JP7344095B2 - control device - Google Patents

Description

Embodiments of the present invention relate to a control device.

In recent years, systems (for example, automatic valet parking systems) that control the running of vehicles within a predetermined area (for example, a parking lot) have been studied. In such a system, for example, a control device estimates the position of a vehicle within a predetermined area based on an image taken by an imaging unit (camera) provided within the predetermined area.

Further, it is preferable to track the position of each vehicle, for example, in order to estimate whether the vehicle within the predetermined area will park or leave the predetermined area.

Japanese Patent Application Publication No. 2011-54116 JP2015-74321A Japanese Patent Application Publication No. 2016-57677

However, in the above-mentioned system, in the conventional technology, when a vehicle enters a blind spot area caused by an object (vehicle, pillar, etc.) in a captured image and a vehicle emerges from the blind spot area, it is difficult to determine whether the two vehicles are the same or not. There was a problem that it was not possible to track the location of each vehicle.

Therefore, one of the problems of the embodiment is that in a system that controls the running of a vehicle within a predetermined area, when a vehicle enters a blind spot area caused by an object in a captured image and comes out of the blind spot area, An object of the present invention is to provide a control device that can determine whether the vehicles are the same or not.

A control device as an example of an embodiment is a control device in a system that controls the running of a vehicle within a predetermined area, and the control device acquires a captured image within the predetermined area from an imaging unit provided within the predetermined area. an estimation unit that estimates the position of the vehicle shown in the captured image based on the captured image; and an estimation unit that estimates the position of the vehicle shown in the captured image based on the captured image; The vehicle includes a determination unit that determines whether the first vehicle and the second vehicle that came out of the blind spot area are the same, based on image information of the first vehicle and image information of the second vehicle.

According to this configuration, whether or not the first vehicle that entered the blind spot area caused by the object and the second vehicle that came out of the blind spot area are the same in the photographed image is determined based on the image information of the first vehicle and the image information of the second vehicle. Judgment can be made based on.

Further, in the control device, the determination unit recognizes the vehicle number from the license plate based on the image information of the first vehicle and the image information of the second vehicle. It may be determined whether the vehicles are the same.

According to this configuration, it is possible to determine with high precision whether the first vehicle and the second vehicle are the same by image recognition of the vehicle number.

FIG. 1 is an exemplary and schematic diagram showing an example of automatic parking in an automatic valet parking system according to an embodiment. FIG. 2 is an exemplary and schematic diagram showing an example of automatic parking in the automatic valet parking system according to the embodiment. FIG. 3 is an exemplary and schematic block diagram showing the hardware configuration of the control device according to the embodiment. FIG. 4 is an exemplary and schematic block diagram showing the system configuration of the vehicle control system according to the embodiment. FIG. 5 is an exemplary and schematic block diagram showing the functions of the control device and the vehicle control device according to the embodiment. FIG. 6 is a diagram illustrating an example in which the vehicles are the same and different when a vehicle enters a blind spot area due to an object in a photographed image and a vehicle comes out of the blind spot area in the embodiment. FIG. 2 is an exemplary and schematic diagram. FIG. 7 is a flowchart showing processing by the control device according to the embodiment.

Hereinafter, embodiments will be described based on the drawings. Note that the configuration of the embodiment described below and the actions and results (effects) brought about by the configuration are merely examples, and the present invention is not limited to the following description.

First, an outline of an automatic valet parking system according to an embodiment will be described with reference to FIGS. 1 and 2. Here, the automatic valet parking system refers to an automatic valet parking system that includes automatic parking and automatic exit as described below in a parking lot P that has one or more parking areas R divided by predetermined division lines L such as white lines. This is a system to realize valet parking. Note that the automatic valet parking system is an example of a system that controls the running of a vehicle within a predetermined area.

FIG. 1 is an exemplary and schematic diagram showing an example of automatic parking in an automatic valet parking system according to an embodiment. Further, FIG. 2 is an exemplary and schematic diagram showing an example of automatic parking in the automatic valet parking system according to the embodiment.

