JP2011058229A - Parking lot guidance system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To smoothly and surely guide a vehicle to a guide place without requiring manual operation in a parking lot with a plurality of parking spaces. <P>SOLUTION: An image of the parking lot 50 is photographed by a camera 2, and the photographed image is outputted to a guidance processor 10. The photographed image is processed by the guidance processor 10 to discriminate whether each parking space 53 is vacant and to acquire vacancy information for every parking space 53. Based on the photographed images of the parking lot 50 photographed in sequence, the guidance processor 10 detects unparked vehicles, discriminates the advancing directions of the vehicles, and determines the vacant parking space 53 for guiding each detected unparked vehicle. A guidance display device 4 displays a guidance display to the vacant parking space 53 sequentially ahead in the advancing direction of the unparked vehicle to guide the unparked vehicle to the vacant parking space 53 in conformity to the advance of the unparked vehicle. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a parking lot guidance system that guides a vehicle to a predetermined guidance destination corresponding to each in a parking lot having a plurality of parking spaces.

  In a parking lot having a plurality of parking spaces, for example, a person can be arranged at each of a plurality of points in an entrance or a parking lot to grasp a parking situation and an empty parking space, and a vehicle can be manually guided to the empty parking space. Has been done. However, manual guidance can result in work in hot weather, wind, rain, snow, or cold, requiring difficult work due to changes in the environment, and labor costs corresponding to the number of people continue. There is a problem that it is necessary. In addition, it is difficult to accurately guide the vehicle by accurately grasping the empty parking space at all times, and it is difficult to guide the vehicle smoothly in the parking lot, resulting in waste of labor and time and the burden on the parking lot user. May also increase.

  On the other hand, conventionally, the state of a plurality of unit sections (parking spaces) is determined, the parking available space is displayed on the parking guidance screen installed in the parking lot, and the vehicle driver is parked via the parking guidance screen. A parking management system for guiding a route is known (see Patent Document 1).

  In this conventional system, the driver checks the display of the parking guidance screen and drives and moves the vehicle to an empty parking space, regardless of manual guidance. However, in this case, since the driver needs to memorize the route to the parking space displayed on the parking guidance screen and move in the parking lot based on the memory, there is a problem that the driver is burdened. is there. Further, as the route is confirmed and stored, the vehicle stays in front of the parking guidance screen for a relatively long time, so that traffic congestion may occur in the vicinity of the vehicle and the smooth flow of the vehicle in the parking lot may be hindered. Furthermore, when the driver forgets the route or makes a mistake, it is necessary to search for the target parking space in the parking lot, and the vehicle cannot be guided smoothly in the parking lot, and time and labor are wasted. This may increase the burden on the driver. At that time, if the vehicle is parked in a nearby empty parking space, other vehicles aiming at the parking space cannot be parked, and another empty parking space is searched again. As described above, the conventional system is required to be further improved from the viewpoint of user convenience.

JP 2009-517767

  The present invention has been made in view of such a conventional problem, and its purpose is a parking lot having a plurality of parking spaces, while reducing the burden on the user of the parking lot and moving the vehicle to the guidance destination. It is to guide the vehicle smoothly and reliably without the need for manpower, and improve the convenience of the user of the parking lot.

  The present invention is a parking lot guidance system for guiding a vehicle in a parking lot having a plurality of parking spaces, and a vacancy information for each parking space based on a camera for taking a picture of the parking lot and a photographed image of the parking lot. , A means for detecting an unparked vehicle based on a photographed image of the parking lot, a means for determining the traveling direction of the detected unparked vehicle, and an unparked vehicle being parked as it progresses Means for guiding the vehicle to the space, means for detecting the vehicle started from the parking space based on the captured image of the parking lot, means for determining the traveling direction of the detected starting vehicle, and parking the starting vehicle in accordance with the progress. Means for guiding to the exit of the parking lot.

  According to the present invention, in a parking lot having a plurality of parking spaces, it is possible to smoothly and surely guide the vehicle to the guidance destination without reducing the burden on the user of the parking lot, and to use the parking lot. User convenience can be improved.

It is a top view which shows schematic structure of the parking lot guidance system of this embodiment. It is a functional block diagram which shows schematic structure of the guidance processing apparatus of this embodiment. It is a flowchart which shows the procedure which guides an unparked vehicle to an empty parking space by the parking lot guidance system of this embodiment.

