JP7213015B2 - Parking position extraction device, parking position extraction method, and information processing program - Google Patents

Description

The present invention relates to a parking position extraction device for extracting a parking position of a vehicle.

For example, when picking up a person in a vehicle, it has been proposed to smoothly pick up the person by avoiding places where parking is prohibited (see, for example, Patent Literature 1).

In addition, regarding parking avoiding places where parking is prohibited on the road, Patent Document 2 describes that RFID tags are embedded in road facilities such as signs and signals, and the vehicle reads the sign information stored in the tag and reads it. If there is parking prohibition information inside, and if the vehicle is parked or stopped, the user is notified that the parking or stopping violation has occurred, and furthermore, display/audio guidance to nearby areas where parking is permitted・It is stated that route guidance will be provided.

JP 2009-204457 A JP 2007-248155 A

By the way, when a vehicle is parked on the street, it is not only for picking up a person as described above, but also when there is no parking space at the delivery destination for delivery such as home delivery, or when emergency vehicles such as ambulances and fire engines are parked at the site. There may be cases where it is not possible to stop at That is, vehicles may be parked on streets around their destination for various purposes.

However, the invention described in Patent Literature 1 can only deal with the case of picking up a person. Further, in the invention described in Patent Document 2, the tag must be embedded in the sign, which increases the cost of manufacturing and embedding the tag.

One example of the problem to be solved by the present invention is to enable a vehicle to be parked at a suitable location on the road.

In order to solve the above-mentioned problems, the invention according to claim 1 provides a first acquisition unit that acquires map data having parking availability information that is information about a section on the road where parking is possible, and It is characterized by comprising a second acquisition unit that acquires destination information, and an extraction unit that extracts a parking available position of the moving object around the destination based on the parking available information.

According to a fourth aspect of the present invention, there is provided an information processing method for extracting parking available positions on a road, the first acquiring step of acquiring map data having parking available information, which is information on a parking available section on the road. and a second acquisition step of acquiring destination information about the destination of the mobile body, and an extraction step of extracting a parking available position of the mobile body around the destination based on the parking available information. is characterized by

The invention according to claim 5 is characterized in that the parking position extraction method according to claim 4 is executed by a computer.

1 is a schematic configuration diagram of a system having a map data storage device, an information processing device, and a parking position extraction device according to an embodiment of the present invention; FIG. 2 is a functional configuration diagram of the server device shown in FIG. 1; FIG. 3 is a diagram showing an example of a map data structure stored in a storage unit shown in FIG. 2; FIG. 2 is a functional configuration diagram of a vehicle control device shown in FIG. 1; FIG. FIG. 3 is a flowchart of an operation of generating parking available information for an automatically driven vehicle in the control unit shown in FIG. 2; FIG. FIG. 5 is a flow chart of an operation of extracting a parking position by an automatically driven vehicle using parking availability information in the control unit shown in FIG. 4; FIG.

A parking position extraction device according to an embodiment of the present invention will be described below. In a parking position extraction device according to an embodiment of the present invention, a first acquisition unit acquires map data having parking availability information, which is information about a section on a road where parking is possible, and a second acquisition unit acquires map data having parking availability information. Get destination information about a destination. Then, the extracting unit extracts parking available positions for the moving object around the destination based on the parking available information. By doing so, when there is no parking space at the destination and the vehicle cannot be parked, it is possible to extract places suitable for parking around the destination. Therefore, a vehicle or the like can be parked at a suitable place on the road.

Further, the parking availability information may include cost information for parking for each predetermined section. By doing so, it is possible to express the propriety of parking in terms of cost for each predetermined section.

Also, the extraction unit may extract the parking available position based on the cost information. By doing so, for example, a section where the cost is lower than a predetermined value can be extracted as a parking available position, facilitating the extraction of a parking available position.

Further, the parking position extraction method according to the embodiment of the present invention acquires map data having parking availability information, which is information of an area where parking is possible on the road, in the first acquisition step, and Get destination information about the destination of the . Then, in the extracting step, based on the parking available information, parking available positions for the mobile object around the destination are extracted. By doing so, when there is no parking space at the destination and the vehicle cannot be parked, it is possible to extract places suitable for parking around the destination. Therefore, a vehicle or the like can be parked at a suitable place on the road.

Also, the parking position extraction method described above may be executed by a computer. By doing so, if there is no parking space at the destination and the vehicle cannot be parked at the destination, a suitable place for parking can be extracted by using a computer.

