JP7329343B2 - Mobility support device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a mobility assistance device and a mobility assistance terminal device, and more particularly to a mobility assistance device that assists in setting a destination of a mobile body, for example.

2. Description of the Related Art A parking assistance device is known that assists in parking a vehicle at a target parking position. For example, Patent Document 1 discloses a display control unit that superimposes a target parking frame on a captured image showing the surroundings of a vehicle, and a target parking frame that moves the target parking frame to a position input by a user using an input unit. A parking assist system is disclosed that includes a frame movement means.

JP 2010-89642 A

For example, in a vehicle capable of autonomous driving, a situation may occur in which the user of the parking assist system as described above instructs the destination of the vehicle while standing outside the vehicle. In such a case, one of the problems is that it is more preferable to intuitively and easily indicate the target parking position.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a movement support device that enables the user to intuitively and easily indicate a target destination when setting the destination of a vehicle. is one of

According to a first aspect of the present invention, there is provided a vehicle movement support device for supporting movement of a vehicle capable of autonomous travel, comprising: a projection unit for projecting one or more marks at mutually different positions around the vehicle; Alternatively, a specific information acquisition unit that acquires specific information that is information that specifies one of a plurality of marks, and a destination that sets a target position when the vehicle moves autonomously based on the specific information. and a setting unit.

According to a ninth aspect of the invention, there is provided a method of setting a target position for movement of the vehicle by a vehicle movement support device for supporting movement of a vehicle capable of autonomous travel, wherein projection units are different from each other around the vehicle. a projection step of projecting one or more marks onto a position; a specific information obtaining step of obtaining specific information that is information identifying one of the one or more marks by a specific information obtaining unit; and a movement destination. and a destination setting step in which the setting unit sets a target position when the vehicle autonomously travels based on the specific information.

According to a tenth aspect of the present invention, there is provided a vehicle movement support program that includes a computer and is executed by a vehicle movement support device that supports movement of a vehicle capable of autonomous travel, wherein one or more a projection unit that projects a plurality of marks; a specific information acquisition unit that obtains specific information that is information specifying one of the one or more marks; and the vehicle autonomously travels based on the specific information. The computer functions as a movement destination setting unit that sets a target position when moving with.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram schematically showing a mobility support system including an in-vehicle device as a mobility support device and a terminal device as a mobility support terminal device according to Example 1 of the present invention; 1 is a diagram illustrating an example of a configuration of a movement support device according to Embodiment 1; FIG. 2 is a diagram illustrating an example of a configuration of a terminal device according to Example 1; FIG. 4 is a diagram schematically showing an example of a mark projected around the vehicle in Embodiment 1. FIG. 4 is a diagram showing the correspondence between landmarks projected around a vehicle and destination coordinates in Example 1. FIG. 4 is a diagram showing an example of a mark selection screen displayed on the display of the terminal device of Example 1. FIG. 4 is a diagram showing an example of a mark selection screen displayed on the display of the terminal device of Example 1. FIG. 4 is a diagram schematically showing an example of a mark projected around the vehicle in Embodiment 1. FIG. 4 is a diagram schematically showing an example of a mark projected around the vehicle in Embodiment 1. FIG. 4 is a diagram showing an example of a mark selection screen displayed on the display of the terminal device of Example 1. FIG. FIG. 4 is a diagram showing an example of a screen displayed on the display of the terminal device of Example 1; FIG. 4 is a diagram showing an example of a screen displayed on the display of the terminal device of Example 1; FIG. 4 is a diagram showing an example of a screen displayed on the display of the terminal device of Example 1; FIG. 4 is a diagram showing an example of a screen displayed on the display of the terminal device of Example 1; FIG. 4 is a diagram illustrating an example of a routine executed by the movement support device in Embodiment 1; 4 is a diagram illustrating an example of a routine executed by a terminal device in Embodiment 1; FIG. FIG. 11 is a diagram showing an example of a reception screen displayed on the display of the terminal device of Example 2; FIG. 10 is a diagram showing an example of a display projected around a vehicle in Example 2; FIG. 10 is a diagram showing an example of a display projected around a vehicle in Example 2; FIG. 10 is a diagram illustrating an example of a routine executed by the movement support device in Example 2; FIG. 10 is a diagram illustrating an example of a routine executed by a terminal device in Example 2;

Examples of the present invention will be described in detail below. In the following description and accompanying drawings, substantially the same or equivalent parts are denoted by the same reference numerals.

FIG. 1 schematically shows the configuration of a mobility support system 100 including an in-vehicle device 10 as a mobility support device and a terminal device 30 as a mobility support terminal device according to Embodiment 1 of the present invention. As shown in FIG. 1, the movement support system 100 includes an in-vehicle device 10 mounted on a vehicle M. As shown in FIG. FIG. 1 schematically shows a top view of a vehicle M. As shown in FIG.

The in-vehicle device 10 and the terminal device 30 are configured to be able to exchange data with each other. Communication between the in-vehicle device 10 and the terminal device 30 is performed by wireless communication, for example, according to a wireless LAN standard such as IEEE802.11, Wi-Fi (registered trademark) (Wireless Fidelity), or Wi-Fi Direct (registered trademark). , or according to other wireless communication standards such as Bluetooth®.

For example, the wireless communication is performed by P2P (Peer to Peer) communication. Transmission and reception of data by wireless communication is performed using a communication protocol such as TCP/IP, for example. Also, for example, the wireless communication may be performed by broadcast transmission.

In this embodiment, the vehicle M equipped with the on-vehicle device 10 will be described as an autonomous vehicle capable of autonomous driving. For example, the vehicle M can be driven at level 4 or higher in the SAE J3016 standard.

For example, the vehicle M can be parked or moved by autonomous driving after the driver of the vehicle M gets off. For example, the driver of the vehicle M can stop and get off the vehicle in the vicinity of the desired parking location, and then set the parking position, that is, the destination.

Further, for example, when the driver of the vehicle M uses the vehicle M for collection or delivery work, it is necessary to get off the vehicle multiple times within a short distance. Sometimes. In such a case, the driver of the vehicle M can, for example, set a short-distance destination after getting off the vehicle M, and have the vehicle M drive autonomously to the destination. can be done.

As shown in FIG. 1 , a vehicle M equipped with an on-vehicle device 10 is provided with a camera 11 and a projection device 13 . In this embodiment, for example, the camera 11 and the projection device 13 are installed at the front, rear, left and right side mirrors of the vehicle M. As shown in FIG.

Each of the cameras 11 is, for example, an imaging device that takes predetermined ranges in the front, rear, and sides of the vehicle M as an imaging range. Image data captured by each of the cameras 11 is used, for example, for autonomous travel of the vehicle M. FIG.

The projection device 13 is a projector installed so as to be able to project projection light onto a plurality of positions around the vehicle M. As shown in FIG. As shown in FIG. 1, for example, the projection device 13 is installed so as to be able to project projection light onto a predetermined range in front, rear, and sides of the vehicle M. As shown in FIG.

In this embodiment, the projection device 13 is configured and attached so as to be capable of projecting projection light around the vehicle M, which serves as a mark of a destination candidate of the vehicle M. As shown in FIG. For example, when the vehicle M is stopped on the road, the mark is projected onto the road surface around the vehicle M.

As shown in FIG. 1, the terminal device 30 is equipped with a camera 31 . The terminal device 30 also has a display 33 as a display unit and a touch panel 35 as a reception unit, and can display information on the display 33 and receive input operations via the touch panel 35 .

FIG. 2 shows an example of the configuration of the in-vehicle device 10. As shown in FIG. The in-vehicle device 10 is configured by connecting various parts via a system bus 15 . The storage unit 17 is, for example, a storage device configured by a hard disk device, SSD (solid state drive), flash memory, or the like.

