WO2020079794A1 - Dispositif d'aide à la conduite dans un parc de stationnement et procédé d'aide à la conduite dans un parc de stationnement - Google Patents

Dispositif d'aide à la conduite dans un parc de stationnement et procédé d'aide à la conduite dans un parc de stationnement Download PDF

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Publication number
WO2020079794A1
WO2020079794A1 PCT/JP2018/038783 JP2018038783W WO2020079794A1 WO 2020079794 A1 WO2020079794 A1 WO 2020079794A1 JP 2018038783 W JP2018038783 W JP 2018038783W WO 2020079794 A1 WO2020079794 A1 WO 2020079794A1
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WIPO (PCT)
Prior art keywords
vehicle
parking lot
parking
information
acquisition unit
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PCT/JP2018/038783
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English (en)
Japanese (ja)
Inventor
晴彦 若柳
下谷　光生
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2018/038783 priority Critical patent/WO2020079794A1/fr
Priority to JP2020551665A priority patent/JP6956897B2/ja
Publication of WO2020079794A1 publication Critical patent/WO2020079794A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • 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

  • the present invention relates to a parking lot driving support device and a parking lot driving support method for supporting driving of a vehicle in a parking lot.
  • Patent Document 1 proposes a technique for displaying an empty parking frame in a parking lot. According to such a technique, the driver who sees the display in the own vehicle can head to the vacant parking frame.
  • the present invention has been made in view of the above problems, and it is an object of the present invention to provide a technique capable of reducing congestion in a parking lot.
  • the parking lot driving support device is a parking lot driving system that supports driving of a first vehicle, which is a vehicle, in a parking lot in which a passage through which a vehicle can pass and a plurality of parking frames in which the vehicle can be parked are arranged.
  • An assisting device an acquisition unit acquiring position information of a second vehicle existing on a passage in a parking lot, and full-space information of each of a plurality of parking frames in the parking lot, and a first acquisition unit acquired by the acquisition unit.
  • a control unit that controls the display device to display an image showing the condition of the passage and the parking frame of the parking lot for supporting the driving of the first vehicle based on the position information and the full-space information of the vehicle. .
  • an image showing the condition of the passage and the parking frame of the parking lot for supporting the driving of the first vehicle is displayed on the display device. Control to display. With such a configuration, it is possible to reduce congestion in the parking lot.
  • FIG. 3 is a block diagram showing a configuration of a parking lot driving support device according to the first embodiment.
  • FIG. 5 is a diagram showing a display example of a support image according to the first embodiment.
  • FIG. 6 is a block diagram showing a configuration of a parking lot driving support device according to a second embodiment.
  • FIG. 9 is a diagram showing a display example of a support image according to the second embodiment.
  • 7 is a flowchart showing an operation of the parking lot driving assistance device according to the second embodiment.
  • FIG. 16 is a diagram showing a display example of a support image according to the third embodiment.
  • FIG. 16 is a diagram showing a display example of a support image according to the fourth embodiment.
  • FIG. 16 is a diagram showing a display example of a support image according to the fifth embodiment.
  • FIG. 16 is a diagram showing a display example of a support image according to the fifth embodiment.
  • FIG. 17 is a diagram showing a display example of a support image according to the sixth embodiment.
  • 13 is a flowchart showing the operation of the parking lot driving assistance device according to the sixth embodiment.
  • It is a block diagram which shows the structure of the parking lot driving assistance device which concerns on Embodiment 7. It is a figure which shows the example of a display of the assistance image which concerns on Embodiment 7. It is a figure which shows the example of a display of the assistance image which concerns on Embodiment 7.
  • 16 is a flowchart showing an operation of the parking lot driving assistance device according to the seventh embodiment. It is a block diagram which shows the hardware constitutions of the parking lot driving assistance device which concerns on another modification. It is a block diagram which shows the hardware constitutions of the parking lot driving assistance device which concerns on another modification. It is a block diagram which shows the structure of the server which concerns on another modification. It is a block diagram which shows the structure of the communication terminal which concerns on another modification.
  • FIG. 1 is a block diagram showing a configuration of a parking lot driving support device 1 according to Embodiment 1 of the present invention.
  • the parking lot driving support device 1 is a device that supports driving of a first vehicle, which is a vehicle, in a parking lot in which a passage through which the vehicle can pass and a plurality of parking frames in which the vehicle can be parked are arranged.
  • a vehicle (first vehicle) supported by the parking lot driving support device 1 may be referred to as “own vehicle”, and a vehicle other than the own vehicle (second vehicle) may be referred to as “other vehicle”. is there.
  • the parking lot driving support device 1 uses the map data including the passage in the parking lot and a plurality of parking frames, that is, the parking lot map data to support the driving of the own vehicle in the parking lot.
  • the parking frame of the map data includes not only a parking frame actually shown by a white line or the like, but also a space in which the vehicle can be stopped, although not actually shown by a white line.
  • the map data may be map data stored in advance in the parking lot driving support device 1, or map data transmitted from the outside of the parking lot driving support device 1 to the parking lot driving support device 1 by wireless or the like. May be
  • the parking lot driving support device 1 in FIG. 1 is connected to the display device 31.
  • the display device 31 is a display device that displays various kinds of information in the vehicle.
  • the display device 31 of FIG. 1 is provided separately from the parking lot driving support device 1, but may be provided in the parking lot driving support device 1.
  • the display device 31 may be a display device fixed to the host vehicle or a display device brought into the host vehicle.
  • the parking lot driving support device 1 of FIG. 1 includes an acquisition unit 11 and a control unit 12.
  • the acquisition unit 11 acquires other vehicle position information, which is the position information of another vehicle existing on the passage in the parking lot, and the vacancy information of each of the plurality of parking frames in the parking lot.
