WO2019097884A1 - Dispositif de traitement d'informations, procédé et dispositif de gestion, et programme - Google Patents

Dispositif de traitement d'informations, procédé et dispositif de gestion, et programme Download PDF

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Publication number
WO2019097884A1
WO2019097884A1 PCT/JP2018/037205 JP2018037205W WO2019097884A1 WO 2019097884 A1 WO2019097884 A1 WO 2019097884A1 JP 2018037205 W JP2018037205 W JP 2018037205W WO 2019097884 A1 WO2019097884 A1 WO 2019097884A1
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WIPO (PCT)
Prior art keywords
information
parking
vehicle
unit
control unit
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PCT/JP2018/037205
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English (en)
Japanese (ja)
Inventor
周藤　泰広
健太郎 土場
寿夫 山崎
琢人 元山
承夏 梁
Original Assignee
ソニー株式会社
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Publication of WO2019097884A1 publication Critical patent/WO2019097884A1/fr

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    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas

Definitions

  • This technology relates to an information processing apparatus, a management apparatus, a method, and a program, and can improve the convenience of a parking lot.
  • the object information of the peripheral object including the vehicle information including the unique ID information of the other vehicle approaching the host vehicle and the distance information of the peripheral object of the host vehicle and the host vehicle is acquired
  • the vehicle information is mapped to the parking lot map using the vehicle information and the object information, and the guidance to the vacant space is performed.
  • the parking lot map is updated using a relative short distance map between the host vehicle and the surrounding object.
  • the parking lot map may be constantly updated to the latest state. Can not.
  • the information processing apparatus includes a control unit that notifies the surrounding area of usage start information of the parking space or usage end information of the parking space at a predetermined timing.
  • the control unit is notified of usage start information of the parking space to the surroundings at a predetermined timing, for example, a timing when an empty space to be used from the parking space is determined based on the parking status map.
  • the control unit is notified of usage termination information of the parking space to the surroundings at a predetermined timing, for example, the timing of movement of the vehicle from the parking space.
  • the control unit acquires a parking status map indicating the usage status of the parking space, and updates the parking status map based on usage start information and usage termination information notified from other vehicles.
  • the use start information and the use end information include position information indicating the parking space being used, time information at the time of notification, and unique information of the parking space user.
  • a sensor unit for acquiring the surrounding environment status is further provided, and the control unit detects the parking state based on the surrounding environment status acquired by the sensor unit, and the information for notifying the surrounding includes the parking status detection result Be
  • the second aspect of this technology is The present invention is an information processing method including notifying a surrounding area of use start information of a parking space or use end information of the parking space at a predetermined timing by a control unit.
  • the third aspect of this technology is A program that causes a computer to execute use control of a parking lot, There is a program that causes the computer to execute a procedure for notifying the surroundings at a predetermined timing of usage start information of the parking space or usage end information of the parking space.
  • the management apparatus includes a control unit that updates the parking status map based on provision of a parking status map indicating the usage status of the parking lot and the notified usage start information and usage termination information.
  • control unit determines the change in the use condition of the parking lot based on the provision of the parking situation map indicating the use condition of the parking lot, the use start information and the use end information notified from the vehicle, and Update the parking situation map based on it. Also, based on the position information indicating the parking space being used, the time information at the time of notification, and the unique information of the parking space user, the utilization state of the parking space is managed for each user.
  • the fifth aspect of this technology is Providing a parking situation map that shows the use status of the parking lot,
  • the management method includes updating the parking situation map based on the notified use start information and use end information.
  • the sixth aspect of this technology is A program that causes a computer to execute management of a parking lot, A procedure for providing a parking situation map indicating the use condition of the parking lot; A program for causing the computer to execute the procedure of updating the parking situation map based on the notified use start information and use end information.
  • usage start information of the parking space or usage end information of the parking space is notified to the surroundings at a predetermined timing. Therefore, the use situation of the parking lot can be dynamically grasped based on the use start information and the use end information, and the convenience of the parking lot can be improved.
  • the effects described in the present specification are merely examples and are not limited, and additional effects may be present.
  • composition of a parking control system It is a block diagram which shows the example of a structure of the rough function of a vehicle control system. It is a block diagram showing an example of composition of a controlling device. It is the flowchart which illustrated receipt operation control. It is the flowchart which illustrated the delivery operation control. It is the flowchart which illustrated parking management operation. The user interface at the time of parking lot utilization is illustrated. It is the figure which illustrated the other composition of the parking management system. It is the flowchart which illustrated receipt operation control. It is the figure which illustrated the parking lot map. The user interface at the time of parking lot utilization is illustrated.
  • FIG. 1 illustrates the configuration of a parking management system.
  • the parking management system 10 is configured using the vehicles 20-1 and 20-n using the information processing device of the present technology and the management device 30.
  • the vehicles 20-1 and 20-n notify the surrounding area of usage start information of the parking space or usage end information of the parking space at a predetermined timing.
  • the vehicle 20-1 desiring to use the parking lot broadcasts usage start information (cargo information) at the timing when the vacant space to be used is determined, for example, and notifies the surroundings.
  • the vehicle 20-n leaving the parking space broadcasts usage end information (delivery information) at the timing of leaving the parking space, for example, and notifies the surroundings.
  • the management device 30 generates a parking situation map indicating the parking situation of the vehicle in the parking lot. Further, the management device 30 updates the parking situation map, for example, based on the use start information and the use end information notified by broadcast from the vehicles 20-1 and 20-n. Furthermore, the management device 30 responds to the request from the vehicle 20-1, or according to the notification of the use start information from the vehicle 20-1, the timing of updating the parking situation map, etc. Provided to 1.
  • FIG. 2 is a block diagram showing an example of a schematic configuration of functions of a vehicle control system 100 which is an example of a mobile object control system to which the present technology is applied.
  • the vehicle provided with the vehicle control system 100 is distinguished from other vehicles, it is referred to as the own vehicle or the own vehicle.
