WO2019172333A1

WO2019172333A1 - Parking support device

Info

Publication number: WO2019172333A1
Application number: PCT/JP2019/008936
Authority: WO
Inventors: 翔太溝口; 有博松本
Original assignee: 株式会社デンソー
Priority date: 2018-03-09
Filing date: 2019-03-06
Publication date: 2019-09-12
Also published as: JP2019156048A; JP6822434B2

Abstract

A parking support device 15 according to one aspect of the present disclosure is provided with a parking determination unit (S150) and notification execution units (S160, S179). The parking determination unit is configured to acquire, as an image captured with at least one camera, a captured image including at least one parking area, and determine, on the basis of the captured image, whether a contract vehicle, which is a vehicle to be used for car sharing, can be parked in the parking area. The notification execution units are configured to cause the notification units (16, 17) to provide notifications of the determination result by the parking determination unit.

Description

Parking assistance device

Cross-reference of related applications

This international application claims priority based on Japanese Patent Application No. 2018-43039 filed with the Japan Patent Office on March 9, 2018, and is based on Japanese Patent Application No. 2018-43039. The entire contents are incorporated by reference into this international application.

This disclosure relates to a technology that supports parking.

Patent Document 1 below discloses a technology called a car sharing system in which a plurality of users jointly use a plurality of vehicles.

JP 2017-45233 A

“Contractor” means a user of the car sharing system. In addition, the contract vehicle referred to below refers to a vehicle used in a car sharing system.

In the parking area, in the parking area where the contracted car is parked, an object serving as a mark such as a pylon or a standing signboard is located in the parking area or in the parking area so as to be identified as a parking area for the contracted car. It is common to install around. A pylon is a conical instrument that is installed for the purpose of regulation and classification of roads and the like. The contractor needs to move the mark object in order to take in and out the contracted vehicle in the parking area.

As a result of a detailed examination by the presenter, a problem has been found that the convenience of the contracted vehicle is impaired by the installation of such landmark objects.

One aspect of the present disclosure provides a technique for improving the convenience of a vehicle used for car sharing in a parking lot.

The parking support device according to one aspect of the present disclosure includes a parking determination unit and a notification execution unit. The parking determination unit obtains a captured image that is an image captured by at least one camera and includes at least one parking area, and a contract vehicle that is a vehicle used for car sharing is parked in the parking area based on the captured image. Determine whether it is possible. The notification execution unit is configured to cause the notification unit to notify the determination result by the parking determination unit.

According to such a configuration, the determination result as to whether or not the contracted vehicle can be parked in at least one parking area imaged by at least one camera is notified, and therefore in and around the at least one parking area. There is no need to install the above-mentioned landmark object. As a result, the contractor is not required to move the mark object in order to take in and out the contracted vehicle in at least one parking area, so that the convenience of the contracted vehicle can be improved.

Note that the reference numerals in parentheses described in this column and in the claims indicate correspondence with specific means described in the embodiments described later as one aspect, and limit the technical scope of the present disclosure. Not what you want.

The block diagram which shows the structure of a parking assistance system. Explanatory drawing explaining the parking area | region for non-contract vehicles, and the parking area for contract vehicles. Explanatory drawing explaining the imaging range of the camera of an assistance apparatus. Explanatory drawing explaining a HUD display apparatus. The flowchart of a parking assistance process. The flowchart of a management process. Explanatory drawing explaining the example of a display of the display image by a HUD display apparatus. Explanatory drawing explaining the example of a display of the display image by the display apparatus of a modification.

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

[1. Constitution]
[1-1. overall structure]
A parking assistance system 1 shown in FIG. 1 is a system applied to a car sharing system. The parking support system 1 includes a support device 10. The parking support system 1 may include a management device 30 and a center 80.

The support device 10 is mounted on the vehicle 2 and supports parking of the vehicle 2 in the parking lot. A parking lot here is a parking lot applied to a car sharing system. The vehicle 2 is the contract vehicle described above. That is, the contract vehicle is a predetermined vehicle applied to the car sharing system. Hereinafter, the vehicle 2 on which the support device 10 is mounted is also referred to as the own vehicle 2.

The management device 30 is installed in the parking area for the contracted vehicle in the parking lot, and supports parking of the vehicle 2 in the parking lot. A parking area | region here is an area | region for parking a vehicle. The contracted vehicle parking area is a parking area where the contracted vehicle can be parked. In other words, the parking area for the contracted vehicle is a parking area where parking by the contracted vehicle is permitted in advance.