Hereinafter, an embodiment of a parking lot guidance system of the present invention will be described with reference to the drawings.
FIG. 1 is a plan view showing a schematic configuration of a parking lot guidance system according to the present embodiment, and schematically shows a state in which each configuration is installed in a parking lot as viewed from above.
As shown in the figure, the parking lot guidance system 1 includes a camera 2 for photographing the parking lot 50, an information display device 3, a guidance display device 4 for guiding a vehicle (not shown), and these are wired or wireless. And a guidance processing device 10 that also serves as a connected control device.

  Here, the parking lot 50 is a facility that is installed indoors or outdoors, underground, etc., and parks various vehicles. The parking lot 50 has an entrance 51 and an exit 52 where vehicles enter and exit, and a plurality of parking spaces 53 where the vehicles park (see FIG. 1 are indicated by hatched rectangular frames) and a passage 54 through which the vehicle passes. The parking space 53 is an area in the parking lot 50 that is assigned to park one vehicle, and is connected to the entrance 51 and the exit 52 by the passage 54. The parking lot guidance system 1 guides a moving vehicle to a predetermined parking space 53 or to an exit 52 based on a photographed image by the camera 2 in the parking lot 50 having the plurality of parking spaces 53.

  One or a plurality of (two in this case) cameras 2 are installed according to the size of the parking lot 50, and are directed above the parking lot 50 toward a predetermined shooting range so that the entire parking lot 50 can be seen. It is arranged obliquely downward and takes an image of the entire parking lot 50 including the vehicle. The camera 2 is composed of a commercially available digital camera, digital video camera, or the like that captures images, and is controlled by the guidance processing device 10 to capture images of the parking lot 50 continuously or at a predetermined interval or timing. As a result, the two cameras 2 take images of the parking lot 50 and the vehicle in the parking lot 50 in synchronism, convert images formed on the imaging elements into electric signals, etc. Data is output to the guidance processing device 10.

  The information display device 3 is a device that displays information visually, for example, a display board or display screen made of a display. The information display device 3 is arranged outward in the vicinity of the entrance 51 of the parking lot 50, and faces the periphery or entrance 51. Predetermined information is displayed as characters or figures toward the vehicle. At this time, the information display device 3 relates to the parking lot 50 based on a signal received from the guidance processing device 10, such as a vehicle guidance procedure, a full or empty display, a layout of the parking lot 50, and a state of each parking space 53. Displays various information.

  The guidance display device 4 is a means for guiding a vehicle entering the parking lot 50 or a vehicle in the parking lot 50 to a predetermined guidance destination (the empty parking space 53 or the exit 52 of the parking lot 50). The guidance display to the guidance destination is displayed in order, and the vehicle is guided to each guidance destination. In the present embodiment, the guidance display device 4 closes a large number of light emitting elements (light emitting diodes, light bulbs, etc.) that emit light independently of each other, a concave groove formed in the passage 54 for accommodating them, and an upper surface of the concave groove. And a light transmitting member constituting a part of the passage 54. The light emitting elements are housed side by side in the recessed groove at predetermined intervals, and are arranged along the central portion of the passage 54 from the inlet 51 to the outlet 52 over the entire passage 54. The light emitting elements branch from the central part of the passage 54 toward the entrance / exit part of each parking space 53, and are arranged side by side up to the plurality of parking spaces 53. The plurality of parking spaces 53, the entrances 51, and the exits 52 are respectively arranged. Installed to connect.

  The guidance display device 4 emits one or a plurality of adjacent light emitting elements to display the guidance direction of the vehicle, and moves the guidance display for the vehicle by sequentially changing the light emitting elements to emit light in the parallel direction. Thereby, the guidance display device 4 moves the guidance display that emits light from the entrance 51 to the parking space 53, and sequentially guides unparked vehicles from the entrance 51 to the empty parking space 53. Further, the guidance display device 4 moves the guidance display from the parking space 53 to the exit 52, and sequentially guides vehicles that have started from the parking space 53 to the exit 52. At that time, the guidance display device 4 is controlled by the guidance processing device 10 to move the guidance display to each guidance destination in accordance with the progress of each vehicle, and sequentially display in front of the traveling direction of the vehicle.

