Guidance information delivery device and navigation system

Abstract

To facilitate avoidance of adjacency of a vehicle to a pedestrian in a parking lot while guiding a vacant zone of the parking lot in the vehicle.SOLUTION: A guidance information delivery device comprises: a vacant zone detection section 33 for detecting a vacant zone being a vacant parking zone of a parking lot; a pedestrian detection section 34 for detecting a pedestrian positioned in the parking lot; and a delivery section 35 for delivering delivery information including vacant zone position information for enabling a vehicle side to identify a position of the vacant zone detected by the vacant zone detection section in the parking lot, pedestrian position information for enabling the vehicle side to identify a position of the pedestrian detected by the pedestrian detection section 34 in the parking lot, and map information of an inside of the parking lot.SELECTED DRAWING: Figure 3

Description

[Technical field]

[0001] The present disclosure relates to a guide information distribution device and a navigation system. [Background technology]

[0002] Patent Document 1 discloses a parking management system that detects vacant parking spaces and transmits to a vehicle information indicating the driving route to the parking space where the vehicle should be parked. In the technology disclosed in Patent Document 1, a message guiding the vehicle's driving route is displayed on a display unit of a moving object moved above and in front of the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-28529 A Summary of the Invention [Problem to be solved by the invention]

[0004] The technology disclosed in Patent Document 1 provides guidance on a route to an available parking space, but does not take into consideration pedestrians moving through the parking space. Therefore, when the occupant cannot directly observe pedestrians near the vehicle, there is a risk that the occupant may approach the pedestrian.

[0005] One objective of this disclosure is to provide a vehicle position estimation device that enables guidance to a vehicle for vacant parking spaces while making it easier to avoid the vehicle coming into close proximity to pedestrians in the parking lot. [Means for solving the problem]

[0006] The above object is achieved by the combination of features recited in the independent claims, and the subclaims define further advantageous embodiments of the disclosure. The reference characters in parentheses in the claims indicate a correspondence with specific means described in the following embodiment as one aspect, and do not limit the technical scope of the present disclosure.

[0007] In order to achieve the above-mentioned object, the guidance information distribution device of the present disclosure includes a vacant space detection unit (33) that detects vacant parking spaces in a parking lot, a pedestrian detection unit (34) that detects pedestrians located in the parking lot, and distribution units (35, 35a) that distribute distribution information including vacant space position information that enables the vehicle to identify the position in the parking lot of the vacant space detected by the vacant space detection unit, pedestrian position information that enables the vehicle to identify the position in the parking lot of the pedestrian detected by the pedestrian detection unit, and map information within the parking lot.

[0008] According to the above configuration, since vacant space position information and map information of the parking lot are distributed, it becomes possible for a vehicle that has acquired this information to be presented with the position of a vacant space in the parking lot. Thus, it becomes possible for the vehicle to be guided to a vacant space in the parking lot. Furthermore, since pedestrian position information and map information of the parking lot are distributed, it becomes possible for a vehicle that has acquired this information to be presented with the position of a pedestrian in the parking lot. Thus, it becomes easier for the vehicle to avoid approaching pedestrians in the parking lot. As a result, it becomes easier for the vehicle to avoid approaching pedestrians in the parking lot while being able to guide the vehicle to a vacant space in the parking lot.

[0009] In order to achieve the above object, the navigation system disclosed herein is a navigation system including a vehicle-side unit (4, 4a) that can be used in a vehicle, and a guidance information distribution device (3, 3a) that distributes information to the vehicle, and the guidance information distribution device includes a vacant space detection unit (33) that detects vacant spaces that are vacant parking spaces in a parking lot, a pedestrian detection unit (34) that detects pedestrians located in the parking lot, vacant space position information that allows the vehicle-side unit to specify the position in the parking lot of the vacant space detected by the vacant space detection unit, and a position in the parking lot of the pedestrian detected by the pedestrian detection unit. The vehicle-side unit is equipped with a distribution unit (35, 35a) that distributes distribution information including identifiable pedestrian position information and map information within the parking lot to the vehicle-side unit, and the vehicle-side unit is equipped with a distribution information acquisition unit (401, 401a) that acquires the distribution information distributed from the distribution unit, a vehicle position identification unit (402) that identifies the vehicle position which is the current position of the vehicle, and a display control unit (441) that displays information indicating a map within the parking lot, the position of a vacant space in the parking lot, a route from the vehicle position to the vacant space, and the position of the pedestrian in the parking lot, based on the distribution information acquired by the distribution information acquisition unit and the vehicle position identified by the vehicle position identification unit.

[0010] According to the above configuration, vacant space position information and map information within the parking lot are distributed, and the vehicle-side unit that has acquired this information displays information indicating a map within the parking lot, the positions of the vacant spaces in the parking lot, and a route from the vehicle position to the vacant spaces. Thus, it is possible for the vehicle to be guided to vacant spaces in the parking lot. Furthermore, pedestrian position information and map information within the parking lot are distributed, and the vehicle-side unit that has acquired this information displays information indicating a map within the parking lot and the positions of pedestrians in the parking lot. Thus, it is easier for the vehicle to avoid approaching pedestrians in the parking lot. As a result, it is easier for the vehicle to avoid approaching pedestrians in the parking lot while enabling the vehicle to be guided to vacant spaces in the parking lot. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of a schematic configuration of a navigation system. [Diagram 2] FIG. 1 is a diagram for explaining an example of application of a navigation system in a parking lot. [Diagram 3] 1 is a diagram illustrating an example of a schematic configuration of a guide information distribution device according to a first embodiment. [Figure 4] 2 is a diagram showing an example of a schematic configuration of a vehicle-side unit in the first embodiment. FIG. [Diagram 5] 2 is a diagram illustrating an example of a schematic configuration of a driving assistance ECU according to the first embodiment. [Figure 6] 10 is a diagram for explaining a display example of a map of a parking lot and information showing vacant space locations. FIG. [Figure 7] 13 is a diagram for explaining an example of a bird's-eye view display of information showing a parking lot map, vacant space locations, parking routes, and pedestrian locations. FIG. [Figure 8] FIG. 13 is a diagram showing an example of AR display of a parking route in the foreground captured by a surrounding monitoring camera. [Figure 9] FIG. 11 is a diagram illustrating an example of a schematic configuration of a guide information distribution device according to a second embodiment. [Figure 10] FIG. 11 is a diagram showing an example of a schematic configuration of a vehicle-side unit in a second embodiment. [Figure 11] FIG. 11 is a diagram illustrating an example of a schematic configuration of a driving assistance ECU according to a second embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] A number of embodiments for disclosure will be described with reference to the drawings. For convenience of description, in a number of embodiments, parts having the same functions as parts shown in the drawings used in the previous description may be given the same reference numerals and their description may be omitted. For parts given the same reference numerals, the description in other embodiments may be referred to.

