JP2008123028A - Mobile terminal, vehicle guidance system and guidance method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mobile terminal, a vehicle guidance system and a guidance method, allowing easy guidance of a vehicle to a parking objective position by use of the camera-equipped mobile terminal without needing a costly monitoring camera, an original guidance sensor, a special reference marker or the like. <P>SOLUTION: This camera-equipped cellphone 1 comprises a cellphone wireless part 2, an antenna 3, a camera 4, an acceleration sensor 5, a transmission/reception part 6, an operation part 7, a display part 8, a speaker 9, and a control part 10. The control part 10 has a guidance control part 11. When a "guidance mode" becomes effective (step S1/Yes), the guidance control part 11 calculates distance/direction data from one's own vehicle to a guidance objective start point from previously imaged image data of a guidance destination point and image data imaged from an installed state to the vehicle (step S2). Calculated guidance information is notified from the display part 8 and the speaker 9 (step S5). <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a portable terminal, a vehicle guidance system, and a guidance method, and more particularly to a portable terminal, a vehicle guidance system, and a guidance method that guide a vehicle using a camera-equipped portable terminal.

  Driving operation when parking a vehicle is not easy, especially when the parking space is not enough, even a skilled driver is difficult, and even more difficult for a beginner driving. Therefore, conventionally, a system for guiding a vehicle when parking is proposed.

  For example, a system that guides using image data of the outside of the vehicle and the parking target area has been proposed. Specifically, it calculates the relative position and attitude angle between the current position of the vehicle and the guidance position, calculates a guidance trajectory for guiding the vehicle to the guidance position from these, and automatically steers the vehicle in accordance with the guidance activation. There has been proposed a vehicle guidance device (see, for example, Patent Document 1) including a steering control means for performing the operation. The vehicle position and orientation are calculated from the image information of the video imaged by the stereo camera.

  In addition, in order to make it possible to accurately recognize the position of the vehicle without using high-performance GPS and to greatly reduce the cost of the vehicle guidance system, it is formed in advance on the parking area with a predetermined color fluorescent paint or the like. The reference marker (start line) is imaged by a monitoring camera provided in the vehicle, and the imaging data of the reference marker and the imaging data of a plurality of guidelines formed in the parking target area captured by another monitoring camera From the above, a vehicle guidance method and a vehicle guidance system for calculating a relative positional relationship of the own vehicle with respect to the parking target area and calculating an ideal route to the parking target area (for example, see Patent Document 2) have been proposed. .

  A method for measuring a distance from camera image data is conventionally known (see, for example, Patent Document 3).

A vehicle monitoring system has been proposed that can check or record images inside and outside a driving vehicle using a camera-equipped mobile phone as an imaging means (see, for example, Patent Document 4). This is because it is unreasonable to purchase an expensive navigation device when only image confirmation inside and outside the vehicle is required. By arranging the camera at a desired location, the operator can check an image of an arbitrary location (such as a rear seat) inside or outside the vehicle while the vehicle is running. In addition, it is possible to check the situation of an accident or the like by automatically recording an image when the acceleration of the vehicle exceeds a predetermined value (for example, when the vehicle stops suddenly).
JP-A-9-50596 JP 2001-277969 A JP 2003-269917 A JP 2005-348329 A

  However, in the conventional parking guidance technology, it is necessary to equip a guidance device with a surveillance camera that is expensive and cannot be arbitrarily removed. In addition, there is a problem that a GPS (Global Positioning Systems) has to be built in or a vehicle-specific inductive sensor has to be developed independently.

  Further, in the vehicle guidance method based on the reference marker (start line) formed in advance on the parking area with a predetermined color fluorescent paint or the like, unless such a special reference marker is formed, There is a problem that vehicle guidance cannot be performed and it is impossible to deal with parking areas in various places.

  In the above-described prior art, an automobile monitoring system that can confirm or record images inside and outside the automobile using a camera-equipped mobile phone is also proposed. However, in such a technique, guidance support for driving operation particularly when parking is proposed. There is no disclosure about.