  The guidance processing apparatus 10 includes a CPU (Central Processing Unit) 11, a ROM (Read Only Memory) 12 that stores various programs for control and guidance processing, and a RAM (Random Access) that temporarily stores data that the CPU 11 directly accesses. Memory) 13 and the like. In addition, the guidance processing device 10 includes connection means for connecting to each part of the parking lot guidance system 1, and transmits and receives various data including image data and control signals via the connection means. The guidance processing device 10 controls each part of the device and performs related operations at preset timings and conditions while executing each processing for guidance and control based on a predetermined program.

FIG. 2 is a functional block diagram showing a schematic configuration of the guidance processing apparatus 10, and other connected configurations are schematically shown by blocks.
As shown in the figure, the guidance processing device 10 is connected to each other inside, the two cameras 2 are connected via the input unit 20, and the information display device 3 and the guidance display device 4 are connected via the output unit 21. Has been. In addition, the guidance processing device 10 includes a storage unit 22 that stores setting conditions and images of guidance processing, various kinds of information in the parking lot 50, and the control unit 23, and captures the parking lot 50 input from the camera 2. The image is stored in the storage unit 22 and the devices 3 and 4 are controlled by the control unit 23 to operate as described above. Furthermore, the guidance processing device 10 includes a parking space recognition unit 24, a vehicle detection unit 25, a vehicle recognition unit 26, and a guidance processing unit 27. With these, the captured image of the parking lot 50 is image-processed, and the vehicle The guidance process is executed.

  The parking space recognition unit 24 determines whether each parking space 53 in the parking lot 50 is vacant based on the captured image of the parking lot 50 and recognizes each state of the plurality of parking spaces 53. Here, for each parking space 53, recognition marks such as letters, symbols, numbers, figures and the like are drawn with white lines, and the recognition is performed in each parking space 53 area (hereinafter referred to as a setting area) set on the photographed image. When the mark is not detected, it is determined that the vehicle is parked, and when the recognition mark is detected, it is determined that the vehicle is free. The parking space recognizing unit 24 determines the state of each parking space 53 in the parking lot 50 (presence / absence of a parked vehicle) by this determining means, and recognizes the state of the parking space 53 and the parking state of the parking lot 50. In this way, the guidance processing device 10 acquires vacancy information for each of the plurality of parking spaces 53 (information on whether or not each parking space 53 is vacant) based on the captured image of the parking lot 50, and vacancy information. Is stored in the storage unit 22.

  Note that the state and vacancy information for each parking space 53 may be sequentially determined and acquired from each captured image using the background subtraction method. In this case, an image of the parking lot 50 with no vehicle is captured, the captured image is converted into an edge image obtained by extracting the edge of the recognition mark, and this image is stored in the storage unit 22 as a background image. Based on the difference between the background image and the captured image of the parking lot 50, whether or not the edge of the background image is in the captured image determines the current state of each parking space 53 and obtains vacant information. Further, without providing a recognition mark in the parking space 53, it is possible to detect whether there is a vehicle in a setting area on the captured image based on the captured image based on the difference between frames and perform the above-described determination. . In the inter-frame difference, a difference for each pixel between consecutively captured frame images is calculated, and a pixel having a difference value equal to or greater than a predetermined threshold is extracted to determine an image change. Detect the position of the vehicle. Based on this detection result, the entry / exit of the vehicle into / from the parking space 53 and the state of each parking space 53 are determined, and the vacant information is acquired.

  The vehicle detection unit 25 is a unit that detects a vehicle in the parking lot 50 based on a captured image of the parking lot 50. Here, the vehicle detection unit 25 detects a vehicle and a vehicle from a captured image sequentially acquired from the camera 2 based on a difference between frames. The position is detected for each image. Thereby, the vehicle detection part 25 detects all the vehicles in the parking lot 50 including the unparked vehicle, the parked vehicle, and the vehicle started from the parking space 53, and the position in the parking lot 50. To do. At the same time, the vehicle detection unit 25 obtains a change in position between frames for each vehicle, sequentially determines the traveling (moving) direction of each detected vehicle, and the traveling direction of the unparked vehicle and the vehicle started from the parking space 53 Is detected.

