JP2022016109A - Navigation system and method for navigation - Google Patents

Abstract

To realize a route guidance to a car parking possible position near a destination at low cost.SOLUTION: A navigation system 1 includes: an image acquisition unit 4 for acquiring an image from a front camera 10 or the like for taking images of the outside of an own vehicle; a route guiding unit 6 for showing a route to a destination; a car parking possible position detection unit 5 for detecting a car parking possible position, where the own vehicle can be stopped or parked, on the basis of the image when the own vehicle is near the destination; and a destination changing unit 7 for changing the destination to the car parking possible position. The route guiding unit 6 shows a route to the changed destination after the destination changing unit 7 changed the destination.SELECTED DRAWING: Figure 1

Description

The present invention relates to a navigation system and a navigation method.

Patent Document 1 (Japanese Patent No. 6404638) discloses a center device that transmits a candidate list of parking / stopping positions near the destination to the vehicle when the destination set in the destination guide of the vehicle is received. .. The center device collects information on parking / stopping positions from multiple vehicles in advance, builds a database, and when providing the above candidate list to vehicles, searches the database for parking / stopping positions close to the destination and extracts them. I am doing it.

In the configuration of Patent Document 1, the system construction is expensive because a center device for collecting information on parking / stopping positions from a plurality of vehicles in advance and constructing a database is required.

An object of the present invention is to provide a technique for realizing route guidance to a parking / stopping position close to a destination at low cost.

According to the first aspect of the present invention, an image acquisition unit that acquires an image from an in-vehicle camera that captures the outside of the vehicle, a route guidance unit that guides a route to a destination, and the vehicle are the destination. A parking / stopping possible position detecting unit that detects a parking / stopping possible position where the own vehicle can be parked / stopped based on the image, a destination changing unit that changes the destination to the parking / stopping possible position, and a destination changing unit that changes the destination to the parking / stopping possible position. The route guidance unit is provided with a navigation system that guides the route to the changed destination after the destination is changed by the destination change unit.

According to the second aspect of the present invention, an image is acquired from an in-vehicle camera that images the outside of the vehicle, a route to the destination is guided, and when the vehicle is close to the destination, the image is based on the image. Detects the parking / stopping possible position where the own vehicle can be parked / stopped, changes the destination to the parking / stopping possible position, and after the destination is changed, the route to the changed destination is changed. A navigation method is provided to guide you.

According to the present invention, route guidance to a parking / stopping position close to the destination can be realized at low cost.

It is a functional block diagram of a navigation system. It is a top view which shows the mounting position and the angle of view of each in-vehicle camera. This is an example of an image captured by an in-vehicle camera. This is an example of an image captured by an in-vehicle camera. This is an example of an image captured by an in-vehicle camera. This is the control flow of the navigation system. It is a figure corresponding to FIG. 3, and is the figure which shows the state which the own vehicle has reached the parking-stop possible position. It is a figure corresponding to FIG. 4, and is the figure which shows the state which the own vehicle has reached the parking-stop possible position. It is a figure corresponding to FIG. 5, and is a figure which shows the state that the own vehicle has reached the parking / stopping possible position.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 shows a functional block diagram of the navigation system 1. FIG. 2 shows the mounting position and the angle of view of each in-vehicle camera.

The navigation system 1 is a system mounted on and used in the vehicle V. As shown in FIG. 1, the navigation system 1 includes a CPU 1a (Central Processing Unit) as a central processing unit, a read / write free RAM 1b (Random Access Memory), and a read-only ROM 1c (Read Only Memory). Then, the CPU 1a reads and executes the control program stored in the ROM 1c, so that the control program can park and stop the hardware such as the CPU 1a in the vehicle information acquisition unit 2, the current location acquisition unit 3, the image acquisition unit 4, and the vehicle. It functions as a position detection unit 5, a route guidance unit 6, and a destination change unit 7. The navigation system 1 further includes a touch display 8. The touch display 8 is a specific example of input / output means in which a liquid crystal display and a touch panel are arranged so as to overlap each other.

In the present embodiment, the navigation system 1 is realized by one in-vehicle device. However, instead of this, the navigation system 1 may be realized by a plurality of devices mounted on the same vehicle V and capable of bidirectional communication. In this case, the plurality of devices typically includes a drive recorder device and a car navigation device.

As shown in FIG. 2, the vehicle V is equipped with a front camera 10, a right side camera 11, a left side camera 12, and a rear camera 13. The front camera 10, the right side camera 11, the left side camera 12, and the rear camera 13 are specific examples of an in-vehicle camera that captures the outside of the own vehicle.

The front camera 10 is typically arranged on the front grille, front bumper, or front window of the vehicle V to image the front outside the vehicle V. The angle of view 10P of the front camera 10 is shown by a two-dot chain line.