In the car sharing system, it is predetermined that the contracted vehicle is parked in the parking area for the contracted vehicle. The contracted vehicle parking area is a parking area that is parked when the contracted car used by the contractor is returned at least. The parking area for the contracted vehicle may be a parking area where the contracted vehicle reserved for use by the contractor is parked. That is, the parking area for the contracted vehicle may include the return location of the contracted vehicle and the usage start location.

A member indicating the use of the parking area (hereinafter referred to as a use display member) is installed around the parking area for the contracted vehicle. The application display member may include an instrument such as a pylon, a signboard, a standing signboard, and the like. In the present embodiment, as shown in FIG. 2, a standing signboard indicating that it is for a car sharing system, that is, for a contract car, is used as the application display member 3 around the parking area 101 for the contract car in the parking lot. is set up. The management device 30 is provided on the usage display member 3.

FIG. 2 shows an example in which the parking lot includes one contract car parking area 101 and a plurality of non-contract car parking areas 102. However, it is not limited to this. The parking lot includes at least one contracted vehicle parking area 101. The parking lot may further include at least one non-contracted vehicle parking area. The non-contracted vehicle parking area 102 is a parking area in which a vehicle other than the contracted vehicle (hereinafter, non-contracted vehicle) can be parked. The non-contracted vehicle parking area 102 includes a parking area that is rented out in units of time such as monthly or tens of minutes.

Hereinafter, when a description common to both the contracted vehicle parking area 101 and the non-contracted vehicle parking area 102 is given, the contracted vehicle parking area and the non-contracted vehicle parking area are simply referred to as a parking area 100.

Returning to Fig. 1, the explanation will be continued. The center 80 is a device for managing the parking area 100 in the parking lot. The center 80 is configured to be able to communicate with the support device 10 and the management device 30. Although not shown, the center 80 is configured to include at least a storage device that stores various information for managing the parking area 100 in the parking lot. The center 80 may be installed in the parking lot or may be installed outside the parking lot.

[1-2. Support device]
The support device 10 includes a control unit 15, a camera 11, and a display device 16. The control unit 15 may include a GPS device 12, a map database (hereinafter referred to as map DB) 13, an audio output device 17, and a communication device 18.

In the present embodiment, the support device 10 includes one camera 11. However, it is not limited to this. The support device 10 may include a plurality of cameras. As shown in FIG. 3, the camera 11 is arranged at the front end portion of the host vehicle 2 and images a predetermined range S in front of the host vehicle 2 including the road surface. The camera 11 repeatedly captures the front of the host vehicle 2 at a predetermined cycle and outputs the captured image to the control unit 15.

Referring back to FIG. The GPS device 12 detects the current position of the host vehicle 2 (hereinafter, the host vehicle position) and outputs the detection result to the control unit 15.

The map DB 13 is a database that stores map data. The map data here includes at least the position of the parking lot provided with the contract vehicle parking area 101. The position in the map data is represented by coordinates such as absolute coordinates or relative coordinates based on a predetermined position.

The control unit 15 includes a microcomputer having a CPU 51 and a semiconductor memory (hereinafter, memory 52) such as a RAM or a ROM. Various functions of the control unit 15 are realized by the CPU 51 executing a program stored in a non-transitional physical recording medium. In this example, the memory 52 corresponds to a non-transitional tangible recording medium that stores a program. Also, by executing this program, a method corresponding to the program is executed. The control unit 15 may include a single microcomputer or a plurality of microcomputers.

The control unit 15 includes a function for assisting parking in the parking lot (hereinafter, parking assist function) as one of various functions realized by the CPU 51 executing the program. The control unit 15 executes a parking support process to be described later in order to realize a parking support function.

The method of realizing the functions in the control unit 15 is not limited to software, and some or all of the functions may be realized using one or a plurality of hardware. For example, when the function is realized by an electronic circuit that is hardware, the electronic circuit may be realized by a digital circuit, an analog circuit, or a combination thereof.

The display device 16 is a device that displays an image. Here, a head-up display display device (hereinafter referred to as a HUD display device) corresponds to the display device 16. As shown in FIG. 4, the HUD display device is a device that displays a display image on a display member 61 provided near the front window of the host vehicle 2 so as to overlap an actual scenery of an object in the field of view of the driver 9. is there. The object here refers to various tangible objects. The tangible object may include a building such as a vehicle, a person, various facilities, and the road surface of the parking area 100 described above. A display image is an image that shows information about an object that exists in the driver's field of view. In the present embodiment, the display device 16 displays the display image so as to overlap the display image representing the determination result as to whether or not the host vehicle 2 can be parked in the parking area 100 existing in the field of view of the driver 9. Display an image.

