Parking lot guidance device, guidance system, guidance method, and guidance program

Abstract

To more surely guide a vehicle to an available cabin in a parking lot.SOLUTION: The parking lot guidance device includes a determination unit that determines a second vehicle compartment to be used by the entering vehicle from among first vehicle compartments that are vehicle compartments usable by the entering vehicle, a selection unit that selects a route to the second vehicle compartment for the entering vehicle, a guidance unit that guides the entering vehicle based on the route, and an update unit that analyzes the image data and updates the route.SELECTED DRAWING: Figure 13

Description

[Technical Field]

[0001] The present invention relates to a parking lot guidance device, a guidance system, a guidance method, and a guidance program. [Background technology]

[0002] Conventionally, a technology has been known for providing parking lot users with information about available parking spaces, in which sensors are installed in each parking space to detect whether a vehicle is parked there or not, and the parking lot is managed based on information from the sensors.

[0003] Specifically, a parking lot guidance system uses sensors or the like to detect available spaces in a parking lot and stores available space information, which is information indicating the availability of spaces. Next, the parking lot guidance system detects the location of a vehicle (mobile body) to be parked in the available space. Then, based on the available space information and mobile body location information, which is information about the location of the mobile body, the parking lot guidance system provides information guiding users of the parking lot on the route to the available space using images or the like. In this way, technology for guiding users on the route to a desired available space within a parking lot is known (see, for example, Patent Document 1).

[0004] Another known technology utilizes a parking lot camera that is installed higher than the ground level of the parking lot to capture a bird's-eye view of the parking lot (see, for example, Patent Document 2). [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-229498 [Patent Document 2] Patent Publication No. 2021-168025 Summary of the Invention [Problem to be solved by the invention]

[0006] In conventional technologies, vehicles detected for guidance purposes are typically limited to vehicles parked in a parking space. Therefore, vehicles not parked in a parking space among those included in an image captured from a bird's-eye view of the parking lot are not taken into consideration. For example, when a vehicle enters a parking lot, it enters through a vehicle passageway (a so-called "driveway") that runs from the entrance to the parking space. Therefore, if multiple vehicles enter the parking lot at the same time, if the vehicles present in the driveway are not taken into consideration, a situation may arise in which a leading vehicle among the multiple vehicles enters a parking space that has been guided to a following vehicle first. As such, conventional technologies have a problem in that they may not be able to guide a vehicle to an available parking space in a parking lot.

[0007] The present invention aims to more reliably guide vehicles to available parking spaces in a parking lot. [Means for solving the problem]

[0008] In order to solve the above problems, in one aspect of the present invention, an imaging means for capturing an image of the entire parking lot and generating image data; A determination means for determining the state of the vehicle cabin; A parking lot guidance device connected to a detection means for detecting vehicles entering the parking lot, A determination means for determining a second compartment to be used by the entering vehicle from among first compartments that are available for the entering vehicle; a selection means for selecting a route to the second compartment for the entering vehicle; a guidance means for guiding the entering vehicle based on the route; an updating means for analyzing the image data and updating the route; The present invention is characterized by comprising: [Effects of the Invention]

[0009] According to the present invention, a vehicle can be reliably guided to an available parking space in a parking lot. [Brief explanation of the drawings]

[0010] [Figure 1] 1 is a diagram illustrating an example of the configuration of a guidance system 1. FIG. [Figure 2] 2 is a diagram illustrating an example of hardware of each device in the guidance system 1. FIG. [Figure 3] FIG. 2 is a diagram showing an example of a full view camera 11. [Figure 4] 3 is a diagram illustrating an example of a vehicle interior sensor 12. FIG. [Figure 5] FIG. 10 is a diagram illustrating an example of an entrance sensor 13. [Figure 6] FIG. 10 is a diagram showing a modified example of the overall camera 11. [Figure 7] FIG. 2 is a diagram showing an example of a road 2. [Figure 8] FIG. 10 is a diagram showing a first example of guidance. [Figure 9] FIG. 10 is a diagram showing an example of a question in the first example guide. [Figure 10] FIG. 10 is a diagram showing the first stage in the second guidance example. [Figure 11] FIG. 10 is a diagram showing the second stage in the second guidance example. [Figure 12] FIG. 10 is a diagram illustrating an example of overall processing. [Figure 13] FIG. 2 is a diagram illustrating a first example of a functional configuration. [Figure 14] FIG. 10 is a diagram showing a first modified example. [Figure 15] FIG. 10 is a diagram illustrating a second example of a functional configuration. [Figure 16] FIG. 10 is a diagram showing a second modified example. [Figure 17] FIG. 10 is a diagram illustrating a third example of a functional configuration. [Figure 18] FIG. 10 is a diagram showing a third modified example. [Figure 19] FIG. 10 is a diagram showing an example of a display in guidance. DETAILED DESCRIPTION OF THE INVENTION

[0011] Specific examples will be described below with reference to the accompanying drawings. In the following description, the reference numerals in the drawings refer to the same elements. Furthermore, the embodiments are not limited to the specific examples below, and the embodiments may include elements other than those shown in the drawings.

[0012] Hereinafter, an example of a service for providing a parking lot that temporarily rents out a space for parking a vehicle will be described. Specifically, the service is provided by preparing a parking space in advance.

[0013] In this example, the "specific area" is a vehicle compartment. Specifically, the vehicle compartment is a parking area partitioned to fit the size of a single vehicle. Note that the specific area is not limited to a vehicle compartment and may be a garage or the like.

[0014] The "service" refers to a service provided by a management company that provides a specific area for a vehicle and manages the specific area. The service provided in this embodiment is a so-called parking service, in which a vehicle is parked in a parking space.

[0015] An "object" is a tangible object that occupies a specific area when receiving a service. In this embodiment, the object is a vehicle. In the following example, the user is the owner and passenger of the vehicle. However, the user does not have to be the owner of the vehicle. For example, the vehicle may be a so-called rental car. Alternatively, the user may be a so-called "passenger" who is not the driver.

[0016] A "usage fee" is a fee paid by a user in exchange for a service received. Hereinafter, the usage fee is calculated based on the time the service is received (hereinafter referred to as "service time"). However, the calculation method for the usage fee does not have to be based on the service time. For example, the usage fee may be a fixed amount for each number of times the service is received.

[0017] The "service time" is determined by the "start time" when the service begins and the "end time" when the service ends. For example, if parking a vehicle in a parking space starts at "9:00" and ends at "11:00," the "start time" is "9:00." Furthermore, the "end time" is "11:00." The "service time" is then "2 hours." For example, if the fee is set to be charged every hour, the usage fee is calculated based on "2 hours." Note that the "service time" does not have to be in units of "hours." For example, the "service time" may be in units of "months," "weeks," or "days."