  • the vehicle control system 100 includes an input unit 101, a data acquisition unit 102, a communication unit 103, an in-vehicle device 104, an output control unit 105, an output unit 106, a drive system control unit 107, a drive system 108, a body system control unit 109, and a body.
  • the system system 110, the storage unit 111, and the automatic driving control unit 112 are provided.
  • the input unit 101, the data acquisition unit 102, the communication unit 103, the output control unit 105, the drive system control unit 107, the body system control unit 109, the storage unit 111, and the automatic operation control unit 112 are connected via the communication network 121. Connected to each other.
  • the communication network 121 may be, for example, an on-vehicle communication network or bus conforming to any standard such as CAN (Controller Area Network), LIN (Local Interconnect Network), LAN (Local Area Network), or FlexRay (registered trademark). Become. In addition, each part of the vehicle control system 100 may be directly connected without passing through the communication network 121.
  • CAN Controller Area Network
  • LIN Local Interconnect Network
  • LAN Local Area Network
  • FlexRay registered trademark
  • each unit of the vehicle control system 100 performs communication via the communication network 121
  • the description of the communication network 121 is omitted.
  • the input unit 101 and the automatic driving control unit 112 communicate via the communication network 121, it is described that the input unit 101 and the automatic driving control unit 112 merely communicate.
  • the input unit 101 includes an apparatus used by a passenger for inputting various data and instructions.
  • the input unit 101 includes operation devices such as a touch panel, a button, a microphone, a switch, and a lever, and an operation device and the like that can be input by a method other than manual operation by voice or gesture.
  • the input unit 101 may be a remote control device using infrared rays or other radio waves, or an external connection device such as a mobile device or wearable device corresponding to the operation of the vehicle control system 100.
  • the input unit 101 generates an input signal based on data, an instruction, and the like input by the passenger, and supplies the input signal to each unit of the vehicle control system 100.
  • the data acquisition unit 102 includes various sensors for acquiring data used for processing of the vehicle control system 100 and supplies the acquired data to each unit of the vehicle control system 100.
  • the data acquisition unit 102 includes various sensors for detecting the state of the vehicle.
  • the data acquisition unit 102 includes a gyro sensor, an acceleration sensor, an inertia measurement device (IMU), an operation amount of an accelerator pedal, an operation amount of a brake pedal, a steering angle of a steering wheel, and an engine speed.
  • IMU inertia measurement device
  • a sensor or the like for detecting a motor rotation speed or a rotation speed of a wheel is provided.
  • the data acquisition unit 102 includes various sensors for detecting information outside the vehicle.
  • the data acquisition unit 102 includes an imaging device such as a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, and other cameras.
  • the data acquisition unit 102 includes an environment sensor for detecting weather, weather or the like, and an ambient information detection sensor for detecting an object around the vehicle.
  • the environment sensor includes, for example, a raindrop sensor, a fog sensor, a sunshine sensor, a snow sensor, and the like.
  • the ambient information detection sensor is made of, for example, an ultrasonic sensor, a radar, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), sonar or the like.
  • the data acquisition unit 102 includes various sensors for detecting the current position of the vehicle.
  • the data acquisition unit 102 includes a GNSS receiver or the like which receives a GNSS signal from a Global Navigation Satellite System (GNSS) satellite.
  • GNSS Global Navigation Satellite System
  • the data acquisition unit 102 includes various sensors for detecting information in the vehicle.
  • the data acquisition unit 102 includes an imaging device for imaging a driver, a biological sensor for detecting biological information of the driver, a microphone for collecting sound in a vehicle interior, and the like.
  • the biological sensor is provided, for example, on a seat or a steering wheel, and detects biological information of an occupant sitting on a seat or a driver holding the steering wheel.
  • the communication unit 103 communicates with the in-vehicle device 104 and various devices outside the vehicle, a server, a base station, etc., and transmits data supplied from each portion of the vehicle control system 100, and receives the received data. Supply to each part of 100.
  • the communication protocol supported by the communication unit 103 is not particularly limited, and the communication unit 103 can also support a plurality of types of communication protocols.
  • the communication unit 103 may be a wireless LAN.
  • Wireless communication with the in-vehicle device 104 is performed by Bluetooth (registered trademark), NFC (Near Field Communication), WUSB (Wireless USB), or the like.
  • the communication unit 103 may use a Universal Serial Bus (USB), a High-Definition Multimedia Interface (HDMI (registered trademark)), or an MHL (Universal Serial Bus) via a connection terminal (and a cable, if necessary) not shown. Wired communication is performed with the in-vehicle device 104 by Mobile High-definition Link) or the like.
  • USB Universal Serial Bus
  • HDMI High-Definition Multimedia Interface
  • MHL Universal Serial Bus
  • the communication unit 103 may communicate with an apparatus (for example, an application server or control server) existing on an external network (for example, the Internet, a cloud network, or a network unique to an operator) via a base station or an access point. Communicate. Also, for example, using the P2P (Peer To Peer) technology, the communication unit 103 may use a terminal (eg, a pedestrian or a shop terminal, or an MTC (Machine Type Communication) terminal) with a terminal existing near the host vehicle. Communicate. Furthermore, for example, the communication unit 103 may perform vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-home communication, and vehicle-to-pedestrian communication.
  • an apparatus for example, an application server or control server
  • an external network for example, the Internet, a cloud network, or a network unique to an operator
  • the communication unit 103 may use a terminal (eg, a pedestrian or a shop terminal, or an MTC (Machine Type Communication) terminal)
  • V2X communication such as communication is performed.
  • the communication unit 103 includes a beacon receiving unit, receives radio waves or electromagnetic waves transmitted from radio stations installed on roads, and acquires information such as current position, traffic jam, traffic restriction, or required time. Do.
  • the in-vehicle device 104 includes, for example, a mobile device or wearable device owned by the passenger, an information device carried in or attached to the vehicle, and a navigation device for searching for a route to an arbitrary destination.
  • the output control unit 105 controls the output of various information to the passenger of the vehicle or the outside of the vehicle.
  • the output control unit 105 generates an output signal including at least one of visual information (for example, image data) and auditory information (for example, audio data), and supplies the generated output signal to the output unit 106.