  • the acquisition unit 11 having such a function may be, for example, a center (not shown) that communicates with another vehicle or a receiving device that wirelessly receives other vehicle position information from another vehicle, or the surroundings of the own vehicle.
  • the image capturing device may be an image capturing device such as a camera that captures an image of the vehicle and detects the other vehicle position information from the image.
  • the acquisition unit 11 may be, for example, a parking lot management device (not shown) that manages a parking lot or a receiving device that wirelessly receives full / vacant information from another vehicle.
  • the acquisition unit 11 may be an interface to which other vehicle position information and full sky information are input from a communication device that can communicate with the center or the parking lot management device.
  • the control unit 12 Based on the other vehicle position information and the full-space information acquired by the acquisition unit 11, the control unit 12 displays an image showing the condition of the passage and parking frame of the parking lot for supporting the driving of the own vehicle in the parking lot.
  • the display device 31 controls the display.
  • an image showing the situation of the passage and the parking frame of the parking lot for supporting the driving of the own vehicle in the parking lot may be referred to as “support image”.
  • FIG. 2 is a diagram showing a display example of the support image according to the first embodiment.
  • the support image is an image showing a top view of the parking lot to which the position of the other vehicle 2 and the full state of the parking frame 3 are added.
  • FIG. 2 shows a parking lot such as a shopping mall or an amusement park.
  • the hatched parking frame 3 indicates the parking frame 3 that is already stopped, and the unhatched parking frame 3 is an empty parking frame 3 (hereinafter referred to as "empty parking frame 3").
  • empty parking frame 3 hereinafter referred to as "empty parking frame 3"
  • the position of the host vehicle 4 is added to the support image in FIG. 2, the position of the host vehicle 4 is not essential.
  • ⁇ Summary of Embodiment 1> According to the parking lot driving support device 1 according to the first embodiment as described above, the passage of the parking lot for supporting the driving of the own vehicle 4 in the parking lot based on the other vehicle position information and the full sky information. Also, control is performed to display an image showing the status of the parking frame 3 on the display device 31. According to such a configuration, the host vehicle 4 can reach the host vehicle 4 and can immediately move toward the empty parking frame 3 which is not stopped by the other vehicle 2. Therefore, the congestion of the parking lot can be alleviated.
  • FIG. 3 is a block diagram showing the configuration of the parking lot driving support device 1 according to the second embodiment of the present invention.
  • the same or similar constituent elements as those described above are designated by the same reference numerals, and different constituent elements will be mainly described.
  • the parking lot driving support device 1 in FIG. 3 is connected to the display device 31 similarly to the parking lot driving support device 1 in FIG. 1.
  • the parking lot driving support device 1 of FIG. 3 is connected to not only the display device 31 but also the other vehicle position detection device 32, the full sky information reception device 33, the own vehicle position detection device 34, and the map database 35. .
  • the other vehicle position detection device 32 is an image pickup device such as a camera that takes an image of the area around the own vehicle 4 and detects the other vehicle position information from the image.
  • the other vehicle position detection device 32 may be a receiving device that wirelessly receives the other vehicle position information from the center or the other vehicle 2 that communicates with the other vehicle.
  • the full-space information receiving device 33 is a receiving device that wirelessly receives full-space information from the parking lot management device or the other vehicle 2.
  • the own vehicle position detection device 34 detects own vehicle position information which is the position information of the own vehicle 4.
  • a GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • the map database 35 stores map data.
  • the map database 35 may be installed in the host vehicle 4, may be provided in the server, or may be both of them.
  • the map data may include not only the information on the passages in the parking lot and the plurality of parking frames but also the information on the position of the entrance from the parking lot to the facility such as the store.
  • the parking lot driving support device 1 of FIG. 3 includes another vehicle position acquisition unit 11a, a full-space information acquisition unit 11b, an own vehicle position acquisition unit 11c, a map data acquisition unit 11d, a general control unit 12a, and a drawing control. And a portion 12b.
  • the other vehicle position acquisition unit 11a, the full-space information acquisition unit 11b, the own vehicle position acquisition unit 11c, and the map data acquisition unit 11d are included in the concept of the acquisition unit 11 in FIG.
  • the drawing control unit 12b is included in the concept of the control unit 12 in FIG.
  • the other vehicle position acquisition unit 11a acquires the other vehicle position information detected by the other vehicle position detection device 32.
  • the vacancy information acquisition unit 11b acquires the vacancy information received by the vacancy information receiving device 33.
  • the own vehicle position acquisition unit 11c acquires the own vehicle position information detected by the own vehicle position detection device 34.
  • the own vehicle position acquisition unit 11c will be described as an interface to which the own vehicle position information is input from the own vehicle position acquisition unit 11c.
  • the host vehicle position acquisition unit 11c may be a device or the like having the function of the host vehicle position detection device 34.
  • the map data acquisition unit 11d acquires map data around the own vehicle, such as map data indicating the parking lot where the own vehicle 4 is located, from the map database 35.
  • map data acquisition unit 11d acquires the map data from the map database 35 by performing wireless communication with the server, for example.
  • the centralized control unit 12a centrally controls the constituent elements of the parking lot driving support device 1.
  • the integrated control unit 12a will be described in detail later.
  • the drawing control unit 12b draws various images such as support images under the control of the overall control unit 12a.
  • the image drawn by the drawing control unit 12b is output to the display device 31 and displayed on the display device 31.
  • the overall control unit 12a draws various images such as support images using the drawing control unit 12b.
  • drawing by the drawing control unit 12b under the control of the integrated control unit 12a may be referred to as drawing by the integrated control unit 12a.
  • FIG. 4 is a diagram showing a display example of the support image according to the second embodiment.
