JP6503218B2 - Driving support system, driving support device and driving support method - Google Patents

Description

  The present invention relates to, for example, a driving support system, a driving support apparatus, and a driving support method for supporting a driver driving a vehicle such as a car.

  BACKGROUND Conventionally, a navigation device mounted on a vehicle or the like to provide route guidance to a driver is known. In this navigation device, a plurality of Global Positioning System (GPS) satellites on the sky receive GPS signals transmitted on satellite radio waves, receive the current position, measure the current position, and display the current position of the vehicle on the map displayed on the display device. It is possible to superimpose and display. And, in recent years, a technology as disclosed in Patent Document 1 has been studied.

  According to this patent document 1, "the user of the information providing apparatus changes dynamically by obtaining additional information at each point and determining whether the center server can easily run or the parking lot space status from the image generated by the vehicle. Providing information to users. ”

JP, 2013-145540, A

  By the way, in the environment where a navigation apparatus can not receive a GPS signal, since a navigation apparatus can not grasp the exact position of vehicles, there was a case where it was not able to guide the situation around a destination. Also, the navigation device only guides the route to the destination, and the driver has not been provided with useful information associated with the route.

  Even in the technology disclosed in Patent Document 1, it is not considered to guide the route in an environment where GPS signals can not be received, and the driver can not obtain detailed information in the vicinity of the destination.

  The present invention has been made in view of such a situation, and an object thereof is, for example, to provide a driver with information for supporting the driving of a vehicle.

The navigation device used in the vehicle according to the present invention transmits an image obtained from the on-board camera mounted on the vehicle to the driving support device, and the driving support device drives the vehicle using the parking lot provided with the parking space. Receive driving support information to support.
The driving support device that is not mounted on the vehicle is a registered image of the landmark read from the parking lot image database that manages the installation position of the landmark and the registered image of the landmark for the landmark included in the image received from the navigation device. Check the installation position of the landmark, determine the presence or empty of another vehicle for each parking space included in the image, and if the parking lot is a three-dimensional parking lot, each of the three-dimensional parking lot The floor floor number is determined based on the landmark displayed at the entrance of the floor, and the display content for each block is determined based on the landmark installed in the block divided for each floor, and the floor floor number or the display content A floor map showing the parking situation of the parking lot for each floor, which is distributed when the vehicle enters the floor, There are delivered when running in the floor, to create a car park map and a block map showing the parking condition for each block in the floor, the driving support device, determining based on a predetermined position where the landmark is placed a driving support information corresponding to the position of the vehicle, to create a driving support information including parking map the vehicle is stationary car or empty car parking spaces provided in the parking lot to use is indicated, the driving support information Deliver to the navigation device .
In addition, the navigation device used in the vehicle according to the present invention transmits an image obtained from the on-vehicle camera mounted on the vehicle to the driving assistance device, and the driving assistance device uses the parking lot provided with the parking space. Receive driving support information to support driving.
The driving support device that is not mounted on the vehicle is a registered image of the landmark read from the parking lot image database that manages the installation position of the landmark and the registered image of the landmark for the landmark included in the image received from the navigation device. Check the location of the landmarks to match. The presence or empty of another vehicle is determined for each parking space included in the image, and the travel or parking of the vehicle is determined based on the change in size of the landmark over time, and it is determined that the vehicle is traveling. In this case, the presence or empty vehicle of the parking space is determined based on the image taken by the on-vehicle camera installed so as to be able to capture the side direction of the vehicle, and if it is determined that the vehicle is parked The presence or empty car of the parking space is determined based on the image captured by the on-vehicle camera installed so as to be capable of imaging, and the driving support device responds to the position of the vehicle determined based on the predetermined position where the landmark is installed. Driver assistance information including a parking lot map in which existing cars or vacant cars of a parking space provided in a parking lot used by a vehicle are created, and navigation of the driving assistance information is performed. To deliver to.
In addition, the navigation device used in the vehicle according to the present invention transmits an image obtained from the on-vehicle camera mounted on the vehicle to the driving assistance device, and the driving assistance device uses the parking lot provided with the parking space. Receive driving support information to support driving.
The driving support device that is not mounted on the vehicle is a registered image of the landmark read from the parking lot image database that manages the installation position of the landmark and the registered image of the landmark for the landmark included in the image received from the navigation device. Check the location of the landmarks to match. The presence or empty vehicle of another vehicle is determined for each parking space included in the image. Then, the terminal image obtained from the terminal camera of the portable terminal and the terminal identification information of the portable terminal are received from the portable terminal, the landmark included in the terminal image is recognized, and the landmark is set based on the predetermined position. Is the driving support information corresponding to the position of the vehicle determined, and the present or empty car of the parking space provided in the parking lot used by the vehicle is indicated, and the current of the portable terminal from the vehicle associated with the terminal identification information A parking lot map reflecting the route to the position is created as driving support information, the driving support information is distributed to the portable terminal, and the portable terminal receives the driving support information from the driving support device.

According to the present invention, the driver's driving can be supported by the driving support information corresponding to the position of the vehicle determined based on the landmark.
Problems, configurations, and effects other than those described above will be made clear by the following description of the embodiment.

FIG. 1 is a block diagram showing an example of an internal configuration of a driving support system according to a first embodiment of the present invention. It is a block diagram showing an example of hardware constitutions of a computer concerning a 1st example of an embodiment of the present invention. It is a block diagram which shows the example of the parking position information management table which concerns on the example of the 1st Embodiment of this invention. It is a block diagram which shows the example of the landmark position information management table which concerns on the example of the 1st Embodiment of this invention. It is explanatory drawing which shows the example of the landmark registration image of the plant exit vicinity which concerns on the example of the 1st Embodiment of this invention. It is an explanatory view showing an example of a landmark registration picture in a parking lot concerning a 1st example of an embodiment of the present invention. It is explanatory drawing which shows the example of the landmark registration image of the floor entrance which concerns on the example of the 1st Embodiment of this invention. It is a flowchart which shows the flow of the whole process which the driving assistance system which concerns on the example of the 1st Embodiment of this invention performs. It is an explanatory view showing an example of a photography range of a front camera carried in a parked car concerning a 1st example of an embodiment of the present invention. It is explanatory drawing which shows the example of the image which the front camera of the parking vehicle which concerns on the example of the 1st Embodiment of this invention image | photographs. It is an explanatory view showing an example of a traveling vehicle in a parking lot concerning a 1st example of an embodiment of the present invention. It is explanatory drawing which shows the example which detects an empty space based on the image which the side camera of the traveling vehicle which concerns on the 1st Embodiment of this invention image | photographed. It is a flowchart which shows the example of the detection process of the empty space which the vehicle presence determination part which concerns on the example of the 1st Embodiment of this invention performs. It is an explanatory view showing the principle of the random forest concerning a 1st example of an embodiment of the present invention. It is explanatory drawing which shows the example of the learning data used for the empty vehicle determination process shown to FIG.13 S16. It is explanatory drawing which shows the example of the learning data used for the vehicle presence determination processing shown to FIG.13 S17. It is a flowchart which shows the example of the detection process of the leaving vehicle which the vehicle state determination part 31 which concerns on the example of the 1st Embodiment of this invention performs. It is an explanatory view showing an example of a floor map concerning a 1st example of an embodiment of the present invention. It is an explanatory view showing an example of a block map concerning a 1st example of an embodiment of the present invention. It is an explanatory view showing an example of detection of a warning object concerning a 1st example of an embodiment of the present invention. It is a block diagram showing an example of an internal configuration of a driving support system concerning a 2nd example of an embodiment of the present invention. It is a flow chart which shows a flow of parking position guidance processing concerning a 2nd example of an embodiment of the present invention. It is an explanatory view showing an example of parking position guidance concerning a 2nd example of an embodiment of the present invention.

  Hereinafter, a driving assistance apparatus according to the first embodiment of the present invention will be described. In the specification and the drawings, components having substantially the same function or configuration will be assigned the same reference numerals and overlapping descriptions will be omitted.

