阅读说明：本技术 车辆位置引导系统及车辆位置引导方法 (Vehicle position guidance system and vehicle position guidance method ) 是由 高桥一久 市川忠冲 三泽明弘 大口慎治 森田文平 堀部人嗣 近藤武司 石原匡 于 2019-09-10 设计创作，主要内容包括：车辆位置引导系统(1)包括终端位置测量部分(22)、车辆位置测量部分(23)、计算器(24)和引导部(25)。终端位置测量部分(22)测量由使用者携带的终端(3)的位置。车辆位置测量部分(23)测量停泊车辆(2)的位置。计算器(24)使用由终端位置测量部分(22)测量的关于终端(3)的位置信息(Da)及由车辆位置测量部分(23)测量的关于停泊车辆(2)的位置信息(Db)来计算使用者到达停泊车辆(2)的路线(R)。引导部(25)根据终端(3)与停泊车辆(2)之间在由计算器(24)获得的路线(R)上的距离选择性地使用第一引导和第二引导辅助使用者进入车辆。第一引导使用终端(3)提供通向停泊车辆(2)位置的引导且第二引导使用停泊车辆(2)的车载装置(4)来经由通知提供通向停泊车辆(2)位置的引导。(A vehicle position guidance system (1) includes a terminal position measurement section (22), a vehicle position measurement section (23), a calculator (24), and a guide section (25). A terminal position measuring section (22) measures the position of a terminal (3) carried by a user. A vehicle position measuring section (23) measures the position of the parked vehicle (2). A calculator (24) calculates a route (R) of the user to the parked vehicle (2) using the position information (Da) on the terminal (3) measured by the terminal position measuring portion (22) and the position information (Db) on the parked vehicle (2) measured by the vehicle position measuring portion (23). The guide section (25) assists the user to enter the vehicle by selectively using the first guide and the second guide according to the distance between the terminal (3) and the parked vehicle (2) on the route (R) obtained by the calculator (24). The first guidance-use terminal (3) provides guidance to the position of the parked vehicle (2) and the second guidance-use terminal provides guidance to the position of the parked vehicle (2) via notification using the in-vehicle device (4) of the parked vehicle (2).)

1. A vehicle position guidance system that guides a user to a position where a vehicle is parked, the vehicle position guidance system comprising:

a terminal position measuring section that measures a position of a terminal carried by the user;

a vehicle position measuring portion that measures a position of the parked vehicle;

a calculator that obtains a route for the user to reach the parked vehicle by using the position information on the terminal measured by the terminal position measuring portion and the position information on the parked vehicle measured by the vehicle position measuring portion; and

a guide section that assists the user in entering the vehicle by selectively using a first guide and a second guide according to whether the distance on the route between the terminal and the parked vehicle obtained by the calculator is long or short, wherein

The first guide provides a guide to the position of the parked vehicle by using the terminal, and

the second guide provides a guide to the position of the parked vehicle via a notification by using the vehicle-mounted device of the parked vehicle.

2. The vehicle position guidance system according to claim 1, wherein after the user leaves the vehicle, the vehicle autonomously locates a parking position and automatically travels to the parking position to park.

3. The vehicle position guidance system according to claim 1 or 2, wherein the terminal position measurement portion and the vehicle position measurement portion measure positions of themselves by using at least one of network communication via a wireless LAN or a global positioning system that measures positions using radio waves from satellites.

4. The vehicle position guide system according to any one of claims 1 to 3, comprising an operation portion that causes the parked vehicle to automatically travel to an entry position when the entry position of the parked vehicle is specified, wherein

The calculator obtains a route to the entry location specified by the user, an

The guide portion guides the user to the entry location according to the route leading to the entry location.

5. The vehicle position guidance system according to claim 4, wherein the operation section obtains an expected time when the user will reach the entry position, and causes the vehicle to automatically travel according to the expected time.

6. The vehicle position guide system according to any one of claims 1 to 5, wherein the first guide is provided by at least one of an audio notification or a screen display in the terminal.

7. The vehicle position guidance system according to any one of claims 1 to 6, wherein the second guidance is provided by projecting an image using the in-vehicle apparatus.

8. The vehicle position guidance system according to claim 7, wherein the guidance portion checks whether near field communication between the vehicle and the terminal is established, and performs the second guidance to perform guidance by projecting an image using the in-vehicle device when the near field communication is established.

9. The vehicle position guidance system according to claim 7 or 8, wherein the projection image provided by the in-vehicle apparatus associates the terminal and the vehicle with each other.

10. The vehicle position guidance system according to any one of claims 7 to 9, comprising a registration section that manages registration of the user with the projected image.

11. A vehicle position guiding method that guides a user to a position at which a vehicle is parked, the vehicle position guiding method comprising:

measuring a position of a terminal carried by the user;

measuring the position of the parked vehicle;

obtaining a route of the user to the parked vehicle by using the measured position information related to the terminal and the measured position information related to the parked vehicle; and

assisting the user to enter the vehicle by selectively using a first guidance and a second guidance according to whether the distance between the terminal and the parked vehicle on the calculated route is long or short, wherein

The first guide provides a guide to the position of the parked vehicle by using the terminal, and

the second guide provides a guide to the position of the parked vehicle via a notification by using the vehicle-mounted device of the parked vehicle.

Technical Field

The present invention relates to a vehicle position guidance system and a vehicle position guidance method for guiding a user to a vehicle position.

Background

A vehicle position guidance system for guiding a user to a parking position such as a parking lot in recent years includes the following typical techniques: position information related to the vehicle is transmitted to a terminal of the user using, for example, a Global Positioning System (GPS) or network communication, etc., thereby providing the user with route guidance to a parking position (see patent document 1).

