Automated valet parking system and registration method

Abstract

The present application relates to an automatic valet parking system and a registration method. An object vehicle is a vehicle used by a user who has reserved an automatic valet parking in a parking lot. A registration procedure is a confirmation procedure of the intention to use the reserved automatic valet parking in the parking lot. The automatic valet parking system calculates a degree of certainty of the object vehicle reaching the parking lot based on vehicle information including a position of the object vehicle and parking lot information including a position of the parking lot before the registration procedure. In a case where the degree of certainty is equal to or higher than a threshold value, the automatic valet parking system requests the registration procedure from a management system that manages the automatic valet parking to the object vehicle or a user terminal of the user.

Description

Technical Field

[0001] This disclosure relates to Automated Valet Parking (AVP) for vehicles in parking lots. Background Technology

[0002] German patent application publication No. 102012222562 discloses an AVP (Automated Vehicle Provider) in a parking lot. Vehicles supporting AVP obtain route information from the parking lot system and autonomously drive along the obtained route. Summary of the Invention

[0003] Consider automated valet parking for vehicles in a parking lot. A vehicle user reserves an automated valet parking space in the parking lot. After the reservation, the user's vehicle arrives at the parking lot. Assume that a registration process is required upon arrival. This registration process is a confirmation of the user's intention to use the reserved automated valet parking service in the parking lot. However, in the past, the registration procedures related to automated valet parking have not been adequately studied.

[0004] The first point concerns automated valet parking systems used in parking lots.

[0005] An automated valet parking system has one or more processors.

[0006] The target vehicles are those used by users of automated valet parking systems in reserved parking lots.

[0007] The registration process is a confirmation of the intention to use the reserved automated valet parking service in the parking lot.

[0008] One or more processors, prior to registration, calculate the certainty of a vehicle's arrival at a parking lot based on vehicle information including the vehicle's location and parking lot information including the parking lot's location.

[0009] When the certainty is above a threshold, one or more processors request registration procedures from the management system that manages automated valet parking to the user terminal of the target vehicle or user.

[0010] When the certainty is less than a threshold, one or more processors allow prior registration requests from the target vehicle or user terminal to the management system.

[0011] The second point concerns a registration method for automated valet parking systems executed by computers and applied in parking lots.

[0012] The target vehicles are those used by users of automated valet parking systems in reserved parking lots.

[0013] The registration process is a confirmation of the intention to use the reserved automated valet parking service in the parking lot.

[0014] Registration methods include:

[0015] Before the registration process, the certainty of the vehicle's arrival at the parking lot is calculated based on vehicle information including the location of the target vehicle and parking lot information including the location of the parking lot.

[0016] When the certainty is above a certain threshold, the management system for automated valet parking requests registration procedures from the user terminal of the vehicle or user; and

[0017] When the certainty is less than the threshold, the target vehicle or user terminal is allowed to request registration procedures from the management system in advance.

[0018] When there is a high degree of certainty that a vehicle will arrive at the parking lot, the parking lot management system requests registration from the vehicle or the user's terminal. This facilitates the registration process and allows for the smooth initiation of automated valet parking.

[0019] On the other hand, when the certainty of a vehicle's arrival at the parking lot is low, it's impossible to request registration from the management system. Instead, registration can be requested from either the vehicle or the user terminal. This means pre-registration is possible. By pre-registering, there's no need to queue or complete registration procedures after the vehicle arrives at the parking lot. As a result, automated valet parking can begin smoothly. Attached Figure Description

[0020] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same symbols denote the same elements, wherein:

[0021] Figure 1 This is a conceptual diagram showing the outline of an Automated Valet Parking (AVP) system;

[0022] Figure 2 This is a conceptual diagram used to illustrate an example of automated valet parking.

[0023] Figure 3 It is a conceptual diagram used to illustrate the processes associated with registration procedures.

[0024] Figure 4 This is a block diagram used to illustrate the processes associated with the calculation of certainty.

[0025] Figure 5 This is a block diagram illustrating an example of vehicle configuration;

[0026] Figure 6 This is a block diagram representing an example of the structure of a backend system. Detailed Implementation

[0027] Embodiments of this disclosure will be described with reference to the accompanying drawings. In the following description, the automated valet parking vehicle will sometimes be referred to as "AVP".

