JP2022154962A - Server and information processing method - Google Patents

Abstract

To provide a server and an information processing method improved more for exchange of a plurality of vehicles when the plurality of vehicles are parked at a parking lot.SOLUTION: A server concerning the present disclosure comprises a transmission and reception unit which transmits leaving information to a first vehicle and a second vehicle, transmits entering information to the second vehicle, and receives leaving completion information from the first vehicle and the second vehicle, in which the transmission and reception unit receives the leaving completion information from the second vehicle after the transmission and reception unit transmits the leaving information to the second vehicle, the transmission and reception unit transmits the leaving information to the first vehicle after the transmission and reception unit receives the leaving completion information from the second vehicle, the transmission and reception unit receives the leaving completion information from the first vehicle after the transmission and reception unit transmits the leaving information to the first vehicle, and the transmission and reception unit transmits the entering information to the second vehicle after the transmission and reception unit receives the leaving completion information from the first vehicle.SELECTED DRAWING: Figure 1

Description

The present disclosure relates to servers and information processing methods.

2. Description of the Related Art Conventionally, there is known a technique for parking assistance in which a vehicle is moved by automatic driving when the vehicle is parked. As one example of parking assistance, there is a technology that stores a driving route based on a driver's supervised driving and uses the stored driving route to provide parking assistance (hereinafter referred to as memory-type automatic parking). . This technology is used, for example, when the vehicle is repeatedly parked at a predetermined parking position, such as a parking lot at the driver's home or place of work.

Japanese Patent No. 6022447

By the way, when a plurality of vehicles are parked in a parking lot, there is still room for improvement regarding the replacement of the plurality of vehicles.

An object of the present disclosure is to provide a more improved server and information processing method for replacing multiple vehicles when multiple vehicles are parked in a parking lot.

The server according to the present disclosure includes a first vehicle and a second vehicle that perform parking control for automatically parking the vehicle in the parking space based on travel information obtained when the vehicle is parked in the parking space by driving the driver; It is a server that can communicate. The server includes a transmitting/receiving unit that transmits the leaving information and the entering information of the second vehicle to the first vehicle and the second vehicle, and receives the leaving completion information from the first vehicle and the second vehicle. after transmitting the leaving information to the second vehicle, the transmitting/receiving unit receives the leaving information from the second vehicle; after the transmitting/receiving unit receives the leaving information from the second vehicle, the transmitting/receiving unit transmits the leaving information to the first vehicle; After the transmitting/receiving unit transmits the leaving information to the first vehicle, the transmitting/receiving unit receives the leaving completion information from the first vehicle, and after the transmitting/receiving unit receives the leaving completion information from the first vehicle, the transmitting/receiving unit transmits to the second vehicle. Send inventory information.

The information processing method according to the present disclosure performs parking control for automatically parking the vehicle in the parking space based on driving information obtained when the vehicle is parked in the parking space by driving the first vehicle and the second vehicle. An information processing method capable of communicating with a vehicle. The information processing method includes transmitting the leaving information to the first and second vehicles and the entering information to the second vehicle, receiving the leaving completion information from the first and second vehicles, and transmitting the leaving information to the second vehicle. After that, receiving the leaving completion information from the second vehicle, after receiving the leaving completion information from the second vehicle, transmitting the leaving information to the first vehicle, and after transmitting the leaving information to the first vehicle, from the first vehicle After receiving the leaving completion information and receiving the leaving completion information from the first vehicle, the entering information is transmitted to the second vehicle.

According to the server and the information processing method according to the present disclosure, when a plurality of vehicles are parked in a parking lot, it is possible to further improve the replacement of the plurality of vehicles.

FIG. 1 is a diagram showing a network configuration of a parking assistance system according to the first embodiment. FIG. 2 is a block diagram showing functions of a parking assistance device provided in the first vehicle according to the first embodiment. FIG. 3 is a block diagram showing functions included in the parking assistance server according to the first embodiment. FIG. 4 is a block diagram showing functions of a parking assistance device provided in the second vehicle according to the first embodiment. FIG. 5 is a sequence diagram showing an example of parking assistance executed by the parking assistance system according to this embodiment. FIG. 6 is a diagram showing an application example of the parking assistance device according to the present embodiment. FIG. 7 is a flowchart showing an example of processing for determining whether to execute the parking start position determination processing according to the present embodiment. FIG. 8 is a flowchart showing an example of the parking start position determination process according to the present embodiment. FIG. 9 is a flow chart diagram showing an example of processing for executing a teaching run of the first vehicle according to the present embodiment. FIG. 10 is a diagram showing a display example displayed on the display device according to the present embodiment. FIG. 11 is a flowchart showing an example of processing executed by the parking assistance server according to this embodiment. FIG. 12 is a diagram showing an application example of the parking assistance device according to the modification. FIG. 13 is a diagram showing a display example displayed on the display device according to the modification.

Hereinafter, embodiments will be described in detail with reference to the drawings as appropriate. However, more detailed description than necessary may be omitted. For example, detailed descriptions of well-known matters and redundant descriptions of substantially the same configurations may be omitted. This is to avoid unnecessary verbosity in the following description and to facilitate understanding by those skilled in the art. It should be noted that the accompanying drawings and the following description are provided to enable those skilled in the art to fully understand the present disclosure and are not intended to limit the claimed subject matter thereby.

As a usage scene of the parking assistance system provided with the parking assistance device of the present embodiment, a case where a plurality of vehicles are parked in a parking lot will be exemplified. For example, there is a parking lot in which two parking spaces are arranged in tandem (hereinafter referred to as a tandem parking lot). In particular, in a parallel parking lot, there are cases where the parking space is surrounded by obstacles such as walls, and the entrance/exit to the parking space is in one direction.

In this case, of the two parking spaces, in the case where the vehicle is parked in the back parking space with respect to the entrance/exit of the parking space, if there is no parked vehicle in the front parking space, the parking route for the vehicle will be changed. Parking is possible because it can be secured. On the other hand, when there is a parked vehicle in the front parking space, the parked vehicle becomes an obstacle and cannot be parked in the back parking space. Therefore, the user temporarily leaves the parked vehicle outside the parking space and then parks the vehicle in the back parking space. Then, it is necessary to park the vehicle that has left the parking space outside in the front parking space. Also, in a case where a vehicle parked in the back parking space is to be released, if there is a parked vehicle in the front parking space, the parked vehicle becomes an obstacle and cannot be released. Therefore, the user once causes the parked vehicle to leave the parking space, and then causes the vehicle to leave the parking space. As described above, there is a problem that it takes time and trouble for the user to enter and exit the vehicle in the parallel parking lot.

(First embodiment)
"Configuration of Parking Support System 1"
FIG. 1 is a diagram showing a network N configuration of a parking assistance system 1 according to the first embodiment. As shown in FIG. 1 , the parking assistance system 1 according to the first embodiment has a parking assistance server 300 , a first vehicle 100 , a second vehicle 200 and a communication terminal 400 . Parking assistance server 300, first vehicle 100, second vehicle 200, and communication terminal 400 are interconnected by network N. FIG. The network N includes a public network such as the Internet, a wireless network such as a mobile phone network, a dedicated network such as VPN (Virtual Private Network), and a network such as LAN (Local Area Network).

"Configuration of first vehicle 100"
The first vehicle 100 includes a vehicle body and two pairs of wheels arranged along a predetermined direction on the vehicle body. The two pairs of wheels have a pair of front tires and a pair of rear tires.

A front tire is an example of a first wheel in this embodiment. Also, the rear tire is an example of a second wheel in this embodiment. Although first vehicle 100 has four wheels, the number of wheels is not limited to four. For example, the first vehicle 100 may be a two-wheeled vehicle.

