WO2015025667A1

WO2015025667A1 - Parking guiding device, and parking guiding method

Info

Publication number: WO2015025667A1
Application number: PCT/JP2014/069364
Authority: WO
Inventors: 肇宏中里; 佐々木　啓
Original assignee: カヤバ工業株式会社
Priority date: 2013-08-23
Filing date: 2014-07-22
Publication date: 2015-02-26
Also published as: JP2015041348A; JP6302636B2

Abstract

A parking guiding device is provided with: an imaging unit that images a guide mark for vehicle guidance and a parking mark for parking a vehicle in a parking space; and a control unit that generates a guide command for guiding the vehicle on the basis of the guide mark imaged by the imaging unit, and that generates a parking command for parking the vehicle in the parking space on the basis of the parking mark imaged by the imaging unit.

Description

Parking guidance device and parking guidance method

The present invention relates to a parking guidance device and a parking guidance method for guiding a vehicle to automatically park in a parking space.

As a parking assistance device for assisting in parking a vehicle, JP2005-182504A includes a parking lot facility that wirelessly transmits an image signal from a camera that images the entire parking lot from above to the in-vehicle device, and the in-vehicle device receives the received image. Based on the signal, create a parking lot plan view showing the vehicle including the vehicle, detect the free space where the vehicle can be parked from the parking lot plan view and the specifications of the vehicle, and from the current position of the vehicle A guide route to a vacant section and a predicted trajectory for guiding the vehicle into the vacant section are calculated and displayed on a monitor screen.

JP 2008-296791A also obtains parking area information by performing wireless communication through RFID and a communication device as an infrastructure facility provided in association with the parking area, and enters the parking area based on the acquired parking area information. Supporting parking is disclosed.

However, in the parking assistance apparatus described in JP2005-182504A, it is necessary to install a parking lot facility that captures the entire parking lot with a camera and wirelessly transmits it to the in-vehicle device. Since it is necessary to mount an in-vehicle device for wireless communication, the system becomes large and the cost increases.

In addition, the parking support apparatus described in JP2008-296791A also needs to have an RFID in each parking section, and the vehicle needs to be equipped with a communicator for wirelessly communicating with the RFID, resulting in a large system. Incurs an increase in cost.

An object of the present invention is to provide a parking guidance device and a parking guidance method capable of performing automatic parking of a vehicle at a low cost.

According to an aspect of the present invention, a parking guidance device includes an imaging unit that images a guidance mark for guiding a vehicle and a parking mark for parking the vehicle in a parking space, and the image captured by the imaging unit. Control for generating a guidance command for guiding the vehicle based on the guidance mark, and generating a parking command for parking the vehicle in the parking space based on the parking mark imaged by the imaging unit A section.

According to another aspect of the present invention, the parking guidance method images a guidance mark for guiding a vehicle, guides the vehicle based on the captured guidance mark, and guides the vehicle. A parking mark for parking the vehicle in the parking space is imaged, and the vehicle is parked in the parking space based on the captured parking mark.

It is a block diagram of the parking guidance device concerning the embodiment of the present invention. It is a top view of the parking lot where the guidance mark was drawn on the road surface. It is a figure which shows the advancing direction marker. It is a figure which shows a branch marker. It is a figure which shows a merge marker. It is a figure which shows a parking marker and a parking direction marker. It is a figure which shows an exit marker. It is a figure which shows a stop position marker. It is a figure which shows the flow after entering a shopping center until leaving. It is a flowchart which shows the control procedure performed by a parking guidance controller, when warehousing mode is selected. It is a top view of a parking lot, Comprising: A mode that a vehicle is parked automatically is shown. It is a flowchart which shows the control procedure performed by the parking guidance controller when the delivery mode is selected. It is a top view of a parking lot, Comprising: A mode that a vehicle is left automatically is shown.

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

A parking guidance device 100 according to an embodiment of the present invention is a device that guides a vehicle and automatically parks the vehicle in a parking space, and takes the vehicle out of the parking space and automatically guides the vehicle to a predetermined position, and is mounted on the vehicle. . A vehicle on which the parking guidance device 100 is mounted includes equipment that can automatically travel without a driver's operation.

