Vehicle control device, control method for vehicle control device, and program

Abstract

To guide a route to a predetermined area (PA) in a destination (IN) while reducing a processing load related to a route guidance.SOLUTION: A vehicle controller (10) for controlling a vehicle (1), includes: a reception unit (101) for receiving first route information related to a first route to a predetermined area (PA) in a destination (IN) from the outside of the vehicle if the vehicle (1) enters in a predetermined range (AR) based on a destination of the vehicle (1); and a route guidance unit (102) for guiding the first route on the basis of the first route information received from the reception unit (101).SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vehicle control device, a control method for a vehicle control device, and a program. [Background technology]

[0002] In recent years, efforts to provide access to sustainable transportation systems that take into consideration vulnerable traffic participants have been gaining momentum. To achieve this, efforts are being made to further improve traffic safety and convenience through research and development of navigation technology. Navigation technology related to route guidance to a destination has been known for some time (for example, Patent Document 1). The map information generation device in Patent Document 1 generates a first group of departure points by identifying departure points where a vehicle has departed from a road link based on multiple pieces of probe information, generates a second group of departure points by excluding departure points included in the generated first group of departure points that are included in probe information whose positioning status information does not satisfy a predetermined condition, and sets a representative point of the second group of departure points as a final proposed guidance point in map information for navigation. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2020-204531 Summary of the Invention [Problem to be solved by the invention]

[0004] In navigation technology related to route guidance, there is a demand for route guidance to a predetermined area within a destination. Here, an example of a predetermined area within a destination is a parking lot located within the destination. Patent Document 1 makes it possible to provide route guidance to a parking lot within the destination by estimating the entrance to the parking lot, but there is a problem in that the processing load related to the route guidance is large because the entrance to the parking lot must be estimated. Therefore, an object of the present invention is to provide route guidance to a predetermined area within a destination while reducing the processing load related to route guidance. [Means for solving the problem]

[0005] One aspect of the present invention is a vehicle control device for controlling a vehicle, wherein when the vehicle enters a predetermined range based on a destination of the vehicle, After entering the predetermined range A predetermined area within the destination reach the entrance to until Other vehicles a receiving unit that receives first route information indicating a first route from outside the vehicle; and a route guidance unit that provides guidance along the first route indicated by the first route information received by the receiving unit. When the vehicle enters the predetermined area, the receiving unit receives second route information from the other vehicle indicating a second route of the other vehicle from entering the predetermined area to a parking position, and the route guidance unit provides guidance along the second route indicated by the second route information received by the receiving unit. Vehicle control device. [Effects of the Invention]

[0006] According to one aspect of the present invention, it is possible to provide route guidance to a predetermined area within a destination while reducing the processing load related to route guidance. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram illustrating a configuration of an information processing system. [Figure 2] FIG. 2 is a diagram for explaining data transmitted by another vehicle. [Figure 3] FIG. 2 is a block diagram showing the configuration of the host vehicle. [Figure 4] FIG. 2 is a block diagram showing the configuration of a server device. [Figure 5] 4 is a flowchart showing the operation of the vehicle control device and the server device. [Figure 6] 10 is a flowchart showing the operation of a route guidance unit. [Figure 7] 4 is a flowchart showing the operation of the vehicle control device and the server device. [Figure 8] 4 is a flowchart showing the operation of the vehicle control device and the server device. [Figure 9]4 is a flowchart showing the operation of the vehicle control device. DETAILED DESCRIPTION OF THE INVENTION

[0008] [1. Information Processing System Configuration] FIG. 1 is a diagram showing the configuration of an information processing system 1000. As shown in FIG. The information processing system 1000 is a system that processes information related to route guidance. The information processing system 1000 includes a host vehicle 1 that is a vehicle having a vehicle control device 10, another vehicle 2 that is a vehicle different from the host vehicle 1, and a server device 3.

[0009] The host vehicle 1 in this embodiment is a four-wheeled vehicle. The host vehicle 1 is equipped with a TCU (Telematics Control Unit) 11, and communicates with a server device 3 connected to a network NW via the TCU 11. The network NW is a communication network configured from a public line network, a dedicated line, other communication circuits, etc. The host vehicle 1 can also directly communicate with another vehicle 2 through vehicle-to-vehicle communication. Note that, although the present embodiment illustrates the host vehicle 1 as a four-wheeled vehicle, the host vehicle 1 may be a vehicle other than a four-wheeled vehicle.

[0010] In this embodiment, the other vehicle 2 is a four-wheeled automobile. The other vehicle 2 is equipped with a TCU and communicates with the server device 3 via the TCU. The other vehicle 2 is provided with an exterior camera that captures images of the outside of the vehicle. The cameras provided on the other vehicle 2 include multiple cameras such as a front camera, a rear camera, and side cameras. The other vehicle 2 transmits various data to the server device 3. The other vehicle 2 can communicate directly with the host vehicle 1 via vehicle-to-vehicle communication. When the other vehicle 2 is within a communication distance for vehicle-to-vehicle communication, the other vehicle 2 transmits parking position departure data D3, which will be described later, to the host vehicle 1 via vehicle-to-vehicle communication.

[0011] The data transmitted by the other vehicle 2 will be described with reference to FIG. FIG. 2 is a diagram for explaining data transmitted by the other vehicle 2. As shown in FIG.