  • the overall control unit 12a determines whether or not the other vehicle 2 is stopped on the passage in the parking lot based on the other vehicle position information acquired by the other vehicle position acquisition unit 11a. . Whether or not the other vehicle 2 is stopped on the passage in the parking lot is determined by, for example, whether or not the other vehicle 2 exists at the same position on the passage in the parking lot over the other vehicle information within a certain time. Just go.
  • the overall control unit 12a displays the other vehicle 2 when the vehicle is stopped on the passage in the parking lot and the other vehicle 2 when the vehicle is traveling in the parking lot in different display modes on the support image. I do.
  • the other vehicle 2 stopped on the passage in the parking lot is hatched, and the other vehicle 2 traveling in the parking lot is not hatched.
  • the overall control unit 12a may perform control for blinking display of the other vehicle 2 stopped on the passage in the parking lot, and may perform control for non-flashing display of the other vehicle 2 other than that.
  • the other vehicle 2 stopped on the passage in the parking lot may be displayed in a color different from that of the other vehicles 2.
  • the overall control unit 12a includes the other vehicle position information acquired by the other vehicle position acquisition unit 11a, the full sky information acquired by the full sky information acquisition unit 11b, and the own vehicle position acquisition unit. Based on the own vehicle position information acquired in 11c and the map data of the parking lot acquired in the map data acquisition unit 11d, as shown in FIG. 4, from the position of the own vehicle 4 to the empty parking frame 3 Of the routes, control is performed to display the route 5 in which the other vehicle 2 that is stopped is the smallest in the support image.
  • the route 5 having the smallest number of stopped other vehicles 2 may be referred to as “other vehicle minimum route 5”.
  • the overall control unit 12a parks each of the plurality of empty parking frames 3 from the position of the own vehicle 4 in the empty state based on the acquired full sky information, the own vehicle position information, and the map data of the parking lot.
  • the shortest route to frame 3 is searched.
  • the overall control unit 12a may search for the shortest route in consideration of the information about the one-way traffic.
  • the overall control unit 12a Based on the acquired other vehicle position information and the searched shortest routes, the overall control unit 12a selects the shortest route among the plurality of shortest routes that has the smallest number of stopped other vehicles 2 as the other vehicles. Search as the minimum path 5. When there are a plurality of shortest routes among the plurality of shortest routes that have the least number of stopped other vehicles 2, the overall control unit 12a determines whether the parking lot is connected to a store or the like based on the acquired map data of the parking lot. The shortest route of the empty parking frame 3 closest to the facility or the entrance to the facility is searched as the other vehicle minimum route 5. Then, the overall control unit 12a performs control to display the retrieved other vehicle minimum route 5 on the support image.
  • routes 5a and 5 from the own vehicle 4 to the empty parking frames 3a and 3b are shown.
  • the other vehicle 2 is stopped on the route 5a shown by the broken line from the own vehicle 4 to the empty parking frame 3a, but the other vehicle 2 is stopped on the route 5 from the own vehicle 4 to the empty parking frame 3b. Vehicle 2 is not stopped. Therefore, the route 5 from the own vehicle 4 to the empty parking frame 3b is displayed in the support image as the other vehicle minimum route.
  • FIG. 5 is a flowchart showing the operation of the parking lot driving support device 1 according to the second embodiment. It should be noted that this operation is performed when the vehicle 4 enters the parking lot.
  • step S1 the map data acquisition unit 11d acquires map data of the parking lot where the vehicle 4 has entered from the map database 35.
  • step S2 the overall control unit 12a draws an image of a parking lot map based on the acquired parking lot map data.
  • step S3 the vacancy information acquisition unit 11b acquires the vacancy information received by the vacancy information receiving device 33.
  • step S4 the other vehicle position acquisition unit 11a acquires the other vehicle position information detected by the other vehicle position detection device 32, and the own vehicle position acquisition unit 11c detects the own vehicle position information detected by the own vehicle position detection device 34. Get vehicle location information.
  • step S5 the overall control unit 12a searches for the other vehicle minimum route 5 based on the acquired other vehicle position information, full sky information, own vehicle position information, and map data of the parking lot.
  • step S6 the overall control unit 12a determines the position of the other vehicle 2, the empty state of the parking frame 3, and the own vehicle based on the acquired other vehicle position information, the full space information, and the own vehicle position information.
  • the position of the vehicle 4 is drawn in the image drawn in step S2.
  • step S7 the overall control unit 12a draws the other vehicle minimum route 5 searched in step S5 on the image drawn in step S6.
  • step S8 the overall control unit 12a controls the display device 31 to display the image drawn in step S7 as a support image. As a result, the support image as shown in FIG. 4 is displayed on the display device 31.
  • step S9 the overall control unit 12a determines whether or not the host vehicle 4 is present in the parking lot based on the host vehicle position information acquired in step S4. When it is determined that the host vehicle 4 is present in the parking lot, the process proceeds to step S10, and when it is determined that the host vehicle 4 is not present in the parking lot, the process of FIG. 5 ends.
  • step S10 the overall control unit 12a determines whether or not a certain period of time has elapsed from the time the previous step S10 was performed to the present. For the fixed time, for example, a generation time of one frame such that the frame rate is 30 fps, for example, 33 ms is used. If it is determined that the fixed time has elapsed, the process returns to step S3, and if it is determined that the fixed time has not elapsed, the process proceeds to step S11.
  • the fixed time for example, a generation time of one frame such that the frame rate is 30 fps, for example, 33 ms is used. If it is determined that the fixed time has elapsed, the process returns to step S3, and if it is determined that the fixed time has not elapsed, the process proceeds to step S11.
  • step S11 the parking lot driving support device 1 waits for the above-mentioned fixed time. Then, the process returns to step S10.
  • the own vehicle 4 can head for the empty parking frame 3 while avoiding the other vehicle 2 stopped on the passage in the parking lot, so that the congestion of the parking lot is alleviated. be able to.