[0018] The "restraint" is realized, for example, by a gate. Specifically, the gate is installed at the entrance and exit of a parking lot. When the gate is open, the vehicle is not restrained and can move freely, such as entering or exiting the vehicle compartment, based on the driver's driving.

[0019] On the other hand, when the gate is closed, the vehicle is confined. Specifically, when the gate is closed, the vehicle is unable to leave the parking lot because the gate is an obstacle in the vehicle's path.

[0020] In this way, by controlling the opening and closing of the gate, the vehicle can be switched between a "restrained" state and an "open" state.

[0021] A "gate" is installed, for example, at the entrance and exit of a parking lot. When the gate opens and closes, it can restrict the entry and exit of vehicles. The "gate" is controlled by information (hereinafter referred to as "instruction information") that controls opening and closing based on whether payment has been made. For example, when payment is completed at the payment machine, instruction information instructing the gate to open is output to the gate. On the other hand, when a vehicle enters the parking lot, instruction information instructing the gate to close is output to the gate. Note that the instruction information may also be output by operation by an administrator, etc.

[0022] The "gate" may be installed at any location, with any type of mechanism, any control method, or any device configuration, as long as it can "restrain" or "release" the vehicle. For example, a gate may be installed for each vehicle compartment.

[0023] [System configuration example] 1 is a diagram showing an example of the configuration of a guidance system 1. For example, the guidance system 1 is configured with a general view camera 11, a vehicle compartment sensor 12, a storage sensor 13, and a server 14. The guidance system 1 may also include peripheral devices such as a payment machine 15.

[0024] Below, we will explain an example in which a gate is installed at the entrance and exit of a parking lot (the entrance and exit may be the same or separate, and there may be multiple entrances and exits). However, a parking lot does not have to have a gate. Also, in a parking lot with multiple parking spaces, there may be one gate installed for the entire lot, or there may be multiple gates.

[0025] Hereinafter, a vehicle that has passed through the gate and is heading toward a parking space will be referred to as an "entering vehicle." In other words, an "entering vehicle" is a vehicle that has entered the parking lot through the entrance and has not yet been parked in a parking space. Therefore, the entering vehicle is being driven by a user.

[0026] In other words, a vehicle that is located in the parking lot, but is not in a parking space and is heading toward a parking space, is called an "entering vehicle." Therefore, an entering vehicle is an "entering vehicle" even if it is not near the entrance to the parking lot (for example, a vehicle that has passed through the gate into the parking lot and is heading toward a parking space that is located near a parking space that is far enough away from the entrance). Therefore, a vehicle that has left a parking space after the service has ended and is heading toward the exit is not considered an entering vehicle.

[0027] The overview camera 11 is a camera that captures an image of the entire parking lot. Details of the overview camera 11 will be described later.

[0028] The vehicle interior sensor 12 is a sensor that detects whether a vehicle is parked in each vehicle compartment. For example, the vehicle interior sensor 12 is a camera. Specifically, the overall camera 11 mainly detects whether a vehicle is parked in the vehicle compartment (i.e., whether the vehicle is "vacant" or "in use"). The vehicle interior sensor 12 assists the detection by the overall camera 11. For example, the vehicle interior sensor 12 as a camera detects whether an object recognized as a vehicle is present within a specific area by image recognition. However, the vehicle interior sensor 12 may be something other than a camera. Therefore, the vehicle interior sensor 12 may detect a vehicle by weight, the presence or absence of metal, the presence or absence of an object, etc. Furthermore, the vehicle interior sensor 12 transmits the determination result to the server 14. However, the image recognition and determination processes may be performed by the server 14.

[0029] The entrance sensor 13 detects an entering vehicle 20 entering the parking lot. For example, the entrance sensor 13 is installed at the entrance, such as near the gate. However, the entrance sensor 13 may be installed at a location other than the entrance. For example, if the entrance sensor 13 is a camera or the like, it may be able to detect the entering vehicle 20 even if it is installed at a location other than the entrance. In such a case, the installation location of the entrance sensor 13 is not important.

[0030] The server 14 performs various processes in the guidance system 1. The server 14 also communicates with vehicles such as the entering vehicle 20. For example, the entering vehicle 20 is equipped with an in-vehicle information processing device such as a car navigation system 21. Hereinafter, it is assumed that data is transmitted from the server 14 to the car navigation system 21 to provide guidance within the parking lot. For example, the guidance is output to the user as images or audio using a display or speaker provided in the car navigation system.

[0031] However, the in-vehicle information processing device is not limited to the car navigation device 21. For example, the in-vehicle information processing device may be an information processing device that can be temporarily installed in a vehicle, such as a smartphone. In other words, the in-vehicle information processing device may be any information processing device that can communicate with the server 14 and has an interface with the user.

[0032] The guidance may also be output to an output device such as a speaker, a display, or signage installed in the parking lot. In other words, if the position of the entering vehicle 20 can be identified in the parking lot, guidance may be provided by transmitting data to an output device installed in the destination of the entering vehicle 20 or in the vicinity of the entering vehicle 20, according to the position of the entering vehicle 20. The guidance may also be provided by multiple output devices.

[0033] The payment machine 15 is a device that a user uses to pay a usage fee, etc. For example, the payment machine 15 is installed near the exit of a parking lot. The user then uses the payment machine 15 to settle the fee when leaving the parking lot, i.e., after using the service. However, if there is no payment machine 15, the user may settle the fee using application software installed on a smartphone, for example. Also, the payment machine 15 and the server 14 may be integrated.

[0034] In the following, in the guidance system 1, various processes and data storage are assumed to be performed mainly by the server 14. However, the main body of the processes is not limited to the server 14. For example, each process may be performed by an information processing device other than the server 14, or may be performed in a distributed or redundant manner by the server 14 and another information processing device.

[0035] [Hardware configuration example] 2 is a diagram showing an example of hardware of each device in the guidance system 1. For example, the server 14 has a hardware configuration including a central processing unit (hereinafter referred to as "CPU 14H1"), a storage device 14H2, an input device 14H3, an output device 14H4, and a communication device 14H5. In other words, the server 14 is an information processing device. Note that the server 14 may be a plurality of information processing devices.

[0036] The CPU 14H1 is a calculation device and a control device, and therefore performs calculations to execute processing and control in cooperation with the storage device 14H2 and the like.

[0037] The storage device 14H2 is a memory or the like. Therefore, the storage device 14H2 stores data or the like. The storage device 14H2 may also include an auxiliary storage device.

[0038] The input device 14H3 is, for example, a keyboard or a mouse, etc. In this way, the input device 14H3 is a device for inputting data from an external device or a human operation.

[0039] The output device 14H4 is, for example, a display etc. In this way, the output device 14H4 is a device that outputs data to an external device or displays to a person.

[0040] The communication device 14H5 is a device that transmits and receives data to and from an external device through wired or wireless communication.

[0041] The server 14 may further include, internally or externally, a sensor, a computing device, a control device, an input device, an output device, a storage device, a communication device, or an auxiliary device.