FIG. 1 is a block diagram showing an example of the internal configuration of the driving support system 1.
The driving support system 1 includes a plurality of vehicles 2 using a parking lot provided with a parking space, and a driving support device 3 distributing driving support information for supporting the driving of the vehicle 2 to the vehicle 2. The driving support device 3 is used as a center server, and can transmit and receive data to and from the vehicle 2 used as a client via a wireless network (not shown).

  In the following description, the area | region of the magnitude | size which one vehicle 2 can park is called a parking space. A plurality of parking spaces are provided in the parking lot, and each parking space is partitioned by white lines, car stops and the like. Then, the state of the parking space in which the vehicle 2 is parked is referred to as "existing vehicle", the state of the parking space in which the vehicle 2 is not parked is referred to as "empty car", and the parking space which is empty is referred to as "empty space". Call. In addition, stopping the vehicle 2 in the parking space is referred to as "receipt", and exiting the vehicle 2 from the parking space is referred to as "dispatch".

  The vehicle 2 includes an on-vehicle camera 21 and a navigation device 22. The vehicle 2 transmits an image obtained from the in-vehicle camera 21 to the driving support device 3, and receives driving support information (for example, a parking lot map, warning information) from the driving support device 3.

  The on-vehicle camera 21 is mounted near the windshield of the vehicle 2 and captures the traveling direction of the vehicle 2. Further, by mounting the on-vehicle camera 21 in the vicinity of the door mirror of the vehicle 2, it is possible to capture the side direction of the vehicle 2. The on-vehicle camera 21 that captures the traveling direction of the vehicle 2 is called a front camera 21F (see FIG. 9 described later). Further, the on-vehicle cameras 21 for capturing the side direction of the vehicle 2 will be referred to as side cameras 21L and 21R (see FIGS. 11 and 12 described later). The on-vehicle camera 21 records an image (moving image) on a drive recorder (not shown) mounted on the vehicle 2.

The navigation device 22 includes an image transmission unit 23, a vehicle information transmission unit 24, a driving support information reception unit 25, and a display unit 26.
The image transmission unit 23 transmits the image (still image) received from the in-vehicle camera 21 at a predetermined timing (for example, every few seconds) or the image read from the drive recorder at a predetermined timing to the driving support device 3.

The vehicle information transmission unit 24 transmits, to the driving support device 3, vehicle information such as, for example, information on on / off of an engine (not shown) mounted on the vehicle 2 and start time or stop time of the engine.
The driving support information receiving unit 25 receives the driving support information from the driving support device 3.
The display unit 26 can present the driver with driving support information. The driver of the vehicle 2 can drive the vehicle 2 to the vacant space of the parking lot or know the warning target that may occur around the vehicle 2 by the driving support information displayed on the display unit 26 it can.

  The driving support device 3 includes a parking lot image database D1, a vehicle information database D2, a parking lot map database D3, a vehicle state determination unit 31, a landmark recognition unit 32, an existing vehicle determination unit 33, and a driving support information management unit 34.

The parking lot image database D1 manages the parking position of the vehicle 2 and the installation position of the landmark, and accumulates the images transmitted from the image transmitting unit 23 of the vehicle 2. The parking lot image database D1 includes a parking position information management table T1 (an example of a first table) and a landmark position information management table T2 (an example of a second table).
The parking position information management table T1 manages information of the vehicle 2 parked in the parking lot.
The landmark position information management table T2 is installed in the parking lot, and manages an image including the position at which the landmark including the signboard, guide plate, etc. is installed and the type of the landmark for the purpose of displaying the guidance around the parking lot. . Detailed contents of each table are shown in FIG. 3 and FIG. 4 described later.

The vehicle information database D2 stores the vehicle information transmitted from the vehicle information transmission unit 24 of the vehicle 2.
The parking lot map database D3 stores the parking lot map in advance for each floor or block. The parking lot map includes, for example, information such as an area dedicated to light vehicles and a priority area for disabled people.

  The vehicle state determination unit 31 determines the vehicle state in the parking space based on the image read from the parking lot image database D1 and the vehicle information read from the vehicle information database D2. This vehicle state includes any of three types of states such as whether the vehicle 2 is parked, the vehicle 2 is traveling, or it is planned to leave the vehicle 2 from the parking space . In addition, if sound is added to the image stored in the parking lot image database D1, the vehicle state determination unit 31 may also determine the state of the vehicle 2 based on the change of the sound (for example, the engine sound). it can.

  The landmark recognition unit 32 recognizes a landmark included in the image received from the vehicle 2. Then, the landmark recognition unit 32 collates the landmarks included in the image received from the vehicle 2 with the landmark registration image read out from the landmark position information management table T2 to recognize the installation position of the landmarks. Then, the landmark recognition unit 32 writes the recognition result of the landmark in the parking position information management table T1 for each image received from the vehicle 2. The landmark recognition unit 32 includes a travel determination unit 32a, a floor level determination unit 32b, and an in-block display determination unit 32c.

  The travel determination unit 32 a can determine travel or parking of the vehicle 2 based on a change in size of the landmark image recognized by the landmark recognition unit 32 over time. For example, the traveling determination unit 32a determines that the vehicle 2 is traveling if the landmark image is enlarged as time passes, and the vehicle 2 does not change in size even if the landmark image changes in time. It can be determined that the vehicle is parked.

When the parking lot is a three-dimensional parking lot, the number of floor floors determination unit 32b determines the number of floor floors based on the landmark displayed at the entrance of each floor of the three-dimensional parking lot.
The in-block display determination unit 32c determines the display content of the block based on the landmarks installed for each block into which the floor is divided.

  The vehicle presence determination unit 33 determines the vehicle presence or empty vehicle of another vehicle 2 for each parking space included in the image captured by the on-vehicle camera 21. At this time, the vehicle presence determination unit 33 obtains a parking space based on a change in the image, and determines an empty car or a vehicle in the parking space according to a change in the determination region set in the parking space. Then, the vehicle presence determination unit 33 writes information such as the parking time in the parking lot image database D1 as a result of the determination of the vehicle or empty vehicle determined for each parking space.

  The driving support information management unit 34 distributes to the vehicle 2 the driving support information corresponding to the position of the vehicle 2 determined based on the predetermined position where the landmark is installed. At this time, based on the parking state information and the parking position information of the vehicle 2 using the parking lot, the driving support information management unit 34 creates, as the driving support information, a parking lot map in which the vehicle in the parking space is shown Deliver a parking lot map to the vehicle 2 while driving. Here, the parking state information is information indicating that the vehicle 2 is parked in the vacant space or is scheduled to leave. The parking position information is information indicating the parking position of the vehicle 2 identified by the parking state information. The driving support information management unit 34 includes a position determination unit 34a, a driving support information creation unit 34b, and a driving support information distribution unit 34c.

  The position determination unit 34a determines the position of the vehicle 2 from the predetermined position where the landmark is installed. At this time, the position determination unit 34a determines the parking position or the traveling position of the vehicle 2 in the parking lot based on the vehicle state, the determination result of the vehicle in the parking space, or the empty car based on the landmark (the number of floors or the display content). ing.

  The driving support information creation unit 34b creates a parking lot map shown to the driver as the driving support information. In this parking lot map, a floor map (see FIG. 18 described later) showing the parking situation of the parking lot, which is created based on the parking lot map read out from the parking lot map database D3, on each floor, A block map (see FIG. 19 described later) indicating the parking status is included for each block. In addition, the driving support information creation unit 34b creates a parking lot map (see FIG. 19 described later) in which the vehicle state of the vehicle 2 is indicated. In the parking lot map, in addition to the parking state information, for example, a parking space for disabled people, a space dedicated to light vehicles, a space with many popular parkings, a space with poor visibility and a difficult space to go out, a point where pedestrians fly out Etc. is also included. In addition, the parking lot map may include warning information for warning the driver of the presence of a pedestrian in the vicinity of the vehicle 2 or another vehicle 2 approaching the vehicle 2.