As shown in FIG. 1, a parking guidance device 100 is mounted on a vehicle and captures the front of a travel route to acquire image data (image information) to obtain image data (image information), and a road surface from image data captured by the camera 1. And a parking guidance controller 3 as a control unit that controls vehicle guidance and parking based on the guidance title extracted by the image processing device 2.

The camera 1 includes a stereo camera 1a having two left and right image sensors and a monocular camera 1b having one image sensor. The stereo camera 1a images the front of the travel route including the road surface on which the guide mark is drawn. The monocular camera 1b images the side and rear of the vehicle.

The guidance mark is drawn on the road surface to guide and park the vehicle, and is drawn by white line drawing. The guidance title will be described in detail later.

The image processing apparatus 2 extracts a guide mark drawn in white on the road surface from image data captured by the camera 1 by image processing. In the present embodiment, the image processing apparatus 2 is provided separately from the camera 1 or the parking guidance controller 3 for convenience, but may be provided in the camera 1 or the parking guidance controller 3.

The parking guidance controller 3 includes a warehousing / shipping mode determination unit 11 that determines whether a warehousing mode command or a warehousing mode command is received from the warehousing / shipping mode command input device 9 operated by the driver.

The entry / exit mode command input device 9 is a terminal that the driver can carry, for example, a mobile phone or a dedicated remote controller. The warehousing / exiting mode command input device 9 has a display or a button for “entry mode” and “exit mode” that can be operated by the driver, and an occupancy mode command or “exit” corresponding to the “entry mode” in accordance with the operation of the driver. The delivery mode command corresponding to “mode” is wirelessly transmitted. Here, the entry mode is a mode that is selected when the vehicle is guided and automatically parked in the parking space, and the exit mode is selected when the vehicle is automatically guided from the parking space to a predetermined position. Mode.

The parking guidance controller 3 further recognizes the guidance mark extracted by the image processing device 2, and commands signals for guiding and parking the vehicle based on the recognized guidance mark and the determination result of the entry / exit mode determination unit 11. And a vehicle control unit 13 that controls the operation of the vehicle based on the command signal generated by the command signal generation unit 12.

The vehicle control unit 13 includes an engine control device 5 that controls the opening of the throttle valve of the engine, an EPS control device 6 that controls the drive of the electric motor of the electric power steering device, a brake control device 7 that controls the drive of the brake actuator, And each control apparatus of the transmission control apparatus 8 which carries out shift control of a transmission is controlled, and a vehicle is made to drive automatically.

Next, with reference to FIGS. 2 and 3, the guidance mark drawn on the road surface will be described. FIG. 2 is a plan view of the parking lot 30 in which a guide mark is drawn on the road surface, and FIGS. 3A to 3F are views showing each guide mark.

The guidance title is drawn using white line drawing that draws the boundaries of the driving lane, etc., and is displayed in white on the road surface. Below, each guidance title is demonstrated.

The solid line shown in FIG. 2 drawn along the travel route in the parking lot 30 is a travel line 31 as a guidance mark for guiding the vehicle. The travel line 31 is drawn by a combination of a straight line 31a and a curved line 31b. When the command signal generation unit 12 of the parking guidance controller 3 recognizes the travel line 31, the command signal generation unit 12 generates a guidance command for causing the vehicle to travel along the travel line 31.

The marker 32 shown in FIG. 3A is a traveling direction marker as a guidance mark indicating the traveling direction of the vehicle. The traveling direction marker 32 is composed of two short lines and one long line, and is drawn along the traveling line 31. The direction from the short line to the long line is the traveling direction of the vehicle (the direction indicated by the arrow in FIG. 3A). FIG. 3A shows a case where the travel route is a two-way traffic, and FIG. 2 shows a case where the travel route is a one-way traffic except for the vicinity of the entrance / exit of the parking lot 30. When the command signal generator 12 of the parking guidance controller 3 recognizes the traveling direction marker 32, the command signal generating unit 12 generates a guidance command for causing the vehicle to travel in the direction indicated by the traveling direction marker 32.