The vehicle body is coupled to wheels and is movable by the wheels. In this case, the predetermined direction in which the two pairs of wheels are arranged is the traveling direction (moving direction) of the first vehicle 100 . The first vehicle 100 can move forward or backward by switching gears or the like. In addition, the first vehicle 100 can also turn right or left by steering.

A wave transmitting/receiving unit 110 (see FIG. 2) for transmitting/receiving sound waves such as ultrasonic waves is arranged at a predetermined end of the vehicle body. For example, one or more wave transmitting/receiving units 110 are arranged in the front bumper, and one or more wave transmitting/receiving units 110 are arranged in the rear bumper. Hereinafter, the wave transmitting/receiving unit 110 arranged on the front bumper and the wave transmitting/receiving unit 110 placed on the rear bumper are simply referred to as the wave transmitting/receiving unit 110 unless otherwise specified. The first vehicle 100 also includes an imaging device 120, a steering actuator 130, an engine actuator 140, a brake actuator 150, a display device 160, and a parking assistance device 170 (see FIG. 2).

The wave transmitting/receiving unit 110 is, for example, a ranging sensor. A ranging sensor is an ultrasonic sonar as an example. For example, when a vehicle is driving in a parking lot, ultrasonic sonar emits ultrasonic waves and detects the distance to obstacles around the vehicle based on the reflected waves. do. Then, the ultrasonic sonar calculates contour points of the obstacle based on the distance to the obstacle, and detects feature points of the obstacle based on the contour points. Note that the ranging sensor is not limited to an ultrasonic sensor, and may be, for example, a millimeter wave radar or a LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging).

Imaging device 120 is, for example, a visible light camera. The vehicle includes a first imaging device for imaging the front of the vehicle, a second imaging device for imaging the rear of the vehicle, a third imaging device for imaging the left side of the vehicle, and a fourth imaging device for imaging the right side of the vehicle. image pickup device. Hereinafter, the first imaging device, the second imaging device, the third imaging device, and the fourth imaging device are simply referred to as the imaging device 120 when not particularly distinguished. Further, although the details will be described later, the imaging device 120 is applied to, for example, detecting feature points of an object existing around the vehicle and estimating the current position of the vehicle from the positional relationship between the vehicle and the feature points. be. The imaging device 120 outputs the captured image signal to the parking assistance device 170 . Note that the imaging device 120 is not limited to a visible light camera, and may be, for example, a CCD camera or a CMOS camera. Also, the image to be captured may be a still image or a moving image. In addition, the imaging device 120 may be a camera built into the first vehicle 100, or may be a camera of a drive recorder retrofitted to the first vehicle 100, or the like. As a sensor for estimating the current position of the first vehicle 100, instead of the imaging device 120, an ultrasonic sensor, LiDAR, or radar as a distance measuring sensor may be used.

The steering actuator 130 adjusts the steering angle of the first vehicle 100 based on the output of the parking assistance device 170, which will be described later. Parking assistance device 170 controls the steering angle by transmitting the target steering angle to steering actuator 130 . The parking assist device 170 controls the turning curvature during travel of the vehicle by controlling the steering actuator 130 . Engine actuator 140 adjusts the amount of fuel and air supplied to the engine based on the output of parking assist device 170 . Brake actuator 150 adjusts the braking force of the wheels based on the output of parking assistance device 170 .

The display device 160 displays or projects an image in which a first parking start position and a second parking start position, which will be described later, are superimposed based on an output from the image generation unit 174, which will be described later. As an example, the display device 160 is a liquid crystal display or an organic EL (Electro Luminescence) display. Moreover, the display device 160 may also serve as a touch panel. Note that a head-up display that can display an image by projecting the image onto the windshield by the projection device may be used.

A parking assistance device 170 is mounted on the first vehicle 100 . Parking assistance device 170 is an information processing device that can be mounted on a vehicle, and is, for example, an ECU (Electronic Control Unit) provided inside first vehicle 100 or an OBU (On Board Unit). Alternatively, parking assistance device 170 may be an external device installed near the dashboard of first vehicle 100 . The parking assistance device 170 may also serve as a car navigation device or the like.

FIG. 2 is a block diagram showing functions of the parking assistance device 170 included in the first vehicle 100 according to the first embodiment. As shown in FIG. 2, the parking assistance device 170 of the first embodiment includes a route generation unit 171, a determination unit 172, a determination unit 173, an image generation unit 174, a storage unit 175, an extraction unit 176, a position estimation unit 177, A vehicle control unit 178 and a communication unit 179 are provided.

The route generation unit 171 generates a parking route from the current position of the first vehicle 100 to a parking space detected by the determination unit 172, which will be described later. As an example, in a parallel parking lot, a first parking path is generated between a first parking space, which is a parking space behind the entrance of the parking space, and the current position of the vehicle. Also, a second parking path is generated between the second parking space, which is a parking space in front of the entrance/exit of the parking space, and the current position of the vehicle. An existing method may be used for route generation.

The determination unit 172 determines whether or not to execute a parking start position determination process in the determination unit 173, which will be described later. Specifically, the determination unit 172 processes an image signal captured by the imaging device 120, detects a parking space, and determines whether or not the detected parking space has parking spaces for two vehicles. As an example, the determination unit 172 compares the size of the parking space with the size of the first vehicle 100, and if the size is more than twice the size of the first vehicle 100, it is determined that the first parking space and the second parking space exist. to decide. It should be noted that the shape of the parking lot is not limited to this, and an existing method such as pattern matching may be used to recognize the shape of the parking lot and detect a parking lot having a shape having a first parking space and a second parking space.

Further, determination unit 172 receives the first parking route and the second parking route from route generation unit 171 . The determining unit 172 determines a shape in which the first parking path and the second parking path do not overlap each other, and the entering/exiting from the first parking space and the entering/exiting from the second parking space can be performed independently (for example, parallel parking lot), it is determined that the parking start position determination process is not to be executed. In other words, when the parking lot has the first parking space and the second parking space, the determination unit 172 does not execute the parking start position determination process unless the second parking space overlaps the first parking path. to decide.

On the other hand, the determination unit 172 determines that the first parking path and the second parking path overlap each other, and the shape in which entering and exiting from the first parking space and entering and exiting from the second parking space cannot be performed independently (for example, a vertical line). parking lot), it is determined to execute the parking start position determination process. In other words, when the second parking space overlaps with the first parking path, it is determined to execute the parking start position determination process.

The determination unit 173 determines the first parking start position, which is the parking start position of the first vehicle 100, and the parking start position of the second vehicle 200, when the determination unit 172 determines to execute the parking start position determination process. A second parking start position is determined. Here, the first parking start position and the second parking start position are different positions. Furthermore, the first parking start position is a position that does not overlap with the entry/exit route from the second parking start position to the second parking space. Also, the second parking start position is a position that does not overlap with the entry/exit route from the first parking start position to the first parking space.

As an example of the parking start position determination process, the determination unit 173 provisionally determines a first parking start position and a second parking start position, which are two mutually different positions. Further, the determining unit 173 generates an entry/exit route from the provisionally determined first parking start position to the first parking space and the second parking space. Then, a search is made for a first parking start position and a second parking start position that satisfy a first condition that the second parking start position does not overlap the entry/exit route. Further, the determination unit 173 generates an entry/exit route from the provisionally determined second parking start position to the first parking space and the second parking space. Then, a search is made for a first parking start position and a second parking start position that satisfy a second condition that the first parking start position does not overlap the entry/exit route. The determination unit 173 determines positions that satisfy the first condition and the second condition as the first parking start position and the second parking start position. Note that the entry/exit route may be generated by the route generation unit 171 .