  • the vehicle stops from the position of the own vehicle 4 to the empty parking frame 3.
  • the control is performed to display the route 5 with the smallest number of other vehicles 2 on the support image.
  • the own vehicle 4 can head for the empty parking frame 3 while avoiding the other vehicle 2 stopped on the passage in the parking lot, so that the congestion of the parking lot is alleviated. be able to.
  • the overall control unit 12a is lined up on the aisle in the parking lot with the other vehicle 2 that is stopped alone in the aisle in the parking lot. You may perform the control which displays on the image of the display apparatus 31 in a different display form with the other vehicles 2 when it has stopped. Since the other vehicle 2 alone stopped on the passage in the parking lot is likely to be a vehicle waiting near a parking frame that is likely to be empty, the driver of the own vehicle 4 is You can know.
  • the block configuration of the parking lot driving assistance device 1 according to the third embodiment of the present invention is the same as the block configuration (FIG. 3) of the parking lot driving assistance device 1 according to the second embodiment.
  • the same or similar constituent elements as those described above are designated by the same reference numerals, and different constituent elements will be mainly described.
  • FIG. 6 is a diagram showing a display example of the support image according to the third embodiment.
  • the parking lot has a plurality of exits.
  • the plurality of outlets are the outlets 6a, 6b, 6c.
  • the overall control unit 12a is arranged among the plurality of exits of the parking lot indicated by the map data, based on the other vehicle position information acquired by the other vehicle position acquisition unit 11a. Control is performed to display the exit with the smallest number of vehicles 2 on the support image in a display form different from that of other exits.
  • the exit 6b is displayed in a display form different from that of the exits 6a and 6c by hatching the exit 6b (north exit) having the smallest number of other vehicles 2 in line.
  • the display form of the exit with the fewest other vehicles 2 is not limited to the example of FIG.
  • the overall control unit 12a uses the map data acquisition unit 11d and the position of the exit where the other vehicles 2 are lined up, the own vehicle position information acquired by the own vehicle position acquisition unit 11c. Based on the acquired parking lot map data, control is performed to display the route from the position of the vehicle 4 to the exit in the assistance image. In the example of FIG. 6, the route 7 from the position of the own vehicle 4 to the exit 6b having the fewest other vehicles 2 in line is displayed in the assistance image.
  • ⁇ Summary of Third Embodiment> According to the parking lot driving support device 1 according to the third embodiment as described above, based on the other vehicle position information, among the plurality of exits of the parking lot, the exit having the smallest number of the other vehicles 2 in line is selected. The display is controlled to be displayed on the support image in a display mode different from that of the exit. According to such a configuration, the host vehicle 4 can efficiently exit the parking lot, so that the congestion of the parking lot can be alleviated.
  • the block configuration of the parking lot driving assistance device 1 according to the fourth embodiment of the present invention is the same as the block configuration (FIG. 3) of the parking lot driving assistance device 1 according to the second embodiment.
  • the same or similar constituent elements as those described above are designated by the same reference numerals, and different constituent elements will be mainly described.
  • FIG. 7 is a diagram showing a display example of the support image according to the fourth embodiment.
  • the overall control unit 12a determines whether or not the passage of the support image can be divided into a plurality of passage portions through which the vehicle can pass in the width direction of the passage.
  • the integrated control unit 12a determines that the passage can be divided into a plurality of passage portions when the passage of the support image has a width equal to or larger than a predetermined width.
  • the overall control unit 12a determines that the passage of the support image can be divided into a plurality of passage portions, the other vehicle 2 is divided into a plurality of passage portions based on the other vehicle position information acquired by the other vehicle position acquisition unit 11a. Control to be displayed on any of the.
  • the specific passage of the support image includes two one-way roads 8 that are opposite to each other, and the specific passage can be divided into two one-way roads 8. Therefore, the overall control unit 12a performs control to display the other vehicle 2 in one of the two one-way streets 8 based on the other vehicle position information acquired by the other vehicle position acquisition unit 11a.
  • ⁇ Summary of Embodiment 4> According to the parking lot driving assistance device 1 according to the fourth embodiment as described above, when the passage of the assistance image can be divided into a plurality of passage portions, the other vehicle 2 is displayed in any of the plurality of passage portions. Control. According to such a configuration, for example, the driver of the own vehicle 4 can know which of the two one-way streets 8 the other vehicle is stopping or traveling, so that the congestion of the parking lot can be alleviated. You can
  • FIG. 8 is a block diagram which shows the structure of the parking lot driving assistance device 1 which concerns on Embodiment 5 of this invention.
  • the same or similar constituent elements as those described above are designated by the same reference numerals, and different constituent elements will be mainly described.
  • the configuration of the parking lot driving support device 1 of FIG. 8 is similar to the configuration of the parking lot driving support device 1 of FIG. 2 with a type information acquisition unit 11e added.
  • the type information acquisition unit 11e is included in the concept of the acquisition unit 11 in FIG.
  • the type information acquisition unit 11e acquires the other vehicle type information which is the type information of the other vehicle 2 and the own vehicle type information which is the type information of the own vehicle 4.
  • the other vehicle type information includes, for example, information indicating whether the other vehicle 2 is a large vehicle such as a bus or a truck, an ordinary vehicle, or a welfare vehicle.
  • the own vehicle type information includes, for example, information indicating whether the own vehicle 4 is a large vehicle, a normal vehicle, a welfare vehicle, or a light motor vehicle.
  • the type information may include information indicating whether or not the other vehicle 2 or the own vehicle 4 is an electric motor vehicle, and as described in the seventh embodiment, the other vehicle 2 or the own vehicle 4 is automatically driven. It may include information indicating whether or not to have a valet parking function, which is a type of function.
  • the type information acquisition unit 11e having the above-described functions may be, for example, an interface to which other vehicle type information and own vehicle type information are input from the outside of the parking lot driving support device 1.