[0013] (Embodiment 1) <Outline of the configuration of navigation system 1> Hereinafter, a first embodiment of the present disclosure will be described with reference to the drawings. First, a navigation system 1 will be described with reference to FIGS. 1 and 2. FIG. 1 is a diagram showing an example of a schematic configuration of the navigation system 1. FIG. 2 is a diagram for explaining an application example of the navigation system 1 in a parking lot. SV in FIG. 2 indicates the vehicle entering the parking lot. PV in FIG. 2 indicates a parked vehicle parked in the parking lot. ESA, ESB, and ESC in FIG. 2 each indicate an empty section among the parking sections in the parking lot. In the following, when the empty section is not distinguished, it is described as an empty section ES. Pe in FIG. 2 indicates a pedestrian present in the parking lot. As shown in FIG. 1, the navigation system 1 includes a parking lot camera 2, a guidance information distribution device 3, and a vehicle-side unit 4.

[0014] The parking lot camera 2 is installed in the parking lot. It is preferable that the parking lot camera 2 is installed so that all parking spaces and aisles in the parking lot are included in the imaging range. As shown in FIG. 2, multiple parking lot cameras 2 may be installed in the parking lot. The parking lot cameras 2 may be installed so that the imaging ranges of the multiple parking lot cameras 2 cover all parking spaces and aisles in the parking lot. The parking lot camera 2 is used to detect the presence or absence of parked vehicles PV in the parking spaces, and the presence or absence of pedestrians Pe in the parking spaces and aisles.

[0015] Here, an example will be described in which the parking lot camera 2 is used, but a configuration using a sensor other than the parking lot camera 2 may also be used. This sensor may be any sensor that can be used to detect the presence or absence of a parked vehicle PV in a parking space, and the presence or absence of a pedestrian Pe in the parking space and the passage. For example, this sensor may be a LIDAR (Light Detection and Ranging / Laser Imaging Detection and Ranging), sonar, millimeter wave radar, or the like.

[0016] The guidance information distribution device 3 distributes distribution information to the vehicle SV entering the parking lot, which supports parking in a vacant space ES in the parking lot. More specifically, the distribution information is distributed to a vehicle-side unit 4 used in the vehicle SV. Details of the guidance information distribution device 3 and the vehicle-side unit 4 will be described later. Examples of parking lots to which the navigation system 1 is applied include parking lots at shopping malls.

[0017] <Overall configuration of guide information distribution device 3> Next, an example of a schematic configuration of the guidance information distribution device 3 will be described with reference to Fig. 3. As shown in Fig. 3, the guidance information distribution device 3 includes a sensing information acquisition unit 31, a data storage unit 32, a vacant section detection unit 33, a pedestrian detection unit 34, and a distribution unit 35 as functional blocks. Note that some or all of the functions executed by the guidance information distribution device 3 may be configured as hardware using one or more ICs or the like. Also, some or all of the functional blocks included in the guidance information distribution device 3 may be realized by a combination of software execution by a processor and hardware members.

[0018] The sensing information acquisition unit 31 acquires images captured by the parking lot camera 2. The sensing information acquisition unit 31 may acquire images from the parking lot camera 2 by wireless communication or by wired communication. The sensing information acquisition unit 31 may acquire images from the parking lot camera 2 via a network. When a sensor other than the parking lot camera 2 is used, the sensing information acquisition unit 31 acquires sensing information from this sensor.

[0019] The data storage unit 32 stores information about the parking lot. A non-volatile memory may be used as the data storage unit 32. The data storage unit 32 stores map information in the parking lot. The map information in the parking lot is hereinafter referred to as parking lot map information. The map information in the parking lot may be information that represents the positions in the parking lot of at least the parking spaces and the aisles. The positions in the parking lot may be positions in specific geographic coordinates. In other words, the positions may be absolute positions. In this embodiment, the explanation will be continued by taking as an example a case where coordinates in a latitude-longitude coordinate system are used as the specific geographic coordinates. The coordinates in the latitude-longitude coordinate system may be coordinates of latitude and longitude, or may be coordinates of latitude, longitude, and altitude. The data storage unit 32 may store, for example, coordinates of nodes and links that represent at least the parking spaces and the aisles as the parking lot map information. The data storage unit 32 stores information that represents the positions of the parking lot camera 2 in the parking lot. In other words, the data storage unit 32 stores information that represents the absolute positions and camera parameters of the parking lot camera 2. In this embodiment, the data storage unit 32 may store the coordinates of the absolute position where the parking lot camera 2 is installed as the absolute position of the parking lot camera 2. The data storage unit 32 may store the installation orientation of the parking lot camera 2 as the camera parameter.

[0020] The vacant section detection unit 33 detects the vacant section ES. The vacant section detection unit 33 detects the vacant section ES from the sensing information acquired by the sensing information acquisition unit 31. In the example of the present embodiment, the vacant section detection unit 33 detects the vacant section ES from the captured image acquired by the sensing information acquisition unit 31 from the parking lot camera 2. As an example, the vacant section detection unit 33 may detect the vacant section ES as follows. First, the vacant section detection unit 33 detects a vehicle from the captured image by an image recognition technique. For example, an object recognition technique using deep learning may be used to detect the vehicle. A vehicle detected from the captured image by the image recognition technique is hereinafter referred to as a detected vehicle. The vacant section detection unit 33 identifies the relative position of the detected vehicle with respect to the parking lot camera 2 from the position of the detected vehicle in the captured image. Next, the vacant section detection unit 33 identifies the absolute position of the detected vehicle from the relative position of the detected vehicle with respect to the parking lot camera 2 and information representing the absolute position and camera parameters of the parking lot camera 2. The vacant space detection unit 33 obtains information indicating the absolute position and camera parameters of the parking lot camera 2 from the data storage unit 32. Then, a vacant space can be detected by comparing the absolute position of the detected vehicle with the position of the parking space indicated by the parking lot map information obtained from the data storage unit 32. The vacant space detection unit 33 also detects the absolute position of the detected vacant space.