Image generator 174 generates an image to be displayed on display device 160 and outputs the image to display device 160 . The image generation unit 174 combines the points at infinity of the left side image, the right side image, the rear image, and the front image captured by the imaging device 120 into one point at infinity, and four points as seen from one virtual viewpoint. After viewpoint conversion is performed on the images, the four images are synthesized to generate one synthesized image. The image generator 174 outputs the generated synthetic image to the display device 160 . Further, the image generation unit 174 may output to the display device 160 not only the synthesized image but also the captured image captured by the single imaging device 120 .

The image generation unit 174 generates an image showing the first parking start position and the second parking start position determined by the determination unit 173 superimposed on the synthesized image or the captured image. As an example, the first parking start position and the second parking start position are indicated by frame lines, and the frame line indicating the first parking start position and the frame line indicating the second parking start position are superimposed on the synthesized image or the captured image. be done. The parking start position may be indicated by superimposing the first parking start position area and the second parking start position area in a predetermined color without limiting to the frame line. In addition, the image generator 174 may generate an image showing the first parking space and the second parking space superimposed on the composite image or captured image. As an example, the first parking space and the second parking space are indicated by frame lines, and the frame line indicating the first parking space and the frame line indicating the second parking space are superimposed on the composite image or the captured image. The parking spaces may be indicated by superimposing the area of the first parking space and the area of the second parking space in a predetermined color without limiting to the frame line.

The storage unit 175 stores travel information obtained when the driver of the first vehicle 100 parks the first vehicle 100 in the parking space from the first parking start position. More specifically, the storage unit 175 stores travel information obtained when the first vehicle 100 is parked in the first parking space from the first parking start position, The travel information obtained when the vehicle is parked in the second parking space is stored. Note that driving in which the driver manually moves the vehicle from the parking start position to the parking space is also referred to as teacher driving. Also, the running information during the teacher running is also referred to as teacher data. The teacher data relates to the target parking position in the parking space during the teacher run, the speed during the teacher run, the steering angle during the teacher run, the braking operation during the teacher run, and the travel route during the teacher run (hereinafter also referred to as the teacher route). information, including feature point information extracted from the peripheral image of the parking space captured during the teacher run. The information about the travel route during the teacher travel includes information such as position coordinates on the route, route length, minimum turning radius, and turning position. Note that the supervised running is not limited to backward travel, and may include forward travel or both forward travel and reverse travel.

In addition, the teacher route in which the driver reverses the vehicle to enter the garage (parking space) can be used as the teacher route for leaving the garage by tracing the route in reverse from the garage.

The extraction unit 176 extracts feature points from the peripheral image captured by the imaging device 120 . A technique for extracting feature points by the extraction unit 176 is not particularly limited, and a known technique may be applied. For example, the extraction unit 176 extracts feature points by a method such as FAST (Features from Accelerated Segment Test) or ORB (Oriented FAST and Rotated Brief).

The position estimation unit 177 receives the feature points extracted by the extraction unit 176 and the feature points stored in the teacher data stored by the storage unit 175 . The position estimation unit 177 uses pattern matching, feature quantity search, or the like to match the feature points extracted from the captured image captured by the imaging device 120 with the feature points stored in the teacher data. Then, the position estimation unit 177 randomly selects several feature points from among the feature points extracted from the captured image and matched with the feature points stored in the teacher data. , the current position of the first vehicle 100 is estimated based on the positions of these several feature points in the camera image and the three-dimensional positions of the several feature points in the real space.

Vehicle control unit 178 controls engine actuator 140 , brake actuator 150 and steering actuator 130 . That is, the vehicle control unit 178 can control the first vehicle 100 by controlling steering, braking, acceleration and deceleration of the vehicle. Further, the vehicle control unit 178 executes memory-type automatic parking using the current position information and teacher data based on instructions from the parking assistance server 300, which will be described later. As an example, when the vehicle exit information is received from the parking support server 300, the vehicle control unit 178 controls the vehicle to move from the first parking space to the first parking start position based on the teaching data. Note that the vehicle control unit 178 transmits exit completion information, which is notification that exiting from the first parking space to the first parking start position has been completed, to the parking assistance server 300 via the communication unit 179, which will be described later. Further, when the vehicle control unit 178 receives the parking information from the parking support server 300, the vehicle control unit 178 controls the vehicle to move from the first parking start position to the first parking space based on the teaching data. The vehicle control unit 178 transmits, to the parking assistance server 300 via the communication unit 179 to be described later, parking completion information, which is notification that parking from the first parking start position to the first parking space has been completed.

As described above, in the present embodiment, memory-based automatic parking is applied to the entry of a vehicle from a parking start position into a parking space and the exit of a vehicle from a parking space to the parking start position.

In addition, when the first vehicle 100 deviates from the teacher route, the vehicle control unit 178 moves the first vehicle 100 back to the travel route by feedback control. For example, the vehicle control unit 178 estimates the difference between the position of the first vehicle 100 and the teacher route based on the current position of the first vehicle 100 estimated by the position estimation unit 177, and reduces the difference. The first vehicle 100 is driven. The reason why the feedback control is performed is that the position of the first vehicle 100 when memory-based automatic parking is started may not match the initial position of the teacher route. Moreover, the vehicle control unit 178 may change the teacher route of the first vehicle 100 based on the teacher data. For example, if there is an obstacle near the teacher route, the vehicle control unit 178 may temporarily stop the first vehicle 100 or modify the travel route to move away from the obstacle. Further, when an obstacle is detected by the imaging device 120 or an ultrasonic sensor during parking control, the vehicle control unit 178 corrects the travel route so as to include an avoidance route for avoiding the detected obstacle. You may Here, the avoidance route may be, for example, a route that bypasses the obstacle from the vicinity of the obstacle and merges with the travel route again.

The communication unit 179 communicates with the parking assistance server 300, which will be described later, to transmit the first parking space, the second parking space, the first parking start position, the second parking start position, exit completion information, and entry completion information. Further, the communication unit 179 receives the leaving information and the entering information from the parking assistance server 300 and outputs the received leaving information and entering information to the vehicle control unit 178 .

"Configuration of Parking Support Server 300"
The parking assistance server 300 is a computer used for controlling entry and exit of two vehicles in memory-based automatic parking. The parking assistance server 300 transmits memory-type automatic parking instructions to the first vehicle 100 and the second vehicle 200 to control entry and exit. FIG. 3 is a block diagram showing functions of the parking assistance server 300 according to the first embodiment. As shown in FIG. 3 , the parking assistance server 300 of this embodiment includes a transmission/reception section 310 and a management section 320 .

The transmitter/receiver 310 receives information on the first parking space, the second parking space, the first parking start position, and the second parking start position from the first vehicle 100, and registers the information in a database separately provided in the parking assistance server 300. Further, the transmitting/receiving unit 310 transmits information on the first parking space, the second parking space, the first parking start position, and the second parking start position to the second vehicle 200 . Further, the transmitting/receiving unit 310 transmits to the first vehicle 100 and the second vehicle 200 the leaving information and the entering information output from the management unit 320 which will be described later. Furthermore, the transmitting/receiving unit 310 receives warehousing completion information and warehousing completion information from the first vehicle 100 and the second vehicle 200 , and outputs the information to the management unit 320 .