[0012] Fig. 2 shows a facility IN that has a building BU and a parking lot PA on its premises. Fig. 2 also shows a situation in which another vehicle 2 travels with the facility IN as its destination, enters the facility IN, parks in the parking lot PA, and then exits the facility IN after parking. The parking lot PA is an example of a "predetermined area" in the present disclosure.

[0013] When the other vehicle 2 reaches the entrance EN of the parking lot PA, it transmits the first upload data D1 to the server device 3. In addition to the exterior camera, the other vehicle 2 is equipped with a GNSS (Global Navigation Satellite System) sensor, a three-axis acceleration sensor, a yaw rate sensor, and the like, and generates the first upload data D1 based on the output results of these devices.

[0014] The first upload data D1 includes destination information, first location information, second location information, first other vehicle route information, and first photographed data of the other vehicle 2. The first other vehicle route information corresponds to the “first route information” in the present disclosure. In the example of FIG. 2, the information on the destination of the other vehicle 2 is information on a facility IN, and examples thereof include information on the name of the destination and information on the latitude and longitude of a predetermined point at the destination. The first position information is information indicating the position of the other vehicle 2 when the other vehicle 2 enters the predetermined range AR. The predetermined range AR is an area based on a predetermined point at the destination, and is at least larger than the exclusive area of ​​the destination. In FIG. 2, the predetermined range AR is shown as a circular area centered on the predetermined point at the destination. Note that the shape and size of the predetermined range AR are not limited to those shown in FIG. 2. The second position information is information indicating the position of the other vehicle 2 when it arrives at the entrance EN of the parking lot PA. The first other vehicle route information is information indicating the route of the other vehicle 2 from when it enters the predetermined range AR until it reaches the entrance EN. The first photographed data is data showing photographed results obtained by an exterior camera of the other vehicle 2 from when the other vehicle 2 enters the predetermined range AR until when the other vehicle 2 reaches the entrance EN. In this embodiment, the photographed results shown by the first photographed data are moving images.

[0015] When the other vehicle 2 enters a parking lot PA and then parks there, it transmits second upload data D2 to the server device 3. In addition to the exterior camera, the other vehicle 2 is equipped with a GNSS sensor, a three-axis acceleration sensor, a yaw rate sensor, and the like, and generates the second upload data D2 based on the output results of these devices.

[0016] The second upload data D2 includes second location information, third location information, second other vehicle route information, and second captured image data. The second other vehicle route information corresponds to "second route information" in the present disclosure. The third position information is information indicating the parking position of the other vehicle 2. The second other vehicle route information is information that indicates the route of the other vehicle 2 from when it enters the parking lot PA until it is parked. The second photographed data is data showing photographed results obtained by the exterior camera of the other vehicle 2 from the time the other vehicle 2 enters the parking lot PA until the time the other vehicle 2 parks. In this embodiment, the photographed results shown by the second photographed data are moving images.

[0017] When the other vehicle 2 leaves the parking lot PA, it transmits parking position departure data D3 to the vehicle 1 that is within the communication distance for vehicle-to-vehicle communication. The parking position departure data D3 is data indicating that the other vehicle 2 has left the parking position. The parking position departure data D3 includes third position information. The parking position departure data D3 may also include other data or information such as second photographed data.

[0018] Returning to the explanation of Fig. 1, the server device 3 is a device that processes information with the host vehicle 1 and the other vehicle 2 as clients. Note that in each drawing, the server device 3 is represented by a single block, but this does not necessarily mean that the server device 3 is configured by a single device.

[0019] [2. Vehicle Configuration] Next, the configuration of the host vehicle 1 will be described. FIG. 3 is a block diagram showing the configuration of the host vehicle 1. As shown in FIG. The host vehicle 1 is equipped with a vehicle control device 10, a TCU 11, a GNSS (Global Navigation Satellite System) sensor 12, a front camera 13, a rear camera 14, a right side camera 15, a left side camera 16, a vehicle state sensor 17, a touch panel 18, and a vehicle-to-vehicle communication device 19.

[0020] The vehicle control device 10 includes a processor 100 such as a CPU (Central Processing Unit) or an MPU (Micro-Processing Unit), a memory 110, and an interface circuit to which other devices and sensors are connected.

[0021] The memory 110 is a storage device that nonvolatilely stores programs and data executed by the processor 100. The memory 110 is configured by a semiconductor storage element such as a magnetic storage device or a flash ROM (Read Only Memory), or other types of nonvolatile storage device. The memory 110 may also include a RAM (Random Access Memory) that configures a work area for the processor 100. The memory 110 may also include a nonvolatile storage device such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The memory 110 stores data processed by the processor 100, a control program 111 executed by the processor 100, map data 112, etc. The control program 111 corresponds to the "program" in this disclosure.

[0022] The map data 112 stores road map information, facility information on various facilities, map matching data, etc. The road map information is made up of a road network in which roads on a map are represented by lines, and includes information on links in which intersections, branching points, etc. are used as nodes and the sections between the nodes are defined as links. The facility information indicates the location (latitude, longitude) of the facility, the name of the facility, etc.