The driving support information creation unit 34b includes a floor map creation unit 34b1 and a block map creation unit 34b2.
The floor map creation unit 34b1 creates, for example, a floor map in which information of existing cars or empty cars is reflected on the parking lot map for each floor read from the parking lot map database D3.
When the floor is partitioned by specific blocks, the block map creation unit 34b2 creates, for example, a block map in which warning information etc. is reflected on the parking lot map for each block read from the parking lot map database D3. .

  The driving support information distribution unit 34 c distributes the driving support information created by the driving support information creation unit 34 b to the vehicle 2. The driving support information includes a parking lot map such as the above-described floor map and block map.

<Example of hardware configuration of computer>
Next, the hardware configuration of the computer 10 constituting each device of the driving support system 1 will be described.
FIG. 2 is a block diagram showing an example of the hardware configuration of the computer 10.

  The computer 10 is hardware that is used as a so-called computer, is provided in each of the vehicle 2 and the driving support device 3, and can realize each function according to the present embodiment. The computer 10 includes a central processing unit (CPU) 11, a read only memory (ROM) 12, and a random access memory (RAM) 13 connected to a bus 14. Furthermore, the computer 10 includes a display unit 15, an operation unit 16, a non-volatile storage 17, and a network interface 18.

  The CPU 11 reads out from the ROM 12 a program code of software that realizes each function according to the present embodiment and executes it. Variables, parameters, and the like generated during the arithmetic processing are temporarily written in the RAM 13. The display unit 15 is, for example, a liquid crystal display monitor, and displays a result of processing performed by the computer 10 and the like. For example, a keyboard, a mouse or the like is used for the operation unit 16 included in the driving support device 3, and a manager of the driving support device 3 can perform predetermined operation input and instruction using these. On the other hand, for example, a touch panel display superimposed on the display unit 15 is used for the operation unit 16 included in the vehicle 2, and the driver can perform an operation input by touching the display surface. Such a touch panel display is used for the display unit 26 of the vehicle 2.

  As the non-volatile storage 17, for example, HDD (Hard disk drive), SSD (Solid State Drive), flexible disk, optical disk, magneto-optical disk, CD-ROM, CD-R, magnetic tape, non-volatile memory card etc. Used. The non-volatile storage 17 stores a program for causing the computer 10 to function, in addition to an operating system (OS) and various parameters. In the driving support device 3, a non-volatile storage 17 is used to construct a parking lot image database D1, a vehicle information database D2 and a parking lot map database D3 of the driving support device 3. In the vehicle 2, a non-volatile storage 17 is used to record an image captured by the on-vehicle camera 21, driving support information received from the driving support device 3, and the like.

  For example, a network interface card (NIC) or the like is used as the network interface 18, and various data can be transmitted and received via a local area network (LAN) to which a terminal is connected, a wireless network, and the like. The network interface 18 is used as, for example, the image transmitting unit 23, the vehicle information transmitting unit 24, and the driving support information receiving unit 25 of the vehicle 2, and a communication unit (not shown) for the driving support device 3 to communicate with the vehicle 2. Used as

FIG. 3 is a block diagram of the parking position information management table T1.
The parking position information management table T1 includes fields of a photographed image f1, a vehicle ID f2, a parking space number f3, a landmark recognition result f4, a photographing time f5, a parking time f6, and an presence determination result f7.

In the photographed image f1, the images captured by the on-vehicle camera 21 and transmitted to the driving support device 3 are stored as an image (1), an image (2),.
The vehicle ID f2 is a vehicle 2 (vehicle identification information) for identifying the vehicle 2 parked in the parking space, which is the vehicle 2 included in the image of the captured image f1. Note that, instead of the vehicle ID, the registration number of the license plate identified from the image may be stored in the vehicle ID f2 instead of the vehicle ID.

The parking space number f3 stores a parking space number for identifying the parking space.
In the landmark recognition result f4, the landmark type of the landmark recognized by the landmark recognition unit 32 is stored.
The shooting time f5 stores the time when the on-vehicle camera 21 starts shooting.

The parking time of the vehicle 2 is stored in the parking time f6. The parking time is, for example, a time counted by a timer (not shown) until the state of the parking space photographed at a certain shooting start time changes from an existing car to an empty car, and is calculated for each vehicle ID stored in the vehicle ID f2. Be
In the presence determination result f7, the determination result of the existing vehicle or the empty vehicle of the parking space determined by the existing vehicle determination unit 33 is stored. The presence determination result f7 may store the determination result of the vehicle 2 that is about to leave the parking space.

  As described above, it is managed by the parking position information management table T1 whether the parking space included in the image is an existing car or an empty car. The parking position information management table T1 can also be used for the parking lot operation of the business by accumulating information such as a rotation rate (total number of stored goods for the parking capacity) as an index of parking lot management.

FIG. 4 is a diagram showing an example of the landmark position information management table T2.
At the time of parking lot design, positions of pillars in the floor and positions of entrances and exits of the floor are determined in advance, and landmarks which are guidance display contents displayed on these pillars and entrances and the like are also determined. Therefore, the landmark position information management table T2 stores various information for managing the installation position of the landmark based on the information at the time of designing the parking lot.

The landmark position information management table T2 includes fields of a registered image f11, a landmark type f12, and a position f13.
In the registered image f11, a landmark registered image in which a landmark installed in a parking lot is photographed is stored in advance as a registered image (1), a registered image (2),.
The landmark type f12 stores the type of landmark (such as identifying a block or identifying a floor or entrance of a facility).
The position f13 stores the position in the parking lot where the landmark registered in the registered image f11 is installed. The z information at (x, y, z) of the position f13 is, for example, height information indicating the number of floor floors (for example, if the floor is the third floor, it is displayed as "3F") in the case of a multilevel parking lot. Used as

  Here, an example of the landmark registration image registered in advance in the landmark position information management table T2 will be described with reference to FIGS.

FIG. 5 is an explanatory view showing an example of the landmark registration image 50 photographed near the exit of the facility. This facility is, for example, a store with a parking lot.
A landmark registration image 50 is stored in the registration image f11 of the landmark position information management table T2. The landmark registration image 50 includes the landmark 51 in which the name of the entrance is described. When the landmark recognition unit 32 detects the landmark 51 from the image captured by the on-vehicle camera 21, the landmark recognition unit 32 collates with the landmark registration image 50 retrieved from the landmark position information management table T2. Thereby, the landmark recognition unit 32 can recognize the type of the landmark 51.

FIG. 6 is an explanatory view showing an example of the landmark registration image 52 photographed in the parking lot.
In the case of a three-dimensional parking lot, on pillars 53 provided in each floor, block numbers 54 indicating the positions of a plurality of blocks dividing the floor are installed as landmarks. The landmark registration image 52 including such a block number 54 is stored in advance in the landmark position information management table T2.

FIG. 7 is a view showing an example of the landmark registration image 55 photographed at the floor entrance.
At the floor entrance and exit, a gate 56 indicating the number of floors is provided, and on this gate 56, display content 57 indicating the number of floors is attached as a landmark. The landmark registration image 55 including such display content 57 is stored in advance in the landmark position information management table T2.

  Next, the entire process performed by the driving support device 3 will be described with reference to FIG.

FIG. 8 is a flowchart showing an example of a parking lot map creation and distribution process.
First, an image transmitted from the on-vehicle camera 21 of the vehicle 2 using the parking lot is input to the parking lot image database D1 (the photographed image f1 in FIG. 3) (S1). Next, the traveling determination unit 32a of the landmark recognition unit 32 reads an image from the parking lot image database D1 and determines whether the vehicle 2 using the parking lot is parked or traveling (S2) .

  If it is determined in the determination process of step S2 that the vehicle 2 is parked, the vehicle presence determination unit 33 detects an empty space based on the image captured while the vehicle 2 is parked (S3). In the detection processing of the empty space, the landmark recognition unit 32 recognizes the landmarks in the image. Then, the position determination unit 34a determines the parking position of the vehicle 2 based on the landmark image recognized by the landmark recognition unit 32 (S4).