A map data structure, a map data storage device, an information processing device, and a parking position extraction device according to an embodiment of the present invention will be described with reference to FIGS. 1 to 6. FIG. A server device 1 as a map data storage device and an information processing device according to the present embodiment can communicate with an automatically driving vehicle C as a mobile object via a network N such as the Internet as shown in FIG. there is

A functional configuration of the server device 1 is shown in FIG. The server device 1 includes a control section 11 , a communication section 12 and a storage section 13 .

The control unit 11 functions as a CPU (Central Processing Unit) of the server device 1 and controls the entire server device 1 . The control unit 11 acquires the detection information and position information detected by the sensor 4 installed in the automatic driving vehicle C via the communication unit 12, and the position indicated by the acquired position information is an area where on-street parking is possible. and set cost information for parking for that area. In response to a map data distribution request from the vehicle control device 3 , the control unit 11 reads map data from the storage unit 13 and distributes the map data to the vehicle control device 3 via the communication unit 12 .

The communication unit 12 functions as a network interface or the like of the server device 1 , receives detection information from the sensor 4 and destination information from the vehicle control device 3 , and detects possible parking positions of the vehicle around the destination extracted by the control unit 11 . and map data 13a.

The storage unit 13 functions as a storage device such as a hard disk of the server device 1, and stores map data 13a. The map data 13a includes not only well-known road network data consisting of nodes and links, but also well-known lane network data and feature data such as signs and billboards, enabling the autonomous vehicle C to travel autonomously. contains a certain amount of data.

FIG. 3 shows part of the map data structure (map data structure) included in the map data 13a. FIG. 3 shows parking available information 13b included in the map data 13a. The parking availability information 13b includes a link ID 13b1, legal regulations 13b2, environmental conditions 13b3, and cost information 13b4. The link ID 13b1 is a unique ID assigned to each link of the road network. The legal restriction 13b2 indicates the reason why parking is legally restricted on the link. The environmental status 13b3 indicates the environment of the road indicated by the link. Examples of the environmental conditions 13b3 include presence/absence of guardrails, presence/absence of utility poles, presence/absence of plants, parking areas, presence/absence of roofs, in front of stores, entrances from premises, and the like.

The cost information 13b4 is the cost for parking the vehicle at that position, and is set for each purpose of parking. This cost information 13b4 is a value that is referred to when searching for a parking position around the destination, for example, when the destination does not have a parking space. The example of FIG. 3 shows two types of parking: parking for delivery by a home delivery company, etc., and parking for emergency vehicles such as ambulances and fire engines. Other uses include meeting people (welcoming people), collecting garbage, and the like.

In FIG. 3, for example, the link with the link ID 13b1 of "001" has the legal regulation 13b2 of "no parking", and the cost information 13b4 of "delivery" increases the cost by "+10" and "urgent". In the case of , there is no cost increase. This is because parking is usually prohibited in places where parking is prohibited, so in the case of delivery, the increase in cost is increased, but in an emergency, the restriction is not applied, so the cost is not increased. . The link with the link ID 13b1 of "002" has the legal regulation 13b2 of "bus stop", and the cost information 13b4 of "delivery", like "no parking", increases the cost by "+10" and "urgent , as in the case of ``no parking'', no additional cost is assumed.

The link with the link ID 13b1 of "003" has the environment status 13b3 of "guardrail", and the cost information 13b4 of "delivery" increases the cost by "+5", and "urgent" increases the cost by "+1". ”. Areas with guardrails increase costs because it takes time for delivery companies and emergency personnel to get out onto the sidewalk in the event of a “delivery” or “emergency,” or the work that delivery companies and emergency personnel do becomes difficult. I am letting Similarly, the environmental status of the link with the link ID 13b1 of "004" is set to "telephone pole", and the environmental status of the link with the link ID 13b1 of "005" is set to "planting". Since it is considered that it becomes an obstacle such as, the cost is increased.

In the example of FIG. 3, the costs are indicated by increments, but they may be decreased. Also, the parking availability information 13b does not have to be provided for all links.

Also, in the example of FIG. 3, the cost information 13b4 is given to the link. accuracy is reduced. Therefore, in the case of a feature installed at such a specific point, for example, the link may be subdivided into a predetermined range, and the subdivided unit may be assigned. You may make it show by the distance etc. from an edge. Then, a flag or the like indicating the method of providing these (link, subdivision, distance from the end of the link) may be added to the parking availability information 13b.