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No.2006-145442

Disclosure of Invention

Problems to be solved by the invention

However, in the technique disclosed in patent document 1, guidance to the parking position is performed in a unified manner. Therefore, appropriate guidance according to the distance between the user's current position and the parked vehicle cannot be provided. This makes guidance to the parking place confusing.

An object of the present invention is to provide a vehicle position guidance system and a vehicle position guidance method capable of providing appropriate guidance to a vehicle position.

Means for solving the problems

The vehicle position guidance system for solving the above-mentioned object guides a user to a position where the vehicle is parked. The vehicle position guidance system includes: a terminal position measuring section that measures a position of a terminal carried by a user; a vehicle position measuring portion that measures a position of a parked vehicle; a calculator that obtains a route for a user to reach a parked vehicle by using the position information relating to the terminal measured by the terminal position measuring portion and the position information relating to the parked vehicle measured by the vehicle position measuring portion; and a guide portion that assists the user in entering the vehicle by selectively using the first guide and the second guide according to whether the distance between the terminal and the parked vehicle on the route obtained by the calculator is long or short. The first guide provides a guide to a position of the parked vehicle by using the terminal. The second guide provides a guide to the position of the parked vehicle via the notification by using the vehicle-mounted device of the parked vehicle.

In the above configuration, the first guidance or the second guidance is selectively performed to provide guidance to a parking position of the vehicle according to whether the distance between the terminal carried by the user and the vehicle is long or short. This allows appropriate guidance corresponding to the distance between the vehicle and the terminal when providing guidance to the parking position of the vehicle. Thus, proper guidance to the vehicle position is achieved.

In the vehicle position guidance system, it is preferable that the vehicle autonomously locates a parking position after the user leaves the vehicle, and automatically travels to the parking position to park.

In the above-described configuration, in the case where the vehicle autonomously travels to locate the parking position after the user leaves the vehicle and stops himself by the automatic travel, the user cannot recognize the parking position when attempting to return to the parked vehicle. However, the first guidance and the second guidance allow the user to reach the parking position of the vehicle.

In the vehicle position guidance system, it is preferable that the terminal position measurement portion and the vehicle position measurement portion measure the positions of themselves using at least one of network communication via a wireless LAN or a global positioning system that measures the positions using radio waves from satellites.

In the above configuration, the positions of the vehicle and the terminal are accurately measured using the global positioning system. Even if the vehicle and the terminal are located at a position where radio waves of the global positioning system cannot be received, the position can be identified by network communication via the wireless LAN. This is advantageous for correctly measuring the current position of the vehicle and the terminal.

Preferably, the vehicle position guidance system includes an operation portion that automatically drives the parked vehicle to the entry position when the entry position of the parked vehicle is designated. Preferably, the calculator obtains a route leading to an entry position designated by the user, and the guide portion guides the user to the entry position according to the route leading to the entry position.

In the above configuration, the user enters the vehicle by specifying the entry position of the vehicle and causing the vehicle to automatically travel to the entry position. This ensures the convenience of the user entering the vehicle.

In the vehicle position guidance system, it is preferable that the operation portion obtains an expected time when the user will reach the entry position, and causes the vehicle to automatically travel according to the expected time.

In the above configuration, the time at which the parked vehicle will reach the entry position can be adjusted to the time at which the user will reach the entry position. For example, if a parked vehicle has reached an entry location before a user reaches the entry location, the vehicle must wait for a period of time, resulting in the formation of a vehicle queue. In the above configuration, the occurrence of this situation is restricted.

In the vehicle position guidance system, it is preferable that the first guidance is provided by at least one of a sound notification or a screen display in the terminal.

In the above configuration, the use of the sound notification or the screen display in the terminal allows the user to be easily notified of the approximate position of the parked vehicle.

In the vehicle position guidance system, it is preferable that the second guidance is provided by projecting an image using an in-vehicle device.

In the above configuration, since the projected image of the in-vehicle device of the vehicle allows the position of the vehicle itself to become conspicuous, the user immediately recognizes the vehicle position.

In the vehicle position guidance system, it is preferable that the guidance section checks whether near field communication between the vehicle and the terminal is established, and performs the second guidance to perform guidance by projecting an image using the in-vehicle device when the near field communication is established.

In the above configuration, the second guidance is performed when the vehicle and the terminal are close to each other so that near field communication is established between the vehicle and the terminal. Therefore, the second guidance is performed in an optimal condition where the user has reached the vicinity of the vehicle.

In the vehicle position guidance system, it is preferable that the projection image provided by the in-vehicle apparatus associates the terminal and the vehicle with each other.

In the above configuration, a unique projection image set for each user is displayed. This advantageously allows the user to easily find the parked vehicle.

Preferably, the vehicle position guidance system includes a registration section that manages registration of the projected image by the user.

In the above configuration, the user can set the image he or she wants to project to the in-vehicle apparatus.

A vehicle position guidance method that achieves the above object guides a user to a position where the vehicle is parked. The vehicle position guidance method includes: measuring a position of a terminal carried by a user; measuring a position of the parked vehicle; obtaining a route for the user to reach the parked vehicle by using the measured position information about the terminal and the measured position information about the parked vehicle; and assisting the user in entering the vehicle by selectively using the first guidance and the second guidance according to whether the distance between the terminal and the parked vehicle on the calculated route is long or short. The first guide provides a guide to a position of the parked vehicle by using the terminal. The second guide provides a guide to the position of the parked vehicle via the notification by using the vehicle-mounted device of the parked vehicle.

Effects of the invention

The invention allows for proper guidance in reaching the vehicle position.