[0042] The server 14 communicates with the overall camera 11, the entrance sensor 13, the vehicle interior sensor 12, the car navigation device 21, etc. via a network. However, each device may be connected to the server 14 not only via a network but also via a wired connection or the like.

[0043] [Example of overall camera 11, entrance sensor 13, and vehicle interior sensor 12] The overall camera 11, the entrance sensor 13, and the vehicle interior sensor 12 are, for example, the following devices.

[0044] 3 is a diagram showing an example of the overall camera 11. For example, the overall camera 11 is an omnidirectional camera or a wide-angle camera. In other words, the overall camera 11 is a camera whose capture range covers the entire parking lot.

[0045] As shown in Fig. 3, the overall camera 11 is installed, for example, in the center of a parking lot. If the overall camera 11 is installed in the center of the parking lot and has an angle of view that can capture images in all directions (360° horizontally), blind spots can be reduced when capturing images inside the parking lot. Note that the overall camera 11 may also ensure an angle of view by rotating horizontally (i.e., rotating about a yaw axis).

[0046] The process of "obtaining video from the overhead camera" may be performed in real time or intermittently. If the purpose is simply to determine whether the vehicle compartment is full or empty, video may be taken at intervals of a few minutes. On the other hand, to determine the status of vehicles traveling on the road, it is desirable to take video every few seconds.

[0047] However, to simplify processing, the camera images are taken every few seconds, and all of this data is used to identify vehicles traveling on the road, but to determine whether the vehicle is full or empty, the frequency can be varied, such as using only data taken every minute rather than all of the data obtained.

[0048] Alternatively, interval images captured by a bird's-eye view camera may be compared with the immediately preceding image. This may be achieved using a known image comparison technique. If a difference is found between the immediately preceding state and the latest state as a result of this comparison, for example, if the immediately preceding image shows a vehicle in a certain compartment, but the latest image shows no vehicle in the same compartment, it is determined that the compartment has changed from full to vacant, i.e., the vehicle parked in that compartment has left the compartment. Similarly, it is also determined that the compartment has changed from vacant to full. Furthermore, since a vehicle traveling on a road is likely to be in a different position in the next image, the vehicle's traveling direction, traveling speed, etc. can also be determined.

[0049] FIG. 4 is a diagram illustrating an example of a vehicle compartment sensor 12. As shown in the illustrated example, the vehicle compartment sensor 12 is installed in, for example, the vehicle compartment. However, one vehicle compartment sensor 12 may correspond to multiple vehicle compartments, or may not be installed in all vehicle compartments, such as for vehicle compartment numbers "4" to "6." Therefore, the vehicle compartment sensor 12 and the vehicle compartment do not need to be one-to-one. Furthermore, the vehicle compartments with vehicle compartment numbers "4" to "6" are sensed by the overall camera 11 (the overall camera 11 may be responsible for only some of the vehicle compartments, for example). For example, the vehicle compartment sensor 12 is installed in a vehicle compartment that is in a blind spot of the overall camera 11. As described above, whether a vehicle is parked in the vehicle compartment may be detected only by the overall camera 11, such as for vehicle compartment numbers "4" to "6," or the vehicle compartment sensor 12 may be used as an auxiliary sensor, such as for vehicle compartment numbers other than "4" to "6."

[0050] Based on the detection results of the overall camera 11 and the vehicle compartment sensor 12, the server 14 determines whether each vehicle compartment is available for use based on the detection results of whether a vehicle is parked in each vehicle compartment. For example, the vehicle compartment sensor 12 is a camera, a magnetic sensor, a weight sensor, a touch sensor, or the like. The vehicle compartment sensor 12 may be a combination of multiple types of sensors.

[0051] When a parked vehicle 22 is in a vehicle compartment, such as a vehicle compartment number "14," vehicle compartment "14" is determined to be in an "unavailable" state based on the detection result of the parked vehicle 22.

[0052] On the other hand, when the compartment sensor 12 does not detect a vehicle in a specific area corresponding to the compartment number "15," such as the compartment number "15," the compartment "15" is available for use by a vehicle such as an incoming vehicle 20 to park there. As in this case, based on the detection result, the compartment "15" is determined to be in an "available" state. Hereinafter, a compartment that is available, such as the compartment "15," will be referred to as the "first compartment 23."

[0053] The first compartment 23 may be any available compartment, and there may be multiple compartments in a parking lot depending on the parking lot usage status. On the other hand, if all the compartments are unavailable, the first compartment 23 does not exist, which is a so-called "full parking lot" state.

[0054] FIG. 5 is a diagram showing an example of the entrance sensor 13. For example, the entrance sensor 13 is a camera, a magnetic sensor, a weight sensor, a touch sensor, or the like. The entrance sensor 13 may be a combination of multiple types of sensors. Furthermore, the entrance sensor 13 may be integrated with a device installed around the entrance, such as a gate.

[0055] As shown in the figure, the entrance sensor 13 detects whether or not a vehicle is present near the boundary of the parking lot, i.e., the entrance. In this way, when the entrance sensor 13 is installed, it is possible to detect an entering vehicle 20 regardless of whether or not there is a gate.

[0056] [Modification of the overall camera 11] Fig. 6 is a diagram showing a modified example of the overall camera 11. For example, the overall camera 11 is not limited to being installed in a single central position as shown in Fig. 4, but multiple cameras may be installed as follows.

[0057] For example, two overall cameras 11 are installed. Specifically, the first overall camera 11 is installed at the far left of the parking lot when viewed from the entrance. Meanwhile, the second overall camera 11 is installed at the far right of the parking lot when viewed from the entrance. In this way, by installing one overall camera 11 at each end of the parking lot, blind spots can be reduced overall. Furthermore, by installing the cameras at the edge of the parking lot, installation can be made easier by utilizing pillars or walls in the parking lot.

[0058] When installing in this way, image data captured by each camera can be used to individually recognize the presence or absence of vehicles for each camera's angle of view. By combining the results of each image recognition, it is possible to detect where vehicles are located throughout the entire parking lot.

[0059] On the other hand, the image data captured by each camera may be stitched together to form a single image data.

[0060] There may be three or more overall cameras 11. Furthermore, if the parking lot has multiple floors or is divided into multiple sections, the image capturing or recognition process may be performed for each floor or section.

[0061] [About lane 2] 7 is a diagram showing an example of a roadway 2. Hereinafter, a route along which a vehicle travels in a parking lot is referred to as a "roadway 2." Specifically, the roadway 2 is an area other than the parking spaces, and is a route along which a vehicle travels from the entrance to the parking space, or a route along which a vehicle travels from the parking space to the exit.

[0062] Therefore, the road 2 is an area other than the vehicle compartment, including the first vehicle compartment 23 (in the figure, vehicle compartment "15") and the area where the parked vehicle 22 is parked (in the figure, vehicle compartment "14", etc.).

