position and the surrounding map acquired in steps S41 and S42 to determine whether or not the current position is included in the parking lot and whether or not the vehicle is traveling. Judgment. If this determination is affirmative, the process proceeds to step S44 to start the empty parking space detection function. On the other hand, if the determination is negative, the processing in FIG. 4 is terminated. In this case, the processing of FIG. 4 is started again after a predetermined period.

  When the empty parking space detection process is started in step S44, the empty parking space detection process of FIG. 5 is executed. In FIG. 5, first, in step S51, it is determined whether or not there is a parking space around the own vehicle. This determination is made based on where the vehicle position is located on the parking lot map acquired from the navigation ECU 4.

  If the determination in step S51 is negative, the process in FIG. 5 ends. As described above, the process of FIG. 4 is repeated at a predetermined cycle, and when the vehicle is included in the parking lot, FIG. 5 is executed. Therefore, even if step S51 is negative, if the current position is within the parking lot, FIG. 5 is executed again.

  When step S51 becomes affirmative determination, it progresses to step S52, and a parking space empty detection process is performed during driving | running | working of a vehicle. In this parking space empty detection process, of the four sonars 51 to 54, the sonar ECU 5 performs obstacle detection using the sonar facing the direction of the parking space, acquires the detection result, and is free. Detect parking spaces.

  As the parking space vacancy detection method, various known methods such as the method described in JP-A-4-30300, the method described in JP-A-9-180100, the method described in JP-A-2002-170103, etc. This method can be used. If it demonstrates with a specific example, as shown to Fig.6 (a), the vehicle which is performing the empty parking space detection process will perform the obstacle detection of a parking space direction during driving | running | working. By this obstacle detection, a detection result as illustrated in FIG. 6B is obtained. FIG. 6A is an example in which one parking space is available. In this case, as shown in FIG. 6B, the position where the detection distance is longer than that of one vehicle is shown. The length is longer than the width of one vehicle. As described above, it is assumed that an empty parking space is detected when the position where the distance to the obstacle is longer than the width of one vehicle continues for a length longer than the width of one vehicle. The above-described steps S51 and S52 in FIGS. 4 and 5 are processing of the empty parking space detection unit 101.

  Subsequent steps S <b> 53 to S <b> 55 are processing as the empty parking space position calculation unit 102. In step S53, it is determined whether or not an empty parking space has been detected as a result of the detection process in step S52. When this step S53 is negative determination, this FIG. 5 is complete | finished. On the other hand, when it is affirmation determination, it progresses to step S54 and performs an empty parking space position calculation process.

  In step S54, the coordinates of the empty parking space determined in step S52 are calculated using the relative position between the own vehicle and the empty parking space and the current position of the own vehicle acquired in step S41 of FIG. Further, the direction of the empty parking space is also calculated based on the direction of the host vehicle when the empty parking space is detected.

  In step S55, the position (coordinates) and direction of the empty parking space calculated in step S54 are recorded in the detected empty parking space DB 103. As described above, since the process of FIG. 5 is repeatedly executed while traveling in the parking lot, the detected empty parking space DB 103 stores information on the empty parking spaces detected during the driving. Will go.

  When this FIG. 5 is once completed, the transmission determination process shown in FIG. 7 is executed. FIG. 7 corresponds to the processing as the transmission determination unit 104. First, in step S71, it is determined whether there is an empty parking space with reference to the detected empty parking space DB 103. If this determination is negative, the process in FIG. 7 is terminated.

  On the other hand, when it becomes affirmation determination, it progresses to step S72 and it is determined whether the own vehicle is a place which leaves a parking lot. Whether the host vehicle is about to leave the parking lot can be determined, for example, by the following (1) to (3). (1) If the vehicle starts moving again after a certain period of time since entering the parking lot, it is determined that the vehicle is about to leave. (2) When the engine is started in the parking lot, it is determined to leave. (3) If the destination of the guide route is set in a different location from the parking lot in the parking lot, it is determined that the vehicle will leave.

  If step S72 is affirmative, that is, if it is determined that the vehicle is about to leave the parking lot, the process immediately proceeds to step S76, and the empty parking space information stored in the detected empty parking space DB 103 is transmitted. .

