Mobile body assistance system and mobile body assistance method

Abstract

The present application has an object to improve the accuracy of marker recognition based on a mobile body. A mobile body assistance system assists a mobile body that recognizes a marker disposed in a prescribed area. Marker position information shows the positions of a plurality of markers disposed in the prescribed area. Illumination position information shows the positions of one or more illuminations present within the prescribed area. The mobile body assistance system acquires the position of an object marker, which is an object of recognition by the mobile body, based on the marker position information. In addition, the mobile body assistance system acquires information showing the brightness at the position of the object marker. In the case where the brightness is less than a threshold value, the mobile body assistance system selects an object illumination present at the position that irradiates the object marker based on the illumination position information, and increases the light quantity of the object illumination compared to the case where the brightness is equal to or greater than the threshold value.

Description

Technical Field

[0001] This disclosure relates to techniques for assisting in the identification of moving bodies marked in a designated area. Background Technology

[0002] Patent Document 1 discloses a parking assistance device mounted on a vehicle. The parking assistance device automatically parks the vehicle in a target parking space. At this time, the parking assistance device uses an onboard illuminance sensor to detect illuminance, and if the illuminance is below a threshold, it illuminates the onboard lighting device illuminating the exterior of the vehicle. Then, the parking assistance device detects the target parking space based on an image captured while the onboard lighting device is illuminated.

[0003] Patent document 2 discloses an autonomous driving monitoring device that autonomously travels along a prescribed path. The autonomous driving monitoring device includes an image capturing unit, an illumination unit, and an illumination detection unit for detecting ambient illuminance. While the image capturing unit is taking an image, the autonomous driving monitoring device automatically activates the illumination unit based on the ambient illuminance.

[0004] Existing technical documents

[0005] Patent documents

[0006] Patent Document 1: Japanese Patent Application Publication No. 2019-098911

[0007] Patent Document 2: Japanese Patent Application Publication No. 2006-031144 Summary of the Invention

[0008] The technical problem that the invention aims to solve

[0009] Consider the situation where a mobile object can recognize markers placed within a designated area. In dark environments such as at night or underground, a mobile object may have difficulty recognizing the markers. The markers may also be difficult to recognize when they are covered by shadows. If a mobile object cannot accurately recognize the markers, the accuracy of its actions based on the marker recognition results will decrease.

[0010] One of the objectives of this disclosure is to provide a technique that can improve the accuracy of mobile bodies in recognizing markers.

[0011] Means for solving technical problems

[0012] The first aspect relates to a mobile body assisting system that assists in identifying mobile bodies marked in a designated area.

[0013] The mobile body assistance system has the following features:

[0014] One or more storage devices for storing marker location information and lighting location information, wherein the marker location information indicates the location of multiple markers configured in a defined area, and the lighting location information indicates the location of one or more lights present in the defined area; and

[0015] One or more processors.

[0016] One or more processors are configured to perform the following processing:

[0017] Based on the marker location information, the processing of obtaining the location of the object marker that is identified as the moving body;

[0018] Brightness acquisition processing, obtaining information showing the brightness of the object marker at its location; and

[0019] The lighting control process selects object lighting at the location where the object marker is illuminated based on the lighting location information when the brightness is less than the threshold, thereby increasing the amount of light illuminating the object compared to when the brightness is above the threshold.

[0020] The second aspect relates to a moving body assistance method for assisting in the identification of moving bodies marked in a specified area.

[0021] Movement-assisted methods include:

[0022] The process of obtaining marker location information and lighting location information, wherein the marker location information indicates the location of multiple markers configured in a specified area, and the lighting location information indicates the location of one or more lights present in the specified area;

[0023] Based on the marker location information, the processing of obtaining the location of the object marker that is identified as the moving body;

[0024] Brightness acquisition processing, obtaining information showing the brightness of the object marker at its location; and

[0025] The lighting control process selects object lighting at the location where the object marker is illuminated based on the lighting location information when the brightness is less than the threshold, thereby increasing the amount of light illuminating the object compared to when the brightness is above the threshold.

[0026] Invention Effects

[0027] According to this disclosure, the brightness at the location of the object to be identified, i.e., the object marker, is obtained. When the brightness at the location of the object marker is less than a threshold, the amount of light illuminating the object at the location where the object marker is illuminated increases. As a result, the object marker becomes brighter and easier for the moving object to identify. That is, the accuracy of marker recognition based on the moving object can be improved. Consequently, the accuracy of the moving object's movement based on the marker recognition result is also improved. Attached Figure Description

[0028] Figure 1 This is a conceptual diagram used to illustrate the outline of autonomous valet parking.

[0029] Figure 2 It is a conceptual diagram used to illustrate technical issues.

[0030] Figure 3 It is a conceptual diagram used to illustrate technical issues.

[0031] Figure 4 This is a conceptual diagram used to illustrate the outline of the vehicle assistance system involved in the first embodiment.

[0032] Figure 5 This is a conceptual diagram used to illustrate the outline of the vehicle assistance system involved in the first embodiment.

[0033] Figure 6 This is a block diagram illustrating an example of the configuration of a vehicle assistance system according to the first embodiment.

[0034] Figure 7 This is a block diagram illustrating a functional configuration example of the vehicle assistance system according to the first embodiment.

[0035] Figure 8 This is a flowchart illustrating the vehicle auxiliary processing involved in the first embodiment.

[0036] Figure 9 This is a block diagram illustrating an example of the brightness acquisition process involved in the first embodiment.

[0037] Figure 10 This is a conceptual diagram used to illustrate a processing example of a vehicle assistance system based on the first embodiment.