  • the output control unit 105 combines image data captured by different imaging devices of the data acquisition unit 102 to generate an overhead image or a panoramic image, and an output signal including the generated image is generated.
  • the output unit 106 is supplied.
  • the output control unit 105 generates voice data including a warning sound or a warning message for danger such as collision, contact, entering a danger zone, and the like, and outputs an output signal including the generated voice data to the output unit 106.
  • Supply for example, the output control unit 105 generates voice data including a warning sound or a warning message for danger such as collision, contact, entering a danger zone, and the like, and outputs an output signal
  • the output unit 106 includes a device capable of outputting visual information or auditory information to the passenger of the vehicle or the outside of the vehicle.
  • the output unit 106 includes a display device, an instrument panel, an audio speaker, headphones, wearable devices such as a glasses-type display worn by a passenger, a projector, a lamp, and the like.
  • the display device included in the output unit 106 has visual information in the driver's field of vision, such as a head-up display, a transmissive display, and a device having an AR (Augmented Reality) display function, in addition to a device having a normal display. It may be an apparatus for displaying.
  • the drive system control unit 107 controls the drive system 108 by generating various control signals and supplying them to the drive system 108. In addition, the drive system control unit 107 supplies a control signal to each unit other than the drive system 108 as necessary, and notifies a control state of the drive system 108, and the like.
  • the drive system 108 includes various devices related to the drive system of the vehicle.
  • the drive system 108 includes a driving force generating device for generating a driving force of an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to the wheels, and a steering mechanism for adjusting a steering angle.
  • a braking system that generates a braking force an antilock brake system (ABS), an electronic stability control (ESC), an electric power steering apparatus, and the like are provided.
  • the body control unit 109 controls the body system 110 by generating various control signals and supplying the control signals to the body system 110.
  • the body system control unit 109 supplies a control signal to each unit other than the body system 110, as required, to notify the control state of the body system 110, and the like.
  • the body system 110 includes various devices of the body system mounted on the vehicle body.
  • the body system 110 includes a keyless entry system, a smart key system, a power window device, a power seat, a steering wheel, an air conditioner, and various lamps (for example, headlamps, back lamps, brake lamps, blinkers, fog lamps, etc.) Etc.
  • the storage unit 111 includes, for example, a read only memory (ROM), a random access memory (RAM), a magnetic storage device such as a hard disk drive (HDD), a semiconductor storage device, an optical storage device, and a magneto-optical storage device. .
  • the storage unit 111 stores various programs, data, and the like used by each unit of the vehicle control system 100.
  • the storage unit 111 is map data such as a three-dimensional high-precision map such as a dynamic map, a global map that covers a wide area with lower accuracy than a high-precision map, and information around the vehicle.
  • map data such as a three-dimensional high-precision map such as a dynamic map, a global map that covers a wide area with lower accuracy than a high-precision map, and information around the vehicle.
  • the autonomous driving control unit 112 performs control regarding autonomous driving such as autonomous traveling or driving assistance. Specifically, for example, the automatic driving control unit 112 can avoid collision or reduce impact of the vehicle, follow-up traveling based on the distance between vehicles, vehicle speed maintenance traveling, collision warning of the vehicle, lane departure warning of the vehicle, etc. Coordinated control is carried out to realize the functions of the Advanced Driver Assistance System (ADAS), including: Further, for example, the automatic driving control unit 112 performs cooperative control for the purpose of automatic driving or the like that travels autonomously without depending on the driver's operation.
  • the automatic driving control unit 112 includes a detection unit 131, a self position estimation unit 132, a situation analysis unit 133, a planning unit 134, and an operation control unit 135.
  • the detection unit 131 detects various types of information necessary for control of automatic driving.
  • the detection unit 131 includes an out-of-vehicle information detection unit 141, an in-vehicle information detection unit 142, and a vehicle state detection unit 143.
  • the external information detection unit 141 performs detection processing of external information of the vehicle based on data or signals from each unit of the vehicle control system 100. For example, the external information detection unit 141 performs detection processing of an object around the host vehicle, recognition processing, tracking processing, and detection processing of the distance to the object.
  • the objects to be detected include, for example, vehicles, people, obstacles, structures, roads, traffic lights, traffic signs, road markings and the like.
  • the outside-of-vehicle information detection unit 141 performs a process of detecting the environment around the vehicle.
  • the surrounding environment to be detected includes, for example, weather, temperature, humidity, brightness, road surface condition and the like.
  • the information outside the vehicle detection unit 141 indicates data indicating the result of the detection process as the self position estimation unit 132, the map analysis unit 151 of the situation analysis unit 133, the traffic rule recognition unit 152, the situation recognition unit 153, and the operation control unit 135. Supply to the emergency situation avoidance unit 171 and the like.
  • the in-vehicle information detection unit 142 performs in-vehicle information detection processing based on data or signals from each unit of the vehicle control system 100.
  • the in-vehicle information detection unit 142 performs a driver authentication process and recognition process, a driver state detection process, a passenger detection process, an in-vehicle environment detection process, and the like.
  • the state of the driver to be detected includes, for example, physical condition, awakening degree, concentration degree, fatigue degree, gaze direction and the like.
  • the in-vehicle environment to be detected includes, for example, temperature, humidity, brightness, smell and the like.
  • the in-vehicle information detection unit 142 supplies data indicating the result of the detection process to the situation recognition unit 153 of the situation analysis unit 133, the emergency situation avoidance unit 171 of the operation control unit 135, and the like.
  • the vehicle state detection unit 143 detects the state of the vehicle based on data or signals from each unit of the vehicle control system 100.
  • the state of the vehicle to be detected includes, for example, speed, acceleration, steering angle, presence / absence of abnormality and contents, state of driving operation, position and inclination of power seat, state of door lock, and other in-vehicle devices. Status etc. are included.
  • the vehicle state detection unit 143 supplies data indicating the result of the detection process to the situation recognition unit 153 of the situation analysis unit 133, the emergency situation avoidance unit 171 of the operation control unit 135, and the like.