By adding an augmented reality image (hereinafter also referred to as an AR image) to a real landscape by using such augmented reality (hereinafter referred to as AR) technology, it is possible to provide information effective for the driver. AR is an abbreviation of Augmented Reality.

The display device 16 projects a display image on the display member 61 in accordance with an instruction from the control unit 15. Thereby, in the display device 16, when the display member 61 is viewed from the driver's pupil 9 within the preset viewing area 91, the virtual image 201 of the display image can be visually recognized in the real scenery in front of the vehicle. The display member 61 is a transparent reflecting member such as a windshield. The reflection member is a member that reflects light. The visual recognition area means an area where the virtual image 201 can be visually recognized. The virtual image 201 corresponds to the AR image described above.

In this way, the display device 16 displays the display image on the display member 61 so that the driver 9 can visually recognize the virtual image 201 of the display image on the road surface of the parking area 100 as a real landscape in front of the host vehicle. It is configured to let you.

Referring back to FIG. The sound output device 17 outputs a buzzer sound, a sound or the like according to an instruction from the control unit 15. The audio output device 17 includes a speaker, for example.

[1-3. Management device]
As shown in FIG. 1, the management device 30 includes a camera 31, a control unit 32, and a display device 34. The management device 30 may include an audio output device 33 and a communication device 35.

The camera 31 is installed so as to be able to image the road surface in the contractor parking area 101 where the management device 30 is installed. Moreover, the camera 31 is installed so that the license plate of the vehicle can be imaged when the vehicle is parked in the contractor parking area 101. The vehicle here includes a contract vehicle and a non-contract vehicle. The camera 31 repeatedly captures images at a predetermined cycle and outputs the captured images to the control unit 32.

The control unit 32 includes a microcomputer having a CPU 21 and a memory 22 in the same manner as the control unit 15. The control unit 32 includes a parking support function as one of functions realized by the CPU 21 executing the program. The control unit 32 executes a management process described later in order to realize a parking support function.

The sound output device 33 is configured to output a buzzer sound, a sound, or the like according to an instruction from the control unit 32. The audio output device 33 includes, for example, a speaker.

The display device 34 is configured as a device that displays an image on the road surface in the parking area 101 for the contractor in which the management device 30 is installed in accordance with an instruction from the control unit 32.

The communication device 38 is configured to perform wireless communication with the center 80.

[2. processing]
[2-1. Parking support processing]
Next, the parking assistance process which the control part 15 of the assistance apparatus 10 performs is demonstrated using the flowchart of FIG. The parking assistance process is repeatedly executed at a predetermined cycle. The parking assist process is a process for determining whether or not the own vehicle 2 that is a contract vehicle can be parked in the parking area 100 imaged by the camera 11 and causing the driver of the own vehicle 2 to recognize the determination result.

The control unit 15 acquires the vehicle position from the GPS device 12 in S100.

In S110, the control unit 15 determines whether or not the own vehicle 2 is located in a predetermined parking lot including the contract vehicle parking area 101 based on the own vehicle position and the map data of the map DB 13. The control unit 15 shifts the process to S120 when the host vehicle 2 is located in the parking lot described above, and ends the parking support process when the host vehicle 2 is not located within the parking lot described above.

The control part 15 acquires the picked-up image imaged with the camera 11 in the above-mentioned parking lot in S120.

In S130, the control unit 15 detects the parking area 100 in the parking lot by performing image processing on the captured image acquired in S120. Here, it is assumed that the parking area 100 is an area partitioned by white lines drawn on the road surface in the parking lot. The white line here means a line having a predetermined width. The color of the line may be various colors such as yellow and blue other than white. The control unit 15 detects at least one white line from the captured image by performing image processing on the captured image, and detects the parking area 100 from the captured image based on the width of the white line, the interval between the white line and the white line, and the like. To do.

Further, the control unit 15 specifies the relative position of the parking area 100 with respect to the host vehicle 2 based on the captured image and stores it in the memory 52. In the present embodiment, the control unit 15 stores the relative position of the parking area 100 with respect to the mounting position of the camera 11 in the memory 52 based on the captured image.