[0063] In addition, the roadway 2 is not limited to flat areas, but also includes, for example, in a parking lot with multiple floors, an inclined path (such as a so-called "slope") used by vehicles to move up and down between floors.

[0064] [First example of information] 8 is a diagram showing a first guidance example. An example of guidance given to an entering vehicle 20 in a parking lot in the state shown in the figure will be described below.

[0065] First, assume that the parking lot has space numbers "1" to "15" and can accommodate a total of 15 vehicles. Among the spaces "1" to "15," the spaces with space numbers "1" to "9" and the spaces with space numbers "11" to "14" are currently parked. Therefore, the spaces with space numbers "1" to "9" and the spaces with space numbers "11" to "14" have parked vehicles 22. This state is detected by the space sensor 12.

[0066] Therefore, for the entering vehicle 20, the compartments with compartment numbers "1" to "9" and the compartments with compartment numbers "11" to "14" are unavailable. On the other hand, the compartments with compartment numbers "10" and "15" are available for the entering vehicle 20, that is, they are determined to be the first compartment 23 for the entering vehicle 20. In other words, in this state, the entering vehicle 20 can select one of the two compartments with compartment numbers "10" and "15" and use the service.

[0067] When there are multiple first compartments 23, the server 14 selects one of the first compartments 23 and determines it as the compartment to be used by the entering vehicle 20. Hereinafter, the compartment among the first compartments 23 that is determined as the compartment to be used by the entering vehicle 20 will be referred to as the "second compartment 24." Note that when there is only one first compartment 23, the first compartment 23 becomes the second compartment 24.

[0068] Specifically, the example shown in Figure 8 is an example in which, of the first compartments 23 with compartment numbers "10" and "15," the first compartment 23 with number "15" is determined to be the second compartment 24. The second compartment 24 is determined, for example, randomly from the multiple first compartments 23, or based on a determination criterion such as the one closest to the entrance. The determination criterion is set in advance in the server 14, for example.

[0069] Once the second compartment 24 is determined, the server 14 selects a route 25 to the second compartment 24. For example, the route 25 is set in the server 14 in advance. Specifically, the route 25 is, for each compartment, a road 2 along which the driver travels from the entrance to the compartment. However, if the route is simple, the route 25 may be information specifying the location of the compartment or the compartment number. Furthermore, the route 25 may not be set in advance, but may be selected by a search process based on information such as a parking lot map.

[0070] Since the location where a vehicle will enter the parking lot (for example, an entrance gate) is predetermined, the route from there to each parking space can be statically determined in advance. It is possible to set more than one such route, even if the route is to lead to the same parking space, depending on the layout of the parking lot. In this way, by setting a guide route for each parking space in advance, and then, when a vehicle actually enters the parking lot, it is possible to simply select one of the pre-set routes depending on the situation, thereby simplifying the processing of the server 14 and improving real-time performance. However, it is also possible to determine a route in real time each time a vehicle enters the parking lot.

[0071] For example, as shown in Fig. 8, the route 25 indicates the order of movement within the parking lot, such as "go straight from the entrance to the end," "then turn left," "after turning left, near the end," etc., and the direction at characteristic locations within the parking lot, such as branching points. However, the route 25 may also be visual information displayed as arrows on a map, as shown in Fig. 8.

[0072] The guidance is provided, for example, by outputting to the entering vehicle 20, i.e., the car navigation device 21, a map showing the parking lot as shown in FIG. 8. The entering vehicle 20 can reach an available parking space by following the guidance. However, the guidance may also be provided by outputting the route 25 as audio information. Furthermore, if signage or the like is installed in the parking lot, the guidance may also be provided by displaying arrows or the like on the signage.

[0073] As described above, when guidance is provided to the entering vehicle 20 based on the route 25, the entering vehicle 20 can reduce troubles such as getting lost in the parking lot.

[0074] FIG. 9 is a diagram showing an example of a problem in the first guidance example. Hereinafter, we will use an example in which two vehicles enter a parking lot. Of the two vehicles, the leading vehicle is referred to as the "first vehicle 31." On the other hand, the vehicle following the first vehicle 31 is referred to as the "second vehicle 32."

[0075] For example, as shown in FIG. 9, the first vehicle 31 enters the parking lot before the second vehicle 32 and is located at the back of the parking lot. In contrast, the second vehicle 32 enters the parking lot after the first vehicle 31 and is located at the entrance. The positional relationship between the first vehicle 31 and the second vehicle 32 is not limited to this, and the first vehicle 31 and the second vehicle 32 may be closer or farther apart than in the case shown in FIG. 9. Furthermore, the vehicle that is determined to be the first vehicle 31 relative to the second vehicle 32 is determined to be the first vehicle 31, for example, by determining that the vehicle that entered the parking lot first within a predetermined time (the predetermined time is set in advance, for example, 5 minutes) from the time the second vehicle 32 entered the parking lot.

[0076] Hereinafter, it is assumed that among the compartments "1" to "15," compartments with compartment numbers "1" to "3," compartments with compartment numbers "5" to "9," and compartments with compartment numbers "11" to "14" are parked. Therefore, the first vehicle 31 and the second vehicle 32 cannot use the compartments with compartment numbers "1" to "3," compartments with compartment numbers "5" to "9," and compartment numbers "11" to "14." On the other hand, the three compartments with compartment numbers "4," "10," and "15" are available for use by the first vehicle 31 and the second vehicle 32.

[0077] In the state of the parking lot as shown in Fig. 9, the guidance system 1 first guides the first vehicle 31 to the compartment with compartment number "4". Next, the guidance system 1 guides the second vehicle 32 to the compartment with compartment number "15". As described above, a different compartment is determined to be the second compartment for each entering vehicle.

[0078] For example, a route to the compartment with compartment number "4" is selected for the first vehicle 31. Hereinafter, the route selected for the first vehicle 31 will be referred to as the "first route 41." In this example, the first route 41 is a route to the compartment with compartment number "4" and is a route for the first vehicle 31.

[0079] For the second vehicle 32, for example, a route to the compartment with compartment number "15" is selected. Hereinafter, the route selected for the second vehicle 32 will be referred to as the "second route 42." In this example, the second route 42 is a route to the compartment with compartment number "15" and is a route for the second vehicle 32.

[0080] Problems arise with the first guidance when the first vehicle 31 does not follow the first route 41 but travels on a different route. Specifically, for example, even though the first route 41 guides the first vehicle 31 to a compartment with compartment number "4," the first vehicle 31 may travel on a route that is not the first route 41. And, for example, the first vehicle 31 may park in a compartment with compartment number "15" before the second vehicle 32, instead of the compartment with compartment number "4" that the first vehicle 31 has been guided to.