  • the self position estimation unit 132 estimates the position and orientation of the vehicle based on data or signals from each part of the vehicle control system 100 such as the external information detection unit 141 and the situation recognition unit 153 of the situation analysis unit 133. Do the processing. In addition, the self position estimation unit 132 generates a local map (hereinafter, referred to as a self position estimation map) used to estimate the self position, as necessary.
  • the self-location estimation map is, for example, a high-accuracy map using a technique such as SLAM (Simultaneous Localization and Mapping).
  • the self position estimation unit 132 supplies data indicating the result of the estimation process to the map analysis unit 151, the traffic rule recognition unit 152, the situation recognition unit 153, and the like of the situation analysis unit 133. In addition, the self position estimation unit 132 stores the self position estimation map in the storage unit 111.
  • the situation analysis unit 133 analyzes the situation of the vehicle and the surroundings.
  • the situation analysis unit 133 includes a map analysis unit 151, a traffic rule recognition unit 152, a situation recognition unit 153, and a situation prediction unit 154.
  • the map analysis unit 151 uses various data or signals stored in the storage unit 111 while using data or signals from each part of the vehicle control system 100 such as the self position estimation unit 132 and the external information detection unit 141 as necessary. Perform analysis processing and construct a map that contains information necessary for automatic driving processing.
  • the map analysis unit 151 is configured of the traffic rule recognition unit 152, the situation recognition unit 153, the situation prediction unit 154, the route planning unit 161 of the planning unit 134, the action planning unit 162, the operation planning unit 163, and the like. Supply to
  • the traffic rule recognition unit 152 uses traffic rules around the vehicle based on data or signals from each unit of the vehicle control system 100 such as the self position estimation unit 132, the outside information detection unit 141, and the map analysis unit 151. Perform recognition processing. By this recognition process, for example, the position and state of signals around the vehicle, the contents of traffic restriction around the vehicle, and the travelable lane are recognized.
  • the traffic rule recognition unit 152 supplies data indicating the result of the recognition process to the situation prediction unit 154 and the like.
  • the situation recognition unit 153 uses data or signals from each unit of the vehicle control system 100 such as the self position estimation unit 132, the outside information detection unit 141, the in-vehicle information detection unit 142, the vehicle state detection unit 143, and the map analysis unit 151. Based on the recognition processing of the situation regarding the vehicle. For example, the situation recognition unit 153 performs recognition processing of the situation of the own vehicle, the situation around the own vehicle, the situation of the driver of the own vehicle, and the like. In addition, the situation recognition unit 153 generates a local map (hereinafter referred to as a situation recognition map) used to recognize the situation around the host vehicle, as necessary.
  • the situation recognition map is, for example, an Occupancy Grid Map.
  • the situation of the vehicle to be recognized includes, for example, the position, posture, movement (for example, speed, acceleration, moving direction, etc.) of the vehicle, and the presence or absence and contents of abnormality.
  • the situation around the vehicle to be recognized includes, for example, the type and position of the surrounding stationary object, the type, position and movement of the surrounding moving object (eg, speed, acceleration, movement direction, etc.) Configuration and road surface conditions, as well as ambient weather, temperature, humidity, brightness, etc. are included.
  • the state of the driver to be recognized includes, for example, physical condition, alertness level, concentration level, fatigue level, movement of eyes, driving operation and the like.
  • the situation recognition unit 153 supplies data (including a situation recognition map, if necessary) indicating the result of the recognition process to the self position estimation unit 132, the situation prediction unit 154, and the like. In addition, the situation recognition unit 153 stores the situation recognition map in the storage unit 111.
  • the situation prediction unit 154 performs prediction processing of the situation regarding the own vehicle based on data or signals from each part of the vehicle control system 100 such as the map analysis unit 151, the traffic rule recognition unit 152, and the situation recognition unit 153. For example, the situation prediction unit 154 performs prediction processing of the situation of the vehicle, the situation around the vehicle, the situation of the driver, and the like.
  • the situation of the subject vehicle to be predicted includes, for example, the behavior of the subject vehicle, the occurrence of an abnormality, the travelable distance, and the like.
  • the situation around the vehicle to be predicted includes, for example, the behavior of the moving object around the vehicle, the change of the signal state, and the change of the environment such as the weather.
  • the driver's condition to be predicted includes, for example, the driver's behavior and physical condition.
  • the situation prediction unit 154 together with data from the traffic rule recognition unit 152 and the situation recognition unit 153, indicates data indicating the result of the prediction process, the route planning unit 161 of the planning unit 134, the action planning unit 162, and the operation planning unit 163. Supply to etc.
  • the route planning unit 161 plans a route to a destination based on data or signals from each unit of the vehicle control system 100 such as the map analysis unit 151 and the situation prediction unit 154. For example, the route planning unit 161 sets a route from the current position to the specified destination based on the global map. In addition, for example, the route planning unit 161 changes the route as appropriate based on traffic jams, accidents, traffic restrictions, conditions such as construction, the physical condition of the driver, and the like. The route planning unit 161 supplies data indicating the planned route to the action planning unit 162 and the like.
  • the action planning part 162 Based on data or signals from each part of the vehicle control system 100 such as the map analyzing part 151 and the situation predicting part 154, the action planning part 162 safely makes the route planned by the route planning part 161 within the planned time. Plan your vehicle's action to drive.
  • the action planning unit 162 performs planning of start, stop, traveling direction (for example, forward, backward, left turn, right turn, change of direction, etc.), travel lane, travel speed, overtaking, and the like.
  • the action plan unit 162 supplies data indicating the planned action of the host vehicle to the operation plan unit 163 or the like.
  • the operation plan unit 163 is data from each unit of the vehicle control system 100 such as the map analysis unit 151 and the condition prediction unit 154.
  • the action plan unit 162 plans the action of the vehicle for realizing the action planned.
  • the operation plan unit 163 plans acceleration, deceleration, a traveling track, and the like.
  • the operation planning unit 163 supplies data indicating the planned operation of the vehicle to the acceleration / deceleration control unit 172, the direction control unit 173, and the like of the operation control unit 135.