The marker 31c shown in FIG. 3B drawn by branching the travel line 31 is a branch marker as a branch guidance mark for guiding the vehicle to one of a plurality of travel routes. The command signal generation unit 12 of the parking guidance controller 3 generates a random number when recognizing the branch marker 31c, determines a direction in which the vehicle travels based on the generated random number, and generates a guidance command. For example, in the case of branching in the left and right directions, if the random number is an even number, a left turn guidance command is generated, and if the random number is an odd number, a right turn guidance command is generated. In this way, when the travel route branches, the direction in which the vehicle travels is determined based on random numbers having no regularity, and therefore the vehicles are randomly distributed at the branch. Accordingly, it is possible to prevent the vehicle from being biased toward a certain travel route.

A marker 31d shown in FIG. 3C drawn by joining a plurality of travel lines 31 is a merge marker 31d indicating that the travel lanes merge. When the command signal generation unit 12 of the parking guidance controller 3 recognizes the merge marker 31d, the vehicle is stopped once before the traveling lane merges and after confirming that there is no risk of collision with other vehicles. A guidance command for starting the vehicle is generated.

A marker 34 shown in FIG. 3D drawn inside a square parking frame 33 indicating a parking space is a parking marker as a parking mark indicating an empty parking space. The parking marker 34 is composed of two parallel straight lines, and is drawn so as to be hidden by the vehicle when the vehicle is parked in the parking frame 33. The command signal generation unit 12 of the parking guidance controller 3 can recognize the parking marker 34 only when the warehousing mode is selected. When the parking marker 34 is recognized, the other vehicle is parked in the parking frame 33. It judges that it is not, and the parking command for parking the own vehicle in the parking space corresponding to the parking marker 34 is produced | generated.

A marker 35 shown in FIG. 3D drawn in the vicinity of the outside of the parking frame 33 in the travel route is a parking direction marker as a parking mark indicating the position of the parking space and the direction of the vehicle to be parked. The parking direction marker 35 is drawn by a thick straight line and a thin straight line. A thick straight line indicates the vehicle front side, and a thin straight line indicates the vehicle rear side. In FIG. 3D, the parking direction marker 35 indicates rearward parking (the left side of FIG. 3D is the front of the vehicle, and the right side of FIG. 3D is the rear of the vehicle). The command signal generation unit 12 of the parking guidance controller 3 can recognize the parking direction marker 35 only when the warehousing mode is selected. When generating the parking command by recognizing the parking marker 34, the parking direction A parking direction command for matching the direction of the vehicle with the direction indicated by the marker 35 is also generated.

The marker 36 shown in FIG. 3E is an exit marker for guiding the vehicle to the exit. The exit marker 36 indicates a path toward the exit with an arrow. The command signal generator 12 of the parking guidance controller 3 can recognize the exit marker 36 only when the exit mode is selected. When the exit marker 36 is recognized, the arrow of the exit marker 36 indicates the vehicle. A guidance command for guiding to a traveling route in a direction is generated.

The marker 37 shown in FIG. 3F is a stop position marker indicating a stop space of the vehicle for the driver to get on. The stop position marker 37 is drawn with a square stop frame 37a indicating a stop space and four parallel straight lines 37b inside the stop frame 37a. The parking marker 34 is drawn inside the stop position marker 37, and the parking direction marker 35 is drawn near the outside of the stop frame 37a. The command signal generation unit 12 of the parking guidance controller 3 can recognize the stop position marker 37 only when the delivery mode is selected. When the stop position marker 37 is recognized, the vehicle is placed in the stop frame 37a. Generate a stop command to stop.

As described above, there are a plurality of types of guidance marks, which are drawn on the road surface of the parking lot 30 in order to guide and park the vehicle efficiently.

Next, a vehicle guidance method performed by the parking guidance device 100 will be described. Below, the case where a vehicle is guide | induced within the parking lot 30 of a shopping center is demonstrated.

First, with reference to FIG. 4, the flow from entering the shopping center with a vehicle to leaving will be described along the flow of arrows shown in FIG.

First, enter the shopping center from the entrance gate provided at the entrance of the shopping center (step 41).