[0081] In the example shown in Figure 9, a problem occurs when the first vehicle 31 travels along an abnormal route 43. In this case, the first vehicle 31 starts using the compartment with compartment number "15," and therefore the second vehicle 32, which is being guided to the compartment with compartment number "15" via the second route 42, is unable to use the compartment with compartment number "15." In this way, in the first guidance, if the compartment guided by a preceding vehicle or the like is actually unavailable, a problem occurs in which the second vehicle 32 is unable to use the service.

[0082] Problems that occur in the first guidance are not limited to those caused by the preceding vehicle. For example, if there is an obstacle in the vehicle compartment, the vehicle compartment may be unusable. In particular, if the obstacle cannot be detected by a sensor or the like (for example, because of its size or material that makes it difficult for the sensor to detect it), the detection result of the vehicle compartment sensor 12 may indicate that the vehicle compartment is usable, but in reality, the vehicle compartment may be unusable.

[0083] [Example of second notice] In response to the first guidance that causes the above-mentioned problems, the second guidance is performed as follows.

[0084] 10 is a diagram showing the first stage in the second guidance example. For example, as in FIG. 9, first vehicle 31 and second vehicle 32 are entering vehicles. The same is true for first vehicle compartment 23.

[0085] Next, assume that the first route 41 and the second route 42 are selected, as in Fig. 9. After that, the first vehicle 31 parks in the parking space with the parking space number "15" guided by the second route 42 before the second vehicle 32, regardless of the guidance of the first route 41.

[0086] In such a case, the first vehicle 31 moves along an abnormal route 43 that is not the first route 41. The overall camera 11 detects that the first vehicle 31 has deviated from the first route 41 and is moving along the abnormal route 43. For example, by analyzing the image data, the first vehicle 31 is recognized as being moved along an abnormal route 43 at a position that is not the first route 41, or as being parked in the compartment "15."

[0087] Fig. 11 is a diagram showing the second stage in the second guidance example. In the first stage, that is, as shown in Fig. 10, when it is determined that the first vehicle 31 is traveling on a route other than the first route 41, the guidance system 1 executes the second stage as follows.

[0088] In the second stage, the guidance system 1 updates the second route 42. That is, the guidance system 1 updates the route to guide the second vehicle 32 to a compartment different from the one guided in the first stage.

[0089] Specifically, since compartment "15" becomes unavailable in the first stage, the second route 42, which is the route before the update, is discarded. Next, the guidance system 1 detects the first compartment 23. In this example, the first compartment 23 is detected as a compartment with compartment number "4" or "10". From the first compartment 23 detected in this way, the guidance system 1 selects a new route, for example, with the compartment with compartment number "10" as the second compartment.

[0090] Hereinafter, the route after such an update will be referred to as "updated route 44." In this example, updated route 44 is a route that leads to the compartment with compartment number "10."

[0091] If the route can be updated in this way, the guidance for the second vehicle 32 can be changed in real time even if a problem such as that shown in FIG. 9 occurs.

[0092] [Overall processing example] FIG. 12 is a diagram illustrating an example of the overall processing.

[0093] In step S101, the guidance system 1 uses the overall camera 11 to capture an image of the entire parking lot.

[0094] In step S102, the guidance system 1 determines the state of each compartment using the compartment sensor 12. Based on the result of this determination, the first compartment is identified.

[0095] In step S103, the guidance system 1 detects the entering vehicle by the entrance sensor 13.

[0096] In step S104, if the guidance system 1 determines that there is an entering vehicle (YES in step S104), the system proceeds to step S105. On the other hand, if the guidance system 1 determines that there is no entering vehicle (NO in step S104), the system proceeds to step S103. That is, the system waits until there is an entering vehicle.

[0097] In step S105, the guidance system 1 determines a second compartment, that is, one of the first compartments identified in step S102 is determined as the second compartment to which the entering vehicle is to be guided.

[0098] In step S106, the guidance system 1 selects a route based on the second compartment.

[0099] In step S107, the guidance system 1 guides the entering vehicle along the selected route.

[0100] In step S108, the guidance system 1 determines whether a route update is necessary. If the guidance system 1 determines that a route update is necessary (YES in step S108), the system proceeds to step S109. On the other hand, if the guidance system 1 determines that a route update is not necessary (NO in step S108), the system proceeds to step S110.

[0101] In step S109, the guidance system 1 updates the route. Next, the guidance system 1 proceeds to step S107 and guides the entering vehicle based on the updated route.

[0102] In step S110, the guidance system 1 determines whether or not the process is to be terminated. If the guidance system 1 determines that the process is to be terminated (YES in step S110), the entire process is terminated. On the other hand, if the guidance system 1 determines that the process is not to be terminated (NO in step S110), the process proceeds to step S107. Therefore, the guidance to the entering vehicle continues.

[0103] [First example of functional configuration] 13 is a diagram showing a first example of a functional configuration. For example, the guidance system 1 has a functional configuration including an imaging unit 1F1, a determination unit 1F2, a detection unit 1F3, a determination unit 1F4, a selection unit 1F5, a guidance unit 1F6, and an update unit 1F7.

[0104] The photographing means 1F1 performs a photographing procedure for photographing the entire parking lot and generating image data. For example, the photographing means 1F1 is realized by an overall camera 11.

[0105] The determination means 1F2 performs a determination procedure for determining the state of the vehicle interior. For example, the determination means 1F2 is realized by the vehicle interior sensor 12 or the like.

[0106] The detection means 1F3 performs a detection procedure to detect an entering vehicle 20 entering the parking lot. For example, the detection means 1F3 is realized by an entrance sensor 13 or the like.

[0107] The determination means 1F4 performs a determination procedure for determining the second casing 24 from among the first casing 23. For example, the determination means 1F4 is realized by the CPU 14H1 or the like.

[0108] The selection means 1F5 performs a selection procedure for selecting a route for the entering vehicle 20 to the second compartment 24. For example, the selection means 1F5 is realized by the CPU 14H1 or the like.

[0109] The guidance means 1F6 performs a guidance procedure based on the route to guide the entering vehicle 20. For example, the guidance means 1F6 is realized by a car navigation device 21 or the like.

[0110] The update unit 1F7 analyzes the image data and performs an update procedure to update the route. For example, the update unit 1F7 is realized by the CPU 14H1 or the like.

[0111] With the above-described functional configuration, even if, after a route is selected, the parking space to which the vehicle was directed becomes unavailable for some reason, the guidance system 1 can reliably guide the vehicle to an available parking space in the parking lot.

[0112] [First Modification] 14 is a diagram showing a first modified example. As will be described below, the second compartment may be determined based on the user's preferences.

[0113] The user who drives the entering vehicle 20 inputs their preferences in advance, i.e., before entering the parking lot. The server 14 then stores the preferences as user information 50.

[0114] For example, the input is performed by a user operating application software installed on an information processing device such as a smartphone. User information 50 is input by a user operating the application software during so-called "user registration" and transmitted to the server 14.