[0023] Connected to the vehicle control device 10 are a TCU 11, a GNSS (Global Navigation Satellite System) sensor 12, a front camera 13, a rear camera 14, a right-side camera 15, a left-side camera 16, a vehicle state sensor 17, a touch panel 18, and an inter-vehicle communication device 19. Note that devices connected to the vehicle control device 10 are not limited to these, and other devices may also be connected. In the following description, when the front camera 13, rear camera 14, right side camera 15, and left side camera 16 are not distinguished from one another, they will be referred to as "cameras" and given the reference number "20."

[0024] The GNSS sensor 12 measures the current position of the vehicle 1 and outputs current position information indicating the measured current position to the vehicle control device 10.

[0025] The front camera 13 is an exterior camera that captures an image ahead of the vehicle 1. The front camera 13 outputs, to the vehicle control device 10, image data that indicates the image capture results obtained by capturing an image.

[0026] The rear camera 14 is an external camera that captures images behind the vehicle 1. The rear camera 14 outputs, to the vehicle control device 10, image data that indicates the image capture results obtained by capturing images.

[0027] The right side camera 15 is an exterior camera that captures images of the right side of the vehicle 1. The right side camera 15 outputs, to the vehicle control device 10, image data that indicates the image capture results obtained by capturing images.

[0028] The left side camera 16 is an exterior camera that captures images of the left side of the vehicle 1. The left side camera 16 outputs, to the vehicle control device 10, image data that indicates the image capture results obtained by capturing images.

[0029] The vehicle state sensor 17 includes a three-axis acceleration sensor, a yaw rate sensor, a vehicle speed sensor, etc. The vehicle state sensor 17 outputs the detection values ​​of these sensors to the vehicle control device 10.

[0030] The touch panel 18 has a configuration in which a display panel that displays characters and images and a touch sensor that detects contact with the display panel are superimposed on each other.

[0031] The inter-vehicle communication device 19 includes a communication device having an antenna, an RF circuit, an encoder, a decoder, etc. The inter-vehicle communication device 19 communicates with other vehicles 2.

[0032] The processor 100 reads and executes a control program 111 stored in the memory 110, thereby functioning as a vehicle communication control unit 101 and a route guidance unit 102. The vehicle communication control unit 101 corresponds to the "receiving unit" in this disclosure.

[0033] The vehicle communication control unit 101 includes a first communication control unit 1011 and a second communication control unit 1012. The first communication control unit 1011 communicates with the server device 3 via the TCU 11. The second communication control unit 1012 communicates with other vehicles 2 via the inter-vehicle communication device 19.

[0034] The route guidance unit 102 performs route guidance and processing related to route guidance. Details of the operation of the route guidance unit 102 will be described with reference to a flowchart.

[0035] [3. Server configuration] Next, the configuration of the server device 3 will be described. FIG. 4 is a block diagram showing the configuration of the server device 3. As shown in FIG. The server device 3 includes a server control device 30 and a server communication device 31.

[0036] The server control device 30 includes a processor 300 such as a CPU or MPU, a memory 310, and an interface circuit to which other devices and sensors are connected.

[0037] The memory 310 is a storage device that nonvolatilely stores programs and data executed by the processor 300. The memory 310 is configured by a magnetic storage device, a semiconductor storage element such as a flash ROM, or other types of nonvolatile storage devices. The memory 310 may also include a RAM that configures a work area for the processor 300. The memory 310 may also include a nonvolatile storage device such as an HDD or SSD. The memory 310 stores data processed by the processor 300, a control program 311 executed by the processor 300, a first management database (DB) 312, a second management DB 313, and the like.

[0038] The first management DB 312 is a database that stores the first upload data D1.

[0039] The second management DB 313 is a database that stores the second upload data D2.

[0040] The server communication device 31 includes a communication device having an antenna, an RF circuit, an encoder, a decoder, etc. The server communication device 31 communicates with the vehicle 1 and other vehicles 2 via the network NW.

[0041] The processor 300 functions as a server communication control unit 301 and a server processing unit 302 by reading and executing a control program 311 stored in the memory 310 .

[0042] The server communication control unit 301 communicates with the vehicle 1 and the other vehicle 2 via the server communication device 31.

[0043] The server processing unit 302 performs information processing on the host vehicle 1 and the other vehicle 2 as clients. When the server communication control unit 301 receives first upload data D1, the server processing unit 302 stores the received first upload data D1 in the first management DB 312. When the server communication control unit 301 receives second upload data D2, the server processing unit 302 stores the received second upload data D2 in the second management DB 313.

[0044] [4. Operation of each part of the information processing system] Next, the operation of each unit of the information processing system 1000 will be described. The operation of each part of the information processing system 1000 described below will be exemplified by a case in which the vehicle 1 travels after another vehicle 2 with facility IN as its destination, enters facility IN, and then parks in parking lot PA.

[0045] First, the operation of each part of the information processing system 1000 up to the time of heading to the parking lot PA will be described. 5 is a flowchart showing the operations of the vehicle control device 10 and the server device 3. In FIG.

[0046] As shown in the flowchart FA, the route guidance unit 102 of the vehicle control device 10 determines whether or not the vehicle 1 has entered a predetermined range AR (step SA1).

[0047] In step SA1, the route guidance unit 102 determines whether or not the vehicle 1 has entered a predetermined range AR, with reference to the current position information output by the GNSS sensor 12 and the map data 112. That is, the route guidance unit 102 sets a predetermined range AR based on a predetermined point of the facility IN on the map indicated by the map data 112, and determines whether or not the position on the map corresponding to the current position of the vehicle 1 indicated by the current position information is within the set predetermined range AR.