The storage unit 17 stores various programs executed in the vehicle-mounted device 10 . Various programs may be acquired from other server devices or the like via a network, for example, or may be recorded on a recording medium and read via various drive devices. For example, the storage unit 17 stores the type of image projected on the vehicle M on which the vehicle-mounted device 10 is mounted and the projection position.

The control unit 19 is a computer that includes a CPU (Central Processing Unit) 19A, a ROM (Read Only Memory) 19B and a RAM (Random Access Memory) 19C, and controls the operation of the in-vehicle device 10 . Various functions are realized by the CPU 19A reading and executing various programs stored in the ROM 19B and the storage unit 17 .

In this embodiment, the control unit 19 controls transmission and reception of data between the in-vehicle device 10 and the terminal device 30 . For example, the control unit 19 generates data to be transmitted from the vehicle-mounted device 10 to the terminal device 30 . For example, the control unit 19 controls setting of the destination of the vehicle M. FIG.

The transmitter/receiver 21 is a network adapter such as a NIC (Network Interface Card) connected to the wireless device. The transmitting/receiving unit 21 transmits/receives data to/from the outside in accordance with instructions from the control unit 19 . The transmitting/receiving unit 21 transmits/receives data relating to setting of the destination of the vehicle M between the in-vehicle device 10 and the terminal device 30, for example.

The input unit 23 is an interface that acquires data from equipment provided in the vehicle M. FIG. The input unit 23 is connected to the camera 11, the sensor 24, and the GPS receiver 25, which are devices provided in the vehicle M. As shown in FIG. The input unit 23 acquires information necessary for traveling, such as the shape of the road around the vehicle M and the presence or absence of obstacles, from the device.

The camera 11 is attached so as to be able to image the scenery around the vehicle M. The camera 11 is attached so as to be able to image the scenery in front of, behind, and to the sides of the vehicle M, for example.

For example, the input unit 23 acquires image data of the scenery around the vehicle M from the camera 11 . The image data is used, for example, for control of automatic driving. The image data is used, for example, to collect information such as the presence or absence of a parking space, the position of the parking space, and the presence or absence of an obstacle.

The sensor 24 is one or a plurality of sensors, and includes, for example, sensors such as sonar (SONAR; Sound Navigation And Ranging), millimeter wave radar, and LiDAR (Light Detection and Ranging).

For example, the sensor 24 detects the presence or absence of an obstacle around the vehicle M. Data detected by the sensor 24 is analyzed in combination with image data from the camera 11, and used to grasp the number of vehicles around the vehicle M and traffic conditions. For example, the analysis may be performed by the control unit 19 .

The GPS receiver 25 is connected to the input section 23 and supplies current position information of the vehicle M to the input section 23 . For example, the current position information is used as a reference position for setting the destination position of the vehicle M.

The output unit 27 is connected to the automatic driving control device 28 and the projection device 13 provided in the vehicle M. The output unit 27 is an interface that supplies various information to the automatic operation control device 28 and the projection device 13 according to commands from the control unit 19 .

For example, the output unit 27 supplies information indicating the destination of the vehicle M to the automatic driving control device 28 . Further, for example, the output unit 27 supplies the projection device 13 with an instruction to project the projection light serving as a mark of the destination candidate of the vehicle M and information indicating the type and position of the mark to be projected.

FIG. 3 shows an example of the configuration of the terminal device 30. As shown in FIG. The terminal device 30 is configured by connecting various parts via a system bus 37 . The storage unit 39 is, for example, a storage device configured by a hard disk device, SSD (solid state drive), flash memory, or the like.

The storage unit 39 stores various programs executed in the terminal device 30 . Various programs may be acquired from other server devices or the like via a network, for example, or may be recorded on a recording medium and read via various drive devices. For example, information for displaying a screen for setting the destination of the vehicle M is stored.

The control unit 41 is a computer that controls the operation of the terminal device 30 including a CPU (Central Processing Unit) 41A, a ROM (Read Only Memory) 41B and a RAM (Random Access Memory) 41C. Various functions are realized by the CPU 41A reading and executing various programs stored in the ROM 41B and the storage unit 39 .

In this embodiment, the control unit 41 controls transmission and reception of data between the terminal device 30 and the in-vehicle device 10 . Further, the control unit 41 performs control related to selection of a mark to be used for setting the destination of the vehicle M from among the plurality of marks projected by the in-vehicle device 10 .

The transmission/reception unit 43 is a network adapter such as a NIC (Network Interface Card) connected to the wireless device. The transmitting/receiving unit 43 transmits/receives data to/from the outside according to instructions from the control unit 41 . For example, the transmission/reception unit 43 transmits/receives data regarding setting of the destination of the vehicle M between the terminal device 30 and the in-vehicle device 10 .

The imaging input unit 45 is connected to the camera 31 provided in the terminal device 30 and is an interface for acquiring image data from the camera 31 . For example, the imaging input unit 45 acquires an image of the projection mark projected around the vehicle M from the camera 31 .

The output unit 46 is connected to the display 33 and the speaker 47 provided in the terminal device 30 . The output unit 46 is an interface that supplies image data to be displayed on the display 33 according to commands from the control unit 41 . The output unit 46 also functions as an interface that supplies data for audio output by the speaker 47 .

For example, the output unit 46 supplies the display 33 with data for displaying a selection screen of projection marks that are candidates for the destination of the vehicle M. FIG. For example, the output unit 46 supplies the speaker 47 with data for outputting a voice prompting selection of a projected mark.

The operation input unit 48 is connected to the touch panel 35 and the microphone 49 provided on the terminal device 30 . It is an interface that receives input via the touch panel 35 and voice input from the microphone 49 under the control of the control unit 41 .

For example, the operation input unit 48 receives, via the touch panel 35, selection of a projected mark that is a candidate for the destination of the vehicle M. Further, for example, the operation input unit 48 receives voice input indicating selection of the projection mark.

FIG. 4 is a diagram showing the vehicle M and the projection marks projected around the vehicle M by the four projection devices 13 provided on the vehicle M in a top view. In FIG. 4, a plurality of projection marks MR1 to MR8 are projected on the road surface around the vehicle M. As shown in FIG. Each of the projection marks MR1 to MR8 are projected at different positions.

FIG. 4 shows an example in which a total of eight projected marks MR1 to MR8 are projected: two forward, two backward, two laterally on one side, and two laterally on the other side. Also, as shown in FIG. 4, each of the eight projected marks MR1 to MR8 has a different shape.

Although each of the eight projected marks MR1 to MR8 is a figure having a shape different from each other in this example, they may have shapes other than those shown in FIG. For example, a projection mark having a shape indicating characters, symbols, or the like may be projected.

Further, each of the eight projected marks MR1 to MR8 may include marks projected in colors different from each other. In that case, the projected marks having different colors may have the same shape. That is, each of the projection marks MR1 to MR8 may be projected so as to be distinguishable from each other.

Further, for example, each of the projection marks MR1 to MR8 may have a shape whose orientation can be uniquely identified, or may be projected together with an auxiliary figure indicating the orientation, such as an underline or an arrow. FIG. 4 shows an example of the projection marks MR1 to MR8 being projected together with lines drawn near the vehicle M. As shown in FIG.

In this embodiment, each of the projected marks MR1 to MR8 is projected at a predetermined position with respect to the position of the vehicle M, for example. For example, the predetermined position is defined by the distance and direction from a specific position on the vehicle M as a reference point. For example, with the center of the vehicle M as a reference and the coordinates of the center as a reference point (0, 0), the coordinates indicating the positions of the projection marks MR1 to MR8 may be determined.

The predetermined position is a target position, that is, a destination when the vehicle M moves autonomously. Note that the destination of the vehicle M may be determined based on the position where the selected projection mark is actually projected. In that case, for example, the camera 11 and the sensor 24 may identify the position where the selected projection mark is actually projected.