Management unit 320 manages scenarios for entering and exiting first vehicle 100 and second vehicle 200, and transmits scenarios selectable by the user to communication terminal 400, which will be described later, via transmission/reception unit 310. FIG. An example of the scenario will be described in detail using an exit scenario for exiting the first vehicle 100 . A first vehicle 100 is parked in a first parking space, which is a back parking space, and a second vehicle 200 is parked in a second parking space, which is a front parking space, with respect to the entrance/exit of the parking space. and In the leaving scenario, first, the second vehicle 200 is caused to leave the second parking start position. After that, the first vehicle 100 is allowed to leave the first parking start position. Then, the second vehicle 200 is parked in the first parking space or the second parking space.

As another example of the scenario, a detailed description will be given using a warehousing scenario for warehousing the first vehicle 100 . A second vehicle 200 is parked in a second parking space, which is a parking space in front of the entrance/exit of the parking space, and the first vehicle 100 positioned at a first parking start position is parked in the first parking space. shall be In the parking scenario, first, the second vehicle 200 is caused to leave the second parking start position. After that, the first vehicle 100 is parked in the first parking space. After the first vehicle 100 is parked in the first parking space, the second parked vehicle is parked in the second parking space.

Management unit 320 receives a scenario selected by the user from communication terminal 400, which will be described later. Based on the scenario selected by the user, the management unit 320 transmits to the first vehicle 100 and the second vehicle 200, via the transmitting/receiving unit 310, the leaving information and the entering information, which are instructions for performing memory-based automatic parking. . In addition, the management unit 320 receives, via the transmission/reception unit 310, the leaving completion information and the entering completion information, which are notifications of the completion of the memory-based automatic parking, transmitted by the communication unit from the first vehicle 100 and the second vehicle 200. FIG. Here, the exit information is the stored automatic parking based on the supervised driving from the first parking space or the second parking space to the first parking start position, or from the first parking space or the second parking space to the second parking start position. information that contains instructions to In addition, the parking information is used for memorized automatic parking based on supervised driving from the first parking start position to the first parking space or the second parking space, or from the second parking start position to the first parking space or the second parking space. Information that contains instructions to execute.

As an example, the processing of the management unit 320 when executing the shipping scenario will be described in detail. After the management unit 320 outputs to the second vehicle 200 the exit information to the second parking start position, the management unit 320 receives exit completion information from the second vehicle 200 . After the managing unit 320 receives the leaving information, the managing unit 320 outputs the leaving information to the first vehicle 100 . After the managing unit 320 outputs the leaving information to the first vehicle 100 , the managing unit 320 receives the leaving completion information from the first vehicle 100 . After the management unit 320 receives the exit completion information from the first vehicle 100 , the management unit 320 outputs information on entering the first parking space or the second parking space to the second vehicle 200 .

As another example, the processing of the management unit 320 when executing the warehousing scenario will be described in detail. The management unit 320 transmits to the second vehicle 200 exit information to the second parking start position. After that, the management unit 320 receives the leaving completion information from the second vehicle 200 . After the management unit 320 receives the exit completion information, the management unit 320 transmits the parking information to the first parking space to the first vehicle 100 . After the management unit 320 transmits the warehousing information to the first vehicle 100 , the management unit 320 receives warehousing completion information from the first vehicle 100 . After the management unit 320 receives the parking completion information from the first vehicle 100 , the management unit 320 outputs the parking information to the second parking space to the second vehicle 200 .

"Configuration of second vehicle 200"
Regarding the configuration of the second vehicle 200, the points that differ from the first vehicle 100 will be described in detail. FIG. 4 is a block diagram showing functions of the parking assistance device 210 provided in the second vehicle 200 according to the first embodiment. Parking assistance device 210 of second vehicle 200 includes communication unit 211 , image generation unit 212 , storage unit 213 , extraction unit 214 , position estimation unit 215 and vehicle control unit 216 .

The communication unit 211 receives the first parking space, the second parking space, the first parking start position, the second parking start position, the leaving information, and the entering information from the parking assistance server 300 . The communication unit 211 also transmits the parking completion information and the parking completion information to the parking assistance server 300 .

The image generation unit 212 generates an image showing the first parking start position and the second parking start position received from the parking assistance server 300 superimposed on the synthesized image or the captured image. Further, the image generator 212 may generate an image showing the first parking space and the second parking space superimposed on the composite image or captured image.

The storage unit 213 stores travel information obtained when the driver of the second vehicle 200 parks the second vehicle 200 in the parking space from the second parking start position. More specifically, the storage unit 213 stores the travel information obtained when the second vehicle 200 is parked in the first parking space from the second parking start position, and the driving information obtained when the second vehicle 200 is parked from the second parking start position. The travel information obtained when the vehicle is parked in the second parking space is stored.

The extraction unit 214 extracts feature points from the peripheral image captured by the imaging device. A technique for extracting feature points by the extraction unit 214 is not particularly limited, and a known technique may be applied. For example, the extraction unit 214 extracts feature points by a technique such as FAST (Features from Accelerated Segment Test) or ORB (Oriented FAST and Rotated Brief).

The position estimation unit 215 receives the feature points extracted by the extraction unit 214 and the feature points stored in the teacher data stored by the storage unit 213 . The position estimation unit 215 uses pattern matching, feature quantity search, or the like to match feature points extracted from the captured image captured by the imaging device with feature points stored in the teacher data. Then, the position estimation unit 215 randomly selects several feature points from among the feature points extracted from the captured image and matched with the feature points stored in the teacher data. , the current position of the second vehicle 200 is estimated based on the positions of these several feature points in the camera image and the three-dimensional positions of the several feature points in the real space.

Based on instructions from the parking assistance server 300, the vehicle control unit 216 executes memory-based automatic parking using the current position information and teacher data. As an example, when receiving exit information from the parking support server 300, the vehicle control unit 216 controls the vehicle to move from the first parking space to the second parking start position based on the teaching data. The vehicle control unit 216 transmits, via the communication unit 211, parking assistance server 300 exit completion information, which is notification that exit from the first parking space to the second parking start position has been completed. Further, when the vehicle control unit 216 receives the parking information from the parking support server 300, the vehicle control unit 216 controls the vehicle to move from the second parking start position to the first parking space based on the teaching data. The vehicle control unit 216 transmits, via the communication unit 211, parking assistance server 300, parking completion information, which is a notification that parking from the second parking start position to the first parking space is completed.

"Configuration of communication terminal 400"
The communication terminal 400 is a communication terminal 400 used by a user, for example, a portable communication terminal 400 such as a smart phone and a tablet terminal. The communication terminal 400 displays a scenario regarding the entry and exit of the first vehicle and the second vehicle 200 . Note that the communication terminal 400 may be the communication terminal 400 mounted on the first vehicle 100, or may have a configuration in which the parking assistance device 170 and the display device 160 provided on the first vehicle 100 serve as both. Communication terminal 400 includes a display unit.

The communication terminal 400 receives, via the network N, from the management unit 320 of the parking assistance server 300 a scenario regarding entry and exit of the first vehicle 100 and the second vehicle 200 . Communication terminal 400 outputs the received scenario to the display unit. Also, a scenario selected by the user, which will be described later, is transmitted to the parking assistance server 300 via the network N. FIG.

The display unit is configured by, for example, a liquid crystal display. The display unit displays the received scenario on the liquid crystal display. The user can select any scenario by operating the liquid crystal display.

Next, the flow of parking assistance processing executed by the parking assistance system 1 of this embodiment configured as described above will be described. FIG. 5 is a sequence diagram showing an example of parking assistance executed by the parking assistance system 1 according to this embodiment.

First, the first vehicle 100 detects a first parking space and a second parking space (S10). The first vehicle 100 transmits information on the detected first and second parking spaces to the parking assistance server 300 (S20).