Returning to the description of FIG. 1 , the automatically driven vehicle C includes a vehicle control device 3 and a sensor 4 . The vehicle control device 3 autonomously drives (automatically drives) the automatically driven vehicle C based on the results detected by the sensor 4 and the map data for automatic driving that the vehicle control device 3 has. The vehicle control device 3 also receives map data of a range necessary for traveling from the server device 1 . The received map data includes the parking available information described above. Further, the vehicle control device 3 searches for a route to a destination input from an input device or the like (not shown) based on the map data 33a stored in the storage unit 33, and autonomously travels along the searched route. Let the automatic driving vehicle C run. Further, the vehicle control device 3 autonomously drives the automatically driven vehicle C based on the detection information detected by the sensor 4 and the map data 33a, and transmits the detection information to the server device 1 .

FIG. 4 shows the functional configuration of the vehicle control device 3. As shown in FIG. The vehicle control device 3 includes a control section 31 , a communication section 32 and a storage section 33 .

The control unit 31 estimates the self-position of the self-driving vehicle C based on the detection information obtained by the sensor 4 and the map data 33 a stored in the storage unit 33 . In addition, the control unit 31 searches for a route to the set destination based on the map data 33a, and controls the steering wheel (steering device), accelerator, brake, etc. of the automatically driven vehicle C along the route. Autonomous driving vehicle C is run autonomously. Further, the control unit 31 extracts the parking possible positions of the automatically driven vehicle C around the destination based on the map data 33a stored in the storage unit 33 and the destination information. Further, the control unit 31 requests the server device 1 to distribute the map data of the area to be the travel route via the communication unit 32, and stores the map data distributed from the server device 1 in the storage unit 33 as map data 33a. remember as In addition, the control unit 31 transmits detection information and position information around the automatically driven vehicle C detected by the sensor 4 to the server device 1 .

The communication unit 32 transmits request information output by the control unit 31 and detection information to the server device 1 . It also receives map data and the like distributed from the server device 1 .

The storage unit 33 stores map data 33a. The map data 33a, like the map data 13a, is a map containing detailed information to the extent that the automatically driven vehicle C can autonomously travel. The map data 33a also includes parking availability information 13b, like the map data 13a.

The sensor 4 includes sensors such as a camera, lidar (LiDAR: Light Detection And Ranging), and radar installed in the automatically driven vehicle C that recognize the surrounding environment (surrounding situation) of the automatically driven vehicle C. In addition, a speed sensor that detects the speed of the automatically driven vehicle C, an acceleration sensor that detects the acceleration, a GPS (Global Positioning System) receiver that detects the current position of the automatically driven vehicle C, and the attitude (orientation, etc.) of the automatically driven vehicle C It also includes devices such as gyro sensors that detect

Next, the operation (information processing method) of generating map data having parking availability information for the automatically driven vehicle C in this embodiment will be described with reference to the flowchart of FIG. The flowchart shown in FIG. 5 is executed by the control unit 11 of the server device 1 . Further, the flowchart of FIG. 5 may be configured as an information processing program executed by a computer such as a CPU that configures the control unit 11 .

First, in step S<b>101 , the control unit 11 acquires detection information and position information around the automatically driven vehicle C from the vehicle control device 3 via the communication unit 12 . That is, information indicating the surroundings of the automatically driven vehicle C obtained by the sensor 4 such as a lidar or camera and information indicating the position of the automatically driven vehicle C obtained by a GPS receiver (position information) are obtained.

Next, in step S102, based on the detection information acquired in step S101, the control unit 11 determines whether parking is possible at the position where the detection information was acquired or at a position around the position where the detection information was acquired. . This parking propriety determination is determined based on the feature included in the detection information. For example, when a sign indicating no parking is detected, it is determined that parking is not allowed at the position where the detection information was acquired or the surrounding positions where the detection information was acquired due to legal regulations. Here, the surroundings of the position where the detection information is acquired is a range of distances represented by the imaging range of the camera, the reachable distance of the beam of the lidar, and the like. Also, when a sign indicating a parking meter or the like, a lane marking, or the like is detected, it is determined that parking is possible at the position of the sign, lane marking, or the like.

In step S102, it is determined whether or not parking is possible based only on the detection information. may be determined. The parking record can be accumulated by collecting probe information including travel trajectories and the like transmitted from vehicles including the automatically driven vehicle C, for example. Moreover, you may combine a parking track record and detection information. In this case, for example, when parking is prohibited in a link (section) with a parking track record, the cost of the section can be changed to be higher, and the link can be excluded from parking available links.

