Vehicle guidance system, vehicle guidance device, vehicle guidance method, and program

Abstract

The vehicle is guided so that the relationship between the location of the energy supply inlet and the location of the energy supply point on the vehicle is appropriate for supplying energy to the vehicle. [Solution] The vehicle guidance device comprises a vehicle information acquisition unit, a vehicle position acquisition unit, and a guidance management unit. The vehicle information acquisition unit acquires vehicle information relating to a vehicle, including information on the location of the vehicle's energy supply inlet. The vehicle position acquisition unit acquires vehicle position information, which is information on the vehicle's current position. Based on the information on the location of the vehicle's energy supply inlet acquired by the vehicle information acquisition unit and the vehicle position information acquired by the vehicle position acquisition unit, the guidance management unit outputs a guide signal to guide the vehicle to stop at a position corresponding to an energy supply point for supplying energy to the vehicle.

Description

[[Technical Field]]

[0001] The present disclosure relates to a vehicle guidance system, a vehicle guidance device, a vehicle guidance method, and a program. [[Background Art]]

[0002] There exist facilities for supplying energy to vehicles such as passenger cars, buses, and trucks, for example, gas stations.

[0003] For example, regarding gas stations, in recent years, the number of "self-service" gas stations in Japan, which employ a system where users (vehicle drivers) themselves refuel vehicles with fuel such as gasoline, has been increasing, accounting for more than half of all gas stations. In self-service gas stations as described above, there are often no personnel (gas station employees) to guide vehicles to appropriate positions. For this reason, it may be difficult for unfamiliar users to recognize the parking position for refueling. In such cases, it takes time and effort to move the vehicle to an appropriate parking position.

[0004] For example, Patent Document 1 describes a refueling vehicle guidance system. In the refueling vehicle guidance system described in Patent Document 1, a vehicle information acquisition unit acquires vehicle information corresponding to a vehicle via a communication device disposed on the vehicle. Further, a refueling information acquisition unit acquires a fuel filler position of the vehicle based on the vehicle information described above. Furthermore, a refueling device determination unit determines a refueling device to refuel the vehicle from among a plurality of refueling devices installed in a gas station based on the fuel filler position described above. In addition, a guidance information presentation unit presents guidance information for guiding the vehicle on the roadway to the determined refueling device to the driver of the vehicle.

[0005] Further, Patent Document 1 describes the following processing procedure. That is, the on-board device transmits a device number (M1) to an ETC server. A control unit of the ETC server acquires a model number (M2) corresponding to the device number (M1) from a database. The control unit of the ETC server transmits this model number (M2) to the vehicle guidance device.

[0006] Furthermore, Patent Document 1 states that the control unit of the vehicle guidance system may determine the refueling device corresponding to the vehicle based on information about the location of the vehicle's fuel filler port and information about the fuel tank capacity.

[0007] Furthermore, Patent Document 1 describes that when the control unit of a vehicle guidance system determines a refueling device for a vehicle, it presents guidance information to the vehicle driver to guide the vehicle to the determined refueling device. For example, as shown in Figure 7 of Patent Document 1, the control unit of the vehicle guidance system displays information about the refueling lane corresponding to the refueling device on a display device. [Prior art documents] [Patent Documents]

[0008] [Patent Document 1] Japanese Patent Publication No. 2021-187333 [Overview of the project] [Problems that the invention aims to solve]

[0009] The invention described in Patent Document 1 does not guide the vehicle so that the relationship between the position of the fuel nozzle and the position of the vehicle's fuel filler port is suitable when refueling the vehicle with gasoline or other fuel. Furthermore, the prior art does not guide the vehicle so that the relationship between the position of the power supply terminal on the charging equipment (charging station) side and the position of the vehicle's charging port is suitable when supplying power to an electric-powered vehicle. In other words, with the prior art, it is possible that difficulties may arise when supplying energy to a vehicle due to the inappropriate positional relationship described above.

[0010] The purpose of this disclosure is to provide a vehicle guidance system, a vehicle guidance device, a vehicle guidance method, and a program that solve the above-mentioned problems. [Means for solving the problem]

[0011] A vehicle guidance device according to one aspect of the present disclosure includes: a vehicle information acquisition unit that acquires vehicle information relating to a vehicle, including information on the location of the vehicle's energy supply inlet; a vehicle position acquisition unit that acquires vehicle position information, which is information on the vehicle's current position; and a guidance management unit that outputs a guide signal for guiding the vehicle to stop at a position corresponding to an energy supply point for supplying energy to the vehicle, based on the information on the location of the vehicle's energy supply inlet acquired by the vehicle information acquisition unit and the vehicle position information acquired by the vehicle position acquisition unit.

[0012] A vehicle guidance system according to one aspect of the present disclosure includes the above-described vehicle guidance device and a guide device that performs an operation to stop the vehicle at a position corresponding to the energy supply point based on a guide signal output by the guidance management unit of the vehicle guidance device.

[0013] A vehicle guidance method according to one aspect of the present disclosure is a vehicle guidance method for a vehicle guidance device, which acquires vehicle information relating to a vehicle, including information on the location of the vehicle's energy supply inlet, acquires vehicle position information which is information on the vehicle's current position, and outputs a guide signal for guiding the vehicle to stop at a position corresponding to an energy supply point for supplying energy to the vehicle, based on the acquired information on the location of the vehicle's energy supply inlet and the acquired vehicle position information.

[0014] A program according to one aspect of this disclosure is a program that causes a vehicle guidance device to execute the above-described vehicle guidance method. [Effects of the Invention]

[0015] According to one embodiment described above, the vehicle can be guided so that the position of the vehicle's energy supply inlet corresponds to the position of the energy supply point for supplying energy to the vehicle. [Brief explanation of the drawing]

[0016] [Figure 1] It is a schematic diagram showing a schematic configuration of the vehicle guidance system according to the present disclosure when viewed in a plan view. [Figure 2] It is a functional block diagram schematically showing the functional configuration of the vehicle guidance system according to the present disclosure and the mutual relationship between devices and functions included in the vehicle guidance system. [Figure 3] It is a side view of a vehicle for explaining the position of an energy supply inlet in a vehicle guided by the vehicle guidance system according to the present disclosure. [Figure 4] It is a schematic diagram showing a configuration and an example data of a vehicle information table according to the present disclosure. [Figure 5] It is a schematic diagram for explaining a change in state of a vehicle state management table included in the vehicle guidance device according to the present disclosure, showing a first state. [Figure 6] It is a schematic diagram for explaining a change in state of a vehicle state management table included in the vehicle guidance device according to the present disclosure, showing a second state. [Figure 7] It is a schematic diagram for explaining a change in state of a vehicle state management table included in the vehicle guidance device according to the present disclosure, showing a third state. [Figure 8] It is a schematic diagram for explaining a change in state of a vehicle state management table included in the vehicle guidance device according to the present disclosure, showing a fourth state. [Figure 9] It is a flow chart showing a processing procedure for setting information in advance in a wireless communication device according to the present disclosure. [Figure 10] It is a flow chart showing a processing procedure for acquiring vehicle information by the vehicle guidance device according to the present disclosure. [Figure 11] It is a flow chart (1 / 2) showing a processing procedure for guiding a vehicle by the vehicle guidance system according to the present disclosure. [Figure 12] It is a flow chart (2 / 2) showing a processing procedure for guiding a vehicle by the vehicle guidance system according to the present disclosure. [Figure 13] It is a block diagram showing an example of an internal configuration of various devices such as the vehicle guidance device according to the present disclosure. [Figure 14]It is a block diagram showing a schematic functional configuration of a vehicle guidance device according to the present disclosure. MODE FOR CARRYING OUT THE INVENTION

[0017] Hereinafter, a plurality of embodiments will be described with reference to the drawings. In all the drawings, the same or corresponding components are denoted by the same reference numerals, and common descriptions are omitted.

[0018] <First Embodiment> Hereinafter, an embodiment according to the present disclosure will be described with reference to the drawings. The present disclosure relates to a system aimed at guiding a target vehicle to a position suitable for refueling at a gas station, for example.

[0019] An outline of the embodiment is as follows. That is, the vehicle guidance system includes: a wireless communication device that holds vehicle information of a target vehicle to be guided; a vehicle guidance device that acquires information of the target vehicle, controls stop guidance and stop position of the target vehicle; a first camera that confirms the vehicle number of the target vehicle; a second camera that confirms the target vehicle traveling toward the refueling machine; a vehicle position display device (stop frame presentation device) that displays the position of a stop frame; and a stop guide device (stop guide device) that indicates the stop position of the target vehicle.