  On the other hand, if step S72 is negative, it is considered that the host vehicle is also looking for a parking pace. In this case, the process proceeds to step S73. In step S73, the current position is acquired from the navigation ECU 4. In a succeeding step S74, it is determined whether or not a parking space has been entered. This determination is made based on, for example, whether or not the ignition switch is turned off or whether or not the own vehicle position does not move for a predetermined time. The predetermined time is, for example, 3 minutes or longer. If the determination in step S74 is affirmative, the space where the vehicle is parked is determined based on the current position acquired in step S73, and among the free parking spaces stored in the detected free parking space DB 103, The space where the car is parked is deleted from the detected empty parking space DB 103, and then the process proceeds to step S76, and the empty parking space information stored in the detected empty parking space DB 103 is transmitted.

  If the determination in step S74 is negative, the process proceeds to step S75, where the distance of the host vehicle from the empty parking space stored in the immediately preceding step S55 is calculated, and the distance is considered to be far from the empty parking space. It is determined whether or not the distance has been reached (here, 100 m or more). If this determination is affirmative, it is considered that the vehicle is no longer parked in the empty parking space stored in the immediately preceding step S55, and therefore the process proceeds to step S76 and stored in the detected empty parking space DB 103. Sends information about available parking spaces. On the other hand, if step S75 is negative, step S76 is not executed, and FIG. 7 is terminated.

  In addition, as disclosed in Japanese Patent No. 3805923, the timing for transmitting the empty parking space information in step S76 may be determined according to the position situation, driving situation, and surrounding situation of the own vehicle. Information may be sent immediately after proceeding to step S76.

  4, 5, and 7 are processes that are executed while the vehicle is traveling in the parking lot. Alternatively, it can be determined that the host vehicle that has been parked can leave the parking lot. May use the parking position as an empty parking space and immediately transmit the empty parking space information.

  Whether or not the host vehicle leaves the parking lot is determined from the travel history of the host vehicle. Specifically, after the host vehicle parks for a certain period of time after entering the parking lot, if the host vehicle starts moving again, it is determined to leave. Moreover, when the engine start in a parking lot is detected, you may judge leaving. Further, it may be determined that the user exits if a place other than the parking lot is set as the destination in the parking lot.

  Further, in steps S54 and S55 of FIG. 5, the position and orientation of the empty parking space are calculated and recorded. In addition, the length and width of the empty parking space may be calculated and recorded. Further, the type of parking space may be recorded. Here, the type of parking space means a distinction between a parking space exclusively for disabled persons, a parking space dedicated to light vehicles, and a parking space that is neither of them (normal parking space). As a method for discriminating this type, for example, there is a method in which an in-vehicle camera is provided, a range including a parking space is imaged, and a type mark or character drawn on the parking surface is recognized from the captured image. Further, when there is an information transmission facility related to the space in the vicinity of the parking space, the type information may be obtained from the information transmission facility.

  Next, the processes of the service start determination unit 111, the reception information processing unit 112, and the use priority calculation unit 114, which are the configuration of the support control ECU 1 as the vacant parking space information reception device, will be described based on a flowchart.

  FIG. 8 is a flowchart showing the processing of the service start determination unit 111, which is repeatedly executed at a predetermined cycle. First, in step S81, the current position is acquired from the navigation ECU 4, and in the subsequent step S82, a map around the current position acquired in step S81 is acquired from the navigation ECU 4.

  In a succeeding step S83, it is determined whether or not the vehicle is traveling in the parking lot. Specifically, this determination uses the current position and the surrounding map acquired in steps S81 and S82 to determine whether or not the current position is included in the parking lot and whether or not the vehicle is traveling. Judgment. If this determination is affirmative, the process proceeds to step S84 to enter a reception waiting state. In addition, when the information transmission facility is provided in the parking lot, it may be determined that the current position is included in the parking lot based on the reception of information from the information transmission facility. Further, as a condition for entering the reception waiting state, instead of the condition of step S83, it may be a condition whether or not the driver has performed a predetermined button operation for instructing the reception waiting state.

  In the reception waiting state, the processing shown in FIG. 9 and the processing shown in FIG. 10 are executed. On the other hand, if the determination is negative, the processing in FIG. 8 is terminated. In this case, the processing of FIG. 8 is started again after a predetermined period.

  FIG. 9 is a flowchart showing processing of the reception information processing unit 112. First, in step S91, it is determined whether there is reception information. This received information includes empty parking space information transmitted in step S76 of FIG. 7 and parking space utilization information described later.

  If the determination in step S91 is negative, the process in FIG. 9 ends. However, when step S84 is executed in FIG. 8, the processing of FIG. 9 is started again. On the other hand, if the determination in step S91 is affirmative, the reception information is recorded in the reception information DB 113 in step S92.