Parking assistance server 300 registers the received first parking space and second parking space (S30), and transmits information on the first parking space and second parking space to second vehicle 200 (S40).

After detecting the first parking space and the second parking space in S10, the first vehicle 100 determines whether to execute the parking start position determination process (S50). The details of the processing for determining whether to execute the parking start position determination processing will be described later. When the first vehicle 100 executes the process of determining the parking start position, the first vehicle 100 determines the first parking start position and the second parking start position (S60). Details of the determination processing of the first parking start position and the second parking start position will be described later. The first vehicle 100 transmits information on the determined first parking start position and second parking start position to the parking assistance server 300 (S70).

The parking assistance server 300 registers the received information of the first parking start position and the second parking start position (S80), and transmits the information of the first parking start position and the second parking start position to the second vehicle 200 ( S90).

The second vehicle 200 instructs from the second parking start position to the first parking space based on the received information of the first parking space and the second parking space and the information of the first parking start position and the second parking start position. The user carries out driving and supervised driving from the second parking start position to the second parking space (S100).

After determining the first parking start position and the second parking start position in S60, the first vehicle 100 determines the information of the first parking space and the second parking space and the information of the first parking start position and the second parking start position. , the user performs supervised driving from the first parking start position to the first parking space and supervised driving from the first parking start position to the second parking space (S110). The details of the process of executing the supervised run will be described later.

The parking assistance server 300 manages scenarios for executing memory-based automatic parking of the first vehicle 100 and the second vehicle 200 (S120), and transmits user-selectable scenarios to the user's communication terminal 400 (S130).

Communication terminal 400 displays the scenario received from parking assistance server 300 to the user, and the user selects an arbitrary scenario (S140). The communication terminal 400 transmits the scenario selected by the user to the parking assistance server 300 (S150).

Parking assistance server 300 instructs first vehicle 100 and second vehicle 200 to perform memory-based automatic parking based on the scenario received from communication terminal 400 (S160). The details of the memory-type automatic parking instruction processing will be described later.

The parking assistance server 300 transmits the leaving information or the entering information to the first vehicle 100 based on the scenario (S170). The parking assistance server 300 transmits the leaving information or the entering information to the second vehicle 200 based on the scenario (S180).

The first vehicle 100 executes memory-based automatic parking based on the parking information or the parking information from the parking assistance server 300 (S190). When the memory-based automatic parking is executed, the first vehicle 100 transmits the leaving completion information or the entering completion information to the parking assistance server 300 (S200).

The second vehicle 200 executes memory-type automatic parking based on the parking information or the parking information from the parking assistance server 300 (S210). The second vehicle 200 transmits the leaving completion information or the entering completion information to the parking assistance server 300 when memory-based automatic parking is executed (S220).

The parking assistance server 300 transmits to the communication terminal 400 of the user a completion notification of executing memory-based automatic parking of the first vehicle 100 and the second vehicle 200 (S230).

Next, the flow of processing for determining whether to execute the parking start position determination processing executed by the parking assistance device 170 of the present embodiment will be described. FIG. 6 is a diagram showing an application example of the parking assistance device 170 according to this embodiment. FIG. 7 is a flowchart showing an example of processing for determining whether to execute the parking start position determination processing according to the present embodiment.

In FIG. 6A, the parking lot has a first parking space 520 and a second parking space 530 arranged vertically, and the first parking space 520 and the second parking space 530 are surrounded by obstacles such as walls. There is only one way in and out of the space. Here, the parking space in front of the entrance is the second parking space 530 and the parking space in the back is the first parking space 520 .

In FIG. 6B, the parking lot has a first parking space 520 and a second parking space 530 side by side, and the first parking space 520 and the second parking space 530 are surrounded by obstacles such as walls. . Entrances and exits to the first parking space 520 and the second parking space 530 are present in each parking space. Here, the front parking space is the second parking space 530 and the back parking space is the first parking space 520 with respect to the current position of the vehicle.

First, the imaging device 120 provided on the side of the vehicle body of the first vehicle 100 stopped at an arbitrary position takes an image of the area on the side of the vehicle body, and the determination unit 172 performs image recognition of the captured image. The determination unit 172 detects a parking space from the imaged image of the region on the side of the vehicle body by image recognition (S300).

The determination unit 172 further determines whether or not there are parking spaces for two vehicles in the detected parking space (S310). As an example, the determination unit 172 compares the size of the parking space with the size of the own vehicle, and determines that there are parking spaces for two vehicles if the size is at least twice the size of the own vehicle. When determining that the two parking spaces do not exist (No in S310), the determination unit 172 ends the parking assistance in this embodiment.

On the other hand, when the determination unit 172 determines that there are two parking spaces (Yes in S310), the route generation unit 171 generates a first parking route and a second parking route (S320). In FIG. 6A, a first parking route from the current position of the vehicle to the first parking space 520 and a second parking route to the second parking space 530 are generated. Also, in FIG. 6B, a first parking route from the current position of the vehicle to the first parking space 520 and a second parking route to the second parking space 530 are generated.

Next, the determination unit 172 determines whether the second parking space 530 overlaps the first parking path or whether the first parking space 520 overlaps the second parking path (S330). If the determining unit 172 determines that the second parking space 530 does not overlap the first parking path and the first parking space 520 does not overlap the second parking path (No in S330), parking assistance in the present embodiment is performed. exit. On the other hand, when determining unit 172 determines that second parking space 530 overlaps with the first parking path or first parking space 520 overlaps with the second parking path, determination unit 172 determines to execute the parking start position determination process. and output to the determination unit 173 (S340).

In FIG. 6( a ), the first parking route is a route passing over the second parking space 530 . Therefore, in the parking lot of FIG. 6A, the determination unit 172 determines that the second parking space 530 overlaps the first parking path, and determines to execute the parking start position determination process. On the other hand, in FIG. 6B, the first parking route is a route that does not pass over the second parking space 530, and the second parking route is a route that does not pass over the first parking space 520. It's becoming Therefore, in the parking lot of FIG. 6B, the determination unit 172 determines that the second parking space 530 does not overlap the first parking path, and that the first parking space 520 does not overlap the second parking path. Then, the parking assistance in this embodiment ends.

Next, the flow of the parking start position determination process executed by the parking assistance device 170 of the present embodiment will be described. FIG. 8 is a flowchart showing an example of the parking start position determination process according to the present embodiment.

First, the determination unit 173 tentatively determines a first parking start position and a second parking start position, which are two different positions (S400).

Subsequently, the determining unit 173 generates an entry/exit route from the tentatively decided first parking start position to the first parking space and the second parking space (S410). Further, the determination unit 173 generates an entry/exit route from the tentatively determined second parking start position to the first parking space and the second parking space (S420).

Next, the determining unit 173 determines whether the second parking start position is on the entry/exit route from the first parking start position to the first parking space, or on the entry/exit route from the first parking start position to the second parking space. It is determined whether or not it exists above (S430). If determination unit 173 determines that there is (Yes in S430), the process returns to S400. On the other hand, if the determination unit 173 determines that it does not exist (No in S430), the first parking start position is on the entry/exit route from the second parking start position to the first parking space, or the second parking start position. to the second parking space (S440). If determination unit 173 determines that there is (Yes in S440), the process returns to S400. On the other hand, if determining unit 173 does not exist (No in S440), determination unit 173 determines the tentatively determined first parking start position and second parking start position as the first parking start position and second parking start position (S450). ).