  The guidance processing device 10 detects the vehicle entering the parking lot 50 from the entrance 51 by the vehicle detection unit 25, and thereafter always detects the vehicle during movement and parking until it leaves the exit 52. And keep tracking in the parking lot 50. In addition, the guidance processing device 10 determines whether or not an unparked vehicle is parked in the parking space 53 and whether or not a parked vehicle has started from the parking space 53 based on the detection result of the vehicle. At that time, when the vehicle enters the set area of the captured image and stops, and a predetermined time has elapsed, it is determined that the vehicle is parked in the parking space 53 and the vehicle starts from the set area. When a predetermined time elapses, it is determined that the vehicle has started and the parking space 53 is vacant. In this way, the guidance processing device 10 determines the state of each parking space 53 based on the captured image of the parking lot 50 by each of these determining means in addition to the parking space recognition unit 24, and Get free information. In addition, the guidance processing device 10 vacates each parking space 53 stored in the storage unit 22 in accordance with parking of an unparked vehicle in the parking space 53 and starting from the parking space 53 of the vehicle based on each determination result. Update information. Thereby, the latest state of the parking space 53 is grasped, and it is always recognized whether or not each parking space 53 is vacant.

  When a vehicle is detected at the entrance 51, the vehicle recognition unit 26 has means for determining the type of the vehicle based on the captured image, and determines and recognizes the type of the detected unparked vehicle. Here, the size of the vehicle, for example, the vehicle height and area in the image is acquired from the captured image, and the type of large vehicle, ordinary vehicle, light vehicle, motorcycle, etc. is determined, and the vehicle is classified by type. Recognize separately. Further, the vehicle recognition unit 26 has means for detecting the lateral width of the vehicle based on the captured image, and also detects and recognizes the lateral width of the unparked vehicle detected at the entrance 51. However, the vehicle type and width are created in advance by creating a vehicle database in which the vehicle type (vehicle name, model, etc.), shape, type, and width of the vehicle are associated with each other and stored in the storage unit 22. The vehicle type of the vehicle may be discriminated from the vehicle database and collated with the vehicle database.

  The guidance processing unit 27 performs a process of guiding each vehicle detected in the parking lot 50 to the respective guidance destination, and unparked vehicles to the empty parking space 53 and vehicles started from the parking space 53 to the exit 52. Guide to. Specifically, the guidance processing unit 27 identifies each vehicle detected at the entrance 51 by assigning ID (Identification), which is identification information, and also indicates vehicle information indicating whether the vehicle is unparked or parked. (Parking flag, parked flag) is given to grasp the state. Moreover, based on the empty information for every parking space 53 memorize | stored in the memory | storage part 22, the empty parking space 53 which guides an unparked vehicle is determined according to a predetermined allocation pattern. At that time, the storage unit 22 includes parking space information including the width of each parking space 53 and the types of vehicles that can be parked, the lateral width of a vehicle parked in each parking space 53 (detected width by the vehicle recognition unit 26), and the like. An empty parking space 53 to be guided is determined based on the stored information.

  That is, the guidance processing unit 27 determines an empty parking space 53 for guiding an unparked vehicle according to the type of vehicle determined by the vehicle recognition unit 26. For example, a parking space 53 for a large vehicle is normally used for a large vehicle. An ordinary car parking space 53 is allocated to the car and guided to a dedicated parking space 53. Moreover, the empty parking space 53 which guides an unparked vehicle is determined according to the horizontal width of the vehicle which the vehicle recognition part 26 detected, and each vehicle is guide | induced to the empty parking space 53 of the width | variety corresponding to a horizontal width.

  Furthermore, when determining the empty parking space 53 to be guided, the guidance processing unit 27 uses the information on the empty state of the adjacent parking spaces 53 and the width of the parked vehicle for each empty parking space 53. Determine the width of the vehicle that can be parked with plenty of room. Based on the result, for example, an empty parking space 53 in which both sides (or one side) are vacant is assigned to a wide vehicle, and a wide vehicle is parked on both sides in a narrow vehicle. A parking space 53 is allocated. Thus, the guidance processing unit 27 determines the empty parking space 53 that guides each vehicle as an empty parking space 53 that can be parked with a margin according to the lateral width. In addition, if a vehicle with a wide width is parked adjacently, there is a possibility that the vehicle is parked at a position close to the boundary of the parking space 53 or beyond the boundary. Therefore, an empty parking space 53 is allocated so that a vehicle with a wide width is not adjacent.