  On the other hand, if it is determined in step S2 that the vehicle 2 is traveling in the parking lot in the determination processing in step S2, the existing vehicle determination unit 33 detects an empty space based on the image captured while the vehicle 2 is traveling. To do (S5). Then, the position determination unit 34a determines the traveling position of the vehicle 2 based on the landmark image (S6).

  After step S4 or S6, the driving support information creation unit 34b creates a parking lot map on which the information of the empty space determined by the existing vehicle determination unit 33 is superimposed as driving support information (S7). Then, the driving support information distribution unit 34c distributes the parking lot map to the vehicle 2 whose position has been determined (S8).

  Note that after the processing of steps S3 and S4 is replaced and the parking position of the vehicle 2 is specified, the empty space may be detected. Similarly, after the processing of steps S5 and S6 is replaced and the traveling position of the vehicle 2 is specified, the empty space may be detected.

Here, processing in which the vehicle 2 parked in step S3 (hereinafter, also referred to as "parked vehicle") detects an empty space will be described.
Even if the driver of the vehicle 2 wants to park in the empty space in the parking lot at the destination, the route guidance function provided by the conventional navigation device stops the guidance when the vehicle 2 arrives around the destination. It was For this reason, the driver could not be provided with driving support information for guiding the vehicle 2 to the parking lot or the vacant space of the parking lot. Also, conventionally, as a method of detecting the empty space in the entire parking lot, there has been known a method of detecting the empty space using an ultrasonic sensor or a fixed camera installed in advance for each parking space in the parking lot. However, since equipment such as a special device for detecting an empty space of a parking lot has to be installed in the parking lot, the cost burden is large particularly for a business owner who manages a small to medium-sized parking lot. On the other hand, in the driving support device 3 according to the present embodiment, the vacant space of the parking lot is obtained by using the image captured by the on-vehicle camera 21 of each vehicle 2 as shown in FIGS. 9 to 12 below. To detect.

FIG. 9 is an explanatory view showing an example of an imaging range of the front camera 21F mounted on a parked vehicle.
In this example, the vehicles 2 parked in the parking space are called parked vehicles 60 and 61. As an example of the on-vehicle camera 21 of the parked vehicles 60 and 61, it is assumed that a front camera 21F capable of photographing the front is used. The field of view 62 of the front camera 21F of the parking vehicle 60 includes three parking spaces. On the other hand, the field of view 63 of the front camera 21F of the parked vehicle 61 also includes a parking space for three cars. A pillar 64 is installed in a parking space on the depth side where the parking vehicle 60 parks, and a landmark 65 installed on the pillar 64 can be seen. In addition, although the same pillar is installed also in the parking space of the near side where the parking vehicle 61 parks, description is abbreviate | omitted in FIG. If the field of view becomes wider due to the specifications of the optical system of the front camera 21F, the number of parking spaces to be detected for the free space increases. For this reason, when the number of parked vehicles 60 and 61 increases, the number of parking spaces where the vehicle presence determination unit 33 can determine presence or absence of vehicles also increases, and it becomes easy to grasp the situation of the parking space even in a large parking lot.

FIG. 10 is an explanatory view showing an example of an image captured by the front camera 21F of the parked vehicle 61. As shown in FIG.
First, the landmark recognition unit 32 recognizes the landmark 65 displayed on the pillar in the floor using the image captured by the front camera 21F of the parked vehicle 61. At this time, the landmark recognition unit 32 specifies the type of the recognized landmark 65 and the installation position with reference to the information of the landmark position information management table T2.

  Next, the presence determination unit 33 determines the presence or availability of the parking space based on the image shown in FIG. 10 taken by the front camera 21F when the travel determination unit 32a determines that the vehicle 2 is parked. judge. Here, when the presence determination unit 33 determines the presence of a parking space, determination regions 66 to 68 necessary for determination using machine learning such as random forest are set for each parking space. The determination areas 66 to 68 are set, for example, in the vicinity of the front grille of the vehicle 2 and in an area straddling the white line of the parking space. Then, based on the images in the determination areas 66 to 68, the presence determination in each parking space is made. In the drawing, the parking space indicated by “o” is an empty car, and the parking space indicated by “x” is an existing car. The vehicle presence determination using the determination regions 66 to 68 will be described in detail with reference to FIG. 13 described later.

  By the way, since the airborne state of the parking lot changes momentarily, the presence determination unit 33 takes, for example, a projection distribution in the horizontal axis direction in the vicinity of the determination regions 66 to 68 of the parked vehicle of the acquired image. For example, if the parking lot is dim, the brightness in the determination area 66 to 68 decreases, and if the vehicle 2 is parked in the parking space, the brightness change is reflected in the projection distribution. As a result, the vehicle presence determination unit 33 can also make a vehicle presence determination for each of the determination regions 66 to 68, that is, for each parking space, and can automatically count the number of parking spaces and detect an empty space. Become.

  Next, a process of detecting a vacant space from an image captured by a vehicle determined to be traveling in step S5 (hereinafter, also referred to as "traveling vehicle") and identifying the traveling position of traveling vehicle 70 in step S6 This will be described with reference to FIGS. 11 and 12.

  FIG. 11 is an explanatory view showing an example of the traveling vehicle 70 in the parking lot. In this traveling vehicle 70, as an example of the on-vehicle camera 21, in addition to the front camera 21F, side cameras 21L and 21R capable of photographing the side direction of the vehicle 2 are mounted. The traveling vehicle 70 travels on a road 71 which is a passage in the parking lot.

  First, the landmark recognition unit 32 recognizes the landmarks 72 and 73 displayed on the pillars in the floor using the image captured by the front camera 21F of the traveling vehicle 70. At this time, the landmark recognition unit 32 specifies the type and installation position of the recognized landmarks 72 and 73 with reference to the information of the landmark position information management table T2. By the way, the size of the landmarks 72 and 73 included in the image received from the traveling vehicle 70 is enlarged, reduced, or rotated. For this reason, the landmark recognition unit 32 stably recognizes the landmarks 72 and 73 using, for example, a feature extraction image processing library called Speeded Up Robust Features (SURF) or Scale-Invariant Feature Transform (SIFT).

FIG. 12 is an explanatory view showing an example of detecting the free space based on the images taken by the side cameras 21L, 21R of the traveling vehicle 70. As shown in FIG.
The vehicle presence determination unit 33 basically processes the image (see FIG. 10) captured by the front camera 21F of the parked vehicle 60 to detect a vacant space. However, the vehicle presence determination unit 33 can also detect the empty space by performing image processing on the image in the side direction of the traveling vehicle 70 captured by the side cameras 21L and 21R under the same imaging condition as the front camera 21F. Therefore, when the traveling determination unit 32a determines that the vehicle 2 is traveling, the existing vehicle determination unit 33 determines the existing vehicle or the vacant vehicle in the parking space based on the images captured by the side cameras 21L and 21R. Do.

  The field of view 74 of the front camera 21F includes two pillars in front of the traveling vehicle 70 and landmarks 72 and 73 displayed on the pillars. The field of view 75, 76 of the side cameras 21L, 21R includes a plurality of parking spaces. Therefore, the vehicle presence determination unit 33 can also detect an empty space from the parking spaces on both sides of the road 71 along which the traveling vehicle 70 travels.

  Thereafter, the position determination unit 34a identifies the traveling position of the traveling vehicle 70 based on the installation positions of the identified landmarks 72 and 73. When the position determination unit 34a specifies the traveling position of the traveling vehicle 70, the traveling vehicle 70 can receive the distribution of the free space information in the vicinity. In addition, the position determination unit 34a can also distribute the information of the free space to the other vehicle 2 traveling near the traveling vehicle 70.

Next, a detailed example of the free space detection process in steps S3 and S5 of FIG. 8 will be described.
FIG. 13 is a flowchart showing an example of the detection processing of the free space performed by the vehicle presence determination unit 33. In this process, it is assumed that the vehicle presence determination unit 33 performs the process based on the image captured by the on-vehicle camera 21 of the parked vehicle 60 illustrated in FIG. 9.