As shown in FIGS. 1 and 2, in automatic valet parking, after a passenger After the automatic parking is completed, the vehicle V automatically moves from the parking area R to an empty parking area R and parks the vehicle (see arrow C1 in FIG. 1). Automatic exit (see arrow C2 in FIG. 2) in which the vehicle automatically moves to a predetermined boarding area P2 and stops is executed. Note that the predetermined instruction and the predetermined call are realized by the passenger X operating the terminal device T.

Further, as shown in FIGS. 1 and 2, the automatic valet parking system includes a control device 101 provided in the parking lot P and a vehicle control system 102 mounted on the vehicle V. The control device 101 and the vehicle control system 102 are configured to be able to communicate with each other via wireless communication.

Here, the control device 101 outputs image data obtained from one or more surveillance cameras 103 that capture the situation in the parking lot P, various sensors (not shown, detection units) provided in the parking lot P, etc. The parking lot P is configured to monitor the situation in the parking lot P by receiving the data, and to manage the parking area R based on the monitoring results. Below, information received by the control device 101 to monitor the situation in the parking lot P may be collectively referred to as sensor data (detection data).

In the embodiment, the number and arrangement of the drop-off area P1, boarding area P2, and parking area R in the parking lot P are not limited to the examples shown in FIGS. 1 and 2. The technique of the embodiment is applicable to predetermined areas such as parking lots with various configurations different from the parking lot P shown in FIGS. 1 and 2.

Next, the configurations of the control device 101 and the vehicle control system 102 according to the embodiment will be described with reference to FIGS. 3 and 4. Note that the configurations shown in FIGS. 3 and 4 are merely examples, and the configurations of the control device 101 and the vehicle control system 102 according to the embodiment can be set (changed) in various ways.

First, with reference to FIG. 3, the hardware configuration of the control device 101 according to the embodiment will be described. FIG. 3 is an exemplary and schematic block diagram showing the hardware configuration of the control device 101 according to the embodiment. As shown in FIG. 3, the control device 101 according to the embodiment has computer resources similar to those of a general information processing device such as a PC (Personal Computer).

In the example shown in FIG. 3, the control device 101 includes a CPU (Central Processing Unit) 301, a ROM (Read Only Memory) 302, a RAM (Random Access Memory) 303, and a communication interface (I/F) 304. It has an input/output interface (I/F) 305 and an SSD (Solid State Drive) 306. These hardwares are connected to each other via a data bus 350.

The CPU 301 is a hardware processor that controls the control device 101 in an integrated manner. The CPU 301 reads various control programs (computer programs) stored in the ROM 302 and the like, and implements various functions according to instructions defined in the various control programs.

The ROM 302 is a nonvolatile main storage device that stores parameters and the like necessary for executing the various control programs described above.

The RAM 303 is a volatile main storage device that provides a work area for the CPU 301.

The communication interface 304 is an interface that realizes communication between the control device 101 and external devices. For example, the communication interface 304 realizes transmission and reception of signals by wireless communication between the control device 101 and the vehicle V (vehicle control system 102).

The input/output interface 305 is an interface that realizes a connection between the control device 101 and an external device. As the external device, for example, an input/output device used by an operator of the control device 101 can be considered.

The SSD 306 is a rewritable nonvolatile auxiliary storage device. Note that in the control device 101 according to the embodiment, an HDD (Hard Disk Drive) may be provided as an auxiliary storage device instead of (or in addition to) the SSD 306.

Next, with reference to FIG. 4, the system configuration of the vehicle control system 102 according to the embodiment will be described. FIG. 4 is an exemplary and schematic block diagram showing the system configuration of the vehicle control system 102 according to the embodiment. As shown in FIG. 4, the vehicle control system 102 includes a braking system 401, an acceleration system 402, a steering system 403, a transmission system 404, an obstacle sensor 405, a driving state sensor 406, and a communication interface (I /F) 407, an on-vehicle camera 408, a monitor device 409, a vehicle control device 410, and an on-vehicle network 450.

Braking system 401 controls braking of vehicle V. The brake system 401 includes a brake section 401a, a brake control section 401b, and a brake section sensor 401c.