Next, a flow of teaching driving performed by the first vehicle 100 of the present embodiment will be described. FIG. 9 is a flow chart diagram showing an example of a process of executing a teaching run of the first vehicle 100 according to the present embodiment. FIG. 10 is a diagram showing a display example displayed on the display device 160 according to this embodiment.

First, the display device 160 displays an image in which the first parking start position 500 is superimposed based on the output from the image generator 174 (S500). Note that the display device 160 may display an image in which the second parking start position 510 is superimposed on the first parking start position 500 . Next, the display device 160 displays an image in which the first parking space 520 and the second parking space 530 are superimposed based on the output from the image generator 174 (S510).

In FIG. 10 , a bird's-eye view image of the surroundings of the first vehicle 100 is displayed on the display device 160 , and the position of the first vehicle 100 is indicated by a vehicle icon 550 . Further, the display device 160 displays a first parking start position 500 that is the parking start position of the first vehicle 100 and a second parking start position 510 that is the parking start position of the second vehicle 200 . Further, on the display device 160, an image in which the first parking space 520 and the second parking space 530 are displayed in a superimposed manner is displayed. In addition, the display device 160 may superimpose an icon 540 indicating guidance on the teacher's route. In FIG. 10, an icon indicating a teacher route from the first parking start position 500 to the first parking space 520 is displayed. By checking the icon, the user can more easily perform the teacher run.

Subsequently, the user confirms the image displayed on the display device 160 and performs the teacher run. The storage unit 175 stores travel information when the user parks the first vehicle 100 from the first parking start position 500 in the first parking space 520 (S520). Further, the storage unit 175 stores travel information when the user parks the first vehicle 100 from the first parking start position 500 to the second parking space 530 (S530).

Next, the flow of instructions for memory-based automatic parking in the parking exit scenario executed by the parking assistance server 300 of this embodiment will be described. FIG. 11 is a flowchart showing an example of processing executed by the parking assistance server 300 according to this embodiment.

First, the parking assistance server 300 receives the exit scenario (S600). As an example, the parking assistance server 300 receives a leaving scenario from the communication terminal 400 of the user. Next, the parking assistance server 300 determines whether the scenario is to leave the first vehicle 100 (S610). In other words, the parking assistance server 300 determines whether the scenario is to leave the first vehicle 100 or to leave the second vehicle 200 .

If it is determined that the scenario is to leave the first vehicle 100 (Yes in S610), the parking assistance server 300 transmits the leaving information to the second vehicle 200 (S620). Then, when the second vehicle 200 completes leaving the parking lot to the second parking start position, the parking completion information is received from the second vehicle 200 (S630).

Next, the parking assistance server 300 transmits the leaving information to the first vehicle 100 (S640). Then, when the first vehicle 100 completes leaving the parking lot to the first parking start position, the parking completion information is received from the first vehicle 100 (S650).

Next, the parking assistance server 300 transmits the parking information to the second vehicle 200 (S660). Then, when the second vehicle 200 completes entering the second parking space, it receives entering completion information from the second vehicle 200 (S670).

On the other hand, if it is determined in S610 that the scenario does not involve leaving the first vehicle 100 (No in S610), the leaving information is transmitted to the first vehicle 100 (S680). Then, when the first vehicle 100 completes leaving the parking lot to the first parking start position, the parking completion information is received from the first vehicle 100 (S690).

Next, the parking assistance server 300 transmits parking information to the second vehicle 200 (S700). When the second vehicle 200 completes leaving the parking lot to the second parking start position, the second vehicle 200 receives the leaving completion information (S710).

Next, the parking assistance server 300 transmits the parking information to the first vehicle 100 (S720). When the first vehicle 100 has entered the first parking space, it receives entry completion information from the first vehicle 100 (S730).

(Effect)
The parking assistance device 170 according to this embodiment has the following effects.

The parking assistance device 170 according to this embodiment is used for parking assistance to automatically park the vehicle in the parking space based on the driving information obtained when the vehicle is parked in the parking space from the parking start position by the driver's driving. It is a parking assistance device 170 that is used. The parking assistance device 170 includes an image generator 174 . The image generator 174 causes the display device 160 provided in the vehicle to display an image. The image generator 174 causes the display device 160 to display the first parking start position and the second parking start position, the first parking start position and the second parking start position are different positions, and the second parking start position is , the route from the first parking start position to the first parking space. As a result, it is possible to further improve the display of the parking start position of memory-based automatic parking to the user. Specifically, since the user can visually recognize the parking start position of memory-type automatic parking and perform the supervised driving, when performing the supervised driving of a plurality of vehicles, the supervised driving of each vehicle will be mutually synchronized. The user can recognize the parking start position for not interfering with the vehicle.

The first parking start position is a position that does not overlap the route from the second parking start position to the second parking space. As a result, the user can recognize the parking start position for not interfering with each other when teaching driving of a plurality of vehicles.

A determination unit 172 is further provided to determine the first parking start position and the second parking start position when the first parking space overlaps the route from the current position of the vehicle to the second parking space. As a result, the processing is performed in the parking lot that requires the determination processing of the first parking start position and the second parking start position, so unnecessary processing in the parking lot that does not require the determination processing can be prevented.

The parking support server 300 according to the present embodiment performs parking control for automatically parking the vehicle in the parking space based on the driving information obtained when the vehicle is parked in the parking space by driving the first vehicle. 100 and the 2nd vehicle 200, and the server which can communicate. The transmitting/receiving unit 310 transmits the leaving information to the first vehicle 100 and the second vehicle 200 and the entering information to the second vehicle 200 and receives the leaving completion information from the first vehicle 100 and the second vehicle 200 . After the transmitter/receiver 310 transmits the leaving information to the second vehicle 200, the transmitting/receiving unit 310 receives the leaving completion information from the second vehicle 200, and after the transmitting/receiving unit 310 receives the leaving completion information from the second vehicle 200, the transmission/reception is performed. The unit 310 transmits the leaving information to the first vehicle 100. After the transmitting/receiving unit 310 transmits the leaving information to the first vehicle 100, the transmitting/receiving unit 310 receives the leaving completion information from the first vehicle 100, and the transmitting/receiving unit 310 After receiving the leaving completion information from the first vehicle 100 , the transmitting/receiving unit 310 transmits the entering information to the second vehicle 200 . As a result, the entry and exit of the vehicle in the parallel parking lot can be realized by using the memory-based automatic parking, so that the user's trouble can be eliminated.

The transmitting/receiving unit 310 further receives the warehousing completion information from the second vehicle 200, and after the warehousing completion information is received from the second vehicle 200, the transmitting/receiving unit 310 transmits the warehousing information to the first vehicle 100. Send. As a result, when a plurality of vehicles are parked in a parking lot, it is possible to realize memory-based automatic parking for the replacement of the plurality of vehicles.

(Modification)
Modifications of the present disclosure will be described in detail below.

The parking assistance device 170 of the present embodiment is not limited to a parallel parking lot, and for example, there is a parking lot where two parking spaces are arranged vertically and horizontally (hereinafter referred to as a vertical and horizontal parking lot). In particular, in a vertical/horizontal parking lot, there are cases where the parking space is surrounded by obstacles such as walls, and the entrance/exit to the parking space is in one direction. FIG. 12 is a diagram showing an application example of the parking assistance device 170 according to the modification. FIG. 13 is a diagram showing a display example displayed on the display device 160 according to the modification.