In S140, the control unit 15 performs the image processing on the captured image acquired in S120, thereby detecting the usage display member 3 in the parking area 100 detected in S130. In the present embodiment, the memory 52 stores an image pattern corresponding to the application display member 3 for a contract vehicle. The contract vehicle use display member 3 includes, for example, a standing signboard on which a character image “for car sharing” is drawn. The control unit 15 detects the application display member 3 for the contracted vehicle in the parking area 100 detected in S130 by pattern matching using the image pattern.

In S150, the control unit 15 determines whether or not the host vehicle 2 can be parked in the parking area 100 detected in the captured image, based on the use display member 3 detected in S130. If the control unit 15 determines that the host vehicle 2 cannot be parked in the parking area 100, the control unit 15 shifts the process to S160. If the control unit 15 determines that the host vehicle 2 can be parked in the parking area 100, the control unit 15 shifts the process to S170.

As described above, the host vehicle 2 is a contract vehicle. Here, the control part 15 judges that the own vehicle 2 can park in the parking area 100, when the application display member 3 for contract vehicles is detected in the parking area 100 detected in S130. In other words, the control unit 15 determines that the parking area 100 is the parking area 101 for the contracted vehicle. On the other hand, the control part 15 judges that the own vehicle 2 cannot park in this parking area 100, when the application display member 3 for contract vehicles is not detected in the parking area 100 detected in S130. In other words, the control unit 15 determines that the parking area 100 is the non-contracted vehicle parking area 102.

In S160, the control unit 15 outputs an instruction to inform the display device 16 of the determination result that parking is impossible. Here, the notification means that the driver of the host vehicle 2 recognizes the determination result. The notification mode may include various modes such as voice notification and image notification. In the present embodiment, the control unit 15 generates an image indicating that parking is impossible as a display image, and outputs the generated display image to the display device 16.

The image indicating that parking is not possible may include, for example, characters such as “parking is impossible” or a pattern meaning “parking is not allowed”. Further, the control unit 15 outputs information indicating the relative position of the parking area 100 with respect to the host vehicle 2 acquired in S130 together with the display image to the display device 16. The parking area 100 here is a non-contracted vehicle parking area 102.

Thereby, when viewed from the driver 9, the display device 16 displays the display image so that the virtual image 201 of the display image indicating “parking is not possible” is superimposed on the non-contracted vehicle parking area 102 as a real landscape. Is projected onto the display member 61. Thus, the control unit 15 ends the parking support process.

In S170, the control unit 15 outputs an instruction to inform the display device 16 of the determination result that parking is possible. In the present embodiment, the control unit 15 generates an image indicating that parking is possible as a display image, and outputs the generated display image to the display device 16.

The image indicating that parking is possible can include, for example, characters such as “parking is possible”, a pattern meaning “parking is possible”, and the like. Moreover, the control part 15 outputs the information which shows the relative positional relationship of the parking area 100 with respect to the own vehicle 2 acquired to S130 with the display image to the display apparatus 16. FIG. The parking area 100 here is the parking area 101 for the contracted vehicle.

Thereby, when viewed from the driver 9, the display device 16 displays the display image so that the virtual image 201 of the display image indicating “parking is possible” is displayed in an overlapping manner in the parking area 101 for the contracted vehicle as a real landscape. Projecting on the display member 61. Thus, the control unit 15 ends the parking support process.

[2-2. Management process]
Next, management processing executed by the control unit 32 of the management apparatus 30 will be described using the flowchart of FIG. The management process is repeatedly executed at predetermined intervals.

The control unit 32 acquires an image captured by the camera 31 in S200.

In S210, the control unit 32 performs image processing on the captured image acquired in S200, so that the vehicle is parked in the contracted vehicle parking area 101 where the management device 30 on which the control unit 32 is mounted is installed. It is judged whether it is done. When it is determined that the vehicle is parked, the control unit 32 shifts the process to S220, and when it is determined that the vehicle is not parked, the control process ends.

* Vehicles here include contracted vehicles and non-contracted vehicles. The contracted vehicle and the non-contracted vehicle are general passenger vehicles, and the memory 52 stores image patterns of general passenger vehicles. The control unit 32 determines whether or not the vehicle is parked by pattern matching using the image pattern.

In S220, the control unit 32 detects the number plate of the vehicle based on the captured image acquired in S200, and acquires the vehicle identification number (hereinafter, vehicle identification number). The vehicle identification number here is a number written on the license plate.

The control unit 32 acquires the registration number in S230. The registration number is a vehicle identification number of a vehicle that is previously permitted to park in the contracted vehicle parking area 101 where the management device 30 on which the control unit 32 is mounted is installed. In this embodiment, vehicle identification numbers of all contracted vehicles applied to the car sharing system are defined as registration numbers. The registration number is stored in the memory 22 of the control unit 32 provided in the management device 30 installed in the contracted vehicle parking area 101.