FIG. 5 is a diagram showing an example of the destination correspondence table TB1 in which patterns of marks and corresponding destinations of the vehicle M are associated with each other. The destination correspondence table TB1 is stored in the storage unit 17 of the in-vehicle device 10, for example.

As shown in FIG. 5, in the destination correspondence table TB1, each of the "mark numbers" corresponding to the projection marks MR1 to MR8 is associated with the "destination coordinates". The “destination coordinates” are coordinates indicating a position where each projection mark is projected, and are position information indicating a position to which the vehicle M will move when the corresponding projection mark is selected.

In the present embodiment, for example, the "destination coordinates" describes coordinates indicating a predetermined position with the position of the vehicle M as a reference.

The control unit 19 controls the projection device 13 based on the "destination coordinates" of the destination correspondence table TB1 to project the mark. Therefore, the mark is projected at a predetermined position based on the position of the vehicle M, for example.

Therefore, it can be said that the "destination coordinates" stored in the destination correspondence table TB1 are the positions at which the projector 13 plans to project.

It should be noted that the position where the mark is actually projected does not necessarily match the predetermined position where the mark is to be projected. For example, the projection device 13 may be configured such that the projection direction is fixed and the projection direction cannot be controlled during projection. In this case, for example, the image may not be projected at a predetermined position due to the unevenness of the road surface around the vehicle M or the misalignment of the projection device 13 .

In such a case, for example, the in-vehicle device 10 is configured to detect the actual projected position using, for example, the camera 11 or the sensor 24, and set the destination based on the detected position. may

When one mark is selected from among the plurality of projected marks, the destination coordinates of the selected mark, for example, are specified as the destination position, which is the target position when the vehicle M moves. be.

For example, the driver of the vehicle M can set the destination of the vehicle M by capturing an image of the projected mark with the camera 31 of the terminal device 30 and transmitting the image to the in-vehicle device 10 . Further, for example, the driver of the vehicle M can set the destination of the vehicle M by selecting a corresponding mark corresponding to one mark on the selection screen displayed on the display 33 of the terminal device 30. can.

FIG. 6 shows an example of a mark selection screen displayed on the display 33 of the terminal device 30 . As shown in FIG. 6, a list of corresponding marks CMR1 to CMR8 corresponding to the projected marks MR1 to MR8 projected around the vehicle M is displayed on the display 33 together with a message prompting selection.

For example, the list may be displayed in a display mode in which the color or shape of each of the projection marks MR1 to MR8 corresponds to the color or shape of each of the corresponding marks CMR1 to CMR8.

For example, the driver of the vehicle M can select one corresponding mark from the list of the corresponding marks CMR1 to CMR8 via the touch panel 35. FIG.

FIG. 7 shows another example of the landmark selection screen displayed on the display 33 of the terminal device 30 . As shown in FIG. 7, on the display 33, a vehicle graphic VM, which is a graphic representing the vehicle M, is displayed, and corresponding marks CMR1 to CMR8 corresponding to the projected marks MR1 to MR8 are displayed around it. there is

The vehicle is displayed on the display 33 so that the actual positional relationship between the vehicle M and the projected marks projected around the vehicle M corresponds to the positional relationship between the vehicle graphic VM and the corresponding marks CRM1 to CRM8. Corresponding marks CMR1 to CMR8 are displayed together with the figure VM.

For example, the driver of the vehicle M can select one of the corresponding marks CMR1 to CMR8 displayed around the vehicle graphic VM via the touch panel 35. FIG.

FIG. 8 is a plan view showing an example of mark projection control when an obstacle exists around the vehicle M. FIG. F in FIG. 8 indicates a wall existing around the vehicle M. As shown in FIG. AR1 in FIG. 8 indicates an area where the vehicle M cannot be parked due to the existence of the wall F. FIG.

The wall F becomes a factor that hinders the movement of the vehicle M. That is, it can be said that the area AR1 is an area in which the vehicle M cannot move, which is determined by factors that hinder the movement of the vehicle M around the vehicle M.

As described above, the projection marks MR1 to MR8 are projected at the predetermined positions described in the "destination positions" of the destination correspondence table TB1. As shown in FIG. 8, among the predetermined positions at which the projection marks MR1 to MR8 are projected, the positions at which the projection marks MR5 and MR6 are projected are within the area AR1.

Therefore, the vehicle M cannot be moved to the destination position assigned to the projected mark MR5 or MR6 because the wall F becomes an obstacle. Moreover, it may be difficult to project the projection marks MR5 and MR6 appropriately at predetermined positions.

In such a case, the control unit 19 can control the projection device 13 so as not to project the projection marks MR5 and MR6. In FIG. 8, the positions where the projection marks MR5 and MR6 are projected (that is, the positions of the destination coordinates described in the destination correspondence table TB1) are indicated by dashed lines. FIG. 8 shows that the projection marks MR5 and MR6 are not projected.

For example, the driver of the vehicle M can select one of the projected marks MR1 to MR4, MR7 and MR8 as the destination of the vehicle M.

In this way, when an obstacle exists at a predetermined position where the mark is projected, the obstacle becomes a factor that hinders the movement of the vehicle M. FIG. By not projecting the mark on the area where the obstacle exists, it is possible to prevent the area from being set as the target position when the vehicle M moves.

That is, the control unit 19 as a projection unit projects the one or more marks MR1 to MR8 onto an area where the vehicle M can move regardless of the presence or absence of factors that hinder the movement of the vehicle M around the vehicle M. Only landmarks that are marked can be projected.

In addition to obstacles, road markings such as stop-prohibited areas, and locations near the entrance of a building that block the passage of people and vehicles may also hinder the movement of the vehicle M. For example, an area with road markings or an area blocking the entrance of a building can be an area where the vehicle M cannot move.

FIG. 9 is a plan view showing an example of mark projection control different from the case of FIG. 8 in a situation where an obstacle exists around the vehicle M. In FIG. FIG. 9 shows a vehicle M and projected marks MR1, MR2 and MR8 projected around the vehicle M. FIG.

In FIG. 9, as in the case of FIG. 8, a wall F existing around the vehicle M and an area AR1 where the vehicle M cannot be parked due to the presence of the wall F are shown. As mentioned above, the projected marks MR5 and MR6 are not projected.

Also, in FIG. 9, the positions where the projection marks MR3 to MR7 are projected (that is, the positions of the destination coordinates described in the destination correspondence table TB1) are indicated by dashed lines. The dashed lines indicate that the projection marks MR3-MR7 are not projected.

MS in FIG. 9 is a possible parking range, which is an area occupied by the vehicle M when the vehicle M moves so that the projected mark MR7 is used as a mark and the center position of the vehicle M becomes the position where the projected mark MR7 is projected. is shown. As shown in FIG. 9, the expected parking range MS partially overlaps the area AR1 where the vehicle M cannot be parked. Therefore, the vehicle M cannot be parked using the projected mark MR7 as a mark.

In such a case, the control unit 19 may control the projection device 13 so as not to project the projection mark MR7. Similarly, the vehicle M may not project the projected marks MR3 and MR4 because they cannot be used as marks. In this case, only projection marks MR1, MR2 and MR8 are projected. For example, the driver of the vehicle M can select one of the projected landmarks MR1, MR2 and MR8 as the destination of the vehicle M.

The positions where the projected marks MR3, MR4 and MR7 are projected are not in the area where the wall F which is an obstacle exists, but considering the possible parking range of the vehicle M, the projected marks MR3, MR4 and MR7 are used as the marks to park. may not be possible. Therefore, it can be said that the marks MR3, MR4, and MR7 are marks corresponding to areas where the vehicle M cannot move, which are determined by factors that hinder the movement of the vehicle M. FIG.