[0020] When the wireless communication device mounted on the vehicle to be guided enters the wireless communication range of the vehicle guidance system's wireless communication device, the wireless communication device on the vehicle to be guided transmits the vehicle information of the vehicle to the vehicle guidance system. Next, the first camera, which confirms the vehicle number of the vehicle to be guided, transmits an image of the vehicle number of the vehicle to the vehicle guidance system. The vehicle guidance system recognizes the vehicle number from the image of the vehicle number received from the first camera. After that, the vehicle guidance system confirms the vehicle number from the first camera and the vehicle information from the wireless communication device, and displays the vehicle stopping position where refueling is possible using the vehicle position display device (parking frame display device) and the stopping guide (stopping guide device). Next, the vehicle guidance system confirms the direction of the vehicle to be guided using the second camera. When the vehicle to be guided stops at the guidance position (target position) due to the operation of the second camera and the stopping guide device, the vehicle guidance system stops the display on the vehicle position display device (parking frame display device) and the stopping guide (stopping guide device).

[0021] Figure 1 is a schematic diagram showing the general configuration of the vehicle guidance system according to this disclosure in a plan view. The illustrated vehicle guidance system 1000 is installed, for example, at a gas station. As shown in the figure, the vehicle guidance system 1000 is configured to include vehicle parking frames 401-1, 401-2, 401-3, ..., a plurality of fuel dispensers 402, fuel nozzles 403-1, 403-2, 403-3, 403-4, ..., a vehicle guidance device 2, a wireless communication device 301, a first camera 302, a second camera 303-1, 303-2, 303-3, 303-4, ..., parking frame display devices 306-1, 306-2, 306-3, ..., and stopping guide devices 307-1, 307-2, 307-3, 307-4, ...

[0022] The configuration shown in the figure is an example. One or more of the vehicle parking spaces 401-1, 401-2, 401-3, ... may be simply referred to as vehicle parking spaces 401. The number of vehicle parking spaces in the vehicle guidance system 1000 is one or more arbitrary numbers. Also, one or more of the refueling nozzles 403-1, 403-2, 403-3, 403-4, ... may be simply referred to as refueling nozzles 403. The number of refueling nozzles in the vehicle guidance system 1000 is one or more arbitrary numbers. Also, one or more of the second cameras 303-1, 303-2, 303-3, 303-4, ... may be simply referred to as second cameras 303. The number of second cameras in the vehicle guidance system 1000 is one or more arbitrary numbers. Furthermore, one or more of the parking space indication devices 306-1, 306-2, 306-3, ... may be simply referred to as parking space indication device 306. The number of parking space indication devices in the vehicle guidance system 1000 is one or more arbitrary numbers. Furthermore, one or more of the stopping guide devices 307-1, 307-2, 307-3, 307-4, ... may be simply referred to as stopping guide device 307. The number of stopping guide devices in the vehicle guidance system 1000 is one or more arbitrary numbers.

[0023] Furthermore, the number of wireless communication devices 301 and first cameras 302 in the vehicle guidance system may be any number of one or more.

[0024] A gas station equipped with a vehicle guidance system 1000 can be used by a guided vehicle 501 equipped with a wireless communication device 502 to stop and refuel. The guided vehicle 501 is a self-propelled vehicle such as a passenger car, truck, or bus. The vehicle guidance system 1000 guides the guided vehicle 501 to one of the vehicle parking spaces 401 and stops there. When the guided vehicle 501 stops, a stop guide device 307 guides it to the stopping position. Once stopped, the guided vehicle 501 can be refueled with gasoline or other fuel from the refueling nozzle 403 of the refueling machine 402 corresponding to that vehicle parking space.

[0025] Instead of a gas station, a charging station may be equipped with a vehicle guidance system 1000. In that case, the energy supplied to the guided vehicle 501 (electric vehicle, etc.) is electricity, not fuel such as gasoline. The vehicle guidance system 1000 is equipped with a charging device instead of a fuel dispenser 402. The charging device is equipped with terminals for supplying power to the guided vehicle 501, rather than a fuel nozzle 403.

[0026] Figure 2 is a functional block diagram illustrating the functional configuration of the vehicle guidance system 1000 described above and the relationships between the devices and functions included in the vehicle guidance system 1000. As shown in the figure, the vehicle guidance system 1000 includes a vehicle guidance device 2, a wireless communication device 301, a first camera 302, a second camera 303, and a guide device 305. The vehicle guidance system 1000 may also include a position sensor 304 to complement or replace the second camera 303.

[0027] As shown in the figure, the vehicle guidance device 2 is composed of a vehicle information acquisition unit 220, a vehicle position acquisition unit 240, and a guidance management unit 260.

[0028] Furthermore, the guide device 305 of the vehicle guidance device 2 may include the stopping frame display device 306 and the stopping guide device 307, as shown in Figure 1.

[0029] Next, we will describe each of the devices and their respective functions shown in Figures 1 and 2.

[0030] The vehicle guidance device 2 guides the vehicle to be guided based on vehicle information including information on the location of the energy supply inlet on the vehicle to be guided, and outputs a guide signal to guide the vehicle to stop so that the energy supply inlet on the vehicle side is at a position corresponding to the energy supply point for supplying energy to the vehicle.

[0031] The functions of the vehicle guidance system 2 can be implemented, for example, by a computer and a program. Each function may also have a storage means as needed. This storage means may be, for example, variables in the program or memory allocated during program execution. Alternatively, non-volatile storage means such as a magnetic hard disk drive or solid-state drive (SSD) may be used as needed. Furthermore, at least some of the functions of each functional unit may be implemented as a dedicated electronic circuit rather than a program.

[0032] The vehicle information acquisition unit 220 acquires vehicle information relating to the vehicle to be guided. The vehicle information acquired by the vehicle information acquisition unit 220 includes information on the location of the energy supply port of the vehicle to be guided. The energy supply port is, for example, a fuel filler port for refueling with gasoline, etc. Alternatively, the energy supply port may be the charging terminal on the vehicle to be guided for charging an electric vehicle (EV).

[0033] The vehicle position acquisition unit 240 acquires the vehicle position, which is information about the current location of the vehicle to be guided. The vehicle position acquisition unit 240 can determine the position of the vehicle to be guided based on images captured by a camera, sensor signals output from a position sensor, etc.

[0034] The guidance management unit 260 outputs a guide signal to guide the vehicle to stop at a position corresponding to an energy supply point for supplying energy to the vehicle, based on the location information of the energy supply inlet of the vehicle to be guided, acquired by the vehicle information acquisition unit 220, and the vehicle position acquired by the vehicle position acquisition unit 240. The guidance management unit 260 then forwards the guide signal to the guide device 305. The energy supply point is, for example, a fuel nozzle on the fuel dispenser side for refueling gasoline, etc. Alternatively, the energy supply point may be a terminal on the charging station side for charging an electric vehicle (EV).

[0035] The above-mentioned guide signal may be, for example, a signal that outputs at least one of light or sound to guide the vehicle to be guided to stop at a position corresponding to an energy supply point. Alternatively, the above-mentioned guide signal may be a signal that activates a machine to guide the vehicle to stop at a position corresponding to an energy supply point. Furthermore, if the vehicle to be guided is equipped with an autonomous driving function, the above-mentioned guide signal may be a signal that activates the autonomous driving function to stop the vehicle to be guided at a position corresponding to an energy supply point.

[0036] The guidance management unit 260 may determine which of the multiple vehicle parking spaces to guide the vehicle to, based on where the energy supply inlet is located on the vehicle to be guided (for example, on either the left or right side). The guidance management unit 260 may determine multiple vehicle parking spaces as candidate destinations. The guide signal output by the guidance management unit 260 includes a signal to activate a parking space display device that displays the vehicle parking space determined by the guidance management unit 260 as the destination. If there are multiple vehicle parking spaces as candidate destinations, there may also be multiple vehicle parking spaces to display. For example, in the plan view shown in Figure 1, when the vehicle to be guided enters forward from the right to the left, vehicle parking spaces 401-1 and 401-3 are suitable for the vehicle to be guided where the energy supply inlet is located on the left side. Also, vehicle parking spaces 401-1 and 401-2 are suitable for the vehicle to be guided where the energy supply inlet is located on the right side.

[0037] The guidance management unit 260 may determine which of the multiple vehicle parking spaces to guide the vehicle to, based on the type of energy received at the energy supply inlet (regular gasoline, premium gasoline, diesel fuel, electricity, etc.). The guidance management unit 260 may also determine multiple vehicle parking spaces as candidate destinations. The guide signal output by the guidance management unit 260 includes a signal to activate a parking space display device that displays the vehicle parking space determined by the guidance management unit 260 as the destination. If there are multiple vehicle parking spaces as candidate destinations, there may also be multiple vehicle parking spaces displayed.