[0038] Figure 11 This is a conceptual diagram used to illustrate a processing example based on the vehicle assistance system according to the second embodiment.

[0039] Figure 12 This is a conceptual diagram used to illustrate a processing example based on the vehicle assistance system according to the second embodiment.

[0040] Figure 13 This is a conceptual diagram used to illustrate a processing example based on the vehicle assistance system according to the second embodiment.

[0041] Figure 14 This is a conceptual diagram illustrating another processing example based on the vehicle assistance system involved in the second embodiment.

[0042] Figure 15 This is a conceptual diagram used to illustrate the outline of the processing based on the vehicle assistance system involved in the second embodiment.

[0043] Figure 16 This is a block diagram illustrating a functional configuration example of a vehicle assistance system according to the second embodiment.

[0044] Figure 17 This is a conceptual diagram used to illustrate the movable lighting involved in the third embodiment.

[0045] Figure 18 This is a conceptual diagram used to illustrate a processing example of a vehicle assistance system based on the third embodiment.

[0046] Figure 19 This is a conceptual diagram used to illustrate the outline of the processing of the vehicle assistance system according to the third embodiment.

[0047] Figure 20 This is a block diagram illustrating a functional configuration example of a vehicle assistance system according to the third embodiment. Detailed Implementation

[0048] The embodiments of this disclosure will be described with reference to the accompanying drawings.

[0049] 1. First Implementation Method

[0050] 1-1. Overview

[0051] Consider a case where a marker (sign) M is configured in a designated area AR, and a mobile object recognizes the marker M and performs an action. Examples of mobile objects include vehicles and robots. Vehicles can be autonomous vehicles. As an example, the following description considers the case where the mobile object is a vehicle. In general, "vehicle" will be replaced with "mobile object" in the following description.

[0052] Figure 1 This is a conceptual diagram illustrating an example of "Automated Valet Parking (AVP)" where a vehicle 1 is identified by a marker M configured in a designated area AR. In this example, the designated area AR is a parking lot. The parking lot can be indoors or outdoors. Multiple markers M are configured in the parking lot.

[0053] Vehicle 1 is an AVP vehicle corresponding to an autonomous valet parking vehicle in a parking lot, capable of autonomous driving at least within the parking lot. More specifically, Vehicle 1 is equipped with recognition sensors (e.g., cameras) for recognizing the surrounding conditions. Vehicle 1 drives autonomously within the parking lot while using the recognition sensors to recognize the surrounding conditions.

[0054] For example, vehicle 1 uses a camera to acquire an image showing the surrounding environment of vehicle 1 and identifies marker M based on the image. Vehicle 1 can identify the parking area based on the identification result of marker M. In addition, vehicle 1 performs "localization processing" (self-position estimation processing) to accurately estimate the position of vehicle 1 in the parking lot based on the identification result of marker M. More specifically, vehicle 1 accurately estimates its own position by combining the camera-based identification result of marker M and the position information (map information) of marker M in the parking lot. The target path PT is the movement path from the parking area to the target parking frame assigned to vehicle 1. Based on the position of vehicle 1 estimated through localization processing and the target path PT, vehicle 1 automatically drives by following the target path PT. Thus, vehicle 1 can automatically move from the parking area to the target parking frame.

[0055] Management device 2 (management server) manages the autonomous valet parking in the parking lot. Management device 2 can communicate with each vehicle (vehicle 1, parked vehicle 3) in the parking lot. For example, management device 2 can issue entry and exit instructions to vehicle 1. Management device 2 can also provide vehicle 1 with the location information (map information) of marker M in the parking lot. Management device 2 can also assign parking spaces to vehicle 1. Management device 2 can also generate a target path PT from the entry area to the assigned parking space and provide the target path PT information to vehicle 1. Management device 2 can also monitor the location of each vehicle (vehicle 1, parked vehicle 3) in the parking lot. Management device 2 can also remotely operate each vehicle (vehicle 1, parked vehicle 3) in the parking lot.

[0056] Figure 2 and Figure 3 It is a conceptual diagram used to illustrate a technical problem. For example... Figure 2 As shown, in dark environments such as at night or underground, vehicle 1 may have difficulty recognizing marker M. That is, the marker recognition performance based on vehicle 1 is reduced. Furthermore, as... Figure 3 As shown, depending on the positional relationship between the light source (e.g., the sun, lighting, etc.) and objects in the parking lot (e.g., vehicle 1, parked vehicle 3, pillars, etc.), shadows may sometimes cover marker M. When a shadow covers marker M, vehicle 1 may have difficulty recognizing it. If vehicle 1 cannot accurately recognize marker M, the accuracy of vehicle 1's actions based on the marker recognition results will decrease.

[0057] Here, the first embodiment provides a method even when Figure 2 , Figure 3 The illustrated situation also demonstrates a technique that can improve the accuracy of tag recognition based on vehicle 1.

[0058] Figure 4This is a conceptual diagram illustrating the outline of the vehicle assistance system 10 of the auxiliary vehicle 1 according to this embodiment. One or more lighting fixtures L are present in a defined area AR. The lighting fixtures L can be fixed or movable. The lighting fixtures L can be suspended from the ceiling or mounted on a pole, etc. One lighting fixture L can be provided for each marker M, or one lighting fixture L can be provided for multiple markers M.

[0059] The vehicle assistance system 10 can control the light intensity of each illumination L present within a designated area AR. The vehicle assistance system 10 can also control the on / off state of each illumination L. By controlling the illumination L present within the designated area AR, the vehicle assistance system 10 can assist in identifying the vehicle 1 marked with a marker M located within the designated area AR.