From the entrance gate to the store entrance, move by driving the driver (step 42). The driver stops the vehicle at the entrance of the parking lot 30 adjacent to the store entrance and gets off (step 43). It is desirable to provide a mark such as a stop line 38 (see FIG. 2) at the entrance of the parking lot 30 so that the driver can easily grasp the position where the vehicle is to be stopped. When getting off the vehicle, the ignition switch is kept ON and the shift lever is switched from the D range to the P range to get off the transmission in the parking mode.

After getting off, the driver selects the entry / exit mode command input device 9 entry mode. When the parking guidance device 100 mounted on the vehicle receives the warehousing mode command from the warehousing / unloading mode command input device 9, the vehicle starts automatic driving and guides based on the guidance mark drawn on the road surface in the parking lot 30. Then, the vehicle is automatically parked in an empty parking space (steps 44 and 45).

When calling a parked vehicle, the driver selects the delivery mode of the entry / exit mode command input device 9. When the parking guidance device 100 receives the exit mode command from the entrance / exit mode command input device 9, the vehicle exits from the parking space, starts automatic travel, and is based on the guidance mark drawn on the road surface in the parking lot 30. The vehicle is guided to the exit of the parking lot 30 adjacent to the store entrance (in the stop frame 37a of the stop position marker 37 in FIG. 2) (step 46).

The driver gets on the vehicle guided to the exit of the parking lot 30 (step 47), moves to the exit gate by driving the driver (step 48), and exits from the exit gate (step 49).

Next, in the flow of FIG. 4, automatic driving of the vehicle in the parking lot 30 after the driver gets off (step 43) until getting on (step 47) will be described in detail.

First, with reference to FIGS. 5 and 6, a procedure for automatically parking a vehicle in the parking space of the parking lot 30 (procedure in warehousing mode) will be described. FIG. 5 is a flowchart showing a control procedure executed by the parking guidance controller 3 when the warehousing mode is selected, and FIG. 6 is a plan view of the parking lot 30 and shows how the vehicle is automatically parked. . In FIG. 6, the vehicle 40 to be automatically parked is indicated by diagonal lines, and the movement of the vehicle 40 is indicated in the order of A to F.

In step 51 of FIG. 5, the warehousing mode command transmitted from the warehousing / exiting mode command input device 9 in response to the operation of the driver getting off is received.

In step 52, the traveling line 31 and the traveling direction marker 32 drawn on the road surface are recognized. Specifically, the traveling line 31 and the traveling direction marker 32 are recognized from the guidance title extracted by image processing from the image data captured by the stereo camera 1a.

In step 53, a guidance command for guiding the vehicle is generated based on the travel line 31 and the traveling direction marker 32 recognized in step 52, and the vehicle is guided based on the guidance command. As a result, the vehicle starts automatic traveling.

The movement of the vehicle relating to steps 52 and 53 will be described with reference to FIG.

When the vehicle 40 is stopped in front of the stop line 38 (position A), the traveling line 31 and the traveling direction marker 32 on the right front side of the traveling path are recognized. The vehicle 40 starts automatic traveling along the recognized traveling line 31 and travels in the direction indicated by the recognized traveling direction marker 32. In the front of the travel path of the vehicle 40 that has started traveling from the position A, there is a merge marker 31d where the travel lines 31 merge. When the merge marker 31d is recognized, the vehicle 40 stops once before entering the intersection, and restarts after confirming that there is no risk of collision with another vehicle. In addition, although the exit marker 36 also exists in the vicinity of the merge marker 31d, the exit marker 36 is not recognized in the warehousing mode. The vehicle 40 travels along the travel line 31 after passing through the intersection. In FIG. 6, except for the travel route from the entrance / exit of the parking lot 30 to the merge marker 31d, one-way traffic is set, and the travel line 31 is drawn at the center of the travel route. As shown by the vehicle 40 traveling at positions B and C in FIG. 6, the vehicle 40 is guided to travel on the left side of the travel line 31 and travel within a predetermined distance, for example, 30 cm from the travel line 31. Note that when the travel route is set to be one-way as shown in FIG. 6, the vehicle 40 may be guided along the travel line 31. Alternatively, two travel lines parallel to the travel route may be drawn, and guidance may be provided so that the vehicle travels inside the two travel lines.