[0038] The guidance management unit 260 may calculate the distance between the position of the energy supply inlet of the vehicle to be guided and the position corresponding to the energy supply point for supplying energy to the vehicle to be guided, and based on this distance, determine the target vehicle stopping position in the vehicle movement direction, which is the direction in which the vehicle to be guided moves within the vehicle stopping frame. An example of the vehicle movement direction is shown in Figure 1. The guide signal output by the guidance management unit 260 includes a signal to activate a stop guide device (guide device) for stopping the vehicle to be guided at the target vehicle stopping position determined by the guidance management unit 260.

[0039] Alternatively, the guidance management unit 260 may confirm the vehicle 501 to be guided based on the video footage from the first camera 302.

[0040] When the vehicle to be guided 501 enters the vehicle parking space 401, the guidance management unit 260 acquires the position of the vehicle to be guided from the vehicle position acquisition unit 240. As described above, the vehicle position acquisition unit 240 acquires the position of the vehicle to be guided based on the video captured by the second camera 303 and the sensor signals output from the position sensor 304. When the vehicle position acquisition unit 240 acquires the position of the front end of the vehicle to be guided, the guidance management unit 260 understands the relationship between the position of the front end of the vehicle to be guided and the position of the energy supply inlet based on the vehicle information. When the vehicle position acquisition unit 240 acquires the position of the rear end of the vehicle to be guided, the guidance management unit 260 understands the relationship between the position of the rear end of the vehicle to be guided and the position of the energy supply inlet based on the vehicle information. Alternatively, the position of the energy supply inlet of the vehicle to be guided may be determined by performing recognition processing based on the video captured by the second camera 303.

[0041] The wireless communication device 301 communicates with the wireless communication device 502 mounted on the vehicle to be guided 501 using wireless signals. The wireless communication device 301 transmits the received information to the vehicle guidance system 2. The wireless communication device 301 also transmits the information received from the vehicle guidance system 2 to the wireless communication device 502 on the vehicle to be guided 501. The wireless communication device 301 may use wireless communication based on common standards such as WiFi (Wireless Fidelity) or Bluetooth (Bluetooth®).

[0042] The first camera 302 photographs the vehicle to be guided 501. The first camera 302 specifically photographs the vehicle to be guided 501, including its vehicle number. The vehicle number is, for example, attached to the front of the vehicle to be guided 501.

[0043] The second cameras 303-1, 303-2, 303-3, 303-4, ... photograph the vehicle to be guided 501 in each vehicle parking space. The second cameras 303-1, 303-2, 303-3, 303-4, ... allow for the precise location of the vehicle to be guided 501. In addition, the second cameras 303-1, 303-2, 303-3, 303-4, ... may also photograph the energy supply inlet 503 on the vehicle to be guided 501 side, thereby allowing for the precise location of the energy supply inlet 503.

[0044] The position sensor 304 is a sensor for detecting the position of the vehicle to be guided. The position sensor 304 can, for example, detect the detailed position of the vehicle to be guided within the vehicle parking area.

[0045] The guide device 305 is a device that guides the vehicle to be guided to a position corresponding to the energy supply point, based on the guide signal output by the guidance management unit 260 of the vehicle guidance device 2.

[0046] The parking space display devices 306-1, 306-2, 306-3, etc., are devices that display vehicle parking spaces to the vehicle to be guided 501. The parking space display devices 306-1, 306-2, 306-3, etc., enable the driver of the vehicle to be guided 501 to recognize the vehicle parking space to be guided. When displaying vehicle parking spaces, the parking space display device 306 can display them using light, sound, or a mechanical display. The parking space display device 306 can also display multiple vehicle parking spaces simultaneously.

[0047] For example, when the vehicle to be guided 501 is located in the location shown in Figure 1, the parking space display device 306 displays one or more candidate parking spaces (e.g., vehicle parking spaces 401-1 and 401-2) determined by the guidance management unit 260. In other words, the parking space display device 306 notifies the driver of the vehicle to be guided 501 to proceed to the designated vehicle parking space. For example, the parking space display device 306 notifies the driver of the vehicle to be guided 501 of the information about the designated vehicle parking space via the wireless communication device 301 and wireless communication device 502. This notification allows, for example, an audio message such as "Please proceed to lane 1" to be output from the in-vehicle speaker of the vehicle to be guided 501. Alternatively, the driver of the vehicle to be guided 501 may be notified by displaying text or signs on the upper or lower part, or both, of the designated vehicle parking space (lane). One example of text display in this case is the message, "Vehicle number 11-11, please proceed to lane 1," which could be displayed on the display device. The content (text, etc.) of the voice notification and the visual notification (text, etc.) are not limited to the patterns exemplified above and may take other forms. Furthermore, both voice notifications and visual notifications (text, etc.) may be provided.

[0048] The stopping guide devices 307-1, 307-2, 307-3, 307-4, etc. are devices that guide the stopping position of a vehicle to be guided within a vehicle parking area. The stopping guide devices 307-1, 307-2, 307-3, 307-4, etc. may also be simply called "guide devices". The stopping guide device 307 guides the stopping of a vehicle to be guided within a vehicle parking area by providing guidance through light (LED (Light-Emitting Diode) etc.), sound, or mechanical indicators (display boards, poles, stop bars etc.). The light guidance may, for example, provide a line of light. The light guidance may also be something that attracts the driver's attention, such as a patrol light (registered trademark). The stopping guide device 307 allows the vehicle to be guided to stop at an appropriate position within the vehicle parking area.

[0049] Vehicle parking spaces 401-1, 401-2, 401-3, ... are spaces where the guided vehicle 501 stops for refueling. A refueling machine 402 is provided on either the left or right side, or both sides, of each vehicle parking space 401-1, 401-2, 401-3, ...

[0050] The refueling unit 402 is a device that supplies energy (gasoline, diesel fuel, etc.) to the guided vehicle 501.

[0051] When supplying electricity as energy to electric vehicles (EVs), etc., a charging device may be installed instead of the fuel dispenser 402.

[0052] Fuel nozzles 403-1, 403-2, 403-3, 403-4, ... are installed on each fuel dispenser and are used to inject fuel (gasoline, etc.) into the fuel inlet (energy supply inlet) of the vehicle being guided.

[0053] When supplying electricity to electric vehicles (EVs) or the like as energy, a charging terminal may be provided instead of the fuel nozzle 403.

[0054] The guided vehicle 501 is the vehicle that is guided in this disclosure. The guided vehicle 501 may be a passenger car, a bus, a truck, a motorcycle, or any other vehicle.

[0055] The wireless communication device 502 is a device mounted on the guided vehicle 501. The wireless communication device 502 can communicate with the aforementioned wireless communication device 301. The wireless communication device 502 may perform wireless communication based on common standards such as WiFi or Bluetooth. In this embodiment, as will be described later, the wireless communication device 502 stores vehicle information and information for wireless communication connection.

[0056] Alternatively, the wireless communication device 502 may be implemented using a general-purpose information processing device such as a smartphone or tablet terminal and an application program (app) for the vehicle guidance system 1000.

[0057] Figure 3 is a side view of a vehicle to illustrate the location of the energy supply inlet of a vehicle to be guided by the vehicle guidance system according to this disclosure. In this figure, a side view of a four-wheeled passenger car is shown as a typical form of the vehicle to be guided 501, but the form of the side view of the vehicle to be guided 501 may be other than that exemplified here. In Figure 3, 503 is the energy supply inlet of the vehicle to be guided 501. The vehicle to be guided 501 receives energy from the location of the energy supply inlet 503. The type of energy may be, for example, gasoline, diesel fuel, or electricity. 504 is the front end of the vehicle to be guided 501. 505 is the rear end of the vehicle to be guided 501. In other words, when the vehicle to be guided 501 moves forward, it moves from right to left in Figure 3. d0 is the length of the vehicle to be guided 501. In other words, d0 is the distance from the front end 504 to the rear end 505. d1 is the length from the front end 504 to the energy supply port 503 on the side of the guided vehicle 501. d2 is the length from the energy supply port 503 to the rear end 505 on the same side. That is, d1 + d2 = d0. In the illustrated example of the guided vehicle 501, the energy supply port 503 is located on the left side of the guided vehicle. The energy supply port 503 may also be located on the right side of the guided vehicle. Furthermore, the energy supply port 503 may be located at any other position on the guided vehicle.