  As pre-processing for detecting an empty space, the vehicle presence determination unit 33 creates a background image of the road 71 based on the image read from the parking lot image database D1, and this background image is used in the parking position information management table T1. The image is registered in association with the image of the photographed image f1 (S11). If the other vehicle 2 is not parked in the parking space, the background image of the road 71 includes the wall surface of the parking lot and the road surface.

  After passing through the pre-processing of step S11, the vehicle presence determination unit 33 starts this processing. In this process, the vehicle presence determination unit 33 reads an image sequentially input from the in-vehicle camera 21 to the parking lot image database D1 from the parking lot image database D1 (S12), and the traveling vehicle 70 is on the road 71 in this image. It is judged whether it exists (S13).

  For example, while the traveling vehicle 70 is present on the road 71, the traveling vehicle 70 is included in the field of view 63 of the parked vehicle 61, and the vehicle presence determination unit 33 can not correctly detect the empty space. Therefore, the vehicle presence determination unit 33 waits for the process until the traveling vehicle 70 is not present on the road 71, that is, the traveling vehicle 70 is not included in the field of view 63.

  In the empty space detection process performed by the existing vehicle determination unit 33, for example, a random forest or the like performed using an image existing in a parking space and learning data in an empty vehicle (see FIGS. 15 and 16 described later) Machine learning is used (S14). Then, the images in the determination regions 66 to 68 are identified using a random forest.

  Then, the vehicle presence determination unit 33 determines the presence or absence of the vehicle 2 in the parking space (S15). The existing vehicle determination unit 33 determines that the parking space in which the vehicle 2 is not present is an empty vehicle (S16), and determines that the parking space in which the vehicle 2 is present is an existing vehicle (S17).

  After step S16 or S17, the vehicle presence determination unit 33 specifies the position of the free space in the image based on the recognition result of the landmark recognized by the landmark recognition unit 32 (S18). Thereafter, the vehicle presence determination unit 33 updates the background image of the road 71 as necessary (S19).

  The process shown in FIG. 13 is for the parked vehicle 60 to detect a vacant space in front, but the present process is also applicable to the case where the traveling vehicle 70 detects a vacant space in the side direction. In this case, since the traveling vehicle 70 itself travels on the road 71, the processing of steps S11 to 13 is unnecessary.

Here, the random forest used in step S14 will be described.
FIG. 14 is an explanatory view showing the principle of the random forest.

  The vehicle presence determination unit 33 determines in advance whether the parking space is a vehicle or a vehicle by machine learning called random forest, which is an image representing the characteristics of the vehicle and an image representing the characteristics of the vehicle in advance. Do. Although there is a vehicle presence determination process using a neural network, SVM (support vector machine) or the like in the process by machine learning, the vehicle presence determination unit 33 according to the present embodiment has a light processing load. Use a random forest that is easy to tune. In the random forest, sampling is performed based on the learning data 80, and a determination tree 81 to be predicted is created. The logic is such that the determination result is adopted when the sum 83 of the voting results of the output values 82 of each tree 81 is equal to or greater than the reference value (for example, 0.7).

FIG. 15 is an explanatory view showing an example of learning data 80 used in the empty vehicle determination process shown in step S16 of FIG.
If the vehicle 2 does not exist in the parking space, the images taken by the on-vehicle camera 21 include the images of the white lines 90 and 91 and the curb 92 of the car stop. The vehicle presence determination unit 33 sets a determination region 93 including a part of the white lines 90 and 91 from this image. The existing vehicle determination unit 33 registers the image in the determination region 93 in the parking lot image database D1 (the registered image f11 shown in FIG. 4) as learning data 80 used for the empty vehicle determination process.

FIG. 16 is an explanatory view showing an example of learning data 80 used in the vehicle presence determination process shown in step S17 of FIG.
If the vehicle 2 exists in the parking space, the image captured by the on-vehicle camera 21 includes the parked vehicle image 94. From the parked vehicle image 94, the vehicle presence determination unit 33 sets, for example, a determination area 95 including a front grille image characterizing the vehicle. Then, the vehicle presence determination unit 33 registers the image in the determination area 95 in the parking lot image database D1 (the registered image f11 shown in FIG. 4) as learning data 80 used for the vehicle presence determination process.

  Thus, the learning data 80 registered in the parking lot image database D1 is used for the processing of random forest performed by the vehicle presence determination unit 33 in step S14 of FIG. 13, and the presence or empty vehicle of the parking space is determined. .

Next, the detection process of the leaving vehicle will be described.
FIG. 17 is a flowchart showing an example of the detection process of the leaving vehicle performed by the vehicle state determination unit 31.

  For example, when the vehicle state determination unit 31 detects a leaving vehicle, the ratio of the number of parking spaces determined to be present to the number of parking spaces for each floor or block having a parking lot (hereinafter referred to as full) It is determined whether or not the ratio is equal to or greater than a reference value (eg, 70% or more) (S21). If the fullness rate for each block is equal to or higher than the reference value, it is considered difficult for the driver driving the traveling vehicle to look for an empty space visually. For this reason, the process of guiding an empty space by this system is effective.

  When it is determined in step S21 that the fullness rate for each block is equal to or higher than the reference value, the vehicle state determination unit 31 determines that the engine of the parked vehicle is on or off based on the vehicle information read from the vehicle information database D2. It is detected that the state has been changed (S22). At this time, it is known that the vehicle 2 is determined to be a parking space.

  Next, the landmark recognition unit 32 extracts landmark information from the image of the on-vehicle camera 21 (S23), and specifies the position of the vehicle 2 parked from the extracted landmark information (S24). It registers in the parking lot image database D1 (S25).

  Further, it is detected that the parking time has changed from the engine off state to the on state after the elapse of a predetermined time (S26), and the landmark information is extracted again from the image of the onboard camera 21 (S27). And when the same information as the parking position information registered previously in the parking lot image database D1 corresponds, it determines with the delivery planned vehicle. Then, the information is distributed as empty space information to the vehicle 2 traveling near the leaving vehicle via the driving support information management unit 34 (S28).

  Here, the delivery scheduled vehicle receives the image itself extracted from the parking lot image database D1 and receives the image taken by the on-vehicle camera 21 of the vehicle 2 in the vicinity of the scheduled delivery vehicle from the driving support information management unit 34 be able to. Further, the leaving vehicle can also receive the delivery of an event that may be an obstacle upon leaving the pedestrian or passing vehicle detected by the driving support information management unit 34 from the image (S29).

  In step S21, if the block fullness rate is less than the reference value, the empty space is detected by the empty space detection process described in FIG. 13, and the empty space map information is detected via the driving support information management unit 34. After the distribution to the vehicle 2 (S30), the present flow ends.

  Next, driving support information distributed from the driving support device 3 to the vehicle 2 will be described with reference to FIGS.

FIG. 18 is an explanatory view showing an example of the floor map 100. As shown in FIG.
The floor map 100 is created for the purpose of grasping the condition of the vacant space of the entire floor before the traveling vehicle enters the floor in a hierarchical parking lot such as a multilevel parking lot. . This floor map 100 does not show the vacant spaces of the parking space individually, but shows the parking areas 101 and 102 roughly colored according to the vacant situation and guides the driver to the vacant parking area 102. . The legend 103 shows the contents of the color coding. For this reason, the driver can decide to move to another floor if there is no vacant parking area on the floor to which he / she is going to approach. In addition, on the floor where there is no vacant parking area, it is possible to reduce the traffic of the vehicle 2. Further, since the area dedicated to light vehicles, the priority space for disabled people, etc. are also displayed by color, the driver can judge in advance whether or not the vehicle 2 can be parked.

FIG. 19 is an explanatory view showing an example of the block map 110. As shown in FIG.
The block map 110 is distributed to the vehicle 2 approaching a vacant space for parking on the floor. In the block map 110, a graphic representing an existing vehicle, a traveling vehicle, and a pedestrian is shown in a legend 111. The block map 110 shows the driver in detail information 111 indicating the existing or empty cars for each parking space. In addition, the block map 110 also shows the driver the space 112 where parking is easy, the priority space 113 for disabled persons, the reverse transmission frequent spot 114 where reverse driving is likely to occur, and the like. Thereby, the driver can drive the vehicle 2 safely.