  In subsequent step S93, the reception information recorded in step S92 is compared with the recorded content of the empty parking space DB 115, and it is determined whether or not the received information is different from the recorded content of the empty parking space DB 115. If this determination is a negative determination, the processing in FIG. 9 is terminated. On the other hand, when it is affirmation determination, it progresses to step S94, and after updating the content of empty parking space DB115 based on reception information, the process of FIG. 9 is complete | finished.

  FIG. 10 is a flowchart showing the processing of the usage priority calculation unit 114, and calculates the usage priority for all the empty parking spaces recorded in the empty parking space DB 115. Therefore, the process shown in FIG. 10 is executed for all the empty parking spaces recorded in the empty parking space DB 115, respectively.

  In step S101, it is determined whether or not the own vehicle can be parked in the empty parking space based on the empty parking space information stored in the empty parking space DB 115 and the information on the own vehicle stored in advance. Specifically, as the empty parking space information, the size (length and width) of the empty parking space is recorded, but when the type information is not recorded, the size and the size of the own vehicle are recorded. If an empty parking space is larger, it is determined that parking is possible. In addition, when the type information is included in the empty parking space information, it is determined whether or not parking is possible in the empty parking space using the type information and the type of the host vehicle.

  When step S101 becomes a negative judgment, it progresses to step S106 and makes a use priority zero. On the other hand, when step S101 is affirmation determination, it progresses to step S102, and acquires the present position and parking lot map of the own vehicle from navigation ECU4. In the subsequent step S103, the route distance to the empty parking space is calculated using the current position and the parking lot map acquired in step S102.

  In continuing step S104, the position of the other vehicle located in the same parking lot is acquired. In order to acquire the position of the other vehicle, for example, each vehicle may periodically transmit the position of the own vehicle to the vicinity of the own vehicle while in the reception waiting state, or this step S104. When the vehicle is executed, a request for returning the vehicle position may be transmitted around the host vehicle if the vehicle is in a reception waiting state.

  In subsequent step S105, the use priority of the empty parking space is calculated. After determining the ease of parking, the expected time to park, and the possibility of parking, this usage priority determines the ease of parking, the expected time to park, The use priority is calculated based on a predetermined relational expression for calculating the use priority based on the possibility of being used.

  Here, the ease of parking is determined from the difference between the size of the empty parking space and the size of the host vehicle. Further, the time expected to take until parking is calculated from the route distance calculated in step S103. The possibility of parking is determined as follows. Using the position of the other receiving vehicle acquired in step S104, the route distance to the vacant parking space is calculated for the other receiving vehicle, and parking is possible by comparing the route distance of the own vehicle with the route distance of the other receiving vehicle. Determine sex.

  When the processing in FIG. 10 is executed for all the empty parking spaces and the usage priority is calculated, the driver support generation unit 116 guides the driver to the empty parking space with the highest usage priority. Specifically, for example, the display device 11 displays a parking lot map indicating an empty parking space as illustrated in FIG. 11, and “the left-side empty parking space information is received as illustrated in FIG. 11. ”Is output from the speaker 12.

  After this guidance, when it is detected based on the parking lot map and the current position that the driver has driven a car and entered an empty parking space, the assist control ECU 1 performs parking indicating that the parking space is to be used. Send space usage information to other receiving vehicles. The vehicle that has received this parking space utilization information updates the empty parking space DB 115 as described with reference to FIG.

  In addition, after this guidance, when the driver makes a reservation for use of the empty parking space by operating a predetermined button, the assist control ECU 1 receives reserved parking space information indicating that the parking space is to be parked in another receiving vehicle. Send to. The vehicle that has received the reserved parking space information does not guide the parking space to the driver.

  As described above, according to the present embodiment described above, since a vehicle running in the parking lot detects a surrounding empty parking space during the running, an empty parking space covering a wide range in the parking lot with one vehicle. Can be detected. In addition, since the traveling vehicle detects, there is little concern about the battery running out.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to the above-mentioned embodiment, The following embodiment is also contained in the technical scope of this invention, and also the summary other than the following is also included. Various modifications can be made without departing from the scope.

  For example, in the above-described embodiment, the size of the space where there is no obstacle is determined using the sonars 51 to 54, and when the size of the space is larger than the space for one vehicle, I was judging. However, in this case, there is a risk of erroneously determining that the passage is an empty parking space. If the current position detection accuracy of the host vehicle is sufficiently high and has a map in the parking lot, the passage in the parking lot can be distinguished from the empty space adjacent to the passage. When the current position is detected using hybrid navigation as in the above-described embodiment, the current position detection error (hereinafter referred to as position detection error) is usually relatively small. However, the position error may be relatively large even with hybrid navigation, such as when radio waves from GPS satellites cannot be received sufficiently, or when straight running continues and the frequency of correction by autonomous navigation is low. is there. Therefore, there is a possibility of erroneously determining that the passage is an empty parking space.

