Parking information providing method and parking information providing device

Abstract

In a case where a provision request to request parking information (50) of a parking position in a private parking lot is received, when the requester's identification information is registered in private parking information (53) in association with the parking position, private parking information (53) that is for limited user is provided, and when the requester's identification information is not registered in the private parking information (53) in association with the parking position, the private parking information (53) is not provided to the requester's vehicle.

Description

Parking information providing method and parking information providing device

[0001] The present invention relates to a parking information providing method and device.

[0002] A technology is known that receives and stores parking information including the driving route in each parking lot used by a vehicle, as well as parking spaces and obstacles, generates a map including the parking spaces and obstacles based on the stored parking information, and transmits the generated map and the stored driving route to the vehicle (Patent Document 1).

[0003] JP 2021-144593 A

[0004] However, it is not possible to provide appropriate parking information depending on whether the parking lot is a private parking lot with limited users or a parking lot with no limited users.

[0005] The problem to be solved by the present invention is to provide appropriate parking information depending on whether the parking lot is a private parking lot or not.

[0006] To solve the above problem, the present invention provides the private parking information when there is a request for parking information on a parking position in a private parking lot if the requester's identification information is registered in the private parking information in association with the parking position, and does not provide the private parking information if the requester's identification information is not registered in the private parking information in association with the parking position.

[0007] According to the present invention, appropriate parking information can be provided depending on whether the parking lot is private or not.

[0008] Fig. 1 is a block diagram showing the configuration of a parking assistance system. Fig. 2 is a diagram showing an example of parking information. Fig. 3 is a flowchart showing an example of a parking assistance control procedure. Fig. 4 is a diagram showing an example of a method for calculating a target parking position. Fig. 5 is a flowchart showing an example of a parking information integration process.

[0009] An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of a parking assistance system 1000 including a parking information providing device 100 and a parking assistance device 200 mounted on a vehicle, which can exchange information with each other. The parking information providing device 100 is a server 101 that provides information to the vehicle-mounted parking assistance device 200. A communication device 120 of the server 101 and a communication device 30 of the parking assistance device 200 are equipped with wireless communication capabilities, and the two devices exchange information with each other via a network 400. The server 101 includes a first processor 110, the communication device 120, and a storage device 5. The first processor 110 of the server 101 executes a parking information providing method. The first processor 110 of the server 101 includes a read-only memory (ROM) 112 that stores a program for executing a parking information providing process, a central processing unit (CPU) 111 that executes the program stored in the ROM 112, and a random access memory (RAM) 113 that functions as an accessible memory. The first processor 110 may be configured with an MPU (Micro Processing Unit) or GPU (Graphics Processing Unit) instead of a CPU, or may be configured with an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or FPGA (Field Programmable Gate Array). The first processor 110 implements the parking information providing method using each piece of hardware in the parking assistance system 1000. Note that the "processor" in this specification refers to the first processor 110, but some functions may be allocated to the second processor 10. The communication device 120 exchanges information with each device in the server 101 and with the parking assistance devices 200-1 to 200-n (hereinafter referred to as 200n) in each vehicle. The storage device 5 stores parking information 50 acquired from multiple vehicles, including the subject vehicle and other vehicles. The parking information 50 includes reference features 51. The parking information 50 includes history information 52 associated with the reference features 51, private parking information 53, and public parking information 54. Each piece of information will be described later.

[0010] The parking assistance device 200 calculates a target parking position (hereinafter also referred to as the target parking position) and executes parking control to move the host vehicle there and park it. The parking assistance device 200 includes a control device 1, a sensor 2, a navigation device 3, a vehicle controller 4, and a storage device 5'. These devices are connected via a CAN (Controller Area Network) or other wired / wireless in-vehicle LAN and exchange information with each other. Each device may be a device mounted on the vehicle, or may be a portable terminal device that can be brought into the vehicle and connected to the in-vehicle LAN. A parking assistance device is provided in each vehicle. The parking assistance device 200 provided in the host vehicle and the parking assistance device 200n provided in the other vehicle have the same functions.

[0011] The second processor 10 included in the control device 1 of the parking assistance device 200 includes a ROM (Read Only Memory) 12 that stores a program for executing autonomous parking control based on the provided parking information, a CPU (Central Processing Unit) 11 that executes the program stored in the ROM 12, and a RAM (Random Access Memory) 13 that functions as an accessible memory. The second processor 10 can use a semiconductor integrated circuit similar to that of the first processor 110.

[0012] The input / output device 20 has an input function for accepting information input from the user and an output function for presenting the judgment of the second processor 10 and the surrounding situation. A touch panel display, steering, accelerator, and brake are used as the input / output device 20 for realizing the input function. A display, microphone, and speaker are used as the input / output device 20 for realizing the output function. Input information includes approval of the target parking position, manual parking commands, and satisfaction level with parking control. Output information includes surrounding images, target parking position, parking route, and inquiries about satisfaction level with parking control. The communication device 30 exchanges information with each device in the parking assistance device 200 and with the server 101.