[0021] The pedestrian detection unit 34 detects the pedestrian Pe located in the parking lot. The pedestrian detection unit 34 detects the pedestrian Pe from the sensing information acquired by the sensing information acquisition unit 31. In the example of the present embodiment, the pedestrian detection unit 34 detects the pedestrian Pe from the captured image acquired by the sensing information acquisition unit 31 from the parking lot camera 2. As an example, the pedestrian detection unit 34 may detect the pedestrian Pe as follows. First, the pedestrian detection unit 34 detects the pedestrian Pe from the captured image by an image recognition technique. For example, an object recognition technique using deep learning may be used to detect the pedestrian Pe. In addition, the pedestrian detection unit 34 detects the absolute position of the pedestrian Pe. As an example, the following may be performed. The pedestrian detection unit 34 identifies the relative position of the pedestrian Pe with respect to the parking lot camera 2 from the position of the pedestrian Pe in the captured image. Then, the pedestrian detection unit 34 detects the absolute position of the pedestrian Pe from the relative position of the pedestrian Pe with respect to the parking lot camera 2 and information representing the absolute position and camera parameters of the parking lot camera 2. The pedestrian detection unit 34 obtains the information representing the absolute position and camera parameters of the parking lot camera 2 from the data storage unit 32.

[0022] The distribution unit 35 distributes the distribution information. The distribution unit 35 distributes the distribution information by wireless communication according to a wireless communication standard. The distribution information includes vacant section position information, pedestrian position information, and parking lot map information. The vacant section position information is information that allows the vehicle-side unit 4 to identify the position in the parking lot of the vacant section ES detected by the vacant section detection unit 33. The vacant section position information may be information on the absolute position of the vacant section ES detected by the vacant section detection unit 33. The pedestrian position information is information that allows the vehicle-side unit 4 to identify the position in the parking lot of the pedestrian Pe detected by the pedestrian detection unit 34. The pedestrian position information may be information on the absolute position of the pedestrian Pe detected by the pedestrian detection unit 34. The distribution unit 35 may obtain the parking lot map information from the data storage unit 32.

[0023] Furthermore, it is preferable that the distribution unit 35 sequentially distributes at least the vacant section position information and the pedestrian position information among the distribution information. This makes it possible to distribute the vacant section position information and the pedestrian position information according to the changes even if the vacant section ES or the position of the pedestrian Pe changes. This makes it possible to identify the status of the vacant section ES and the pedestrian Pe in closer to real time in the vehicle-side unit 4. Regarding the parking lot map information among the distribution information, it is possible to omit re-distribution to the vehicle-side unit 4 once it has been distributed.

[0024] <Schematic configuration of vehicle side unit 4> Next, an example of the schematic configuration of the vehicle-side unit 4 will be described with reference to FIG. 4. The vehicle-side unit 4 shown in FIG. 4 can be used in a vehicle. The vehicle is preferably a vehicle capable of automatic driving (hereinafter, an automatic driving vehicle). The vehicle using the vehicle-side unit 4 is not necessarily limited to an automobile, but the following description will be given taking the case of using the vehicle-side unit 4 in an automobile as an example. As shown in FIG. 4, the vehicle-side unit 4 includes a driving assistance ECU 40, a communication module 41, a locator 42, a map database (hereinafter, a map DB) 43, a vehicle state sensor 44, a surroundings monitoring sensor 45, a vehicle control ECU 46, an HCU (Human Machine Interface Control Unit) 47, a presentation device 48, and a user input device 49. For example, the driving assistance ECU 10, the communication module 41, the locator 42, the map DB 43, the vehicle state sensor 44, the surroundings monitoring sensor 45, the vehicle control ECU 46, and the HCU 47 may be configured to be connected to an in-vehicle LAN (see the LAN in FIG. 1).

[0025] There can be multiple levels of autonomous driving for autonomous vehicles (hereinafter referred to as "automation levels"), as defined by, for example, the SAE. The automation levels are classified into LV0 to 5, for example, as follows:

[0026] LV0 is the level at which the driver performs all driving tasks without the system intervening. The driving task may be rephrased as a dynamic driving task. The driving task may be, for example, steering, acceleration / deceleration, and surrounding monitoring. LV0 corresponds to so-called manual driving. LV1 is the level at which the system assists with either steering or acceleration / deceleration. LV1 corresponds to so-called driving assistance. LV2 is the level at which the system assists with both steering and acceleration / deceleration. LV2 corresponds to so-called partial driving automation. Note that LV1-2 are also considered to be part of autonomous driving.

[0027] For example, autonomous driving at levels 1 to 2 is autonomous driving where the driver has the duty to monitor safe driving (hereinafter simply referred to as the duty to monitor). In other words, it corresponds to autonomous driving with a duty to monitor. The duty to monitor includes visual monitoring of the surroundings. Autonomous driving at level 3 is a level where the system can perform all driving tasks under certain conditions, and the driver takes over driving operations in an emergency. Autonomous driving at level 3 requires the driver to be able to respond quickly when the system requests a handover of driving. This handover of driving can also be described as the transfer of the duty to monitor the surroundings from the vehicle's system to the driver. LV3 corresponds to so-called conditional driving automation.

[0028] Level 4 autonomous driving is a level where the system can perform all driving tasks except under certain circumstances such as on unmanageable roads and in extreme environments. Level 4 corresponds to what is known as highly automated driving. Level 5 autonomous driving is a level where the system can perform all driving tasks in any environment. Level 5 corresponds to what is known as fully automated driving.

[0029] For example, autonomous driving at LV3 to LV5 is autonomous driving where the driver has no monitoring obligation. In other words, it corresponds to autonomous driving without monitoring obligation. The autonomous driving vehicle of this embodiment may be capable of switching the automation level. The automation level may be configured to be switchable only between some of the levels LV0 to LV5. The autonomous driving vehicle of this embodiment will continue to be described as being capable of implementing autonomous driving without monitoring obligation as an autonomous driving.