[0048] If the route guidance unit 102 determines that the vehicle 1 has not entered the predetermined range AR (step SA1: NO), it performs the determination of step SA1 again.

[0049] On the other hand, if the route guidance unit 102 determines that the vehicle 1 has entered the predetermined range AR (step SA1: YES), the first communication control unit 1011 transmits first request information to the server device 3 (step SA2). The first request information is information requesting first route-related information regarding a first route from the current position of the vehicle 1 to the parking lot PA. The first request information includes information on the destination of the vehicle 1 and current position information.

[0050] As shown in the flowchart FB, the server communication control unit 301 receives first request information from the host vehicle 1 (step SB1).

[0051] Based on the first request information received in step SB1, the server processing unit 302 identifies the first upload data D1 for generating the first route related information from the first management DB 312 (step SB2).

[0052] In step SB2, the server processing unit 302 identifies first upload data D1 including information on the destination included in the first request information from the first management DB 312. Next, the server processing unit 302 identifies, from the identified first upload data D1, first upload data D1 including first position information indicating a position closest to the current position indicated by the current position information included in the first request information and within a predetermined distance (e.g., 1 meter) from the current position, as first upload data D1 for generating first route-related information.

[0053] The server processing unit 302 determines whether or not the first upload data D1 for generating the first route-related information has been identified from the first management DB 312 (step SB3). In step SB3, if the first management DB 312 does not contain first upload data D1 including information on the destination included in the first request information, the server processing unit 302 makes a negative determination in step SB3. In addition, in step SB3, if the first management DB 312 does not contain first upload data D1 including first location information that indicates a location closest to the current location indicated by the current location information included in the first request information and that indicates a location within a predetermined distance (for example, 1 meter) from the current location, the server processing unit 302 makes a negative determination in step SB3.

[0054] If the server processing unit 302 determines that the first upload data D1 for generating the first route-related information has been identified (step SB3: YES), the server processing unit 302 generates the first route-related information (step SB4). In step SB4, the server processing unit 302 extracts the second location information, the first other vehicle route information, and the first captured data from the first upload data D1 for generating the first route-related information, and generates the first route-related information including the extracted information or data.

[0055] When the server processing unit 302 generates the first route related information, the server communication control unit 301 transmits the first route related information generated by the server processing unit 302 to the host vehicle 1 as a response to the first request information (step SB5).

[0056] Returning to the explanation of step SB3, if the server processing unit 302 determines that it has not been able to identify the first upload data D1 for generating the first route related information (step SB3: NO), the server communication control unit 301 transmits request rejection information to the host vehicle 1 as a response to the first request information (step SB6). The request rejection information is information indicating that the request from the host vehicle 1 has been canceled.

[0057] As shown in the flowchart FA, the first communication control unit 1011 determines whether the first route related information or the request rejection information has been received in response to the first request information (step SA3). This determination is made based on, for example, the header of the received information.

[0058] If the first communication control unit 1011 determines that the request rejection information has been received (step SA3: NO), the processor 100 ends this process.

[0059] On the other hand, if the first communication control unit 1011 determines that the first route related information has been received (step SA3: YES), the route guiding unit 102 performs a start frame determination process (step SA4).

[0060] The start frame identification process is a process for determining a start frame, which is a frame at which playback of a video starts. The route guidance unit 102 compares frames of the video indicated by the imaging data output by the camera 20 with frames of the video indicated by the first imaging data included in the first route-related information. The route guidance unit 102 then identifies frames from the frames of the video indicated by the first imaging data included in the first route-related information that have a matching rate equal to or greater than a threshold value with frames of the video indicated by the imaging data output by the camera 20. The route guidance unit 102 then determines the identified frame as the start frame of the video to be displayed on the touch panel 18.

[0061] Next, the route guidance unit 102 displays the moving image indicated by the first captured image data included in the first route-related information on the touch panel 18, using the frame determined in the start frame determination process as the start frame (step SA5).

[0062] Next, the route guidance unit 102 starts guidance on the first route, using the route indicated by the first other vehicle route information included in the first route related information as the first route (step SA6).

[0063] Next, the operation of the route guidance unit 102 during the first route guidance will be described. FIG. 6 is a flowchart FC showing the operation of the route guidance unit 102. The route guidance unit 102 determines whether the vehicle 1 has deviated from the first route (step SC1). Deviating from the first route means that the distance between the vehicle 1 and the first route is equal to or greater than a predetermined distance. The route guidance unit 102 determines whether the vehicle 1 has deviated from the first route by referring to the current position indicated by the current position information output by the GNSS sensor 12, the position of the first route being guided, and the map data 112.

[0064] If the route guidance unit 102 determines that the vehicle 1 has not deviated from the first route (step SC1: NO), it performs the determination in step SC1 again.

[0065] On the other hand, when the route guidance unit 102 determines that the vehicle 1 has deviated from the first route (step SC1: YES), it displays information on the touch panel 18 that prompts the vehicle 1 to return to the first route (step SC2). Note that the information prompting the vehicle 1 to return to the first route is, for example, route guidance to the position where the vehicle deviated from the first route. The route guidance is performed by using map data 112 to provide navigation guidance. Alternatively, if video data exists, the route guidance to return to the first route may also utilize this data. In this case, when the vehicle 1 deviates from the first route, route-related information regarding the route to return to the first route may be received from the server device 3 and used to provide guidance. Note that this route-related information includes video data of the route to return to the first route.