[0013] The sensor 2 acquires detection information about the surroundings, including the target parking position where the vehicle will be parked. The sensor 2 includes one or more cameras 21 mounted on the vehicle. The cameras 21 include image sensors with imaging elements such as CCDs, ultrasonic cameras, and infrared cameras, and capture images of the vehicle's surroundings in all directions. The sensor 2 also includes a radar device 22 that detects (measures) the presence, position, and position changes of objects around the vehicle. The radar device 22 measures the distance and direction to the object by emitting electromagnetic waves toward the object and measuring the reflected waves. The radar device 22 includes laser radar, millimeter-wave radar (LRF), a LiDAR (light detection and ranging) unit, ultrasonic radar, and sonar. The sensor 2 acquires detection information about the surroundings, including the target parking position. The target parking position is the location where the user wishes to park. The sensor 2 begins acquiring detection information when the vehicle's position, obtained from the position detection device 31 of the navigation device 3, approaches within a predetermined distance of the target parking position and continues until the target parking position is calculated or parking control is completed. In this way, detection information about the surroundings, including the target parking position, is acquired. The detection range is not limited, but detection information is acquired within a range of 15-30 meters horizontally and 10-20 meters vertically from the target parking position. By chronologically arranging and integrating multiple pieces of detection information acquired multiple times from the point where the vehicle is determined to be approaching the target parking position, detection information (captured images or measurement information) along the route the vehicle took to reach the target parking position can be acquired. This allows for highly accurate determination of the positional relationship (approach or coincidence) between the vehicle and the target parking position from the approach point to the target parking position. The detection information includes one or more of the following parking space markers: white lines, curbs, steps, installations (such as poles), walls, the pattern (including color) of the parking surface, and unevenness of the parking surface. The detection information is provided to the first processor 110 of the server 101 and stored in the storage device 5. It is also stored in the storage device 5' of the parking assistance device 200. The sensor 2 includes an environmental sensor 23. The environmental sensor 23 acquires the detection environment at the time each piece of detection information was acquired. The sensing environment is a factor that affects the content of the acquired sensing information.The detection environment includes weather, temperature (freezing), time (sunset), season, weather, temperature, time, brightness, before and after sunset (calendar), road surface condition (wet, frozen, snowfall), and shadow direction and length (calendar). The environmental sensor 23 includes a raindrop sensor, a wiper operation sensor, a temperature sensor, a road surface sensor (wet, frozen, snowfall), an illuminance sensor, a calendar sensor, and a shadow direction sensor that determines the direction and length of a shadow based on the current location, calendar, and time. The environmental sensor 23 acquires detection conditions when each piece of detection information is acquired. The detection conditions are factors that affect the content of the acquired detection information. The detection conditions include one or more of the following: vehicle attributes (truck, passenger car, large vehicle, compact car), type, performance, number or placement of sensors 2, vehicle attributes, vehicle model, and vehicle specifications. The environmental sensor 23 associates the detection environment and detection conditions with the detection information and sends them to the storage device 5 of the server 101, where they are stored in the storage device 5'.

[0014] The navigation device 3 includes a position detection device 31, map information 32, and parking lot information 33. The position detection device 31 includes a receiver for signals from a GPS (Global Positioning System) or a GNSS (Global Navigation Satellite System), a gyro sensor, and a vehicle speed sensor, and uses these to detect the position of the vehicle. The map information 32 includes information on each location and each route. Parking lots in the parking lot information 33 can be identified, and includes their representative positions (latitude and longitude) and the layout of each parking lot.

[0015] The vehicle controller 4 includes a steering control device 41 and a drive control device 42. The vehicle controller 4 calculates a parking path to a target parking position, autonomously moves the host vehicle along the parking path, and realizes an autonomous parking control function that parks the host vehicle at the target parking position. The autonomous parking control function can also be realized by remote operation. The vehicle controller 4 acquires command values ​​for autonomous parking control and causes the host vehicle to travel along the parking path in accordance with the command values. Based on the command values, the vehicle controller 4 inputs longitudinal and lateral forces that control the host vehicle's traveling position to the drive control device 42. Based on these inputs, the drive control device 42 controls the behavior of the vehicle body and the behavior of the wheels so that the host vehicle autonomously travels along a path to the target parking position. Based on these controls, at least one of the drive actuator and brake actuator of the vehicle body's drive mechanism and the steering actuator of the steering control device 41, which is activated as needed, operate autonomously, thereby executing autonomous parking control that causes the vehicle to autonomously travel along the target path. The command values ​​for parking control are generated by the vehicle controller 4 or the second processor 10. The vehicle controller 4 can perform parking according to command values ​​based on manual operations of the driver input via the input / output device 20. When the second processor 10 cannot determine the target parking position based on the acquired features and requests manual operation, the vehicle controller 4 performs parking according to manual operations of the driver input via the input / output device 20, such as steering, accelerator, and brake.

[0016] The parking assistance device 200 temporarily or continuously stores the parking information 50' related to the host vehicle obtained using the sensor 2 in the storage device 5'. The parking information 50 includes a reference feature 51, history information 52, private parking information 53, and public parking information 54. The parking assistance device 200 sends the parking information 50' to the server 101. The server 101 stores this information in the storage device 5 as the parking information 50. The contents of the parking information 50', the reference feature 51', the history information 52', the private parking information 53', and the public parking information 54' in the storage device 5' correspond to the parking information 50, the reference feature 51, the history information 52, the private parking information 53, and the public parking information 54, respectively, stored in the storage device 5 of the server 101.