The braking unit 401a is a device for decelerating the vehicle V, including, for example, a brake pedal.

The brake control unit 401b is, for example, an ECU (Electronic Control Unit) configured by a computer having a hardware processor such as a CPU. The brake control unit 401b controls the degree of deceleration of the vehicle V by driving an actuator (not shown) based on instructions from the vehicle control device 410 and operating the brake unit 401a.

The brake section sensor 401c is a device for detecting the state of the brake section 401a. For example, when the braking unit 401a includes a brake pedal, the braking unit sensor 401c detects the position of the brake pedal or the pressure acting on the brake pedal as the state of the braking unit 401a. Brake unit sensor 401c outputs the detected state of brake unit 401a to in-vehicle network 450.

Acceleration system 402 controls acceleration of vehicle V. The acceleration system 402 includes an acceleration section 402a, an acceleration control section 402b, and an acceleration section sensor 402c.

The acceleration unit 402a is a device for accelerating the vehicle V, including, for example, an accelerator pedal.

The acceleration control unit 402b is, for example, an ECU configured by a computer having a hardware processor such as a CPU. The acceleration control unit 402b controls the acceleration of the vehicle V by driving an actuator (not shown) based on instructions from the vehicle control device 410 and operating the acceleration unit 402a.

The acceleration section sensor 402c is a device for detecting the state of the acceleration section 402a. For example, when the acceleration section 402a includes an accelerator pedal, the acceleration section sensor 402c detects the position of the accelerator pedal or the pressure acting on the accelerator pedal. The acceleration unit sensor 402c outputs the detected state of the acceleration unit 402a to the in-vehicle network 450.

Steering system 403 controls the traveling direction of vehicle V. The steering system 403 includes a steering section 403a, a steering control section 403b, and a steering section sensor 403c.

The steering unit 403a is a device that steers the steerable wheels of the vehicle V, including, for example, a steering wheel and a handle.

The steering control unit 403b is, for example, an ECU configured by a computer having a hardware processor such as a CPU. The steering control unit 403b controls the traveling direction of the vehicle V by driving an actuator (not shown) based on instructions from the vehicle control device 410 and operating the steering unit 403a.

The steering section sensor 403c is a device for detecting the state of the steering section 403a. For example, when the steering section 403a includes a steering wheel, the steering section sensor 403c detects the position of the steering wheel or the rotation angle of the steering wheel. Note that when the steering section 403a includes a handle, the steering section sensor 403c may detect the position of the handle or the pressure acting on the handle. Steering section sensor 403c outputs the detected state of steering section 403a to in-vehicle network 450.

The transmission system 404 controls the transmission ratio of the vehicle V. The transmission system 404 includes a transmission section 404a, a transmission control section 404b, and a transmission section sensor 404c.

The transmission section 404a is a device for changing the transmission ratio of the vehicle V, including, for example, a shift lever.

The speed change control unit 404b is, for example, an ECU configured by a computer having a hardware processor such as a CPU. The speed change control section 404b controls the speed ratio of the vehicle V by driving an actuator (not shown) based on instructions from the vehicle control device 410 and operating the speed change section 404a.

The transmission section sensor 404c is a device for detecting the state of the transmission section 404a. For example, when the transmission section 404a includes a shift lever, the transmission section sensor 404c detects the position of the shift lever or the pressure acting on the shift lever. The transmission section sensor 404c outputs the detected state of the transmission section 404a to the in-vehicle network 450.

Obstacle sensor 405 is a device for detecting information regarding obstacles that may exist around vehicle V. The obstacle sensor 405 includes, for example, a distance measurement sensor such as a sonar that detects the distance to an obstacle. Obstacle sensor 405 outputs detected information to in-vehicle network 450.

The running state sensor 406 is a device for detecting the running state of the vehicle V. The driving state sensor 406 is, for example, a wheel speed sensor that detects the wheel speed of the vehicle V, an acceleration sensor that detects the longitudinal or lateral acceleration of the vehicle V, or a gyro that detects the turning speed (angular velocity) of the vehicle V. Contains sensors, etc. Driving state sensor 406 outputs the detected driving state to in-vehicle network 450.

