Parking assistance method and parking assistance system

Abstract

Provided is a parking assistance method in which a processor guides a vehicle scheduled to be parked in a parking lot to a vacant parking space. Upon detection of a vehicle scheduled to be parked, the processor searches for a vehicle scheduled to exit, which is scheduled to exit, on the basis of vehicle information about a plurality of parked vehicles parked in the parking lot, acquires an image captured at the time of parking of the vehicle scheduled to exit, generates, on the basis of the captured image, guidance information for guiding the vehicle scheduled to be parked to the parking space where the vehicle scheduled to exit is parked, and presents the guidance information to a user of the vehicle scheduled to be parked.

Description

Parking Support Method and Parking Support System

[0001] The present invention relates to a parking support method and a parking support system.

[0002] Technologies for supporting vehicle parking in parking lots are being developed. For example, Patent Document 1 discloses a technology for detecting a vehicle scheduled to leave the parking lot in the near future in a situation where the parking lot is full and there are no available parking spaces, and guiding a vehicle scheduled to park and waiting for an empty space to the parking space of the vehicle scheduled to leave.

[0003] Japanese Unexamined Patent Application Publication No. 2021-131768

[0004] In the technology disclosed in Patent Document 1, for example, in a large parking lot, the route to the guided parking space may be complex and it may take time to reach that parking space. Also, when arriving, the parking space after the vehicle scheduled to leave has left is not always surely empty, and it may be necessary to search for another available parking space.

[0005] The present invention has been made in view of the above circumstances, and an object thereof is to improve the convenience when parking in a parking lot.

[0006] To achieve the above object, a parking support method according to the present invention is a parking support method for guiding a vehicle scheduled to park in a parking lot to an available parking space by a processor, wherein when the processor detects the vehicle scheduled to park, based on vehicle information of a plurality of parked vehicles parked in the parking lot, it searches for a vehicle scheduled to leave that is scheduled for departure, acquires an imaging image at the time of parking captured by the vehicle scheduled to leave, generates guidance information for guiding the vehicle scheduled to park to the parking space where the vehicle scheduled to leave is parked based on the imaging image, and presents the guidance information to the user of the vehicle scheduled to park.

[0007] According to the present invention, the parking support method and the parking support system can improve the convenience when parking in a parking lot.

[0008] This is a block diagram showing an example configuration of a parking assistance system according to an embodiment. This is a block diagram showing an example hardware configuration of a parking management device. This is a block diagram showing an example functional configuration of a parking management device. This is a block diagram showing an example hardware configuration of an in-vehicle communication device. This is a block diagram showing an example functional configuration of an in-vehicle communication device. This is a flowchart showing the flow of parking assistance processing. This is a flowchart showing the flow of guidance information generation processing. This is a diagram illustrating an example of a route for a parked vehicle in a parking lot. This is a diagram illustrating an example of a route for another parked vehicle in a parking lot. This is a diagram illustrating an example of a route for yet another parked vehicle in a parking lot. This is a diagram illustrating an example of identifying a vehicle scheduled to be parked in a parking lot for which guidance information is presented.

[0009] Hereinafter, a parking assistance method and a parking assistance system according to embodiments of the present invention will be described in detail with reference to the drawings. The parking assistance method and parking assistance system according to embodiments of the present invention practically guide a vehicle intending to park in a parking lot to an available parking space.

[0010] As shown in Figure 1, the parking assistance system 1 according to an embodiment of the present invention comprises at least one parking management device 100 for managing vehicles using a parking lot, a plurality of vehicles 200a, 200b, 200c, ..., 200x for each user to ride in and drive, and in-vehicle communication devices 300a, 300b, 300c, ..., 300x for assisting with parking in the parking lot.

[0011] Furthermore, since the in-vehicle communication device is installed in the vehicle, the in-vehicle communication device installed in vehicle 200a is called in-vehicle communication device 300a, the in-vehicle communication device installed in vehicle 200b is called in-vehicle communication device 300b, and so on, with a common alphabet at the end of the corresponding vehicle 200 and in-vehicle communication device 300.

[0012] In the following explanation, when vehicles 200a, 200b, 200c, ..., 200x are not individually distinguished, they will be collectively referred to as vehicle 200. Similarly, when on-board communication devices 300a, 300b, 300c, ..., 300x are not individually distinguished, they will be collectively referred to as on-board communication device 300. Furthermore, the letters appended to the end of vehicle 200 and on-board communication device 300 are added for convenience to distinguish each vehicle 200 and each on-board communication device 300, and are unrelated to the number of vehicles 200 and on-board communication devices 300.

[0013] The parking management device 100 and the in-vehicle communication device 300 are wirelessly connected, for example, via a network NW, enabling them to send and receive information. The network NW may consist of, for example, an internet line network, a LAN (Local Area Network), a WAN (Wide Area Network), a VPN (Virtual Private Network), and may also involve various network relay devices such as antennas, gateways, routers, and hubs.

[0014] The parking management device 100 is an information processing device that manages parked vehicles in a parking lot, and is a general-purpose information processing device such as a server or personal computer. The parking management device 100 may be a server built on the cloud. For example, the parking management device 100 acquires vehicle information (described later) from vehicles (parked vehicles) 200 that are parked in the parking lot. The parking management device 100 also supplies guidance information (guidance video) generated based on the vehicle information to vehicles (vehicles intended to be parked) 200 that intend to park in the parking lot, and guides them to an available parking space.