The right side camera 11 is typically arranged on the right door mirror of the vehicle V to take an image of the outside right side of the vehicle V. The angle of view 11P of the right side camera 11 is shown by a two-dot chain line. If the vehicle V does not have a right door mirror, the right side camera 11 is located on the right outer surface of the vehicle V, typically the right front door.

The left side camera 12 is typically arranged on the left door mirror of the vehicle V to take an image of the left side of the vehicle V outside the vehicle. The angle of view 12P of the left side camera 12 is shown by a two-dot chain line. If the vehicle V does not have a left door mirror, the left side camera 12 is located on the left outer surface of the vehicle V, typically the left front door.

The rear camera 13 is typically arranged in the rear window or the rear bumper of the vehicle V to take an image of the rear of the vehicle V. The angle of view 13P of the rear camera 13 is shown by a two-dot chain line.

Returning to FIG. 1, the front camera 10, the right side camera 11, the left side camera 12, and the rear camera 13 are connected to the navigation system 1. However, any one or all of the right side camera 11, the left side camera 12, and the rear camera 13 may be omitted.

The vehicle information acquisition unit 2 acquires the vehicle speed of the vehicle V, the operating state of the parking brake, and the gear position selected by the gear selector by receiving the vehicle speed signal, the parking brake signal, and the gear selector signal from the ECU. Gear positions include the parking range selected when parked and stopped, the drive range selected when moving forward, and the reverse range selected when moving backward.

The current location acquisition unit 3 acquires the current location of the vehicle V using, for example, a GPS (Global Positioning System) module.

The image acquisition unit 4 acquires an image from the front camera 10 or the like.

The route guidance unit 6 generates a route from the current location of the vehicle V to the destination set by the user. The route guidance unit 6 guides the route to the destination based on the generated route via the touch display 8.

When the own vehicle is close to the destination, the parking / stopping possible position detection unit 5 detects the parking / stopping possible position where the own vehicle can be parked / stopped based on the image acquired by the image acquisition unit 4. Specifically, the parking / stopping possible position detection unit 5 detects a parking lot line in an image by using, for example, Faster R-CNN, YOLO (You only Look Once), or SSD (Single Shot Detector). , Detects the parking / stopping position where the own vehicle can be parked / stopped.

FIG. 3 shows the result of detecting the parking lot line in the bounding box B1. The parking lot line surrounded by the bounding box B1 consists of four straight white lines, and the four white lines are connected to form a rectangle. The parking / stopping possible position detection unit 5 detects the parking / stopping possible position where the own vehicle can be parked / stopped based on the bounding box B1. The parking / stopping position can be typically expressed by the longitude and latitude of the center of the parking / stopping area.

In FIG. 4, the result of detecting the parking lot line is shown by the bounding box B2, and the result of detecting the road sign indicating that parking is possible is shown by the bounding box B3. The parking lot line surrounded by the bounding box B2 consists of three straight white lines, and the three white lines are connected in a U shape. As shown in FIG. 4, when continuous parking lane markings cannot be detected so as to form a rectangle, the detection accuracy of the parking / stopping possible position may be slightly lowered. Therefore, when the continuous parking lane markings cannot be detected so as to form a rectangle, the parking / stopping possible position detection unit 5 detects the parking lane markings and also the road signs related to the parking / stopping. It is possible to accurately detect the parking / stopping position where the own vehicle can be parked / stopped.

The above road signs include regulatory signs, instruction signs, and guidance signs.

Restriction signs include time-limited parking section signs indicating that the parking time is limited, parallel parking signs indicating that parking must be parallel to the side edge of the road, and the side edge of the road. Examples include a right-angle parking sign indicating that the vehicle must be parked at a right angle, and an oblique parking sign indicating that the vehicle must be parked diagonally to the side edge of the road. In FIG. 4, a parallel parking sign is detected.

The instruction sign includes a sign indicating that the vehicle can be parked or stopped.

Examples of the guide sign include a sign indicating the location of the parking lot.

In FIG. 5, the result of detecting the parking lot line is shown by the bounding box B4, and the result of detecting the wheel chock is shown by the bounding box B5. The parking lot line surrounded by the bounding box B4 consists of two straight white lines, the two white lines extending parallel to each other. As shown in FIG. 5, when continuous parking lane markings cannot be detected so as to form a rectangle, the detection accuracy of the parking / stopping possible position may be slightly lowered. Therefore, when a continuous parking lane marking line cannot be detected so as to form a rectangle, the parking / stopping possible position detection unit 5 detects the wheel chock in addition to detecting the parking lane marking, so that the vehicle is parked / stopped. It is possible to accurately detect possible parking / stopping positions.