Communication interface 407 is an interface that realizes communication between vehicle control system 102 and external devices. For example, the communication interface 407 realizes the transmission and reception of signals by wireless communication between the vehicle control system 102 and the control device 101, the transmission and reception of signals by wireless communication between the vehicle control system 102 and the terminal device T, and the like.

The vehicle-mounted camera 408 is a device for capturing an image of the surrounding situation of the vehicle V. For example, a plurality of in-vehicle cameras 408 are provided so as to capture images of areas including road surfaces in front of, behind, and on the sides (both left and right) of the vehicle V. The image data obtained by the on-vehicle camera 408 is used for monitoring the situation around the vehicle V (including detecting obstacles). Vehicle-mounted camera 408 outputs the obtained image data to vehicle control device 410. In addition, below, the image data obtained from the vehicle-mounted camera 408 and the data obtained from the above-mentioned various sensors provided in the vehicle control system 102 may be collectively referred to as sensor data.

The monitor device 409 is provided on a dashboard or the like in the cabin of the vehicle V. The monitor device 409 includes a display section 409a, an audio output section 409b, and an operation input section 409c.

The display unit 409a is a device for displaying images in accordance with instructions from the vehicle control device 410. The display section 409a is configured by, for example, a liquid crystal display (LCD), an organic electroluminescent display (OELD), or the like.

The audio output unit 409b is a device for outputting audio in response to instructions from the vehicle control device 410. The audio output unit 409b includes, for example, a speaker.

The operation input unit 409c is a device for receiving input from the occupant inside the vehicle V. The operation input unit 409c includes, for example, a touch panel provided on the display screen of the display unit 409a, a physical operation switch, and the like. The operation input unit 409c outputs the received input to the in-vehicle network 450.

Vehicle control device 410 is a device for controlling vehicle control system 102 in an integrated manner. The vehicle control device 410 is an ECU having computer resources such as a CPU 410a, a ROM 410b, and a RAM 410c.

More specifically, the vehicle control device 410 includes a CPU 410a, a ROM 410b, a RAM 410c, an SSD 410d, a display control section 410e, and an audio control section 410f.

CPU 410a is a hardware processor that centrally controls vehicle control device 410. The CPU 410a reads various control programs (computer programs) stored in the ROM 410b, etc., and implements various functions according to instructions defined in the various control programs.

The ROM 410b is a nonvolatile main storage device that stores parameters and the like necessary for executing the various control programs described above.

The RAM 410c is a volatile main storage device that provides a work area for the CPU 410a.

The SSD 410d is a rewritable nonvolatile auxiliary storage device. Note that in the vehicle control device 410 according to the embodiment, an HDD may be provided as an auxiliary storage device instead of (or in addition to) the SSD 410d.

Among various processes executed by the vehicle control device 410, the display control unit 410e mainly performs image processing on image data obtained from the in-vehicle camera 408 and generates image data to be output to the display unit 409a of the monitor device 409. etc.

Among the various processes executed by the vehicle control device 410, the audio control unit 410f mainly controls generation of audio data to be output to the audio output unit 409b of the monitor device 409.

The in-vehicle network 450 includes a braking system 401, an acceleration system 402, a steering system 403, a transmission system 404, an obstacle sensor 405, a driving state sensor 406, a communication interface 407, and an operation input unit 409c of a monitor device 409. and vehicle control device 410 are communicably connected.

By the way, in such an automatic valet parking system, the conventional technology assumes that the position of another vehicle estimated by the vehicle based on the detection data of the on-board sensor is different from the position of the other vehicle estimated by the control device. However, there is room for improvement.

Therefore, in the following, we will discuss a technology that can appropriately deal with the case where the position of another vehicle estimated by the vehicle based on the detection data of the on-board sensor differs from the position of the other vehicle estimated by the control device 101 in the automatic valet parking system. I will explain about it.