  • the type information acquisition unit 11e may be, for example, a receiving device that wirelessly receives the other vehicle type information from the center or the parking lot management device that communicates with the other vehicle 2 or from the other vehicle 2, or the own vehicle. It may be an image capturing device such as a camera that captures images of the surrounding areas and detects other vehicle type information from the images.
  • the acquisition unit 11 may be, for example, a device that acquires the own vehicle type information from a storage device or an input device (not shown) of the parking lot driving support device 1.
  • FIGS. 9 and 10 are diagrams showing display examples of the support image according to the fifth embodiment.
  • a service area or a parking area on the highway is shown as a parking lot.
  • FIG. 9 is a display example when the host vehicle 4 is a large vehicle
  • FIG. 10 is a display example when the host vehicle 4 is an ordinary vehicle.
  • the diversion zone 21, the pedestrian crossing 22, and the gas station 23 are also displayed. At the gas station 23, a traffic jam due to the other vehicle 2 occurs.
  • the overall control unit 12a controls the other vehicle 2 to be displayed on the support image in a different display form for each type, based on the other vehicle type information acquired by the type information acquisition unit 11e.
  • the triangular mark indicating the other vehicle 2L that is a large vehicle is larger than the triangular mark indicating the other vehicle 2 that is a normal vehicle and is indicated by a thick frame. Similar to the other vehicle 2, the other vehicle 2L stopped on the passage in the parking lot is hatched, and the other vehicle 2L traveling in the parking lot is not hatched. Note that these display forms are not limited to the examples of FIGS. 9 and 10.
  • the overall control unit 12a includes the other vehicle position information acquired by the other vehicle position acquisition unit 11a, the full sky information acquired by the full space information acquisition unit 11b, and the own vehicle position acquisition unit.
  • the second embodiment based on the own vehicle position information obtained by 11c, the own vehicle type information obtained by the type information obtaining unit 11e, and the map data of the parking lot obtained by the map data obtaining unit 11d. Similar to the other vehicle minimum route described, control is performed to display the route 24 shown in FIGS. 9 and 10 on the support image.
  • the route 24 is the route from the position of the own vehicle 4 to the vacant parking frame that corresponds to the type of the own vehicle 4 and has the fewest stopped other vehicles 2.
  • the parking frame corresponding to the type of the host vehicle 4 is the parking frame 3L for the large vehicle, and the route 24 is from the position of the host vehicle 4.
  • the number of stopped other vehicles 2 and 2L is the smallest.
  • the parking frame corresponding to the type of the host vehicle 4 is the parking frame 3 for the standard vehicle, and the route 24 is from the position of the host vehicle 4.
  • the number of stopped other vehicles 2 and 2L is the smallest.
  • the fifth embodiment when it is determined that all of the plurality of parking frames 3 are not vacant based on the vacancy information acquired by the vacancy information acquisition unit 11b, there is no vacant parking frame 3. It is controlled to display that on the support image. Displaying the absence of the vacant parking frame 3 on the support image includes, for example, displaying a message without the vacant parking frame 3 on the support image or hiding the route 24 in the support image. Things are used.
  • the position of the own vehicle 4 corresponds to the type of the own vehicle 4 based on the other vehicle position information, the full sky information, the own vehicle position information, the own vehicle type information, and the map data.
  • control is performed to display the route 24 having the smallest number of stopped other vehicles 2 on the support image.
  • the host vehicle 4 can head for the empty parking frame 3 corresponding to the type of the host vehicle 4 while avoiding the other vehicle 2 stopped on the passage in the parking lot as much as possible. , The parking lot congestion can be eased.
  • control is performed to display in the support image that there is no vacant parking frame 3. . According to such a configuration, it can be expected that useless traveling of the host vehicle 4 is suppressed.
  • the acquisition unit 11 including the type information acquisition unit 11e acquires the type information of the host vehicle 4, and the control unit 12 including the overall control unit 12a controls the host vehicle 4 acquired by the acquisition unit 11.
  • the control for displaying the route 24 is performed based on the type information and the like.
  • the acquisition unit 11 acquires the parking purpose information indicating the parking purpose of the own vehicle 4, and the control unit 12 acquires the parking purpose information of the own vehicle 4 acquired by the acquisition unit 11 and the like.
  • the control for displaying the route similar to the route 24 may be performed.
  • the purpose of parking is, for example, shopping, meals, toilets, refueling, power feeding, etc. input by an input device (not shown) by a driver or the like.
  • the control unit 12 determines the position of the own vehicle 4 from the position of the own vehicle 4 based on the other vehicle position information, the full sky information, the own vehicle position information, the parking purpose information of the own vehicle 4, and the map data of the parking lot. It is also possible to perform control to display, in the assistance image, a route corresponding to the parking purpose information of No. 1 and having the least number of stopped other vehicles 2 among the routes to the vacant parking frame 3.
  • the parking frame 3 that corresponds to the parking purpose information of the vehicle 4 and is vacant for example, the empty parking frame 3 that is closest to the entrance of the facility or facility where the parking purpose can be achieved is used. According to such a configuration, the own vehicle 4 can move toward the empty parking frame 3 corresponding to the purpose of parking of the own vehicle 4, avoiding the other vehicle 2 stopped on the passage in the parking lot as much as possible. Therefore, the congestion of the parking lot can be eased.
  • the block configuration of the parking lot driving support device 1 according to the sixth embodiment of the present invention is the same as the block configuration (FIG. 3) of the parking lot driving support device 1 according to the second embodiment.
  • the same or similar constituent elements as those described above are designated by the same reference numerals, and different constituent elements will be mainly described.
  • FIG. 11 is a diagram showing a display example of the support image according to the sixth embodiment.