[0066] Next, the route guidance unit 102 determines whether the vehicle 1 has returned to the first route (step SC3). Returning to the first route means that after deviating from the first route, the distance between the vehicle 1 and the first route again becomes less than the predetermined distance. If the route guidance unit 102 determines that the vehicle 1 has not returned to the first route (step SC3: NO), it performs the determination of step SC3 again.

[0067] On the other hand, if the route guidance unit 102 determines that the vehicle 1 has returned to the first route (step SC3: YES), it stops displaying information urging the vehicle 1 to return to the first route (step SC4).

[0068] Next, the operation of each unit of the information processing system 1000 when entering the parking lot PA will be described. 7 is a flowchart showing the operations of the vehicle control device 10 and the server device 3. In FIG.

[0069] As shown in the flowchart FD, the route guidance unit 102 of the vehicle control device 10 determines whether or not the vehicle 1 has entered a parking lot PA (step SD1).

[0070] In step SD1, the route guidance unit 102 refers to the current position information received from the GNSS sensor 12 and the map data 112, and determines that the vehicle 1 has entered a parking lot PA if the position on the map corresponding to the current position of the vehicle 1 has changed from a road to within the facility IN.

[0071] If the route guidance unit 102 determines that the vehicle 1 has not entered the parking lot PA (step SD1: NO), it performs the determination in step SC1 again.

[0072] On the other hand, if the route guidance unit 102 determines that the vehicle 1 has entered the parking lot PA (step SD1: YES), the first communication control unit 1011 transmits second request information to the server device 3 (step SD2). The second request information is information requesting second route-related information regarding a second route from the current position of the vehicle 1 to the parking position. The second request information includes current position information indicating the current position of the vehicle 1.

[0073] As shown in the flowchart FE, the server communication control unit 301 receives second request information from the host vehicle 1 (step SE1).

[0074] Based on the second request information received in step SD1, the server processing unit 302 identifies the second upload data D2 for generating the second route related information from the second management DB 313 (step SE2).

[0075] In step SE2, the server processing unit 302 identifies the second upload data D2 including second location information indicating a location closest to the current location indicated by the current location information included in the second request information and within a predetermined distance (e.g., 1 m) from the current location as the second upload data D2 for generating the second route-related information.

[0076] The server processing unit 302 determines whether or not the second upload data D2 for generating the second route related information has been identified from the second management DB 313 (step SE3). In step SE3, if the second management DB 313 does not contain second upload data D2 including second position information indicating a position closest to the current position indicated by the current position information included in the second request information and within a predetermined distance (for example, 1 meter) from the current position, the server processing unit 302 makes a negative determination in step SE3.

[0077] If the server processing unit 302 determines that the second upload data D2 for generating the second route-related information has been identified (step SE3: YES), the server processing unit 302 generates the second route-related information (step SE4). In step SE4, the server processing unit 302 extracts the third position information, the second other vehicle route information, and the second captured image data from the second upload data D2 for generating the second route-related information, and generates the second route-related information including the extracted information or data.

[0078] When the server processing unit 302 generates the second route related information, the server communication control unit 301 transmits the second route related information generated by the server processing unit 302 to the host vehicle 1 as a response to the second request information (step SE5).

[0079] Returning to the explanation of step SE3, if the server processing unit 302 determines that it has not been able to identify the second upload data D2 for generating the second route-related information (step SE3: NO), the server communication control unit 301 transmits request rejection information to the vehicle 1 in response to the second request information (step SE6).

[0080] As shown in the flowchart FD, the first communication control unit 1011 determines whether the second route related information or the request rejection information has been received in response to the second request information (step SD3). This determination is made based on, for example, the header of the received information.

[0081] If the first communication control unit 1011 determines that the request rejection information has been received (step SD3: NO), the processor 100 ends this process.

[0082] On the other hand, if the first communication control unit 1011 determines that the second route related information has been received (step SD3: YES), the route guidance unit 102 performs a start frame determination process (step SD4).

[0083] In step SD4, the route guidance unit 102 compares frames of the video indicated by the imaging data output by the camera 20 with frames of the video indicated by the second imaging data included in the second route-related information. The route guidance unit 102 then identifies frames of the video indicated by the second imaging data included in the second route-related information that have a matching rate equal to or greater than a threshold value with frames of the video indicated by the imaging data output by the camera 20. The route guidance unit 102 then determines the identified frame as the start frame of the video to be displayed on the touch panel 18.

[0084] Next, the route guidance unit 102 displays on the touch panel 18 the moving image indicated by the second captured image data included in the second route-related information, using the frame identified in the start frame determination process as the start frame (step SD5).

[0085] Next, the route guidance unit 102 starts guidance on the second route, using the route indicated by the second other vehicle route information included in the second route related information as the second route (step SD6).

[0086] Next, the operation of each unit of the information processing system 1000 during the second route guidance will be described. 8 is a flowchart showing the operations of the vehicle control device 10 and the server device 3. In FIG.

[0087] As shown in the flowchart FF, the route guidance unit 102 of the vehicle control device 10 determines whether or not the vehicle 1 has deviated from the second route (step SF1). Deviating from the second route means that the distance between the vehicle 1 and the second route is equal to or greater than a predetermined distance.