[0058] The operation of the vehicle guidance system 1000 is outlined as follows: The vehicle guidance device 2 acquires vehicle information from the wireless communication device 301, etc. The vehicle guidance device 2 also acquires video of the vehicle to be guided, including the vehicle number, from the first camera 302. Based on the acquired information, the vehicle guidance device 2 determines the vehicle parking space to guide the vehicle based on the vehicle information of the vehicle to be guided (vehicle width, vehicle length, fuel filler port position (1), fuel filler port position (2), fuel type). The vehicle guidance device 2 determines the target stopping position of the vehicle to be guided based on the relationship between the position of the energy supply inlet on the vehicle to be guided and the position of the energy supply point. The vehicle guidance device 2 passes a guide signal to the guide device 305. As a result, the parking space display device 306 of the guide device 305 displays the vehicle parking space. The stopping guide device 307 also guides the vehicle to the stopping position. The vehicle guidance device 2 also confirms the direction of travel of the vehicle to be guided based on the video from the second camera 303. Furthermore, the vehicle guidance device 2, based on the position of the vehicle to be guided within the stopping frame to which the vehicle has advanced (such as the position of the front end of the vehicle, the position of the rear end of the vehicle, and the position of the energy supply inlet), instructs the stop guide device 307 to begin operation when the vehicle to be guided is heading towards the target stopping position. Then, once the vehicle guidance device 2 confirms that the vehicle to be guided has stopped, it instructs the stop guide device 307 to cease operation.

[0059] Figure 4 is a schematic diagram showing the configuration and data example of the vehicle information table according to this disclosure. The vehicle information table may also be transferred from the wireless communication device 502 to the vehicle guidance device 2 and stored at least temporarily within the vehicle guidance device 2.

[0060] As shown in the figure, the vehicle information table contains data for the following items: vehicle number, vehicle width, vehicle length, fuel filler location (1), fuel filler location (2), and fuel type. The vehicle information table may also contain data for other items. Furthermore, the vehicle information table may hold substantially the same type of information as shown in Figure 4, but in a different form. The meaning of each item is as follows:

[0061] The vehicle number is the registration number of the guided vehicle 501 at a public institution such as the Land Transport Bureau. The vehicle number is information that can uniquely identify each guided vehicle 501 that the vehicle guidance system 1000 is guiding. In the illustrated example, the vehicle number is "Shinagawa 5xx a 00-00". The vehicle number may be displayed on the license plate, etc., on the front, rear, or both of the guided vehicle 501. In this case, the vehicle number can be captured and read by the first camera 302 (Figure 1), etc. That is, the vehicle number can be recognized by character recognition processing.

[0062] The vehicle width is the total width of the vehicle to be guided 501. The vehicle width may be expressed in units such as centimeters (cm). When the vehicle guidance device 2 decides which vehicle parking space 401 to guide the vehicle to be guided 501 to, it may make a decision based on the relationship between the vehicle width and the width of the vehicle parking space 401.

[0063] The vehicle length is the longitudinal length of the guided vehicle 501 (d0 in Figure 3). The vehicle length may be expressed in units such as centimeters (cm).

[0064] The fuel filler location (1) indicates where (for example, which side) the fuel filler is located on the vehicle being guided. The fuel filler location (1) is usually either on the "left" or the "right". The fuel filler is a type of energy supply port 503 (see Figure 3). In other words, energy (gasoline, etc.) can be supplied to the vehicle being guided 501 by inserting a fuel nozzle into the fuel filler.

[0065] The fuel filler position (2) is information representing the more detailed location of the fuel filler described above. The fuel filler position (2) can be expressed, for example, as the distance from the front end of the vehicle to be guided in the longitudinal direction of the vehicle to be guided 501 when the vehicle to be guided 501 is viewed from a specific side (for example, the left side). The fuel filler position (2) may be, for example, the value of distance d1 in Figure 3. Alternatively, the fuel filler position (2) may be d2 in Figure 3. The fuel filler position (2) may be expressed in units of centimeters (cm), for example.

[0066] The fuel type is information that represents the type of energy supplied to the guided vehicle 501. For example, the type of energy supplied at a gas station may be regular gasoline, premium gasoline, or diesel fuel. In the illustrated example, the fuel type is "premium" (representing premium gasoline).

[0067] Furthermore, if the vehicle 501 being guided is an electric vehicle (EV), the type of energy supplied may be "electricity."

[0068] The information in the vehicle information table described above can be registered and stored in the wireless communication device 502 in advance by, for example, the user of the guided vehicle 501.

[0069] Figures 5, 6, 7, and 8 are schematic diagrams illustrating the changes in the state of the vehicle state management table of the vehicle guidance device 2 according to this disclosure. Figures 5, 6, 7, and 8 show the first state, second state, third state, and fourth state of the vehicle state management table, respectively.

[0070] As shown in the figure, the vehicle status management table is tabular data and contains the following items: vehicle number, vehicle width, vehicle length, fuel filler location (1), fuel filler location (2), fuel type, parking space number, and vehicle status. Of these items, the vehicle number, vehicle width, vehicle length, fuel filler location (1), fuel filler location (2), and fuel type are as explained with reference to Figure 4. One row of data in the vehicle status management table corresponds to one vehicle to be guided. The vehicle guidance device 2 can receive this information of vehicle number, vehicle width, vehicle length, fuel filler location (1), fuel filler location (2), and fuel type from the wireless communication device 502 installed in the vehicle to be guided 501 and write it to the vehicle status management table. The vehicle guidance device 2 can communicate with the wireless communication device 502 via the wireless communication device 301. In other words, the vehicle information acquisition unit 220 of the vehicle guidance device 2 can acquire vehicle information from the vehicle to be guided 501. The parking space number and vehicle status items in the vehicle status management table are updated by the vehicle guidance device 2 in accordance with changes in the status.

[0071] The parking space number is the number of the parking space to which the vehicle is guided, as determined by the guidance management unit 260 of the vehicle guidance device 2. The vehicle to be guided 501 stops in the parking space with that number, in accordance with the guidance of the vehicle guidance device 2.

[0072] The vehicle status indicates the state of the vehicle being guided at that time. When the vehicle status is "Guiding," it means that the vehicle being guided is being guided to stop at a predetermined stopping position within a designated parking space. When the vehicle status is "Stopped," it means that the vehicle being guided is already stopped in that parking space and is in a state such as refueling.

[0073] In the first state shown in Figure 5, the vehicle status management table is empty. In other words, in this state, the vehicle status management table has 0 rows of vehicle status data. In this first state, for example, the vehicle to be guided has not yet arrived at the gas station, and there are 0 vehicles to be guided.

[0074] In the second state shown in Figure 6, the vehicle state management table has one row of vehicle state data. Specifically, in the second state, the data in that row indicates that the vehicle number is "Nerima 4yy i 11-11", the vehicle width is "147" (centimeters), the fuel filler position (1) is "right", the fuel filler position (2) is "300" (centimeters, e.g., d1 in Figure 3), and the fuel type is "regular". This data on vehicle number, vehicle width, vehicle length, fuel filler position (1), fuel filler position (2), and fuel type may be acquired by the vehicle information acquisition unit 220 of the vehicle guidance device 2 via the wireless communication device 301 from the wireless communication device 502 mounted on the vehicle to be guided 501. In this second state, the parking space number and vehicle state data for the vehicle to be guided are "-" (empty).

[0075] In the third state shown in Figure 7, the vehicle state management table has one row of vehicle state data. In this row of data, the vehicle number, vehicle width, vehicle length, fuel filler position (1), fuel filler position (2), and fuel type data are the same as the data for the second state shown in Figure 6. In other words, the vehicle state management table represents the state of the same vehicle being guided in both the second and third states. In this third state, the parking space number for the vehicle being guided is "1, 2, 4", and the vehicle state is "being guided". In other words, in the third state, the guidance management unit 260 of the vehicle guidance device 2 has already decided to guide the vehicle being guided to one of the parking space numbers "1", "2", or "4", and has written the information of these numbers as the value of the parking space number item. The guidance management unit 260 determines the parking space number (candidates) based on the vehicle information stored in the vehicle state management table (in particular, the information indicating the left or right position of the fuel filler position (1) and the fuel type). Furthermore, the guidance management unit 260 can determine that the vehicle status is "being guided" based on information from the vehicle position acquisition unit 240. In other words, according to the information from the vehicle position acquisition unit 240, the vehicle to be guided has not yet stopped in the designated vehicle parking space.

[0076] In the fourth state shown in Figure 8, the vehicle state management table has one row of vehicle state data. In this single row of data, the vehicle number, vehicle width, vehicle length, fuel filler position (1), fuel filler position (2), and fuel type are the same as the data in the second state shown in Figure 6 and the third state shown in Figure 7. In other words, the vehicle state management table represents the state of the same guided vehicle in the second, third, and fourth states. Also, in the fourth state, the parking space number of the guided vehicle is "2". This corresponds to the vehicle position acquisition unit 240 recognizing that the guided vehicle actually parked in parking space number "2" out of the candidate parking space numbers "1", "2", or "4". Furthermore, in the fourth state, the vehicle state is "Stopped". This corresponds to the guidance management unit 260 recognizing that the guided vehicle is stopped.

[0077] After the fourth state shown in Figure 8, when the guided vehicle starts moving again and leaves the vehicle parking area, and also leaves the gas station, etc., the vehicle status management table returns to the first state shown in Figure 5. In other words, the guidance management unit 260 deletes the information about the vehicle that has left the designated area and is no longer a guided vehicle from the vehicle status management table.