Next, in step S103, the control unit 11 sets a cost for the link included in the position determined in step S102. That is, based on the positional information, the corresponding link is extracted from the road network of the map data 13a, and the contents (legal regulations, environmental conditions, cost for each application) as shown in FIG. 3 are set for the link.

As is clear from the above description, the communication unit 12 functions as an acquisition unit, the control unit 11 functions as a determination unit, and a setting unit. Further, step S101 functions as an acquisition process, step S102 functions as a determination process, and step S103 functions as a setting process.

Next, the operation (parking position extraction method) of extracting a parking position by the automatically driven vehicle C in this embodiment using the parking available information 13b will be described with reference to the flowchart of FIG. The flowchart shown in FIG. 6 is executed by the control section 31 of the vehicle control device 3 . Moreover, the flowchart of FIG. 6 may be configured as a parking position extraction program executed by a computer such as a CPU that configures the control unit 31 .

First, in step S201, the control unit 31 acquires destination information and usage information. The destination information is obtained by converting, for example, the name of the destination, the location on the map, etc. input by the user through an input device (not shown) into latitude and longitude information. The usage information indicates the delivery, emergency, etc. shown in FIG. 3, and may be input by the user. good too.

Next, in step S202, the control unit 31 acquires parking availability information 13b around the destination based on the destination information acquired in step S201. Note that this step may be performed simultaneously with the route search to the destination. The parking availability information 13b is included in the map data 33a as described above. Therefore, the control unit 31 acquires the parking availability information 13b around the destination from the map data 33a. If the map data 33a does not include the map data around the destination, the server device 1 is requested to obtain the map data.

Next, in step S203, the control unit 31 extracts possible parking positions (links) around the destination. This extraction is performed based on the cost information 13b4 as shown in FIG. Therefore, a link with a low cost will be extracted. In this step, it is preferable to set the range of links to be extracted from the destination.

Next, in step S204, the link extracted in step S203 is output. As an output destination, for example, showing the road corresponding to the link on the map displayed on the display unit inside the vehicle of the automatically driven vehicle C can be mentioned. When a plurality of links are extracted, a plurality of corresponding roads may be presented on the display section or the like to allow the user to select one. In addition, when only one link is extracted, a route search may be performed by setting a position close to the input destination among the links as the destination of the automatically driven vehicle C.

As is clear from the above description, the control section 31 functions as a first acquisition section, a second acquisition section, and an extraction section. Further, step S201 functions as a second obtaining step, step S202 functions as a first obtaining step, and step S203 functions as an extracting step.

According to this embodiment, the map data structure of the map data 13a is a map data structure of the map data 13a having parking availability information 13b, which is information about links on which parking is possible on the road, and the parking availability information 13b includes: Cost information 13b4 for parking is set for each link. By doing so, it is possible to select an appropriate link from the links available for parking around the destination based on the cost information 13b4. Therefore, the vehicle can be parked at a suitable place on the road.

Also, the cost information 13b4 may be set based on legal regulations 13b2. By doing so, for example, it is possible to legally park or stop at places where there are signs prohibiting parking or stopping, intersections, pedestrian crossings, bicycle crossings, and around bus and tram stops. Costs can be set higher where Therefore, it is possible to avoid parking in places where parking is legally restricted.

Also, the cost information 13b4 may be set based on the environmental conditions 13b3 for the area. By doing so, the cost can be set based on the environmental conditions on the road in the area, such as the presence or absence of obstacles such as guardrails, utility poles, and plants when getting on and off. Therefore, it is possible to park according to the environmental conditions of the road indicated by the link.

Also, the cost information 13b4 is set for each purpose of parking. By doing so, for example, the cost can be set depending on whether it is for the delivery of the package (delivery) or for an emergency.

The server device 1 also stores map data 13a having the map data structure described above. By doing so, it is possible to store map data that enables selection of an appropriate link from available parking links around the destination based on the cost information.

In addition, the server device 1 is an information processing device that creates map data having parking availability information 13b that is information about links on roads where parking is possible, and the communication unit 12 is a sensor 4 provided in the automatic driving vehicle C. Acquires the detection information around the automatically driven vehicle C detected by and the position information of the automatically driven vehicle C, and the control unit 11 based on the detection information, the position indicated by the position information or the position indicated by the position information It is determined whether or not the position can be parked, and cost information 13b4 for parking is set to the parking availability information 13b for the link including the position determined to be parkingable. By doing so, map data having cost information 13b4 for parking can be generated. Therefore, the map data can be used to park the vehicle at a suitable location on the road.