Drawings

Fig. 1 is a view showing the configuration of a vehicle position guide system according to an embodiment.

Fig. 2 (a) is a view showing that the user leaves the vehicle.

Fig. 2 (b) is a view showing the vehicle autonomously moving to a parking position by automatic driving after the user leaves the vehicle.

Fig. 3 (a) is a view showing the user himself moving to the parking position of the vehicle.

Fig. 3 (b) is a view showing that the user enters the vehicle by automatically driving the vehicle to an entry position designated by the user.

Fig. 4 is a flowchart showing a process for providing guidance of a parking position of a vehicle.

Fig. 5 is a flow chart showing steps subsequent to the process in fig. 4.

Fig. 6 is a diagram showing an example of the first guidance.

Fig. 7 is a diagram showing an example of the second guidance.

Fig. 8 is a diagram showing an example of the second guidance.

Fig. 9 is a flowchart showing steps subsequent to the process in fig. 4.

Fig. 10 (a) and 10 (b) are views showing a case where automatic travel of the parked vehicle is started according to the time at which the user will reach the entry position.

DETAILED DESCRIPTION OF EMBODIMENT (S) OF INVENTION

A vehicle position guidance system and a vehicle position guidance method according to an embodiment will now be described with reference to (b) in fig. 1 to 10.

Fig. 1 shows a vehicle position guidance system 1. In a case where the vehicle 2 (hereinafter also referred to as a parked vehicle 2) has been parked in, for example, a multi-story parking garage or a large parking lot, the vehicle position guidance system 1 is used to guide a user to the position where the parked vehicle 2 is located when he or she wants to reach the parked vehicle 2. The vehicle position guidance system 1 provides guidance to the approximate position of the parked vehicle 2 by using the terminal 3 carried by the user. When the user reaches the vicinity of the parked vehicle 2, the vehicle position guidance system 1 distinguishes the parked vehicle 2 from other vehicles by notification using the vehicle-mounted device 4 of the vehicle 2, thereby notifying the user of the position of the parked vehicle 2. The vehicle 2 may be a manually driven vehicle or may be an unmanned vehicle. The terminal 3 is preferably a multi-function mobile phone, for example.

The vehicle position guidance system 1 guides the user to the position of the parked vehicle 2 via the cloud. In this case, the vehicle position guidance system 1 guides the user to the position of the parked vehicle 2 in cooperation with the cloud computer 5 that manages the cloud. In the present embodiment, the cloud computer 5 includes a location management application 6 that manages the locations of the vehicle 2 and the terminal 3. The location management application 6 is used to share various information related to the locations of the vehicle 2 and the terminal 3.

The vehicle 2 comprises a controller 9, the controller 9 controlling the activation of the vehicle position guidance in the vehicle 2. The controller 9 is not limited to an installed Electronic Control Unit (ECU), and may be a new ECU installed on the vehicle. The vehicle 2 includes: a Global Positioning System (GPS)11 that measures a position (vehicle position) using radio waves from a satellite 10, a near field communication portion 12 that performs near field communication of the vehicle 2, and a network communication portion 13 that performs network communication of the vehicle 2. Near field communication includes, for example, direct communication in which radio waves are directly transmitted and received between devices. Further, examples of near field communication include communication via a wireless LAN using the repeater 14 or the like. The direct communication includes, for example, bluetooth (registered trademark) communication. Wireless LAN communications include, for example, Wi-Fi communications. The generation of network communication is not limited to 4G and may be 5G.

The terminal 3 includes a controller 15, and the controller 15 controls activation of the vehicle position guidance in the terminal 3. The controller 15 may include preset hardware circuits and software (application). The application may be, for example, an application that has been downloaded from a server or the like.

That is, each of the cloud computer 5, the controller 9 of the vehicle 2, and the controller 15 of the terminal 3 may be a circuit including: 1) one or more processors operating in accordance with a computer program (software); 2) one or more dedicated hardware circuits, such as an Application Specific Integrated Circuit (ASIC), that performs at least a portion of the various processes; or 3) a combination of the two. The processor includes a CPU and memories such as RAM and ROM. The memory stores program codes or commands configured to cause the CPU to execute processing. The memory or computer-readable media includes any type of media that can be accessed by a general purpose or special purpose computer.

In the same manner as the vehicle 2, the terminal 3 includes a GPS 16, a near field communication section 17, and a network communication section 18. The terminal 3 wirelessly communicates with the vehicle 2 by, for example, bluetooth communication serving as near field communication. Further, the near field communication section 17 performs communication via a wireless LAN using a repeater 19 or the like.

The vehicle position guidance system 1 includes a terminal position measurement portion 22, and the terminal position measurement portion 22 measures the position of the terminal 3 carried by the user. The terminal position measuring section 22 is disposed in the controller 15 of the terminal 3. The terminal position measuring section 22 measures its own position (position information Da of the terminal 3) using at least one of the GPS 16 and network communication through a wireless LAN (Wi-Fi, for example). In the present embodiment, position measurement can be performed not only by the GPS 16 but also by Wi-Fi communication, so that the position of the terminal 3 can be recognized even inside a building where radio waves of the GPS 16 cannot reach, for example.

The vehicle position guidance system 1 includes a vehicle position measurement portion 23, and the vehicle position measurement portion 23 measures the position of the parked vehicle 2. The vehicle position measuring portion 23 is disposed in the controller 9 of the vehicle 2. The vehicle position measurement section 23 measures its own position (the position information Db of the vehicle 2) using at least one of the GPS 11 and network communication through a wireless LAN (Wi-Fi, for example). Therefore, in the same manner as the terminal 3, position measurement can be performed not only by the GPS 11 but also by Wi-Fi communication, so that the position of the vehicle 2 can be recognized even inside a parking lot where radio waves of the GPS 11 cannot reach, for example.