FIG. 5 is an exemplary and schematic block diagram showing the functions of the control device 101 and the vehicle control device 410 according to the embodiment. The functions shown in FIG. 5 are realized by cooperation between software and hardware. That is, in the example shown in FIG. 5, the functions of the control device 101 are realized as a result of the CPU 301 (FIG. 3) reading and executing a predetermined control program stored in the ROM 302 (FIG. 3) or the like. Further, the functions of the vehicle control device 410 are realized as a result of the CPU 410a (FIG. 4) reading and executing a predetermined control program stored in the ROM 410b (FIG. 4) or the like. Note that in the embodiment, part or all of the control device 101 and vehicle control device 410 shown in FIG. 5 may be realized only by dedicated hardware (circuits).

As shown in FIG. 5, the control device 101 according to the embodiment includes a communication control unit 511, an acquisition unit 512, a parking lot data management unit 513, a guidance route generation unit 514, and an estimation unit as functional configurations. 515, a determination section 516, a vehicle control section 517, and a notification section 518.

Communication control unit 511 controls wireless communication performed with vehicle control device 410. For example, the communication control unit 511 authenticates the vehicle control device 410 by transmitting and receiving predetermined data to and from the vehicle control device 410, or outputs an output from the vehicle control device 410 when automatic parking and automatic parking are completed. It receives a predetermined completion notification, and transmits map data of the parking lot P, a guidance route, etc., which will be described later, to the vehicle control device 410 as necessary.

The acquisition unit 512 acquires detection data of vehicles in the parking lot P from a detection unit provided in the parking lot P. That is, the acquisition unit 512 acquires the above-mentioned sensor data from the surveillance camera 103 and various sensors (not shown) provided in the parking lot P. For example, the acquisition unit 512 acquires a photographed image inside the parking lot P from the surveillance camera 103. The sensor data (particularly the image data obtained from the surveillance camera 103) acquired by the acquisition unit 512 can also be used, for example, to understand the availability of the parking area R.

The parking lot data management unit 513 manages data (information) regarding the parking lot P. For example, the parking lot data management unit 513 manages the map data of the parking lot P, the availability status of the parking area R, and the like. For example, when automatic parking is performed, the parking lot data management unit 513 selects one parking area R from among the vacant parking areas R, and uses the selected one parking area R for the vehicle V in automatic parking. Specify it as the target parking area that is the goal to reach. Furthermore, when the vehicle V moves again after automatic parking is completed and the parking area R is changed, the parking lot data management unit 513 determines the changed parking area based on the sensor data acquired from the acquisition unit 512. Identify R.

The guide route generation unit 514 generates a guide route to instruct the vehicle control device 410 when automatic parking and automatic exit are performed. More specifically, when automatic parking is performed, the guidance route generation unit 514 generates a general route from the drop-off area P1 to the target parking area as a guidance route, and when automatic parking is performed, A rough route from the target parking area (if the vehicle V is moving after automatic parking, the parking area R where the vehicle V is currently parked) to the boarding area P2 is generated as a guide route.

Based on the captured image acquired by the acquisition unit 512, the estimation unit 515 estimates the position of the vehicle shown in the captured image. Specifically, for example, the estimation unit 515 can estimate the position of the vehicle by a method based on deep learning using captured images, but the estimation unit 515 is not limited to this.

The determination unit 516 uses a plurality of captured images over time to determine whether the first vehicle has entered a blind spot area due to an object in the captured image (that is, has become invisible from the captured image due to an object in the foreground when viewed from the surveillance camera 103). Then, it is determined whether the second vehicle that came out of the blind spot area is the same or not based on the image information of the first vehicle and the image information of the second vehicle. For example, the determining unit 516 determines whether the first vehicle and the second vehicle are the same by recognizing the vehicle number from the license plate based on the image information of the first vehicle and the image information of the second vehicle. . However, the determination unit 516 is not limited to this, and for example, the determination unit 516 may determine the appearance (size, color, shape, etc.) of the first vehicle and the second vehicle based on the image information of the first vehicle and the image information of the second vehicle. etc.), it may be determined whether the first vehicle and the second vehicle are the same. Furthermore, these multiple methods may be combined.