A branch marker 31c at which the travel line 31 branches is present in front of the travel route of the vehicle 40 traveling at the position C. When the branch marker 31c is recognized, a random number is generated, and the vehicle 40 travels based on the random number. In FIG. 6, the vehicle 40 turns left based on the generated random number (position D).

Returning to FIG. 5, in step 54, it is determined whether or not the parking direction marker 35 has been recognized. Specifically, it is determined whether or not the parking direction marker 35 has been recognized from the guidance title extracted by image processing from the image data captured by the stereo camera 1a. When it determines with not recognizing the parking direction marker 35, it returns to step 52, recognizes the travel line 31 and the advancing direction marker 32, and guides a vehicle based on the recognized traveling line 31 and the advancing direction marker 32 ( Step 53). As described above, the vehicle guidance is continued based on the recognized travel line 31 and the traveling direction marker 32 until the parking direction marker 35 is recognized.

If it is determined in step 54 that the parking direction marker 35 has been recognized, the process proceeds to step 55, and the vehicle is guided to the side of the parking space corresponding to the parking direction marker 35 recognized in step 54.

In step 56, it is determined whether or not the parking marker 34 in the parking frame 33 corresponding to the parking direction marker 35 recognized in step 54 has been recognized. Specifically, it is determined whether or not the parking marker 34 has been recognized by performing image processing on the side image data of the vehicle 40 imaged by the monocular camera 1b. If it is determined that the parking marker 34 is not recognized, it is determined that another vehicle is parked in the parking frame 33 and the process returns to step 52. Then, the traveling line 31 and the traveling direction marker 32 are recognized, and the vehicle is guided again until another parking direction marker 35 is recognized based on the recognized traveling line 31 and traveling direction marker 32 (steps 53 and 54). .

If it is determined in step 56 that the parking marker 34 has been recognized, it is determined that no other vehicle is parked in the parking frame 33, and the process proceeds to step 57.

In step 57, a parking command for parking the vehicle in the parking frame 33 corresponding to the parking marker 34 recognized in step 56 is generated, and the vehicle is parked based on the parking command. At that time, a parking direction command is also generated so that the direction of the vehicle matches the direction indicated by the parking direction marker 35 recognized in step 54. In this way, the vehicle is automatically parked in the parking space. When the vehicle is automatically parked, the side and rear of the vehicle are monitored by the monocular camera 1b, and collision with other vehicles parked around is avoided. When parking is completed, the process proceeds to step 58.

In step 58, the parking guidance controller 3 is in a standby state until a delivery mode command transmitted from the entry / exit mode command input device 9 is received. In this standby state, the ignition switch of the vehicle is turned off and the transmission is switched from the drive mode to the parking mode.

This completes the control procedure for the warehousing mode.

The movement of the vehicle related to steps 54 to 57 will be described with reference to FIG.

When the vehicle 40 turns left from the position C, the parking direction markers 35 on the left and right sides in front of the travel route are recognized. The vehicle 40 moves to the side of the parking space corresponding to the recognized parking direction marker 35 (position D). At position D, since other vehicles are parked in the left and right parking frames 33, the parking marker 34 is not recognized. Therefore, the vehicle 40 moves forward from the position D, and the parking direction markers 35 on both the left and right sides in front of the traveling route are recognized again. The vehicle 40 moves to the side of the parking space corresponding to the recognized parking direction marker 35. At this position, the other vehicle is parked in the right parking frame 33, while the other vehicle is not parked in the left parking frame 33, so the parking marker 34 in the left parking frame 33 recognizes it. Is done. Thereby, automatic parking of the vehicle 40 is started. Since the parking direction marker 35 indicates backward parking, the vehicle 40 moves forward to the position E and then moves backward to park (position F).

Next, with reference to FIGS. 7 and 8, a procedure for leaving the vehicle from the parking space and guiding it to the exit of the parking lot 30 (procedure in the delivery mode) will be described. FIG. 7 is a flowchart showing a control procedure executed by the parking guidance controller 3 when the delivery mode is selected, and FIG. 8 is a plan view of the parking lot 30 and shows how the vehicle is automatically delivered. . In FIG. 8, the vehicle 41 that is automatically delivered is indicated by diagonal lines, and the movement of the vehicle 41 is indicated in the order of A to E.