[0078] Next, we will explain some of the processing procedures in the vehicle guidance system 1000, referring to the flowchart.

[0079] Figure 9 is a flowchart showing the processing procedure for pre-setting information in the wireless communication device 502 according to this disclosure. The following explanation will follow this flowchart.

[0080] First, in step S1, the wireless communication device 502 accepts vehicle information input. Specifically, the wireless communication device 502 accepts vehicle information including vehicle number, vehicle width, vehicle length, fuel filler location (1), fuel filler location (2), and fuel type. In other words, the user can input the above vehicle information by operating the wireless communication device 502.

[0081] Next, in step S2, the wireless communication device 502 accepts input of wireless connection information. Specifically, the wireless communication device 502 accepts input of wireless connection information including the type of wireless connection (WiFi, Bluetooth, etc.), the wireless connection destination (SSID, etc.), the security type (WPA2 / PSK, etc.), the encryption type (AES, etc.), and the network security key. This wireless connection information is used when the wireless communication device 502 communicates with the wireless communication device 301 in the vehicle guidance system. By storing this wireless connection information, the wireless communication device 502 becomes able to communicate with the wireless communication device 301. When the processing in step S2 is completed, the processing of the entire flowchart is terminated.

[0082] Figure 10 is a flowchart showing the procedure for the vehicle guidance device 2 according to this disclosure to acquire vehicle information. Typically, the process shown in this flowchart is executed when the vehicle to be guided 501 enters an area such as a gas station, and communication is established between the wireless communication device 502 on the vehicle to be guided 501 and the wireless communication device 301 on the vehicle guidance device 2. For example, the wireless communication device 502 and the wireless communication device 301 always search for a communication partner that is within their communication range. The following explanation will follow this flowchart.

[0083] First, in step S11, the wireless communication device 502 on the vehicle to be guided 501 transmits vehicle information to the wireless communication device 301 on the vehicle guidance device 2. The vehicle information is the information described in Figure 4 and includes the vehicle number, vehicle width, vehicle length, fuel filler location (1), fuel filler location (2), and fuel type. As a result, the vehicle information acquisition unit 220 of the vehicle guidance device 2 acquires the vehicle information.

[0084] Next, in step S12, the vehicle information acquisition unit 220 of the vehicle guidance device 2 writes the vehicle information received in step S11 to the vehicle information table and vehicle status management table of the vehicle guidance device 2. When the processing in step S12 is completed, the processing of the entire flowchart is terminated.

[0085] Figures 11 and 12 are flowcharts showing the procedure for the process by which the vehicle guidance system according to this disclosure guides a vehicle to be guided. Figures 11 and 12 are interconnected by a connector, forming a single flowchart of the process flow. This flowchart shows the procedure for guiding one vehicle to be guided. If the vehicle guidance device 2 guides multiple vehicles to be guided simultaneously, the process in this flowchart may be executed in parallel for each vehicle to be guided. The following explanation will follow this flowchart.

[0086] As a prerequisite for executing the process in this flowchart, the process in the flowchart of Figure 10 has already been executed, and the vehicle information of the vehicle to be guided has been written to the vehicle status management table of the vehicle guidance device 2.

[0087] First, in step S21, the first camera 302 photographs the vehicle to be guided 501, including its vehicle number, and transmits the image to the vehicle information acquisition unit 220 of the vehicle guidance device 2. The first camera 302 also photographs the direction of the vehicle to be guided, such as the aisle, at least when the vehicle to be guided enters the gas station. The vehicle information acquisition unit 220 of the vehicle guidance device 2 receives the image transmitted from the first camera 302.

[0088] Next, in step S22, the vehicle information acquisition unit 220 of the vehicle guidance device 2 reads the vehicle number of the vehicle to be guided 501 from the video received in step S21. In other words, the vehicle information acquisition unit 220 performs character recognition of the vehicle number. The vehicle number is written on the license plate at the front of the vehicle to be guided 501. The character recognition process itself can be performed using existing technology. The vehicle information acquisition unit 220 passes the read vehicle number to the guidance management unit 260.

[0089] Next, in step S23, the vehicle information acquisition unit 220 of the vehicle guidance device 2 checks whether the vehicle number read from the video in step S22 exists in the vehicle status management table. If a vehicle number matching the read vehicle number exists in the vehicle status management table (step S23: YES), the device proceeds to the next step S24. If a vehicle number matching the read vehicle number does not exist in the vehicle status management table (step S23: NO), the device returns to step S21.

[0090] If the process proceeds to step S24, in that step, the guidance management unit 260 of the vehicle guidance device 2 determines candidate vehicle parking spaces for stopping the vehicle to be guided. At this time, the guidance management unit 260 may determine one or more candidate vehicle parking spaces.

[0091] The guidance management unit 260 may determine candidate vehicle parking spaces based on the fuel filler port position (1) written in the vehicle status management table. In other words, it may determine candidate vehicle parking spaces based on whether the fuel filler port of the vehicle to be guided is on the right or left side of the vehicle. For example, in the case of the gas station shown in the plan view of Figure 1, in order for the vehicle to be guided 501 to move forward so that the fuel nozzle 403 is on the right side of the vehicle to be guided 501, the guidance management unit 260 may determine vehicle parking spaces 401-1, 401-2, or 401-4 as candidate vehicle parking spaces to be guided. The guidance management unit 260 may also determine candidate vehicle parking spaces based on the type of fuel (energy type) written in the vehicle status management table. For example, if the type of fuel of the target vehicle is "regular gasoline", a vehicle parking space with a fuel nozzle 403 for refueling regular gasoline may be determined as a candidate vehicle parking space to be guided. Furthermore, the guidance management unit 260 may determine candidate vehicle parking spaces based on both the fuel filler port position (1) and the fuel type (energy type) written in the vehicle status management table.

[0092] Furthermore, if the vehicles to be guided include electric vehicles (EVs), "electricity" may be used as the energy type to be managed instead of the fuel type. In this case, the guidance management unit 260 can determine a vehicle parking space equipped with charging facilities for supplying power as a candidate destination for guiding the vehicles to be guided.

[0093] Then, the guidance management unit 260 updates the vehicle status management table. In other words, as shown in Figure 7, the guidance management unit 260 writes the number of the selected candidate vehicle parking space into the parking space number column.

[0094] Next, in step S25, the guidance management unit 260 of the vehicle guidance device 2 outputs a guide signal to guide the vehicle to be guided to one of the candidate vehicle parking spaces determined above. In other words, the guidance management unit 260 outputs a guide signal to allow the parking space presentation device 306 to present the vehicle parking space to the driver of the vehicle to be guided. The parking space presentation device 306 presents the parking space by means of light, sound, or a mechanical display. At this time, the guidance management unit 260 may also output a guide signal to present the multiple candidate vehicle parking spaces that have been determined.

[0095] In step S26, for example, a second camera 303 installed in the vehicle parking space photographs the vehicle to be guided as it enters the vehicle parking space. The second camera 303 transmits the captured image to the vehicle position acquisition unit 240 of the vehicle guidance device 2. The vehicle position acquisition unit 240 acquires the detailed position of the vehicle within the vehicle parking space based on the image transmitted from the second camera 303. For example, the vehicle position acquisition unit 240 may be configured to grasp easily recognizable positions such as the front or rear end of the vehicle to be guided. Alternatively, the vehicle position acquisition unit 240 may acquire the detailed position of the energy supply inlet of the vehicle to be guided by image recognition processing.

[0096] The vehicle position acquisition unit 240 may acquire the detailed position of the vehicle to be guided based on the signal from the position sensor 304. Furthermore, the vehicle position acquisition unit 240 may acquire the detailed position of the vehicle to be guided based on both the video from the second camera 303 and the signal from the position sensor 304.

[0097] Furthermore, the vehicle position acquisition unit 240 can determine which vehicle parking space the vehicle being guided is entering based on information from at least one of the second cameras 303 or position sensors 304, each of which is provided in a plurality of vehicle parking spaces.

[0098] The vehicle position acquisition unit 240 transmits the number of the vehicle parking space into which the vehicle to be guided is entering, along with the acquired vehicle position information, to the guidance management unit 260. The vehicle position acquisition unit 240 may also repeatedly transmit detailed position information of the moving vehicle to the guidance management unit 260.

[0099] Next, in step S27, the guidance management unit 260 determines the target stopping position of the vehicle to be guided within the vehicle parking area. At this time, the guidance management unit 260 may determine the target stopping position of the vehicle to be guided based on information from the vehicle state management table, such as vehicle width, vehicle length, fuel filler port position (1), fuel filler port position (2), and fuel type. In other words, the guidance management unit 260 can determine the target stopping position of the vehicle to be guided such that the position of the fuel nozzle 403 of the fuel dispenser 402 and the position of the energy supply inlet of the vehicle to be guided are in an appropriate relationship. An appropriate relationship here means that the position of the fuel nozzle 403 of the fuel dispenser 402 and the position of the energy supply inlet of the vehicle to be guided are neither too far apart nor too close to each other, making refueling easy.