[0030] The communication module 41 performs wireless communication with the outside of the vehicle SV. The communication module 41 receives distribution information distributed by wireless communication from the guidance information distribution device 3. The locator 42 includes a GNSS (Global Navigation Satellite System) receiver and an inertial sensor. The GNSS receiver receives positioning signals from a plurality of positioning satellites. The inertial sensor includes, for example, a gyro sensor and an acceleration sensor. The locator 42 sequentially measures the vehicle position (hereinafter, vehicle position) and traveling direction (hereinafter, vehicle orientation) of the vehicle SV equipped with the locator 42 by combining the positioning signal received by the GNSS receiver with the measurement result of the inertial sensor. The vehicle position may be expressed, for example, by coordinates of a latitude and longitude coordinate system. The vehicle orientation may be expressed, for example, by an azimuth angle based on the north. The vehicle position may be determined using a travel distance calculated from a signal sequentially output from a vehicle speed sensor (described later) mounted on the vehicle.

[0031] The map DB 43 is a non-volatile memory and stores high-precision map data. The high-precision map data is map data with higher precision than map data used for route guidance in the navigation function. The map DB 43 may also store map data used for route guidance. The high-precision map data includes information that can be used for automatic driving, such as three-dimensional shape information of roads, information on the number of lanes, and information indicating the travel direction permitted for each lane. In addition, the high-precision map data may include information on node points indicating the positions of both ends of road markings such as dividing lines. The locator 42 may be configured not to use a GNSS receiver by using the three-dimensional shape information of the road. For example, the locator 12 may be configured to specify the vehicle position using the three-dimensional shape information of the road and a detection result by a perimeter monitoring sensor 45 described later. The three-dimensional shape information of the road may be generated based on a captured image by REM (Road Experience Management).

[0032] The map DB 43 may store parking lot map information from among the distributed information received by the communication module 41. When adopting a configuration in which autonomous driving is limited to parking lots, the map DB 43 may be configured not to store high-precision map data and map data used for route guidance.

[0033] The vehicle condition sensor 44 is a group of sensors for detecting various conditions of the host vehicle SV. The vehicle condition sensor 44 includes a vehicle speed sensor, a steering sensor, etc. The vehicle speed sensor detects the speed of the host vehicle SV. The steering sensor detects the steering angle of the host vehicle SV. The vehicle condition sensor 44 outputs the detected sensing information to an in-vehicle LAN. The sensing information detected by the vehicle condition sensor 44 may be configured to be output to the in-vehicle LAN via an ECU mounted in the host vehicle SV.

[0034] The periphery monitoring sensor 45 monitors the surrounding environment of the host vehicle SV. As an example, the periphery monitoring sensor 45 detects obstacles around the host vehicle SV, such as moving objects such as pedestrians and other vehicles, and stationary objects such as objects fallen on the road. In addition, the periphery monitoring sensor 45 detects road markings such as lane markings around the host vehicle. The periphery monitoring sensor 45 includes a periphery monitoring camera 451 that captures an image of a predetermined range around the host vehicle SV. The predetermined range may be an area that includes at least the area in front of the host vehicle. In other words, the periphery monitoring camera 451 captures an image of the foreground, which is the scenery ahead of the host vehicle SV. The periphery monitoring camera 451 sequentially outputs the captured images to the driving assistance ECU 40 as sensing information. The periphery monitoring camera 451 corresponds to a vehicle-side imaging unit. The periphery monitoring sensor 45 may include a sensor such as a millimeter wave radar, a sonar, or a LIDAR that transmits a search wave to a predetermined range around the host vehicle SV. These sensors sequentially output scanning results based on received signals obtained when receiving reflected waves reflected by an obstacle as sensing information to the driving assistance ECU 40. The sensing information detected by the periphery monitoring sensor 45 may be configured to be output to the driving assistance ECU 40 without passing through the in-vehicle LAN.

[0035] The vehicle control ECU 46 is an electronic control device that performs driving control of the host vehicle SV. Examples of driving control include acceleration / deceleration control and / or steering control. The vehicle control ECU 46 includes a steering ECU that performs steering control, a power unit control ECU that performs acceleration / deceleration control, and a brake ECU.

[0036] The HCU 47 is mainly composed of a computer equipped with a processor, a volatile memory, a non-volatile memory, an I / O, and a bus connecting these. The HCU 47 executes various processes related to the interaction between the occupant and the system of the host vehicle SV by executing a control program stored in the non-volatile memory. The HCU 47 controls the presentation of information by the presentation device 48. The HCU 47 accepts input from the occupant of the host vehicle SV via a user input device 49.

[0037] The presentation device 48 is provided in the host vehicle SV and presents information to the interior of the host vehicle SV. That is, the presentation device 48 presents information to the occupants of the host vehicle SV. The presentation device 48 presents information in accordance with an instruction from the HCU 47. The presentation device 48 includes a display device 481.

[0038] The display device 481 presents information by displaying information. For example, a meter MID (Multi Information Display), a CID (Center Information Display), a HUD (Head-Up Display), etc. can be used as the display device 481. The meter MID is a display device provided in front of the driver's seat in the interior of the host vehicle SV. As an example, the meter MID may be configured to be provided in a meter panel. The CID is arranged in the center of the instrument panel of the host vehicle. The HUD is provided in the interior of the vehicle, for example, in the instrument panel. The HUD projects a display image formed by a projector onto a projection area that is set on the front windshield as a projection member. The light of the image reflected by the front windshield into the vehicle interior is perceived by an occupant sitting in the driver's seat. This allows the occupant to view a virtual image of the display image formed in front of the front windshield, superimposed on a part of the foreground. The HUD may be configured to project a display image onto a combiner provided in front of the driver's seat instead of the front windshield. The presentation device 48 may include an audio output device. The audio output device presents information by outputting audio. Examples of the audio output device include a speaker.

[0039] The user input device 49 accepts input from an occupant of the host vehicle SV. The user input device 49 may be an operation device that accepts operation input from the occupant. The operation device may be a mechanical switch or a touch switch integrated with the display device 481. Note that the user input device 49 is not limited to an operation device that accepts operation input, so long as it is a device that accepts input from the occupant. For example, the user input device 49 may be a voice input device that accepts voice command input from the occupant.

[0040] The driving assistance ECU 40 is mainly configured with a computer including a processor, a volatile memory, a non-volatile memory, an I / O, and a bus connecting these. The driving assistance ECU 40 executes a control program stored in the non-volatile memory to execute processes related to automatic driving. This driving assistance ECU 10 corresponds to a vehicle control device. In this embodiment, the driving assistance ECU 40 is used in a vehicle that can at least perform automatic driving without a monitoring obligation. The configuration of the driving assistance ECU 40 will be described in detail below.