  The guidance processing unit 27 causes the guidance display device 4 to guide unparked vehicles detected by the vehicle detection unit 25 to the determined empty parking spaces 53 as they progress. At the time of guidance, the display position of the guidance display by the guidance display device 4 is determined from the traveling direction of the vehicle determined as the vehicle position detected by the vehicle detection unit 25, and the guidance display is displayed in front of the traveling direction of the vehicle. In addition, each time the vehicle detection unit 25 detects a vehicle based on consecutive captured images of the parking lot 50, a guidance display is provided in front of the vehicle traveling direction in accordance with changes in the vehicle detection position and the traveling direction. Move sequentially with a distance of. Accordingly, the guidance display of the guidance display device 4 is moved to the empty parking space 53 to be guided according to the detection position and the traveling direction of the unparked vehicle, and the unparked vehicle is guided to the empty parking space 53 according to the progress. To do. At this time, based on the type of vehicle determined by the vehicle recognizing unit 26, for example, in a large vehicle, a guidance is displayed so that the guidance display can be easily seen by the driver regardless of the height of the vehicle (the driver's view), the size, etc. A guidance display is displayed at a position according to the type of each vehicle, for example, the display is displayed by a vehicle compared to a normal car.

  The guidance processing unit 27 continues the above guidance processing until the unparked vehicle is parked in the empty parking space 53, and ends the guidance processing when the unparked vehicle is parked in the empty parking space 53. At the same time, the unparked flag of the vehicle is changed to a parked flag, and the free space information for each parking space 53 stored in the storage unit 22 is updated, and the state of the parking space 53 is changed to parking. When a plurality of unparked vehicles are detected from the captured image of the parking lot 50, the guidance processing unit 27 performs a guidance process on each vehicle and guides the plurality of vehicles to each empty parking space 53 at the same time.

  Further, the guidance processing unit 27 includes means for changing the empty parking space 53 for guiding the unparked vehicle according to the traveling direction of the unparked vehicle when the unparked vehicle deviates from the guidance direction. As a result, when the unparked vehicle makes a mistake in the route and the direction of travel does not coincide with the direction of guidance, or when the vehicle passes the guided empty parking space 53, it proceeds from the empty parking space 53 that has been guided so far. Switch to another free parking space 53 on the front side in the direction to guide the unparked vehicle. However, when there are other unparked vehicles that are being guided, the empty parking space 53 to be guided is determined so that the empty parking spaces 53 to be guided do not overlap. On the other hand, when the vehicle detection unit 25 detects a vehicle that has started from the parking space 53, the guidance processing unit 27 starts based on the determination result of the detection position and the traveling direction of the starting vehicle in the same procedure as the above guidance processing. The vehicle is guided to the exit 52 of the parking lot 50 in accordance with the progress.

Next, the flow of processing and procedures for guiding a vehicle in the parking lot 50 by the parking lot guidance system 1 of the present embodiment will be described.
FIG. 3 is a flowchart showing a procedure for guiding an unparked vehicle to the empty parking space 53 by the parking lot guidance system 1.
At the start of the process, first, initial setting is performed (S101), an image of the parking lot 50 is taken by the camera 2, and the parking space recognition unit 24 uses the parking space recognizing unit 24 for each parking space 53 in the parking lot 50. It is determined whether or not it is free. Thereby, the state of each parking space 53 is recognized, and the vacant information for each parking space 53 is acquired and stored in the storage unit 22 as initial vacant information.

  Next, the camera 2 captures and acquires an image of the parking lot 50 (S102), and sequentially acquires captured images of the parking lot 50 until the vehicle detection unit 25 detects a vehicle from the captured image (S103, NO). . When the vehicle detection unit 25 detects a vehicle (S103, YES), the vehicle detection unit 25 also determines the traveling direction of the detected vehicle based on the captured image. Further, the guidance processing unit 27 confirms whether or not an ID is given to the detected vehicle. When there is no ID (S104, NO), it is determined that the vehicle is an unparked vehicle that has entered from the entrance 51. Start guidance to the vehicle. At the time of guidance, the vehicle recognition unit 26 first recognizes the vehicle (S105), and detects the width of the detected unparked vehicle and determines the type based on the captured image. In addition, the guidance processing unit 27 assigns vehicle information such as an ID and an unparked flag to the vehicle, and determines an empty parking space 53 for guiding the vehicle according to predetermined conditions (here, width and type).