In FIG. 12(a), the parking lot has a first parking space 520 arranged horizontally and a second parking space 530 arranged vertically. The first parking space 520 and the second parking space 530 are surrounded by obstacles such as walls, and the second parking space 530 exists at the entrance/exit of the first parking space 520 . In the vertical and horizontal parking lot, the first parking route is a route that passes over the second parking space 530 . Therefore, in the parking lot of FIG. 12A, the determination unit 172 determines that the second parking space 530 overlaps with the first parking path, determines to execute the parking start position determination process, and the determination unit 173 , the parking start position determination process is executed.

In FIG. 12(b), the parking lot has a first parking space 520 arranged horizontally and a second parking space 530 arranged vertically. The first parking space 520 and the second parking space 530 are surrounded by obstacles such as walls, and the second parking space 530 does not exist at the entrance/exit of the first parking space 520 . Therefore, the first parking route is a route that does not pass over the second parking space 530 . Therefore, in the parking lot of FIG. 12(b), the determination unit determines that the second parking space 530 does not overlap the first parking path, and terminates the parking assistance in this embodiment.

In FIG. 13, the display device 160 displays an overhead image of the surroundings of the first vehicle, and the position of the first vehicle is indicated by a vehicle icon. The display device 160 also displays a first parking start position 500 that is the parking start position of the first vehicle and a second parking start position 510 that is the parking start position of the second vehicle. Further, on the display device 160, an image in which the first parking space 520 and the second parking space 530 are displayed in a superimposed manner is displayed. In addition, the display device 160 superimposes an icon 540 indicating guidance on the teacher's route. In FIG. 13, an icon indicating a teacher route from the first parking start position 500 to the first parking space 520 is displayed. By checking the icon, the user can more easily perform the teacher run.

Also, the flow of instructions for memory-based automatic parking in the parking scenario executed by the parking assistance server 300 will be described. The parking assistance server 300 receives the parking scenario. As an example, the parking assistance server 300 receives a parking scenario from the communication terminal 400 of the user. Next, the parking assistance server 300 determines whether the scenario is to park the first vehicle 100 . When it is determined that the first vehicle 100 is in the parking scenario, the parking assistance server 300 transmits the parking exit information to the second vehicle 200 . Then, when the second vehicle 200 completes leaving the garage to the second parking start position, it receives the leaving completion information from the second vehicle 200 . Next, the parking assistance server 300 transmits the warehousing information to the first vehicle 100 . Then, when the first vehicle 100 completes entering the first parking space, it receives entry completion information from the first vehicle 100 . Next, the parking assistance server 300 transmits the parking information to the second vehicle 200 . When the second vehicle 200 completes entering the second parking space, it receives the entering completion information from the second vehicle 200 .

On the other hand, when it is determined that the first vehicle 100 is not in the parking scenario, the parking information is transmitted to the first vehicle 100 . Then, when the first vehicle 100 completes leaving the parking lot to the first parking start position, it receives the leaving completion information from the first vehicle 100 . Next, the parking assistance server 300 transmits the parking information to the second vehicle 200 . When the second vehicle 200 completes entering the first parking space, it receives the entering completion information from the second vehicle 200 . Next, the parking assistance server 300 transmits the warehousing information to the first vehicle 100 . Then, when the first vehicle 100 completes entering the second parking space, it receives entry completion information from the first vehicle 100 .

The parking assistance server 300 according to the present embodiment performs parking control for automatically parking the vehicle in the parking space based on the driving information obtained when the vehicle is parked in the parking space by driving the first vehicle 100. and the second vehicle 200, and a server capable of communicating. The parking assistance server 300 transmits parking information to the first vehicle 100 and the second vehicle 200 and parking information to the second vehicle 200, and receives parking completion information from the second vehicle 200 and parking completion information from the first vehicle 100. A transmitting/receiving unit 310 is provided. After the transmitter/receiver 310 transmits the leaving information to the second vehicle 200, the transmitting/receiving unit 310 receives the leaving completion information from the second vehicle 200, and after the transmitting/receiving unit 310 receives the leaving completion information from the second vehicle 200, the transmission/reception is performed. The unit 310 transmits the warehousing information to the first vehicle 100, and after the transmission/reception unit 310 transmits the warehousing information to the first vehicle 100, the transmission/reception unit 310 receives the warehousing completion information from the first vehicle 100, and the transmission/reception unit 310 After receiving the warehousing completion information from the first vehicle 100 , the transceiver 310 transmits the warehousing information to the second vehicle 200 . As a result, when the vehicle is parked, it can be realized using the memory-based automatic parking, so that the user's trouble can be eliminated.

Further, the scenario managed by the parking assistance server 300 is not limited to entering and exiting the parking lot, and may include a scenario of switching between the first vehicle 100 and the second vehicle 200 . As an example, in a parallel parking lot, the first vehicle 100 is parked in the first parking space, which is the back parking space, and the second vehicle 100 is parked in the second parking space, which is the front parking space. Assume that two vehicles 200 are parked. In the replacement scenario, first, the second vehicle 200 leaves the second parking start position. After that, the first vehicle 100 is allowed to leave the first parking start position. Then, the second vehicle 200 is parked in the first parking space. Finally, the first vehicle 100 is parked in the second parking space.

Specifically, the parking assistance server 300 transmits parking information to the second vehicle 200 . Then, when the second vehicle 200 completes leaving the garage to the second parking start position, it receives the leaving completion information from the second vehicle 200 . Next, the parking assistance server 300 transmits parking information to the first vehicle 100 . Then, when the first vehicle 100 completes leaving the parking lot to the first parking start position, it receives the leaving completion information from the first vehicle 100 . Next, the parking assistance server 300 transmits the parking information up to the first parking space to the second vehicle 200 . When the second vehicle 200 completes entering the first parking space, it receives the entering completion information from the second vehicle 200 . Next, the parking assistance server 300 transmits the parking information up to the second parking space to the first vehicle 100 . Then, when the first vehicle 100 completes entering the second parking space, it receives entry completion information from the first vehicle 100 . As a result, the replacement of vehicles in a parallel parking lot can be realized using the memory-based automatic parking, thereby eliminating the user's trouble.

In addition, the parking assistance system 1 can be applied not only to entry/exit of two vehicles but also to entry/exit and replacement of three or more vehicles. As an example, in a parallel parking lot, the first vehicle 100 is parked in the first parking space, which is the back parking space, and the second vehicle 100 is parked in the second parking space, which is the front parking space. Assume that two vehicles 200 are parked and a third vehicle is parked in a third parking space between the first parking space and the second parking space. An exit scenario of the first vehicle 100 in this case will be described in detail as an example.

The parking assistance server 300 transmits the leaving information to the second vehicle 200 . Then, when the second vehicle 200 completes leaving the garage to the second parking start position, it receives the leaving completion information from the second vehicle 200 . Transmits the leaving information to the third vehicle. Then, when the third vehicle has completed leaving the parking lot to the third parking start position, it receives the leaving completion information from the third vehicle. Next, the parking assistance server 300 transmits parking information to the first vehicle 100 . Then, when the first vehicle 100 completes leaving the parking lot to the first parking start position, it receives the leaving completion information from the first vehicle 100 . Next, the parking assistance server 300 transmits the parking information up to the first parking space to the third vehicle. Then, when the third vehicle has completed entering the first parking space, it receives entry completion information from the third vehicle. Then, the parking assistance server 300 transmits to the second vehicle 200 the parking information up to the third parking space. When the second vehicle 200 completes entering the third parking space, it receives the entering completion information from the second vehicle 200 . As a result, even three or more vehicles can be parked in a parallel parking lot by using memory-based automatic parking, thereby eliminating the user's trouble.