[0017] FIG. 2 shows the data structure of parking information 50. Parking information 50 is divided into private parking information 53, which relates to private parking lots with limited users, and public parking information 54, which relates to public parking lots with unlimited users. Private parking lots include parking lots at home, parking lots under contract, family parking lots, and parking lots assigned to employees at work, and are permitted for use only by specific users. Public parking lots include parking lots at shopping centers, hospitals, and other public facilities, and are open to anyone. The second processor 10 or the first processor 110 references parking information 33 in map information 32 and determines whether each piece of parking information is private parking information 53 or public parking information 54 based on the attributes of the facility to which each parking lot belongs. Based on the determination result, the second processor 10 or the first processor 110 automatically sets a user-restricted flag for each parking lot. Each piece of parking information 50 includes the user-restricted flag and user information. Private parking information 53 has a user-restricted flag set to on and includes the identification information of a specific user, the identification information of a licensee who authorizes use of the private parking lot, and the identification information of the information administrator who registers, changes, and updates the information. Public parking information 54 has a user-restricted flag set to off and does not include the identification information of a specific user, licensee, or administrator. Parking information with the user-restricted flag set to on is referred to as private parking information 53, and information with the user-restricted flag set to off is referred to as public parking information 54. Each parking information 50, whether private or public, includes the identification information of the requester of the parking information. The identification information of the public parking information 54 serves as a transmission address when providing identified reference features. Each parking information 50, whether private or public, includes the location information of the parking lot, its arrangement (parallel, vertical, diagonal), and adjacent parking information (the direction and number of parking lots arranged in the same arrangement). Each parking information 50, whether private or public, includes detection information acquired during parking control and reference features 51 including features recognized from the detection information. Each parking information 50, whether private or public, includes history information 52 including one or more of the detection environment, detection conditions, and success / failure information. The reference features 51 and the history information 52 are associated with each other based on the captured features or the identification information (including the location) of each parking lot.Common parking lot reference features 51 and history information 52 can be retrieved based on the captured features or the identification information of each parking lot.

[0018] The reference features 51 for identifying a parking position, the history information 52, the private parking information 53, and the public parking information 54 may be configured as a single database or as multiple distributed databases. The reference features 51 are features recognized from detection information of an area including each parking position where the vehicle or other vehicles have previously parked. The features are features recognized from image information and / or radar measurement information. The captured features and features in this specification are feature vectors including elements and quantities recognized from the detection information. When parking control is newly performed, the second processor 10 recognizes the captured features based on the new detection information, reads the reference features 51, and identifies the reference features 51 to be matched with the captured features. There is a high probability that the location where the reference features 51 to be matched were obtained will match the location where the captured features were obtained. The second processor 10 compares each feature of the reference features 51 with each feature of the captured features and calculates the current position of the vehicle and the parking position in the reference features 51. If there is a discrepancy between the positions of the acquired features and the reference features 51, the second processor 10 corrects the current position, calculates the target parking position, and calculates a parking path from the current position of the vehicle to the target parking position. The vehicle controller 4 moves the vehicle along the parking path and stops it at the target parking position. The second processor 10 executes parking control using the reference features 51 stored in the storage device 5.

[0019] The history information 52 includes the detection environment and / or detection conditions when the detection information in which the capture feature was recognized was acquired. The matching accuracy between the reference feature 51 and the capture feature when the similarity between the detection environment and / or the detection conditions is equal to or greater than a predetermined value tends to be higher than the matching accuracy when the similarity between the detection environment and / or the detection conditions is less than the predetermined value. The second processor 10 refers to the detection environment and performs a reference feature identification process for the reference feature 51 corresponding to the history information 52 whose similarity to the detection environment when the detection information in which the capture feature was recognized was acquired is equal to or greater than a predetermined value. Similarly, the second processor 10 refers to the detection conditions and performs a reference feature identification process for the reference feature 51 corresponding to the history information 52 whose similarity to the detection conditions when the detection information in which the capture feature was recognized is acquired is equal to or greater than a predetermined value. The similarity between the detection environment and / or the detection conditions may be scored when each item belonging to the predetermined detection environment and / or the detection conditions is common, and the total score may be used as the similarity. The reference feature 51 whose total score exceeds a predetermined value is then subjected to a reference feature identification process.

[0020] The history information 52 includes success / failure information including one or more of the success or failure of parking control, the number of successes or failures of parking control, and the user's satisfaction with the parking control. By referencing the success / failure information and the history information, the detection environment or detection conditions at the time of success can be obtained. The success of parking control is evaluated based on the evaluation when the target parking position is calculated based on the matched reference features 51 and / or the evaluation when the vehicle autonomously reaches the calculated target parking position without manual retry. Low user satisfaction refers to problems when parking control is successful but the user experiences unsteadiness in the parking path (decreased trajectory continuity), excessive number of turns, or long parking time. These problems are caused by misrecognition of each feature or reduced matching accuracy. User satisfaction is high when no problems occur. The user's satisfaction level is evaluated via the input / output device 20 upon completion of parking control, and a response is accepted. The reliability of a parking position obtained from the reference features 51 when parking control was successful tends to be higher than the reliability of a parking position when it was unsuccessful. The second processor 10 refers to the success or failure of past parking control attempts stored in the history information 52, and executes a parking position identification process based on the reference features 51 in which parking control was successful. The reliability of a parking position obtained from reference features 51 in which the user's satisfaction with past parking control was high tends to be higher than the reliability of a parking position in which the satisfaction was low. The second processor 10 refers to the user's satisfaction levels stored in the history information 52, and executes a parking position identification process based on the reference features 51 corresponding to history information 52 in which the satisfaction level is equal to or greater than a predetermined value.