  The present invention has been made in view of such a situation, and does not require an expensive surveillance camera, a unique inductive sensor, a special reference marker, or the like, and easily parks a vehicle using a camera-equipped mobile terminal. It is an object to provide a portable terminal, a vehicle guidance system, and a guidance method that can be guided to a target position.

  According to the first aspect of the present invention, the storage means for storing the imaging data of at least one guidance destination point, the at least one imaging means for imaging the moving point, and the position and moving speed of the mobile terminal are measured. Based on the acceleration detection means, the imaging data of the guidance destination point, the imaging data of the moving point imaged by the imaging means, and the position data and velocity data of the mobile terminal detected by the acceleration detection means A portable terminal comprising: guidance information calculation means for calculating guidance information to a destination point; and output means for outputting the guidance information.

  According to a second aspect of the present invention, in the portable terminal according to the first aspect, the guidance information is distance data to the guidance destination point and an orientation of the guidance destination point.

  According to a third aspect of the present invention, in the portable terminal according to the first or second aspect, when the guidance information cannot be calculated by the guidance information calculation unit, the portable terminal includes a guidance range determination unit that determines that the information is out of the guidance range. The means is characterized in that when the guidance range judgment means judges that the guidance range is out of the guidance range, the fact that guidance is impossible is output.

  According to a fourth aspect of the present invention, in the mobile terminal according to any one of the first to third aspects, the imaging data of the guidance destination point, the imaging data of the obstacle, and the moving image captured by the imaging means A guidance alarm area judging means for judging whether or not the area collides with an obstacle based on the imaging data of the point and the position data and velocity data of the mobile terminal detected by the acceleration detecting means, and the storage means Imaging data of an object is stored, and the output means outputs a collision notice when it is determined by the guidance alarm area judgment means that it is within the guidance alarm area.

  According to a fifth aspect of the present invention, in the portable terminal according to any one of the first to fourth aspects, the output means is based on display of guidance information on the display means or voice of guidance information on the voice output means. It is at least one of outputs.

  The invention according to claim 6 is a vehicle guidance system comprising a mobile terminal and a vehicle, wherein the mobile terminal stores storage means for storing imaging data of at least one guidance destination point, and a moving point At least one or more image pickup means for picking up images, acceleration detection means for measuring the position and moving speed of the portable terminal, image pickup data for the guidance destination point, image pickup data for the moving point imaged by the image pickup means, Guidance information calculation means for calculating guidance information to the guidance destination point based on position data and velocity data of the portable terminal detected by the acceleration detection means, and the vehicle includes an adapter for attaching the portable terminal; Receiving means for receiving the guidance information from the portable terminal, and displaying the received guidance information on the display means or outputting by voice in the voice output means And output means for outputting at least either a vehicle guidance system characterized in that it comprises.

  The invention described in claim 7 includes a step of storing imaging data of at least one guidance destination point, a step of imaging a moving point, a step of measuring a position and a moving speed of a mobile terminal, and the guidance purpose Guidance information to the guidance destination point based on the imaging data of the point, the imaging data of the moving point imaged by the imaging step, and the position data and speed data of the mobile terminal detected by the measurement step A guidance method comprising: a calculating step; and a step of outputting the guidance information.

  The invention according to claim 8 is the guidance method according to claim 7, wherein the guidance information is distance data to the guidance destination point and an orientation of the guidance destination point.

  The invention described in claim 9 includes the step of determining in the guidance method according to claim 7 or 8 that if the guidance information cannot be calculated by the step of calculating the guidance information, the step of judging that the guidance information is out of the guidance range, and outputting the guidance information. The step is characterized in that, when it is determined that it is out of the guidance range by the step of determining that it is out of the guidance range, the fact that guidance is impossible is output.

  A tenth aspect of the present invention is the guidance method according to any one of the seventh to ninth aspects, wherein the imaging data of the guidance destination point, the imaging data of the obstacle, and the moving imaged by the imaging step The step of determining whether or not the vehicle is within a guidance alarm area that collides with an obstacle based on the imaging data of the point and the position data and velocity data of the mobile terminal detected by the measuring step, and the storing step comprises The obstacle imaging data is stored, and the output step outputs a collision notice when it is determined that the step is within the guidance alarm area by the step of judging whether or not it is within the guidance alarm area. To do.