[0015] Vehicle 200 is a mobile device having imaging, display, and sensing functions. Physically, vehicle 200 includes an imaging device, a navigation device, a sensor unit, etc. The imaging device is, for example, a drive recorder equipped with multiple cameras. The sensor unit consists of various sensors that detect the state of the vehicle. The imaging device and the sensor unit supply the captured images and detection information to the in-vehicle communication device 300. The navigation device displays guidance information acquired from the in-vehicle communication device 300 on a display screen.

[0016] The in-vehicle communication device 300 is an information processing device that can be mounted on the vehicle 200. The in-vehicle communication device 300 transmits captured images and vehicle information to the parking management device 100. It also receives guidance information from the in-vehicle communication device 300. The captured images are images that show at least the parking process in the parking lot, and may include, for example, video images showing the movement history from the entrance of the parking lot to the parking space. The vehicle information includes, for example, the vehicle's attribute information (identification information, vehicle type, vehicle name, manufacturer name, body color, etc.), location information, engine operation information indicating the engine's operating status (start, running, stopped, etc.), shift position information indicating the shift lever's operating position (parking P, reverse R, neutral N, drive D, etc.), seat belt fastening / unfastening information indicating the seat belt fastening / unfastening status, steering operation information indicating the steering operation status, and navigation operation information indicating the operation status of the navigation device. The in-vehicle communication device 300 transmits information to the parking management device 100, for example, when the content of each piece of information included in the vehicle information changes, or at predetermined intervals (for example, 100 to 1000 ms).

[0017] Next, an example of the hardware configuration of the parking management device 100 will be described. As shown in Figure 2, the parking management device 100 physically comprises a processor 101, memory 102, storage 103, communication interface (communication I / F (InterFace)) 104, display device 105, and input / output interface (input / output I / F) 106. Each of these components is electrically connected to one another via a bus line 107.

[0018] The processor 101 is a computing device that controls the operation of the entire parking management system 100. The processor 101 is a general-purpose processor such as a CPU (Central Processing Unit), MPU (Micro Processing Unit), or GPU (Graphics Processing Unit).

[0019] Memory 102 is the main memory and includes ROM (Read Only Memory), RAM (Random Access Memory), etc. The processor 101 reads programs and various data from ROM or storage 103 onto RAM and executes processing to realize the overall control and functions of the parking management device 100.

[0020] Storage 103 is an auxiliary storage device that stores programs and various data necessary for program execution, and includes non-volatile storage devices such as HDDs (Hard Disk Drives) and SSDs (Solid State Drives). Storage 103 stores, for example, the OS (Operating System), which is the basic software that controls the entire parking management device 100, and applications that run on the OS and provide various functions. Storage 103 also stores, for example, vehicle information acquired from the in-vehicle communication devices 300 of each vehicle 200. Note that some of the programs and various data necessary for program execution may be stored in ROM.

[0021] The communication interface 104 connects to the network NW and is an interface for the parking management device 100 to communicate data with the in-vehicle communication device 300. The communication interface 104 includes, for example, a network board, a wireless communication module, etc.

[0022] The display device 105 is an image display device such as an LCD (Liquid Crystal Display), PDP (Plasma Display Panel), or organic EL (Electro-Luminescence) display, and displays various images according to the control of the processor 101. The display device 105 displays, for example, vehicle information on the display screen. The display device 105 may also be used in a configuration connected to the input / output interface 106.

[0023] The input / output interface 106 is an interface for connecting to input devices such as keyboards and mice that input operation signals, and output devices such as speakers that output audio data. For example, the input / output interface 106 takes in operation data input by the operator via the input device and outputs data such as moving images and audio to the output device. Note that if operator operation is not required, the parking management device 100 does not need to be equipped with the display device 105 and the input / output interface 106.

[0024] Next, an example of the functional configuration of the parking management device 100 will be described. As shown in Figure 3, the parking management device 100 functionally comprises a control unit 110, a storage unit 120, a communication unit 130, a display unit 140, and an input / output unit 150.

[0025] The control unit 110 is implemented, for example, by the processor 101 and memory 102 shown in Figure 2. The storage unit 120 is implemented, for example, by the memory 102 and storage 103 shown in Figure 2. The communication unit 130 is implemented by the communication interface 104 shown in Figure 2. The display unit 140 is implemented by the display device 105 shown in Figure 2. The input / output unit 150 is implemented, for example, by the input / output interface 106 shown in Figure 2.

[0026] The control unit 110 controls the overall functions of the parking management system 100. The control unit 110 includes a vehicle information acquisition unit 111, a vehicle scheduled to be parked detection unit 112, a vehicle scheduled to leave the parking lot search unit 113, a parking change adjustment unit 114, an image acquisition unit 115, and a guidance information generation unit 116.

[0027] The vehicle information acquisition unit 111 acquires vehicle information indicating the status of each vehicle. The vehicle information acquisition unit 111 acquires vehicle information for each vehicle 200 by receiving vehicle information periodically transmitted from the on-board communication device 300 installed in each vehicle 200 via the communication unit 130. The vehicle information acquisition unit 111 stores the acquired vehicle information for each vehicle 200 in the storage unit 120.

[0028] The vehicle detection unit 112 detects vehicles intended for parking based on location information indicating the current location of the vehicle 200, which is included in the vehicle information acquired from each in-vehicle communication device 300. For example, the vehicle detection unit 112 detects a vehicle 200 that has entered the entrance to the parking lot as a vehicle intended for parking.