  On the other hand, when the detected vehicle has an ID (S104, YES), the vehicle recognition step (S105) is skipped because the empty parking space 53 to be recognized or guided is already determined. Next, it is determined whether or not an unparked vehicle has entered the vacant parking space 53 and is parked. When it is unparked (S106, NO), the guidance is started or the unparked vehicle being guided is determined. The guidance processing unit 27 performs guidance processing as described above. At that time, the guidance display device 4 is controlled to display a guidance display ahead of the unparked vehicle in the traveling direction, and the guidance direction toward the empty parking space 53 of the guidance destination is shown to the driver. Further, when a plurality of unparked vehicles are detected from the captured image, the above procedure is executed for each vehicle (S110, NO), and when all the detected vehicles are guided (S110, YES). Then, the process proceeds to the processing of the captured image of the next frame.

  In this way, the guidance process is repeated for each unparked vehicle until it is parked in the empty parking space 53, and the guidance display up to the guidance destination is sequentially displayed in the forward direction of each vehicle. Guide to the empty parking space 53 as you progress. Meanwhile, when the unparked vehicle deviates from the guidance direction, the guidance processing device 10 changes the empty parking space 53 that guides the unparked vehicle according to the traveling direction, and guides to a new empty parking space 53. To do. Subsequently, when it is determined that an unparked vehicle is parked in the parking space 53 (S106, YES), the vehicle information of the vehicle is changed (S107), and here, the unparked flag is changed to a parked flag. Moreover, according to parking of the unparked vehicle in the parking space 53, the vacant information for every parking space 53 is updated (S108), and the state of the parking space 53 is changed to parking.

  The parking lot guidance system 1 sequentially detects vehicles from the continuous captured images as described above, and tracks and tracks unparked vehicles having an unparked flag based on the ID. Induce. Further, when the vehicle detection unit 25 determines whether or not the vehicle has started from the parking space 53 based on the captured image of the parking lot 50 and detects the start of the vehicle having a parked flag, the vehicle is exited. Guide to 52. The guidance to the exit 52 is executed in the same procedure as the guidance to the empty parking space 53, the vehicles that have started from the parking space 53 are sequentially detected, the traveling direction of the starting vehicle is determined, and the starting vehicle is matched to the traveling. Guide to the exit 52 of the parking lot 50. Moreover, according to the start from the parking space 53 of a vehicle, the vacant information for every parking space 53 is updated, and the state of the parking space 53 is changed to vacant.

  As described above, in this embodiment, based on the captured image of the parking lot 50, vacant information for each parking space 53 is acquired, and unparked vehicles are detected and guided to the vacant parking space 53. Therefore, it is possible to accurately grasp the vacant parking space 53 without human intervention, reliably guide the unparked vehicle to the vacant parking space 53, and guide the vehicle appropriately without being affected by the environment. Can also be reduced. At the same time, since the vehicle can be smoothly guided in the parking lot 50, the labor and time waste of the user of the parking lot 50 can be reduced and the burden can be reduced.

  In addition, here, in order to determine the traveling direction of the unparked vehicle and guide the unparked vehicle to the empty parking space 53 in accordance with the traveling, the driver of the vehicle confirms the guidance of the information display device 3 and the like. There is no need to memorize the route to the empty parking space 53. Accordingly, it is possible to prevent the stop of the vehicle and the occurrence of a traffic jam due to confirmation and storage, and it is possible to smoothly and surely guide the vehicle to the target empty guidance space 53 without stagnation of the flow of the vehicle in the parking lot 50. As a result, waste of time and labor can be eliminated and the burden on the driver can be reduced. In addition, even when a plurality of unparked vehicles are in the parking lot 50, the unparked vehicles can be guided without overlapping to the empty parking spaces 53 of the respective guidance destinations, and the plurality of unparked vehicles are burdened on the driver. It is possible to park without fail.

  Therefore, according to the present embodiment, in the parking lot 50 having the plurality of parking spaces 53, the vehicle is guided smoothly and reliably to the destination without the need for manpower while reducing the burden on the user of the parking lot 50. It is possible to improve convenience for the user of the parking lot 50. Moreover, since the vehicle which started from the parking space 53 is also detected and guided to the exit 52 of the parking lot 50 in accordance with the progress, the vehicle going to the exit 52 can be guided smoothly and reliably, and the convenience of the user of the parking lot 50 The sex can be further improved. Furthermore, when the unparked vehicle deviates from the guidance direction, the empty parking space 53 to be guided is changed according to the traveling direction, so the unparked vehicle can be guided flexibly to further reduce the burden on the driver, The vehicle can be guided efficiently and reliably to the empty parking space 53.