FIG. 20 is an explanatory diagram of an example of detection of a warning object.
The parking vehicle 120 has a view that can not be seen at a blind spot. For this reason, when the parked vehicle 120 leaves the store, there is a risk that the pedestrian 121 may jump out from the blind spot or contact the traveling vehicle 123 traveling on the road. Therefore, the parked vehicle 120 uses the image of the on-vehicle camera 21 mounted on the parked vehicle 124 parked on the opposite side across the road to detect a warning object. In order to detect a warning target, for example, processing for detecting the traveling vehicle 123 moving in the vicinity of the parked vehicle 120 or detecting the pedestrian 121 by random forest is used. Alternatively, the driving support information creation unit 34 b may pattern-recognize the pedestrian 121 to create warning information. Then, the driving support information creation unit 34b creates warning information as driving support information based on the detected warning target, and distributes the warning information to the parked vehicle 120. As a result, when the parked vehicle 120 leaves the house, it is possible to prevent a situation in which the warning object is approached.

  According to the driving support system 1 according to the first embodiment described above, the land provided in the parking lot based on the image captured by the on-vehicle camera 21 mounted on the vehicle 2 using the parking lot. Recognize the mark. Thereby, even in an environment where GPS signals can not be received, the driving support device 3 can specify the parking position or the traveling position of the vehicle 2 and can individually distribute the driving support information to the vehicle 2.

  In addition, the presence determination unit 33 travels around or inside the parking lot, and determines the presence or empty car of the parking space based on the image captured by the on-vehicle camera 21 of each vehicle 2 using the parking lot. be able to. Thereby, the vacant space of the parking lot can be detected efficiently. And the driving assistance device 3 can mutually distribute the vacant space detected from the wide parking lot to the traveling vehicle by mutually utilizing the images taken by the on-vehicle cameras 21 of the respective vehicles 2. Therefore, even without preparing special equipment for distributing the driving support information to the vehicle 2 or personnel for guiding the vehicle 2, it is possible to perform driving support for notifying the driver of the free space. As described above, the cost for operating the parking lot can be reduced for the business operator, and the convenience for the user of the parking lot can be improved.

  In addition, a parking lot map including a floor map or a block map is distributed from the driving support device 3 to the vehicle 2. Thus, the driver can easily grasp the current position of the vehicle 2 and drive the vehicle 2 to a parking space where parking is easy.

[2. Second Embodiment Example]
Next, a driving support system according to a second embodiment of the present invention will be described. This driving support system informs the driver of the route to the parking position, for example, in order to improve the situation where the driver parked in the parking lot when the driver leaves the facility and returns to the parked vehicle. It is operated for the purpose.

FIG. 21 is a block diagram showing an example of the internal configuration of the driving support system 1A.
The driving support system 1A includes a portable terminal 4 held by a driver in addition to the vehicle 2 and the driving support device 3.

The portable terminal 4 is held by the driver who got off the vehicle 2. A terminal ID (terminal identification information) for uniquely identifying the portable terminal 4 is associated in advance with the vehicle ID of the vehicle 2. The portable terminal 4 includes a terminal camera 41, an image transmission unit 42, a driving support information reception unit 43, and a display unit 44.
The terminal camera 41 sends a terminal image taken by the driver near the entrance of the parking lot to the image transmission unit 42.
The image transmission unit 42 transmits the terminal image photographed by the terminal camera 41 to the driving support device 3 together with the terminal ID. The terminal image is stored in the parking lot image database D1.
The driving support information receiving unit 43 receives a parking lot map including route information from the current position of the mobile terminal 4 to the parking position of the vehicle 2 from the driving support information management unit 34 as driving support information.
The display unit 44 displays the parking lot map received by the driving support information receiving unit 43.

  The landmark recognition unit 32 of the driving support device 3 recognizes the landmark included in the terminal image. Then, the driving support information management unit 34 creates, as driving support information, a parking lot map reflecting the route from the vehicle 2 having the vehicle ID associated with the terminal ID to the current position of the portable terminal 4. Deliver parking map. In addition, since the other structure of the driving assistance system 1A shown in FIG. 21 is the same as that of the driving assistance system 1 shown in FIG. 1, detailed description is abbreviate | omitted.

FIG. 22 is a flowchart showing an example of parking position guidance processing.
In the parking position guidance process, the image of the on-vehicle camera 21 and the parking position information of the vehicle 2 obtained from the landmark information are registered in advance in the parking lot image database D1 (S41). Therefore, the parking position information management table T1 shown in FIG. 3 is provided with a field for storing parking position information of the vehicle 2 (for example, floor, block, parking space number, vehicle ID of the vehicle 2, etc.) Do.

  When the driver comes to the exit of the facility after shopping at the facility, if the terminal camera 41 of the portable terminal 4 shoots a landscape near the exit of the facility as shown in FIG. 5 (S42), the terminal image It is transmitted to the driving support device 3. The landmark recognition unit 32 compares the landmark image recognized from the terminal image photographed by the terminal camera 41 of the portable terminal 4 with the landmark registration image of the landmark position information management table T2 and makes a landmark in the terminal image. Recognize Then, the position determination unit 34a determines the current position of the driver based on the position f13 of the landmark position information management table T2.

  Thereafter, the driving support information creation unit 34b performs a route search process to the current position of the mobile terminal 4 and the parking position of the vehicle 2 (S44). Then, the driving support information in which the searched route is superimposed on the parking lot map is distributed to the portable terminal 4 (S45). As a result, the driver can know what route can be taken to reach the parked vehicle 2.

FIG. 23 is a diagram showing an example of parking position guidance.
The route information 133 from the current position of the portable terminal 4 determined by the position determination unit 34 a to the parked vehicle 132 of the driver 131 is superimposed on the parking lot map and distributed to the portable terminal 4. As a result, the driver 131 can reach the parked vehicle 132 without getting lost. In addition, the driving support device 3 distributes the parking lot map in which the route information 133 is superimposed not only to the portable terminal 4 held by the driver 131 but also to the portable terminal 4 held by the family of the driver 131 and related persons. It is also good.

[3. Modified example]
In addition, each database provided in the driving assistance device 3 may be provided separately from the driving assistance device 3. Therefore, the image and vehicle information transmitted from the vehicle 2 to the driving assistance device 3 may be used for various processes without being stored in the parking lot image database D1 and the vehicle information database D2.

Further, the warning information that the driving support device 3 distributes to the vehicle 2 as the driving support information may be distributed to the vehicle 2 traveling on a general road or the like without being limited to the inside of the parking lot.
In addition, if the vehicle 2 can be driven automatically, the vehicle 2 automatically selects and travels an appropriate route by reflecting the driving support information distributed from the driving support device 3 in the information of the moving destination. Is also possible.

Alternatively, the driving support apparatus 3 may be mounted on the vehicle 2 and the plurality of vehicles 2 may communicate with each other (for example, ad hoc communication) to obtain the situation around the vehicle 2 as driving support information.
Moreover, as the portable terminal 4, various things, such as a smart phone, a feature phone, a pager, a wearable terminal (for example, a portable music player, a glasses terminal, a watch terminal), etc., can be assumed.
In addition, the mobile terminal 4 may have the function of the navigation device 22.

Further, the driving support information received by the vehicle 2 or the portable terminal 4 from the driving support device 3 may be transmitted to the driver not only by the image but also by a voice message emitted from the speaker.
In addition, a rear camera for capturing the rear of the vehicle 2 may be provided as the on-vehicle camera 21.
In addition, the driving support device 3 combines the surveillance image received from the surveillance camera installed in the parking lot as in the prior art with the image received from the vehicle 2 so that the vehicle 2 is parked sparsely Even in a parking lot, it is possible to efficiently determine the presence or absence of a parking space.