[0029] The vehicle scheduled to depart search unit 113 searches for vehicles scheduled to depart from among multiple parked vehicles in the parking lot. The vehicle scheduled to depart search unit 113 searches for vehicles scheduled to depart based on, for example, engine operation information, shift position information, seat belt fastening / unfastening information, navigation operation information, etc., included in the vehicle information acquired from each in-vehicle communication device 300. The vehicle scheduled to depart search unit 113 searches for a vehicle 200 that is the source of vehicle information that includes at least one of the following pieces of information: for example, engine operation information indicating that the engine has started, shift position information indicating that the shift position has been shifted from parking P to drive D or reverse R, seat belt fastening / unfastening information indicating that the seat belt has been fastened, navigation operation information indicating that the navigation device has been operated.

[0030] The parking change adjustment unit 114 adjusts the rotation of vehicles 200 parked in a parking space. For example, the parking change adjustment unit 114 sends a message to the on-board communication device 300 of the vehicle scheduled to exit, asking the user of the vehicle scheduled to exit whether they can wait until the vehicle scheduled to park arrives, and confirms (matches) the agreement of both users to change parking spaces by receiving the response. The parking change adjustment unit 114 also sends a message to the on-board communication device 300 of the vehicle scheduled to exit, indicating that the vehicle has arrived near the vehicle scheduled to exit, and provides information about the vehicle scheduled to park, indicating the characteristics of the vehicle scheduled to park. For example, the attribute information included in the vehicle information of the vehicle scheduled to park is used for the vehicle scheduled to park. The parking change adjustment unit 114 also sends information about the vehicle scheduled to exit, indicating the characteristics of the vehicle scheduled to exit, to the on-board communication device 300 of the vehicle scheduled to park. For example, the attribute information included in the vehicle information of the vehicle scheduled to exit is used for the vehicle scheduled to exit. Furthermore, the vehicle departure information shall include characteristics of the area surrounding the parking space where the vehicle is scheduled to depart (for example, the make, model, manufacturer, and body color of 200 other vehicles parked around the vehicle scheduled to depart).

[0031] The image acquisition unit 115 acquires images of vehicles scheduled to leave the parking lot. For example, the image acquisition unit 115 sends a request to transmit images to the in-vehicle communication device 300 of a vehicle scheduled to leave the parking lot, which has been searched by the vehicle scheduled to leave the parking lot search unit 113, and acquires images of the vehicle scheduled to leave the parking lot in response. The images should at least include video footage showing the driving route (driving conditions) of the vehicle scheduled to leave the parking lot from the entrance to the actual parking space where it is parked. If, for example, the driving conditions of the vehicle scheduled to leave the parking lot do not meet predetermined conditions, the image acquisition unit 115 acquires images of parked vehicles other than the vehicle scheduled to leave the parking lot.

[0032] The guidance information generation unit 116 generates guidance information that guides the vehicle scheduled to park from its current location to the parking space of the vehicle scheduled to exit. The guidance information is, for example, a video generated using the captured images acquired by the image acquisition unit 115. The guidance information may also be voice guidance generated based on the captured images.

[0033] The storage unit 120 stores control programs executed by the control unit 110 and various data. The communication unit 130 transmits and receives various data with each in-vehicle communication device 300 via the network NW in accordance with the control unit 110. The display unit 140 displays various information in accordance with the control unit 110. The input / output unit 150 receives various data from the input device and outputs various data to the output device in accordance with the control unit 110.

[0034] Next, an example of the hardware configuration of the in-vehicle communication device 300 will be described. As shown in Figure 4, the in-vehicle communication device 300 physically comprises a processor 301, memory 302, storage 303, communication interface (communication I / F) 304, and input / output interface (input / output I / F) 305. These components are electrically connected to each other via a bus line 306. Since the elements included in the example hardware configuration of the in-vehicle communication device 300 are generally the same as the elements included in the example hardware configuration of the parking management device 100 described above, a detailed explanation will be omitted.

[0035] Next, an example of the functional configuration of the in-vehicle communication device 300 will be described. As shown in Figure 5, the in-vehicle communication device 300 functionally comprises a control unit 310, a storage unit 320, a communication unit 330, and an input / output unit 340.

[0036] The control unit 310 is implemented, for example, by the processor 301 and memory 302 shown in Figure 4. The storage unit 320 is implemented, for example, by the memory 302 and storage 303 shown in Figure 4. The communication unit 330 is implemented by the communication interface 304 shown in Figure 4. The input / output unit 340 is implemented, for example, by the input / output interface 305 shown in Figure 4.

[0037] The control unit 310 controls the overall functions of the in-vehicle communication device 300. The control unit 310 includes a vehicle information generation unit 311, a communication control unit 312, and an input / output control unit 313.

[0038] The vehicle information generation unit 311 generates vehicle information for the vehicle 200 on which the device is installed. For example, the vehicle information generation unit 311 acquires detection results from various sensors included in the sensor unit of the vehicle 200 via the input / output unit 340, and generates vehicle information for the vehicle 200 based on the acquired detection information. As described above, the vehicle information includes attribute information, location information, engine operation information, shift position information, seat belt fastening / unfastening information, steering operation information, navigation operation information, etc. of the vehicle 200. The vehicle information generation unit 311 generates vehicle information at the timing when detection information related to each piece of information included in the vehicle information is acquired, or at predetermined time intervals (for example, 100 to 1000 ms).

[0039] The communication control unit 312 controls the communication of the in-vehicle communication device 300. The communication control unit 312 transmits vehicle information, captured images, etc., to the parking management device 100, for example, via the communication unit 330. As described above, vehicle information is transmitted to the parking management device 100 each time vehicle information is generated by the vehicle information generation unit 311.