  • the operation control unit 135 controls the operation of the vehicle.
  • the operation control unit 135 includes an emergency situation avoidance unit 171, an acceleration / deceleration control unit 172, and a direction control unit 173.
  • the emergency situation avoidance unit 171 is based on the detection results of the external information detection unit 141, the in-vehicle information detection unit 142, and the vehicle state detection unit 143, collision, contact, entry into a danger zone, driver's abnormality, vehicle Perform detection processing of an emergency such as an abnormality.
  • the emergency situation avoidance unit 171 detects the occurrence of an emergency situation, it plans the operation of the own vehicle for avoiding an emergency situation such as a sudden stop or a sudden turn.
  • the emergency situation avoidance unit 171 supplies data indicating the planned operation of the host vehicle to the acceleration / deceleration control unit 172, the direction control unit 173, and the like.
  • the acceleration / deceleration control unit 172 performs acceleration / deceleration control for realizing the operation of the own vehicle planned by the operation planning unit 163 or the emergency situation avoidance unit 171. For example, the acceleration / deceleration control unit 172 calculates a control target value of a driving force generator or a braking device for achieving planned acceleration, deceleration, or sudden stop, and drives a control command indicating the calculated control target value. It is supplied to the system control unit 107.
  • the direction control unit 173 performs direction control for realizing the operation of the vehicle planned by the operation planning unit 163 or the emergency situation avoidance unit 171. For example, the direction control unit 173 calculates the control target value of the steering mechanism for realizing the traveling track or the sharp turn planned by the operation plan unit 163 or the emergency situation avoidance unit 171, and performs control indicating the calculated control target value. The command is supplied to the drive system control unit 107.
  • the information processing apparatus can be applied to the operation control unit 135 shown in FIG.
  • the operation control unit 135 to which the information processing apparatus is applied communicates with the management apparatus 30 using the communication unit 103, and acquires a parking situation map. Furthermore, the operation control unit 135 causes the output unit 106 to display a parking status map, and performs navigation to a vacant parking space (also referred to as a vacant space) indicated by the parking status map.
  • the drive system 108 is operated based on the parking status map and the information outside the vehicle acquired by the data acquisition unit 102, etc. to automatically move to the empty space and warehousing to the empty space. Do.
  • the operation control unit 135 uses the communication unit 103 to broadcast usage start information and notify the surrounding area. Furthermore, the operation control unit 135 broadcasts the use end information using the communication unit 103 and notifies the surroundings, for example, when the moving operation for leaving the vehicle from the parking space is performed.
  • the determination of the free space may be made in accordance with the user's free space instructing operation, or may be automatically determined by the operation control unit 135.
  • the use start information and the use end information include position information that makes it possible to identify a vacant space to be used or a used parking space, and time information at the time of notification of the information.
  • the time information may be included in the information to be acquired by the data acquisition unit 102 and notified of the time information included in the GNSS signal from the Global Navigation Satellite System (GNSS) satellite.
  • GNSS Global Navigation Satellite System
  • a timekeeping unit may be provided in the vehicle control system 100, and the time information generated by the timekeeping unit may be included in the information to be notified.
  • FIG. 3 is a block diagram showing a configuration example of the management device 30.
  • the management device 30 generates and updates a parking status map, transmits a parking status map to the vehicle 20, and receives usage start information and usage termination information notified from the vehicle 20. Also, the management device 30 may manage the use state of the parking space for each user.
  • the management device 30 includes an input unit 301, an output unit 302, a communication unit 303, a storage unit 304, and a control unit 305.
  • the input unit 301 is an interface that receives an input operation from the user, and, for example, performs browsing and change reception of the parking status map stored in the storage unit 304, the usage status of the parking space, the usage history, and the like.
  • the output unit 302 is configured using a display device, and displays, for example, a parking status map stored in the storage unit 304, a usage status and usage history of a parking space, and the like.
  • the communication unit 303 transmits a parking situation map and receives usage start information and usage end information.
  • the storage unit 304 stores control programs for performing various control processes in the control unit 305 and various data.
  • the various data includes a parking status map, a usage status of a parking space, and information indicating a usage status for each user.
  • the usage state for each user includes not only the position of the parking space currently used and the usage start time and the usage end time thereafter, but also the past usage history and the like.
  • the control unit 305 executes the control program stored in the storage unit 304 to generate a parking situation map. In addition, based on the use start information and the use end information received by the communication unit 303, the control unit 305 determines the change in the use condition of the parking lot from the position information and the time information included in this information, Update the parking situation map based on it. Further, the control unit 305 transmits a parking status map from the communication unit 303 in response to a request from the vehicle 20 or in accordance with the timing of updating the parking status map or the like.
  • the control unit 305 sets the parking space for each user based on the position information, the time information, and the home information. Manage usage history. For example, the control unit 305 manages, for each user, the use situation of the parking space, using the time from the time indicated by the use start information to the time indicated by the use end information as a use time. In addition, if the use status is managed for each user, the control unit 305 can perform, for example, the settlement processing of the parking fee via the charge settlement machine or the settlement organization according to the use history for each user.
  • control unit 305 can manage the parking condition, charge settlement, etc. Can also be done using the attribute information of the vehicle (for example, information indicating which one is a car or a motorbike) in the use start information and the use end information. Can also be done using the attribute information of the vehicle (for example, information indicating which one is a car or a motorbike) in the use start information and the use end information. Can also be done using the attribute information of the vehicle (for example, information indicating which one is a car or a motorbike) in the use start information and the use end information. Can also be done using the attribute information of the vehicle (for example, information indicating which one is a car or a motorbike) in the use start information and the use end information. Can also be done using the attribute information of the vehicle (for example, information indicating which one is a car or a motorbike) in the use start information and the use end information. Can also be done using the attribute information of the vehicle (for example, information indicating which one is a car or a motorbike) in the use start
  • FIG. 4 is a flowchart illustrating the warehousing operation control of the vehicle.
  • the vehicle acquires a parking situation map.