For example, the center 80 is configured to store the registration number, and the control unit 32 acquires the registration number from the center 80 by wireless communication via the communication device 38. It may be configured.

In S <b> 240, the control unit 32 determines whether the vehicle parked in the contracted vehicle parking area 101 is a vehicle that can be parked in the contracted car parking area 101. When the identification number acquired in S220 and the registration number acquired in S230 match, the control unit 32 determines that the vehicle parked in the contracted vehicle parking area 101 is the contracted car parking area 101. It is determined that the vehicle can be parked inside.
The control unit 32 shifts the process to S250 when the vehicle is not a parkable vehicle, and ends the management process when the vehicle is a parkable vehicle.

In S250, the control unit 32 outputs an instruction to notify the audio output device 33 of the determination result that parking is impossible. Specifically, the control unit 32 outputs an instruction for causing the sound output device 33 to sound an alarm for a predetermined period. The control unit 32 detects that the vehicle has left the contracted vehicle parking area 101 after outputting an instruction to sound the alarm to the audio output device 33 by a process different from the management process. In some cases, the audio output device 33 may be configured to output an instruction to stop the alarm.

In S260, the control unit 32 notifies the center 80 of the abnormality via the communication device 38. Abnormality here means that a vehicle that cannot be parked is parked in the parking area 101 for the contracted vehicle. The vehicles that cannot be parked here may include non-contracted vehicles and contracted vehicles that are not permitted to park in the contracted vehicle parking area 101. The control unit 32 may be further configured to notify the center 80 of the vehicle identification number of the vehicle that cannot be parked via the communication device 38. Thus, the control unit 32 ends the management process.

[2-3. Operation]
<Operation by support device>
In the support device 10 configured as described above, when the host vehicle 2 is located in a parking lot that is applied to the car sharing system and the parking area 101 for the contracted vehicle in the parking lot is imaged by the camera 11. The display device 16 displays a display image indicating “parking is possible” in the parking area 101 for the contracted vehicle. As a result, for example, as shown in FIG. 7, the driver of the host vehicle 2 visually recognizes a virtual image 201 of a display image indicating “parking is possible” on the road surface of the contracted vehicle parking area 101 as a real scenery in front of the host vehicle. can do.

The display image indicating “parking is possible” includes characters such as “parking is possible” as illustrated in FIG. 7 and a pylon image indicating that the parking area 101 is for the contracted vehicle as illustrated in FIG. May be included.

Further, in the support device 10, when the host vehicle 2 is located in a parking lot applied to the car sharing system and the parking area 102 for the non-contracted vehicle in the parking lot is imaged by the camera 11, the display device 16 displays a display image indicating “parking is impossible”. As a result, although not shown, the driver of the host vehicle 2 can visually recognize the virtual image 201 of the display image indicating “no parking” in the road surface of the parking area 102 for the non-contracted vehicle as the actual scenery in front of the host vehicle. it can.

<Operation by management device>
In the management device 30 configured as described above, when the vehicle is parked in the contracted vehicle parking area 101 in which the management device 30 is installed, the vehicle is parked in the contracted vehicle parking area 101 in advance. When the vehicle is not permitted, an alarm is sounded to notify that parking is impossible. As a result, the driver of the vehicle can recognize that parking is impossible.

[3. effect]
According to the embodiment described in detail above, the following effects can be obtained.

(3a) In S150, the control unit 15 obtains a captured image that is an image captured by the camera 11 and includes at least the parking area 100, and whether the contracted vehicle can be parked in the parking area 100 based on the captured image. It is configured to determine whether or not. In S160 and S170, the control unit 15 is configured to display the determination result in S150 on the display device 16.

As a result, the control unit 15 determines whether or not the contracted vehicle can be parked in the parking area 100 imaged by the camera 11 and notifies the determination result. Therefore, it is necessary to install the landmark object in the parking area 100. Disappears. Since the contractor does not need to move the landmark object at the start of use of the contract car and at the time of return, the convenience of the contract car can be improved.

(3b) The control unit 15 and the camera 11 are mounted on the host vehicle 2. In S150, the control unit 15 is configured to make a determination based on a captured image captured by the camera 11 mounted on the host vehicle 2. In S160 and S170, the control unit 15 is configured to generate a display image representing the determination result based on the determination result in S150, and to display the display image on the display device 16 that displays the image. That is, in this embodiment, the support device 10 having the control unit 15 as described in (3a) is mounted on the vehicle. In particular, in the present embodiment, the support device 10 is mounted on a contract vehicle.