  According to an eleventh aspect of the present invention, in the guidance method according to any one of the seventh to tenth aspects, the outputting step includes displaying guidance information on a display means or sounding guidance information on a voice output means. It is at least one of the outputs by.

  According to the present invention, an expensive surveillance camera, a unique guidance sensor, a special reference marker, and the like are not required, and the vehicle can be easily guided to the parking target position using the camera-equipped mobile terminal.

  Hereinafter, a mobile terminal, a vehicle guidance system, and a guidance method according to an embodiment of the present invention will be described in detail with reference to the drawings. The embodiments described below are preferred embodiments of the present invention, and thus various technically preferable limitations are given. However, the scope of the present invention is particularly limited in the following description. As long as there is no description which limits, it is not restricted to these aspects.

  FIG. 1 is a block diagram of a mobile terminal according to an embodiment of the present invention. In the present embodiment, a camera-equipped mobile phone 1 will be described as an example of a mobile terminal. As shown in FIG. 1, the camera-equipped mobile phone 1 includes a mobile phone radio unit 2, an antenna 3, a camera 4, an acceleration sensor 5, a transmission / reception unit 6, an operation unit 7, a display unit 8, a speaker 9, and a control unit 10. Is done. The control unit 10 includes a guidance control unit 11.

  The camera 4 images the vehicle guidance destination point. For example, when a vehicle is desired to be parked in a parking lot, the parking space is a guidance destination point. A plurality of cameras 4 may be considered. By installing a plurality of cameras, it is possible to increase the calculation accuracy between distances.

  The acceleration sensor 5 measures the speed at which the mobile phone attached to the vehicle moves.

  The transmission / reception unit 6 informs the user of the voice / data transmission / reception of the telephone and the service of the mobile communication terminal.

  In the operation unit 7, the user can perform key input to select and use the function of the mobile phone 1. Switching of the presence / absence of “guidance mode” described later can also be operated from the operation unit 7.

  The display unit 8 visually represents a message for guiding to the guidance destination point and the service of the mobile phone 1 to the user.

  The speaker 9 is a speaker that audibly expresses messages for guidance and services of the mobile phone 1 to the user.

  Depending on the installation position of the mobile phone 1 in the vehicle, the driver who is the user may not be able to see the display unit 8 or may not be able to hear the sound from the speaker. Therefore, it can be considered that a guidance instruction is issued from a place where the user can visually recognize, a display unit installed at a position where sound can be heard, and a speaker.

  The control unit 10 controls the mobile phone 1. The control unit 10 includes a guidance control unit 11. The guidance control unit 11 stores an image obtained by imaging the guidance destination with the camera 4, and is input in real time from the acceleration sensor 5 and the camera 4. The direction and distance to the guidance destination are calculated, and the display unit 8 and the speaker 9 are activated.

  Next, the operation process of the vehicle guidance procedure using the camera-equipped mobile phone 1 according to the embodiment of the present invention will be described with reference to FIG. FIG. 2 is a flowchart showing an operation process of the vehicle guidance system according to the present embodiment.

  When guiding a vehicle or the like to a guidance destination point, the camera-equipped mobile phone 1 is fixed at an arbitrary location on the vehicle. Remember. This is because imaging data of the guidance destination point is necessary when calculating guidance information (distance data to the guidance destination point, direction data of the guidance destination point) described later.

  It is also conceivable that a plurality of guidance destination points are imaged, and these are used when calculating the distance / orientation data so that the guidance information is calculated more reliably.

  The operation process according to the present embodiment is started when the “guidance mode” is activated (step S1 / Yes). The operation unit 7 can be instructed to switch the “guidance mode”. In addition, when the “guidance mode” is set, it may be possible to notify the user to that effect through the display unit 8 or the speaker 9.