[0021] The control procedure of this method will be described with reference to FIG. 3. When the vehicle approaches a target parking position (YES in S1), the vehicle's parking assistance device 200 accesses the server 101 (S2). The second processor 10 of the parking assistance device 200 acquires the current position from the position detection device 31 and determines whether the vehicle has approached the target parking position based on the distance between the current position and the target parking position. When the vehicle approaches the parking position, the second processor 10 sends a request for parking information 50 for the target parking position to the first processor 110. The first processor 110 acquires the request for parking information 50 for the parking position (S3). The request includes identification information identifying the requester requesting the parking information 50 and information identifying the parking position related to the request. The second processor 10 references the stored private parking information 53 (S4), compares the position in the private parking information 53 with the parking position related to the request, and determines whether the parking position related to the request (i.e., the target parking position) is a private parking lot (S5). When providing information to assist parking control, parking assistance information regarding private parking lots should be provided only to specific users. Even if requested, providing parking assistance information regarding private parking lots to anyone other than the specific user is undesirable from the perspective of protecting personal information. In this parking assistance method, appropriate parking information is provided by first confirming whether the parking lot is a private parking lot. If the parking location related to the provision request is a private parking lot (YES in S5) and the requester's identification information is registered in the private parking information 53 in association with the parking location (YES in S6), one or more pieces of private parking information 53 corresponding to the provision request are extracted (S7), and the reference features 51 of each private parking information 53 are obtained (S8).

[0022] If the requester's identification information is not registered in the private parking information 53 in association with the parking location (NO in S6), the private parking information 53 is not provided to the requester's vehicle (S9). However, if consent is obtained from the specific user or manager of the target parking location, the private parking information 53 is provided. The first processor 110 sends a consent request to the specific user or manager using the communication address attached to the identification information of the private parking information 53. If consent is obtained (YES in S91), the use of the private parking information 53 is permitted and processing proceeds to S7. If consent is not obtained (NO in S91), the private parking information 53 is not provided (S9). S91 can be skipped. For a requester who is not a specific user but requests use of a private parking lot, or a requester who is not permitted to use a private parking lot, a message indicating that use is not permitted and guidance to a nearby public parking lot may be output to the input / output device 20. If private parking information 53 corresponding to the parking location requested is not registered (NO in S5), the first processor 110 determines that the parking location requested is a public parking lot (S10). As a result, the first processor 110 determines that it has received a request for parking information for a parking location in a public parking lot (S3). After receiving the request (S3), the first processor 110 first determines whether the parking location is a public parking lot in S4. If it is not a public parking lot, it determines that the parking location is a private parking lot and executes the processing from S6 onward. When the first processor 110 receives a request from a requester requesting parking information for a parking location that is a public parking lot, it provides the public parking information for the parking location requested to anyone, regardless of the requester's identification information. The first processor 110 references the public parking information 54 (S11). If public parking information 54 corresponding to the target parking location is registered (YES in S12), it extracts one or more corresponding public parking information 54 and acquires the reference features 51 of all extracted public parking information 54 (S13). The first processor 110 calculates a target parking position using the reference feature 51 of the private parking information acquired in S8 or the reference feature 51 of the public parking information 54 acquired in S13.

[0023] The captured feature matching process and reference feature identification process S21-S27 will now be described. The identification process begins when the vehicle approaches the target parking position (YES in S1). S21-S27 can be performed in parallel with, before, or after the parking information extraction process S4-S13. S26 is executed when the reference feature 51 from the private parking information 53 is read (S8) or when the reference feature 51 from the public parking information 54 is read (S13). After the parking assistance device 200 of the host vehicle accesses the server 101 (S2), the first processor 110 checks the operation of the parking assistance device 200 and cooperates with it. The first processor 110 checks that the sensor 2 of the vehicle approaching the target parking position has begun capturing and / or measuring the surrounding area including the target parking position (S21). The second processor 10 acquires the detection information of the target parking position captured and / or measured by the sensor 2 and provides it to the server 101 (S22). The second processor 10 extracts features from the acquired detection information of the surrounding area including the target parking position (S23). The method for extracting features from the captured image or measurement information is not particularly limited, and any method known at the time of filing may be used. The first processor 110 recognizes captured features based on the extracted features (S24). The captured features are features recognized from detection information captured by the sensor 2 of the vehicle to which the target parking position is provided. The first processor 110 extracts feature points from the captured image of the camera 21 or the measurement information of the radar device 22, and recognizes captured features unique to the target parking position. The captured features are features resulting from two-dimensional targets, such as images of the surrounding area of ​​the parking position or the pattern of the parking position, or three-dimensional targets, such as unevenness or structures in the parking position. Changes in the features of the targets over time may also be used as captured features. The feature points extracted from the captured image or measurement information may be preset for each target, or may be feature points determined by a trained identification model. The processing of S23-S24 may be performed by the second processor 10 of the parking assistance device 200, and the captured features may be provided to the first processor 110.

[0024] The first processor 110 refers to the reference feature 51 (S8) of the read private parking information 53 or the reference feature 51 (S13) of the public parking information 54 (S25). The first processor 110 determines whether or not a reference feature 51 matching the capture feature has been identified based on the reference feature 51 of the private parking information 53 or the public parking information 54 (S26). The first processor 110 compares the features of the capture feature and the reference feature 51, and determines that a match has been made if the similarity based on the correlation between them is equal to or greater than a predetermined value. The matching process may use pattern matching, or may be performed using a classifier equipped with a machine-learned discrimination model.