[0060] More specifically, the vehicle assistance system 10 understands the object to be identified by the vehicle 1, namely the "object marker Mt," and obtains information indicating the "brightness" at the location of the object marker Mt. When the brightness at the location of the object marker Mt is less than a threshold, the object marker Mt is dark and difficult for the vehicle 1 to identify. Here, the vehicle assistance system 10 selects an "object illumination Lt" from one or more illuminations L that exists at the location illuminating the object marker Mt. Then, the vehicle assistance system 10 increases the light intensity of the object illumination Lt compared to when the brightness at the location of the object marker Mt is above the threshold. As a result, the object marker Mt becomes brighter and easier for the vehicle 1 to identify. That is, the accuracy of marker recognition based on the vehicle 1 is improved.

[0061] The vehicle assistance system 10 can also increase the amount of light in the object illumination Lt by making the brightness at the location of the object marker Mt a "target brightness". In this case, the vehicle assistance system 10 determines the control amount of the object illumination Lt based on the difference between the "current brightness" and the "target brightness" at the location of the object marker Mt. By ensuring a target brightness suitable for marker recognition, the accuracy of marker recognition based on the vehicle 1 can be further improved.

[0062] Figure 5 This shows the generation of the above. Figure 3 The example shown illustrates lighting control under shadow conditions. When a shadow covers an object marker Mt, the brightness at the location of the object marker Mt is less than a threshold. The vehicle assistance system 10 increases the amount of light present at the location illuminating the object marker Mt. As a result, the object marker Mt becomes brighter and easier to see for the vehicle 1.

[0063] The parked vehicle 3 is equipped with exterior lights 3L that illuminate the outside. Examples of exterior lights 3L include welcome lights and headlights. As described above, the management device 2 for managing autonomous valet parking in the parking lot can remotely operate the parked vehicle 3 within the parking lot. By utilizing the remote operation function of such management device 2, the vehicle assistance system 10 can use the exterior lights 3L of the parked vehicle 3 as one of the lighting lights L. For example, such as Figure 3 As shown, the case where the shadow cast by the parked vehicle 3 and the light source covers the object marker Mt near the parked vehicle 3 is also considered. In this case, it can be done as follows: Figure 5 As shown, the exterior light 3L of the parked vehicle 3 is used as object illumination Lt. That is, by illuminating the exterior light 3L of the parked vehicle 3, the object marker Mt near the parked vehicle 3 can be made brighter, thus making it easier to identify.

[0064] The vehicle assistance system 10 described in this embodiment will now be explained in more detail.

[0065] 1-2. Examples of Vehicle Assistance Systems

[0066] Figure 6 This is a block diagram illustrating an example configuration of the vehicle assistance system 10 according to this embodiment. The vehicle assistance system 10 includes one or more processors 100 (hereinafter referred to as processor 100), one or more storage devices 200 (hereinafter referred to as storage devices 200), a sensor group 300, and one or more lighting L (hereinafter referred to as lighting L).

[0067] Processor 100 performs various processes. For example, processor 100 includes a CPU (Central Processing Unit). Storage device 200 stores various information required for the processes performed by processor 100. Examples of storage device 200 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc. At least a portion of processor 100 and storage device 200 may be included in a management device 2 for autonomous valet parking in a parking lot (see reference). Figure 1 In other words, the vehicle assistance system 10 and the management device 2 may be at least partially shared. At least a portion of the processor 100 and the storage device 200 may also be included in the vehicle 1. In other words, the vehicle assistance system 10 and the vehicle 1 may also be at least partially shared.

[0068] Sensor group 300 includes at least one of illuminance sensor 310 and camera 320. Illuminance sensor 310 includes at least one of infrastructure illuminance sensor disposed in the designated area AR and vehicle-mounted illuminance sensor mounted on vehicle 1. Camera 320 includes at least one of infrastructure camera disposed in the designated area AR and vehicle-mounted camera mounted on vehicle 1.

[0069] The lighting L exists within the designated area AR. Typically, the lighting L is located within the designated area AR. The lighting L may also include external lights 3L (e.g., headlights, welcome lights) mounted on parked vehicles 3 within the parking lot.

[0070] The processor 100 acquires various information. This information is stored in the storage device 200. For example, the information includes vehicle location information 210, marker location information 220, brightness calculation information 230, brightness information 240, lighting location information 250, etc.

[0071] Vehicle location information 210 indicates the position (current position) of vehicle 1 in the specified area AR and at least one of the target path PT. An example of the method for obtaining vehicle location information 210 is described later.

[0072] The marker location information 220 indicates the locations of multiple markers M configured in the designated area AR. The marker location information 220 may also be included in the map information of the designated area AR. The marker location information 220 is provided to the vehicle assistance system 10 by the administrator of the designated area AR, etc.

[0073] Brightness calculation information 230 is information used when calculating the brightness at the location of object marker Mt. An example of brightness calculation information 230 is described later.

[0074] Brightness information 240 is information indicating the brightness at the location of object marker Mt. An example of how to obtain brightness information 240 is described later.

[0075] The lighting location information 250 indicates the location of the lighting L present within the designated area AR. The lighting location information 250 related to the lighting L installed in the designated area AR may also be included in the map information of the designated area AR. The lighting location information 250 related to the lighting L installed in the designated area AR is provided to the vehicle assistance system 10 by the administrator of the designated area AR, etc. The lighting location information 250 related to the exterior lights 3L of the parked vehicle 3 is provided to the vehicle assistance system 10 from the management device 2 that manages autonomous valet parking.