[0028] 1. Automated Valet Parking System (AVP System)

[0029] Figure 1 This is a conceptual diagram showing the outline of the AVP system 10 according to this embodiment. The AVP system 10 is an AVP system used in parking lots. The AVP system 10 includes a vehicle 100, a user terminal 200, a backend system 300, and a parking system 400.

[0030] Vehicle 100 is an AVP object in the parking lot and supports AVP in the parking lot. Vehicle 100 must at least have the function of autonomous driving in the parking lot.

[0031] User terminal 200 is a terminal operated by the user of the AVP service, i.e., the user of vehicle 100. Examples of user terminal 200 include smartphones and PCs.

[0032] Backend system 300 manages AVPs (Automatic Players), AVP service users, and AVP-related vehicles (100 vehicles) in one or more parking lots. Parking system 400 is the infrastructure system installed in a specific parking lot and manages the AVPs within that parking lot. Backend system 300 and parking system 400 can also be collectively referred to as the "management system." The management system manages the AVPs in the parking lot.

[0033] Vehicle 100 and backend system 300 can communicate with each other. For example, vehicle 100 and backend system 300 can communicate with each other using mobile communication services. Additionally, in a parking lot, vehicle 100 and parking system 400 can communicate wirelessly with each other. For example, vehicle 100 and parking system 400 can communicate wirelessly with each other using a wireless LAN. Vehicle 100 and user terminal 200 can also communicate wirelessly. Furthermore, user terminal 200 and backend system 300 can communicate with each other. For example, user terminal 200 and backend system 300 can communicate with each other using mobile communication services. Moreover, backend system 300 and parking system 400 can communicate with each other via wired or wireless means.

[0034] An example of the AVP (Automated Guided Vehicle) reservation process is as follows. The user's membership information is pre-registered in the backend system 300. First, the user makes an AVP reservation. For example, the user operates the user terminal 200, entering their ID information, desired parking lot, desired usage date, and desired usage time (reserved entry and exit times). The user terminal 200 sends a reservation request containing the entered information to the backend system 300. The backend system 300 processes the reservation based on the reservation request and sends a reservation completion notification to the user terminal 200. Additionally, the backend system 300 provides the reservation information to the parking system 400 of the reserved parking lot.

[0035] Figure 2 This is a conceptual diagram used to illustrate an example of an AVP in a parking lot.

[0036] Vehicle 100 uses identification sensors (e.g., cameras) mounted on vehicle 100 to identify the surrounding conditions. Vehicle 100 drives safely while identifying its surroundings. Multiple markers M can also be configured within the parking lot. For example, vehicle 100 uses cameras to identify the surrounding markers M, and based on the identification results of the markers M, it accurately estimates the location of vehicles in the parking lot. Then, vehicle 100 automatically drives within the parking lot based on the estimated vehicle locations.

[0037] One or more infrastructure camera (CAM) units can be installed in the parking lot. The infrastructure camera CAM captures images of the parking lot, obtaining images showing its condition. The parking system 400 communicates with the infrastructure camera CAM and acquires the images captured by it. The parking system 400 analyzes the images to detect vehicles 100 reflected in them. Furthermore, the parking system 400 estimates the position of each vehicle 100 reflected in the image. The parking system 400 manages each vehicle 100 within the parking lot based on its position. The parking system 400 can also provide the vehicle 100 with its position information. Vehicles 100 can also automatically move within the parking lot based on the position information provided by the parking system 400.

[0038] An example of parking entry processing is as follows: Vehicle 100 parks in the entry area. In the entry area, a user gets out of vehicle 100 and requests entry using user terminal 200, etc. The management system (at least one of backend system 300 and parking system 400) authenticates the user and vehicle 100. When authentication is complete, the user's access rights for vehicle 100 are transferred to the management system. Additionally, the management system communicates with vehicle 100 to start the vehicle. Furthermore, the parking system 400 allocates an available parking space to vehicle 100. The allocated available parking space becomes the target parking space, i.e., the destination, for vehicle 100 at the time of entry. The parking system 400 also sets the driving path TP (target trajectory) from the entry area to the target parking space within the parking lot. The parking system 400 sends an entry instruction to vehicle 100. The entry instruction includes information about the target parking space and the driving path TP. In response to the entry instruction, vehicle 100 automatically drives to the target parking space according to the driving path TP. That is, vehicle 100 automatically travels based on its location, following the driving path TP. Furthermore, vehicle 100 automatically parks in the target parking space. After parking, the management system instructs vehicle 100 to stop.