In addition, if there are at least one or more first parking start position candidates, or at least one or more second parking start position candidates, parking assistance device 170 may select at least one or more first parking start position candidates. or at least one or more candidates for the second parking start position may be displayed on the display device 160 . Specifically, when there are a plurality of first parking start positions and second parking start positions that satisfy the first condition and the second condition in the parking start position determination processing of the determination unit 173, a plurality of first parking positions are determined. The image generator 174 may cause the display device 160 to superimpose the candidate for the start position and the plurality of candidates for the second parking start position on the image. Thereby, the user can determine the parking start position from a plurality of start positions according to the user's preference.

Further, the communication unit 179 receives driving information obtained when another vehicle is parked in the parking space by the driver, and the determination unit 173 determines the first parking start position based on the received driving information of the other vehicle. Alternatively, the second parking start position may be determined.

Further, when the second parking space overlaps the entry/exit route from the first parking start position to the first parking space, the storage unit 175 stores teacher data with the position on the entry/exit route as the second parking space. may As a result, it is not necessary to perform the teacher run twice, so the user's time and effort for the teacher run can be reduced.

Parking assistance server 300 may determine the scenario instead of receiving the scenario selected by the user from communication terminal 400 of the user. As an example, parking assistance server 300 has a determination unit. The determination unit receives the image of the imaging device 120 of the first vehicle 100 and determines the parking states of the first vehicle 100 and the second vehicle 200 from the image. Specifically, the second vehicle 200 is recognized from an image acquired by a first imaging device that captures an image of the front of the first vehicle 100, and a wall or the like is detected from an image acquired from a second imaging device that captures an image of the rear of the vehicle. is recognized, the first vehicle 100 is parked in the first parking space of the parallel parking lot, and the second vehicle 200 is parked in the second parking space. The parking assistance server 300 determines the scenario to be the leaving scenario of the first vehicle 100 based on the determination result.

In this embodiment, of the two vehicles having the functions of this embodiment, it is desirable to determine the parking start position for the larger vehicle.

Parking assistance server 300 may be communication terminal 400 . As an example, it may be a smartphone, a personal computer, or the like used by the user.

In the parking assistance device 170 described in this embodiment, the route generation unit 171, the determination unit 172, the determination unit 173, the image generation unit 174, the storage unit 175, the extraction unit 176, the position estimation unit 177, the vehicle control unit 178, and the communication unit Each block such as 179 may be individually formed into one chip by a semiconductor device such as LSI, or may be formed into one chip so as to include part or all of them.

A processing method executed by the parking assistance devices 170 and 210 and the parking assistance server 300, a computer program for causing a computer to execute the processing method, and a computer-readable recording medium recording the program are included in the scope of the present disclosure. . Examples of computer-readable recording media include flexible disks, hard disks, CD-ROMs (Compact Disc Read Only Memory), MOs (Magneto-Optical Disks), DVDs (Digital Versatile Discs), DVD-ROMs (DVD -Read Only Memory), DVD-RAM (DVD-Random Access Memory), BD (Blu-ray (registered trademark) Disc), and semiconductor memory.

A part or all of the processing of each functional block of this embodiment may be implemented by a computer program. Further, each process of this embodiment may be realized by hardware, or may be realized by software (including cases where it is realized together with an OS (operating system), middleware, or a predetermined library). Furthermore, it may be realized by mixed processing of software and hardware.

A computer includes a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a hard disk device, a storage device such as an SSD (Solid State Drive), and a reading device for reading information from a recording medium. Each unit described above is connected by a bus. The reader reads the program from the recording medium recording the program for realizing the functions of the above units, and stores the program in the storage device. The CPU copies the program stored in the storage device to the RAM, and sequentially reads and executes instructions included in the program from the RAM. Thereby, the functions of the above units are realized. Further, when executing the program, information obtained by various processes described in each embodiment is stored in the RAM or storage device and used as appropriate.

The computer programs are not limited to those recorded on the above recording medium, and may be transmitted via an electric communication line, a wireless or wired communication line, a network represented by the Internet, or the like. Also, the execution order of the processing method according to the present embodiment is not necessarily limited to the description of the above embodiment, and the execution order can be changed without departing from the gist of the present disclosure.

1 parking assistance system 100 first vehicle 110 wave transmitting/receiving unit 120 imaging device 130 steering actuator 140 engine actuator 150 brake actuator 160 display device 170, 210 parking assistance device 171 route generation unit 172 determination unit 173 determination unit 174, 212 image generation unit 175 , 213 storage unit 176, 214 extraction unit 177, 215 position estimation unit 178, 216 vehicle control unit 179, 211 communication unit 200 second vehicle 300 parking support server 310 transmission/reception unit 320 management unit 400 communication terminal 500 first parking start position 510 Second parking start position 520 First parking space 530 Second parking space 540 Icon indicating teacher route guidance 550 Vehicle icon N Network

Claims (5)

A server that can communicate with a first vehicle and a second vehicle that perform parking control for automatically parking the vehicle in the parking space based on travel information obtained when the vehicle is parked in the parking space by driving the driver. There is
a transmitting/receiving unit that transmits parking information and parking information to the first vehicle and the second vehicle, and receives parking completion information from the first vehicle and the second vehicle;
with
After the transmitting/receiving unit transmits the leaving information to the second vehicle, the transmitting/receiving unit receives the leaving completion information from the second vehicle,
After the transmitting/receiving unit receives the exit completion information from the second vehicle, the transmitting/receiving unit transmits the exit information to the first vehicle,
After the transmitting/receiving unit transmits the leaving information to the first vehicle, the transmitting/receiving unit receives the leaving completion information from the first vehicle,
After the transmitting/receiving unit receives the exit completion information from the first vehicle, the transmitting/receiving unit transmits the parking information to the second vehicle.
server. The transmitting/receiving unit further receives warehousing completion information from the second vehicle,
The transmitting/receiving unit transmits the warehousing information of the first vehicle after the transmitting/receiving unit receives the warehousing completion information from the second vehicle.
A server according to claim 1 . 3. A server according to claim 1 or 2, wherein said server is a communication terminal. Information processing capable of communicating with a first vehicle and a second vehicle that perform parking control to automatically park the vehicle in the parking space based on travel information obtained when the vehicle is parked in the parking space by driving the driver. a method,
Transmitting the leaving information and the entering information of the second vehicle to the first vehicle and the second vehicle, receiving the leaving completion information from the first vehicle and the second vehicle,
receiving the exit completion information from the second vehicle after transmitting the exit information to the second vehicle;
after receiving the exit completion information from the second vehicle, transmitting the exit information to the first vehicle;
After transmitting the exit information to the first vehicle, receiving the exit completion information from the first vehicle;
After receiving the exit completion information from the first vehicle, transmitting the warehousing information to the second vehicle;
Information processing methods. A server that can communicate with a first vehicle and a second vehicle that perform parking control for automatically parking the vehicle in the parking space based on travel information obtained when the vehicle is parked in the parking space by driving the driver. There is
a transmitting/receiving unit that transmits warehousing information and warehousing information to the first vehicle and the second vehicle and warehousing information to the second vehicle, and receives warehousing completion information from the second vehicle and warehousing completion information from the first vehicle;
with
After the transmitting/receiving unit transmits the leaving information to the second vehicle, the transmitting/receiving unit receives the leaving completion information from the second vehicle,
After the transmitting/receiving unit receives the parking completion information from the second vehicle, the transmitting/receiving unit transmits the parking information to the first vehicle,
After the transmission/reception unit has transmitted the warehousing information to the first vehicle, the transmission/reception unit receives the warehousing completion information from the first vehicle,
After the transmission/reception unit receives the warehousing completion information from the first vehicle, the transmission/reception unit transmits the warehousing information to the second vehicle.
server.

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