[0115] The user information 50 is stored in a format that links, for example, identification information such as a number, a user name, and information such as preferences. However, the user information 50 may also include payment information, personal information such as an address, or history information such as the most recent date of use.

[0116] The user information 50 is information configured, for example, from the following information: Note that, although the following example is an example in which the user information 50 is registered for each user, the information may be configured for each vehicle, for example.

[0117] A "number" is, for example, the number written on a vehicle's license plate (an automobile registration plate under the Road Transport Vehicle Act (Act No. 185 of 1951)). In other words, a "number" is an example of identification information for a vehicle driven by a user. Therefore, the identification information may be any information that can identify a vehicle, and may also be other data or vehicle characteristics (for example, the model, color, type, or serial number, etc.).

[0118] The "user name" is an example of user identification information. Therefore, the "user name" may be any information that can identify the user, such as an ID (identification), an email address, or another number.

[0119] However, the user information 50 may also be entered by the user at the gate or the like when entering the parking lot. For example, the name and other information in the user information 50 may be registered in advance, and preferences, such as the desired parking location, may be entered when entering the parking lot. In this way, the user information 50 including preferences can be entered at any time and on any information processing device.

[0120] "Preferences" are input, for example, as "close to the entrance," "has a roof," or "large (area for parking)." For example, "preferences" are determined by the result of an operation in which the user selects from options (the options are set in advance). Note that "preferences" may be other than those listed above, as long as they are the user's wishes when using the parking lot.

[0121] However, "preferences" may be entered as text and interpreted by AI (Artificial Intelligence). In this way, "preferences" are items to be considered when selecting a parking space in a parking lot. For example, if "close to the entrance" is entered as "preferences," it means that the user wants a parking space located as close to the entrance as possible.

[0122] Hereinafter, a user who has already input user information 50 to the server 14 in this way will be referred to as a "registered user." Therefore, if the user is a registered user, the server 14 can check the corresponding user information 50 using, for example, the "number" as a primary key.

[0123] The user information 50 may include information other than the above. For example, the user information 50 may further include information used for settling a parking lot. Furthermore, the user information 50 does not have to be stored entirely in a single information processing device, and the information may be stored in a distributed manner in multiple databases.

[0124] For example, if the entrance sensor 13 is a camera, it photographs the license plate attached to the entrance vehicle 20 and analyzes the image data. After such analysis, the guidance system 1 can recognize the entrance vehicle 20 by comparing it with the "number" in the user information 50. The entrance sensor 13 and the camera that generates the image data used to compare the entrance vehicle 20 may be separate or integrated.

[0125] In order to take the user's preferences into consideration when guiding them to the destination vehicle, it is necessary to determine whether the arriving vehicle is a vehicle for which the user has previously registered such preferences. This can be achieved, for example, by having a camera photograph the vehicle's license plate. This camera may be the overall camera 11 if it is capable of photographing the vehicle's license plate, or a camera may be installed separately from the overall camera 11 (for example, in cases where the layout is such that the overall camera 11 cannot photograph the vehicle's license plate, or where a dedicated camera for reading the vehicle's license plate provides a clearer image than the overall camera 11).

[0126] In this way, the vehicle's license plate number is photographed and the numbers on the license plate are recognized using character recognition and other processes. The recognized numbers are compared with numbers stored in the user database, and if a matching number is found in the database, it is determined that a registered user has arrived. The preferences previously given by that registered user are then obtained and used to guide the user to the vehicle.

[0127] Based on such a comparison result, the guidance system 1 can identify the user information 50 corresponding to the entering vehicle 20, and can identify the "preferences" of the entering vehicle 20.

[0128] It is desirable that the guidance system 1 reflects the registered user's preference in determining the second compartment, i.e., in selecting the route. Specifically, if the "preference" is "close to the entrance," the guidance system 1 determines that the compartment closest to the entrance among the multiple first compartments will be the second compartment.

[0129] In this way, when a route is selected that reflects preferences, the convenience of the user when using a parking lot can be improved.

[0130] The preferences are not limited to being input by user operation. For example, the preferences may be input by analyzing the user's parameters or past parking history, etc., and analyzing the user's preferences. In addition, when determining the route, candidates for the second parking space may be output to the user, and the parking space selected by the user from the candidates may be determined as the second parking space. In this way, preferences may be used to extract candidates.

[0131] [Second example of functional configuration] 15 is a diagram showing a second example of the functional configuration. Compared to the functional configuration of the first example, the second example differs in that a recognition unit 1F21, a storage unit 1F22, and an input unit 1F23 are added to the guidance system 1. In the following, the same elements as those in the first example are given the same reference numerals, and redundant explanations will be omitted, with the differences being mainly described.

[0132] The recognition means 1F21 performs a recognition procedure for recognizing the entering vehicle 20 based on the identification information of the entering vehicle 20. For example, the recognition means 1F21 is realized by the entering sensor 13 or the like.

[0133] The storage means 1F22 performs a storage procedure for storing user information 50 corresponding to the user of the entering vehicle 20. For example, the storage means 1F22 is realized by the storage device 14H2 or the like.

[0134] The input means 1F23 performs an input procedure for inputting the user's preferences as the user information 50. For example, the input means 1F23 is realized by the communication device 14H5 or the like.

[0135] As described above, if the configuration allows the user's preferences to be input, the guidance system 1 can select a route that reflects the preferences, thereby improving the convenience for the user when using the parking lot.

[0136] [Second Modification] FIG. 16 is a diagram showing a second modified example. In the second modified example, the entering vehicle 20 is an autonomous vehicle. An autonomous vehicle is, for example, a vehicle that is level 3 or higher as specified by JASO (Japan Automotive Society Standards) TP-18004. However, the autonomous vehicle is not limited to the above vehicles, and may be any vehicle that moves in accordance with driving instructions given to the entering vehicle 20 from the guidance system 1. Furthermore, the autonomous vehicle may move only within the parking lot in accordance with instructions from the guidance system 1, and be driven by the user after leaving the parking lot.

[0137] For example, the guidance system 1 communicates with the autonomous vehicle by installing a communication device such as an antenna in advance in the parking lot. Therefore, the guidance system 1 can communicate with the autonomous vehicle by using the communication device.

[0138] For example, it is determined whether the entering vehicle 20 is an autonomous vehicle at the entrance to the parking lot. For example, at the gate, a determination signal for determining whether the entering vehicle 20 is an autonomous vehicle is transmitted to the entering vehicle 20, and it is determined whether the entering vehicle 20 is an autonomous vehicle based on the response to the transmission.

[0139] When it is determined that the entering vehicle 20 is an autonomous vehicle, the guidance system 1 generates information (hereinafter referred to as "instruction information") indicating instructions for driving to the determined second compartment 24 and transmits it to the entering vehicle 20. When such instruction information is transmitted to the entering vehicle 20, the entering vehicle 20 moves based on the instruction information, so that the entering vehicle 20 can be guided to move to the second compartment 24 and park without the user having to drive the entering vehicle 20.