[0076] The vehicle assistance program PROG is a computer program executed by the processor 100. The functions of the vehicle assistance system 10 (processor 100) are realized by the processor 100 executing the vehicle assistance program PROG. The vehicle assistance program PROG is stored in the storage device 200. The vehicle assistance program PROG may also be recorded on a computer-readable recording medium.

[0077] The following details an example of vehicle assistance processing based on the vehicle assistance system 10 (processor 100).

[0078] 1-3. Examples of vehicle auxiliary processing

[0079] Figure 7 This is a block diagram illustrating a functional configuration example of the vehicle assistance system 10 according to this embodiment. The vehicle assistance system 10 includes a vehicle position acquisition unit 110, an object marker position acquisition unit 120, a brightness acquisition unit 130, a determination unit 140, and a lighting control unit 150 as functional blocks. These functional blocks are implemented through the cooperation of a processor 100 that executes the vehicle assistance program PROG and a storage device 200.

[0080] Figure 8 This is a flowchart illustrating the vehicle assistance processing involved in this embodiment. (Refer to...) Figure 7 and Figure 8 This describes the vehicle auxiliary processing involved in this embodiment.

[0081] 1-3-1. Vehicle location acquisition process (step S110)

[0082] In step S110, the vehicle position acquisition unit 110 acquires vehicle position information 210. Vehicle position information 210 shows at least one of the vehicle 1's position (current position) in the designated area AR and a target path PT. The target path PT corresponds to the future position of the vehicle 1.

[0083] For example, vehicle 1 performs localization processing based on the identification result of marker M to accurately estimate the position of vehicle 1. Vehicle position acquisition unit 110 communicates with vehicle 1 to acquire vehicle position information 210 showing the position of vehicle 1. Alternatively, vehicle position acquisition unit 110 may also be included in vehicle 1.

[0084] As another example, the vehicle location acquisition unit 110 can also use a camera 320 (infrastructure camera) set in a designated area AR to photograph the vehicle 1 and estimate the location of the vehicle 1.

[0085] The target path PT of vehicle 1 in the designated area AR is determined, for example, by management device 2 and provided to vehicle 1. Vehicle location acquisition unit 110 is able to communicate with management device 2 or vehicle 1 to acquire vehicle location information 210 showing the target path PT. Alternatively, vehicle location acquisition unit 110 may also be included in management device 2 or vehicle 1.

[0086] 1-3-2. Processing for obtaining the object marker position (step S120)

[0087] In step S120, the object mark location acquisition unit 120 acquires the location of the object, i.e., the object mark Mt, that is, the object identified by the camera on vehicle 1.

[0088] For example, object marker Mt is a marker M that exists near the current position of vehicle 1. In this case, object marker Mt is a marker M that exists within a certain range from the current position of vehicle 1. The current position of vehicle 1 is obtained based on vehicle position information 210. The position of each marker M is obtained based on marker position information 220. Thus, the object marker position acquisition unit 120 can grasp the object marker Mt based on vehicle position information 210 and marker position information 220, and obtain the position of the object marker Mt.

[0089] As another example, the object marker Mt can also be a predetermined marker M that vehicle 1 will identify in the future. That is, the object marker Mt can also be a marker M that exists near the target path PT of vehicle 1. In this case, the object marker Mt is a marker M that exists within a certain range from the target path PT of vehicle 1. The target path PT of vehicle 1 is obtained based on the vehicle position information 210. The position of each marker M is obtained based on the marker position information 220. Thus, the object marker position acquisition unit 120 can grasp the object marker Mt based on the vehicle position information 210 and the marker position information 220, and obtain the position of the object marker Mt.

[0090] The object marker position information 225 shows the position of the object marker Mt obtained by the object marker position acquisition unit 120.

[0091] 1-3-3. Brightness Acquisition Process (Step S130)

[0092] In step S130, the brightness acquisition unit 130 acquires brightness information 240 indicating the brightness at the location of the object marker Mt. The location of the object marker Mt is obtained based on the object marker location information 225. The brightness calculation information 230 is information referenced when calculating (estimated) brightness. The brightness acquisition unit 130 calculates the brightness at the location of the object marker Mt based on the object marker location information 225 and the brightness calculation information 230, and acquires the brightness information 240.

[0093] Figure 9This is a block diagram illustrating an example of the brightness acquisition process performed by the brightness acquisition unit 130. The brightness acquisition unit 130 includes a shadow position estimation unit 131 and a brightness calculation unit 132. The brightness calculation information 230 includes illuminance information 231, light source position information 232, and object position information 233.

[0094] Illuminance information 231 indicates at least one of the illuminance around vehicle 1 and the illuminance of the designated area AR. For example, illuminance is detected by illuminance sensor 310. Illuminance sensor 310 includes at least one of an infrastructure illuminance sensor disposed in the designated area AR and an on-board illuminance sensor mounted on vehicle 1. As another example, illuminance can also be calculated (estimated) based on the brightness of an image captured by camera 320. Camera 320 includes at least one of an infrastructure camera disposed in the designated area AR and an on-board camera mounted on vehicle 1. As yet another example, illuminance can also be estimated based on time of day (position of the sun) and weather information.

[0095] Light source position information 232 indicates the position of the light source. Light sources include the sun, illumination L positioned within the designated area AR, etc. The position of the sun can be calculated based on the season and time of day. The position of illumination L is obtained from illumination position information 250.

[0096] Object location information 233 indicates the location of an object existing within the specified area AR. For example, object location information 233 includes structure location information 234, parked vehicle location information 235, and vehicle information 236.