The destination changing unit 7 changes the destination to a parking / stopping position.

Then, after the destination is changed by the destination change unit 7, the route guidance unit 6 regenerates the route to the changed destination, guides the regenerated route, and the own vehicle can park and stop. When you arrive at the position, the guidance will end.

Next, the control flow of the navigation system 1 will be described with reference to FIG.

S100:
First, the destination is set by the user operating the touch display 8.

S110:
Next, the current location acquisition unit 3 acquires the current location.

S120:
Next, the route guidance unit 6 generates a route from the current location to the destination.

S130:
Next, the route guidance unit 6 starts guiding the route to the destination via the touch display 8 based on the generated route.

S140:
Next, the parking / stopping possible position detection unit 5 determines whether the current location is close to the destination. Specifically, the parking / stopping possible position detection unit 5 determines that the current location is close to the destination when the distance from the current location to the destination is 100 m or less. The parking / stopping possible position detection unit 5 advances the processing to S150 when YES in S140, and repeats the processing of S140 when NO in S140. 100m is a specific example of the first threshold value.

S150:
Next, the parking / stopping possible position detection unit 5 determines whether the vehicle V is in a low speed state. Specifically, the parking / stopping possible position detection unit 5 determines that the vehicle V is in a low speed state when the vehicle speed of the vehicle V is 20 km / h or less. The parking / stopping possible position detection unit 5 advances the processing to S160 when YES in S150, and returns the processing to S140 when NO in S150. 20 km / h is a specific example of the second threshold.

S160:
Next, the image acquisition unit 4 acquires an image from the front camera 10 or the like.

S170:
Next, the parking / stopping possible position detection unit 5 detects the parking / stopping possible position where the own vehicle can be parked / stopped based on the image acquired by the image acquisition unit 4.

S180:
Next, the destination changing unit 7 changes the destination to a parking / stopping position. When the destination changing unit 7 detects a plurality of parking / stopping possible positions, the destination changing unit 7 may change the destination to the parking / stopping possible position closest to the current location among the plurality of parking / stopping possible positions.

S190:
Next, the route guidance unit 6 regenerates the route from the current location to the destination changed by the destination change unit 7. Then, the route guidance unit 6 guides the route to the changed destination via the touch display 8 based on the regenerated route.

S200:
Next, the route guidance unit 6 determines whether or not the own vehicle has arrived at the changed destination, that is, a parking / stopping possible position. Specifically, when the distance from the current location to the changed destination is 10 m or less, the route guidance unit 6 determines that the own vehicle has arrived at the changed destination. Instead, as shown in FIGS. 7 to 9, the route guidance unit 6 is provided in the parking area C in which at least a part of the vehicle V is partitioned by the parking division line detected by the parking / stopping possible position detection unit 5. At some point, it may be determined that the vehicle has reached the changed destination. In this case, the route guidance unit 6 may determine whether or not at least a part of the vehicle V is in the parking area C based on the image acquired by the image acquisition unit 4. The route guidance unit 6 advances the processing to S210 when S200 is YES, and repeats the processing of S200 when S200 is NO.

S210:
Next, the route guidance unit 6 determines whether the parking / stopping operation has been performed. Examples of the parking / stopping operation include switching the parking brake from the release side to the operating side, switching the gear position to the parking range by the gear selector, and switching the ignition to off. The route guidance unit 6 advances the processing to S220 when YES in S210, and repeats the processing of S210 when NO in S210.

S220:
Then, the route guidance unit 6 ends the route guidance.

Although the preferred embodiment of the present invention has been described above, the above-described embodiment has the following features.

The navigation system 1 includes an image acquisition unit 4 that acquires an image from a front camera 10 or the like that captures the outside of the vehicle, a route guidance unit 6 that guides the route to the destination, and when the vehicle is close to the destination. It includes a parking / stopping possible position detecting unit 5 that detects a parking / stopping possible position where the own vehicle can be parked / stopped based on an image, and a destination changing unit 7 that changes a destination to a parking / stopping possible position. After the destination is changed by the destination change unit 7, the route guidance unit 6 guides the route to the changed destination. According to the above configuration, route guidance to a parking / stopping position near the destination can be realized at low cost.

Further, the navigation system 1 further includes a vehicle information acquisition unit 2 as a vehicle speed acquisition unit for acquiring the vehicle speed of the own vehicle. The parking / stopping possible position detection unit 5 detects the parking / stopping possible position when the distance from the current location of the own vehicle to the destination is equal to or less than the first threshold value and the vehicle speed of the own vehicle is equal to or less than the second threshold value. According to the above configuration, it is possible to detect the parking / stopping possible position and change the destination to the parking / stopping possible position at an appropriate timing.