[0041] <Outline of the configuration of the driving assistance ECU 40> Next, a schematic configuration of the driving assistance ECU 40 will be described with reference to Fig. 5. As shown in Fig. 5, the driving assistance ECU 40 includes a delivery information acquisition unit 401, a vehicle position identification unit 402, a vehicle direction identification unit 403, an HCU communication unit 404, a route search unit 405, a driving environment recognition unit 406, an action determination unit 407, and a control execution unit 408 as functional blocks. Note that some or all of the functions executed by the driving assistance ECU 40 may be configured as hardware using one or more ICs or the like. Also, some or all of the functional blocks included in the driving assistance ECU 40 may be realized by a combination of software execution by a processor and hardware members.

[0042] The distribution information acquisition unit 401 acquires distribution information distributed from the distribution unit 35. The distribution information acquisition unit 401 acquires distribution information received by the communication module 41 from the distribution unit 35. The vehicle position identification unit 402 identifies the vehicle position, which is the current position of the host vehicle SV. The vehicle position identification unit 402 may identify the host vehicle position measured by the locator 42 as this vehicle position. The vehicle orientation identification unit 403 identifies the vehicle orientation, which is the current orientation of the host vehicle SV. The vehicle orientation identification unit 403 may identify the host vehicle orientation measured by the locator 42 as this vehicle orientation.

[0043] The HCU communication unit 404 performs processing for outputting information to the HCU 47 and processing for acquiring information from the HCU 47. The HCU communication unit 404 includes a presentation processing unit 441 and a user input acquiring unit 442 as sub-functional blocks. The presentation processing unit 441 indirectly controls the presentation of information on the presentation device 48. The presentation processing unit 441 issues an instruction to the HCU 47 to display information on the display device 481. The user input acquiring unit 442 acquires input information received from the occupant by the user input device 49.

[0044] The presentation processing unit 441 displays the following information on the display device 481 based on the distribution information, the vehicle position, and the vehicle direction. This presentation processing unit 441 corresponds to a display control unit. The presentation processing unit 441 displays at least information indicating a map of the parking lot and the position of the vacant section ES in the parking lot on the display device 481. The distribution information used is acquired by the distribution information acquisition unit 401. The vehicle position used is determined by the vehicle position determination unit 402. The vehicle direction used is determined by the vehicle direction determination unit 403. The position of the vacant section ES in the parking lot is hereinafter referred to as the vacant section position. Regarding the vehicle position, a mark indicating the vehicle position may be displayed on the map in the parking lot. A configuration may be adopted in which a mark indicating the vehicle position is not displayed on the map in the parking lot. In this case, the map in the parking lot may be displayed in a range and direction based on the vehicle position and vehicle direction.

[0045] Here, a display example of information showing a map in a parking lot and a vacant space position will be described with reference to FIG. 6. EP in FIG. 6 shows an image showing a vacant space ES. NEP in FIG. 6 shows an image showing an unvacant parking space. FIG. 6 shows an image example in the case where a map in a parking lot is displayed in a range and direction based on the vehicle position and vehicle orientation. The image in FIG. 6 may be displayed on a CID, for example. An occupant can select a vacant space ES to be a parking target by touching an image EP of a vacant space ES on a CID that is a touch panel, for example. This selection input to the touch panel is accepted by a user input device 49. The selection of a vacant space ES to be a parking target may be configured to be performed by detecting the line of sight of the occupant and inputting voice. When detecting the line of sight of the occupant, the line of sight of the occupant may be detected by image recognition technology from an image captured by an interior camera that captures the interior of the vehicle SV. When inputting voice, a number may be assigned to each vacant space ES, and the vacant space ES may be selected from a voice input in which the number is spoken. In the following, the description will be continued taking as an example a case where an input for selecting a vacant space ES as a parking target is received by the user input device 49. The vacant space ES as a parking target will be referred to as a target space hereinafter.

[0046] The route search unit 405 acquires the results of searching for a route from the vehicle position identified by the vehicle position identification unit 402 to the vacant section ES. The route from the vehicle position to the vacant section ES is hereinafter referred to as a parking route. The route search unit 405 may determine the target section selected by the user input device 49 as the vacant section ES serving as the destination. The route search unit 405 may also determine the vacant section ES closest to the vehicle position as the destination. In this case, the configuration for receiving an input for selecting the target section by the user input device 49 may be omitted.

[0047] The route search unit 405 acquires the result of searching the parking route based on the vehicle position, the vacant section position information, and the map information in the parking lot. The vehicle position identified by the vehicle position identification unit 402 is used. The vacant section position information and the map information in the parking lot are used that are included in the distribution information acquired by the distribution information acquisition unit 401. The route search unit 405 may generate a parking route based on the vehicle position, the vacant section position information, and the map information in the parking lot in the same manner as the route search of the navigation function. Then, the generated parking route may be acquired as a result of searching the parking route. The route search may be performed by, for example, the Dijkstra algorithm. The route search unit 405 may transmit the vehicle position, the vacant section position information, and the map information in the parking lot to a server, and acquire the result of searching the parking route on the server side. The communication module 41 may mediate the exchange of information between the route search unit 405 and this server. As described above, the vacant section ES as the destination may be selected and input by the user input device 49, or may be automatically determined by the route search unit 405.

[0048] The presentation processing unit 441 displays the following information on the display device 481 based on the delivery information acquired by the delivery information acquisition unit 401 and the vehicle position identified by the vehicle position identification unit 402. The presentation processing unit 441 displays information indicating a map of the parking lot, an empty space position, a parking route, and the position of the pedestrian Pe in the parking lot on the display device 481. The empty space position may be at least the position of the target space. The parking route used is the parking route acquired by the route search unit 405. The map of the parking lot is hereinafter referred to as the parking lot map. The position of the pedestrian Pe in the parking lot is hereinafter referred to as the pedestrian position.