[0097] Structure location information 234 indicates the location of structures within the designated area AR. Examples of structures include columns and walls. Structure location information 234 may also be included in the map information of the designated area AR. Structure location information 234 is provided to the vehicle assistance system 10 by the administrator of the designated area AR, etc.

[0098] Parking vehicle location information 235 indicates the location of parking vehicle 3 within the designated area AR (parking lot). Parking vehicle location information 235 is provided from management device 2 to vehicle assistance system 10.

[0099] Vehicle information 236 shows the location (current location) of vehicle 1 within the designated area AR. The location of vehicle 1 is obtained based on vehicle location information 210. Vehicle information 236 may also show the dimensions (length, width, height) of vehicle 1. The dimension information of vehicle 1 is provided from vehicle 1.

[0100] The shadow position estimation unit 131 estimates the position of the shadow generated by the light source and the object within the defined area AR. The position of the light source is obtained based on the light source position information 232. The position of the object within the defined area AR is obtained based on the object position information 233. Thus, the shadow position estimation unit 131 can estimate the position of the shadow based on the light source position information 232 and the object position information 233. The shadow position information 237 shows the estimated shadow position.

[0101] The luminance calculation unit 132 calculates (estimates) the luminance at the location of the object marker Mt. The location of the object marker Mt is obtained based on the object marker location information 225. Illuminance information 231 shows at least one of the illuminance around the vehicle 1 and the illuminance of the designated area AR. Shadow location information 237 shows the location of the shadow within the designated area AR. Thus, the luminance calculation unit 132 can calculate (estimate) the luminance at the location of the object marker Mt based on the object marker location information 225, the illuminance information 231, and the shadow location information 237. The luminance calculation unit 132 may also use only one of the illuminance information 231 and the shadow location information 237.

[0102] Brightness information 240 shows the brightness at the position of object mark Mt calculated by brightness calculation unit 132.

[0103] 1-3-4. Judgment and Processing (Step S140)

[0104] In step S140, the determination unit 140 determines whether the brightness at the location of the object marker Mt is less than a threshold based on the brightness information 240. This determination process is performed for each object marker Mt. If the brightness at the location of the object marker Mt is less than the threshold (step S140: Yes), the processing related to that object marker Mt proceeds to step S150. On the other hand, if the brightness at the location of the object marker Mt is above the threshold (step S140: No), the processing of the current loop related to that object marker Mt ends.

[0105] 1-3-5. Lighting control processing (step S150)

[0106] In step S150, the lighting control unit 150 performs lighting control processing, in which one or more lighting Ls existing in the specified area AR are controlled.

[0107] More specifically, the lighting control unit 150 selects the illumination L present at the location illuminating the object marker Mt as the object illumination Lt. The location of the object marker Mt is obtained based on the object marker location information 225. The locations of each illumination L present within the designated area AR are obtained based on the illumination location information 250. Furthermore, the illumination range of each illumination L is set to known information. The lighting control unit 150 is able to select the object illumination Lt present at the location illuminating the object marker Mt based on the object marker location information 225 and the illumination location information 250.

[0108] Furthermore, the lighting control unit 150 increases the amount of light illuminating the object Lt compared to the brightness at the location of the object mark Mt, which is above a threshold. As a result, the object mark Mt becomes brighter, making it easier for the vehicle 1 to identify. That is, the accuracy of mark recognition based on the vehicle 1 can be improved.

[0109] The lighting control unit 150 can also increase the light intensity of the object illumination Lt by making the brightness at the location of the object mark Mt a "target brightness". In this case, the lighting control unit 150 determines the control amount of the object illumination Lt based on the difference between the "current brightness" and the "target brightness" at the location of the object mark Mt. By ensuring a target brightness suitable for mark recognition, the accuracy of mark recognition based on the vehicle 1 can be further improved.

[0110] 1-4. Processing related to identified tags

[0111] Figure 10 This is a conceptual diagram illustrating the processing related to the identified marker Mz. The identified marker Mz is an object marker Mt that has been identified by vehicle 1. When vehicle 1 identifies object marker Mt, it notifies vehicle assistance system 10 of the identification information or location of the identified marker Mz. In response to this notification, processor 100 can reduce the amount of light illuminating object lighting Lt illuminating the identified marker Mz. In other words, processor 100 can reduce the amount of light illuminating object lighting Lt illuminating the identified marker Mz compared to before the identification of the identified marker Mz. Processor 100 can also turn off object lighting Lt illuminating the identified marker Mz. Thus, an unnecessary increase in power consumption can be suppressed.

[0112] 1-5. Effects

[0113] As described above, according to this embodiment, the vehicle assistance system 10 obtains the brightness at the location of the object, i.e., the object marker Mt, which is identified by the vehicle 1. When the brightness at the location of the object marker Mt is less than a threshold, the vehicle assistance system 10 selects an object illumination Lt located at the position illuminating the object marker Mt and increases the light intensity of that object illumination Lt. As a result, the object marker Mt becomes brighter and easier for the vehicle 1 to identify. That is, the accuracy of marker recognition based on the vehicle 1 can be improved.

[0114] The vehicle assistance system 10 can also increase the amount of light illuminating the object Lt by making the brightness at the location of the object mark Mt the "target brightness". This ensures a target brightness suitable for mark recognition, thereby further improving the accuracy of mark recognition based on the vehicle 1.

[0115] If the accuracy of the tag recognition based on vehicle 1 is improved, the accuracy of the actions of vehicle 1 based on the tag recognition results will also be improved.