[0025] The matching process becomes more demanding as the amount of parking information 50 increases. The reference features 51 to be subjected to the matching process may be narrowed down based on one or more of the detection environment, detection conditions, and success / failure information. If the detection environment and / or detection conditions of the detection information differ, features may not match even if they were obtained at the same parking position. If the features are not accurately matched, the appropriate reference feature 51 cannot be identified, and as a result, the appropriate target parking position cannot be calculated. Reference features 51 with similar detection environments and / or detection conditions to the detection information from which the captured feature was recognized have a high reliability. Furthermore, reference features 51 with a high number of successful parking control attempts and a high level of user satisfaction have a high reliability. The first processor 110 may narrow down the targets of the identification process to reference features 51 corresponding to history information 52 in which the similarity of the detection environment and / or detection conditions between the history information of the captured feature and the stored history information 52 is equal to or greater than a predetermined value, or may narrow down reference features 51 corresponding to history information 52 in which the number of successful parking control attempts is equal to or greater than a predetermined value, or in which user satisfaction is equal to or greater than a predetermined evaluation value. This process makes it possible to narrow down the reference features 51 that are likely to be matched with the captured features from the parking information 50. As a result, it is possible to improve the accuracy of the matching process while reducing the processing load.

[0026] Returning to S26, if the first processor 110 can identify a reference feature 51 that matches the captured feature (YES in S26), it acquires the reference feature 51 of the identified private parking information 53 or public parking information 54 and provides it to the parking assistance device 200n of the vehicle of the requester who made the provision request (S27). Specifically, when a provision request including the identification information of the requester requesting parking information 50 and the target parking location is received, the private parking information 53 is referenced, and if the identification information of the requester is registered in the private parking information 53 in association with the parking location, the reference feature 51 of the private parking information 53 is provided to the parking assistance device 200n of the vehicle specified by the requester. The reference feature 51 itself may be provided, or a locked reference feature 51 and key information (password) may be provided. On the other hand, if the identification information of the requester is not registered in the private parking information 53 in association with the parking location, the private parking information 53 is not provided. A database with a structure that identifies whether each parking location (parking lot) is a private parking lot or not is referenced, and if the requester is a specific user or has a legitimate license to use it, the private parking information 53 is provided, and if not, its use is restricted. This prohibits the user from providing the private parking information 53 that should be restricted to others, and makes it possible to keep the private parking information 53 confidential.

[0027] On the other hand, when a request for parking information for a parking position in a public parking lot is received, the public parking information is provided to the requester's vehicle regardless of the requester's identification information related to the request. The first processor 110 references the public parking information 54, extracts the reference feature 51 of the public parking information 54 corresponding to the parking position requested, and provides it to the parking assistance device 200 of the requester's vehicle. In this way, the public parking information 54 of the public parking lot is provided without any restrictions in response to the requester's request, while the private parking information 53 is kept confidential.

[0028] Having acquired the reference features 51, the second processor 10 calculates a parking position based on the identified reference features 51 (S28). The second processor 10 determines the calculated parking position as the target parking position where the host vehicle is desired to park (S29). The second processor 10 calculates a parking path from the current position of the host vehicle to the target parking position, calculates a parking control command to autonomously move the host vehicle to the target parking position (S30), and inputs the command to the vehicle controller 4. The vehicle controller 4 executes autonomous parking control in accordance with the parking control command (S31).

[0029] Here, a method for calculating a target parking position based on reference features 51 will be described with reference to FIG. 4. FIG. 4 shows reference features 51 determined to match the acquired features and a target parking position PKT. The target parking position PKT is attached to a house H. The reference features 51 include two-dimensional target features corresponding to two circular patterns (including colors) 2D1 and 2D2, three-dimensional target features corresponding to structures 3D1, 3D2, and 3D3 having heights parallel to the target parking position PKT, and three-dimensional target features corresponding to a protrusion 3D4 at the entrance to the parking lot and a car stop 3D5 facing it. The reference features 51 may include the target parking position PKT for parking control when it was registered. The second processor 10 calculates the target parking position using these features included in the reference features 51 as references (landmarks). Specifically, the position of the acquired features is compared with the position of the reference features 51 to calculate the current position of the host vehicle in the coordinates of the reference features 51, and the target parking position is calculated based on this current position. The position of the reference feature 51 in the coordinates of the real space in which the host vehicle exists may be calculated, and a target parking position may be calculated based on the position of the reference feature 51. The position of each feature of the reference feature 51 is used as a landmark, and the position of the target parking position PKT determined based on the captured features has high positional accuracy. By calculating the target parking position based on the captured features and the reference feature 51, a highly accurate parking path can be calculated. The second processor 10 uses the vehicle controller 4 to move the host vehicle V1, which is located at position P1, forward along the parking path RT1, stop it at the turning position P2, and move the host vehicle V1 backward along the parking path RT2, thereby parking the host vehicle V1 at the target parking position PKT.

[0030] In this process, detection information obtained after the vehicle approaches the target parking position is acquired, and this information is used to recognize the captured features, and reference features 51 having features that match the captured features are extracted, and the target parking position is calculated based on the reference features 51. This allows the vehicle to autonomously park in an appropriate target parking position even in a location where parking spaces are not displayed. Furthermore, autonomous parking control can be performed using the reference features of other vehicles even in a parking lot that the user has not registered a parking position for and is being used for the first time.