The vehicle position guidance system 1 includes a calculator 24. The calculator 24 obtains the route R for the user to reach the vehicle 2 by using the positional relationship between the vehicle 2 and the terminal 3. The calculator 24 is arranged in the cloud computer 5. The calculator 24 obtains the route R for the user to reach the parked vehicle 2 by using the position information Da of the terminal 3 measured by the terminal position measuring portion 22 and the position information Db of the vehicle 2 measured by the vehicle position measuring portion 23. The route R is preferably a path (route) on a map made up of map data, for example.

The vehicle position guidance system 1 includes a guide portion 25 that guides the user to the position of the vehicle 2 by using the route R obtained by the calculator 24. The guide portion 25 includes a guide portion 25a in the cloud computer 5, a guide portion 25b in the terminal 3, and a guide portion 25c in the vehicle 2. The guide 25b of the terminal 3 is disposed in the controller 15. The guide portion 25c of the vehicle 2 is arranged in the controller 9.

The guide portion 25 selectively uses the first guide and the second guide depending on whether the distance between the terminal 3 and the parked vehicle 2 on the route R obtained by the calculator 24 is long or short, thereby assisting the user in entering the vehicle. The first guide provides a guide to the position of the parked vehicle 2 by using the terminal 3. The second guide provides a guide to the position of the parked vehicle 2 by notification using the vehicle-mounted device 4 of the parked vehicle 2, and therefore, the guide section 25 provides a guide to the approximate position of the parked vehicle 2 through the first guide by using the terminal 3, and assists the final positioning of the parked vehicle 2 through the second guide by using the vehicle-mounted device 4. The approximate location includes, for example, the direction of the vehicle 2 and the approximate distance to reach the vehicle 2. The general location also shows on which floor the vehicle 2 is located in the parking garage. The first guidance is provided by at least one of a sound notification and a screen display in the terminal 3. The second guidance is provided by image projection using the in-vehicle apparatus 4.

The vehicle position guidance system 1 includes an operation portion 26. When the entry position of the parked vehicle 2 is designated, the operating portion 26 causes the parked vehicle 2 to automatically travel to the entry position. The operation section 26 is disposed in the cloud computer 5. For example, when receiving an instruction of the entry position of the parked vehicle 2 from the terminal 3, the operation portion 26 commands the parked vehicle 2 to move to the entry position so that the parked vehicle 2 automatically travels. In this case, the calculator 24 obtains the route R to the entry position designated by the user. The guide portion 25 guides the user to the entry position according to the route R.

The operation and advantages of the vehicle position guidance system 1 of the present embodiment will now be described with reference to (b) in fig. 2 to 10.

As shown in fig. 2 (a) and 2 (b), for example, in the case where the vehicle 2 is an unmanned vehicle, after the user leaves the vehicle 2, the vehicle 2 autonomously locates a parking position and automatically travels to the parking position to park. The parked vehicle 2 can search for a vacant parking position by, for example, analyzing a captured image acquired with an in-vehicle camera or receiving parking lot information from a communication device installed in a parking lot. In the case where the vehicle 2 is automatically parked, when the user tries to enter the vehicle 2 again, the user cannot grasp the parking position of the vehicle 2. In this case, the user should use the vehicle position guidance system 1 so that the user is guided to the parking position of the vehicle 2.

As shown in fig. 4, when the guidance start input operation is performed by, for example, a screen click operation or a button operation, the terminal 3 detects the guidance start input operation (step 101). When the guidance start input operation is detected, the terminal 3 activates the device related to the vehicle position guidance in the terminal 3, and transmits a notification indicating that the device has been activated (device activation notification St1) to the cloud computer 5 via network communication (step 102).

The cloud computer 5 normally enters a standby mode to wait for access by the terminal 3 (step 201). When the reception device start-up notification St1 is received in the standby mode, the cloud computer 5 starts up and issues a system on (start operation) (step 202).

The vehicle 2 normally enters a standby mode to wait for access by the cloud computer 5 (step 301). When the device start notification St1 is received via the cloud computer 5 in the standby mode, the vehicle 2 is activated to start the system on (start operation) (step 302).

After the above-described devices in the terminal 3 are activated, the terminal position measuring section 22 measures the position of the terminal 3 to acquire the position information Da of the terminal 3 (step 103). The terminal position measuring section 22 only needs to measure its own position by using at least one of the GPS 16 and near field communication via the wireless LAN. Therefore, even if, for example, the terminal 3 cannot acquire the radio wave of the GPS 16 in a building, the position of the terminal 3 can be measured by near field communication such as Wi-Fi communication.

When the acquisition operation of the position information Da is performed, the terminal-position measuring section 22 determines whether the terminal-position measuring section 22 has acquired the position information Da (step 104). When the terminal position measuring section 22 has acquired the position information Da, the terminal position measuring section 22 transmits the position information Da to the cloud computer 5 via network communication (step 105). When the terminal position measuring section 22 does not acquire the position information Da, the terminal position measuring section 22 lets the user manually input the current position (step 106). Then, the terminal position measuring section 22 transmits the position information Da acquired by the manual input to the cloud computer 5 via network communication. Therefore, even if the position information Da cannot be acquired by communication, guidance to the position of the parked vehicle 2 can be promptly started. It is preferable that the position information Da is modified while the position information Da is measured by communication even if the position information Da is not initially measured by communication.