The vehicle control unit 517 controls the operation of the target vehicle of the automatic valet parking system. For example, the vehicle control unit 517 controls the target vehicle to stop, decelerate, avoid collision (avoid collision with other vehicles or pedestrians), etc.

When an abnormality occurs in the automatic valet parking system, the notification unit 518 notifies a target person (for example, a staff member of the control device 101) of a warning (for example, by voice or display).

On the other hand, as shown in FIG. 5, the vehicle control device 410 has a communication control section 521, an acquisition section 522, a travel control section 523, and an estimation section 524 as functional components.

The communication control unit 521 controls wireless communication performed with the control device 101. For example, the communication control unit 521 authenticates the vehicle control device 410 by transmitting and receiving predetermined data to and from the control device 101, or sends a predetermined completion notification to the control device when automatic parking and automatic exit are completed. 101, and receive map data of the parking lot P, guidance route, etc. from the control device 101 as necessary.

The acquisition unit 522 acquires sensor data including image data obtained by the vehicle-mounted camera 408 and data output from various sensors provided in the vehicle control system 102. The sensor data acquired by the acquisition unit 522 can be used, for example, to generate an actual driving route (including a parking route and an exit route) based on the guidance route received from the control device 101, or to create an actual driving route along the relevant driving route. It can be used for various travel controls of the vehicle V executed by the next travel control unit 523, such as setting various parameters (vehicle speed, steering angle, traveling direction, etc.) necessary when traveling on the road. .

The travel control unit 523 controls the braking system 401, the acceleration system 402, the steering system 403, the transmission system 404, etc., so as to control starting from the alighting area P1 and driving from the alighting area P1 to the parking area R (parking control). (including control), travel control from parking area R to boarding area P2 (including exit control), stopping control to boarding area P2, etc. to realize automatic parking and automatic parking. The driving state of the vehicle V is controlled as follows.

The estimation unit 524 estimates the current position of the own vehicle using odometry (a method of estimating the current position of the own vehicle using detected values such as wheel speed sensors) while the own vehicle is automatically driving during automatic parking and automatic parking. do. In addition to odometry, methods for estimating the current position of the vehicle include methods based on detection results from laser sensors, sonar, etc., methods based on image data captured by the onboard camera 408, and methods based on GPS. There may be. Furthermore, two or more of these methods may be combined.

Next, with reference to FIG. 6, when a vehicle enters a blind spot area caused by an object (another vehicle) and a vehicle comes out of the blind spot area in the photographed image, when the vehicles are the same and when they are different, Let's discuss an example. FIG. 6 is a diagram illustrating an example in which the vehicles are the same and different when a vehicle enters a blind spot area due to an object in a photographed image and a vehicle comes out of the blind spot area in the embodiment. FIG. 2 is an exemplary and schematic diagram.

FIG. 6A is an explanatory diagram of a case where a vehicle enters a blind spot area caused by an object (another vehicle) in a photographed image and a vehicle comes out of the blind spot area, and the two vehicles are the same. In the parking lot P, the surveillance camera 103 photographs an area sandwiched between the line L1a and the line L1b as a photographing area. In this case, due to the presence of the vehicle V1, among the regions sandwiched between the lines L2a and L2b, the region farther from the vehicle V1 when viewed from the surveillance camera 103 becomes a blind spot region. In this case, vehicle V3 is parked within the blind spot area. Further, the vehicle V2 moves from the right side (the right side in the drawing, hereinafter the same) to the left side, passing through a blind spot area on the way.

On the other hand, FIG. 6(b) is an explanatory diagram when a vehicle enters a blind spot area caused by an object in a photographed image and a vehicle comes out from the blind spot area, but the vehicles are different. For example, immediately after vehicle V2 moves to the left and enters the blind spot area, vehicle V3 starts moving and exits the blind spot area to the left.

In such a case, in the image captured by the surveillance camera 103, one vehicle (first vehicle) enters the blind spot area, and one vehicle (second vehicle) exits from the blind spot area. In that case, the determination unit 516 determines whether the first vehicle and the second vehicle are the same by, for example, recognizing the vehicle number from the license plate based on the image information of the first vehicle and the image information of the second vehicle. It can be determined whether or not.