[0040] The input / output control unit 313 controls the input and output of the in-vehicle communication device 300. For example, the input / output control unit 313 controls the input / output unit 340 to output guidance information, etc., acquired from the parking management device 100 via the communication unit 330. The input / output control unit 313 also outputs parking change confirmation messages, etc., acquired from the parking management device 100 via the communication unit 330. The input / output unit 340 supplies guidance information, parking change confirmation messages, etc., to the navigation device installed in the vehicle 200. It also supplies information related to user input operations (such as responses to parking change confirmation messages) entered via the navigation device, etc., to the communication control unit 312. The communication control unit 312 controls the communication unit 330 to transmit the acquired user operation information to the parking management device 100.

[0041] The storage unit 320 stores the control program executed by the control unit 310 and various types of data. The communication unit 330 transmits and receives various types of data to and from each in-vehicle communication device 300 via the network NW according to the control of the control unit 110. The input / output unit 340 inputs various types of data from an input device and outputs various types of data to an output device according to the control of the control unit 110.

[0042] Next, the operation of the parking support system 1 having the above configuration will be described. The flowchart shown in FIG. 6 is a flowchart regarding the parking support process executed by the parking management device 100, which is an example of the operation of the parking support system 1. This operation corresponds to the parking support method of the parking support system 1 according to the present embodiment.

[0043] The control unit 110 of the parking management device 100 starts the parking support process, for example, in response to the parking scheduled vehicle detection unit 112 detecting a parking scheduled vehicle waiting for an empty space. The parking scheduled vehicle detection unit 112 detects a parking scheduled vehicle based on the position information included in the vehicle information acquired from the in-vehicle communication device 300 of each vehicle 200.

[0044] Here, in the following description, as shown in FIG. 8A, the parking lot is assumed to be a large parking lot where a plurality of vehicles 200 are parked in a row facing a predetermined direction, such as the parking lot PA of a commercial facility such as a shopping mall or a service area. In FIG. 8A, reference numeral (200a) is attached only to the hatched vehicle. FIG. 8A shows a state where the vehicle 200a has parked in the parking section in the fourth row from the top and the third column from the left facing the paper surface of FIG. 8A along the path PHa from near the entrance of the parking lot PA.

[0045] Returning to FIG. 6, when starting the parking support process, the control unit 110 searches for a vehicle scheduled to leave. The vehicle scheduled to leave search unit 113 of the control unit 110 refers to the vehicle information of each vehicle 200 stored in the storage unit 120 and searches for a vehicle scheduled to leave based on the engine operation information, shift position information, seat belt attachment / detachment information, navigation operation information, etc. included in the vehicle information (step S101).

[0046] Next, the control unit 110 confirms the consent of the parking replacement with the user of the vehicle scheduled for shipment searched in step S101 (step S102). The parking replacement adjustment unit 114 of the control unit 110 transmits a message for confirming whether the user of the vehicle scheduled for shipment can wait until the vehicle scheduled for parking arrives to the in-vehicle communication device 300 of the vehicle scheduled for shipment, and confirms the consent of the parking replacement by receiving the response. Note that the confirmation of consent may include the scheduled arrival time of the vehicle scheduled for parking. The scheduled arrival time may be estimated from the positional relationship (distance) between the vehicle scheduled for parking and the vehicle scheduled for shipment, the captured image of the vehicle scheduled for shipment, and the like.

[0047] Subsequently, the control unit 110 determines whether the consent of the parking replacement has been obtained (step S103). The parking replacement adjustment unit 114 makes the determination in this step according to the content of the response obtained from the in-vehicle communication device 300 of the vehicle scheduled for shipment.

[0048] When it is determined that the consent of the parking replacement has not been obtained (step S103: NO), that is, when an impossible-to-wait response is obtained from the in-vehicle communication device 300 of the vehicle scheduled for shipment, the control unit 110 determines whether the vehicle scheduled for parking is still waiting empty (step S104). The vehicle scheduled for parking detection unit 112 refers to, for example, the vehicle information of the vehicle scheduled for parking, and determines that the vehicle scheduled for parking is still waiting empty when the vehicle scheduled for parking stays near the entrance or the engine is running. On the other hand, when the vehicle scheduled for parking is within the parking section of the parking lot PA or the engine is stopped, it is determined that the vehicle scheduled for parking is not waiting empty.

[0049] When it is determined that the vehicle scheduled for parking is still waiting empty (step S104: YES), the control unit 110 returns the process to step S101 and newly searches for another vehicle scheduled for shipment. On the other hand, when it is determined that the vehicle scheduled for parking is not waiting empty (step S104: NO), the control unit 110 ends the parking support process.

[0050] In step S103, when it is determined that the consent of the parking replacement has been obtained (step S103: YES), the control unit 110 executes the guidance information generation process (step S105).

[0051] Now, referring to Figure 7, the guidance information generation process (step S105), which is a subroutine of the parking assistance process, will be explained.

[0052] When the guidance information generation process is started, the control unit 110 calculates the number of right and left turns for the vehicle scheduled to exit the parking lot (step S201). The guidance information generation unit 116 of the control unit 110 refers to the steering operation information and shift position information included in the vehicle information of the vehicle scheduled to exit the parking lot stored in the storage unit 120, and calculates the number of right and left turns for the vehicle scheduled to exit the parking lot based on, for example, time-series data of the steering angle and shift lever operation position of the vehicle scheduled to exit the parking lot within the parking lot. For example, the vehicle 200a shown in Figure 8A makes 7 right and left turns (5 right turns and 2 left turns) on the route PHa from near the entrance of the parking lot to the parking space, with steering marks RT indicating a right turn and LT indicating a left turn placed at the corners of the parking lot PA. Here, the right and left turns do not include steering operations for maneuvering when parking in the parking space.