After the system of the vehicle 2 is turned on, the vehicle position measuring portion 23 measures the position of the vehicle 2 to acquire the position information Db of the vehicle 2 (step 303). The vehicle position measurement portion 23 only needs to measure its own position using at least one of the GPS 11 and near field communication via the wireless LAN. Therefore, even if, for example, the vehicle 2 cannot acquire the radio wave of the GPS 11 in the building, the position of the vehicle 2 can be measured by near field communication such as Wi-Fi communication.

When the acquisition operation of the position information Db is performed, the vehicle position measuring portion 23 determines whether the vehicle position measuring portion 23 has acquired the position information Db (step 304). When the vehicle position measuring portion 23 has acquired the position information Db, the vehicle position measuring portion 23 transmits the position information Db to the cloud computer 5 via network communication (step 305). When the vehicle position measuring portion 23 does not acquire the position information Db, the vehicle position measuring portion 23 estimates its own position from the information relating to automatic parking (step 306). For example, the position of the vehicle 2 may be estimated using the output of an in-vehicle gyro sensor or the moving distance from a time point at which the radio wave of the GPS 11 is not available. Then, the vehicle position measurement portion 23 transmits the position information Db obtained by the position estimation to the cloud computer 5 via network communication.

The calculator 24 generates the navigation data Dn as data on the route R on which the user arrives at the parked vehicle 2 by using the position information Da received from the terminal 3 and the position information Db received from the vehicle 2 (step 203). The navigation data Dn includes not only a route generated by avoiding an obstacle (e.g., a building) but also a distance between the vehicle 2 and the terminal 3 connected by a straight line. The navigation data Dn may include the time required for the user to arrive at the vehicle in addition to the above-described route R.

Fig. 3 (a) and 3 (b) show examples of the assumed mode of entering the vehicle 2. In fig. 3 (a), the user himself/herself moves to the parking position of the vehicle 2. In fig. 3 (b), automatic travel in which the vehicle 2 reaches a specified entry position (a position where the user enters and exits the vehicle 2) is performed so that the user enters the vehicle 2 at the position. Therefore, the calculator 24 of the present embodiment generates two types of navigation data, i.e., the navigation data Dn1 in the case where the user moves directly toward the parking position of the vehicle 2 and the navigation data Dn2 in the case where the user moves toward the entry position specified by the user.

Referring back to fig. 4, the calculator 24 transmits the generated navigation data Dn (Dn1, Dn2) to the terminal 3 via network communication (step 204). The navigation data Dn (Dn1, Dn2) sent from the cloud computer 5 to the terminal 3 only needs to be a data group that informs the user of, for example, the route R or the required time on the terminal 3 in a simplified manner.

When the navigation data Dn is transmitted from the cloud computer 5 through the network, the guidance unit 25b of the terminal 3 receives the navigation data Dn (step 107). In the present embodiment, the guidance unit 25b of the terminal 3 displays an overview (simplified data) of the navigation data Dn when receiving the navigation data Dn. When a plurality of types of navigation data Dn (two types of data, Dn1 and Dn2 in the present embodiment) exist, for example, as an overview (simplified data) of the navigation data, a simplified route or required time is displayed on a screen so that the user selects and specifies the navigation data Dn. For example, the screen of the terminal 3 displays a mode in which the user moves directly to the parking position where the vehicle 2 is parked (a "walk to parking position" as shown in (a) in fig. 3), and a mode in which the vehicle 2 automatically travels to a specified entry position so that the user moves to the entry position (a "walk to specified entry position" as shown in (b) in fig. 3). In this case, the user selects one of the two modes.

Fig. 5 is a flowchart showing the operation of route guidance performed when the user moves directly to the parking position where the vehicle 2 is parked. When "walk to parking position" is selected in the terminal 3, the terminal 3 inputs the selected operation (step 108). Then, the guide section 25b of the terminal 3 transmits a notification indicating that "walk to parking position" has been selected (parking position selection notification St2) to the cloud computer 5 via network communication.

Upon receiving the parking position selection notification St2, the guidance portion 25a of the cloud computer 5 transmits the navigation data Dn corresponding to the parking position selection notification St2 (navigation data Dn1 in the case of moving directly to the parked vehicle 2) to the terminal 3 via network communication (step 205). In the present embodiment, the guiding portion 25a transmits a data set necessary for performing detailed route guidance to the parking position as the navigation data Dn1 of the position guidance selected by the user.

When the navigation data Dn1 is received from the cloud computer 5, the guiding part 25b of the terminal 3 starts route guidance using the navigation data Dn1 so that the user reaches the parking position (step 109). At this time, the distance between the parked vehicle 2 and the terminal 3 is still long. When the distance on the route R between the parked vehicle 2 and the terminal 3 is greater than or equal to a predetermined value, the guide portion 25b provides guidance to the route R of the parked vehicle 2 by performing the first guidance (i.e., the rough guidance using the terminal 3).

Fig. 6 shows an example of starting route guidance (first guidance) in the terminal 3. As shown in fig. 6, when route guidance (first guidance) is started, the guide portion 25b of the terminal 3 displays a guide image 29 for assisting route guidance on the screen of the terminal 3. The guide image 29 is preferably an image (on-screen guide) displaying, for example, a person set according to the user or a person imitating the characteristics of the user in association with the parking lot guide.

As shown in fig. 7, the first guidance is performed by sound notification or screen display in the terminal 3. For example, it is preferable that in the first guidance, the guidance image 29 displayed on the screen of the terminal 3 functions as a guide to notify the user of the destination. In the example of fig. 7, guidance is performed using an acoustic notification that notifies the user of, for example, a direction of travel (north, south, east, and west; and left and right) or a distance (meters). In the first guidance, for example, a map may be displayed on the screen of the terminal 3 so as to be used together. In addition, when the parked vehicle 2 is parked in the parking garage, the first guidance indicates on which floor the parked vehicle 2 is located.