As a result, the contractor who drives the contracted vehicle on which the support device 10 is mounted can visually recognize the parking area where the contracted vehicle can be parked without the above-described landmark object. That is, it is not necessary to install the landmark object in the parking area 101, and the same effect as in (3a) can be obtained.

(3c) The display device 16 is a HUD display device.

As a result, the control unit 15 displays the display image on the display member 61 so that the driver can visually recognize the virtual image 201 of the display image on the road surface of the parking area 101 as a real landscape in front of the host vehicle. Can do. That is, it is not necessary to install the landmark object in the parking area 101, and the same effect as in (3a) can be obtained. Further, since the display image is displayed as an AR image, it is possible to make the driver recognize the determination result representing the display image more easily.

(3d) In S110, the control unit 15 is configured to acquire the position of the host vehicle 2 from the GPS device 12 and determine whether the host vehicle 2 is located within a predetermined parking lot. In S150, the control unit 15 determines whether the contracted vehicle can be parked in the parking area 100 captured in the captured image when it is determined that the host vehicle 2 is located in the parking lot. The control unit 15 is configured not to determine whether or not the contracted vehicle can be parked in the parking area 100 based on the captured image when it is determined that the host vehicle 2 is not located in the parking lot. ing.

As a result, since the control unit 15 executes the determination based on the captured image only when the host vehicle 2 is located in the parking lot, the processing load on the control unit 15 can be reduced.

(3e) In S170, when it is determined in S170 that the contracted vehicle can be parked in the parking area 100 in S150, the control unit 15 generates a display image indicating that parking is possible, and displays the display image on the display device 16. It is configured to be displayed.

As a result, the contractor driving the host vehicle 2 equipped with the control unit 15 can recognize the parking area 101 for the contracted vehicle.

(3f) In S160, when it is determined in S160 that the contracted vehicle cannot be parked in the parking area 100, the control unit 15 generates a display image indicating that parking is impossible, and displays the display image on the display device 16. Is configured to be displayed.

As a result, the contractor driving the host vehicle 2 on which the control unit 15 is mounted can be made to recognize the non-contracted vehicle parking area 102.

(3g) The management device 30 and the camera 31 included in the management device 30 are installed around the parking area 101 for the contracted vehicle. In S210, the control unit 32 included in the management device 30 determines whether or not a vehicle is parked in the contract vehicle parking area 101 described above. When the vehicle is parked, the control unit 32 determines whether the vehicle is a contract vehicle.

Here, when the control unit 32 determines that the vehicle parked in the contracted vehicle parking area 101 is not a contracted vehicle, the control unit 32 cannot park on at least one of the audio output device 33 and the display device 34 as a notification device. Informs that there is a certain thing. On the other hand, when the control unit 32 determines that the vehicle parked in the contracted vehicle parking area 101 is a contracted vehicle, the control unit 32 does not notify the above-described notification device.

As a result, it is possible to inform the driver of the non-contracted vehicle parked in the contracted car parking area 101 that the non-contracted car cannot be parked in the contracted car parking area 101.

(3h) The parking support system 1 includes a support device 10 and a management device 30. As a result, the parking support system 1 can obtain the same effects as the above (3a)-(3g).

[4. Other Embodiments]
As mentioned above, although embodiment of this indication was described, this indication is not limited to the above-mentioned embodiment, and can carry out various modifications.

(4a) In the above-described embodiment, the control unit 15 displays the display image on the display device 16 both when it is determined that the host vehicle 2 that is a contracted vehicle can be parked in the parking area 100 and when it is determined that parking is impossible. However, the present invention is not limited to this. The control unit 15 generates a display image indicating that parking is possible only when it is determined that the own vehicle 2 that is a contracted vehicle can be parked in the parking area 100 and causes the display device 16 to display the display image. It may be configured as follows.

Or the control part 15 produces | generates the display image which shows that it cannot park only when it is judged that the own vehicle 2 which is a contract vehicle cannot park in the parking area | region 100, and this display image is displayed on the display apparatus 16. May be displayed.

In the above embodiment, the camera 11 is disposed at the front end of the host vehicle 2, but the present invention is not limited to this. The camera 11 is disposed at the rear end of the host vehicle 2 and includes a road surface. You may comprise so that the predetermined range in the back of the own vehicle 2 may be imaged. Moreover, the camera 11 may be arrange | positioned at the right side part and left side part of the own vehicle.