  • the operation control unit 135 of the vehicle 20 communicates with the management device 30 using the communication unit 103, acquires a parking situation map indicating the parking situation in the parking lot, and proceeds to step ST2.
  • step ST2 the vehicle detects an empty space.
  • the operation control unit 135 of the vehicle 20 detects an empty space based on the parking situation map acquired in step ST1, and proceeds to step ST3.
  • step ST3 the vehicle determines whether there is an empty space.
  • the operation control unit 135 of the vehicle 20 proceeds to step ST4 when the empty space can be detected in step ST2, and returns to step ST1 when the empty space can not be detected, and acquires the latest parking status map.
  • step ST4 the vehicle determines an empty space to use.
  • the operation control unit 135 of the vehicle 20 for example, presents a parking situation map to the user by the output unit 106, accepts an operation of designating a vacant space by the user at the input unit 101, and utilizes the vacant space designated by the user. Decide on free space.
  • the operation control unit 135 may automatically determine, for example, an empty space closest to the current position or an empty space closest to the desired facility registered in advance as an empty space using the empty space.
  • the vehicle 20 determines an empty space and proceeds to step ST5.
  • a vehicle notifies utilization start information by step ST5.
  • the operation control unit 135 of the vehicle 20 broadcasts usage start information indicating which empty space is to be used from the communication unit 103 to the surroundings, and proceeds to step ST6.
  • step ST6 the vehicle performs warehousing to the empty space.
  • the operation control unit 135 of the vehicle 20 presents advice information regarding a parking operation or performs driving support or automatic driving, performs warehousing of the vehicle to the empty space determined in step ST4, and ends the warehousing operation control.
  • the operation control unit 135 may update the parking situation map based on the received information when the use start information or the use end information notified from another vehicle is received, though not shown. In this case, when the vacant space to be used is determined based on the parking situation map, it can be prevented that the determined vacant space is already used by another vehicle. In addition, if the parking status map is updated based on the received information, it is possible to prevent the detection of a vacant space caused by the departure of another vehicle.
  • the operation control unit 135 may notify the surrounding area that there is no empty space, and acquire the latest parking situation map from the management device 30 or another vehicle. Furthermore, the operation control unit 135 detects the parking condition of the vehicle in the parking lot based on the outside information detected by the outside information detecting unit 141, and includes the parking condition detection result in the notification indicating that there is no empty space. It is also good. In this case, the management device 30 or the like updates the parking status map based on the parking status judgment result, thereby including the parking status map of the vehicle not having the notification function of the use start information and the use end information. You will be able to update to the latest status.
  • the operation control unit 135 may include, in the notification indicating that there is no free space, the time of generation or last update of the parking situation map used for detecting the free space (also referred to as map time).
  • the management device 30 and the like need only transmit difference information from the parking situation map indicated by the map time.
  • the parking status detection result is not limited to the notification indicating that there is no empty space, and may be notified to the surroundings by including it in the use start information and the use end information.
  • FIG. 5 is a flowchart illustrating the delivery operation control of the vehicle.
  • a vehicle acquires position information at step ST11.
  • the operation control unit 135 of the vehicle 20 acquires the position information estimated by the self position estimation unit 132, and proceeds to step ST12.
  • step ST12 it is determined whether the vehicle has moved from the parking space.
  • the operation control unit 135 of the vehicle 20 proceeds to step ST13, for example, when it is determined that the movement of the vehicle from the parking space has been performed based on the operation state of the driveline system 108, and the movement of the vehicle is not performed. Return to step ST12.
  • the vehicle notifies the use end information.
  • the vehicle control system 100 of the vehicle 20 broadcasts utilization end information indicating that it has been delivered from the position indicated by the position information acquired in step ST11 by broadcast, and terminates the delivery operation control.
  • FIG. 6 is a flowchart illustrating the parking management operation of the management device.
  • the management device determines whether there is a request for a parking status map.
  • the control unit 305 of the management device 30 proceeds to step ST22 when the request for the parking state map from the vehicle 20 is received by the communication unit 303, and proceeds to step ST23 when not received.
  • the management device transmits a parking status map.
  • the control unit 305 of the management device 30 transmits the parking state map stored in the storage unit 304 to the vehicle 20 which has made the request from the communication unit 303, and proceeds to step ST23.
  • step ST23 the management apparatus determines whether use start information or use end information has been received.
  • the control unit 305 of the management device 30 proceeds to step ST24 when the use start information or the use end information notified from the vehicle 20 is received by the communication unit 303, and returns to step ST21 when not received.
  • the management device performs a process of updating the parking situation map.
  • the control unit 305 of the management device 30 updates the parking situation map stored in the storage unit 304 based on the received use start information or use end information. For example, when the use start information is received, the control unit 305 changes the parking space at the position indicated by the use start information from the idle state to the use state. When the use end information is received, the parking space at the position indicated by the use end information is changed from the use state to the free state. After the updating process, the management device 30 returns to step ST21.
  • the management device 30 updates the parking state map before the notification of the use start information is sent by the vehicle of the transmission destination after transmitting the parking state map in step ST22, the parking state map after the update is retransmitted. You may In this case, it is possible to obtain the same effect as in the case of updating the parking situation map by the operation control unit 135 of the vehicle 20.
  • FIG. 7 exemplifies a user interface when using a parking lot.
  • a of FIG. 7 illustrates the parking situation map provided by the management device.
  • a square frame indicates a parking space.
  • the shaded space in the frame indicates that the parking space is used, and the blank space in the frame is empty. Is shown.
  • the parking space (vacant space) of the vacant state operated is used as the parking space Usage start information including the determined position information of the determined free space is broadcasted and determined.
  • FIG. 7B shows the case where the position of the user's vehicle CR is reflected in the parking situation map.
  • the management device 30 updates the parking situation map based on the notified use start information. Therefore, as shown in (c) of FIG. 7, in the parking status map provided thereafter from the management device 30, the vacant space determined by the user is displayed as the usage status.
  • the parking status map may be updated by the other vehicle that has received the use start information as described above. In this case, the parking status map displayed by the other vehicle is shown in FIG. 7C. As updated.