[0039] An example of an outbound process is as follows: A user requests an outbound request using a user terminal 200, etc. The management system communicates with vehicle 100, causing vehicle 100 to start. During outbound processing, the designated outbound area becomes the destination for vehicle 100. The parking system 400 sets the driving path TP (target trajectory) from the parking space to the outbound area within the parking lot. The parking system 400 sends an outbound instruction to vehicle 100. The outbound instruction contains information about the designated outbound area and the driving path TP. In response to the outbound instruction, vehicle 100 automatically travels to the outbound area according to the driving path TP. That is, vehicle 100 automatically travels based on its location, following the driving path TP. Then, vehicle 100 automatically stops in the outbound area. Operational control of vehicle 100 is transferred from the management system to the user. The user enters vehicle 100. Vehicle 100 begins its journey towards the next destination.

[0040] 2. Registration Procedures

[0041] As described above, a user reserves an AVP (Automated Guided Vehicle) in a parking lot. Hereinafter, the vehicle 100 used by the user who has reserved an AVP in the parking lot will be referred to as the target vehicle 100T. Assume that a "registration procedure" is required when the target vehicle 100T arrives at the parking lot. The registration procedure is a confirmation of the intention to use the reserved AVP in that parking lot. The registration procedure can also be the final confirmation procedure before the AVP begins. Further research is needed regarding the registration procedure.

[0042] 2-1. Comparative Example

[0043] First, let's explain the comparative example. The parking lot has a registration area and pick-up / drop-off points (see...). Figure 3 The registration area is located in front of the boarding and alighting area. In the comparative example, the registration procedure (a confirmation procedure using the meaning of AVP) is only carried out in the registration area.

[0044] For example, the management system (back-end system 300 and parking system 400) maintains a mapping between user IDs and vehicle IDs of the target vehicle 100T. The vehicle ID, for example, is license plate information. During the reservation phase, the management system can determine the vehicle ID of the target vehicle 100T based on the user ID contained in the reservation information. Subsequently, the target vehicle 100T carrying the user parks in the registration area. The management system identifies the vehicle ID of the target vehicle 100T by using a CAM (Camera Camera) installed in the parking lot infrastructure, thus confirming that the target vehicle 100T has arrived at the registration area. The arrival of the target vehicle 100T in the registration area of ​​the parking lot signifies that the use of the AVP (Automated Guided Vehicle) is confirmed. That is, recognizing that the target vehicle 100T has arrived at the registration area is equivalent to completing the registration procedure.

[0045] As another example, after vehicle 100T has stopped in the registration area, the user can also manually complete the registration process. For instance, the user operates user terminal 200 to notify the management system that they have arrived at the registration area. Based on the notification from the user, the management system recognizes that vehicle 100T has arrived at the registration area.

[0046] After registration is completed, the vehicle 100T carrying the user proceeds to the boarding / alighting area. At the boarding / alighting area, the user disembarks from vehicle 100T. Afterwards, the user requests AVP to begin. For example, the user operates user terminal 200 to request AVP to begin. The management system accepts the AVP start request from the user and, in response, initiates AVP for vehicle 100T.

[0047] 2-2. Facilitating Registration Procedures

[0048] Figure 3 This is a conceptual diagram illustrating the processing associated with the registration procedure in this embodiment. According to this embodiment, a "registration request" is newly introduced to facilitate the registration procedure. The registration request triggers the registration procedure and can be issued regardless of the location of the target vehicle 100T. That is, for a registration request, the registration procedure can be performed regardless of the location of the target vehicle 100T.