That is, the control unit 19 as a projection unit corresponds to an area in which the vehicle M can move regardless of the presence or absence of factors that hinder the movement of the vehicle M around the vehicle M among the one or more marks MR1 to MR8. You can only project the landmarks that

FIG. 10 shows an example of a mark selection screen when the projected mark includes a mark that the vehicle M cannot move to a position based on the mark. In FIG. 10, the display 33 of the terminal device 30 displays a message indicating whether or not movement based on each of the corresponding marks CMR1 to CMR8 is possible, that is, whether or not selection is possible.

More specifically, in FIG. 10, messages prompting selection are displayed for the corresponding marks CRM1, CRM2 and CRM8. A message indicating that the corresponding marks CMR3 to CMR7 cannot be moved, that is, cannot be selected is displayed. For example, the selection screen of FIG. 10 may be displayed so that the touch panel 35 does not accept selection in the area where the display 33 displays CMR3 to CMR7.

For example, the selection screen of FIG. 10 may be displayed in the situation shown in FIG. 8 or FIG. With this display, it is possible to prevent the mark projected in the area where the vehicle M cannot move from being selected as the destination of the vehicle M.

That is, on the display 33, the corresponding mark corresponding to the projected mark projected in the area where the vehicle M cannot move, which is determined by the factor that hinders the movement of the vehicle M around the vehicle M, indicates that the corresponding mark cannot be selected. is displayed with an indication of

As described above, regarding an example in which the control unit 41 of the terminal device 30 displays the selection screen of FIG. Illustrated, but not limited to. For example, the corresponding mark corresponding to the mark projected in the area where the vehicle M cannot move may not be displayed.

That is, on the selection screen of FIG. 10, only corresponding marks corresponding to projected marks other than the projected marks projected in the area where the vehicle M cannot move, which are determined by factors that hinder the movement of the vehicle M around the vehicle M, are displayed. It may be displayed.

FIG. 11 is a diagram showing an example of a position specification reception screen for accepting specification of a position as a destination of the vehicle M after one mark is selected. As shown in FIG. 11, on the position designation acceptance screen, the selected corresponding mark CRM2, the vehicle figure VM(0) indicating the vehicle M at the current position, and the vehicle figure VM(1) indicating the vehicle M at the position after movement are displayed. ) is displayed on the display 33 .

For example, the orientation designation reception screen is displayed so as to be able to receive a change operation for changing the position of the vehicle graphic VM(1) on the display. For example, the driver of the vehicle M can specify the destination of the vehicle M by performing an input operation of moving the vehicle graphic VM(1) on the screen to change its position on the display. FIG. 11 shows how the vehicle graphic VM(1) is moved from the position of the vehicle graphic VM(0) and the position is specified. In addition, on the position designation reception screen, for example, as shown in FIG. 11, a button prompting the determination of the position to be designated is displayed.

FIG. 12 is a diagram showing an example of an orientation specification reception screen for accepting specification of the orientation of the vehicle M at the destination after one mark is selected. As shown in FIG. 12, on the orientation designation acceptance screen, the selected corresponding mark CRM2, the vehicle graphic MD(0) indicating the vehicle M in the current orientation, and the vehicle graphic MD(1) in the orientation after change are displayed. 33.

For example, as shown in FIG. 12, a rotation button is displayed on the direction designation reception screen, and the direction of the vehicle M at the destination can be changed by rotating the vehicle figure MD(1) based on the selected corresponding mark. can be specified. FIG. 12 shows that an orientation that is rotated 90° to the right from the current orientation is specified. Note that, on the orientation designation acceptance screen, for example, as shown in FIG. 12, a button prompting for determination of the orientation to be designated is displayed.

FIG. 13 is a diagram showing an example of a display screen displayed on the display 33 when the vehicle M cannot move to the designated position on the position designation reception screen as shown in FIG. In FIG. 13, in order to indicate that the vehicle M cannot move to the specified position, a prohibition mark is displayed superimposed on the vehicle graphic VM(1) after the change operation for changing the position on the display has been received. It is Along with the vehicle graphic VM(1), a message indicating that the actual position corresponding to the position after receiving the change operation cannot be determined as the target position is displayed with the text "The vehicle cannot stop at that position." ing.

For example, when the position on the display of the vehicle graphic VM(1) after the acceptance of the change operation corresponds to an area around the vehicle M, in which the movement of the vehicle M is not possible, which is determined by factors that hinder the movement of the vehicle M. , an image as shown in FIG. 13 is displayed on the display 33 . Such a display can prevent an area in which the vehicle M cannot move from being designated as the target position.

In FIG. 13, instead of displaying the prohibition mark, the vehicle graphic VM(1) may not be displayed in the display area corresponding to the area where the vehicle M cannot move.

FIG. 14 is a diagram showing an example of a display screen displayed on the display 33 indicating that the vehicle M cannot move in the designated direction on the direction designation reception screen as shown in FIG.

In FIG. 14, a mark indicating prohibition is displayed in the vicinity of the vehicle graphic VM(1) after receiving the change operation for changing the orientation on the display. Along with the vehicle graphic VM(1), a message indicating that the actual orientation corresponding to the orientation on the display after accepting the change operation cannot be determined as the orientation of the vehicle M at the destination is displayed as "The vehicle cannot stop in that orientation. ” is displayed.

For example, when the vehicle M is moved in the actual direction corresponding to the direction on the display of the vehicle graphic VM(1) after the change operation is accepted, a part of the vehicle M is included in the area where the vehicle M cannot move. 14 is displayed on the display 33. FIG. Such a display can prevent a direction in which the vehicle M cannot move from being specified as the direction of the vehicle M at the destination.

A movement support routine RT1 executed by the control unit 19 of the in-vehicle device 10 mounted on the vehicle M will be described with reference to FIG. 15 . For example, the control unit 19 starts this routine when the driver of the vehicle M gets off and the driver's seat becomes empty.

When starting the movement support routine RT1, the control unit 19 determines whether or not a projection request has been received (step S11). In step S<b>11 , the control unit 19 determines whether information indicating a request to project a mark has been received from the terminal device 30 . If the control unit 19 determines in step S11 that no projection request has been received, it repeats step S11 and determines again whether or not a projection request has been received.

In step S11, when the controller 19 determines that the projection request has been received (step S11: YES), it detects obstacles around the vehicle M (step S12). For example, in step S12, the control unit 19 acquires data from the camera 11 and the sensor 24 via the input unit 23, and detects obstacles around the vehicle M.

For example, in step S12, the control unit 19 determines that, in addition to the obstacles around the vehicle M, the content of the road markings drawn around the vehicle M or the surrounding buildings Surrounding conditions such as the position of the entrance to the

After executing step S12, the control unit 19 determines a mark to be projected (step S13). For example, in step S13, the control unit 19, as illustrated in FIGS. decide.

After executing step S13, the control unit 19 starts projecting the mark (step S14). In step S14, the control unit 19 controls the projection device 13 via the output unit 27 to project the mark determined in step S13 around the vehicle M. It functions as a projection unit that projects one or a plurality of landmarks at different positions around the .

After executing step S14, the control unit 19 transmits the projection mark information to the terminal device 30 (step S15). In step S<b>15 , the control unit 19 transmits projection mark information via the transmission/reception unit 21 .

For example, the projection mark information is information indicating which mark is projected. For example, the projected mark information is information for identifying each projected projected mark, such as "mark No." shown in FIG. Further, for example, the projected mark information may be information indicating characteristics such as the shape or color of each projected mark.

That is, the projected mark information may include information about the shape or color of the projected mark. Moreover, the projected mark information may include information indicating the positional relationship between the vehicle M and the projected mark.

For example, when an obstacle is detected in step S12, the projected mark information includes information indicating a mark other than the mark projected in the area where the vehicle M cannot move, which is determined by factors that hinder the movement of the vehicle M.