(4b) The map data may include the position of the parking area 101 for the contracted vehicle in the parking lot. Based on the position of the own vehicle detected by the GPS device 12 and the position of the contracted vehicle parking area 101 included in the map data, the control unit 15 determines whether the host vehicle 2 and the contracted vehicle parking area 101 are It may be configured to detect a specific position. Then, the relative position between the host vehicle 2 and the contract vehicle parking area 101 detected in this way may be output to the display device 16.

That is, the control unit 15 may be configured to detect a relative position between the host vehicle 2 and the contracted vehicle parking area 101 without using an image captured by the camera 11. As a result, for example, when it is difficult to detect the parking area for the contracted vehicle 101 based on the image captured by the camera 11 such as when it is raining or at night, the own vehicle position and the parking area for the contracted vehicle 101 Relative positional relationship can be detected. Based on the positional relationship, a display image can be displayed on the display device 16.

Note that map data including the position of the parking lot and the position of the parking area 101 for the contracted vehicle may be stored in the center 80. The control unit 15 may be configured to acquire the map data from the center 80 via the communication device 18 by wireless communication and update the map data.

(4c) The support device 10 may include a sensor that detects a change in the traveling direction of the vehicle and a position on the display member 61 where the driver's line of sight is directed. The display device 16 is configured to display a display image following the position on the display member 61 to which the change of the traveling direction of the vehicle and the driver's line of sight are directed based on the detection result described above. May be. As a result, the virtual image 201 of the display image is displayed so as to overlap the actual scenery of the object in the driver's field of view, following the change in the traveling direction of the vehicle and the change in the driver's line of sight.

(4d) In the above embodiment, the support device 10 including the control unit 15 and the control unit 15 is mounted on the contracted vehicle, but may be mounted on a non-contracted vehicle. In the present embodiment, specifically, in the above-described S150, when the application display member 3 for the contracted vehicle is not displayed in the parking area 100, the control unit 15 displays the parking area 100 detected in the captured image. It may be configured to determine that the host vehicle can be parked.

(4e) As shown in FIG. 8, a road surface display device 161 may be used in place of the display device 16 described above. The road surface display device 161 is a device that displays an image on the road surface. The road surface display device 161 may be installed at the front end of the host vehicle 2. The control unit 15 may be configured to cause the road surface display device 161 to display the display image 202 on the road surface in the contracted vehicle parking area 101 in S160 and S170 of the parking assist process described above.

(4f) The control unit 15 may further be configured to cause the voice output device 17 to output a voice indicating that parking is not possible in S160 of the parking support process described above. Moreover, the control part 15 may be comprised so that the audio | voice which represents that parking is possible is further made to output to the audio | voice output apparatus 17 in S170 of the above-mentioned parking assistance process.

(4g) Even if the control unit 15 is configured to determine whether or not the host vehicle 2 has completed parking (hereinafter referred to as warehousing) in the contracted vehicle parking area 101 based on the image captured by the camera 11. Good. Furthermore, the control unit 15 may be configured to transmit information indicating that the host vehicle 2 has completed warehousing to the center 80 via the communication device 18.

Further, the control unit 15 determines whether or not the exit from the contracted vehicle parking area 101 in which the host vehicle 2 is parked (hereinafter, issued) has been completed based on the image captured by the camera 11. It may be configured. Furthermore, the control unit 15 may be configured to transmit information indicating that the host vehicle 2 has completed the delivery to the center 80 via the communication device 18.

(4h) In the above embodiment, the parking support system 1 includes the support device 10, the management device 30, and the center 80, but is not limited thereto. The parking assistance system 1 may not include the center 80. That is, the parking support system 1 may include the support device 10 and the management device 30. In this case, the support device 10 may not include the communication device 18. Further, the management device 30 may not include the communication device 28. The parking support system 1 may include a support device 10 and a center 80. Further, the parking support system 1 may include a management device 30 and a center 80.

(4i) In the above embodiment, the support device 10 is mounted on the vehicle 2, but the present invention is not limited to this. Although not shown, the support device may be provided on the application display member 3 installed in the parking area 101 for the contracted vehicle. Here, the camera included in the support device is installed on the usage display member 3 and images the road surface in the contracted vehicle parking area 101 and its surroundings and the license plate of the vehicle approaching the contracted vehicle parking area 101. It may be configured to be possible. The display device 16 may be a device that displays a stereoscopic image such as projection mapping on the road surface in the contracted vehicle parking area 101.