Referring back to fig. 5, during the parking position guidance, the terminal position measuring section 22 constantly measures its own position to transmit the position information Da to the cloud computer 5 via network communication (step 110). The calculator 24 updates the navigation data Dn1 by using the position information Da that is constantly received from the terminal 3 (step 206). Since the user is moving toward the parked vehicle 2, the remaining distance from the parked vehicle 2 continuously changes. Therefore, the calculator 24 continuously monitors the position of the terminal 3 to update the navigation data Dn1, and causes the guiding part 25b to perform guidance using the updated navigation data Dn 1. Thus, the position guidance of the terminal 3 is continuously updated.

When it is determined that the user has reached the vicinity of the destination by using the remaining distance from the parking position on the route R, the guide section 25b of the terminal 3 transmits a notification indicating the arrival (destination vicinity arrival notification St3) to the cloud computer 5 via network communication (step 111). Upon receiving the destination vicinity arrival notification St3 from the terminal 3, the guide section 25a of the cloud computer 5 transmits an instruction to start near field communication (bluetooth communication in this example) to both the vehicle 2 and the terminal 3 via network communication (step 207). This instruction is referred to as a near field communication start instruction St 4.

When receiving the near field communication start instruction St4 from the cloud computer 5, the guide section 25b of the terminal 3 starts near field communication (step 112). In the same manner, when receiving the near field communication start instruction St4 from the cloud computer 5, the guide portion 25c of the vehicle 2 starts near field communication (step 307).

After the near field communication with the vehicle 2 is started, the guiding part 25b of the terminal 3 determines whether the near field communication has been established (step 113). When near field communication with the vehicle 2 has been established, the guiding section 25b activates and displays the welcome mode of the terminal 3 as the second guidance of the terminal 3 (step 114). In the activation display of the welcome mode of the terminal 3, for example, the above-described guide image 29 preferably displays a notification with a sound or a screen indicating that the switch to the second guide has occurred.

After the near field communication with the terminal 3 is started, the guiding portion 25c of the vehicle 2 determines whether or not the near field communication has been established (step 308). When the near field communication with the terminal 3 has been established, the guidance portion 25c starts (activates) the welcome mode of the vehicle 2 as the second guidance of the vehicle 2 (step 309).

Fig. 8 shows an example of the second guidance performed in the vehicle 2. As shown in fig. 8, the guide portion 25c of the vehicle 2 projects an image as a welcome mode of the vehicle 2 by using the in-vehicle apparatus 4. The image projected by the in-vehicle apparatus 4 (projection image 30) is preferably, for example, an image associated with the terminal 3 (e.g., an image similar to the guidance image 29). In this case, the in-vehicle device 4 is preferably a projector capable of projecting an image on the vehicle 2 or around the vehicle 2. Examples of the projection image 30 include an image 30a projected onto a front glass of the vehicle body, an image 30b projected onto a road surface from a part of the vehicle body (a side mirror outside the vehicle in the example of fig. 8), and an image 30c projected onto a front grille of the vehicle body. Thus, the significance of the second guidance allows the user to immediately recognize the user's vehicle 2.

Referring back to fig. 5, when a notification (second guidance start notification St5) indicating that the welcome mode has started is received via network communication from both the vehicle 2 and the terminal 3, the guiding section 25a of the cloud computer 5 returns to the original standby mode. When the guide portion 25c of the vehicle 2 confirms that the door (not shown) has been unlocked during execution of the second guidance, the guide portion 25c of the vehicle 2 ends the second guidance executed by the in-vehicle device 4. Further, when receiving a guidance end notification transmitted from the vehicle 2 via near field communication that the second guidance has ended, the guidance section 25b of the terminal 3 ends the second guidance in the terminal 3.

Fig. 9 is a flowchart showing the operation of route guidance performed when the parked vehicle 2 is automatically driven to an entry position designated by the user so that the user enters the vehicle 2. When "walk to the designated entry position" is selected in the terminal 3, the guidance section 25b of the terminal 3 inputs the selected operation (step 115). Then, the guide section 25b of the terminal 3 transmits a notification indicating that "walk to the designated entry position" has been selected (designated entry position selection notification St6) to the cloud computer 5 via network communication.

Upon receiving the designated entry position selection notification St6, the guidance section 25a of the cloud computer 5 transmits the navigation data Dn (navigation data Dn2 in the case of moving toward the designated entry position) corresponding to the designated entry position selection notification St6 to the terminal 3 via network communication (step 205). In the present embodiment, the guiding section 25a transmits a data group necessary to perform detailed route guidance leading to a specified entry position as the navigation data Dn2 of the position guidance selected by the user.

Upon receiving the navigation data Dn2 from the cloud computer 5, the guiding part 25b of the terminal 3 performs route guidance using the navigation data Dn2 so that the user reaches the designated entry position (step 109). At this time, the distance between the specified entry position and the terminal 3 is still long. When the distance on the route R between the designated entry position and the terminal 3 is greater than or equal to a predetermined value, the guide section 25b provides guidance of the route R to the designated entry position by performing the first guidance (i.e., rough guidance using the terminal 3). The first guidance performed at this time is the same as the first guidance performed in the case of directly moving to the parking position, and thus will not be described in detail.

When the vehicle 2 automatically travels to the specified entry position so that the user enters the vehicle 2, the constant transmission of the position of the terminal 3 itself and the update of the navigation data Dn2 are continuously performed in the same manner as in the case where the user himself moves to the parking position (steps 110, 206). Therefore, even when the user moves to the specified entry position, the optimum route guidance corresponding to the movement distance can be performed.