In step 71 of FIG. 7, a delivery mode command transmitted from the entry / exit mode command input device 9 in response to the operation of the driver is received. As a result, the parking guidance controller 3 in the standby state is activated, the vehicle ignition switch is turned on, and the transmission is switched from the parking mode to the drive mode.

In step 72, the travel line 31 and the traveling direction marker 32 drawn on the road surface are recognized. Specifically, the traveling line 31 and the traveling direction marker 32 are recognized from the guidance title extracted by image processing from the image data captured by the stereo camera 1a.

In step 73, a guidance command for guiding the vehicle is generated based on the travel line 31 and the traveling direction marker 32 recognized in step 72, and the vehicle is guided based on the guidance command. As a result, the vehicle leaves the parking space and starts automatic traveling.

In step 74, it is determined whether or not the exit marker 36 has been recognized. Specifically, it is determined whether or not the exit marker 36 has been recognized from the guidance title extracted by image processing from the image data captured by the stereo camera 1a.

If it is determined that the exit marker 36 is not recognized, the process returns to step 72, the travel line 31 and the traveling direction marker 32 are recognized, and the vehicle is guided based on the recognized traveling line 31 and the traveling direction marker 32 (step). 73). As described above, the vehicle guidance is continued based on the recognized travel line 31 and the traveling direction marker 32 until the exit marker 36 is recognized.

If it is determined in step 74 that the exit marker 36 has been recognized, the process proceeds to step 75. In step 75, a guidance command for guiding the vehicle is generated based on the exit marker 36, and the vehicle is guided based on the guidance command. As a result, the vehicle is guided in the direction indicated by the arrow of the exit marker 36.

In step 76, it is determined whether or not the stop position marker 37 has been recognized. Specifically, it is determined whether or not the stop position marker 37 has been recognized from the guidance title extracted by image processing from the image data captured by the stereo camera 1a. If it is determined that the stop position marker 37 is not recognized, it is determined that the stop of the parking lot 30 has not been reached, and the process returns to step 72. Then, the traveling line 31 and the traveling direction marker 32 are recognized, and the vehicle is guided again until the exit marker 36 is recognized based on the recognized traveling line 31 and traveling direction marker 32 (steps 73 and 74).

If it is determined in step 76 that the stop position marker 37 has been recognized, it is determined that the exit of the parking lot 30 has been reached, and the process proceeds to step 77.

In step 77, a stop command for stopping the vehicle 40 is generated in the stop frame 37a of the stop position marker 37 recognized in step 76, and the vehicle is stopped based on the stop command. In addition, when generating a stop command, it is also a condition that the parking marker 34 of the stop frame 37a is not recognized. Further, the parking direction marker 35 in the vicinity of the outside of the stop frame 37a is recognized, and a parking direction command is also generated so that the direction of the vehicle coincides with the direction indicated by the recognized parking direction marker 35. In this way, the vehicle is automatically stopped in the stop space at the exit of the parking lot 30.

This completes the exit mode control procedure.

The movement of the vehicle regarding steps 72 to 77 will be specifically described with reference to FIG.

In the state where the vehicle 41 is parked in the parking space (position A), the traveling line 31 and the traveling direction marker 32 that are ahead in the traveling direction are recognized. The vehicle 41 travels along the recognized travel line 31 and exits from the parking space so as to travel in the direction indicated by the recognized traveling direction marker 32 (position B). After delivery, the vehicle 41 travels along the travel line 31 (position C). When the vehicle 41 travels from the position B to the position C, the merge marker 31d in front of the travel path is recognized, so the vehicle 41 stops once before entering the intersection, and does not collide with other vehicles. After confirming that there is no danger, it will start again. Further, when the vehicle 41 is traveling from the position B to the position C, the exit marker 36 in front of the traveling path is recognized. The vehicle 41 turns right according to the recognized arrow of the exit marker 36 (position D). When the vehicle 41 is traveling from the position B to the position C, the parking direction marker 35 exists in front of the traveling path of the vehicle 41, but the parking direction marker 35 is not recognized in the unloading mode.