Note that in step S15, for example, when the corresponding mark corresponding to the projected mark is not displayed on the display 33 of the terminal device 30, or when the selection screen for selecting the mark is not displayed, the control unit 19 does not have to be sent.

After executing step S15, the control unit 19 determines whether or not the destination setting information has been acquired (step S16). In step S<b>16 , the control unit 19 determines whether destination setting information has been received from the terminal device 30 via the transmission/reception unit 21 .

The destination setting information includes specific information that specifies one of the marks projected around the vehicle M. FIG. In step S16, the control unit 19 functions as a specific information acquisition unit that acquires specific information that is information specifying one of the one or more marks.

For example, the identification information is information that identifies one mark selected via the touch panel 35 of the terminal device 30 by identification information such as shape, color, or identification number. That is, the specific information acquisition unit is generated based on the input information when one corresponding mark is selected on the screen of the display 33 of the terminal device 30 on which corresponding marks corresponding to one or more marks are displayed. Further, for example, the specific information may be image data obtained by imaging one of the marks projected around the vehicle M by the camera 11 of the terminal device 30 . That is, the specific information acquisition unit may acquire, as the specific information, an image of one of the projected one or more marks.

Further, the destination setting information may include position adjustment information, which is information indicating a relative position with reference to the position specified by the specifying information. For example, the position adjustment information includes information based on a change operation received through the position designation reception screen shown in FIG. 11 and the orientation designation reception screen shown in FIG.

That is, the position adjustment information may be information including information specifying the orientation of the vehicle M at the destination in addition to information specifying the target position of the destination of the vehicle M.

When determining in step S16 that the destination setting information has not been acquired, the control unit 19 repeats step S16 to determine whether or not the destination setting information has been acquired. When determining that the destination setting information has been acquired in step S16 (step S16: YES), the control unit 19 supplies the destination position information to the automatic operation control device 28 based on the acquired destination setting information ( step S17).

In step S17, for example, based on the specific information, the control unit 19 supplies the position information (for example, see FIG. 5) predetermined to the mark specified by the specific information to the automatic operation control device 28. In step S17, the control unit 19 functions as a destination setting unit that sets a target position when the vehicle M moves based on the specific information.

Also, when the destination setting information includes the position adjustment information, the control unit 19 supplies the position information generated based on the specific information and the position adjustment information to the automatic operation control device 28 in step S17. That is, when the destination setting information includes the position adjustment information, the destination position information supplied to the automatic operation control device 28 is obtained by correcting the position determined by the specific information.

That is, when the destination setting information includes the position adjustment information, the control unit 19 as the destination setting unit sets the destination of the vehicle M based on the specific information and the position adjustment information in step S17.

After the end of step S17, the control unit 19 ends projection of the mark (step S18), ends the movement support routine RT1, and repeatedly executes the movement support routine RT1.

A movement support routine RT2 executed by the control unit 41 of the terminal device 30 will be described with reference to FIG. For example, the control unit 41 starts the movement support routine RT2 when the terminal device 30 is activated.

When starting the movement support routine RT2, the control unit 41 determines whether or not a projection instruction has been received (step S21). For example, in step S<b>21 , it is determined whether or not a request for projecting the destination candidate mark of the vehicle M is selected on the input screen displayed on the display 33 of the terminal device 30 .

When determining in step S21 that the projection instruction has not been received, the control unit 41 repeats step S21 and determines again whether or not the projection instruction has been received.

When the controller 41 determines in step S21 that the projection instruction has been received (step S21: YES), it transmits a projection request to the in-vehicle device 10 (step S22). For example, in step S<b>22 , the control unit 41 transmits, via the transmission/reception unit 43 , information indicating a request for projection of the destination candidate mark of the vehicle M.

After executing step S22, the control unit 41 determines whether or not projection mark information has been received (step S23). For example, in step S<b>23 , the control unit 41 determines whether or not projection mark information has been received from the vehicle-mounted device 10 via the transmission/reception unit 43 . For example, the projection mark information is information about one or a plurality of projection marks projected around the vehicle M, which are marks of destination candidates of the vehicle M. In step S23, the control unit 41 functions as a projection mark information acquisition unit. As described above, the projection mark information is information indicating which mark is projected around the vehicle M, for example.

It should be noted that, for example, as described above, when one projected mark is picked up by the camera 11 of the terminal device 30 and transmitted to the in-vehicle device 10 when selecting a mark, the terminal device 30 The corresponding mark corresponding to the projected mark may not be displayed on the display 33 of . For example, the selection screen as shown in FIG. 6 may not be displayed.

Therefore, when a landmark is selected by imaging, the terminal device 30 does not need to receive projected landmark information. That is, step S23 may not be provided.

When determining in step S23 that the projection mark information has not been received, the control unit 41 repeats step S23 and determines again whether or not the projection mark information has been received.

When the controller 41 determines in step S23 that the projection mark information has been received (step S23: YES), it causes the display 33 to display a mark selection request screen (step S24). For example, in step S24, the control unit 41 causes the display 33 to display one or a plurality of corresponding marks corresponding to each of the projected marks projected around the vehicle M based on the projected mark information. In step S24, the controller 41 functions as a display controller.

For example, in step S24, the control unit 41 displays a screen including corresponding marks and prompting selection of a mark, as shown in FIGS. 6, 7 and 10 .

Further, for example, in step S24, the control unit 41 may cause the display 33 to display a screen indicating a request to image one of the projected marks projected around the vehicle M as a mark selection request screen. .

After executing step S24, the control unit 41 determines whether or not a mark has been selected (step S25). For example, in step S<b>25 , the control unit 41 determines whether or not an input operation for selecting one of the one or more corresponding marks displayed on the display 33 has been received via the touch panel 35 . At step S25, the control unit 41 functions as a reception unit.

Also, for example, in step S25, the control unit 41 determines whether or not one of the projection marks projected around the vehicle M has been imaged. For example, in step S25, it is determined whether or not one of the projection marks has been imaged by the camera 11 and the image data has been captured via the imaging input unit 45 or not.

When determining in step S25 that no mark has been selected, the control unit 41 repeats step S25 and determines again whether or not a mark has been selected.

When the control unit 41 determines in step S25 that the mark has been selected (step S25: YES), it causes the display 33 to display a setting screen for the position and orientation of the destination of the vehicle M (step S26).

For example, in step S26, the control unit 41 causes the display 33 to display the corresponding mark selected by the input operation in step S25 and the vehicle graphic VM(1), which is a graphic indicating the vehicle M (see FIG. 11), and A change operation for changing the position of the vehicle graphic VM(1) on the display is accepted. For example, in step S26, the control unit 41 receives a change operation for changing the display orientation of the vehicle graphic VM(1) (see FIG. 12).

Further, for example, in step S26, the control unit 41 determines that the position on the display of the vehicle graphic VM(1) after receiving the change operation is determined by factors that hinder the movement of vehicles around the vehicle M. 13, an image indicating that the actual position corresponding to the position after receiving the change operation cannot be determined as the target position is displayed together with the vehicle graphic VM(1), as shown in FIG. may

Further, for example, in step S26, the control unit 41, as shown in FIG. An image indicating that the actual direction corresponding to the displayed direction cannot be determined as the direction of the vehicle M at the destination may be displayed.

After executing step S26, the control unit 41 determines whether or not the enter button has been pressed (step S27). For example, in step S<b>27 , the control unit 41 determines whether or not an input operation to the enter button displayed on the display 33 has been accepted via the touch panel 35 .

For example, the decision button is displayed when the selection of the corresponding mark displayed on the display 33 is accepted, or when the position or orientation change operation is accepted after the selection. Also, for example, the decision button is displayed on the display 33 when one of the projection marks is imaged.

If the control unit 41 determines in step S27 that the decision button has not been pressed, it determines whether or not a certain period of time has elapsed (step S28). If the controller 41 determines in step S28 that the predetermined time has not elapsed, it returns to step S27 and determines again whether or not the decision button has been pressed.