[0053] Next, the guidance information generation unit 116 determines whether the number of right and left turns of the vehicle scheduled to leave the parking lot is below a predetermined threshold (step S202). The guidance information generation unit 116 makes the determination in this step according to the result of comparing the number of right and left turns of the vehicle scheduled to leave the parking lot calculated in step S201 with the predetermined threshold. If it is determined that the number of right and left turns of the vehicle scheduled to leave the parking lot is below the predetermined threshold (step S202: YES), it acquires an image from the vehicle scheduled to leave the parking lot and generates guidance information using the acquired image (step S203). The image of the vehicle scheduled to leave the parking lot may be acquired and stored in advance, for example (at the time the vehicle scheduled to leave the parking lot is searched for). For example, if the vehicle 200a shown in Figure 8A is the vehicle scheduled to leave the parking lot and the predetermined threshold is 8 or more, the guidance information generation unit 116 generates guidance information using the image of the vehicle 200a in Figure 8A. The predetermined threshold may be predetermined for each parking lot, for example, or it may be determined appropriately based on the size of the parking lot, etc. After executing step S203, the control unit 110 terminates the guidance information generation process.

[0054] On the other hand, if it is determined that the number of right and left turns of the vehicle scheduled to exit is not below a predetermined threshold (step S202: NO), the guidance information generation unit 116 searches for other parked vehicles that have passed around the vehicle scheduled to exit (step S204). Figure 8B shows a state in which vehicle 200b has followed route PHb from near the entrance of the parking lot and parked in the third row from the top in the first row from the left in the view of Figure 8B. Vehicle 200b has passed the aisle in front of vehicle 200a, which is the vehicle scheduled to exit. From this, the guidance information generation unit 116 searches for vehicle 200b in Figure 8B as another parked vehicle that has passed around the vehicle scheduled to exit.

[0055] Next, the guidance information generation unit 116 calculates the number of right and left turns of the other parked vehicles that were found (step S205). For example, if vehicle 200b shown in Figure 8B is another parked vehicle, the number of right and left turns of vehicle 200b from near the entrance of the parking lot to the parking space of vehicle 200a, which is scheduled to exit, is 3 (2 right turns, 1 left turn). Incidentally, the number of right and left turns of vehicle 200b from near the entrance of the parking lot to the parking space where it parked is 5 (2 right turns, 3 left turns).

[0056] Next, the guidance information generation unit 116 determines whether the number of right and left turns of other parked vehicles is below a predetermined threshold (step S206). If it is determined that the number of right and left turns of other parked vehicles is below a predetermined threshold (step S206: YES), it acquires captured images from other parked vehicles and generates guidance information using the acquired captured images (step S207). Here, the threshold used in step S206 may be the same as or different from the threshold in step S202. Since vehicles scheduled to exit the parking lot have captured images that show them reaching the parking space to be replaced, the threshold in step S202 may be lower than that in step S206. For example, if vehicle 200a shown in Figure 8B is a vehicle scheduled to exit the parking lot and the predetermined threshold is 4 or higher, the guidance information generation unit 116 generates guidance information using the captured image corresponding to the solid line portion of the route PHb of vehicle 200b in Figure 8B. This makes it possible to generate guidance information that allows the vehicle to reach the parking space in a shorter time and with simpler operation than if the captured image of vehicle 200a, which is a vehicle scheduled to exit the parking lot, were used. After executing step S207, the control unit 110 terminates the guidance information generation process.

[0057] On the other hand, if it is determined that the number of right and left turns of other parked vehicles is not below a predetermined threshold (step S206: NO), the guidance information generation unit 116 identifies the corner closest to the parking space of the vehicle scheduled to exit (step S208). For example, if vehicle 200a shown in Figure 8A is the vehicle scheduled to exit, the corner closest to the parking space of vehicle 200a on route PHa is the corner at the top of the passage that vertically traverses the space between the third and fourth rows from the left in the view of Figure 8A.

[0058] Next, the guidance information generation unit 116 searches for other parked vehicles that have passed the corner immediately preceding the parking space of the vehicle scheduled to exit (step S209). Figure 8C shows vehicle 200c parked in the third row from the top in the second column from the left in Figure 8C, following route PHc from near the entrance of the parking lot. Vehicle 200c has passed the corner immediately preceding the parking space of vehicle 200a, which is scheduled to exit. Therefore, the guidance information generation unit 116 searches for vehicle 200c in Figure 8C as another parked vehicle that has passed the corner immediately preceding the parking space of the vehicle scheduled to exit.

[0059] Next, the guidance information generation unit 116 calculates the number of right and left turns of other parked vehicles (step S210). For example, if vehicle 200c shown in Figure 8C is another parked vehicle, the number of right and left turns of vehicle 200c from near the entrance of the parking lot PA to the corner immediately preceding the parking space of vehicle 200a, which is scheduled to exit, is 2 (1 right turn, 1 left turn). Incidentally, the number of right and left turns of vehicle 200c from near the entrance of the parking lot to the parking space where it parked is 3 (1 right turn, 2 left turns).