  When the “guidance mode” is enabled (step S1 / Yes), the guidance control unit 11 captures the image data of the guidance destination point (target area to be parked) captured in advance and the image data captured from the state attached to the vehicle. The distance / azimuth data from the vehicle to the guidance destination start point is calculated (step S2).

  The distance / orientation data is informed to the user as guidance information via the display unit 8 and the speaker 9 described later (see step S5). However, since the vehicle moves based on the guidance information, a new guidance is always provided. Information is needed.

  Therefore, it is conceivable to repeat the operation process shown in this flowchart to guide the vehicle to the destination point. In this case, since the vehicle is moving, the distance to the destination point and the direction are always changing. Therefore, it is conceivable to calculate distance / direction guidance information at any time using data (image data) imaged at any time by the camera 4, speed data of a mobile terminal attached to the vehicle measured by the acceleration sensor 5, and the like. .

  It is determined whether the azimuth / distance to the guidance destination calculated in step S2 is within the guidance range (step S3). In this specification and the like, the “guidance range” is a range in which guidance to a parking target point is possible.

  For example, whether or not a part of the image data of the guidance destination point imaged in advance is included in the image data captured from the state attached to the vehicle, a limit distance that can be calculated in advance is obtained, and the calculated distance Judgment is made based on whether or not the data exceeds the limit value of the limit distance.

  When it is out of the guidance range (step S3 / No), the display unit 8 and the speaker 9 are used to notify that guidance is impossible (step S7).

  On the other hand, if it is within the guidance range (step S3 / Yes), it is determined whether or not it is a guidance alarm area (step S4). In this specification and the like, the “guidance alarm area” is a range in which it can be detected whether or not the vehicle collides with an obstacle. Obstacles are detected from the image data of the obstacle imaged before fixing the mobile phone 1 to the vehicle and the data imaged from the state of being attached to the vehicle.

  Specifically, for example, the area determination is performed in the same manner as in the above guidance range, such as whether or not the image data captured from the state attached to the vehicle includes a part of the imaging data of the obstacle imaged in advance. Can be considered.

  If it is within the guidance alarm area (step S4 / No), since there is a possibility of collision with an obstacle, a collision alarm is notified from the display unit 8 and the speaker 9 (step S6). At this time, when the avoidance route can be calculated, it may be possible to notify the avoidance route. It is also conceivable to notify the distance to the obstacle and the direction of the obstacle.

  When outside the guidance alarm area (step S4 / Yes), the guidance direction and distance are notified from the display unit 8 and the speaker 9 (step S5).

  According to the above embodiment, when moving the vehicle to the guidance destination point, the distance data obtained from the imaging data of the destination point previously captured by the camera of the mobile phone, the acceleration sensor and the imaging data input in real time during the movement Based on this, it is possible to calculate the azimuth and distance to the destination point, and smoothly guide to the destination point with the optimum route.

  In addition, since the camera-equipped mobile phone is equipped with functions necessary for calculating guidance information, such as azimuth / distance calculation means (corresponding to the guidance control unit 11 in FIG. 1), any mobile vehicle to be guided can be selected. All vehicles can be guided simply by installing them at the location.

  According to the present invention, when an arbitrary object such as a vehicle is moved in a parking lot, a construction site, or the like, the mobile terminal can be simply guided to the destination point by simply attaching the mobile terminal to the moving object.

  The program for the CPU of the mobile terminal to execute the process shown in the flowchart of FIG. 2 constitutes a program according to the present invention. As a recording medium for recording the program, a semiconductor storage unit, an optical and / or magnetic storage unit, or the like can be used. By using such a program and recording medium in a system having a configuration different from that of the above-described embodiment and causing the CPU to execute the program, substantially the same effects as those of the present invention can be obtained.

  Although the present invention has been specifically described based on the preferred embodiments, it is needless to say that the present invention is not limited to the above-described ones and can be variously modified without departing from the gist thereof.