[0088] In step SF1, the route guidance unit 102 refers to the current position information received from the GNSS sensor 12 and the map data 112 to determine whether or not the vehicle 1 has deviated from the second route.

[0089] If the route guidance unit 102 determines that the vehicle 1 has not deviated from the second route (step SF1: NO), it performs the determination of step SF1 again.

[0090] On the other hand, if the route guidance unit 102 determines that the vehicle 1 has deviated from the second route (step SE1: YES), the first communication control unit 1011 transmits update request information to the server device 3 (step SE2). The update request information is information requesting an update of the second route for route guidance. The update request information includes current position information indicating the current position of the vehicle 1.

[0091] As shown in flowchart FG, the server communication control unit 301 receives update request information from the vehicle 1 (step SG1).

[0092] Based on the update request information received in step SG1, server processing unit 302 identifies second upload data D2 for generating update information, which will be described later, from second management DB 313 (step SG2).

[0093] In step SG2, server processing unit 302 identifies the next second upload data D2 as the second upload data D2 for generating update information. That is, the identified second upload data D2 includes second other vehicle route information indicating a route that passes through the current location indicated by the current location information in the update request information.

[0094] The server processing unit 302 determines whether or not the second upload data D2 for generating update information has been identified from the second management DB 313 (step SG3).

[0095] If the server processing unit 302 determines that the second upload data D2 for generating the update information has been identified (step SG3: YES), it generates the update information (step SG4). In step SG4, the server processing unit 302 extracts the third location information, the second other vehicle route information, and the second captured image data from the second upload data D2 for generating the update information, and generates update information including the extracted information or data.

[0096] When the server processing unit 302 generates the update information, the server communication control unit 301 transmits the update information generated by the server processing unit 302 to the vehicle 1 as a response to the update request information (step SG5).

[0097] Returning to the explanation of step SG3, if the server processing unit 302 determines that it has not been able to identify the second upload data D2 for generating update information (step SG3: NO), the server communication control unit 301 transmits request rejection information to the vehicle 1 in response to the update request information (step SG6).

[0098] As shown in flowchart FF, the first communication control unit 1011 determines whether update information or request rejection information has been received in response to the update request information (step SF3). This determination is made, for example, based on the header of the received information.

[0099] If the first communication control unit 1011 determines that the request rejection information has been received (step SF3: NO), the processor 100 ends this process.

[0100] On the other hand, if the first communication control unit 1011 determines that update information has been received (step SF3: YES), the route guiding unit 102 performs a start frame determination process (step SF4).

[0101] In step SF4, the route guidance unit 102 compares frames of the video indicated by the imaging data output by the camera 20 with frames of the video indicated by the second imaging data included in the update information. Then, the route guidance unit 102 identifies frames of the video indicated by the second imaging data included in the update information that have a matching rate equal to or greater than a threshold value with frames of the video indicated by the imaging data output by the camera 20. Then, the route guidance unit 102 determines the identified frame as the start frame of the video to be displayed on the touch panel 18.

[0102] Next, the route guiding unit 102 displays the moving image indicated by the second captured data included in the update information on the touch panel 18, using the frame identified in the start frame determination process as the start frame (step SF5).

[0103] Next, the route guidance unit 102 starts guidance on the second route, using the route indicated by the second other vehicle route information included in the update information as a new second route (step SF6).

[0104] 9 is a flowchart FH showing the operation of the vehicle control device 10 related to the parking position departure data D3. The operation of FIG. 9 is performed in parallel with the operation shown in FIG. 8 during the second route guidance.

[0105] The second communication control unit 1012 determines whether or not the parking position leaving data D3 has been received from the other vehicle 2 (step SH1). If the second communication control unit 1012 determines that the parking position leaving data D3 has not been received from the other vehicle 2 (step SH1: NO), the second communication control unit 1012 performs the determination of step SH1 again.

[0106] On the other hand, if the second communication control unit 1012 determines that it has received parking position departure data D3 from another vehicle 2 (step SH1: YES), the route guidance unit 102 begins guiding the vehicle to the parking position where the other vehicle 2 that transmitted the parking position departure data D3 was parked (step SH2).

[0107] In step SH2, the route guidance unit 102 displays the map indicated by the map data 112 on the touch panel 18, and displays the parking position indicated by the third position information included in the parking position departure data D3 on the map. If the parking position departure data D3 includes the second photographed data, the route guidance unit 102 may display a moving image indicated by the second photographed data on the touch panel 18 together with the parking position. If the parking position departure data D3 includes second other vehicle route information, the route guidance unit 102 may display the second route indicated by the second other vehicle route information on the map together with the parking position.

[0108] 5. Other Embodiments The above-described embodiment is merely one aspect, and any modifications and applications are possible.

[0109] In the above-described embodiment, a facility IN is exemplified as the destination, but the destination is not limited to the facility IN. Also, in the above-described embodiment, a parking lot PA is exemplified as the predetermined area, but the predetermined area is not limited to the parking lot PA as long as it is an area within the destination.