[0100] Moving on to Figure 12, in step S28, the vehicle position acquisition unit 240 acquires the current position of the vehicle to be guided based on the video captured by the second camera 303.

[0101] In step S29, the guidance management unit 260 outputs a guide signal to guide the vehicle to be guided to the stopping target position determined in step S27.

[0102] In step S30, based on the information of the vehicle to be guided's current position obtained in step S28, the guidance management unit 260 determines whether or not the vehicle to be guided has reached the target stopping position. If it is determined that the vehicle to be guided has reached the target stopping position (step S30: YES), the process moves to the next step S31. If it is determined that the vehicle to be guided has not yet reached the target stopping position (step S30: NO), the process returns to step S28.

[0103] When the process proceeds to step S31, the guidance management unit 260 outputs a guide signal to stop the vehicle to be guided at the target stopping position. As a result, the stopping guide device 307 of the guide device 305 guides the vehicle to stop. In other words, it is expected that the vehicle to be guided will come to a stop. The stopping guide device 307 provides guidance for stopping using means such as a patrol light (registered trademark) or a stop bar.

[0104] Next, in step S32, the guidance management unit 260 confirms that the vehicle to be guided is stopped at the stopping target position based on the video captured by the second camera 303.

[0105] Next, in step S33, the guidance management unit 260 outputs a guide signal to instruct the stop guide device 307 to terminate the stop guide operation.

[0106] In step S34, the guidance management unit 260 updates the vehicle status management table. Specifically, the guidance management unit 260 updates the vehicle status of the vehicle to be guided in the vehicle status management table to "Stopped".

[0107] In step S35, after the guided vehicle has left, the guidance management unit 260 deletes the vehicle information of the guided vehicle from the vehicle status management table.

[0108] (modified version) In the above embodiment, the vehicle information acquisition unit 220 received vehicle information via a wireless signal transmitted from the wireless communication device 502 on the side of the vehicle to be guided 501. As a modification of the embodiment, the following may be performed. For example, the vehicle information acquisition unit 220 may acquire vehicle information from an external computer server device or the like. In this case, the vehicle information acquisition unit 220 reads the vehicle number of the vehicle to be guided based on the image of the vehicle to be guided taken by the first camera 302 by character recognition processing. The character recognition processing itself can be carried out using existing technology. Then, the vehicle information acquisition unit 220 acquires vehicle information from an external server device or the like based on the read vehicle number. Alternatively, as another modification, for example, the vehicle information acquisition unit 220 identifies the model number of the vehicle to be guided based on the image of the vehicle to be guided by image recognition processing, and acquires vehicle information from an external server device or the like based on the identified model number. Furthermore, the vehicle information acquisition unit 220 may store vehicle information for all vehicles that may be guided in advance.

[0109] Figure 13 is a block diagram showing an example of the internal configuration of various devices such as the vehicle guidance system 2 in this disclosure. Various devices such as the vehicle guidance system 2 can be realized using a computer. As shown in the figure, the computer is composed of a central processing unit 901, RAM 902, input / output ports 903, input / output devices 904 and 905, etc., and a bus 906. The computer itself can be realized using existing technology. The central processing unit 901 executes instructions contained in programs read from RAM 902, etc. The central processing unit 901 writes data to RAM 902, reads data from RAM 902, and performs arithmetic and logical operations according to each instruction. RAM 902 stores data and programs. Each element contained in RAM 902 has an address and can be accessed using that address. RAM stands for "Random Access Memory". Input / output ports 903 are ports for the central processing unit 901 to exchange data with external input / output devices, etc. Input / output devices 904 and 905 are input / output devices. Input / output devices 904 and 905 exchange data with the central processing unit 901 via input / output port 903. Bus 906 is a common communication channel used within the computer. For example, the central processing unit 901 reads and writes data to RAM 902 via bus 906. Also, for example, the central processing unit 901 accesses input / output ports via bus 906.

[0110] Furthermore, at least some of the functions of the various devices such as the vehicle guidance device 2 in the above-described embodiment can be implemented by a computer. In that case, the functions may be implemented by recording a program for implementing these functions on a computer-readable recording medium, loading the program recorded on this recording medium into a computer system, and executing it. Here, "computer system" includes hardware such as the OS and peripheral devices. Furthermore, "computer-readable recording medium" refers to portable media such as flexible disks, magneto-optical disks, ROMs, CD-ROMs, DVD-ROMs, USB memory, and storage devices such as hard disks built into a computer system. In other words, "computer-readable recording medium" may be a non-transitory computer-readable recording medium. Moreover, "computer-readable recording medium" may also include those that temporarily and dynamically hold programs, such as communication lines when transmitting programs via networks such as the Internet or communication lines such as telephone lines, and those that hold programs for a certain period of time, such as volatile memory inside a computer system that acts as a server or client in that case. Furthermore, the above-mentioned program may be for implementing some of the functions described above, and may also be able to implement the above-mentioned functions in combination with programs already recorded in the computer system.

[0111] By using the vehicle guidance system of this embodiment, it is possible to guide a vehicle to be guided so that the position of the energy supply inlet (fuel filler, etc.) of the vehicle to be guided and the position corresponding to the energy supply point (fuel nozzle, etc.) for supplying energy to the vehicle to be guided are in an appropriate relationship.

[0112] This allows the vehicle to be guided to a position where energy can be supplied, even if the driver of the guided vehicle does not need to be aware of the location of the energy supply port on the vehicle. Furthermore, when the guided vehicle stops, the distance between the location of the energy supply port (fuel filler, etc.) on the guided vehicle and the location of the energy supply point (fuel nozzle, etc.) for supplying energy to the guided vehicle becomes an appropriate distance.

[0113] <Second Embodiment> Hereinafter, an embodiment relating to this disclosure will be described with reference to the figures. Note that some matters described in the previous embodiment may be omitted from the description.

[0114] Figure 14 is a block diagram illustrating the schematic functional configuration of the vehicle guidance device according to this disclosure. As shown in the figure, the vehicle guidance device 1 is composed of a vehicle information acquisition unit 120, a vehicle position acquisition unit 140, and a guidance management unit 160.

[0115] The functions of the vehicle guidance system 1 can be implemented, for example, by a computer and a program. Each function may also have a storage means as needed. This storage means may be, for example, variables in the program or memory allocated during program execution. Alternatively, non-volatile storage means such as a magnetic hard disk drive or solid-state drive (SSD) may be used as needed. Furthermore, at least some of the functions of each functional unit may be implemented as a dedicated electronic circuit rather than a program.

[0116] The vehicle information acquisition unit 120 acquires vehicle information relating to the vehicle to be guided. The vehicle information acquired by the vehicle information acquisition unit 220 includes information on the location of the energy supply inlet on the vehicle to be guided.

[0117] The vehicle position acquisition unit 140 acquires vehicle position information, which is the position of the vehicle to be guided. The vehicle position acquisition unit 140 can determine the position of the vehicle to be guided based on video footage captured by a camera, sensor signals output from position sensors, etc.

[0118] Based on the information on the location of the energy supply port in the vehicle to be guided, acquired by the vehicle information acquisition unit 120, and the vehicle position acquired by the vehicle position acquisition unit 140, the guidance management unit 160 outputs a guide signal to guide the vehicle to stop at a position corresponding to the energy supply point for supplying energy to the vehicle to be guided.

[0119] By using the vehicle guidance system of this embodiment, the vehicle to be guided can be guided in such a way that the position of the energy supply inlet (fuel filler port, etc.) on the vehicle to be guided is in an appropriate relationship with the position of the energy supply point (fuel nozzle, etc.) for supplying energy to the vehicle to be guided.

[0120] Although the present disclosure has been described above with reference to embodiments, the present disclosure is not limited to the embodiments described above. Various modifications to the structure and details of the present disclosure are possible, as can be understood by those skilled in the art within the scope of the present disclosure. Furthermore, each embodiment can be combined with other embodiments as appropriate.

[0121] Some or all of the above embodiments may also be described as follows, but are not limited to the following:

[0122] (Note 1) A vehicle information acquisition unit acquires vehicle information relating to a vehicle, including information on the location of the vehicle's energy supply inlet. A vehicle position acquisition unit acquires vehicle position information, which is information about the current location of the vehicle. A guidance management unit outputs a guide signal to guide the vehicle to stop at a position corresponding to an energy supply point for supplying energy to the vehicle, based on the information on the location of the vehicle's energy supply port acquired by the vehicle information acquisition unit and the vehicle position information acquired by the vehicle position acquisition unit. A vehicle guidance system equipped with the following features.