[0031] Returning to S26 of FIG. 3 , if the reference feature 51 matching the acquired feature cannot be identified (NO in S26), the target parking position cannot be calculated, and the first processor 110 sends an instruction to switch to manual driving to the parking assistance device 200 and presents it to the occupant via the input / output device 20 (S14). The occupant then performs parking control by manual driving (S15). Even if the requester's parking location is not a private parking lot (NO in S5) and there is no public parking information 54 corresponding to the requester's parking location (NO in S12), the first processor 110 requests the occupant to switch to manual driving via the input / output device 20 (S14) and performs parking control by manual driving (S15). By promptly switching to manual parking (S15), parking assistance can be performed smoothly.

[0032] After executing autonomous parking control (S31), the first processor 110 inquires about the success or failure of the parking control or the user's satisfaction with the parking control via the input / output device 20 (S32), and receives a response via the input / output device 20. The first processor 110 registers history information 52 including the success or failure information acquired in S32 (S16). In the registration process of S16, some or all of the items shown in FIG. 2 are registered for the newly executed parking control. Note that when newly registering parking information 50 for a private or public parking lot, the registration process is performed by an authorized administrator of the parking assistance system 1000. This is because for private parking lots, it is necessary to confirm the relationship with the requester. Furthermore, even in public parking lots and parking lots in shopping parks with no user restrictions, there are areas near fire hydrants where parking is prohibited. This prevents these from being registered erroneously. Registration of parking information 50 for newly registered private or public parking lots is performed by the requester each time parking control is completed.

[0033] The parking assistance device 200 determines that the vehicle is approaching a target parking position by referencing the parking lot information 33 in the map information 32 using GPS signals or GNSS signals. However, the position based on satellite signals contains errors, making the position accuracy too low to identify a target parking position for parking control. The second processor 10 identifies reference features 51 to be matched with the acquired features and calculates the target parking position using the position and arrangement of one or more reference features 51 as landmarks. Each time parking control is performed for the vehicle, the second processor 10 stores the recognized acquired features in the storage device 5 as reference features 51 for each target parking position. Specifically, the first processor 110 acquires and registers parking information 50, which includes at least the parking position for which parking control was performed and the surrounding detection information including the parking position acquired by the vehicle's sensor 2 when parking control was performed. The parking information 50 includes a private or public classification (flag), user information, parking lot information, reference features 51, and history information 52. The history information 52 includes one or more of the detection environment, detection conditions, and success / failure information. The first processor 110 stores the parking information 50 in the storage device 5 each time it receives it. The first processor 110 refers to the parking information 50 already stored in the storage device 5 and determines whether the parking location of the acquired parking information 50 is a private parking lot with limited users or a public parking lot with no limited users. If the parking location is a private parking lot, the first processor 110 associates the parking information with the identification information of a specific user who can use the private parking lot and registers it in the storage device 5 as private parking information 53; if it is determined that the parking location is a public parking lot, the first processor 110 registers the parking information in the storage device 5 as public parking information 54.

[0034] The process of integrating registered parking information will be described with reference to FIG. 5. The first processor 110 of the server 101 communicates with the parking assistance device 200n of each vehicle. The parking information 50' is acquired from each parking assistance device 200n (S62). If the acquired parking information is private parking information 53 and permission for use has been obtained from the specific user or administrator of the target parking location (YES in S63), the acquired parking information is registered as private parking information 53 (S64). The first processor 110 then performs an integration process for the registered private parking information 53. Integration is a process of consolidating parking information 50 under specified conditions. For example, it is a process of consolidating multiple pieces of private parking information 53 by associating them with the same specific user's identification information. The integration process includes a process of combining private parking information 53 from the same time into a single piece of information, and a process of coexisting private parking information 53 from different times (detection environment or detection conditions) by associating them with identification information. Even in a private parking lot, multiple authorized individuals, such as family members, may share the same parking location. In this case, the specific user and his / her authorized users are grouped and integrated with identification information that identifies the group. When new parking information is obtained from the specific user or authorized user for the same parking location, the private parking information 53 is updated (rewritten) with the newly acquired parking information, thereby integrating the two. The integration process may be performed on the condition that one or more elements of the detection environment, detection conditions, and success / failure information are common. By updating the parking information 50 for each parking location for each specific user (including authorized users), the overall amount of information can be reduced, thereby reducing the load on the matching and identification processes. Furthermore, integration can be achieved by sharing part of the detection information. For example, detection information from approaching the target parking location to arriving at the entrance to the parking lot may be common among multiple vehicles. By integrating such highly similar parts, the amount of information can be reduced.

[0035] If the private parking information 53 does not belong to a specific user or a person authorized by the specific user (NO in S65), the integration process is not performed. If so (YES in S65), the integration process is performed (S68) or the process proceeds to S66. For private parking lots, the private parking information 53 is integrated only when the specific user's identification information is the same or when the user has authorized the private parking information 53. This reduces variation in the detection information and reference features 51, improving the accuracy of the matching and identification processes. After the parking control is completed, the first processor 110 acquires success / failure information from each vehicle. If the parking control is determined to have failed (NO in S66), the integration process is not performed (S69). If the parking control is determined to have succeeded (YES in S66), the integration process is performed (S68) or the process proceeds to S67. If the parking control is successful, the integration process generates an appropriate reference feature 51. Using such reference feature 51, a target parking position with a high probability of successful parking control can be provided.