[0110] In the above-described embodiment, the host vehicle 1 is configured to receive the first route-related information and the second route-related information from the other vehicle 2 via the server device 3. In another embodiment, the host vehicle 1 may receive the first route-related information and the second route-related information directly from the other vehicle 2. In this other embodiment, the host vehicle 1 receives the first route-related information and the second route-related information from the other vehicle 2 through vehicle-to-vehicle communication. In this other embodiment, the other vehicle 2 stores data corresponding to the first upload data D1 and the second upload data D2 in a predetermined storage area. The host vehicle 1 transmits the first request information and the second request information to the other vehicle 2. In response to the first request information, the other vehicle 2 transmits the first route-related information or the request rejection information to the host vehicle 1, and in response to the second request information, transmits the second route-related information or the request rejection information to the host vehicle 1.

[0111] In the above-described embodiment, the host vehicle 1 is configured to directly receive the parking position departure data D3 from the other vehicle 2. In other embodiments, the host vehicle 1 may receive the parking position departure data D3 from the other vehicle 2 via the server device 3.

[0112] The processors 100 and 300 may be configured with multiple processors or a single processor. The processors 100 and 300 may be hardware programmed to implement the above-described functional units. In this case, the processors 100 and 300 may be configured with, for example, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array).

[0113] Furthermore, the components of the vehicle 1 and the server device 3 shown in Figures 3 and 4 are merely examples, and the specific implementation form is not particularly limited. In other words, it is not necessarily necessary to implement hardware corresponding to each component individually, and it is of course possible to configure the components so that the functions of each component are realized by a single processor executing a program. Furthermore, some of the functions realized by software in the above-described embodiment may be implemented by hardware, or some of the functions realized by hardware may be implemented by software. In addition, the specific detailed configurations of the other components of the vehicle 1 may also be changed as desired without departing from the spirit of the present invention.

[0114] Furthermore, the step units of the operations shown in Figures 6, 7, 8, and 9 are divided according to the main processing content, and the present invention is not limited by the way in which the processing units are divided or the names of the processing units. The processing units may be divided into more step units according to the processing content. Furthermore, one step unit may be divided so as to include more processing. Furthermore, the order of the steps may be changed as appropriate within the scope of the present invention.

[0115] The control program 111 can also be recorded on an information recording medium that is readable by the processor 100. Examples of information recording media include magnetic recording media such as hard disks, optical recording media such as CDs, and semiconductor storage devices such as USB (Universal Serial Bus) memories and SSDs, but other recording media can also be used. The same applies to the control program 311.

[0116] 6. Configurations Supported by the Above Embodiments The above embodiment supports the following configurations.

[0117] (Configuration 1) A vehicle control device that controls a vehicle, comprising: a receiving unit that, when the vehicle enters a predetermined range based on a destination of the vehicle, receives first route information from outside the vehicle that indicates a first route to a predetermined area within the destination; and a route guidance unit that provides guidance along the first route indicated by the first route information received by the receiving unit. According to the vehicle control device of configuration 1, the first route indicated by the first route information received from outside the vehicle is guided, so that the processing load related to route guidance can be reduced while providing guidance on the route to a predetermined area within the destination.

[0118] (Configuration 2) 2. The vehicle control device according to claim 1, wherein the receiving unit receives the first route information from another vehicle that has arrived at the destination before the vehicle. According to the vehicle control device of configuration 2, the vehicle can receive the most up-to-date first route information, thereby reducing the processing load related to route guidance and providing appropriate guidance on a route to a predetermined area within the destination. Furthermore, since route guidance to a predetermined area within the destination can be performed through communication between the vehicle and other vehicles, the entity managing the destination does not need to manage data on routes to the predetermined area. This improves the manageability of destinations.

[0119] (Configuration 3) The vehicle control device described in configuration 2, wherein the first route information includes photographic data indicating photographic results up to the specified area obtained by an exterior camera of the other vehicle, the vehicle is equipped with a camera that photographs the exterior of the vehicle, and the route guidance unit provides guidance on the first route based on the photographic results obtained by the camera and the photographic results indicated by the photographic data included in the first route information. According to the vehicle control device of configuration 3, the first route can be guided by displaying the image capture results up to the predetermined area obtained by the exterior camera of the other vehicle, which allows the driver of the vehicle to intuitively understand the route to the predetermined area, improving the convenience of route guidance. Furthermore, according to the vehicle control device of configuration 3, the image capture results of the exterior camera of the other vehicle and the image capture results of the camera of the vehicle can be used to display the image capture results of the exterior camera in accordance with the current position of the vehicle.

[0120] (Configuration 4) The vehicle control device according to configuration 2 or 3, wherein when the vehicle enters the specified area, the receiving unit receives second route information from the other vehicle indicating a second route to a parking position of the other vehicle within the specified area, and the route guidance unit provides guidance along the second route indicated by the second route information received by the receiving unit. According to the vehicle control device of configuration 4, the driver of the vehicle can know where to head within a predetermined area, thereby improving the convenience of route guidance within the predetermined area.

[0121] (Configuration 5) A vehicle control device according to configuration 4, wherein if the vehicle deviates from the first route while being guided along the first route, the route guidance unit guides the vehicle to return to the first route, and if the vehicle deviates from the second route while being guided along the second route, the receiving unit receives the second route information again, and the route guidance unit guides the vehicle along the second route again. According to configuration 5, when the vehicle deviates from the route being guided, appropriate route guidance can be provided depending on the type of route that has deviated, thereby improving the convenience of route guidance.