If the control unit 41 determines in step S27 that the enter button has been pressed (step S27: YES) or determines that a certain period of time has elapsed in step S28 (step S28: YES), it sets the destination setting information. It is transmitted to the in-vehicle device 10 (step S29).

In step S<b>29 , the control unit 41 generates destination setting information and transmits it via the transmission/reception unit 43 . The destination setting information includes specific information that specifies one of the marks projected around the vehicle M. FIG.

For example, the specific information is information that specifies the corresponding mark selected by the input operation from among the one or more corresponding marks displayed on the display 33 in step S25.
In step S<b>29 , the control unit 41 functions as a transmission unit that transmits specific information specifying the corresponding mark selected by the input operation to the vehicle-mounted device 10 mounted on the vehicle M.

Further, for example, the specific information may be image data obtained by imaging one of the projection marks projected around the vehicle M in step S25.

The destination setting information may include position adjustment information that specifies the position or orientation at the destination specified with reference to the selected mark.

After executing step S29, the control unit 41 ends the movement support routine RT2 and repeatedly executes the movement support routine RT2.

As described above in detail, according to the movement support system 100 of the present embodiment, when setting the target position for moving the vehicle M, a mark is projected around the vehicle M, and the candidate of the destination is displayed. can be presented. The user of the movement support system 100 can confirm the actual position of the destination candidate by visually checking the projected mark.

A target position can then be determined by selecting one of the projected landmarks. The selection of the mark can be performed by capturing an image of the projected mark or selecting it on the screen displayed on the display 33 of the terminal device 30 .

In addition, positions that cannot be determined as the destination of the vehicle M due to obstacles or the like can be distinguished and presented. Further, after selecting the destination position, the position and orientation of the vehicle M at the destination can be specified.

Therefore, when setting the destination of the vehicle M, it is possible to provide a movement support device that enables the user to intuitively and easily indicate the target destination.

A mobility support system 100 including an in-vehicle device 10 as a mobility support device and a terminal device 30 as a mobility support terminal device according to a second embodiment of the present invention will be described with reference to the accompanying drawings.

A movement support system 100 in this embodiment has the configuration of the movement support system 100 shown in FIG. As shown in FIG. 1, the onboard equipment 10 mounted on the vehicle M is included. In addition, as described above, the in-vehicle device 10 has the configuration illustrated in FIG. 2 and described. The terminal device 30 has the configuration shown in FIG. The functions of the vehicle-mounted device 10 and the terminal device 30 in the mobility support system 100 according to the present embodiment and the flow executed will be described below.

FIG. 17 shows an example of a destination setting screen displayed on the display 33 of the terminal device 30. As shown in FIG. In this embodiment, for example, when the driver of the vehicle M sets the destination of the vehicle M by autonomous driving, a destination setting screen as shown in FIG. 17 is displayed on the display 33 .

As shown in FIG. 17, on the destination setting screen, a reference vehicle figure MV(0), which is a figure indicating the vehicle M at the current position, and a destination vehicle figure MV(1), which indicates the state of the destination of the vehicle M, are displayed. It is

The reference vehicle graphic MV( 0 ) is displayed so that the position on the display is not changed by the input operation via the touch panel 35 . Destination vehicle graphic MV( 1 ) is displayed so as to be able to accept an input operation via touch panel 35 for designating a position on display on display 33 .

For example, the destination vehicle figure MV(1) can be moved on the display by an input operation such as a swipe operation by the user. Accept.

More specifically, when the destination vehicle graphic MV(1) is moved on the display, the relative positional relationship between the reference vehicle graphic MV(0) and the destination vehicle graphic MV(1) is changed. Based on the relative positional relationship, position designation information regarding the destination position, which is the actual destination of the vehicle M, is generated. The generated position specifying information is transmitted to the vehicle-mounted device 10 .

For example, the control unit 41 of the terminal device 30 changes the destination from the reference vehicle figure MV(0) when the position on the display of the destination vehicle figure MV(1) is designated by the input operation to the destination setting screen. Based on the displayed distance and direction to the vehicle graphic MV(1), information indicating the actual distance and direction from the vehicle M to the destination position is transmitted to the in-vehicle device 10 as the position specifying information.

Further, for example, the control unit 41 of the terminal device 30 determines the relative orientation of the destination vehicle graphic MV(1) designated by the input operation and the display orientation of the reference vehicle graphic MV(0). Orientation specifying information regarding the actual orientation of the vehicle M at the destination position may be generated and transmitted based on the directional relationship.

For example, the control unit 41 of the terminal device 30 acquires size information about the actual dimensions of the vehicle M, and displays the distance and direction from the reference vehicle graphic (0) to the destination vehicle graphic (1), and the size Based on the information, information indicating the actual distance and direction from the vehicle M to the destination position may be generated as position designation information and transmitted to the in-vehicle device 10 .

Further, as shown in FIG. 17, grid lines G may be displayed on the destination setting screen to assist in specifying the position. For example, a grid line G is displayed based on the dimensions of the reference vehicle graphic MV(0) on display. FIG. 17 shows an example in which grid lines are displayed based on the overall width and overall length of the vehicle M. FIG.

Note that, for example, a rotation button may be displayed on the destination setting screen. By rotating the destination vehicle graphic MV(1) based on the same orientation as the reference vehicle graphic MV(0), the orientation of the vehicle M at the destination can be designated. Also, the destination setting screen may display, for example, a “determine button” for accepting determination of designation of the destination position and orientation.

FIG. 18 shows an example of a projection pattern projected around the vehicle M when the destination of the vehicle M is specified on the destination setting screen displayed on the display 33 of the terminal device 30. As shown in FIG.

A position guide PG(1) in FIG. 18 indicates the current position of the vehicle M. As shown in FIG. As shown in FIG. 18, the position guide PG(1) has a projection pattern F(1) projected onto the position of the front bumper to indicate the front end of the vehicle M and a projection pattern F(1) projected onto the position of the rear bumper to show the rear end of the vehicle M. includes a projection pattern R(1) showing

A position guide PG(2) in FIG. 18 is a display indicating the position of the vehicle M when it is assumed that the vehicle M has moved to the position specified using the destination setting screen. The position guide PG(2) includes a projected pattern F(2) indicating the front end of the vehicle M and a projected pattern R(2) indicating the rear end of the vehicle M. FIG. For example, the position guide PG(2) is the moved position guide PG(1).

Note that the projection patterns of the position guide PG(1) and the position guide PG(2) are not limited to the shapes described above. For example, the projected light may be projected so as to surround the outer periphery of the vehicle M, or the entire area occupied by the vehicle M may be irradiated with the projected light.

For example, as described above, when the destination position of the vehicle M is designated using the destination setting screen of the terminal device 30, the terminal device 30 generates position designation information regarding the destination position, 10.

The vehicle-mounted device 10 projects a display indicating the position of the vehicle M when it is assumed that the vehicle M has moved to the destination position designated by the position designation information.

For example, the position guide PG(2) may be projected following the displayed movement of the destination vehicle graphic MV(1) on the destination setting screen. By projecting the display indicating the position of the vehicle M, the user can set the destination while confirming the actual position, and can more intuitively and easily set the destination.

FIG. 19 shows the vehicle M and the position guide PG(1) and the position guide PG(2) projected around the vehicle M together with the crosswalk ZB and the sidewalk SW. Also, a prohibition mark is projected at the position of the projection pattern R(2) indicating the rear end of the vehicle M on the position guide PG(2).

The prohibition mark indicates that the vehicle M cannot move to the position where the mark is projected.