[0123] (Note 2) The guide signal is a signal that outputs at least one of light or sound to guide the vehicle to stop at a position corresponding to the energy supply point. Vehicle guidance device as described in Appendix 1.

[0124] (Note 3) The guide signal is a signal that activates a machine for guiding the vehicle to stop at a position corresponding to the energy supply point. Vehicle guidance devices as described in Appendix 1 or Appendix 2.

[0125] (Note 4) The aforementioned vehicle is equipped with an autonomous driving function, The guide signal is a signal that activates the automatic driving function to stop the vehicle at a position corresponding to the energy supply point. A vehicle guidance device as described in any of the appendices 1 to 3.

[0126] (Note 5) Based on information on the location of the energy supply port on the vehicle, the guidance management unit determines which of the multiple vehicle parking spaces to guide the vehicle to. The guide signal includes a signal that activates a parking space display device that displays the vehicle parking space to which the guidance management unit has determined the destination. A vehicle guidance device as described in any of the appendices 1 to 4.

[0127] (Note 6) The guidance management unit determines, based on the type of energy received at the energy supply port, which of the multiple vehicle parking spaces to guide the vehicle to. The guide signal includes a signal that activates a parking space display device that displays the vehicle parking space to which the guidance management unit has determined the destination. A vehicle guidance device as described in any of the appendices 1 through 5.

[0128] (Note 7) The guidance management unit calculates the distance between the position of the vehicle's energy supply inlet and the position corresponding to the energy supply point for supplying energy to the vehicle, and based on this distance, determines the target vehicle stopping position in the vehicle movement direction, which is the direction in which the vehicle moves within the vehicle stopping frame. The guide signal includes a signal that activates a guide device for stopping the vehicle at the vehicle stopping target position determined by the guidance management unit. Vehicle guidance devices as described in Appendix 5 or Appendix 6.

[0129] (Note 8) A vehicle guidance device described in any one of the items from Appendix 1 to 7, A guide device that, based on a guide signal output by the guidance management unit of the vehicle guidance device, performs an action to stop the vehicle at a position corresponding to the energy supply point, A vehicle guidance system, including a vehicle guidance system.

[0130] Furthermore, the vehicle guidance system described in Appendix 8 can also be expressed as follows: Vehicle guidance system and Guide device and A vehicle guidance system comprising, The aforementioned vehicle guidance device is A vehicle information acquisition unit acquires vehicle information relating to a vehicle, including information on the location of the energy supply inlet in the vehicle. A vehicle position acquisition unit that acquires vehicle position information, which is the location information of the vehicle, A guidance management unit outputs a guide signal to guide the vehicle to stop at a position corresponding to an energy supply point for supplying energy to the vehicle, based on the information on the location of the energy supply inlet in the vehicle acquired by the vehicle information acquisition unit and the vehicle position acquired by the vehicle position acquisition unit. Equipped with, The guide device performs an operation to stop the vehicle at a position corresponding to the energy supply point, based on a guide signal output by the guidance management unit of the vehicle guidance device. Vehicle guidance system.

[0131] (Note 9) Vehicle information relating to a vehicle, including information on the location of the vehicle's energy supply inlet, is acquired. The vehicle location information, which is the current location information of the aforementioned vehicle, is obtained. Based on the acquired information regarding the location of the vehicle's energy supply port and the acquired vehicle position information, a guide signal is output to guide the vehicle to stop at a position corresponding to the energy supply point for supplying energy to the vehicle. A method for guiding vehicles using a vehicle guidance system.

[0132] Furthermore, the vehicle guidance method described in Appendix 9 can also be expressed as follows: The vehicle information acquisition unit acquires vehicle information relating to a vehicle, including information on the location of the energy supply inlet in the vehicle. The vehicle position acquisition unit acquires the vehicle position, which is information about the location of the vehicle. The guidance management unit outputs a guide signal to guide the vehicle to stop at a position corresponding to an energy supply point for supplying energy to the vehicle, based on the information on the location of the energy supply inlet in the vehicle acquired by the vehicle information acquisition unit and the vehicle position acquired by the vehicle position acquisition unit. Vehicle guidance methods.

[0133] (Note 10) A program for causing a vehicle guidance system to execute the vehicle guidance method described in Appendix 9.

[0134] Furthermore, the program in Appendix 10 can also be expressed as follows: A vehicle information acquisition unit acquires vehicle information relating to a vehicle, including information on the location of the energy supply inlet in the vehicle. A vehicle position acquisition unit that acquires vehicle position information, which is the location information of the vehicle, A guidance management unit outputs a guide signal to guide the vehicle to stop at a position corresponding to an energy supply point for supplying energy to the vehicle, based on the information on the location of the energy supply inlet in the vehicle acquired by the vehicle information acquisition unit and the vehicle position acquired by the vehicle position acquisition unit. A program to make a computer function as a vehicle guidance system equipped with [a specific feature].

[0135] (Note 11) The vehicle information acquisition unit receives the vehicle information by a wireless signal transmitted from the vehicle. A vehicle guidance device as described in any of the appendices 1 through 7.

[0136] (Note 12) The vehicle information acquisition unit reads the vehicle number of the vehicle based on the image of the vehicle by character recognition processing, and acquires the vehicle information based on the read vehicle number. A vehicle guidance device as described in any of the appendices 1 through 7.

[0137] (Note 13) The vehicle information acquisition unit identifies the vehicle's model number through image recognition processing based on an image of the vehicle, and acquires the vehicle information based on the identified model number. A vehicle guidance device as described in any of the appendices 1 through 7.

[0138] (Note 14) The guide device outputs at least one of light or sound to guide the vehicle to stop at a position corresponding to the energy supply point. The guide signal is a signal that outputs at least one of light or sound to guide the vehicle to stop at a position corresponding to the energy supply point. The vehicle guidance system described in Appendix 8.

[0139] (Note 15) The guide device includes a machine for guiding the vehicle to stop at a position corresponding to the energy supply point. The guide signal is a signal that activates a machine for guiding the vehicle to stop at a position corresponding to the energy supply point. Vehicle guidance systems as described in Appendix 8 or Appendix 14.

[0140] (Note 16) The aforementioned vehicle is equipped with an autonomous driving function, The guide device operates the automatic driving function to stop the vehicle at a position corresponding to the energy supply point, The guide signal is a signal for activating the automatic driving function to stop the vehicle at a position corresponding to the energy supply point. A vehicle guidance system as described in Appendix 8, Appendix 14, or Appendix 15.

[0141] (Note 17) Based on information on the location of the energy supply port on the vehicle, the guidance management unit determines which of the multiple vehicle parking spaces to guide the vehicle to. The guide device includes a parking space display device that displays the vehicle parking space to which the guidance management unit has determined the guidance destination, The guide signal includes a signal that activates the stopping frame display device. A vehicle guidance system as described in Appendix 8, or in any of Appendix 14 to 16.

[0142] (Note 18) The guidance management unit determines, based on the type of energy received at the energy supply port, which of the multiple vehicle parking spaces to guide the vehicle to. The guide device includes a parking space display device that displays the vehicle parking space to which the guidance management unit has determined the guidance destination, The guide signal includes a signal that activates the stopping frame display device. A vehicle guidance system as described in Appendix 8, or in any of Appendix 14 to 17.

[0143] (Note 19) The guidance management unit calculates the distance between the position of the vehicle's energy supply inlet and the position corresponding to the energy supply point for supplying energy to the vehicle, and based on this distance, determines the target vehicle stopping position in the vehicle movement direction, which is the direction in which the vehicle moves within the vehicle stopping frame. The guide signal includes a signal that activates a guide device for stopping the vehicle at the vehicle stopping target position determined by the guidance management unit. Vehicle guidance systems as described in Appendix 17 or Appendix 18.

[0144] (Note 20) The vehicle information acquisition unit receives the vehicle information by a wireless signal transmitted from the vehicle. A vehicle guidance system as described in Appendix 8, or in any of Appendix 14 through 19.

[0145] (Note 21) The vehicle information acquisition unit reads the vehicle number of the vehicle based on the image of the vehicle by character recognition processing, and acquires the vehicle information based on the read vehicle number. A vehicle guidance system as described in Appendix 8, or in any of Appendix 14 through 19.

[0146] (Note 22) The vehicle information acquisition unit identifies the vehicle's model number through image recognition processing based on an image of the vehicle, and acquires the vehicle information based on the identified model number. A vehicle guidance system as described in Appendix 8, or in any of Appendix 14 through 19.

[0147] (Note 23) The guide signal is a signal that outputs at least one of light or sound to guide the vehicle to stop at a position corresponding to the energy supply point. The vehicle guidance method described in Appendix 9.