[0116] Alternatively, it was considered to use the external lights mounted on the vehicle itself as illumination L. However, the illumination range of the external lights mounted on the vehicle 1 is limited. Therefore, using the illumination L installed in the parking lot is more effective in appropriately brightening the object marker Mt.

[0117] 2. Second Implementation Method

[0118] 2-1. Overview

[0119] In the first embodiment described above, lighting control for the object identified by vehicle 1, namely object marker Mt, was explained. In the second embodiment, lighting control for markers M other than object marker Mt is also investigated. Descriptions repeated in the first embodiment are appropriately omitted.

[0120] As described above, by increasing the amount of light from the object illumination Lt at the location illuminating the object marker Mt, the recognition accuracy of the object marker Mt can be improved. At this time, it is unnecessary to specifically brighten markers M other than the object marker Mt. This is because markers M other than the object marker Mt are irrelevant to the movement of the vehicle 1. Brightening markers M irrelevant to the movement of the vehicle 1 would lead to an unnecessary increase in power consumption. Therefore, in the second embodiment, the vehicle assistance system 10 (processor 100) actively reduces the amount of light from the illumination L at the location illuminating markers M far from the vehicle 1. In other words, the vehicle assistance system 10 determines the intensity of multiple illuminations L within a specified area AR, taking into account the positional relationship between the vehicle 1 and the markers M.

[0121] Figures 11-13 This is a conceptual diagram used to illustrate a processing example based on the vehicle assistance system 10 according to the second embodiment. Figures 11-13In the example shown, object marker Mt is a marker M near the location (current location) of vehicle 1. Markers M other than object marker Mt are farther away from the location of vehicle 1 than object marker Mt. The vehicle assistance system 10 controls multiple lighting Ls within a designated area AR in a manner that makes the illuminance of markers M other than object marker Mt lower than that of object marker Mt. As a result, power consumption is suppressed as a whole within the designated area AR.

[0122] In addition, Figures 11-13 In the example shown, the bright area moves as vehicle 1 moves. That is, the vehicle assistance system 10 controls multiple lighting fixtures L within a designated area AR in a manner that causes a spotlight to shine on vehicle 1 and moves as vehicle 1 moves. In this case, with Figure 10 As shown, the amount of light illuminating the object Lt that illuminates the identified mark Mz is reduced compared to before the identification of the identified mark Mz.

[0123] Figure 14 This is a conceptual diagram illustrating another processing example based on the vehicle assistance system 10 according to the second embodiment. Figure 14 In the example shown, object marker Mt is marker M near the target path PT of vehicle 1. Markers M other than object marker Mt are farther away from the target path of vehicle 1 than object marker Mt. The vehicle assistance system 10 controls multiple lighting Ls within a designated area AR in a manner that makes the illuminance of markers M other than object marker Mt lower than that of object marker Mt. As a result, power consumption is suppressed as a whole within the designated area AR.

[0124] Figure 15 This is a conceptual diagram illustrating the outline of the processing of the vehicle assistance system 10 according to the second embodiment. A first marker M1 is at least included in the object marker Mt. A second marker M2 is farther from the vehicle 1's position (current position) or target path PT than the first marker M1. In other words, from the perspective of the vehicle 1's position (current position) or target path PT, the second marker M2 is farther than the first marker M1. The second marker M2 may also be an object marker Mt that is farther than the first marker M1. The vehicle assistance system 10 (processor 100) controls multiple lighting fixtures L within a designated area AR in such a way that the illuminance of the second marker M2 is lower than the illuminance of the first marker M1.

[0125] More specifically, the multiple lights within the designated area AR include a first light L1 located at the position illuminating the first mark M1, and a second light L2 located at the position illuminating the second mark M2. The vehicle assistance system 10 (processor 100) makes the light intensity of the second light L2 less than that of the first light L1. Thus, power consumption is suppressed as a whole within the designated area AR. The vehicle assistance system 10 (processor 100) can also turn on (illuminate) the first light L1 and turn off (extinguish) the second light L2. By turning off the second light L2, power consumption is further suppressed.

[0126] 2-2. Example of a vehicle assistance system

[0127] The vehicle assistance system 10 according to the second embodiment also has the same Figure 6 The configuration shown is the same.

[0128] Figure 16 This is a block diagram illustrating a functional configuration example of the vehicle assistance system 10 according to the second embodiment. The vehicle assistance system 10 includes a vehicle position acquisition unit 110, an object marker position acquisition unit 120, and a lighting control unit 150A as functional blocks. The vehicle position acquisition unit 110 and the object marker position acquisition unit 120 are the same as in the first embodiment.

[0129] In step S150 (lighting control processing), the lighting control unit 150A controls multiple lighting Ls present within a designated area AR. A first marker M1 is at least included in an object marker Mt. A second marker M2 is located further away from the vehicle 1 (current position) or the target path PT than the first marker M1. The lighting control unit 150A can determine the first marker M1 and the second marker M2 based on vehicle position information 210, marker position information 220, and object marker position information 225. Therefore, the lighting control unit 150A can control the multiple lighting Ls such that the illuminance of the second marker M2 is lower than that of the first marker M1, based on the vehicle position information 210, marker position information 220, object marker position information 225, and lighting position information 250. More specifically, the lighting control unit 150A makes the light intensity of the second lighting L2 at the location illuminating the second marker M2 less than the light intensity of the first lighting L1 at the location illuminating the first marker M1. The lighting control unit 150A can also turn on the first lighting L1 and turn off the second lighting L2.