[0060] Next, the guidance information generation unit 116 identifies other parked vehicles with fewer right and left turns (step S211). The guidance information generation unit 116 identifies other parked vehicles with fewer right and left turns from among several other parked vehicles that have passed the corner immediately preceding the parking space of the vehicle scheduled to exit. For example, the guidance information generation unit 116 searches for a predetermined number of vehicles scheduled to exit in step S209, calculates the number of right and left turns for each in step S210, and identifies the vehicle with the fewest right and left turns. Alternatively, steps S209 to S211 may be repeated until the number of right and left turns falls below a threshold. As shown in Figure 8C, the number of right and left turns from near the entrance of the parking lot of vehicle 200c to the corner immediately preceding the parking space of vehicle 200a, which is scheduled to exit, is 2, so the guidance information generation unit 116 identifies it as another parked vehicle with fewer right and left turns.

[0061] Next, the guidance information generation unit 116 generates guidance information by combining captured images of the vehicle scheduled to exit and other parked vehicles identified in step S212. For example, if vehicle 200a shown in Figures 8A and 8C is the vehicle scheduled to exit and vehicle 200c is the other parked vehicle identified in step S211, the guidance information generation unit 116 generates guidance information by combining the captured image corresponding to the solid line portion of vehicle 200c's route PHc in Figure 8C and the captured image of vehicle 200a's route PHa in Figure 8A, specifically the portion from the corner immediately preceding the parking space to the parking space. This makes it possible to generate guidance information that allows the vehicle to reach the parking space in a shorter time and with simpler operation than if the captured image of vehicle 200a, the vehicle scheduled to exit, were used. If there is no captured image of the turning motion at the corner immediately preceding the parking space, a video of the turning motion may be generated (for example, by inputting a video of the moment just before entering the corner into the generation AI) and then combined. After executing step S212, the control unit 110 terminates the guidance information generation process. The guidance information generation unit 116 may store the generated guidance information and reuse the stored guidance information when guiding the vehicle to the same parking space.

[0062] Returning to Figure 6, after executing the guidance information generation process in step S105, the control unit 110 transmits the guidance information to the vehicle to be parked (step S106). The guidance information generation unit 116 transmits the generated guidance information to the in-vehicle communication device 300 of the vehicle to be parked. The in-vehicle communication device 300, having received the guidance information, displays the guidance information (guidance video) on the navigation device installed in the vehicle 200.

[0063] Next, the control unit 110 determines whether the vehicle scheduled to be parked has arrived near the vehicle scheduled to be exited (step S107). The control unit 110 makes this determination based, for example, on location information included in the vehicle information of the vehicle scheduled to be parked. If it is determined that the vehicle scheduled to be parked has not arrived near the vehicle scheduled to be exited (step S107: NO), the control unit 110 repeats the process of step S107 until the vehicle scheduled to be parked arrives near the vehicle scheduled to be exited.

[0064] If the control unit 110 determines that the vehicle scheduled to be parked has arrived near the vehicle scheduled to be exited (step S107: YES), the control unit 110 sends an arrival message to the vehicle scheduled to be exited (step S108). The parking change adjustment unit 114 of the control unit 110 sends an arrival message to the vehicle's onboard communication device 300 indicating that the vehicle scheduled to be parked has arrived near the vehicle scheduled to be exited. The parking change adjustment unit 114 may also send the vehicle scheduled to be exited information to the vehicle scheduled to be parked and the vehicle scheduled to be parked information to the vehicle scheduled to be exited prior to sending the arrival message. The parking change adjustment unit 114 may also control the display screen of the navigation device of the vehicle scheduled to be parked to switch from guidance information to display a detailed view of the area around the vehicle scheduled to be parked.

[0065] Next, the control unit 110 determines whether the vehicle scheduled to be parked has completed parking (step S109). The parking change adjustment unit 114 determines whether the parking change has been successfully completed by the vehicle scheduled to be parked in the parking space after the vehicle scheduled to be exited has exited. The parking change adjustment unit 114 can make this determination based, for example, on engine operation information, shift position information, etc., included in the vehicle information of the vehicle scheduled to be parked. If it is determined that the vehicle scheduled to be parked has not completed parking (step S109: NO), the control unit 110 repeats the process in step S109 until the vehicle scheduled to be parked has completed parking.

[0066] If the control unit 110 determines that the vehicle scheduled to be parked has completed parking (step S109: YES), it terminates the parking assistance process.

[0067] As described above, when the parking assistance system 1 according to this embodiment detects a vehicle that is scheduled to be parked in the parking lot, it searches for a vehicle that is scheduled to leave the parking lot based on the vehicle information of multiple parked vehicles already parked in the parking lot. It then acquires the image captured by the found vehicle when it is parked, generates guidance information to guide the vehicle to the parking space where the vehicle scheduled to leave will park, and presents this information to the user of the vehicle to be parked. As a result, the parking assistance system 1 according to this embodiment can appropriately assist the vehicle to be parked and improve the convenience of parking in the parking lot.

[0068] Furthermore, the parking assistance system 1 according to this embodiment confirms (matches) whether the user of the vehicle scheduled to exit can wait until the vehicle scheduled to park arrives near the parking space, i.e., confirms an agreement for parking exchange. If an agreement for parking exchange is reached, guidance information is presented to the user of the vehicle scheduled to park, and if an agreement for parking exchange is reached, the system searches for another vehicle scheduled to exit. This ensures a smooth handover of parking spaces between the vehicle scheduled to park and the vehicle scheduled to exit, improving convenience when parking in a parking lot.