[0049] Here, a display example of information showing a parking lot map, a vacant space position, a parking route, and a pedestrian position will be described with reference to FIG. 7. As shown in FIG. 7, a bird's-eye view image of a parking lot viewed from above may be generated in a pseudo manner and displayed on the display device 481. The parking route may be displayed by superimposing an arrow-shaped image showing the parking route on the bird's-eye view image (see PP in FIG. 7). The image showing the parking route may be displayed in other display forms such as a sheet-like form. The pedestrian position may be displayed by superimposing an image of a mark showing a pedestrian on the bird's-eye view image (see PeP in FIG. 7). The mark showing a pedestrian may be a human figure, or may be a triangle, arrow, or the like showing the pedestrian position. As the vacant space position, at least the position of the target space may be displayed. When the positions of vacant spaces other than the target space are also displayed, they are displayed in a form that makes it possible to distinguish that they are target spaces. As the position of the target space, an image of a frame surrounding the target space may be superimposed on the bird's-eye view image. The location of the target section may be indicated by other display modes, such as by changing the color of the target section or increasing its brightness.

[0050] In addition, it is preferable that the presentation processing unit 441 can superimpose a display showing the parking route on the position of the parking route in the foreground captured by the periphery monitoring camera 451. In other words, it is preferable that the route can be displayed in AR (Augmented Reality) in the foreground. The presentation processing unit 441 may enable AR display using the vehicle position and vehicle direction. The vehicle position specified by the vehicle position specifying unit 402 is used as the vehicle position. The vehicle direction specified by the vehicle direction specifying unit 403 is used as the vehicle direction. The presentation processing unit 441 specifies the positions of the links and nodes of the parking route in the foreground captured by the periphery monitoring camera 451 from the vehicle position and vehicle direction and the coordinates of the links and nodes of the parking route. Then, as shown in FIG. 8, a mark, a line, or the like showing the parking route may be superimposed on the specified position. As shown in FIG. 8, an image showing the target section may be displayed in AR at the position of the target section (see GP in FIG. 8). An example of an image indicating the target section may be a frame-shaped image surrounding the target section, as shown by GP in Fig. 8. As shown in Fig. 8, an image indicating the pedestrian position may be displayed in AR at the pedestrian position (see PeP in Fig. 8). An example of an image indicating the pedestrian position may be an image of a mark indicating the pedestrian position and a mark indicating the presence of a pedestrian, as shown by PeP in Fig. 8.

[0051] It is preferable that the presentation processing unit 441 displays information indicating the pedestrian position based on the pedestrian position information sequentially acquired by the distribution information acquisition unit 401. This makes it possible to present the pedestrian position closer to real time to the occupant of the host vehicle SV. It is also preferable that the presentation processing unit 441 does not display information indicating the position of the pedestrian Pe whose distance from the host vehicle position identified by the vehicle position identification unit 402 is equal to or greater than a specified value. The specified value referred to here is a value that can be set arbitrarily, for example, about several meters to several tens of meters. The specified value may be configured to be set to a larger value as the vehicle speed of the host vehicle SV increases. On the other hand, it is preferable that the presentation processing unit 441 displays information indicating the position of the pedestrian Pe whose distance from the host vehicle position is less than the specified value. This makes it possible to prevent the display of information indicating the position of the pedestrian Pe who is unlikely to approach the host vehicle SV. Therefore, it is possible to suppress the display of less necessary information and reduce the nuisance of display.

[0052] The route search unit 405 may determine whether the target section is filled from the vacant section position information newly acquired by the distribution information acquisition unit 401 while the vehicle SV is moving along the parking route. The parking route is determined by the route search unit 405. The target section corresponds to the vacant section ES, which is the destination of the parking route. Whether the target section is filled may be determined by whether the target section is a vacant section ES. When the route search unit 405 determines that the target section is filled, it is preferable to obtain a parking route with a new vacant section ES as the destination. This parking route is called a re-search route. The re-search route is a route from the vehicle position determined by the vehicle position determination unit 402 to the new vacant section ES. The new vacant section ES may be selected by the occupant of the vehicle SV via the user input device 49 in the same manner as described above. Taking FIG. 2 as an example, the vacant section ESA is the target section, and when the vacant section ESA is filled, the vacant sections ESB and ESC become the new vacant sections ES. When the route search unit 405 determines that the target section is filled, the presentation processing unit 441 may display a map of the parking lot and information indicating the location of the vacant section to allow the user to select a new vacant section ES.

[0053] In addition, when the route search unit 405 determines that the target section is filled, it may acquire a re-searched route with the new vacant section ES closest to the filled target section as the destination. The new vacant section ES closest to the target section may be the vacant section ES that is the shortest distance along the aisle of the parking lot from the target section. Taking FIG. 2 as an example, the vacant section ESA is the target section, and when this vacant section ESA is filled, the vacant section ESB becomes the new target section. This makes it possible to set the vacant section ES that is closest to the initially selected target section as the new target section. Therefore, it becomes possible to set the vacant section ES that is closest to the initial desire of the occupant as the target section.

[0054] It is preferable that the presentation processing unit 441 displays information indicating the re-searched route searched by the route searching unit 405. This makes it possible to guide the parking route with a new vacant section ES as the target section even if the target section is filled.

[0055] The driving environment recognition unit 406 recognizes the driving environment of the vehicle SV. The driving environment recognition unit 406 recognizes the driving environment of the vehicle SV from the vehicle position, map data, sensing information acquired from the periphery monitoring sensor 45, and pedestrian position information from the distributed information. The sensing information acquired from the periphery monitoring sensor 45 is hereinafter referred to as autonomous sensor information. The vehicle position is acquired from the locator 12. The map data is acquired from the map DB 13. As the map data, parking lot map information is used. The distributed information is acquired by the distributed information acquisition unit 401. As an example, the driving environment recognition unit 406 uses these pieces of information to recognize the positions, shapes, and movement states of objects around the vehicle, and generates a virtual space that reproduces the actual driving environment.

[0056] The driving environment recognition unit 406 may recognize the presence and relative position of pedestrians Pe around the vehicle SV as part of the driving environment, based on the autonomous sensor information and pedestrian position information. By using the pedestrian position information, it becomes possible to recognize the position of pedestrians Pe that are in a position that cannot be detected by the surrounding monitoring sensor 45. The driving environment recognition unit 406 may recognize the vehicle's position within the parking lot based on the vehicle's position and parking lot map information.