[0036] When the first processor 110 acquires, as the parking information requested for provision, any one or more of the detection environment of the detection information in which the capture feature was recognized, the detection conditions of the detection information, and the success / failure information of the parking control, it calculates the similarity between the registered private parking information 53 and the acquired parking information 50 based on the acquired detection environment, detection conditions, or success / failure information. If the calculated similarity is equal to or greater than a predetermined value (YES in S67), it executes integration processing (S68). Otherwise, it does not execute integration processing (S69). When any one or more of the detection environment, detection conditions, and success / failure information are similar, the matching accuracy with the capture feature is high, and the accuracy of the identification processing of the reference feature 51 is also high. As a result, the calculated target parking position is an appropriate position. This can be expected to increase the probability of successful parking control. Regarding the similarity calculation method, as an example, the first processor 110 calculates the similarity of the detection environment and / or detection conditions between the capture feature and the stored history information 52, and calculates the parking control performance value based on the success / failure information of the history information 52. The performance value may be calculated based on the user's satisfaction, or may be calculated based on the number of successful parking controls and the user's satisfaction. The first processor 110 calculates the evaluation value based on the similarity and the performance value. Although not particularly limited, it may be calculated as [evaluation value] = [performance value based on the number of successful parking controls] x [similarity]. The evaluation value increases as the performance value increases. Note that steps S65, S66, and S67 can be executed independently or in any combination. One or more of these steps can be skipped depending on the combination.

[0037] Returning to S63, if it is determined that the parking lot was not used in a private parking lot (NO in S63), it is determined that the parking lot was used in a public parking lot (S71), and the acquired parking information is registered in the public parking information 54 (S72). If there is no public parking information 54 with the same parking location (NO in S73), the first processor 110 does not perform the integration process (S77). Otherwise (YES in S73), the acquired parking information is either integrated into the public parking information 54 (S76) or proceeds to S74. Because the public parking information 54 is not user-specific, the parking information 50 is integrated based on a matching parking location, regardless of the user (requester)'s identification information. Integration reduces the amount of data in the public parking information 54, thereby reducing the load of the matching and identification processes. After the parking control is completed, the first processor 110 acquires success / failure information from each vehicle. If it is determined that the parking control failed (NO in S74), the integration process is not performed (S77). If it was successful (YES in S74), the integration process is either performed (S76) or proceeds to S75. If parking control is successful, the integration process generates an appropriate reference feature 51'. Using this reference feature 51', a target parking position with a high probability of successful parking control can be calculated. When the first processor 110 acquires, as the parking information requested, one or more of the detection environment of the detection information in which the captured feature is recognized, the detection conditions of the detection information, and the success / failure information of the parking control, it calculates the similarity between the acquired parking information 50 and the registered public parking information 54 based on the detection environment, detection conditions, and success / failure information. If the calculated similarity is equal to or greater than a predetermined value (YES in S75), the integration process is executed (S76); otherwise, the integration process is not executed (S77). If one or more of the detection environment, detection conditions, and success / failure information are similar, the accuracy of the matching process with the captured feature is high, and the accuracy of the identification process of the reference feature 51 is also high. As a result, the calculated target parking position is appropriate, and the probability of successful parking control can be expected to be high. The method for calculating the similarity can be applied to the private parking information 53. Steps S73, S74, and S75 can be performed independently or in any combination, and one or more steps can be skipped depending on the combination.

[0038] Furthermore, if the parking information 50 includes user-defined parking control information, the first processor 110 does not integrate the parking information with the private parking information 53 or the public parking information 54, but registers the parking information in the storage device 5 in association with the vehicle's identification information or the requester's identification information. The user-defined parking information includes the vehicle speed or steering control (compactness), aisle width, route setting (length, number of turns), and parking method (forward parking, backward parking). The user-defined parking information is based on personal preferences and the specific parking location environment. It is not appropriate to impose limitations based on personal preferences on the target parking position calculation process when multiple users are present. By excluding parking information containing user-defined parking information from the integration process, more versatile parking assistance can be achieved. Alternatively, the user requesting parking information may be identified and configuration information matching the user's preferences may be proposed based on the user's user-defined parking information.

[0039] The user setting information is registered in association with the vehicle's identification information or the requester's identification information. If the first processor 110 determines that one or more adjacent parking lots exist within a predetermined distance from the target parking position, it registers the user setting information in the storage device in association with the adjacent parking lot. When multiple parking lots are located adjacent to each other, the parking style (parallel, parallel, diagonal parallel), parking space size, and parking direction (forward parking or backward parking) are common. Therefore, the user setting information based on user preferences is likely to be common as well. Even in adjacent parking lots, parking control that reflects the user's preferences can be performed.