[0148] (Note 24) The guide signal is a signal that activates a machine for guiding the vehicle to stop at a position corresponding to the energy supply point. The vehicle guidance method described in Appendix 9 or Appendix 23.

[0149] (Note 25) The aforementioned vehicle is equipped with an autonomous driving function, The guide signal is a signal that activates the automatic driving function to stop the vehicle at a position corresponding to the energy supply point. The vehicle guidance method described in any of the following appendices: Appendix 9, Appendix 23, or Appendix 24.

[0150] (Note 26) Based on information on the location of the energy supply port on the vehicle, the guidance management unit determines which of the multiple vehicle parking spaces to guide the vehicle to. The guide signal includes a signal that activates a parking space display device that displays the vehicle parking space to which the guidance management unit has determined the destination. The vehicle guidance method described in Appendix 9, or in any of Appendix 23 to 25.

[0151] (Note 27) The guidance management unit determines, based on the type of energy received at the energy supply port, which of the multiple vehicle parking spaces to guide the vehicle to. The guide signal includes a signal that activates a parking space display device that displays the vehicle parking space to which the guidance management unit has determined the destination. The vehicle guidance method described in Appendix 9, or in any of Appendix 23 to 26.

[0152] (Note 28) The guidance management unit calculates the distance between the position of the vehicle's energy supply inlet and the position corresponding to the energy supply point for supplying energy to the vehicle, and based on this distance, determines the target vehicle stopping position in the vehicle movement direction, which is the direction in which the vehicle moves within the vehicle stopping frame. The guide signal includes a signal that activates a guide device for stopping the vehicle at the vehicle stopping target position determined by the guidance management unit. The vehicle guidance method described in Appendix 26 or Appendix 27.

[0153] (Note 29) The vehicle information acquisition unit receives the vehicle information by a wireless signal transmitted from the vehicle. The vehicle guidance method described in Appendix 9, or in any of Appendix 23 to 28.

[0154] (Note 30) The vehicle information acquisition unit reads the vehicle number of the vehicle based on the image of the vehicle by character recognition processing, and acquires the vehicle information based on the read vehicle number. The vehicle guidance method described in Appendix 9, or in any of Appendix 23 to 28.

[0155] (Note 31) The vehicle information acquisition unit identifies the vehicle's model number through image recognition processing based on an image of the vehicle, and acquires the vehicle information based on the identified model number. The vehicle guidance method described in Appendix 9, or in any of Appendix 23 through 28.

[0156] (Note 32) The guide signal is a signal that outputs at least one of light or sound to guide the vehicle to stop at a position corresponding to the energy supply point. The program described in Appendix 10.

[0157] (Note 33) The guide signal is a signal that activates a machine for guiding the vehicle to stop at a position corresponding to the energy supply point. The program described in Appendix 10 or Appendix 32.

[0158] (Note 34) The aforementioned vehicle is equipped with an autonomous driving function, The guide signal is a signal that activates the automatic driving function to stop the vehicle at a position corresponding to the energy supply point. The program described in either Appendix 10, Appendix 32, or Appendix 33.

[0159] (Note 35) Based on information on the location of the energy supply port on the vehicle, the guidance management unit determines which of the multiple vehicle parking spaces to guide the vehicle to. The guide signal includes a signal that activates a parking space display device that displays the vehicle parking space to which the guidance management unit has determined the destination. The program described in Appendix 10, or in any of the Appendices 32 through 34.

[0160] (Note 36) The guidance management unit determines, based on the type of energy received at the energy supply port, which of the multiple vehicle parking spaces to guide the vehicle to. The guide signal includes a signal that activates a parking space display device that displays the vehicle parking space to which the guidance management unit has determined the destination. The program described in Appendix 10, or in any of the Appendices 32 through 35.

[0161] (Note 37) The guidance management unit calculates the distance between the position of the vehicle's energy supply inlet and the position corresponding to the energy supply point for supplying energy to the vehicle, and based on this distance, determines the target vehicle stopping position in the vehicle movement direction, which is the direction in which the vehicle moves within the vehicle stopping frame. The guide signal includes a signal that activates a guide device for stopping the vehicle at the vehicle stopping target position determined by the guidance management unit. The program described in Appendix 35 or Appendix 36.

[0162] (Note 38) The vehicle information acquisition unit receives the vehicle information by a wireless signal transmitted from the vehicle. The program described in Appendix 10, or in any of the Appendices 32 through 37.

[0163] (Note 39) The vehicle information acquisition unit reads the vehicle number of the vehicle based on the image of the vehicle by character recognition processing, and acquires the vehicle information based on the read vehicle number. The program described in Appendix 10, or in any of the Appendices 32 through 37.

[0164] (Note 40) The vehicle information acquisition unit identifies the vehicle's model number through image recognition processing based on an image of the vehicle, and acquires the vehicle information based on the identified model number. The program described in Appendix 10, or in any of the appendices 32 through 37. [Explanation of Symbols]

[0165] 1,2 Vehicle guidance system 120 Vehicle Information Acquisition Unit 140 Vehicle position acquisition unit 160 Guidance Management Department 220 Vehicle Information Acquisition Unit 240 Vehicle position acquisition unit 260 Guidance Management Department 301 Wireless communication equipment 302 Camera 1 303, 303-1, 303-2, 303-3, 303-4, ... Second camera 304 Position Sensor 305 Guide device 306, 306-1, 306-2, 306-3, ... Parking space indicator device 307, 307-1, 307-2, 307-3, 307-4, ... Stop guide device (guide device) 401, 401-1, 401-2, 401-3, ... Vehicle parking spaces 402 Fueling machine 403, 403-1, 403-2, 403-3, 403-4, ... Fuel nozzle 501 Vehicles to be guided 502 Wireless communication equipment 901 Central Processing Unit 902 RAM 903 Input / Output Ports 904,905 Input / Output Devices 906 Bus 1000 Vehicle Guidance System

Claims

1. A vehicle information acquisition unit acquires vehicle information relating to a vehicle, including information on the location of the vehicle's energy supply inlet. A vehicle position acquisition unit acquires vehicle position information, which is information about the current location of the vehicle. A guidance management unit outputs a guide signal to guide the vehicle to stop at a position corresponding to an energy supply point for supplying energy to the vehicle, based on the information on the location of the vehicle's energy supply port acquired by the vehicle information acquisition unit and the vehicle position information acquired by the vehicle position acquisition unit. A vehicle guidance system equipped with the following features.

2. The guide signal is a signal that outputs at least one of light or sound to guide the vehicle to stop at a position corresponding to the energy supply point. The vehicle guidance device according to claim 1.

3. The guide signal is a signal that activates a machine for guiding the vehicle to stop at a position corresponding to the energy supply point. The vehicle guidance device according to claim 1.

4. The aforementioned vehicle is equipped with an autonomous driving function, The guide signal is a signal that activates the automatic driving function to stop the vehicle at a position corresponding to the energy supply point. The vehicle guidance device according to claim 1.

5. Based on information on the location of the energy supply port on the vehicle, the guidance management unit determines which of the multiple vehicle parking spaces to guide the vehicle to. The guide signal includes a signal that activates a parking space display device that displays the vehicle parking space to which the guidance management unit has determined the destination. The vehicle guidance device according to claim 1.

6. The guidance management unit determines, based on the type of energy received at the energy supply port, which of the multiple vehicle parking spaces to guide the vehicle to. The guide signal includes a signal that activates a parking space display device that displays the vehicle parking space to which the guidance management unit has determined the destination. The vehicle guidance device according to claim 1.

7. The guidance management unit calculates the distance between the position of the vehicle's energy supply inlet and the position corresponding to the energy supply point for supplying energy to the vehicle, and based on this distance, determines the target vehicle stopping position in the vehicle movement direction, which is the direction in which the vehicle moves within the vehicle stopping frame. The guide signal includes a signal that activates a guide device for stopping the vehicle at the vehicle stopping target position determined by the guidance management unit. The vehicle guidance device according to claim 5 or 6.

8. A vehicle guidance device according to any one of claims 1 to 6, A guide device that, based on a guide signal output by the guidance management unit of the vehicle guidance device, performs an action to stop the vehicle at a position corresponding to the energy supply point, A vehicle guidance system, including a vehicle guidance system.

9. Vehicle information relating to a vehicle, including information on the location of the vehicle's energy supply inlet, is acquired. The vehicle location information, which is the current location information of the aforementioned vehicle, is obtained. Based on the acquired information regarding the location of the vehicle's energy supply port and the acquired vehicle position information, a guide signal is output to guide the vehicle to stop at a position corresponding to the energy supply point for supplying energy to the vehicle. A method for guiding vehicles using a vehicle guidance system.

10. A program for causing a vehicle guidance device to execute the vehicle guidance method described in claim 9.

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