Further, the parking / stopping possible position detection unit 5 detects the parking / stopping possible position by detecting the parking lane marking line based on the image. According to the above configuration, it is possible to detect the parking / stopping position at low cost.

Further, the parking / stopping position detection unit 5 detects the parking / stopping position by detecting the parking lane marking line and the road sign indicating that the vehicle can be parked or stopped based on the image. According to the above configuration, it is possible to suppress erroneous detection of a parking / stopping possible position.

As shown in FIG. 6, the navigation method includes the following processing.
-Obtain an image from a front camera 10 or the like that captures the outside of the own vehicle (S160).
・ Guide the route to the destination (S130).
-When the vehicle is close to the destination (S140: YES), the parking / stopping position where the vehicle can be parked / stopped is detected based on the image (S170).
・ Change the destination to a parking / stopping position (S180).
・ After the destination is changed, the route to the changed destination will be guided (S190).
According to the above method, route guidance to a parking / stopping position near the destination can be realized at low cost.

The navigation system 1 can be modified as follows, for example.

That is, in the above embodiment, when the own vehicle is close to the destination, the destination is automatically changed to a parking / stopping position. However, it may be possible for the user to set whether to allow or prohibit the automatic change of the destination.

Further, the parking / stopping possible position detection unit 5 may detect the parking / stopping possible position by detecting the parking lot line and the parking meter based on the image.

Further, in the above embodiment, the parking / stopping possible position detection unit 5 detects the parking / stopping possible position when the vehicle is close to the destination. Therefore, the parking / stopping possible position detecting unit 5 may detect the parking / stopping possible position when the vehicle is close to the destination and is close to the destination, or is close to the destination and away from the destination. You may detect the parking / stopping position when you are there.

The parking / stopping possible position detection unit 5 may detect the parking / stopping possible position where the own vehicle can be parked / stopped based on the parking / stopping position of another parked / stopped vehicle. The parking / stopping possible position detection unit 5 may detect the parking / stopping possible position where the own vehicle can be parked / stopped by another known method.

In the above example, the control program can be stored and supplied to the computer using various types of non-transitory computer readable medium. Non-temporary computer-readable media include various types of tangible storage media. Examples of non-temporary computer-readable media include magnetic recording media (eg, flexible disks, magnetic tapes, hard disk drives), magneto-optical recording media (eg, magneto-optical disks). Examples of non-temporary computer-readable media further include CD-ROMs (Read Only Memory), CD-Rs, CD-R / Ws, semiconductor memories (eg, mask ROMs; non-temporary computer-readable media). Examples further include PROM (Programmable ROM), EPROM (Erasable PROM), flash ROM, RAM (random access memory)). The program may also be supplied to the computer by various types of transient computer readable medium. Examples of temporary computer readable media include electrical, optical, and electromagnetic waves. The temporary computer-readable medium can supply the program to the computer via a wired communication path such as an electric wire and an optical fiber, or a wireless communication path.

1 Navigation system 2 Vehicle information acquisition unit 3 Current location acquisition unit 4 Image acquisition unit 5 Parking / stopping position detection unit 6 Route guidance unit 7 Destination change unit 8 Touch display 10 Front camera 11 Right side camera 12 Left side camera 13 Rear camera C Parking area V vehicle

Claims (5)

An image acquisition unit that acquires images from an in-vehicle camera that captures the outside of the vehicle,
A route guidance section that guides the route to the destination,
When the own vehicle is close to the destination, a parking / stopping possible position detecting unit that detects a parking / stopping possible position in which the own vehicle can be parked / stopped based on the image, and a parking / stopping possible position detecting unit.
The destination change unit that changes the destination to the parking / stopping position, and
Including
After the destination is changed by the destination change unit, the route guidance unit guides the route to the changed destination.
Navigation system. Further equipped with a vehicle speed acquisition unit for acquiring the vehicle speed of the own vehicle,
The parking / stopping position detection unit can park / stop when the distance from the current location of the own vehicle to the destination is equal to or less than the first threshold value and the vehicle speed of the own vehicle is equal to or less than the second threshold value. Detect the position,
The navigation system according to claim 1. The parking / stopping position detection unit detects the parking / stopping position by detecting the parking lane marking line based on the image.
The navigation system according to claim 1 or 2. The parking / stopping position detection unit detects the parking / stopping position by detecting the parking lane marking and the road sign indicating that the parking is possible or the parking is possible based on the image.
The navigation system according to claim 3. Acquire an image from an in-vehicle camera that captures the outside of the vehicle,
Guide the route to your destination
When the own vehicle is close to the destination, the parking / stopping possible position where the own vehicle can be parked / stopped is detected based on the image.
Change the destination to the parking / stopping position,
After the destination is changed, the route to the changed destination is guided.
Navigation method.

Images