[0040] 1000... parking assistance system, 100... parking information providing device, 101... server, 110... first processor, 111... CPU, 112... ROM, 113... RAM, 120... communication device, 5... storage device, 51... reference feature, 52... history information, 53... private parking information, 54... public parking information, 200, 200n... parking assistance device, 1... control device, 10... second processor, 11... CPU, 12... ROM, 13... RAM, 20... input / output device, 30... communication device, 2... sensor, 21... camera, 22... radar device, 3... navigation device, 31... position detection device, 32... map information, 33... parking information, 4... vehicle controller, 41... steering control device, 42... drive control device, 5'... storage device, 51'... reference feature, 52'... history information, 53'... private parking information, 54'... public parking information, 400... network

Claims

1. A parking information providing method used by a processor to provide parking information to assist autonomous parking control of a vehicle, wherein the processor: acquires parking information including at least the parking location where the parking control was executed and surrounding detection information including the parking location acquired by a sensor of the vehicle when the parking control was executed; determines whether the acquired parking location is a private parking lot with limited users or a public parking lot with no limited users; if it is determined that the parking location is the private parking lot, registers the parking information as private parking information in the parking information of a storage device in association with identification information of a specific user who can use the private parking lot; if it is determined that the parking location is the public parking lot, registers the parking information as public parking information in the parking information of the storage device; A parking information providing method, when receiving a request from a requester requesting parking information for the parking location in the private parking lot, refers to the private parking information, and if the requester's identification information is registered in the private parking information in association with the parking location, provides the private parking information to the requester's vehicle, and if the requester's identification information is not registered in the private parking information in association with the parking location, does not provide the private parking information to the requester's vehicle.

2. The parking information providing method of claim 1, wherein when the processor receives a request from the requester requesting the parking information for the parking location in the public parking lot, the processor provides the public parking information to the requester's vehicle regardless of the requester's identification information.

3. The parking information providing method according to claim 1 or 2, wherein the processor registers features recognized from the detection information when the parking control was previously performed as reference features in the parking information, recognizes captured features from the surrounding detection information including the target parking position of the vehicle acquired using the sensor, refers to the reference features of the private parking information or the public parking information, identifies the reference features to be matched with the captured features, calculates the target parking position based on the reference features, and provides the parking information including the target parking position to the vehicle.

4. A parking information providing method described in any one of claims 1 to 3, wherein the processor provides the private parking information to the requester's vehicle if permission is obtained from the manager of the private parking lot, even if the parking location of the received provision request is the private parking lot and the private parking information corresponding to the identification information of the specific user and the parking location is not registered.

5. A parking information providing method described in any one of claims 1 to 4, wherein the processor integrates the parking information into the private parking information when it determines that the parking location of the parking information obtained from the vehicle is the private parking lot, and when it determines that the identification information and parking location of the requester included in the provision request are the same as the parking location and identification information of the specific user of the registered private parking information, or when the requester has obtained permission from the specific user.

6. The parking information providing method according to claim 5, wherein the processor integrates the parking information into the private parking information if the parking information includes historical information indicating that the parking control was successful.

7. The parking information providing method described in claim 5 or 6, wherein the processor registers one or more of the detection environment of the detection information, the detection conditions of the detection information, and the success / failure information of the parking control in the parking information as historical information, and if the parking information related to the provision request includes one or more of the detection environment of the detection information, the detection conditions of the detection information, and the success / failure information of the parking control, calculates the similarity between the acquired parking information and the private parking information based on these, and integrates the parking information into the private parking information whose calculated similarity is equal to or greater than a predetermined value and has the same parking location.

8. A parking information providing method as described in any one of claims 1 to 7, wherein, when the processor determines that the parking location obtained from the vehicle is in the public parking lot, it integrates the parking information into the public parking information with which the parking location is common.

9. The parking information providing method according to claim 8, wherein the processor integrates the parking information into the public parking information if the parking information includes historical information indicating that the parking control was successful.

10. The parking information providing method described in claim 8 or 9, wherein the processor registers one or more of the detection environment of the detection information, the detection conditions of the detection information, and the success / failure information of the parking control in the parking information as historical information, and if the parking information related to the provision request includes one or more of the detection environment of the detection information, the detection conditions of the detection information, and the success / failure information of the parking control, calculates the similarity between the acquired parking information and the public parking information based on these, and integrates the parking information with the public parking information for which the calculated similarity is equal to or greater than a predetermined value and the parking location is the same.

11. A parking information providing method as described in any one of claims 5 to 10, wherein the processor integrates the public parking information or the private parking information by updating the public parking information or the private parking information with the newly acquired parking information.

12. A parking information providing method described in any one of claims 5 to 11, wherein, when user setting information for the parking control is included in the parking information, the processor does not integrate the parking information but registers it in association with the identification information of the vehicle or its user.

13. A parking information providing method as described in claim 12, wherein, when the processor determines that one or more adjacent parking lots exist within a predetermined distance from the parking location, the processor associates the user-defined information with the adjacent parking lot and registers it in the storage device.

14. A parking information providing device that includes a processor and supports autonomous parking control of a vehicle, wherein the processor: acquires parking information including at least the parking location where the parking control was executed and surrounding detection information including the parking location acquired by a sensor of the vehicle when the parking control was executed; determines whether the acquired parking location is a private parking lot with limited users or a public parking lot with no limited users; if it is determined that the parking location is the private parking lot, registers the parking information in the parking information of a storage device as private parking information in association with identification information of a specific user who can use the private parking lot; if it is determined that the parking location is the public parking lot, registers the parking information in the parking information of the storage device as public parking information; When a request for provision of parking information for the parking location in the private parking lot is received from a requester, the parking information providing device refers to the private parking information, and if the requester's identification information is registered in the private parking information in association with the parking location, the parking information providing device provides the private parking information to the requester's vehicle, and if the requester's identification information is not registered in the private parking information in association with the parking location, the parking information providing device does not provide the private parking information to the requester's vehicle.

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