  • the management device 30 updates the parking situation map based on the notified use end information. Therefore, as shown in (d) of FIG. 7, the parking space map used by the user is displayed as a vacant state, as shown in (d) of FIG. 7. Also, the parking status map may be updated by the other vehicle that has received the notified use end information, and in this case, the parking status map displayed by the other vehicle is as shown in (d) of FIG. 7. In addition, the parking space in use is updated to a vacant state.
  • the operation control unit 135 may notify the user of visual information or auditory information that the usage start information, the usage end information, and the information indicating that there is no free space are notified to the surroundings. For example, as shown in (b) and (d) of FIG. 7, a mark GA indicating that notification has been made is displayed on the screen of the user interface.
  • the vehicle 20 notifies the usage start information to the surroundings by broadcasting when storing in the empty space, and broadcasts the usage end information by broadcasting when leaving the vehicle from the parking position. Furthermore, the management device 30 updates the parking situation map based on the use start information and the use end information notified from each vehicle 20. Therefore, the use situation of the parking lot can be dynamically grasped based on the use start information and the use end information, and the convenience of the parking lot can be improved.
  • the usage start information and the usage end information may include not only location information and time information at the time of notification, but also unique information of the user.
  • the management device 30 can manage, for each user, which parking space the user has used at which time. Therefore, charge management and the like for the use of the parking space can be performed easily and efficiently.
  • FIG. 8 illustrates another configuration of the parking management system.
  • the parking management system 15 is configured using a plurality of vehicles 20-1 to 20-n using the information processing device of the present technology.
  • a vehicle 20-1 using a parking lot has a parking lot map in advance. In the parking lot map, parking spaces in the parking lot are shown.
  • the vehicle 20-1 uses a parking lot map, information notified from other vehicles (for example, use start information and use end information), and a parking condition detection result based on the outside information detected by the outside information detection unit 141. Generate and update a parking situation map showing the parking situation of the vehicle in the parking lot.
  • the vehicle 20-1 notifies the usage start information to the surroundings at the timing when the vacant space to be used is determined, and notifies the usage end information to the surroundings at the timing of the movement of the vehicle when leaving the parking space.
  • the parking status map may be notified, and in this case, the vehicle that has acquired the update information is stored when the parking status map is temporally newer than the stored parking status map. Update the current parking situation map to a new parking situation map. Also, when a request for a parking situation map is made from another vehicle, the vehicle transmits the stored parking situation map to the other vehicle.
  • the configuration of the vehicle is the same as that of the first embodiment, for example, as shown in FIG.
  • the vehicle 20 exchanges information between the other vehicle and the vehicle to update the parking situation map.
  • FIG. 9 is a flowchart illustrating the warehousing operation control.
  • a vehicle acquires a parking lot map by step ST31.
  • the operation control unit 135 of the vehicle 20 acquires a parking lot map indicating the parking space of the parking lot, and proceeds to step ST32.
  • the parking lot map may be provided in advance by the manager of the parking lot, or may be included in the map data stored in the storage unit 111 or the like.
  • step ST32 the vehicle generates a parking situation map.
  • the operation control unit 135 of the vehicle 20 uses the parking lot map and the information from other vehicles received via the communication unit 103, the outside information detected by the outside information detection unit 141, etc.
  • the parking state map indicating the vehicle is generated, and the process proceeds to step ST33.
  • the vehicle detects an empty space in step ST33.
  • the operation control unit 135 of the vehicle 20 detects an empty space based on the parking status map generated in step ST32, and proceeds to step ST34.
  • step ST34 the vehicle determines whether there is an empty space.
  • the operation control unit 135 of the vehicle 20 proceeds to step ST35 when the empty space can be detected in step ST33, and proceeds to step ST38 when the empty space can not be detected.
  • step ST35 the vehicle determines an empty space to use.
  • the operation control unit 135 of the vehicle for example, presents a parking situation map to the user by the output unit 106, accepts an operation of designating a vacant space by the user at the input unit 101, and utilizes the vacant space designated by the user. Decide on free space.
  • the operation control unit 135 may automatically determine, for example, an empty space closest to the current position or an empty space closest to the desired facility registered in advance as an empty space using the empty space.
  • the vehicle 20 determines an empty space and proceeds to step ST36.
  • a vehicle notifies utilization start information by step ST36.
  • the operation control unit 135 of the vehicle 20 broadcasts usage start information indicating which empty space is to be used from the communication unit 103 to the surroundings, and proceeds to step ST37.
  • the operation control unit 135 may notify the surroundings including the parking situation map in the use start information.
  • the other vehicle having received the use start information including the parking situation map compares the map time of the parking situation map held with the up time of the received parking situation map, and the received parking situation map is a new map If it is, the parking situation map held is updated to the latest parking situation map.
  • step ST37 the vehicle performs warehousing to the empty space.
  • the operation control unit 135 of the vehicle 20 presents advice information regarding a parking operation or performs driving support or automatic driving, performs warehousing of the vehicle to the empty space determined in step ST35, and ends the warehousing operation control.
  • the vehicle Since the vacant space is not detected in step ST34, the vehicle receives the information notified from the other vehicle when it proceeds to step ST38.
  • the operation control unit 135 of the vehicle 20 receives information notified from another vehicle using the communication unit 103, for example, use start information and use end information, and proceeds to step ST39.
  • step ST39 the vehicle updates the parking status map.
  • the operation control unit 135 of the vehicle 20 updates the parking status map based on the information received in step ST38, and returns the processing to the step ST33 with the parking status map updated.
  • the delivery operation control of the vehicle 20 performs the same processing as the flowchart shown in FIG. 5, acquires the position information of the vehicle, and when it is determined that the movement of the vehicle is performed, the acquired position information Broadcast end notification of usage termination information indicating that it has been delivered from the location.
  • FIG. 10 illustrates a parking lot map.
  • the parking lot map shows, for example, parking spaces in the parking lot.
  • the parking space is indicated by a broken line.