For example, the in-vehicle device 10 detects the crosswalk ZB with the camera 11 and the sensor 24, determines that the vehicle M cannot move in the area AR2 of the crosswalk ZB, and projects a mark indicating prohibition. That is, it can be said that the area AR2 is an area in which the vehicle M cannot move, which is determined by the pedestrian crossing ZB that prevents the vehicle M from moving.

In this manner, the in-vehicle device 10 can move around the vehicle M according to whether the destination position specified by the position specifying information is in an area where the vehicle M cannot move, which is determined by factors that prevent the vehicle M from moving. The mode of display to be projected can be changed.

As a result, it is possible to prevent an area in which the vehicle M cannot be moved from being specified as the destination position.

FIG. 20 describes the movement support routine RT3 executed by the control unit 41 of the terminal device 30 in this embodiment. For example, the control unit 41 starts the movement support routine RT3 when the terminal device 30 is activated.

When starting the movement support routine RT3, the control unit 41 determines whether or not an input to start setting the movement destination has been received (step S31). For example, in step S31, in the input screen displayed on the display 33 of the terminal device 30, it is determined whether or not an indication to start setting the destination of the vehicle M has been selected.

If the control unit 41 determines in step S31 that the input to start setting the destination has not been received, it repeats step S31 and determines again whether the input to start setting the destination has been received.

When the controller 41 determines in step S31 that it has received an input to start setting the destination (step S31: YES), it transmits a start instruction to the in-vehicle device 10 (step S32). In step S32, for example, information instructing to start projecting a display indicating the position of the vehicle M is transmitted.

After executing step S32, the control unit 41 acquires the vehicle ID, which is identification information for identifying the vehicle M (step S33). For example, in step S33, the control unit 41 communicates with the in-vehicle device 10 and acquires the vehicle ID of the vehicle M. As shown in FIG.

After executing step S33, the control unit 41 determines whether or not the vehicle size has been registered (step S34). For example, in step S34, the control unit 41 determines whether or not the storage unit 39 stores the vehicle size corresponding to the vehicle ID acquired in step S33.

If the control unit 41 determines in step S34 that the vehicle size has not been registered (step S34: NO), it acquires the vehicle size (step S35). For example, in step S<b>35 , the control unit 41 transmits information requesting transmission of size information to the vehicle-mounted device 10 , and acquires the vehicle size via the transmission/reception unit 43 based on the response from the vehicle-mounted device 10 .

In step S<b>35 , the control unit 41 functions as a size information acquisition unit that acquires size information regarding the actual dimensions of the vehicle M. In addition, in step S35, the vehicle size may be obtained through the touch panel 35 by receiving an input from the user.

If the control unit 41 determines in step S34 that the vehicle size has already been registered (step S34: YES), or after executing step S35, it displays a destination position setting screen (step S36).

For example, in step S36, the control unit 41 causes the display 33 to display a destination setting screen as shown in FIG. For example, as shown in FIG. 17, the destination setting screen includes a reference vehicle graphic MV(0), which is a graphic indicating the vehicle M, and a destination vehicle graphic MV(0), which is a graphic indicating the state of the destination of the vehicle M. 1). In step S36, the controller 41 functions as a display controller.

For example, in step S36, the control unit 41 may cause the display 33 to display grid lines based on the displayed dimensions of the reference vehicle graphic MV(0). That is, the control unit 41 as a display control unit displays the reference vehicle graphic MV(0) and the destination vehicle graphic MV(1), as well as the grid lines based on the displayed dimension of the reference vehicle graphic MV(0). 33.

Further, for example, in step S36, the control unit 41 as the display control unit causes the display 33 to display the destination vehicle graphic MV(1) in the same size and shape as the reference vehicle graphic (0), and Graphic (0) is immovably displayed at the reference position on the display.

After executing step S36, the control unit 41 determines whether or not an operation has been accepted (step S37). In step S37, the control unit 41 determines whether or not an input operation for designating a position on the display 33 where the destination vehicle graphic MV(1) is to be displayed has been received. In step S37, the control unit 41 functions as a reception unit.

Further, the control unit 41 as a receiving unit may receive an input operation for designating the display orientation of the destination vehicle graphic MV(1).

When the control unit 41 determines in step S37 that the operation has been received (step S37: YES), it transmits the provisional position designation information to the in-vehicle device 10 via the transmission/reception unit 43 (step S38). The provisional position designation information is, for example, the relative position of the destination vehicle graphic MV(1) designated by the input operation on the destination setting screen and the reference vehicle graphic MV(0) while the enter button is not pressed. It is information generated based on the physical positional relationship, and is information about the destination position, which is the actual destination of the vehicle M. In step S38, the control section 41 functions as a position specifying information transmission section.

For example, in step S38, the control unit 41 as the display control unit moves the vehicle M to the destination position specified by the provisional position specifying information when there is a factor preventing the vehicle M from moving to the destination position. A display indicating that the movement cannot be performed may be displayed at a position corresponding to the destination position on the display of the destination setting screen.

If it is determined in step S37 that no operation has been received (step S37: NO), or after execution of step S38, the control unit 41 determines whether or not the decision button has been pressed (step S39). For example, in step S<b>39 , it is determined whether or not an operation to the enter button on the destination setting screen displayed on the display 33 has been accepted via the touch panel 35 .

If the control unit 41 determines in step S39 that the enter button has not been pressed, the control unit 41 returns to step S37 and determines again whether or not an operation to designate a position or orientation on the destination setting screen has been received.

When determining in step S39 that the decision button has been pressed, the control unit 41 transmits the final position specification information to the in-vehicle device 10 via the transmission/reception unit 43 (step S40). The final position specifying information is, for example, the position of the destination vehicle figure MV(1) specified by the input operation on the destination setting screen when the enter button is pressed and the relative position of the reference vehicle figure MV(0). This information is generated based on the positional relationship and is information about the destination position, which is the actual destination of the vehicle M. FIG. In step S40, the control section 41 functions as a position specifying information transmission section.

After executing step S40, the control unit 41 ends the movement support routine RT3 and repeatedly executes the movement support routine RT3.

A movement support routine RT4 executed by the control unit 19 of the vehicle-mounted device 10 mounted on the vehicle M in this embodiment will be described with reference to FIG. 21 . For example, the control unit 19 starts this routine when the in-vehicle device 10 is activated. Alternatively, the control unit 19 may start this routine when the driver of the vehicle M gets off and the driver's seat becomes unmanned.

When starting the movement support routine RT4, the control unit 19 determines whether or not a start instruction has been received (step S51). In step S<b>51 , the control unit 19 determines whether or not information instructing the start of projection of the display indicating the position of the vehicle M is received from the terminal device 30 from the in-vehicle device 10 .

When determining in step S51 that the start instruction has not been received, the control unit 19 repeats step S51 and determines again whether or not the start instruction has been received. When determining that the start instruction is received in step S51, the control unit 19 transmits the vehicle ID of the vehicle M to the terminal device 30 (step S52).

For example, the vehicle ID of the vehicle M may be stored in advance in the storage unit 17 of the in-vehicle device 10 . For example, in step S<b>51 , the control unit 19 transmits the pre-stored vehicle ID of the vehicle M via the transmission/reception unit 21 . The vehicle ID is information that can identify the vehicle M, such as an automobile registration number.

After executing step S52, the control unit 19 detects surrounding obstacles (step S12). As in step S12 in the movement support routine RT1, the control unit 19 acquires data from the camera 11 and the sensor 24 via the input unit 23, for example, and detects obstacles around the vehicle M.

For example, in step S12, the control unit 19 determines that, in addition to the obstacles around the vehicle M, the content of the road markings drawn around the vehicle M or the surrounding buildings Surrounding conditions such as the position of the entrance to the

After executing step S12, the control unit 19 starts projecting a display indicating the position of the vehicle M (step S53). For example, in step S<b>53 , the control unit 19 controls the projection device 13 via the output unit 27 to start projecting the current position of the vehicle M. For example, as shown in FIG. 18, a position guide PG(1) consisting of a projected pattern F(1) indicating the front end of the vehicle M and a projected pattern R(1) indicating the rear end of the vehicle M is projected onto the vehicle. Project to M's current position.