Next, with reference to FIG. 7, processing by the control device 101 according to the embodiment will be described. FIG. 7 is a flowchart showing processing by the control device 101 according to the embodiment.

First, in step S1, the determination unit 516 determines whether there is a vehicle (first vehicle) that has entered the blind spot area using a plurality of photographed images over time, and if Yes, the process proceeds to step S2. , in the case of No, the process ends.

In step S2, the determining unit 516 uses a plurality of photographed images over time to determine whether there is a vehicle (second vehicle) that has exited the blind spot area, and in the case of Yes, the process proceeds to step S3; In this case, the process ends.

In step S3, the determination unit 516 determines whether the two vehicles are the same. In other words, the determination unit 516 determines whether the first vehicle and the second vehicle are the same by, for example, recognizing the vehicle number from the license plate based on the image information of the first vehicle and the image information of the second vehicle. judge.

Next, in step S4, the determination unit 516 stores the determination result in step S3 in the storage unit (for example, SSD 306). As a result, even if a vehicle enters a blind spot area caused by an object (vehicle, pillar, etc.) in a photographed image and a vehicle emerges from the blind spot area, it is possible to obtain a determination result as to whether the two vehicles are the same or not. . Therefore, the determination result can be effectively utilized, for example, to estimate whether a vehicle in the parking lot P will park or leave a predetermined area.

In this way, according to the control device 101 of the embodiment, whether or not the first vehicle that entered the blind spot area caused by the object in the photographed image and the second vehicle that came out of the blind spot area are the same or not is determined based on the image of the first vehicle. The determination can be made based on the information and the image information of the second vehicle.

In that case, for example, by image recognition of the vehicle number, it is possible to determine with high accuracy whether the first vehicle and the second vehicle are the same.

Although the embodiments of the present invention have been described above, the embodiments described above are merely examples and are not intended to limit the scope of the invention. The novel embodiment described above can be implemented in various forms, and various omissions, substitutions, and changes can be made without departing from the gist of the invention. The above-described embodiments and their modifications are included within the scope and gist of the invention, as well as within the scope of the invention described in the claims and its equivalents.

For example, in FIG. 6, it is assumed that the moving direction of the vehicle entering the blind spot area and the vehicle leaving the blind spot area are the same, but the present invention is not limited to this. Their movement directions may be different. Further, although FIG. 6 describes the blind spot area caused by the vehicle, the present invention is not limited thereto. In addition, the present invention can also be applied to blind areas caused by other objects such as pillars.

In addition, the control device 101 uses infrastructure equipment including a surveillance camera 103 and an analysis device (a computer device that performs various image processing on images captured by the surveillance camera 103) to receive image processing results (estimated vehicle position, etc.) from the infrastructure equipment. ) may be obtained. In that case, the infrastructure equipment can be interpreted as part of the control system in a broader sense.

DESCRIPTION OF SYMBOLS 101...Control device, 102...Vehicle control system, 103...Surveillance camera, 410...Vehicle control device, 511...Communication control unit, 512...Acquisition unit, 513...Parking lot data management unit, 514...Guidance route generation unit, 515... Estimation section, 516... Judgment section, 517... Vehicle control section, 518... Notification section, 521... Communication control section, 522... Acquisition section, 523... Travel control section, 524... Estimation section, P... Parking lot, V... Vehicle

Claims (2)

A control device in a system that controls vehicle travel within a predetermined area,
an acquisition unit that acquires a captured image within the predetermined area from an imaging unit provided within the predetermined area;
an estimation unit that estimates the position of the vehicle shown in the photographed image based on the photographed image;
Using a plurality of the photographed images over time, it is determined whether or not the first vehicle that entered the blind spot area caused by the object in the photographed images is the same as the second vehicle that came out of the blind spot area. a determination unit that makes a determination based on image information and image information of the second vehicle;
A control device equipped with. The determination unit determines whether the first vehicle and the second vehicle are the same by recognizing the vehicle number from the license plate based on the image information of the first vehicle and the image information of the second vehicle. The control device according to claim 1, which makes the determination.

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