[0130] 2-3. Effects

[0131] According to the second embodiment, it is possible to improve the accuracy of marker recognition based on vehicle 1 while suppressing the overall power consumption of AR in the specified area.

[0132] 2-4. Combination with the first embodiment

[0133] A combination of the first and second embodiments is also possible. In this case, Figure 7 The lighting control unit 150 according to the first embodiment shown also has Figure 16 The functions of the lighting control unit 150A according to the second embodiment shown.

[0134] 3. Third Implementation Method

[0135] 3-1. Overview

[0136] The third embodiment is a variation of the second embodiment. Descriptions that are repeated in the embodiments already shown have been appropriately omitted.

[0137] Figure 17 This is a conceptual diagram illustrating the movable illumination Lm used in the third embodiment. One or more illuminations L disposed in a defined area AR include one or more movable illuminations Lm. At least one of the position and orientation of the movable illumination Lm is variable. The vehicle assistance system 10 (processor 100) is capable of changing at least one of the position and orientation of the movable illumination Lm.

[0138] Figure 18 This is a conceptual diagram illustrating a processing example of the vehicle assistance system 10 according to the third embodiment. The vehicle assistance system 10 (processor 100) controls at least one of the position and orientation of the movable illumination Lm in a manner that makes the object marker Mt brighter. As a result, the markers M other than the object marker Mt become relatively darker. That is, the vehicle assistance system 10 (processor 100) controls at least one of the position and orientation of the movable illumination Lm in a manner that makes the illuminance of the object marker Mt higher than the illuminance of the markers M other than the object marker Mt.

[0139] The above Figures 11-13 The brightness control shown is also possible. That is, the vehicle assistance system 10 (processor 100) can also control at least one of the position and orientation of the movable illumination Lm in such a way that the area illuminated by the movable illumination Lm follows the movement of the vehicle 1. In this case, it is also related to... Figure 10 As shown, the amount of light illuminating the object Lt that illuminates the identified mark Mz is reduced compared to before the identification of the identified mark Mz.

[0140] Figure 19This is a conceptual diagram illustrating the outline of the processing of the vehicle assistance system 10 according to the third embodiment. A first marker M1 is at least included in the object marker Mt. A second marker M2 is farther from the vehicle 1's position (current position) or target path PT than the first marker M1. In other words, from the perspective of the vehicle 1's position (current position) or target path PT, the second marker M2 is farther than the first marker M1. The second marker M2 may also be an object marker Mt that is farther than the first marker M1. The vehicle assistance system 10 (processor 100) controls at least one of the position and orientation of the movable illumination Lm in a manner that makes the illuminance of the first marker M1 higher than the illuminance of the second marker M2.

[0141] 3-2. Example of vehicle assistance system configuration

[0142] The vehicle assistance system 10 according to the third embodiment also has the same Figure 6 The configuration shown is the same.

[0143] Figure 20 This is a block diagram illustrating a functional configuration example of the vehicle assistance system 10 according to the third embodiment. The vehicle assistance system 10 includes a vehicle position acquisition unit 110, an object marker position acquisition unit 120, and a lighting control unit 150B as functional blocks. The vehicle position acquisition unit 110 and the object marker position acquisition unit 120 are the same as in the first embodiment.

[0144] In step S150 (lighting control processing), the lighting control unit 150B controls the movable lighting Lm present within the designated area AR. A first marker M1 is at least included in the object marker Mt. A second marker M2 is located further away from the vehicle 1 (current position) or the target path PT than the first marker M1. The lighting control unit 150B can determine the first marker M1 and the second marker M2 based on the vehicle position information 210, marker position information 220, and object marker position information 225. Therefore, the lighting control unit 150B can control at least one of the position and orientation of the movable lighting Lm, such that the illuminance of the first marker M1 is higher than that of the second marker M2, based on the vehicle position information 210, marker position information 220, object marker position information 225, and lighting position information 250.

[0145] 3-3. Effects

[0146] According to the third embodiment, by utilizing a movable illumination Lm whose position and orientation are variable, the total number of illuminations L that should be installed in the designated area AR can be reduced. Furthermore, the number of illuminations L that should be lit simultaneously can also be reduced. These contribute to cost and power consumption reduction. That is, according to the third embodiment, it is possible to improve the accuracy of vehicle-based marker recognition while reducing cost and power consumption.

[0147] 3-4. Combination with the first embodiment

[0148] A combination of the first and third embodiments is also possible. In this case, Figure 7 The lighting control unit 150 according to the first embodiment shown also has Figure 20 The functions of the lighting control unit 150B according to the third embodiment shown.

[0149] 4. Fourth Implementation Method

[0150] This disclosure can also be applied to autonomous valet parking of vehicle 1 in a parking lot, in addition to other applications. For example, this disclosure can also be applied to autonomous valet parking in which an autonomous robot tows a vehicle that does not have autonomous driving capabilities. Furthermore, this disclosure can also be applied when localized processing is performed on street markers M, vehicle or robot identification markers M, etc.

[0151] In a generalized context, "vehicle" in the above description is replaced with "moving body." That is, the "moving body assistance system" assists in identifying a moving body marked M positioned within a designated area AR.