  Therefore, when the position error (m) is sequentially estimated and the distance to the passage is equal to or smaller than the position error, information on the empty parking space is not transmitted even when the empty parking space is detected. It may be.

  Here, the position error is estimated based on how long the reception state of the radio wave from the GPS artificial satellite lasts, or the elapsed time since the current position is corrected by autonomous navigation, or both. Based on. In addition, the reception condition of the radio wave from the GPS artificial satellite is poor means that the number of radio waves that can be received is less than 3 (or 4).

  If the distance to the aisle is larger than the position error, even if the absolute value of the position error is large, the empty parking space information is transmitted to the empty parking space based on the empty parking space information. This is because it is easy to find an empty parking space even if the guided position and the actual position are slightly different.

  FIG. 12 is a diagram illustrating the case where the empty parking space information is transmitted and the case where the empty parking space information is not transmitted. In FIG. 12, the position error of the vehicle A and the position error of the vehicle B are the same for the sake of simplicity. Thus, even if the range of the position error is the same, in the case of the vehicle A in which the distance from the empty parking space to the passage is smaller than the position error, the empty parking space information is not transmitted, but from the empty parking space to the passage. In the case of the vehicle B whose distance is larger than the position error, the empty parking space information is transmitted.

  However, even in the case of the vehicle A, the vacant parking space information is temporarily stored, the position error becomes small (for example, when correction is performed by autonomous navigation), and the vacant parking space temporarily stored is a passage. When it can be determined that it is not, the empty parking space information may be transmitted.

  In the above-described embodiment, each vehicle is provided with a parking lot map. However, the present invention is a vehicle that transmits empty parking space information (hereinafter referred to as a transmitting vehicle) and a vehicle that receives the vehicle (hereinafter referred to as a receiving vehicle). Either one of the vehicles may not have a parking lot map, and both vehicles may not have a parking lot map.

  However, if the transmitting vehicle does not have a parking lot map, even if an empty space larger than the size of the vehicle is detected, it is distinguished by referring to the parking lot map whether the empty space is a parking space or a passage. Is not possible with a transmitting car. In this case, the following two measures can be taken.

  In the first means, when the transmitting vehicle detects an empty space larger than the size of the vehicle, the transmitting vehicle transmits the empty space information including the fact that it is not distinguished whether it is a parking space or a passage. Then, the receiving vehicle determines whether the space indicated in the empty space information is a parking space or a passage using the parking lot map information.

  A 2nd means determines whether it is a passage or a parking space from the characteristic of the empty space obtained by the sensor with which the transmission vehicle is equipped. For example, the length of the vacant space is determined by a peripheral monitoring sensor such as sonar, and if the length of the vacant space is not less than the length of one vehicle and not more than 5 m, it is determined to be a parking space. If there is, it is determined that it is a passage. However, even if the length of the empty space is 5 m or more, the parking space may be determined if the width is 3.0 m or less.

  A camera may be used as the sensor. When using a camera, the camera captures a range including an empty space, and determines whether the captured image includes a white line and whether the empty space is a passage or a parking space from the shape of the white line. .

  In addition, when the receiving vehicle does not have a parking lot map, there is a problem that image display as shown in FIG. 11 cannot be performed. However, even if the receiving vehicle does not have a parking lot map, the direction of the empty parking space with respect to the receiving vehicle can be determined. Therefore, as a guide for the parking space, the direction of the empty parking space with respect to the receiving vehicle (for example, “there is an empty parking space in the left front”) is output by voice or displayed on the screen.

  In the above-described embodiment, when an empty parking space is detected, the empty parking space information is transmitted. However, when the empty parking space information transmitted by another device is received, the detected empty parking space DB 103 is received. Are updated, and when the detected empty parking space DB 103 detects that a parking space that is an empty parking space is used, it transmits used parking space information indicating that the parking space is being used. May be. In this case, when the used parking space information transmitted from another vehicle is received, the empty parking space DB 115 is updated based on the used parking space information.