It is a block block diagram of the portable terminal which concerns on embodiment of this invention. It is a flowchart which shows the operation | movement process which concerns on embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Mobile phone with a camera 2 Mobile phone radio | wireless part 3 Antenna 4 Camera 5 Acceleration sensor 6 Transmission / reception part 7 Operation part 8 Display part 9 Speaker 10 Control part 11 Guidance control part

Claims (11)

Storage means for storing imaging data of at least one guidance destination point;
At least one imaging means for imaging a moving point;
Acceleration detecting means for measuring the position and moving speed of the mobile terminal;
Guidance to the guidance destination point based on the imaging data of the guidance destination point, the imaging data of the moving point imaged by the imaging means, and the position data and velocity data of the mobile terminal detected by the acceleration detection means Guidance information calculation means for calculating information;
An output means for outputting the guidance information.   The mobile terminal according to claim 1, wherein the guidance information includes distance data to the guidance destination point and an orientation of the guidance destination point. If the guidance information cannot be calculated by the guidance information calculation means, the guidance information calculation means includes guidance range determination means for determining that the guidance information is out of the guidance range,
3. The portable terminal according to claim 1, wherein the output unit outputs a message indicating that guidance is not possible when the guidance range determination unit determines that the guidance range is out of the guidance range. 4. Based on the imaging data of the guidance destination point, the imaging data of the obstacle, the imaging data of the moving point imaged by the imaging means, and the position data and speed data of the mobile terminal detected by the acceleration detection means It has a guidance alarm area judging means for judging whether or not it is a range that collides with an obstacle,
The storage means stores imaging data of an obstacle,
The portable terminal according to any one of claims 1 to 3, wherein the output means outputs a collision when the guidance alarm area judgment means judges that it is within the guidance alarm area. .   The said output means is at least one of the display of the guidance information on a display means, or the output by the audio | voice of the guidance information in an audio | voice output means, The any one of Claim 1 to 4 characterized by the above-mentioned. Mobile device. A vehicle guidance system comprising a mobile terminal and a vehicle,
The portable terminal is
Storage means for storing imaging data of at least one guidance destination point;
At least one imaging means for imaging a moving point;
Acceleration detecting means for measuring the position and moving speed of the mobile terminal;
Guidance to the guidance destination point based on the imaging data of the guidance destination point, the imaging data of the moving point imaged by the imaging means, and the position data and velocity data of the mobile terminal detected by the acceleration detection means Guidance information calculation means for calculating information,
The vehicle is
An adapter for attaching the portable terminal;
Receiving means for receiving the guidance information from the portable terminal;
And a vehicle guidance system comprising: output means for outputting the received guidance information by at least one of display on the display means and output by voice from the voice output means. Storing imaging data of at least one guidance destination point;
Imaging a moving point; and
Measuring the position and moving speed of the mobile terminal;
Based on the imaging data of the guidance destination point, the imaging data of the moving point imaged by the imaging step, and the position data and speed data of the mobile terminal detected by the measurement step, Calculating guidance information;
And a step of outputting the guidance information.   The guidance method according to claim 7, wherein the guidance information includes distance data to the guidance destination point and an orientation of the guidance destination point. If the guide information cannot be calculated by the step of calculating the guide information, the method includes a step of determining that the guide information is out of the guide range;
The guidance method according to claim 7 or 8, wherein the outputting step outputs that the guidance is impossible when it is judged that it is outside the guidance range by the step of judging that it is outside the guidance range. . Imaging data of the guidance destination point, imaging data of an obstacle, imaging data of a moving point imaged in the imaging step, and position data and speed data of the mobile terminal detected in the measuring step A step of determining whether or not it is within a guidance alarm area that collides with an obstacle,
The storing step stores imaging data of an obstacle,
10. The output according to claim 7, wherein if the step of outputting is determined to be within the guidance alarm area by the step of determining whether or not it is within the guidance alarm area, the fact that there is a collision is output. 2. The induction method according to item 1.   11. The method according to claim 7, wherein the outputting step is at least one of display of guidance information on a display unit and output of guidance information by voice in a voice output unit. Guidance method.

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