As shown in fig. 10 (a), during the use of route guidance, there is a possibility that another vehicle has been parked side by side at an entry position (a place where the user enters and exits the vehicle 2) designated by the user. At this time, if the user's vehicle 2 moves to the entry position immediately after the start of guidance, the vehicle 2 reaches the entry position before the user reaches the entry position. This may facilitate side-by-side parking. To solve this problem, as shown in (b) of fig. 10, the vehicle 2 is set to reach the entry position simultaneously with the user. This results in the advantage of preventing the vehicles 2 from parking side by side.

Referring back to fig. 9, the operation portion 26 of the cloud computer 5 recognizes the time at which the user will reach the entry position, and sends an instruction (vehicle movement start instruction St7) to the parked vehicle 2 via network communication that the vehicle movement of the vehicle 2 starts so as to reach the entry position at the time (step 209). When receiving the vehicle movement start instruction St7 from the cloud computer 5, the guide portion 25c of the vehicle 2 starts automatic pick-up according to the time of the vehicle movement start instruction St7 (step 310). In this way, the start of automatic pick-up of the vehicle 2 is regulated so that the vehicle 2 reaches the entry position simultaneously with the user.

After the vehicle movement start instruction St7 is output to the vehicle 2, the operation portion 26 of the cloud computer 5 transmits a report (vehicle movement start report St8) indicating that the parked vehicle 2 has started to move to the specified entry position to the terminal 3 via network communication (step 210). Upon receiving the vehicle movement start report St8 from the cloud computer 5, the guide portion 25b of the terminal 3 confirms that the movement of the vehicle 2 has been started in accordance with the expectation of the user reaching the entry position (step 116). That is, the guide section 25b notifies the user via the terminal 3 of: the vehicle 2 will arrive at the entry location at the expected time for the user to arrive at the entry location. This allows the user to recognize that the parked vehicle 2 has started to move toward the entry position and judge that he or she can continue walking to the entry position.

During the automatic pick-up, the vehicle position measuring section 23 constantly measures its own position to transmit the position information Db to the cloud computer 5 via network communication (step 311). Therefore, the guide portion 25a of the cloud computer 5 constantly monitors whether the vehicle 2 is moving correctly toward the specified entry position using the position information Db acquired from the vehicle 2.

When it is determined that the user has reached the vicinity of the destination by using the remaining distance from the parking position on the route R, the guide portion 25c of the vehicle 2 transmits a notification indicating the arrival (destination vicinity arrival notification St9) to the cloud computer 5 via network communication (step 312). When the destination vicinity arrival notifications St3, St9 are received from both the vehicle 2 and the terminal 3, the guidance section 25a of the cloud computer 5 transmits an instruction or a request for starting near field communication (for example, bluetooth communication) to both the vehicle 2 and the terminal 3 via network communication (step 207). This establishes near field communication between the vehicle 2 and the terminal 3 which are close to each other.

Then, in the same manner as when the user moves directly to the parked vehicle 2, the second guidance is performed by using the in-vehicle device 4. This allows the user to immediately recognize the vehicle 2 arriving at the entry position. Therefore, even if the vehicles 2 are parked side by side at the entry position, the user immediately recognizes which vehicle 2 belongs to the user.

As described above, in the present embodiment, the first guidance or the second guidance is selectively performed depending on whether the distance between the terminal 3 carried by the user and the vehicle 2 is long or short, thereby providing guidance to the parking position of the vehicle 2. This allows appropriate guidance corresponding to the distance between the vehicle 2 and the terminal 3 when providing guidance to the parking position of the vehicle 2. Thus, proper guidance to the vehicle position is achieved.

After the user leaves the vehicle 2, the vehicle 2 autonomously locates a parking position and automatically travels to the parking position to park. In the case where the vehicle 2 autonomously travels to locate the parking position after the user leaves the vehicle 2 and parks himself by automatically traveling, the user cannot recognize the parking position when the user tries to return to the parked vehicle 2. However, the first guidance and the second guidance allow the user to reach the parking position of the vehicle 2.

The terminal position measuring section 22 and the vehicle position measuring section 23 measure their own positions using at least one of network communication via a wireless LAN and global positioning systems (GPS 11, 16) that measure positions using radio waves from the satellites 10. Therefore, the positions of the vehicle 2 and the terminal 3 are accurately measured using the global positioning system (GPS 11, 16). Even if the vehicle 2 and the terminal 3 are located at positions that cannot receive radio waves of the global positioning system (GPS 11, 16), the positions can be identified by network communication via the wireless LAN, such as Wi-Fi communication. This is advantageous for correctly measuring the current positions of the vehicle 2 and the terminal 3.

The vehicle position guidance system 1 includes an operation portion 26, and the operation portion 26 causes the parked vehicle 2 to automatically travel to an entry position designated by a user. In order for the user to enter the vehicle, the operating portion 26 obtains a route leading to the entry position and guides the user to the entry position according to the route. The user enters the vehicle 2 by specifying the entry position of the vehicle 2 and causing the vehicle 2 to automatically travel to the entry position. This ensures the convenience of the user entering the vehicle 2.

The operation section 26 obtains an expected time when the user will reach the entry position, and causes the vehicle 2 to automatically travel according to the expected time. Therefore, the time at which the parked vehicle 2 will reach the entry position can be adjusted to the time at which the user will reach the entry position. For example, if the parked vehicle 2 arrives at the entry location before the user arrives at the entry location, the vehicle 2 must wait for a period of time, resulting in formation of a queue of vehicles 2. This occurrence is restricted in the present embodiment.