  In the above-described embodiment, the information is transmitted directly from the transmitting vehicle to the receiving vehicle. However, the parking lot that receives the empty parking space information and stores the received empty parking space information in the parking lot. Equipment may be provided. In this case, the parking lot facility transmits the stored empty parking space information into the parking lot at a predetermined transmission time after receiving the empty parking space information. The predetermined transmission time includes, for example, when a sensor or the like detects that the vehicle has entered the parking lot at regular intervals, or when an information request signal is received from the vehicle.

  Moreover, in the above-mentioned embodiment, although one empty parking space with the highest use priority was guided, you may guide a several empty parking space simultaneously. When guiding a plurality of empty parking spaces at the same time, their usage priority may also be guided.

  Further, a radar may be used instead of the sonars 51 to 54 in the above-described embodiment.

In the above-described embodiment, the current position and the current direction of the vehicle are detected by hybrid navigation of radio navigation and autonomous navigation, but indoor parking lots and three-dimensional parking lots that are difficult to receive radio waves from GPS artificial satellites. In, the current position and current direction of the vehicle may be detected by autonomous navigation based on the position of the vehicle immediately before entering the parking lot and the traveling locus.

It is a figure which shows the principal part structure of the vehicle containing the structure of an empty parking space guidance apparatus. It is a figure explaining the structure as an empty parking space information transmitter. It is a figure explaining the structure as an empty parking space information receiver. It is a flowchart which shows the detection function start process which is a process of the first half part of the empty parking space detection part. It is a flowchart which shows an empty parking space detection process. It is a figure explaining an example of the parking space empty detection method. It is a flowchart which shows a transmission judgment process. It is a flowchart which shows the process of the service start judgment part 111. FIG. 5 is a flowchart showing processing of a reception information processing unit 112. It is a flowchart which shows the process of the utilization priority calculation part 114. FIG. It is an example of the parking lot map which shows an empty parking space. It is a figure explaining contrasting the case where empty parking space information is transmitted, and the case where it does not transmit.

Explanation of symbols

1: support control ECU, 2: engine ECU, 3: brake ECU, 4: navigation ECU, 5: sonar ECU, 10: wireless device, 11: display device, 12: speaker, 13: in-vehicle LAN, 21: vehicle speed sensor, 31: Steering sensor, 32: Yaw rate sensor, 41: GPS antenna, 51: Sonar 1, 52: Sonar 2, 53: Sonar 3, 54: Sonar 4, 101: Empty parking space detection unit, 102: Empty parking space position calculation 103: Detection empty space DB, 104: Transmission determination unit, 111: Service start determination unit, 112: Reception information processing unit, 113: Reception information DB, 114: Usage priority calculation unit, 115: Empty parking space D , 116: driver support generating unit

Claims (18)