[0069] Furthermore, the parking assistance system 1 according to this embodiment generates guidance information that guides the vehicle scheduled to be parked to the target parking space via the shortest route, using images of the retrieved vehicle and other parked vehicles while parked. In addition, when the vehicle scheduled to be parked arrives near the vehicle scheduled to be parked, an arrival message is sent to the user of the vehicle scheduled to be parked. This reduces the travel time of the vehicle scheduled to be parked and the waiting time of the vehicle scheduled to be parked, and improves the reliability of the handover of parking spaces.

[0070] Furthermore, in the parking assistance system 1 according to this embodiment, the parking management device 100 calculates the routes (right and left turns) of vehicles scheduled to exit and parked vehicles based on vehicle information acquired from the in-vehicle communication device 300 installed in each vehicle 200. This allows for accurate understanding of the status of each vehicle and improves the convenience of parking for vehicles scheduled to be parked.

[0071] It should be noted that the present invention is not limited to the embodiments described above, and various modifications and applications are possible without departing from the spirit of the invention.

[0072] (Modifications) The parking assistance system 1 according to the above embodiment has been described as comprising a parking management device 100 and a plurality of in-vehicle communication devices 300. However, the configuration of the parking assistance system 1 is not limited to this, and for example, the in-vehicle communication devices 300 may provide some of the functions of the parking management device 100. Alternatively, the parking assistance system 1 may be composed solely of the in-vehicle communication devices 300 by providing all of the functions of the parking management device 100. In this case, by providing the functions of the parking management device 100 to the in-vehicle communication devices 300 (vehicles 200), negotiations for parking changes can be conducted between the in-vehicle communication devices 300 (vehicles 200), simplifying the matching process. Furthermore, the functions of the in-vehicle communication devices 300 may be implemented in the vehicle 200.

[0073] The above embodiment mainly described the case where a vehicle waiting to park after entering the parking lot entrance is guided to the parking space of a vehicle scheduled to exit. However, if there are multiple vehicles waiting to park (waiting to exit) in the parking lot, the guidance information may be presented to the user of the vehicle that is closest to the vehicle scheduled to exit, among the vehicles that are located along the route indicated by the guidance information that guides the vehicle to the parking space of the vehicle scheduled to exit. Specifically, as shown in Figure 9, suppose there is a vehicle scheduled to exit 200a and multiple vehicles scheduled to park 200b, 200c, and 200d waiting to park in the parking lot PA, and the control unit 110 (guidance information generation unit 116) of the parking management device 100 generates guidance information that guides the vehicle from near the entrance of the parking lot PA to the parking space of the vehicle scheduled to exit 200a. In this case, the control unit 110 presents guidance information to the user of the vehicle 200b that is closest to the vehicle 200a that is scheduled to exit, among the vehicles 200b and 200d that are scheduled to be parked on the route PHd guided by the guidance information. The control unit 110 only needs to determine the route PHd that guides the vehicle to be parked based on the captured image included in the guidance information and identify the positional relationship between the vehicle to be parked and the vehicle scheduled to exit that is on that route PHd. Furthermore, the guidance information generation unit 116 only needs to modify (re-edit) the guidance information presented to the user of the vehicle 200b so that it guides the user from the position of the vehicle 200b to the parking space of the vehicle 200a that is scheduled to exit. This makes it possible to quickly reduce the number of vehicles waiting for a parking space and improve the convenience of parking in the parking lot.

[0074] Furthermore, the parking assistance system 1 may be designed to guide the user of the vehicle to be parked to a parking space that meets their requirements. For example, if the user of the vehicle to be parked requests a parking space near an elevator installed in the parking lot, the control unit 110 of the parking management device 100 may be designed to match the user of a parked vehicle currently parked in a parking space near the elevator and provide guidance information to guide the user to that parking space.

[0075] Furthermore, in the above embodiment, when the vehicle scheduled to be parked arrives near the vehicle scheduled to leave, with which the parking exchange has been agreed, the reliability of the parking exchange is improved by utilizing the information of the vehicle scheduled to be parked, the information of the vehicle scheduled to leave, an arrival message, etc. The parking assistance system 1 may also send a warning message to the in-vehicle communication device 300 of the vehicle scheduled to be parked if the vehicle scheduled to be parked passes the vehicle scheduled to leave, with which the parking exchange has been agreed. Furthermore, it may also provide new guidance information to help the vehicle return to the vicinity of the vehicle scheduled to leave. This makes it possible for the user of the vehicle scheduled to be parked, who has passed the vehicle scheduled to leave without noticing it, to recognize the parking space of the vehicle scheduled to leave, thereby improving convenience when parking in a parking lot.

[0076] In the above embodiment, captured images for generating guidance information were selected based on the number of right and left turns of the parked vehicle. The method for selecting captured images for generating guidance information is not limited to this; in addition to the number of right and left turns of the parked vehicle, or instead, captured images for generating guidance information may be selected based on the time required for the vehicle to exit the parking space.

[0077] In the above embodiment, for example, the control program executed by the processor 101 of the parking management device 100 was mainly stored in the storage 103 beforehand. However, the present invention is not limited thereto, and the control program for executing the above-mentioned various processes may be implemented in an existing general-purpose computer, framework, workstation, etc., thereby enabling it to function as a device equivalent to the parking management device 100 according to the above embodiment.

[0078] The method of providing such programs is optional. For example, they may be distributed by storing them on a computer-readable storage medium (flexible disk, CD (Compact Disc)-ROM, DVD (Digital Versatile Disc)-ROM), or they may be stored on network storage such as the Internet and provided for download.