  • the integrated control unit 12a determines whether or not the exit of the parking lot is congested based on the other vehicle position information acquired by the other vehicle position acquisition unit 11a. For example, the overall control unit 12a determines that the exit is congested when a certain number or more of other vehicles 2 are lined up at the exit.
  • the integrated control unit 12a determines that the exit of the parking lot is congested, it estimates the time that any vehicle can pass through the congested traffic to reach the exit, and displays the time on the support image. I do. In the example of FIG. 11, the time at the west exit (exit 6a) is about 15 minutes, the time at the north exit (exit 6b) is about 20 minutes, and the time at the east exit (exit 6c) is about 30 minutes. Minutes.
  • the overall control unit 12a determines the distance from the congested exit to the last other vehicle 2 lined up at the exit based on the other vehicle position information. Further, the overall control unit 12a obtains an average speed at which the plurality of other vehicles 2 lined up at the exit have moved to the exit based on the change in the other vehicle position information. Then, the overall control unit 12a estimates the time by dividing the obtained distance by the obtained average speed.
  • the overall control unit 12a estimates the estimated time of the plurality of exits from the position of the own vehicle 4 based on the estimated time, the own vehicle position information, and the map data in the parking lot. Also controls to display the route to the shortest exit on the support image. With this control, in the example of FIG. 11, the route 26 from the position of the vehicle 4 to the exit 6a having the shortest estimated time among the exits 6a, 6b, 6c is displayed.
  • FIG. 12 is a flowchart showing the operation of the parking lot driving support device 1 according to the sixth embodiment. Note that this operation is performed when the host vehicle 4 exits the parking lot.
  • step S21 the map data acquisition unit 11d acquires map data of the parking lot where the vehicle 4 is located from the map database 35.
  • step S22 the overall control unit 12a draws an image of a parking lot map based on the acquired parking lot map data.
  • step S23 the vacancy information acquisition unit 11b acquires the vacancy information received by the vacancy information receiving device 33.
  • step S24 the other vehicle position acquisition unit 11a acquires the other vehicle position information detected by the other vehicle position detection device 32, and the own vehicle position acquisition unit 11c detects the other vehicle position information detected by the own vehicle position detection device 34. Get vehicle location information.
  • step S25 the overall control unit 12a determines whether or not the exit of the parking lot is congested based on the acquired other vehicle position information. If it is determined that the exit of the parking lot is congested, the process proceeds to step S26, and if it is determined that the exit of the parking lot is not congested, the process proceeds to step S27.
  • step S26 the overall control unit 12a estimates the time during which any vehicle can reach the exit through the traffic jam based on the acquired other vehicle position information. The time is estimated to be 0 for exits that are not congested. Then, the process proceeds to step S27.
  • step S27 based on the estimated time, the own vehicle position information, and the map data in the parking lot, the route 26 from the position of the own vehicle 4 to the exit with the shortest estimated time among the plurality of exits is determined. Search for.
  • step S28 the overall control unit 12a determines the position of the other vehicle 2, the empty state of the parking frame 3, and the own vehicle based on the acquired other vehicle position information, the full space information, and the own vehicle position information.
  • the position of the vehicle 4 is drawn in the image drawn in step S22.
  • step S29 the overall control unit 12a draws the time estimated in step S26 and the route 26 searched in step S27 on the image drawn in step S28.
  • step S30 the overall control unit 12a controls the display device 31 to display the image drawn in step S28 as a support image. As a result, the support image as shown in FIG. 11 is displayed on the display device 31.
  • step S31 the overall control unit 12a determines whether or not the host vehicle 4 is present in the parking lot based on the host vehicle position information acquired in step S24. When it is determined that the host vehicle 4 exists in the parking lot, the process proceeds to step S32, and when it is determined that the host vehicle 4 does not exist in the parking lot, the process of FIG. 12 ends.
  • step S32 the overall control unit 12a determines whether or not a certain period of time has elapsed between the time of performing the process of step S32 last time and the present time.
  • the fixed time for example, a generation time of one frame such that the frame rate becomes 30 fps, for example, 33 ms is used. If it is determined that the fixed time has passed, the process returns to step S23, and if it is determined that the fixed time has not passed, the process proceeds to step S33.
  • step S33 the parking lot driving support device 1 waits for the above-mentioned fixed time. Then, the process returns to step S32.
  • control is performed to estimate the time during which the vehicle can reach the exit through the traffic jam and display the time on the assistance image. . Therefore, the driver of the own vehicle 4 can know to some extent the time when the driver can leave the parking lot.
  • FIG. 13 is a block diagram which shows the structure of the parking lot driving assistance device 1 which concerns on Embodiment 7 of this invention.
  • the same or similar constituent elements as those described above are designated by the same reference numerals, and different constituent elements will be mainly described.
  • the configuration of the parking lot driving support device 1 of FIG. 13 is similar to the configuration of the parking lot driving support device 1 of FIG. 8 with an operation acquisition unit 11f added.
  • the operation acquisition unit 11f is included in the concept of the acquisition unit 11 in FIG.
  • the plurality of parking frames 3 include a predetermined parking frame for exclusive use of valet parking, and the vehicle 4 has a valet parking function capable of automatically parking in the parking frame for exclusive use of valet parking.
  • the operation acquisition unit 11f acquires an operation for automatically parking the vehicle 4 in the parking frame for exclusive use of valet parking (hereinafter, also referred to as "valley parking function execution operation").
  • a function for example, a button and a touch panel, a voice input device, a camera that can detect a gesture operation of a user, and the like are used.
  • the overall control unit 12a When the valet parking function execution operation is acquired by the operation acquisition unit 11f, the overall control unit 12a, based on the vacancy information acquired by the vacancy information acquisition unit 11b, the valet parking dedicated parking available in the parking lot. It is determined whether there is a frame.