[0057] When the control right of the driving operation is on the system side of the host vehicle SV, the behavior determination unit 407 determines a driving plan for driving the host vehicle based on the recognition result of the driving environment by the driving environment recognition unit 406. As the driving plan, a long-term and mid-term driving plan and a short-term driving plan are determined. The behavior determination unit 407 may determine the parking route acquired by the route search unit 405 as the long-term and mid-term driving plan. The behavior determination unit 407 generates a planned driving trajectory for realizing driving according to the long-term and mid-term driving plan as the short-term driving plan, using the virtual space around the generated host vehicle. Specifically, it determines the execution of acceleration / deceleration for speed adjustment, steering and braking for obstacle avoidance, etc. The behavior determination unit 407 may determine a driving plan for decelerating when approaching the position of the pedestrian Pe recognized by the driving environment recognition unit 406, or a driving plan for steering to keep a certain distance from the pedestrian Pe.

[0058] When the control right of the driving operation is on the side of the system of the host vehicle SV, the control execution unit 408 executes acceleration / deceleration control, steering control, etc. of the host vehicle SV in cooperation with the vehicle control ECU 46. The control execution unit 408 executes acceleration / deceleration control, steering control, etc. of the host vehicle SV according to the driving plan determined by the action determination unit 407. In this way, the control execution unit 408 causes the host vehicle SV to perform automatic driving. This control execution unit 408 corresponds to an automatic driving control unit. The control execution unit 408 causes the host vehicle SV to automatically drive along the parking route and park at the position of the target section. During automatic driving, the control execution unit 408 may decelerate when approaching the position of the pedestrian Pe recognized by the driving environment recognition unit 406, or steer so as to maintain a certain distance from the pedestrian Pe.

[0059] (Embodiment 2) The configuration is not limited to that of the first embodiment, and may be that of the following second embodiment. An example of the configuration of the second embodiment will be described below with reference to the drawings. The navigation system 1 of the second embodiment is similar to the navigation system 1 of the first embodiment, except that the navigation system 1 of the second embodiment includes a guidance information distribution device 3a and a vehicle side unit 4a instead of the guidance information distribution device 3 and the vehicle side unit 4.

[0060] <Schematic configuration of guide information distribution device 3a> Here, an example of a schematic configuration of the guidance information distribution device 3a will be described with reference to Fig. 9. As shown in Fig. 9, the guidance information distribution device 3 includes a sensing information acquisition unit 31, a data storage unit 32, a vacant section detection unit 33, a pedestrian detection unit 34, a distribution unit 35a, a receiving unit 36, and a route search unit 37 as functional blocks. The guidance information distribution device 3a includes a distribution unit 35a instead of the distribution unit 35. The guidance information distribution device 3a includes a receiving unit 36 ​​and a route search unit 37. Except for these points, the guidance information distribution device 3a is similar to the guidance information distribution device 3 of the first embodiment.

[0061] The receiver 36 receives information transmitted from the communication module 41 of the vehicle-side unit 4a. This information includes the vehicle position of the vehicle SV identified by the vehicle-side unit 4a. This information may also include the position of the target section determined by the vehicle-side unit 4a.

[0062] The route search unit 37 searches for a route from the vehicle position to the vacant section ES based on the vehicle position, the vacant section position, and parking lot map information received by the receiving unit 36. The route search may be performed, for example, by the Dijkstra algorithm. The vacant section position detected by the vacant section detection unit 33 is used. The parking lot map information stored in the data storage unit 32 is used. When the receiving unit 36 ​​receives the position of the target section, the route search unit 37 may search for a route from the vehicle position to the target section. When the receiving unit 36 ​​does not receive the position of the target section, the route search unit 37 may search for a route from the vehicle position to the nearest vacant section ES among the vacant sections ES.

[0063] The distribution unit 35a is the same as the distribution unit 35 of the first embodiment, except for some different processes. The following describes the differences. The distribution unit 35a includes the parking route searched by the route search unit 37 as distribution information.

[0064] <Schematic configuration of vehicle side unit 4a> Next, an example of a schematic configuration of the vehicle-side unit 4a will be described with reference to Fig. 10. As shown in Fig. 10, the vehicle-side unit 4a includes a driving assistance ECU 40a, a communication module 41, a locator 42, a map DB 43, a vehicle state sensor 44, a surroundings monitoring sensor 45, a vehicle control ECU 46, an HCU 47, a presentation device 48, and a user input device 49. The vehicle-side unit 4a is similar to the guidance information distribution device 3 of the first embodiment, except that the vehicle-side unit 4a includes the driving assistance ECU 40a instead of the driving assistance ECU 40.

[0065] <General configuration of the driving assistance ECU 40a> Next, a schematic configuration of the driving assistance ECU 40a will be described with reference to Fig. 11. As shown in Fig. 11, the driving assistance ECU 40a includes a delivery information acquisition unit 401a, a vehicle position identification unit 402, a vehicle direction identification unit 403a, an HCU communication unit 404, a driving environment recognition unit 406, a route search unit 405a, an action determination unit 407, and a control execution unit 408 as functional blocks. The driving assistance ECU 40a includes a delivery information acquisition unit 401a instead of the delivery information acquisition unit 401. The driving assistance ECU 40a includes a vehicle position identification unit 402a instead of the vehicle position identification unit 402. The driving assistance ECU 40a includes a route search unit 405a instead of the route search unit 405. The driving assistance ECU 40a is similar to the driving assistance ECU 40 of the first embodiment except for these points.

[0066] The distribution information acquisition unit 401a is the same as the distribution information acquisition unit 401 of the first embodiment, except for some different processes. The differences will be described below. The distribution information acquisition unit 401a acquires distribution information including parking routes.

[0067] The vehicle position identifying unit 402a is the same as the vehicle position identifying unit 402 in the first embodiment, except for some different processing. The following describes the differences. The vehicle position identifying unit 402a transmits the identified vehicle position to the guidance information distribution device 3a via the communication module 11.

[0068] The route search unit 405a is similar to the route search unit 405 of the first embodiment, except for some different processing. The following describes these differences. The route search unit 405a only needs to transmit the position of the target section determined as the vacant section ES as the destination to the guidance information distribution device 3a via the communication module 11. The route search unit 405a acquires the parking route included in the distribution information acquired by the distribution information acquisition unit 401a as a result of searching for the parking route. Even with the configuration of the second embodiment, it is possible to guide the vehicle to a vacant section in the parking lot, while making it easier to avoid the vehicle approaching pedestrians Pe in the parking lot.