[0122] (Configuration 6) 6. The vehicle control device according to configuration 4 or 5, wherein, when the other vehicle moves away from the parking position, the receiving unit receives parking position separation data from the other vehicle indicating that the other vehicle has moved away from the parking position, and the route guidance unit guides the other vehicle to the parking position where the other vehicle was parked based on the parking position separation data received by the receiving unit. According to the vehicle control device of configuration 6, since the vehicle is guided to a parking spot where another vehicle has parked, it becomes possible to easily find a parking spot where the vehicle can be parked while traveling within a specified area, thereby improving the convenience of route guidance.

[0123] (Configuration 7) 7. The vehicle control device according to any one of configurations 1 to 6, wherein the predetermined area is a parking lot. According to the vehicle control device of configuration 7, it is possible to provide guidance on a route to a parking lot within a destination while reducing the processing load related to route guidance.

[0124] (Configuration 8) A control method for a vehicle control device that controls a vehicle, the control method comprising: when the vehicle enters a predetermined range based on a destination of the vehicle, receiving first route information from outside the vehicle that indicates a first route to a predetermined area within the destination, and guiding the vehicle along the first route indicated by the received first route information. According to the control method for the vehicle control device of the eighth aspect, the same effects as those of the vehicle control device of the first aspect can be achieved.

[0125] (Configuration 9) A program that causes a processor of a vehicle control device that controls a vehicle to function as a receiving unit that receives first route information indicating a first route to a specified area within a destination from outside the vehicle when the vehicle enters a specified range based on the destination of the vehicle, and a route guidance unit that provides guidance along the first route indicated by the first route information received by the receiving unit. According to the program of the ninth aspect, the same effects as those of the vehicle control device of the first aspect can be achieved. [Explanation of symbols]

[0126] 1...own vehicle (vehicle), 2...other vehicle, 3...server device, 10...vehicle control device, 11...TCU, 12...GNSS sensor, 13...front camera, 14...rear camera, 15...right side camera, 16...left side camera, 17...vehicle status sensor, 18...touch panel, 19...vehicle-to-vehicle communication device, 20...camera, 100...processor, 101...vehicle communication control unit (receiving unit), 102...route guidance unit, 110...memory, 111...control program, 112...map data, 1011...first communication control unit, 1012...second communication control unit, AR...specified range, D3...parking position departure data, IN...facility (destination), PA...parking lot (specified area).

Claims

1. A vehicle control device that controls a vehicle, a receiving unit that, when the vehicle enters a predetermined range based on a destination of the vehicle, receives, from outside the vehicle, first route information indicating a first route of another vehicle from when the vehicle enters the predetermined range to when the vehicle arrives at an entrance of a predetermined area within the destination; a route guidance unit that provides guidance on the first route indicated by the first route information received by the receiving unit, the receiving unit receives, when the vehicle enters the predetermined area, second route information from the other vehicle, which indicates a second route of the other vehicle from entering the predetermined area to a parking position; The route guidance unit provides guidance along the second route indicated by the second route information received by the receiving unit. Vehicle control device.

2. the receiving unit receives the first route information from another vehicle that has arrived at the destination before the vehicle. The vehicle control device according to claim 1 .

3. The receiving unit receives photographic data indicating photographic results up to the predetermined area obtained by an exterior camera of the other vehicle, The vehicle is equipped with a camera for photographing the outside of the vehicle, the route guidance unit provides guidance along the first route based on the photographing results obtained by the camera and the photographing results indicated by the photographing data received by the receiving unit. The vehicle control device according to claim 2.

4. When the vehicle deviates from the first route while being guided along the first route, the route guidance unit guides the vehicle to return to the first route; When the vehicle deviates from the second route while being guided along the second route, the receiving unit receives the second route information again, and the route guidance unit provides guidance along the second route again. The vehicle control device according to claim 1 .

5. When the other vehicle leaves the parking position, the receiving unit receives parking position separation data from the other vehicle indicating that the other vehicle has left the parking position, and the route guiding unit guides the other vehicle to the parking position where the other vehicle was parked based on the parking position separation data received by the receiving unit. The vehicle control device according to claim 1 or 4.

6. The predetermined area is a parking lot. The vehicle control device according to any one of claims 1 to 5.

7. A control method for a vehicle control device that controls a vehicle, When the vehicle enters a predetermined range based on a destination of the vehicle, first route information indicating a first route of another vehicle from when the vehicle enters the predetermined range to when the vehicle arrives at an entrance of a predetermined area within the destination is received from outside the vehicle; Guiding the first route indicated by the received first route information; When the vehicle enters the predetermined area, second route information indicating a second route of the other vehicle from entering the predetermined area to a parking position is received from the other vehicle; providing guidance along the second route indicated by the received second route information; A control method for a vehicle control device.

8. A processor of a vehicle control device that controls a vehicle, a receiving unit that, when the vehicle enters a predetermined range based on a destination of the vehicle, receives, from outside the vehicle, first route information indicating a first route of another vehicle from when the vehicle enters the predetermined range to when the vehicle arrives at an entrance of a predetermined area within the destination; causing the receiving unit to function as a route guidance unit that provides guidance on the first route indicated by the first route information received by the receiving unit; the receiving unit receives, when the vehicle enters the predetermined area, second route information from the other vehicle, which indicates a second route of the other vehicle from entering the predetermined area to a parking position; The route guidance unit provides guidance along the second route indicated by the second route information received by the receiving unit. program.

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