[0140] The instruction information preferably includes parking lot information, traffic information, obstacle information, environmental information, etc. The guidance system 1 generates this instruction information by collecting information from sensors installed in the parking lot or from external devices.

[0141] The parking lot information is, for example, map information showing the entire parking lot as shown in Fig. 16. In addition, the parking lot information is information showing the position of the branch point 51, the parking space position 52 of the second parking space 24, etc. If parking lot information such as the entire parking lot, the position of the branch point 51, and the parking space position 52 is available, the guidance system 1 can move the entering vehicle 20 with high accuracy.

[0142] The traffic information is, for example, information about a preceding vehicle 53 that is ahead of the entering vehicle 20. If such a preceding vehicle 53 is stopped for some reason, it can cause congestion at the location of the preceding vehicle 53. Therefore, if the guidance system 1 can avoid the preceding vehicle 53 according to the congestion situation based on the traffic information, the guidance system 1 can move the entering vehicle 20 smoothly.

[0143] The obstacle information is, for example, information indicating the position of a pedestrian 54 or the like. Note that the obstacle is not limited to a pedestrian 54, but may be a vehicle in the parking lot, an object placed on the roadway, or the like. When such obstacle information is present, the guidance system 1 can move the entering vehicle 20 by taking measures such as avoiding the pedestrian 54 or the like or waiting for it to pass.

[0144] The environmental information is, for example, information about the weather 55. Specifically, the weather 55 is information about whether it is raining, the temperature, the wind speed, the humidity, the air pressure, and the like. For example, some parking lots have no roofs. When it is raining, the user may not like a parking space in such a location. Therefore, by using the environmental information, the guidance system 1 can provide guidance taking the weather 55 and the like into consideration.

[0145] [Third example of functional configuration] 17 is a diagram showing a third example of the functional configuration. Compared to the functional configuration of the first example, the third example differs in that autonomous vehicle determination means 1F31 and transmission means 1F32 are added to the guidance system 1. Below, elements that are the same as those in the first example are given the same reference numerals, and redundant explanations will be omitted, with the differences being mainly explained.

[0146] The automatically driven vehicle determination means 1F31 performs an automatically driven vehicle determination procedure to determine whether or not the entering vehicle 20 is an automatically driven vehicle. For example, the automatically driven vehicle determination means 1F31 is realized by the entering sensor 13 or the like.

[0147] When the entering vehicle 20 is an autonomous vehicle, the transmission means 1F32 performs a transmission procedure to generate instruction information and transmit it to the entering vehicle 20. For example, the transmission means 1F32 is realized by a communication device 14H5 or the like.

[0148] As described above, with a configuration that can identify autonomous vehicles and transmit instruction information to autonomous vehicles, guidance system 1 can provide guidance along a selected route without the user having to drive, thereby improving the convenience of users when using parking lots.

[0149] [Third Modification] 18 is a diagram showing a third modified example. The third modified example differs in the process of determining the first compartment, etc. For example, in the third modified example, the guidance system 1 determines that the following compartments are also the first compartments, i.e., available for the entering vehicle 20.

[0150] The compartment with compartment number "7" is an example in which a parked vehicle departs (hereinafter, a vehicle departing from the compartment is referred to as "departing vehicle 60") and the compartment becomes available within a certain time. In this way, even if a vehicle is present in the compartment, if the vehicle is in the state of departing vehicle 60, the guidance system 1 determines that the compartment will become available. In other words, the guidance system 1 regards the compartment with compartment number "7" as the first compartment.

[0151] The compartment with compartment number "11" is an example in which the compartment will become available within a certain time because there is an approaching person 61 who is presumed to be the driver of the parked vehicle. In this way, even if there is a vehicle in the compartment, if there is an approaching person 61, the guidance system 1 determines that the compartment will become available. In other words, the guidance system 1 considers the compartment with compartment number "11" to be the first compartment.

[0152] The departing vehicle 60 and the approaching person 61 use, for example, image data captured by the overall camera 11. Specifically, by analyzing optical flow or the like, it is possible to identify the direction in which a vehicle or person is heading. Alternatively, the guidance system 1 may recognize a vehicle or person based on image data and determine the position, etc.

[0153] Note that the determination based on the departing vehicle 60 and the approaching person 61 as described above may determine that the compartment is not the first compartment, but rather a candidate compartment for the first compartment (hereinafter referred to as the "third compartment"). In other words, the compartment determined based on the departing vehicle 60 and the approaching person 61 may be determined as neither the first compartment nor an unavailable compartment, but as the third compartment by distinguishing its type. Furthermore, if a compartment that was the third compartment becomes the first compartment over time, its type may be changed from the third compartment to the first compartment.

[0154] As described above, by determining the first compartment or the third compartment, the guidance system 1 can increase the options of compartments to which the entering vehicle 20 is guided.

[0155] [Example of information display] 19 is a diagram showing an example of a display for guidance. For example, the car navigation device 21 displays the display as shown in the figure.

[0156] Specifically, the guidance displays a map showing the entire parking lot, the area within a certain distance of the entering vehicle 20, or the floor where the entering vehicle 20 is located. When such a map is displayed, the user can intuitively grasp the current location and the location of the parking space.

[0157] Furthermore, a route 25 or the like may be displayed on the map. In addition, a guidance display 62 or the like may be displayed. As shown in the figure, the guidance display 62 is, for example, an arrow indicating the direction of the parking space relative to the current position, or verbal information indicating the route to the parking space. The guidance display 62 is not limited to these formats and may include other images, words, etc. Furthermore, the guidance may be audio, etc.

[0158] The guidance may change in real time depending on the position of the entering vehicle 20, or may be displayed consistently from the entrance to the vehicle compartment.

[0159] [Other embodiments] The vehicle compartment to be guided to may take into consideration the occupancy rate of each vehicle compartment. A high occupancy rate of a vehicle compartment is considered to indirectly indicate that the vehicle compartment is easy to use, and therefore guiding the user to such a vehicle compartment with a high occupancy rate is considered to provide convenience to the user. Therefore, in order to guide the user to a vehicle compartment with a high occupancy rate, a management database or the like may be provided that records the occupancy rate of each vehicle compartment.

[0160] Also, in Figure 10, we will explain what happens when the first vehicle 31 mistakenly enters the route (second route 42) while guiding the second vehicle 32, or when the first vehicle 31 stops on the route.

[0161] Guidance is being given to the first vehicle 31 for the vehicle compartment number "4." However, if the first vehicle 31 stops on the route for some reason (for example, the presence of a pedestrian or an accident on the premises), it is conceivable that the first vehicle 31 will not be able to move immediately, depending on the situation.