The control unit included in the support apparatus may be configured to determine whether or not the vehicle approaching the contracted vehicle parking area 101 is a contracted vehicle based on a captured image captured by the camera.

The control unit is configured to determine whether or not the contracted vehicle can be parked in the contracted vehicle parking area 101 when the vehicle approaching the contracted vehicle parking area 101 is a contracted vehicle. Good. For example, when the vehicle identification number of a vehicle approaching the contracted vehicle parking area 101 matches the above-described registration number, the control unit determines that the contracted car can be parked in the vehicle parking area 101. It may be configured.

The control unit may be configured to notify the determination result. Specifically, the control unit may be configured to display a display image representing the above determination result on a display device included in the support device. Note that the control unit may be configured to output an instruction to cause the audio output device 33 to sound an alarm when the vehicle approaching the contracted vehicle parking area 101 is not a contracted vehicle.

Note that the camera, the audio output device, and the communication device included in the support device may be configured to be used in common with the camera 31, the audio output device 33, and the communication device 38 included in the management device 30 described above. . In this embodiment, the control part with which an assistance apparatus is provided corresponds to a parking assistance apparatus.

(4j) In the above embodiment, the vehicle identification numbers of all contracted vehicles applied to the car sharing system are set as the registration numbers. However, the present invention is not limited to this. The registration number may be determined for each contracted vehicle parking area 101 so that at least one vehicle identification number is included.

(4k) A plurality of functions of one constituent element in the above embodiment may be realized by a plurality of constituent elements, or a single function of one constituent element may be realized by a plurality of constituent elements. . Further, a plurality of functions possessed by a plurality of constituent elements may be realized by one constituent element, or one function realized by a plurality of constituent elements may be realized by one constituent element. Moreover, you may abbreviate | omit a part of structure of the said embodiment. In addition, at least a part of the configuration of the above embodiment may be added to or replaced with the configuration of the other embodiment. In addition, all the aspects included in the technical idea specified from the wording described in the claims are embodiments of the present disclosure.

(4l) In addition to the support device 10, the management device 30, and the parking support system 1 described above, a program for causing the support device 10 to function, a program for causing the management device 30 to function, and a semiconductor memory storing the program, etc. The present disclosure can also be realized in various forms such as a transitional actual recording medium and a parking assistance method.

In the above embodiment, the control unit 15 corresponds to a parking assistance device. The control unit 15 corresponds to a parking determination unit and a notification execution unit. Further, S150 corresponds to processing as a parking determination unit, and S160 and S170 correspond to processing as a notification execution unit. Further, the display device 16 that is a HUD display device, the road surface display device 161, and the audio output device 17 correspond to a notification unit, and the display device 16 that is a HUD display device and the road surface display device 161 correspond to a display device.

Claims

A parking assistance device (15) for assisting parking of the vehicle (2),
A contract that is an image captured by at least one camera (11) and that includes a captured image including at least one parking area, and is a vehicle used for car sharing in the at least one parking area based on the captured image. A parking determination unit (S150) configured to determine whether or not the car can be parked;
A notification execution unit (S160, S170) configured to cause the notification unit (16, 161, 17) to notify the determination result by the parking determination unit;
A parking assistance device comprising:
The parking assistance device according to claim 1,
The parking assistance device is mounted on the vehicle,
The camera is mounted on the vehicle;
The parking determination unit is configured to make a determination based on a captured image that is the captured image and captured by the at least one camera,
The notification execution unit generates a display image representing the determination result based on the determination result by the parking determination unit, and displays the image on the display device (16, 161) that is the notification unit. A parking assistance device configured to display a display image.
The parking assistance device according to claim 2,
The notification execution unit generates the display image and is the display device, and displays the virtual image of the display image from a predetermined visual recognition area by projecting the display image onto a display member (61). A parking assistance device configured to display the display image on a display device (16) that displays in a visible manner in at least one parking area.
The parking assistance device according to claim 2 or 3, wherein
When the parking determination unit determines that the contracted vehicle can be parked in the at least one parking area, the notification execution unit generates a display image representing the display image and indicating that parking is possible. And the parking assistance apparatus comprised so that the said display image might be displayed on the said display apparatus.
It is a parking assistance device according to any one of claims 2 to 4,
When the parking determination unit determines that the contracted vehicle cannot be parked in the at least one parking area, the notification execution unit generates a display image that is the display image and indicates that parking is not possible. And the parking assistance apparatus comprised so that the said display image might be displayed on the said display apparatus.