  • FIGS. 14 and 15 are diagrams showing a display example of the support image according to the seventh embodiment.
  • the valet parking-only parking frame 3v is shown by a thick frame.
  • the overall control unit 12a acquires the other vehicle position information acquired by the other vehicle position acquisition unit 11a, the full sky information acquired by the full sky information acquisition unit 11b, and the own vehicle position acquisition unit 11c. Based on the obtained own vehicle position information and the map data of the parking lot acquired by the map data acquisition unit 11d, the vehicle is stopped on the route from the position of the own vehicle 4 to the vacant valet parking dedicated parking frame 3v. The control is performed to display the route 28 having the smallest number of other vehicles 2 operating on the support image.
  • the overall control unit 12a includes the other vehicle position information acquired by the other vehicle position acquisition unit 11a, the full sky information acquired by the full sky information acquisition unit 11b, and the own vehicle position acquisition unit 11c. Based on the own vehicle position information acquired in step 1 and the map data of the parking lot acquired by the map data acquisition part 11d, an empty parking frame 3 other than the valet parking dedicated parking frame 3v is displayed from the position of the own vehicle 4. Among the routes up to, the route 30 having the least number of stopped other vehicles 2 is displayed on the support image.
  • the type information acquisition unit 11e acquires the other vehicle type information which is the type information of the other vehicle 2 as in the fifth embodiment.
  • the type information includes information indicating whether or not the other vehicle 2 has the valet parking function.
  • the overall control unit 12a controls the other vehicle 2 to be displayed on the support image in a different display form for each type, as shown in FIGS. 14 and 15. I do.
  • the other vehicle 2v having the valet parking function is attached with “v” so that the other vehicle 2v having the valet parking function and the other vehicle 2 not having the valet parking function. And are displayed on the support image in different display modes.
  • the display form of the other vehicle 2v having the valet parking function is not limited to the examples of FIGS. 14 and 15.
  • the overall control unit 12a may search the routes 28 and 30 so that the passage is preferentially used.
  • FIG. 16 is a flowchart showing the operation of the parking lot driving support device 1 according to the seventh embodiment. This operation is the same as the operation in which steps S41 and 42 are added to the operation of FIG. 5, step S5 of FIG. 5 is changed to steps S43, S44 and S45, and step S7 of FIG. 5 is changed to step S46. Therefore, in the following, steps S41 to S46 will be mainly described.
  • steps S41 and S42 are performed.
  • step S41 the overall control unit 12a determines whether the operation acquisition unit 11f has acquired a valet parking function execution operation. The process proceeds to step S42 if determined to be acquired, and proceeds to step S1 if determined not to be acquired.
  • step S42 the host vehicle 4 executes the valet parking function. Then, the process proceeds to step S1.
  • steps S1 to S4 the same processing as steps S1 to S4 described in the second embodiment is performed.
  • step S43 the integrated control unit 12a determines whether or not the vehicle 4 is executing the valet parking function and whether there is an empty valet parking parking frame in the parking lot. If it is determined that the host vehicle 4 has the valet parking function and there is a vacant parking space for valet parking, the process proceeds to step S44. If not, the process proceeds to step S45.
  • step S44 the overall control unit 12a starts the vacant valley from the position of the own vehicle 4 based on the acquired other vehicle position information, full sky information, own vehicle position information, and map data of the parking lot. Of the routes up to the parking frame 3v for exclusive use of parking, the route 28 having the least number of stopped other vehicles 2 is searched. Then, the process proceeds to step S6.
  • step S45 the integrated control unit 12a, from the position of the own vehicle 4, based on the acquired other vehicle position information, full sky information, own vehicle position information, and map data of the parking lot, parking for valet parking only. Of the routes to the vacant parking frame 3 other than the frame 3v, the route 30 having the smallest number of stopped other vehicles 2 is searched. Then, the process proceeds to step S6.
  • step S6 the overall control unit 12a determines the position of the other vehicle 2, the empty state of the parking frame 3, and the position of the own vehicle 4 in step S2, as in step S6 described in the second embodiment. Draw on the image drawn with.
  • step S46 after step S6, the overall control unit 12a draws the route 28 searched in step S44 or the route 30 searched in step S45 on the image drawn in step S6.
  • step S8 the overall control unit 12a controls the display device 31 to display the image drawn in step S46 as a support image. As a result, the support image as shown in FIG. 14 or 15 is displayed on the display device 31.
  • steps S9 to S11 the same processing as steps S9 to S11 described in the second embodiment is performed.
  • ⁇ Summary of Embodiment 7> According to the parking lot driving support device 1 according to the seventh embodiment as described above, when there is a vacant valet parking dedicated parking frame 3v, an appropriate route to the valet parking dedicated parking frame 3v is displayed. If the valet parking dedicated parking frame 3v is not vacant, control is performed to display an appropriate route to the parking frame 3 other than the valet parking dedicated parking frame 3v. According to such a configuration, it is possible to avoid the other vehicle 2 stopped on the passage in the parking lot and move toward the vacant parking frame 3v for exclusive use of the valley parking or the empty parking frame 3 as much as possible. Can reduce the congestion.
  • the driver of the own vehicle 4 determines whether or not the other vehicle 2 has the valet parking function. You can know
  • the acquisition unit 11 and the control unit 12 of FIG. 1 described above are hereinafter referred to as “acquisition unit 11 and the like”.
  • the acquisition unit 11 and the like are realized by the processing circuit 81 shown in FIG. That is, the processing circuit 81 is acquired by the acquisition unit 11 and the acquisition unit 11, which acquire the position information of the second vehicle existing on the passage in the parking lot and the vacancy information of each of the plurality of parking frames in the parking lot.
  • Dedicated hardware may be applied to the processing circuit 81, or a processor that executes a program stored in the memory may be applied.