[0162] For example, if the first vehicle 31 has stopped to let a pedestrian pass, the stop will be short and it is expected that the vehicle will move again soon, so there is no need to change the route guidance for the second vehicle 32. On the other hand, if the first vehicle 31 has stopped due to an accident in the yard, it is highly likely that the first vehicle 31 will not move again soon, and if things continue as they are, the second vehicle 32 may also have to continue to be stopped behind it.

[0163] Therefore, if an incident occurs in which the first vehicle 31 is stopped for a predetermined period of time or longer, it is desirable to change the guidance route for the second vehicle 32. Whether the first vehicle 31 has stopped or not can be determined by monitoring the movement of vehicles on the road using the overall camera 11 or the like.

[0164] If it is determined that the first vehicle 31 has been stopped for a predetermined period of time or longer, the guidance route for the second vehicle 32 is changed. In this case, the current position of the second vehicle 32 is random, and it is considered difficult to statically set in advance a route to the destination compartment (compartment with compartment number "4") as described above, so it is desirable to recalculate the route from the current position of the second vehicle 32 to the compartment with compartment number "4" each time.

[0165] In this way, by performing the process of changing the second compartment for the second vehicle 32, smooth guidance can be continued.

[0166] Each device does not have to be a single device, that is, each device may be configured by combining multiple devices.

[0167] The present invention may be realized by a guidance program (including firmware and programs equivalent thereto; hereinafter simply referred to as a "program") that executes processing for realizing the guidance method exemplified above, or processing equivalent to the processing shown above.

[0168] That is, the present invention may be realized by a program written in a programming language or the like so as to issue instructions to a computer and obtain a predetermined result. Note that the program may be configured so that part of the processing is executed by hardware such as an IC (Integrated Circuit).

[0169] The program causes the computer to execute the above-described processes by cooperating with the arithmetic unit, control unit, storage device, etc. of the computer. That is, the program is loaded into the main storage device, etc., and issues instructions to the arithmetic unit to perform calculations, thereby operating the computer.

[0170] The program may also be provided via a computer-readable recording medium or via a telecommunications line such as a network.

[0171] The present invention may be realized in a system composed of multiple devices. That is, an information processing system using multiple computers may execute the above-described processes in a redundant, parallel, distributed, or combination thereof manner. Therefore, the present invention may be realized in devices and systems other than those having the hardware configurations described above.

[0172] The present invention is not limited to the above-described exemplary embodiments. Therefore, the present invention may be modified or added to without departing from the technical gist of the present invention. Therefore, all technical matters included in the technical concept described in the claims are subject to the present invention. The above-described exemplary embodiments are preferred examples. Those skilled in the art will be able to realize various modifications from the disclosed content, and such modifications are included in the technical scope described in the claims. [Explanation of symbols]

[0173] 1: Guidance system 1F1: Shooting method 1F2: Judgment means 1F21: Recognition means 1F22: Storage means 1F23: Input method 1F3: Detection method 1F31: Self-driving car judgment method 1F32: Transmission method 1F4:Decision means 1F5: Selection method 1F6: Guidance means 1F7: Update method 2: Roadway 11: Overall camera 12: Vehicle interior sensor 13: In-stock sensor 14: Server 14H1: CPU 14H2 :Storage device 14H3: Input device 14H4: Output device 14H5:Communication equipment 15:Payment machine 20: Incoming car 21: Car navigation device 22: Parked vehicle 23: 1st compartment 24: 2nd compartment 25: Route 31: First car 32: Second car 41: Route 1 42: Route 2 43: Abnormal Route 44: Update route 50: User information 51: Branching point 52: Cabin position 53: Leading vehicle 54: Pedestrian 55:Weather 60: Starting car 61: Approacher 62: Guidance display

Claims

1. an imaging means for capturing an image of the entire parking lot and generating image data; A determination means for determining the state of the vehicle cabin; A parking lot guidance device connected to a detection means for detecting vehicles entering the parking lot, a determination means for determining a second compartment to be used by the entering vehicle from among first compartments that are available for the entering vehicle; a selection means for selecting a route to the second compartment for the entering vehicle; a guidance means for guiding the entering vehicle based on the route; an updating means for analyzing the image data and updating the route; A parking lot guidance device comprising:

2. a recognition means for recognizing the incoming vehicle based on the identification information of the incoming vehicle; a storage means for storing user information; further comprising an input means for inputting user preferences as the user information; The selection means If it is determined that the entering vehicle is a registered user based on the result of comparing the user information with the identification information, the route is selected reflecting the user's preferences. The parking lot guide device according to claim 1.

3. an autonomous vehicle determination means for determining whether the entering vehicle is an autonomous vehicle; and a transmission means for generating instruction information indicating an instruction regarding driving to the second compartment and transmitting the instruction information to the entering vehicle when the entering vehicle is the automatically driven vehicle. The parking lot guide device according to claim 1.

4. The instruction information includes: Parking lot information indicating the entire parking lot, a branch point in the parking lot, or the location of the parking space; traffic information indicating the congestion status of the parking lot; Obstacle information indicating pedestrians, vehicles, or obstacles present on the roadway in the parking lot; Or, environmental information indicating the weather in the parking lot.

4. The parking lot guide device according to claim 3.

5. The photographing means is Use one or more cameras The parking lot guide device according to claim 1.

6. Based on the image data, a compartment that is likely to be taken out of the compartments within a certain time and become the first compartment is determined, and the compartment is treated as the first compartment or a third compartment that is a candidate for the first compartment. The parking lot guide device according to claim 1.

7. When a plurality of the entering vehicles are in the parking lot, selecting a first route for a leading first vehicle among the plurality of entering vehicles, and selecting a second route for a second vehicle following the first vehicle; When it is determined that the first vehicle is traveling on a route other than the first route, the second route is updated. The parking lot guide device according to claim 1.

8. an imaging means for capturing an image of the entire parking lot and generating image data; A determination means for determining the state of the vehicle cabin; A detection means for detecting a vehicle entering the parking lot; a determination means for determining a second compartment to be used by the entering vehicle from among first compartments that are available for the entering vehicle; a selection means for selecting a route to the second compartment for the entering vehicle; a guidance means for guiding the entering vehicle based on the route; an updating means for analyzing the image data and updating the route; A guidance system comprising:

9. A guidance method executed by a guidance system, A photographing procedure for photographing the entire parking lot and generating image data; A judgment procedure for determining the condition of the vehicle cabin; a detection step of detecting an incoming vehicle entering the parking lot; a determination step of determining a second compartment to be used by the entering vehicle from among first compartments that are available for the entering vehicle; a selection step of selecting a route to the second compartment for the entering vehicle; a guidance procedure for guiding the entering vehicle based on the route; an update procedure for analyzing the image data and updating the route; A guidance method including:

10. A guidance program for causing a computer to execute the guidance method according to claim 9.

Images