  • FIG. 11 exemplifies a user interface when using a parking lot.
  • (A) of FIG. 11 illustrates a parking situation map.
  • a square frame indicates a parking space.
  • the shaded space in the frame indicates that the parking space is used, and the blank space in the frame is empty. Is shown.
  • the positions of the host vehicle CRa and the other vehicle CRb before parking are displayed on the parking status map.
  • the user of the other vehicle CRb is displayed on the screen of the own vehicle CRa, as shown in FIG.
  • the free space used by is displayed differently from other free spaces, and then used to indicate the usage status.
  • the vacant space used by the user of the other vehicle CRb is displayed in a blinking manner for a predetermined period and then switched to the used state.
  • the operated parking space is determined to be the vacant space to be used, indicating the determined utilization of the vacant space.
  • Usage start information including message information and position information of empty space is notified to the surroundings.
  • the parking status map is updated based on the notified use start information, and as shown in (c) of FIG. 11, the vacant space determined to be used is changed to the display of the use state.
  • the parking situation map is updated based on the notified use end information in the other vehicle, and as shown in (d) of FIG.
  • the parking space PS that was inside is displayed as a vacant state.
  • the use of the free space is not limited to the case where the user individually makes an operation to select the free space.
  • the empty space near the host vehicle may be automatically determined as the empty space to be used, and the use start information may be notified to the surroundings.
  • the series of processes described in the specification can be performed by hardware, software, or a combination of both.
  • a program recording the processing sequence is installed and executed in a memory in a computer incorporated in dedicated hardware.
  • the program can be installed and executed on a general-purpose computer that can execute various processes.
  • the program can be recorded in advance on a hard disk or a solid state drive (SSD) as a recording medium, or a read only memory (ROM).
  • the program may be a flexible disk, a compact disc read only memory (CD-ROM), a magneto optical (MO) disc, a digital versatile disc (DVD), a BD (Blu-Ray Disc (registered trademark)), a magnetic disc, a semiconductor memory card Etc.
  • CD-ROM compact disc read only memory
  • MO magneto optical
  • DVD digital versatile disc
  • BD Blu-Ray Disc
  • magnetic disc a semiconductor memory card Etc.
  • Such removable recording media can be provided as so-called package software.
  • the program may be installed from the removable recording medium to the computer, or may be transferred from the download site to the computer wirelessly or by wire via a network such as a LAN (Local Area Network) or the Internet.
  • the computer can receive the program transferred in such a manner, and install the program on a recording medium such as a built-in hard disk.
  • the effect described in this specification is an illustration to the last, is not limited, and may have an additional effect which is not described.
  • the present technology should not be construed as being limited to the embodiments of the above-described technology.
  • the embodiments of this technology disclose the present technology in the form of exemplification, and it is obvious that those skilled in the art can modify or substitute the embodiments within the scope of the present technology. That is, in order to determine the gist of the present technology, the claims should be taken into consideration.
  • the information processing device of the present technology can also have the following configuration.
  • An information processing apparatus including a control unit that notifies the use start information of the parking space or the use end information of the parking space to the surroundings at a predetermined timing.
  • the information processing apparatus according to (1) wherein the control unit notifies the use start information at a timing when an empty space to be used from the parking space is determined.
  • the control unit acquires a parking status map indicating the usage status of the parking space, and updates the parking status map based on the usage start information notified from another vehicle and the usage termination information (1
  • An information processing apparatus according to any one of (3) to (3).
  • the information processing apparatus determines an empty space to be used based on the parking lot situation map.
  • the information processing apparatus includes specific information of a parking space user in the use start information and the use end information.
  • Information processing device is further equipped with a sensor unit that acquires the surrounding environment status, The control unit detects a parking state on the basis of the surrounding environment state acquired by the sensor unit, and includes a parking state detection result in the information for notifying the surrounding area according to any one of (1) to (7).
  • usage start information of the parking space or usage end information of the parking space is notified to the surroundings at a predetermined timing. Also, based on the notified information, generation and update of a parking situation map indicating the parking situation are performed. Therefore, it becomes possible to dynamically grasp the use situation of the parking lot by the parking situation map generated based on the use start information and the use end information, which is suitable for the parking lot management system.
  • Vehicle 30 Management device 100: Vehicle control system 101, 301: Input unit 102: Data acquisition unit 103, 303 ⁇ Communications unit 106, 302 ⁇ Output unit 107 ⁇ ⁇ ⁇ Drive system control unit 111, 304 ⁇ ⁇ ⁇ Storage unit 132 ⁇ Self position estimation unit 141 ⁇ ⁇ ⁇ Outside information detection unit 305 ⁇ ⁇ ⁇ .. Control unit

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Abstract

Selon la présente invention, une unité de commande de fonctionnement d'un véhicule (20-1) notifie aux environs des informations de début d'utilisation à un moment auquel, par exemple, une place libre à utiliser est déterminée parmi des places de stationnement sur la base d'une carte d'état de parc de stationnement qui indique les états d'utilisation des places de stationnement. De plus, l'unité de commande de fonctionnement notifie aux environs des informations de fin d'utilisation à un moment auquel, par exemple, le véhicule quitte une place de stationnement. En outre, l'unité de commande de fonctionnement met à jour la carte d'état de parc de stationnement sur la base d'informations de début d'utilisation ou d'informations de fin d'utilisation qui sont fournies par un autre véhicule (20-n). Un dispositif de gestion (30) effectue une mise à jour de la carte d'état de parc de stationnement sur la base de l'obtention de la carte d'état de parc de stationnement, et des informations de début d'utilisation ou des informations de fin d'utilisation. En outre, le dispositif de gestion (30) gère un état d'utilisation ou un historique d'utilisation du parc de stationnement pour chaque utilisateur sur la base des informations de début d'utilisation et des informations de fin d'utilisation. Par conséquent, l'aspect pratique du parc de stationnement peut être amélioré.
PCT/JP2018/037205 2017-11-16 2018-10-04 Dispositif de traitement d'informations, procédé et dispositif de gestion, et programme WO2019097884A1 (fr)

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