[0152] Label Explanation

[0153] 1 vehicle

[0154] 2. Management device

[0155] 3 Parking vehicles

[0156] 3L exterior lights

[0157] 10 Vehicle Assistance Systems

[0158] 100 processors

[0159] 110 Vehicle Location Acquisition Department

[0160] 120 Object Marker Position Acquisition Section

[0161] 130 Brightness Acquisition Unit

[0162] 140 Judgment Department

[0163] Lighting control section for 150, 150A, and 150B

[0164] 200 storage devices

[0165] 210 Vehicle location information

[0166] 220 Mark location information

[0167] 225 Object marker location information

[0168] 230 luminance calculation information

[0169] 231 Illuminance Information

[0170] 232 Light source position information

[0171] 233 Object position information

[0172] 234. Structure location information

[0173] 235 Parking vehicle location information

[0174] 236 Vehicle Information

[0175] 237. Shadow position information

[0176] 240 brightness information

[0177] 250 Lighting location information

[0178] 300 sensor groups

[0179] AR Designated Area

[0180] L lighting

[0181] Lm movable lighting

[0182] Lt object lighting

[0183] M mark

[0184] Mt object tag

[0185] PT target path.

Claims

1. A mobile body assistance system for assisting in identifying a mobile body marked in a designated area, the mobile body assistance system comprising: one or more storage devices that store marker position information and lighting position information, the marker position information showing positions of a plurality of markers arranged in the prescribed area, the lighting position information showing positions of one or more lightings present within the prescribed area; as well as One or more processors, The one or more processors are configured to perform the following processes: The process involves obtaining the position information of the moving body in the specified area and at least one of the moving body positions in the target path, and obtaining the position of the object marker as the object identified by the moving body based on the marker position information and the moving body position information. Brightness acquisition processing obtains information showing the brightness of the object marker at the location; as well as The lighting control process, when the brightness is less than a threshold, selects object illumination at the location illuminating the object marker based on the lighting position information, increasing the amount of light illuminating the object compared to when the brightness is above the threshold. The plurality of markers includes a first marker and a second marker, wherein the first marker is included in the object marker, and the second marker is farther away from the location of the moving body or the target path than the first marker. The lighting control process includes controlling the one or more lights in a manner that makes the illuminance of the second mark lower than that of the first mark, based on the mark position information, the lighting position information, and the moving body position information. The designated area is a parking lot. The mobile vehicle corresponds to the autonomous valet parking in the parking lot. The one or more processors are capable of remotely operating the parked vehicles in the parking lot. The one or more lights include the exterior lights of the parked vehicle.

2. The mobile body assist system according to claim 1, wherein, The lighting control process includes the following process: increasing the amount of light illuminating the object in such a way that the brightness at the location marked on the object becomes a target brightness.

3. The mobile body assist system according to claim 1, wherein, The one or more illuminations include a first illumination and a second illumination, wherein the first illumination is present at the location illuminating the first mark, and the second illumination is present at the location illuminating the second mark. The lighting control process includes making the light intensity of the second illumination less than that of the first illumination.

4. The mobile body assist system according to claim 3, wherein, The lighting control process includes: turning on the first lighting and turning off the second lighting.

5. The mobile body assist system according to claim 1, wherein, The one or more lighting options include movable lighting options whose position and orientation are variable. The lighting control process includes controlling at least one of the position and orientation of the movable lighting in such a way that the illuminance of the first marker is higher than the illuminance of the second marker.

6. The mobile body assist system according to claim 5, wherein, The lighting control process includes controlling at least one of the position and orientation of the movable lighting in a manner that causes the area illuminated by the movable lighting to follow the movement of the moving body.

7. The mobile body assist system according to any one of claims 1 to 6, wherein, An identified marker is an object marker that has been identified by the moving body. The one or more processors are further configured to reduce the amount of light illuminating the object that has been identified as the mark compared to before the mark was identified.

8. The mobile body assist system according to any one of claims 1 to 6, wherein, The brightness acquisition process includes: Processing to obtain at least one of the illuminance around the moving body and the illuminance of the specified area; as well as The process of obtaining the brightness at the location of the object mark based on the location of the object mark and the illuminance.

9. The mobile body assist system according to any one of claims 1 to 6, wherein, The brightness acquisition process includes: Shadow position estimation processing for estimating the position of shadows within the specified area; as well as The process of obtaining the brightness at the location of the object mark based on the location of the object mark and the location of the shadow.

10. The mobile body assist system according to claim 9, wherein, The shadow position estimation process includes: Processing to obtain light source position information that indicates the position of the light source; Processing to obtain object position information that shows the position of objects within the specified area; as well as The process of estimating the position of the shadow generated by the light source and the object based on the light source position information and the object position information.

11. A moving body assisting method for assisting in identifying a moving body marked in a designated area, the moving body assisting method comprising: The process of obtaining marker location information and lighting location information, wherein the marker location information indicates the location of multiple markers configured in the defined area, and the lighting location information indicates the location of one or more lights present in the defined area; The process involves obtaining the position information of the moving body in the specified area and at least one of the moving body positions in the target path, and obtaining the position of the object marker as the object identified by the moving body based on the marker position information and the moving body position information. Brightness acquisition processing obtains information showing the brightness of the object marker at the location; as well as The lighting control process, when the brightness is less than a threshold, selects object illumination at the location illuminating the object marker based on the lighting position information, increasing the amount of light illuminating the object compared to when the brightness is above the threshold. The plurality of markers includes a first marker and a second marker, wherein the first marker is included in the object marker, and the second marker is farther away from the location of the moving body or the target path than the first marker. The lighting control process includes controlling the one or more lights in a manner that makes the illuminance of the second mark lower than that of the first mark, based on the mark position information, the lighting position information, and the moving body position information. The designated area is a parking lot. The mobile vehicle corresponds to the autonomous valet parking in the parking lot. being able to remotely operate a parked vehicle within the parking lot, the one or more illuminations include exterior lights of the parked vehicle.

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