Further, the present invention is not limited to the embodiment described above, and it is needless to say that various other applications and modifications can be taken without departing from the scope of the present invention described in the claims.
For example, the embodiment described above specifically and specifically describes the configuration of the apparatus and system in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to one having all the configurations described. Absent. In addition, it is possible to replace part of the configuration of one embodiment with the configuration of another embodiment, and furthermore, to add the configuration of another embodiment to the configuration of one embodiment. Is also possible. In addition, it is also possible to add, delete, and replace other configurations for part of the configuration of each embodiment.
Further, control lines and information lines indicate what is considered to be necessary for the description, and not all control lines and information lines in the product are necessarily shown. In practice, almost all configurations may be considered to be mutually connected.

DESCRIPTION OF SYMBOLS 1 ... driving assistance system, 2 ... vehicle, 3 ... driving assistance device, 4 ... portable terminal, 21 ... vehicle-mounted camera, 31 ... vehicle state determination part, 32 ... landmark recognition part, 33 ... existing vehicle determination part, 34 ... driving Support information management unit, D1 ... parking lot image database, D2 ... vehicle information database, D3 ... parking lot map database

Claims (12)

With a navigation system parking space is utilized in a vehicle that utilizes a car park provided, and a driving support apparatus for distributing driving support information for supporting operation of the vehicle to the navigation device,
The navigation device is
The driving support information distributed to the navigation device used by the vehicle that transmits the image obtained from the on- vehicle camera mounted on the vehicle to the driving support device and the driving support device uses the parking lot Receive
The driving support device not mounted on the vehicle is:
A parking lot image database for managing the installation position of the landmark and the registered image of the landmark;
A landmark recognition unit that recognizes the installation position of the landmark by comparing the landmark included in the image received from the navigation device with the registered image of the landmark read from the parking lot image database ;
A presence determination unit that determines the presence or availability of another vehicle for each parking space included in the image;
The parking lot map, which corresponds to the position of the vehicle determined based on the predetermined position where the landmark is installed, and indicates the existing or vacant car in the parking space provided in the parking lot used by the vehicle A driving support information management unit that creates driving support information and distributes the driving support information to the navigation device ;
The driving support information management unit
A position determination unit that determines the position of the vehicle from the predetermined position at which the landmark is installed;
A driving support information generation unit that generates the driving support information;
A driving support information distribution unit that distributes the driving support information to the navigation device;
The landmark recognition unit
A floor floor number determining unit that determines the floor floor number based on the landmarks displayed at the entrance of each floor of the three-dimensional parking lot when the parking lot is a three-dimensional parking lot;
A block determination unit that determines the display content of each block based on the landmarks installed in the blocks divided for each floor;
The position determination unit determines the position of the vehicle based on the number of floors or the display content.
The driving support information creation unit creates, as the parking lot map, a floor map indicating the parking status of the parking lot for each floor and a block map indicating the parking status for each block in the floor.
The driving support information distribution unit distributes the floor map when the vehicle enters the floor, and distributes the block map when the vehicle travels in the floor . The vehicle state determination unit is configured to determine the state of the vehicle while the other vehicle is traveling, parked, or scheduled to leave based on the image and the vehicle information received from the navigation device.
The driving support information creation unit creates the parking lot map in which the vehicle state of the vehicle is indicated.
The driving support system according to claim 1. The visited car determination section, the seeking the parking space based on the change in the image, the parking space in accordance with a change in the determination area set in the parking space vacant space or stationary vehicle determining to claim 1 or 2 Description of driving support system. The driving support information management unit pedestrians in the vicinity of the vehicle, or any one of claims 1 to 3 for creating warning information for warning of the presence of another vehicle approaching to the vehicle as the driving support information The driving support system described in. A navigation device used by a vehicle using a parking lot provided with a parking space, and a driving support device distributing driving support information for supporting the driving of the vehicle to the navigation device;
The navigation device is
The driving support information distributed to the navigation device used by the vehicle that transmits the image obtained from the on-vehicle camera mounted on the vehicle to the driving support device and the driving support device uses the parking lot Receive
The driving support device not mounted on the vehicle is:
A parking lot image database for managing the installation position of the landmark and the registered image of the landmark;
A landmark recognition unit that recognizes the installation position of the landmark by comparing the landmark included in the image received from the navigation device with the registered image of the landmark read from the parking lot image database;
A presence determination unit that determines the presence or availability of another vehicle for each parking space included in the image;
The parking lot map, which corresponds to the position of the vehicle determined based on the predetermined position where the landmark is installed, and indicates the existing or vacant car in the parking space provided in the parking lot used by the vehicle A driving support information management unit that creates driving support information and distributes the driving support information to the navigation device;
The driving support information management unit
A position determination unit that determines the position of the vehicle from the predetermined position at which the landmark is installed;
A driving support information generation unit that generates the driving support information;
A driving support information distribution unit that distributes the driving support information to the navigation device;
The landmark recognition unit includes a traveling determination unit that determines traveling or parking of the vehicle based on a change in size of the landmark over time.
When the traveling determination unit determines that the vehicle is traveling, the vehicle presence determination unit determines, based on the image captured by the on-vehicle camera installed so as to be capable of capturing the side direction of the vehicle. Based on the image taken by the on-vehicle camera installed so as to be able to capture the front of the vehicle when it is determined that the vehicle in the parking space is present or empty and the travel determination unit determines that the vehicle is parked To determine the presence or absence of the parking space
Driving support system. A navigation device used by a vehicle using a parking lot provided with a parking space, a driving support device delivering driving support information for supporting the driving of the vehicle to the navigation device, and a vehicle identification information of the vehicle Mobile terminals having different terminal identification information;
The navigation device is
The driving support information distributed to the navigation device used by the vehicle that transmits the image obtained from the on-vehicle camera mounted on the vehicle to the driving support device and the driving support device uses the parking lot Receive
The driving support device not mounted on the vehicle is:
A parking lot image database for managing the installation position of the landmark and the registered image of the landmark;
A landmark recognition unit that recognizes the installation position of the landmark by comparing the landmark included in the image received from the navigation device with the registered image of the landmark read from the parking lot image database;
A presence determination unit that determines the presence or availability of another vehicle for each parking space included in the image;
The parking lot map, which corresponds to the position of the vehicle determined based on the predetermined position where the landmark is installed, and indicates the existing or vacant car in the parking space provided in the parking lot used by the vehicle A driving support information management unit that creates driving support information and distributes the driving support information to the navigation device;
The driving support information management unit
A position determination unit that determines the position of the vehicle from the predetermined position at which the landmark is installed;
A driving support information generation unit that generates the driving support information;
A driving support information distribution unit that distributes the driving support information to the navigation device;
The portable terminal transmits a terminal image obtained from a terminal camera of the portable terminal and terminal identification information of the portable terminal to the driving support apparatus, and receives the driving support information from the driving support apparatus.
The landmark recognition unit recognizes the landmark included in the terminal image,
The driving support information management unit creates, as the driving support information, the parking lot map reflecting the route from the vehicle associated with the terminal identification information to the current position of the portable terminal, and the driving of the portable terminal Distribute support information
Driving support system. A driving support device that is not mounted on a vehicle,
A parking lot image database for managing the installation position of the landmark and the registered image of the landmark;
An image obtained from an on- vehicle camera mounted on the vehicle using a parking lot provided with a parking space is received from a navigation device used on the vehicle, and the landmark included in the image is the parking lot image A landmark recognition unit that recognizes the installation position of the landmark by collating with the registered image of the landmark read from the database ;
A presence determination unit that determines the presence or availability of another vehicle for each parking space included in the image;
The driving support information supporting the driving of the vehicle using the parking lot provided with the parking space , corresponding to the position of the vehicle determined based on the predetermined position where the landmark is installed , A driving support information management unit that creates the driving support information including a parking lot map indicating the existing or vacant cars of the parking space provided in a parking lot used by a vehicle, and distributing the driving support information to the navigation device ; , And
The driving support information management unit