  • the processor corresponds to, for example, a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.
  • the processing circuit 81 may be, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), or an FPGA (Field Programmable Gate). Array), or a combination of these.
  • the functions of the respective units such as the acquisition unit 11 may be realized by a circuit in which processing circuits are dispersed, or the functions of the respective units may be collectively realized by one processing circuit.
  • the processing circuit 81 When the processing circuit 81 is a processor, the functions of the acquisition unit 11 and the like are realized by combination with software and the like.
  • the software and the like correspond to, for example, software, firmware, or software and firmware.
  • Software and the like are described as programs and stored in the memory.
  • the processor 82 applied to the processing circuit 81 realizes the function of each unit by reading and executing the program stored in the memory 83. That is, the parking lot driving support device 1, when executed by the processing circuit 81, includes the position information of the second vehicle existing on the passage in the parking lot and the vacancy information of each of the plurality of parking frames in the parking lot.
  • the display device 31 displays an image showing the condition of the passage and the parking frame of the parking lot for supporting the driving of the first vehicle based on the step of acquiring And a memory 83 for storing a program to be executed as a result.
  • this program causes a computer to execute the procedure and method of the acquisition unit 11 and the like.
  • the memory 83 is, for example, RAM (RandomAccessMemory), ROM (ReadOnlyMemory), flash memory, EPROM (ErasableProgrammableReadOnlyMemory), EEPROM (ElectricallyErasableProgrammableReadOnlyMemory), or the like.
  • Volatile semiconductor memory HDD (Hard Disk Drive), magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD (Digital Versatile Disc), its drive device, or any storage medium used in the future. May be.
  • each function of the acquisition unit 11 and the like is realized by either hardware or software.
  • the configuration is not limited to this, and a configuration may be such that a part of the acquisition unit 11 or the like is realized by dedicated hardware and another part is realized by software or the like.
  • its function is realized by a processing circuit 81 as dedicated hardware, an interface and a receiver, and in other cases, the processing circuit 81 as a processor 82 reads a program stored in the memory 83. By executing the function, it is possible to realize the function.
  • the processing circuit 81 can realize each function described above by hardware, software, or a combination thereof.
  • the parking lot driving support device 1 described above includes vehicle devices such as PNDs (Portable Navigation Devices) and navigation devices, communication terminals including mobile terminals such as mobile phones, smartphones, and tablets, and vehicle devices and communication terminals. It is also applicable to a parking lot driving support system constructed as a system by appropriately combining the function of an application installed in at least one of the above and a server. In this case, each function or each component of the parking lot driving support device 1 described above may be arranged in a distributed manner in each device constituting the system, or may be arranged in a concentrated manner in any device. May be.
  • FIG. 19 is a block diagram showing the configuration of the server 91 according to this modification.
  • the server 91 of FIG. 19 includes a communication unit 91a and a control unit 91b, and can perform wireless communication with a vehicle device 93 having a display device (not shown) of the first vehicle 92.
  • the communication unit 91a which is an acquisition unit, wirelessly communicates with the vehicle device 93 to acquire the position information of the second vehicle existing on the passage in the parking lot acquired by the vehicle device 93 and the plurality of parking frames in the parking lot. To receive information about the availability of each.
  • the control unit 91b has a function similar to that of the control unit 12 of FIG. 1 when a processor (not shown) of the server 91 executes a program stored in a memory (not shown) of the server 91. That is, the control unit 91b determines the conditions of the passages and the parking frames of the parking lot for supporting the driving of the first vehicle 92 based on the position information and the full-space information of the second vehicle received by the communication unit 91a. A control signal that allows control to display the image shown on the vehicle device 93 is generated. Then, the communication unit 91a transmits the control signal generated by the control unit 91b to the vehicle device 93. According to the server 91 configured in this way, it is possible to obtain the same effect as that of the parking lot driving support device 1 described in the first embodiment.
  • FIG. 20 is a block diagram showing the configuration of the communication terminal 96 according to this modification.
  • the communication terminal 96 in FIG. 20 includes a communication unit 96a similar to the communication unit 91a and a control unit 96b similar to the control unit 91b, and can perform wireless communication with the vehicle device 98 of the first vehicle 97.
  • the communication terminal 96 is, for example, a mobile terminal such as a mobile phone, a smartphone, or a tablet carried by the driver of the first vehicle 97. According to the communication terminal 96 configured as described above, the same effect as that of the parking lot driving support device 1 described in the first embodiment can be obtained.
  • the present invention can freely combine each embodiment and each modification, and appropriately modify or omit each embodiment and each modification.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)
  • Navigation (AREA)

Abstract

La présente invention concerne une technique permettant de réduire la congestion dans un parc de stationnement. Ce dispositif d'aide à la conduite dans un parc de stationnement pour aider à conduire un premier véhicule dans un parc de stationnement est doté d'une unité d'acquisition et d'une unité de commande. L'unité d'acquisition acquiert des informations de position concernant un second véhicule présent dans une allée à l'intérieur du parc de stationnement, et des informations d'occupation concernant chaque place d'une pluralité de places de stationnement à l'intérieur du parc de stationnement. Sur la base des informations de position concernant le second véhicule et des informations d'occupation acquises par l'unité d'acquisition, l'unité de commande commande à un dispositif d'affichage 31 d'afficher une image pour aider à conduire le premier véhicule, l'image indiquant les conditions des allées et des places de stationnement dans le parc de stationnement.
PCT/JP2018/038783 2018-10-18 2018-10-18 Dispositif d'aide à la conduite dans un parc de stationnement et procédé d'aide à la conduite dans un parc de stationnement WO2020079794A1 (fr)

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JP2020551665A JP6956897B2 (ja) 2018-10-18 2018-10-18 駐車場内運転支援装置及び駐車場内運転支援方法

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