  Further, by determining the empty parking space 53 to be guided according to the width detected by the unparked vehicle and the determined type, the vehicle can be guided to an appropriate empty parking space 53 according to each unparked vehicle. Accordingly, since the vehicle can be easily parked in the parking space 53, even a driver who has low parking skill and does not have his / her own parking can park the vehicle with peace of mind. Further, based on the captured image of the parking lot 50, it is determined whether the unparked vehicle is parked in the parking space 53 and the vehicle is started from the parking space 53, and the free space information for each parking space 53 is updated accordingly. Sometimes, more accurate availability information can always be grasped, so that the accuracy of guidance processing can be increased. Further, when the guidance display to the guidance destination is sequentially displayed in front of the traveling direction of the vehicle at the time of guidance of the vehicle, the guidance display is displayed in front of the driver's field of view. The vehicle can be driven with peace of mind by distinguishing the display.

  In the present embodiment, one or a plurality of light emitting elements that emit light are used for guidance display of the vehicle. However, the guidance display displays an arrow on the passage and moves the vehicle according to the progress of the vehicle. You may display in the parking lot 50 by the other display mode recognizable to. Further, when there are obviously many free parking spaces 53 in the parking lot 50, it is not necessary to guide unparked vehicles, and the guidance process may be stopped. In this case, for example, with respect to the number of all parking spaces 53, a ratio for stopping the guidance process is set in advance, and the guidance process is stopped or restarted according to the ratio of the empty parking spaces 53. However, even in this case, since the exit 52 of the parking lot 50 is often a single location, for vehicles starting from the parking space 53, except for the parking lot 50 where the position of the exit 52 can be clearly grasped, It is desirable to guide to the exit 52 sequentially.

  DESCRIPTION OF SYMBOLS 1 ... Parking lot guidance system, 2 ... Camera, 3 ... Information display apparatus, 4 ... Guidance display apparatus, 10 ... Guidance processing apparatus, 11 ... CPU, 12 ... ROM , 13 ... RAM, 20 ... input unit, 21 ... output unit, 22 ... storage unit, 23 ... control unit, 24 ... parking space recognition unit, 25 ... vehicle detection , 26... Vehicle recognition unit, 27 ... guidance processing unit, 50 ... parking lot, 51 ... entrance, 52 ... exit, 53 ... parking space, 54 ... passage.

Claims (4)

A parking lot guidance system for guiding a vehicle in a parking lot having a plurality of parking spaces,
A camera that takes images of the parking lot,
Means for acquiring vacant information for each parking space based on a captured image of the parking lot;
A means for detecting an unparked vehicle based on a captured image of the parking lot; and a means for determining the traveling direction of the detected unparked vehicle;
Means for guiding an unparked vehicle to an empty parking space as it progresses;
Means for detecting a vehicle started from the parking space based on a photographed image of the parking lot; and means for determining the traveling direction of the detected starting vehicle;
Means for guiding the starting vehicle to the exit of the parking lot as it progresses;
A parking lot guidance system characterized by comprising: In the parking lot guidance system according to claim 1,
A parking lot guidance system comprising means for changing an empty parking space for guiding an unparked vehicle according to the traveling direction of the unparked vehicle when the unparked vehicle deviates from the guidance direction. In the parking lot guidance system according to claim 1 or 2,
Means for detecting the width of an unparked vehicle, or means for determining the type of an unparked vehicle;
Means for determining an empty parking space for guiding an unparked vehicle according to the detected lateral width or the determined type;
A parking lot guidance system characterized by comprising: In the parking lot guidance system according to any one of claims 1 to 3,
Means for determining whether or not an unparked vehicle is parked in the parking space, and means for determining whether or not the vehicle has started from the parking space, based on a captured image of the parking lot;
A means for updating vacant information for each parking space in response to parking of the unparked vehicle in the parking space and starting from the parking space of the vehicle;
A parking lot guidance system characterized by comprising:

Images