  An empty space that is mounted on a vehicle and at least includes position information of the empty parking space based on the detection of an empty parking space that is found around the vehicle while the vehicle is traveling in the parking lot. An empty parking space information transmitting device characterized by wirelessly transmitting parking space information. An empty parking space information transmitting device according to claim 1;
It is mounted on a vehicle different from the vehicle on which the empty parking space information transmission device is mounted,
An empty parking space information receiving device that receives the empty parking space information transmitted by the empty parking space information transmitting device and guides an empty parking space in a parking lot to a passenger based on the received empty parking space information. Equipped parking space information system. In the empty parking space guidance system according to claim 2,
A parking lot facility installed in a parking lot, receiving the empty parking space information transmitted by the empty parking space information transmitting device, and storing the received empty parking space information;
The parking lot facility transmits the stored empty parking space information to the parking lot at a predetermined transmission time after receiving the empty parking space information. In the empty parking space guidance system according to claim 2 or 3,
In the empty parking space information transmitted by the empty parking space information transmitting device, in addition to the fact that the parking space is vacant and the position of the parking space, the size of the parking space and the vehicle type that can use the parking space At least one of them,
The empty parking space information receiving device determines whether or not the vehicle on which the empty parking space information receiving device is mounted can use the empty parking space indicated by the empty parking space information based on the received empty parking space information. An empty parking space guidance system characterized by In the empty parking space information transmitter according to claim 1,
When the empty parking space is detected and it can be determined that the vehicle equipped with the empty parking space information transmitting device is leaving the parking lot, the empty parking space information is immediately transmitted. An empty parking space information transmitter characterized by the above. In the empty parking space information transmitter according to claim 1 or 5,
When it is possible to determine that the empty parking space is detected and the vehicle on which the empty parking space information transmission device is mounted is also looking for a parking space,
Based on the fact that the parking space in which the vehicle is parked can be determined, the empty parking space information about the empty parking space detected so far is transmitted except for the parking space. Transmitter device. In the empty parking space information transmitter of any one of Claims 1, 5, and 6,
When it is possible to determine that the empty parking space is detected and the vehicle on which the empty parking space information transmission device is mounted is also looking for a parking space,
An empty parking space information transmitting device that transmits the empty parking space information about the parking space based on the fact that the vehicle is separated from the empty parking space. In the empty parking space information transmitter according to any one of claims 1, 5 to 7,
When it can be determined that the vehicle equipped with the empty parking space information transmission device leaves the parking space from the state where the vehicle is parked in the parking space, the empty parking space information about the parking space is wirelessly transmitted. An empty parking space information transmitter characterized by the above. In the empty parking space information transmitter according to any one of claims 1, 5 to 8,
It also has map data in the parking lot,
While sequentially acquiring the current position of the vehicle on which the vacant parking space information transmission device is mounted, the estimation error of the current position is sequentially calculated,
When the distance between the passage parallel to the detected empty parking space and the closest passage to the empty parking space and the empty parking space is smaller than the estimated error, the empty parking space is detected. Even so, the empty parking space information transmitting device is characterized by not transmitting the empty parking space information about the empty parking space. In the empty parking space information transmitter according to claim 9,
Stores empty parking space information that has not been transmitted because the distance is smaller than the estimated error, and stores the travel locus after detecting the empty parking space up to a position where the current position can be corrected by map matching. And
An empty parking space information transmitting device that transmits the empty parking space information when it is determined that the empty parking space information is not a passage based on the corrected current position and the travel locus. In the empty parking space information transmitter according to any one of claims 1, 5 to 8,
An obstacle detection sensor that detects obstacles around the vehicle on which the empty parking space information transmission device is mounted,
The distance to the obstacle is sequentially determined from the detection result of the obstacle detection sensor, and there is an empty parking space based on the fact that the length and width of the empty space that can be determined based on the distance are within a predetermined length range. An empty parking space information transmitting device characterized by: In the empty parking space information transmitter according to any one of claims 1, 5 to 8, and 11,
It has a camera that images the surroundings of the vehicle on which the empty parking space information transmission device is mounted,
An empty parking space information transmitting device that detects an empty parking space by analyzing an image captured by the camera. In the empty parking space guidance system according to any one of claims 2 to 4,
The empty parking space information receiving device is:
Sequentially receiving the empty parking space information transmitted by the empty parking space information transmitting device, sequentially updating the empty parking space database based on the received empty parking space information,
Based on the empty parking space information stored in the empty parking space database, the usage priority for each empty parking space is calculated,
A parking space guidance system that determines an empty parking space for guidance from a plurality of empty parking spaces based on the priority of use. In the empty parking space guidance system according to claim 13,
The empty parking space information transmitter is
Receives empty parking space information transmitted by other empty parking space information transmission devices,
Create an empty parking space database based on the received empty parking space information,
When it is detected in the empty parking space database that a parking space that is an empty parking space is used, the used parking space information indicating that the parking space is being used is wirelessly transmitted. ,
The empty parking space information receiving device updates the empty parking space database based on the used parking space information when the used parking space information is received. In the empty parking space guidance system according to claim 13 or 14,
The empty parking space information receiving device is:
When it is determined that the vehicle equipped with the vacant parking space information receiving device has parked in the vacant parking space stored in the vacant parking space database, the parking space usage information indicating that the vacant parking space is used is transmitted. And
When the parking space usage information is received from another empty parking space information receiving device, the empty parking space database is updated based on the received parking space usage information. . In the empty parking space guidance system according to any one of claims 2 to 4, 13 to 15,
The empty parking space information receiving device further includes map data in a parking lot, and determining whether the received empty parking space information is a parking space or a passage based on the map data in the parking lot. An empty parking space guidance system characterized by In the empty parking space guidance system according to any one of claims 2 to 4, 13 to 15,
The empty parking space information receiving apparatus guides the direction of an empty parking space indicated by the received empty parking space information. The empty parking space guidance system according to any one of claims 2 to 4, 13 to 17,
The empty parking space information receiving device is:
After guiding the vacant parking space to the occupant, if it is detected that the occupant has made a reservation operation for using the vacant parking space, the reserved parking space information indicating that the vacant parking space is parked is transmitted. And
When the reserved parking space information is received from another vacant parking space information receiving device, the vacant parking space guidance system does not guide the vacant parking space indicated by the received reserved parking space information.

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