The first guidance is provided by at least one of a sound notification and a screen display in the terminal 3. Therefore, the use of the sound notification or the screen display in the terminal 3 allows the user to be easily notified of the approximate position of the parked vehicle 2.

The second guidance is provided by projection using an image (projection image 30) of the in-vehicle apparatus 4. Therefore, since the projected image of the in-vehicle device 4 of the vehicle 2 allows its own position to become conspicuous, the user immediately recognizes the vehicle position.

The guide section 25 checks whether near field communication between the vehicle 2 and the terminal 3 is established. When the near field communication is established, the guide section 25 performs the second guidance to perform the guidance by projecting an image with the in-vehicle apparatus 4. Therefore, when the vehicle 2 and the terminal 3 are close to each other so as to establish near field communication between the vehicle 2 and the terminal 3, the second guidance is performed. Therefore, the second guidance is performed in an optimal condition where the user has reached the vicinity of the vehicle 2.

The projection image 30 provided by the in-vehicle apparatus 4 associates the vehicle 2 and the terminal 3 with each other. Thus, a unique projection image 30 set for each user is displayed. This is advantageous in allowing the user to easily find the parked vehicle 2.

The vehicle position guidance system 1 may include a registration section 35 (see fig. 1), and the registration section 35 manages registration of the projected image 30 by the user. When the user wants to register the projected image 30, the user notifies the cloud computer 5 of the projected image 30. When receiving a projected image change request from the terminal 3, the registration section 35 allows a change input of the projected image 30. This allows the user to select the projection image 30 by using the terminal 3 (or a device such as a car navigation system of the vehicle 2) and set the selected projection image 30 as a new projection image 30. Therefore, the user can set the image he or she wants to project for the in-vehicle apparatus 4. In addition, the projected image 30 may be updated periodically.

The above embodiment may be modified as follows. The above-described embodiments and the following modifications may be combined as long as the combined modifications remain technically consistent with each other.

The positions of the vehicle 2 and the terminal 3 may be measured by using various types of communication such as GPS, Wi-Fi, 4G, 5G, and bluetooth. Accordingly, various types of communication can be applied to network communication.

The navigation data Dn to be generated is not limited to the two types of navigation data Dn (Dn1, Dn2) as described in the above-described embodiments. Alternatively, three or more kinds of navigation data Dn may be provided by generating various assumed routes.

The calculator 24 is not necessarily arranged in the cloud computer 5. Alternatively, the calculator 24 may be disposed in, for example, the vehicle 2 or the terminal 3.

Even when the terminal 3 is located near the vehicle 2, if it is difficult for the user to find the vehicle 2 because a building or the like blocks his or her view, the first guidance can be continued. In contrast, even when the terminal 3 is located at a position away from the vehicle 2, if there is no obstacle, the first guidance can be performed, and thus the user can immediately find the vehicle 2.

The first guidance is not limited to, for example, rough guidance. The first guidance only needs to provide route guidance by using the terminal 3 carried by the user.

When the user walks toward the parking position of the vehicle 2, the user can switch to an operation to enter the vehicle 2 at the specified entry position. This improves the convenience for the user.

In the second guidance, the image does not have to be projected onto the vehicle body or the glass surface. Alternatively, the image may be projected onto another location.

When the vehicle 2 and the terminal 3 are capable of communicating directly with each other, for example, various services may be provided by using videos registered in the in-vehicle video playback system, speakers of the vehicle 2, speakers of the terminal 3, and the like. Examples of services include playing a welcome video, unlocking the doors, narrating a schedule, setting navigation to the next destination, and turning on the air conditioner of the vehicle, etc. In addition, the image captured by the camera in the vehicle 2 may be transmitted to the terminal 3 so that the user can see the image of the surrounding environment of the vehicle 2 or check how crowded the surrounding environment of the vehicle is.

The cloud computer 5 may notify the vehicle 2 and the terminal 3 that the near field communication has started via the network communication.

The second guidance is preferably for example a sign that the guidance does not disturb the originality of someone. In this case, when the user approaches the vehicle 2, an eye-catching mark can be newly shown.

The second guidance need not be performed by direct communication between the vehicle 2 and the terminal 3. Alternatively, for example, the second boot may be performed by the cloud computer 5 via network communication.

The second guidance is not limited to the visual notification, and may be an audible notification. Alternatively, the second guidance may be a combination of a visual notification and an audible notification.

In the second guidance, the vehicle 2 only needs to notify the user of its own position by notification using, for example, an on-vehicle warning light or hazard light.

The terminal 3 is not limited to a multi-function mobile phone. Alternatively, the terminal 3 may be, for example, a smart key (registered trademark) for the vehicle 2 or a wireless key (mechanical key) with a screen.

The controller 9 that manages the vehicle position guidance system 1 in the vehicle 2 may be, for example, a portable terminal.

The vehicle position guidance system 1 does not necessarily include the operation portion 26. That is, the vehicle position guidance system 1 does not necessarily include a function of autonomously traveling the vehicle 2 to the parking position by the automatic traveling after the user leaves the vehicle 2.

The vehicle 2 is not limited to a gasoline vehicle. Alternatively, the vehicle 2 may be, for example, a hybrid vehicle, an electric vehicle, or a fuel cell vehicle.

Description of the reference numerals

1) A vehicle position guidance system; 2) a vehicle (parked vehicle); 3) a terminal; 4) an in-vehicle device; 11, 16) Global Positioning System (GPS); 22) a terminal position measuring section; 23) a vehicle position measuring section; 24) a calculator; 25) a guide section; 25a-25c) a guide; 26) an operation section; 30) projecting an image; 35) a registration section; da) position information; db) location information; r) route