After executing step S53, the control unit 19 determines whether or not provisional position designation information has been received (step S54). In step S<b>54 , the control unit 19 determines whether or not provisional position specification information, which is provisional information specifying the destination position of the vehicle M, has been received from the terminal device 30 .

For example, the provisional position designation information may be information regarding a position designated by an input operation accepted while the enter button on the destination setting screen of the terminal device 30 is not pressed. In step S54, the control unit 19 functions as a position specifying information acquisition unit.

When the control unit 19 determines in step S54 that the provisional position designation information has been received (step S54: YES), it causes the projected position of the display indicating the position of the vehicle M to follow the received position designation information (step S54: YES). S55). For example, in step S55, the control unit 19 changes the position corresponding to the positions of the front and rear ends of the vehicle M when it is assumed that the vehicle M has moved to the position designated by the provisional position designation information. Project the position guide PG as shown in .

For example, in step S55, if there is a factor preventing the vehicle M from moving to the destination position designated by the provisional position designation information, the control unit 19 indicates that the vehicle M cannot be moved to the destination position. You may generate|occur|produce and transmit the movement prohibition information which shows. In this case, in step S55, the control unit 19 functions as a movement prohibition information transmission unit. For example, when an obstacle is detected in step S12, movement impossibility information is transmitted in step S55.

Further, for example, in step S55, if there is a factor preventing the vehicle M from moving to the destination position specified by the provisional position specifying information, the control unit 19 can move the vehicle M to the destination position. The mode of display projected around the vehicle may be changed according to whether or not the vehicle is. For example, as shown in FIG. 19, a display may be projected around the vehicle M indicating that the vehicle M cannot be moved.

If the control unit 19 determines in step S54 that the provisional position designation information has not been received, or after execution of step S55, it determines whether or not the final position designation information has been received (step S56).

In step S<b>56 , the control unit 19 determines whether or not final position designation information, which is determined information and is position designation information designating the destination position of the vehicle M, has been received from the terminal device 30 .

For example, the final position specification information is information about the final position when the enter button is pressed after an input operation to specify the destination position of the vehicle M is accepted on the destination setting screen of the terminal device 30. There may be. In step S56, the control unit 19 functions as a position specifying information acquisition unit.

When the control unit 19 determines in step S56 that the final position specifying information has not been received (step S56: NO), the control unit 19 returns to step S54 and determines again whether or not the provisional position specifying information has been received.

When the control unit 19 determines in step S56 that the final position specifying information has been received (step S56: YES), it supplies the destination position information to the automatic operation control device 28 (step S57). In step S<b>57 , the control unit 19 generates movement destination position information based on the position specifying information acquired in step S<b>56 and supplies it to the automatic operation control device 28 .

For example, in step S57, if the position designation information is position information indicating the actual position, the position designation information may be supplied as the movement destination position information. Further, for example, when the position specifying information is the displayed position on the destination setting screen of the terminal device 30, the control unit 19, based on the displayed distance and direction and the size information of the vehicle M, Information indicating the actual distance and direction from the current position of the vehicle M to the destination position may be generated and used as the destination position information.

In step S57, the control unit 19 may generate movement control information for controlling autonomous driving of the vehicle M so that the vehicle M moves to the destination position, and supply the movement control information to the automatic operation control device 28. . In step S57, the controller 19 functions as a control information generator.

After executing step S57, the control unit 19 ends projection of the display indicating the position of the vehicle when it is assumed that the vehicle has moved to the destination position (step S58), and ends the movement support routine RT4. Then, the movement support routine RT4 is repeatedly executed.

As described above in detail, according to the movement support system 100 of the present embodiment, when setting the target position for moving the vehicle M, the size of the vehicle M is displayed on the destination setting screen of the terminal device 30. The basic vehicle graphic and the destination vehicle graphic based on the display are displayed, and the destination vehicle graphic can be moved on the display to accept designation of the destination.

In addition, as the destination vehicle graphic moves on the display, it is possible to project a display showing the position of the vehicle M when it is assumed that the vehicle M has moved to the designated destination position. Therefore, the user can finally determine the destination while confirming the display projected at the actual destination position.

Further, when a designation of a destination that cannot be determined as the destination of the vehicle M due to an obstacle or the like is accepted, the designation can be indicated by the projection and display on the destination setting screen.

Therefore, when setting the destination of the vehicle M, it is possible to provide a movement support device that enables the user to intuitively and easily indicate the target destination.

The configurations in the above-described embodiments are merely examples, and can be appropriately selected and changed according to the application.

100 Movement support system 10 In-vehicle equipment 11 Camera 13 Projection device 15 System bus 17 Storage unit 19 Control unit 21 Transmission/reception unit 23 Input unit 24 Sensor 25 GPS receiver 27 Output unit 28 Automatic operation control device 30 Terminal device 31 Camera 33 Display 35 Touch panel 37 system bus 39 storage unit 41 control unit 43 transmission/reception unit 45 imaging input unit 46 output unit 47 speaker 48 operation input unit 49 microphone

Claims (10)

A vehicle movement support device that supports movement of a vehicle capable of autonomous travel,
a projection unit that projects a plurality of marks having different shapes onto different positions on a road surface around the vehicle;
a specific information acquiring unit that acquires specific information that is information specifying one of the plurality of marks;
a destination setting unit that sets a target position when the vehicle moves autonomously based on the specific information;
A vehicle movement support device comprising: 2. The vehicle movement support device according to claim 1, wherein the specific information acquisition unit acquires an image of one of the plurality of projected marks as the specific information. The specific information acquisition unit acquires information generated based on input information when one of the corresponding marks is selected on the screen of the terminal device on which the corresponding marks corresponding to the plurality of marks are displayed. 2. The vehicle movement support device according to claim 1, wherein the specific information is acquired. When there is a factor that hinders movement of the vehicle around the vehicle, the projection part corresponds to an area in which the vehicle can move regardless of the presence or absence of the factor among the plurality of marks. 4. The vehicle movement support device according to claim 1, wherein only the mark is projected. 5. The vehicle movement support device according to any one of claims 1 to 4, wherein the plurality of marks are projected at predetermined positions with respect to the position of the vehicle. 6. The vehicle movement support device according to any one of claims 1 to 5 , wherein each of said plurality of marks has a color different from each other. The specific information acquisition unit uses the position specified by the specific information as a reference based on an operation of changing the position on the screen of a figure displayed on the screen of the terminal device and indicating the position of the vehicle. Acquire position adjustment information, which is information indicating the relative position,
4. The vehicle movement support device according to claim 3 , wherein the destination setting unit sets the target position based on the specific information and the position adjustment information. A method for setting a target position for movement of a vehicle executed by a vehicle movement support device for supporting movement of an autonomously traveling vehicle, comprising:
a projection step in which a projection unit projects a plurality of marks having different shapes onto different positions on a road surface around the vehicle;
a specific information acquisition step in which a specific information acquisition unit acquires specific information that is information specifying one of the plurality of marks;
a destination setting step in which a destination setting unit sets a target position when the vehicle moves autonomously based on the specific information;
A vehicle movement support method, comprising: A vehicle movement support program that includes a computer and is executed by a vehicle movement support device that supports movement of a vehicle capable of autonomous travel,
a projection unit that projects a plurality of marks having different shapes onto different positions on a road surface around the vehicle;
a specific information acquiring unit that acquires specific information that is information specifying one of the plurality of marks;
a destination setting unit that sets a target position when the vehicle moves autonomously based on the specific information;
A vehicle movement support program characterized by causing the computer to function as a 10. A computer-readable recording medium storing the program according to claim 9 .

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