When the vehicle 41 turns right, the stop position marker 37 in front of the travel route is recognized. The vehicle 41 is stopped within the stop frame 37a of the recognized stop position marker 37 (position E). After the vehicle 41 stops, the transmission is switched from the drive mode to the parking mode.

In FIG. 6, the exit marker 36 is drawn only at the intersection near the stop position marker 37. However, the vehicle can be efficiently guided to the exit of the parking lot 30 by drawing the exit markers 36 at all the intersections.

According to the above embodiment, the following effects are exhibited.

The parking guidance device 100 generates a guidance command based on the captured travel line 31 and the traveling direction marker 32 to guide the vehicle, and images the parking direction marker 35 and the parking marker 34 while guiding the vehicle. In this case, a parking command is generated based on the parking direction marker 35 and the parking marker 34 to park the vehicle in the parking space. As described above, the vehicle is automatically parked by finding an empty parking space based on the parking direction marker 35 and the parking marker 34 while automatically traveling according to the traveling line 31 and the traveling direction marker 32. Therefore, since it is not necessary to provide a communication device such as a wireless device or an IC tag for connecting the vehicle to the parking lot, which was conventionally required to automatically park the vehicle, in the vehicle and the parking lot, It becomes possible to carry out at low cost.

In addition, the infrastructure development of the parking lot is completed simply by drawing each guide mark on the road surface using the white line drawing, so the infrastructure of the parking lot can be easily constructed and the cost can be reduced.

Further, the parking guidance device 100 automatically drives the vehicle based on image data obtained by imaging each guidance mark drawn on the road surface with the camera 1, and guides the vehicle by determining the shortest route to the parking space. Not what you want. Therefore, the manufacturing cost of the parking guidance apparatus 100 can be suppressed.

Furthermore, since the vehicle is guided according to the guidance mark drawn on the road surface in the parking lot, it can automatically run without obtaining a parking lot map.

The embodiment of the present invention has been described above. However, the above embodiment only shows a part of application examples of the present invention, and the technical scope of the present invention is limited to the specific configuration of the above embodiment. Absent.

For example, the pattern of each guidance mark is not limited to that shown in the above embodiment.

This application claims priority based on Japanese Patent Application No. 2013-173488 filed with the Japan Patent Office on August 23, 2013, the entire contents of which are incorporated herein by reference.

Claims

An imaging unit for imaging a guidance mark for guiding the vehicle and a parking mark for parking the vehicle in the parking space;
A guidance command for guiding the vehicle is generated based on the guidance mark imaged by the imaging unit, and the vehicle is parked in the parking space based on the parking mark imaged by the imaging unit. A control unit for generating a parking command for
A parking guidance device comprising:
The parking guidance device according to claim 1,
The guidance mark is a travel line drawn on the road surface along the travel route of the vehicle,
The said control part is a parking guidance apparatus which recognizes the said travel line and produces | generates the said guidance command for making a vehicle drive | work along a driving | running route.
The parking guidance device according to claim 1,
The parking mark is a parking marker that indicates a parking space and is inside a parking frame drawn on a road surface, and indicates an empty space in the parking space,
When the control unit recognizes the parking marker, the control unit determines that the other vehicle is not parked in the parking frame and parks the host vehicle in the parking space corresponding to the parking marker. Parking guidance device that generates commands.
The parking guidance device according to claim 1,
The guidance mark has a branch guidance mark for guiding the vehicle to one of a plurality of travel routes,
The control unit, when recognizing the branch guidance mark, generates a random number, determines a direction in which the vehicle travels based on the generated random number, and generates the guidance command.
The parking guidance device according to claim 1,
A warehousing / shipping mode determination unit for determining whether a warehousing mode command or a warehousing mode command is received from the warehousing / shipping mode command input device operated by the driver;
The control unit generates the guidance command based on the determination result of the warehousing / unloading mode determination unit and the guidance mark, and issues the parking command based on the determination result of the warehousing / shipping mode determination unit and the parking mark. Parking guidance device to generate.
Image the guidance mark to guide the vehicle,
Guide the vehicle based on the imaged guidance mark,
When guiding the vehicle, image a parking mark for parking the vehicle in a parking space,
A parking guidance method for parking the vehicle in the parking space based on the imaged parking mark.