[0069] (Embodiment 3) In the above embodiment, the driving assistance ECU 40, 40a is configured to perform the functions of the delivery information acquisition unit 401, 401a, the vehicle position identification unit 402, the vehicle orientation identification unit 403, and the presentation processing unit 441, but this is not necessarily limited to the above. For example, these functions may be performed by other devices of the vehicle SV. For example, the HCU 47 may perform all or a part of these functions. For example, the HCU 47 may perform the function of the display control unit corresponding to the presentation processing unit 441. For example, the locator 42 may perform the functions of the vehicle position identification unit 402 and the vehicle orientation identification unit 403 only.

[0070] The present disclosure is not limited to the above-described embodiment, and various modifications are possible within the scope of the claims. The embodiments obtained by appropriately combining the technical means disclosed in the different embodiments are also included in the technical scope of the present disclosure. The control unit and the method described in the present disclosure may be realized by a dedicated computer constituting a processor programmed to execute one or more functions embodied by a computer program. Alternatively, the device and the method described in the present disclosure may be realized by a dedicated hardware logic circuit. Alternatively, the device and the method described in the present disclosure may be realized by one or more dedicated computers configured by a combination of a processor that executes a computer program and one or more hardware logic circuits. The computer program may be stored in a computer-readable non-transient tangible recording medium as instructions executed by the computer. [Explanation of symbols]

[0071] 1 Navigation system, 3, 3a Guidance information distribution device, 4, 4a Vehicle side unit, 33 Vacant section detection unit, 34 Pedestrian detection unit, 35, 35 Distribution unit, 401, 401a Distribution information acquisition unit, 402 Vehicle position identification unit, 403 Vehicle direction identification unit, 405, 405a Route search unit, 408 Control execution unit (Automatic driving control unit), 441 Presentation processing unit (Display control unit), 451 Surrounding monitoring camera (Vehicle side imaging unit)

Claims

1. a vacant space detection unit (33) for detecting a vacant space which is an empty parking space in a parking lot; a pedestrian detection unit (34) for detecting a pedestrian located in the parking lot; A guidance information distribution device comprising a distribution unit (35, 35a) that distributes distribution information including vacant space position information that enables the vehicle to identify the position in the parking lot of the vacant space detected by the vacant space detection unit, pedestrian position information that enables the vehicle to identify the position in the parking lot of the pedestrian detected by the pedestrian detection unit, and map information within the parking lot.

2. A navigation system including a vehicle-side unit (4, 4a) that can be used in a vehicle, and a guide information distribution device (3, 3a) that distributes information to the vehicle, The guidance information distribution device, a vacant space detection unit (33) for detecting a vacant space which is an empty parking space in a parking lot; a pedestrian detection unit (34) for detecting a pedestrian located in the parking lot; a distribution unit (35, 35a) that distributes to the vehicle-side unit distribution information including vacant space position information that enables the vehicle-side unit to specify the position in the parking lot of the vacant space detected by the vacant space detection unit, pedestrian position information that enables the vehicle-side unit to specify the position in the parking lot of the pedestrian detected by the pedestrian detection unit, and map information within the parking lot, The vehicle side unit includes: A distribution information acquisition unit (401, 401a) that acquires the distribution information distributed from the distribution unit; A vehicle position identification unit (402) that identifies a vehicle position that is a current position of the vehicle; and a display control unit (441) that displays information indicating a map of the parking lot, the position of the vacant space in the parking lot, a route from the vehicle position to the vacant space, and the position of the pedestrian in the parking lot, based on the distribution information acquired by the distribution information acquisition unit and the vehicle position identified by the vehicle position identification unit.

3. 3. A navigation system according to claim 2, The distribution unit sequentially distributes at least the pedestrian position information of the distribution information, The display control unit displays information indicating the position of the pedestrian in the parking lot based on the pedestrian position information sequentially acquired by the distributed information acquisition unit, and does not display information indicating the position of the pedestrian whose distance from the vehicle position identified by the vehicle position identification unit is equal to or greater than a specified value, while displaying information indicating the position of the pedestrian whose distance from the vehicle position is less than the specified value.

4. 3. A navigation system according to claim 2, The vehicle side unit includes: a route search unit (405, 405a) that acquires a result of searching for a route from the vehicle position to the vacant space based on the vehicle position identified by the vehicle position identification unit, and the vacant space position information and map information within the parking lot that are included in the distribution information acquired by the distribution information acquisition unit, The display control unit is a navigation system that displays information indicating the route acquired by the route search unit as information indicating the route from the vehicle position to the vacant section.

5. 5. A navigation system according to claim 4, the distribution unit sequentially distributes at least the vacant section position information and the pedestrian position information of the distribution information, When the route search unit determines from the vacant section position information newly acquired by the distribution information acquisition unit while the vehicle is moving along the route acquired by the route search unit that the vacant section, which is the destination of the route, has been filled, the route search unit acquires a re-searched route which is a result of searching for a route from the vehicle position to the new vacant section, the new vacant section being the destination and which accepts selection from an occupant of the vehicle via an input device (49); The display control unit is a navigation system that displays information indicating the re-searched route searched for by the route search unit.

6. 5. A navigation system according to claim 4, the distribution unit sequentially distributes at least the vacant section position information and the pedestrian position information of the distribution information, When the route search unit determines from the vacant section position information newly acquired by the distribution information acquisition unit while the vehicle is moving along the route acquired by the route search unit that the vacant section, which is the destination of the route, has been filled, the route search unit acquires a re-searched route which is a result of searching for a route from the vehicle position to the new vacant section, the new vacant section being the nearest to the filled vacant section as the destination, The display control unit is a navigation system that displays information indicating the re-searched route searched for by the route search unit.

7. 3. A navigation system according to claim 2, The vehicle side unit includes: A vehicle-side imaging unit (451) that images a foreground scene ahead of the vehicle's path; a vehicle direction identification unit (403) for identifying a vehicle direction that is a current direction of the vehicle; The display control unit is also capable of superimposing a display showing the route on the position of the route in the foreground image captured by the vehicle-side imaging unit, using the vehicle position identified by the vehicle position identification unit and the vehicle orientation identified by the vehicle orientation identification unit.

8. 3. A navigation system according to claim 2, The vehicle side unit includes: The present invention can be used in an autonomous vehicle, which is an autonomous driving vehicle, An automatic driving control unit (408) that causes the automatic driving of the automatic driving vehicle to be performed, The autonomous driving control unit is a navigation system that autonomously drives the autonomous vehicle along the route and parks it at the vacant space.

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