[0079] Furthermore, when the above processing is performed by a division of labor between the OS (Operating System) and the application program, or by collaboration between the OS and the application program, only the application program may be stored on a recording medium or storage. It is also possible to superimpose the program onto a carrier wave and distribute it over a network. For example, the above program may be posted on a bulletin board system (BBS) on a network and distributed over the network. The program may then be designed to execute the above processing by launching it and running it under the control of the OS, just like any other application program.

[0080] This invention allows for various embodiments and modifications without departing from the broad spirit and scope of the invention. Furthermore, the embodiments described above are for illustrative purposes only and do not limit the scope of the invention. In other words, the scope of the invention is indicated by the claims, not by the embodiments. Various modifications made within the scope of the claims and the equivalent meaning of the invention are considered to be within the scope of the invention.

[0081] 1...Parking assistance system, 100...Parking management device, 101...Processor, 102...Memory, 103...Storage, 104...Communication interface, 105...Display device, 106...Input / output interface, 107...Bus line, 110...Control unit, 111...Vehicle information acquisition unit, 112...Planned parking vehicle detection unit, 113...Planned exit vehicle search unit, 114...Parking change adjustment unit, 115...Image acquisition unit, 116...Guidance information generation unit, 120...Storage unit, 130...Communication unit, 140...Display unit, 150...Input / output unit, 200, 200a, 200 b, 200c, 200x...vehicle, 300, 300a, 300b, 300c, 300x...in-vehicle communication device, 301...processor, 302...memory, 303...storage, 304...communication interface, 305...input / output interface, 306...bus line, 310...control unit, 311...vehicle information generation unit, 312...communication control unit, 313...input / output control unit, 320...storage unit, 330...communication unit, 340...input / output unit, LT, RT...steering mark, NW...network, PA...parking lot, PHa, PHb, PHc, PHd...route.

Claims

1. A parking assistance method for guiding a vehicle scheduled to park in a parking lot to an available parking space, wherein the processor, upon detecting the vehicle scheduled to park, searches for a vehicle scheduled to leave the parking lot based on vehicle information of multiple parked vehicles already parked in the parking lot, acquires an image of the vehicle at the time of parking captured by the vehicle scheduled to leave, generates guidance information based on the image to guide the vehicle scheduled to park to the parking space where the vehicle scheduled to leave will park, and presents the guidance information to the user of the vehicle scheduled to park.

2. The parking assistance method according to claim 1, wherein the processor confirms with the user of the vehicle scheduled to leave the parking lot whether it is possible to wait until the vehicle scheduled to be parked arrives near the parking space, and if it is possible to wait, presents the guidance information to the user of the vehicle scheduled to be parked, and if it is not possible to wait, searches for another vehicle scheduled to leave the parking lot.

3. The parking assistance method according to claim 1 or 2, wherein the processor detects right and left turns of the vehicle scheduled to exit from the vehicle information of the vehicle scheduled to exit, and if the number of right and left turns is greater than or equal to a predetermined threshold, it acquires captured images of parked vehicles that have passed around the vehicle scheduled to exit, and generates the guidance information using the captured images of the parked vehicles.

4. The parking assistance method according to claim 3, wherein the processor generates the guidance information by combining captured images of multiple vehicles scheduled to exit and parked vehicles when there are no vehicles scheduled to exit or parked whose number of right or left turns is less than the predetermined threshold.

5. The parking assistance method according to claim 3 or 4, wherein the processor calculates the number of right and left turns based on information indicating the operation status of the steering and shift levers included in the vehicle information.

6. The parking assistance method according to any one of claims 1 to 5, wherein the processor searches for the vehicle scheduled to leave the parking lot based on at least one of the following pieces of information included in the vehicle information: the operating status of the engine, the operating position of the shift lever, the fastening / unfastening status of the seat belt, and the operating status of the navigation device.

7. The parking assistance method according to any one of claims 1 to 6, wherein when the vehicle scheduled to be parked arrives near the parking space of the vehicle scheduled to be exited, the processor presents the user of the vehicle scheduled to be parked with information about the vehicle scheduled to be exited, indicating the characteristics of the vehicle scheduled to be exited and its surroundings.

8. The parking assistance method according to any one of claims 1 to 7, wherein when the vehicle scheduled to be parked arrives near the parking space of the vehicle scheduled to be exited, the processor presents the user of the vehicle scheduled to be exited with information indicating the characteristics of the vehicle scheduled to be parked.

9. The parking assistance method according to any one of claims 1 to 8, wherein the processor warns the user of the vehicle to be parked when the vehicle to be parked passes the parking space of the vehicle to be exited.

10. The parking assistance method according to any one of claims 1 to 9, wherein the processor presents the guidance information to the user of the vehicle that is closest to the vehicle scheduled to exit, among the vehicles scheduled to be parked that are located on the route guided by the guidance information.

11. A parking assistance system for guiding a vehicle that is scheduled to park in a parking lot to an available parking space, wherein a processor in the parking assistance system, upon detecting the vehicle scheduled to park, searches for a vehicle scheduled to leave the parking lot based on vehicle information of multiple parked vehicles parked in the parking lot, acquires an image of the vehicle at the time of parking captured by the vehicle scheduled to leave, generates guidance information based on the image to guide the vehicle scheduled to park to the parking space where the vehicle scheduled to leave will park, and presents the guidance information to the user of the vehicle scheduled to park.

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