A position determination unit that determines the position of the vehicle from the predetermined position at which the landmark is installed;
A driving support information generation unit that generates the driving support information;
A driving support information distribution unit that distributes the driving support information to the navigation device;
The landmark recognition unit
A floor floor number determining unit that determines the floor floor number based on the landmarks displayed at the entrance of each floor of the three-dimensional parking lot when the parking lot is a three-dimensional parking lot;
A block determination unit that determines the display content of each block based on the landmarks installed in the blocks divided for each floor;
The position determination unit determines the position of the vehicle based on the number of floors or the display content.
The driving support information creation unit creates, as the parking lot map, a floor map indicating the parking status of the parking lot for each floor and a block map indicating the parking status for each block in the floor.
The driving support information distribution unit distributes the floor map when the vehicle enters the floor, and distributes the block map when the vehicle travels in the floor . A driving support device that is not mounted on a vehicle,
A parking lot image database for managing the installation position of the landmark and the registered image of the landmark;
An image obtained from an on-vehicle camera mounted on the vehicle using a parking lot provided with a parking space is received from a navigation device used on the vehicle, and the landmark included in the image is the parking lot image A landmark recognition unit that recognizes the installation position of the landmark by collating with the registered image of the landmark read from the database;
A presence determination unit that determines the presence or availability of another vehicle for each parking space included in the image;
The driving support information supporting the driving of the vehicle using the parking lot provided with the parking space, corresponding to the position of the vehicle determined based on the predetermined position where the landmark is installed, A driving support information management unit that creates the driving support information including a parking lot map indicating the existing or vacant cars of the parking space provided in a parking lot used by a vehicle, and distributing the driving support information to the navigation device; , And
The driving support information management unit
A position determination unit that determines the position of the vehicle from the predetermined position at which the landmark is installed;
A driving support information generation unit that generates the driving support information;
A driving support information distribution unit that distributes the driving support information to the navigation device;
The landmark recognition unit includes a traveling determination unit that determines traveling or parking of the vehicle based on a change in size of the landmark over time.
When the traveling determination unit determines that the vehicle is traveling, the vehicle presence determination unit determines, based on the image captured by the on-vehicle camera installed so as to be capable of capturing the side direction of the vehicle. Based on the image taken by the on-vehicle camera installed so as to be able to capture the front of the vehicle when it is determined that the vehicle in the parking space is present or empty and the travel determination unit determines that the vehicle is parked To determine the presence or absence of the parking space
Driving support device. A driving support device that is not mounted on a vehicle,
A parking lot image database for managing the installation position of the landmark and the registered image of the landmark;
An image obtained from an on-vehicle camera mounted on the vehicle using a parking lot provided with a parking space is received from a navigation device used on the vehicle, and the landmark included in the image is the parking lot image A landmark recognition unit that recognizes the installation position of the landmark by collating with the registered image of the landmark read from the database;
A presence determination unit that determines the presence or availability of another vehicle for each parking space included in the image;
The driving support information supporting the driving of the vehicle using the parking lot provided with the parking space, corresponding to the position of the vehicle determined based on the predetermined position where the landmark is installed, A driving support information management unit that creates the driving support information including a parking lot map indicating the existing or vacant cars of the parking space provided in a parking lot used by a vehicle, and distributing the driving support information to the navigation device; , And
The driving support information management unit
A position determination unit that determines the position of the vehicle from the predetermined position at which the landmark is installed;
A driving support information generation unit that generates the driving support information;
A driving support information distribution unit that distributes the driving support information to the navigation device;
A terminal image obtained from a terminal camera of a portable terminal having terminal identification information associated with vehicle identification information of the vehicle and terminal identification information of the portable terminal are received from the portable terminal;
The landmark recognition unit recognizes the landmark included in the terminal image,
The driving support information management unit creates, as the driving support information, the parking lot map reflecting the route from the vehicle associated with the terminal identification information to the current position of the portable terminal, and the driving of the portable terminal Distribute support information
Driving support device. Comprising a navigation device utilized in vehicles, the driving support information for supporting operation of the vehicle parking space to utilize parking provided for delivery to the navigation device, and a driving support apparatus which is not mounted on the vehicle The driving support method performed by the driving support system
The navigation device transmitting an image obtained from an on- vehicle camera mounted on the vehicle to the driving support device;
The driving support apparatus reads a landmark included in the image received from the navigation apparatus from the parking lot image database that manages the installation position of the landmark and the registered image of the landmark. Recognizing the installation position of the landmark in comparison with the registered image ;
Determining, for each of the parking spaces included in the image, the presence or empty of another vehicle.
Determining the number of floors based on the landmarks displayed at the entrance of each floor of the multi-level parking lot when the parking lot is a multi-level parking lot;
Determining the display content for each block based on the landmarks installed in the blocks divided for each floor;
Determining the position of the vehicle based on the number of floors or the display content;
A floor map indicating the parking status of the parking lot for each floor, which is delivered when the vehicle enters the floor, and the block in the floor, which is delivered when the vehicle travels in the floor Creating, as a parking map, a block map indicating the parking situation for each time;
The driving assistance apparatus is the driving assistance information corresponding to the position of the vehicle determined based on the predetermined position where the landmark is installed, and the parking space provided in the parking lot used by the vehicle Creating the driving support information including the parking lot map in which existing cars or empty cars are shown, and distributing the driving support information to the navigation device ;
The navigation device receives the driving support information from the driving support device. Driving comprising a navigation device used in a vehicle, and a driving assistance device not mounted on the vehicle, delivering to the navigation device driving assistance information for assisting the driving of the vehicle utilizing a parking lot provided with a parking space The driving support method performed by the support system
The navigation device transmitting an image obtained from an on-vehicle camera mounted on the vehicle to the driving support device;
The driving support apparatus reads a landmark included in the image received from the navigation apparatus from the parking lot image database that manages the installation position of the landmark and the registered image of the landmark. Recognizing the installation position of the landmark in comparison with the registered image;
Determining, for each of the parking spaces included in the image, the presence or empty of another vehicle.
Determining travel or parking of the vehicle based on a change in size of the landmark over time.
When it is determined that the vehicle is traveling, the presence or empty vehicle of the parking space is determined based on the image captured by the on-vehicle camera installed so as to be capable of capturing the side direction of the vehicle, Determining an existing or vacant vehicle in the parking space based on the image captured by the on-vehicle camera installed so as to be able to capture the front of the vehicle when it is determined that the vehicle is parked;
The driving assistance apparatus is the driving assistance information corresponding to the position of the vehicle determined based on the predetermined position where the landmark is installed, and the parking space provided in the parking lot used by the vehicle Creating the driving support information including a parking lot map indicating existing cars or empty cars, and distributing the driving support information to the navigation device;
The navigation device receives the driving support information from the driving support device.
Driving support method. A navigation device used in a vehicle, a driving assistance device not mounted on the vehicle for delivering driving assistance information for assisting the driving of the vehicle utilizing a parking lot provided with a parking space to the navigation device, and the vehicle A driving support method performed by a driving support system comprising: a portable terminal having terminal identification information associated with vehicle identification information;
The navigation device transmitting an image obtained from an on-vehicle camera mounted on the vehicle to the driving support device;
The driving support apparatus reads a landmark included in the image received from the navigation apparatus from the parking lot image database that manages the installation position of the landmark and the registered image of the landmark. Recognizing the installation position of the landmark in comparison with the registered image;
Determining, for each of the parking spaces included in the image, the presence or empty of another vehicle.
Receiving from the portable terminal a terminal image obtained from a terminal camera of the portable terminal and terminal identification information of the portable terminal;
Recognizing the landmarks included in the terminal image;
It is the driving support information corresponding to the position of the vehicle determined based on the predetermined position where the landmark is installed, and indicates an existing or vacant car of the parking space provided in a parking lot used by the vehicle Creating the driving support information including a parking lot map reflecting a route from the vehicle associated with the terminal identification information to the current position of the portable terminal, and distributing the driving support information to the portable terminal When,
The mobile terminal receives the driving support information from the driving support device.
Driving support method.