Also, in the vehicle control device 3, the control unit 31 acquires map data having parking availability information 13b, which is information about links on the road where parking is possible, and further acquires destination information related to the destination of the autonomous vehicle C. do. Then, based on the parking availability information 13b, the control unit 31 extracts possible parking positions for the automatically driven vehicle C around the destination. By doing so, when there is no parking space at the destination and the vehicle cannot be parked, a suitable place for parking can be extracted. Therefore, the vehicle can be parked at a suitable place on the road.

Further, the parking availability information 13b may include cost information 13b4 for parking for each link. By doing so, the propriety of parking can be represented by the cost for each link.

Moreover, the control part 31 may extract a parking possible position based on the cost information 13b4. By doing so, a link with a low cost can be extracted as a parking position, which facilitates extraction of a parking position.

In the above-described embodiment, the server device 1 that distributes map data also serves as an information processing device that creates map data. can be

Further, in the above-described embodiment, the vehicle control device 3 on the side of the automatically driven vehicle C functions as a parking position extraction device, but the server device 1 or another server device or the like responds to a request from the vehicle control device 3. You may make it function as a parking position extraction apparatus which extracts a parking position.

Further, in the above-described embodiment, whether or not parking is possible is determined based on the detection information acquired by the sensor 4 of the automatically driven vehicle C, but the present invention is not limited to this. For example, whether or not parking is possible may be determined based on detection information acquired by sensors (camera, lidar, radar, etc.) installed in a vehicle equipped with an ADAS (Advanced Driving Assistance System) function.

Further, in the above-described embodiment, the position where the vehicle can be parked at a suitable place on the road is acquired, but the present invention is not limited to this. You may acquire the position which can park a vehicle. That is, the concept of "parking" in the present invention also includes the concept of "stopping". As for the structure of the map data of the map data 13a, the parking possibility information may be created separately from the parking possibility information 13b. In this case, similar to the stop possibility information 13b, the stop possibility information includes a link ID, legal regulations, environmental conditions, and cost information. Alternatively, at least one of legal regulations, environmental information, and cost as information on stopping may be added to the parking available information 13b.

Moreover, the present invention is not limited to the above embodiments. That is, those skilled in the art can carry out various modifications according to conventionally known knowledge without departing from the gist of the present invention. As long as the map data structure, the map data storage device, the information processing device, and the parking position extraction device of the present invention are provided, such modifications are of course included in the scope of the present invention.

1 server device (feature data storage device, information processing device)
3 Vehicle control device (parking position extraction device)
11 control unit (determination unit, setting unit)
12 communication unit (acquisition unit)
13b Parking available information 13b4 Cost (cost information)
31 control unit (first acquisition unit, extraction unit)
32 communication unit (second acquisition unit)
4 sensor

Claims (3)

a first acquisition unit that acquires map data having parking availability information that is information about a parking zone on the road;
a second acquisition unit that acquires destination information about the destination of the mobile object;
An extraction unit that extracts the parking available position of the moving object in the vicinity of the destination based on the parking available information,
In the parking available information, cost information for parking is set for each predetermined section based on the environmental conditions for the section,
The environmental conditions include at least one of presence/absence of guardrails, presence/absence of utility poles, presence/absence of plants, presence/absence of roofs, in front of stores, and entrances/exits from the premises in the section,
The parking position extraction device, wherein the extraction unit extracts the parking position based on the cost information. An information processing method for extracting parking available positions on a road,
a first acquisition step of acquiring map data having parking availability information, which is information on a parking available section on the road;
a second acquisition step of acquiring destination information about the destination of the mobile body;
an extracting step of extracting a parking available position of the moving object in the vicinity of the destination based on the parking available information;
In the parking available information, cost information for parking is set for each predetermined section based on the environmental conditions for the section,
The environmental conditions include at least one of presence/absence of guardrails, presence/absence of utility poles, presence/absence of plants, presence/absence of roofs, in front of stores, and entrances/exits from the premises in the section,
The parking position extracting method, wherein in the extracting step, the parking position is extracted based on the cost information. An information processing program for causing a computer to execute the parking position extraction method according to claim 2 .

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