[0049] The entity issuing the registration request depends on the situation. For example, if vehicle 100T has already arrived at the parking lot, it is generally certain that vehicle 100T will utilize the reserved AVP in that parking lot. In this case, the management system (backend system 300) can also actively issue a registration request to vehicle 100T or user terminal 200. That is, the management system (backend system 300) can actively request registration procedures from vehicle 100T or user terminal 200. Upon receiving the registration request, vehicle 100T performs the registration procedure. For example, vehicle 100T sends a confirmation notification to the management system confirming the use of the AVP in the parking lot. Vehicle 100T can send the confirmation notification automatically to the management system, or it can send the confirmation notification to the management system after obtaining user approval. Similarly, upon receiving the registration request, user terminal 200 performs the registration procedure. For example, user terminal 200 notifies the user that the registration request has been received. When the user approves the registration procedure, user terminal 200 sends a confirmation notification to the management system confirming the use of the AVP in the parking lot. This facilitates the registration process. In addition, it can smoothly start automatic valet parking.

[0050] On the other hand, while the vehicle 100T is still far from the parking lot, it cannot be said that the vehicle 100T is confirmed to be using the reserved AVP in that parking lot. Therefore, registration cannot be requested from the management system. Instead, registration can be requested from either the vehicle 100T or the user terminal 200. Upon receiving the registration request, the management system can pre-confirm that the vehicle 100T is using the reserved AVP in that parking lot. This means that pre-registration is possible. By pre-registering, there is no need to queue in the registration queue or complete registration procedures after the vehicle arrives at the parking lot. As a result, automated valet parking can begin smoothly. Figure 3 As shown, a "pre-registered vehicle access zone" can also be set up in the parking lot that does not pass through the registration area.

[0051] 2-3. Calculation of Determinism

[0052] The AVP system 10 calculates the "certainty" of a vehicle 100T arriving at the reserved parking lot. Figure 4 This is a block diagram illustrating the processes related to the calculation of certainty. The AVP system 10 includes a certainty calculation unit. The certainty calculation unit calculates the certainty before the registration procedure. The certainty calculation unit may be included in the management system (back-end system 300 or parking system 400), in the vehicle 100 (target vehicle 100T), or in the user terminal 200.

[0053] The reservation information pertains to the reservation of an AVP (Automated Guided Vehicle) in the parking lot. As described above, the user operates the user terminal 200, inputting their user ID, desired parking lot, desired usage date, and desired usage time (reserved entry and exit times). The user terminal 200 sends a reservation request containing the input information to the backend system 300. The backend system 300 maintains a mapping between the user's user ID and the vehicle ID of the target vehicle 100T. The vehicle ID, for example, is license plate information. The backend system 300 can determine the vehicle ID of the target vehicle 100T based on the user ID. The reservation information includes the user ID, vehicle ID, parking lot ID, desired usage date, desired usage time, and registration status. The reservation information can also be provided to the target vehicle 100T, the user terminal 200, and the parking system 400.

[0054] Vehicle information refers to information related to each vehicle 100. Vehicle information includes each vehicle 100's vehicle ID, vehicle location, vehicle speed, etc. Vehicle information is obtained from each vehicle 100. Vehicle information can also be provided to the user terminal 200, the backend system 300, and the parking system 400.

[0055] Parking information is represented by a parking lot ID and location for each parking lot. This information is obtained from the management system (backend system 300 or parking system 400). Parking information can also be provided to user terminals 200 or to the target vehicle 100T.

[0056] Before registration, the certainty calculation unit calculates the certainty of vehicle 100T arriving at the reserved parking lot. More specifically, the certainty calculation unit calculates the certainty based on reservation information, vehicle information, and parking lot information. For example, based on the reservation information, the certainty calculation unit identifies the correspondence between the vehicle ID of vehicle 100T and the reserved parking lot ID. Next, based on the vehicle information, the certainty calculation unit obtains the vehicle location associated with the vehicle ID, i.e., the vehicle location of vehicle 100T. The certainty calculation unit can also obtain the vehicle location and vehicle speed of vehicle 100T based on the vehicle information. Furthermore, based on the parking lot information, the certainty calculation unit obtains the parking lot location associated with the parking lot ID. Finally, based on the vehicle location and parking lot location of vehicle 100T, the certainty calculation unit calculates the certainty of vehicle 100T arriving at the parking lot.

[0057] For example, the certainty calculation unit predicts the time it will take for vehicle 100T to reach the parking lot based on the vehicle's location and the parking lot's location. The certainty calculation unit can also consider the vehicle's speed when predicting the time. The longer the predicted time, the lower the certainty. When vehicle 100T is already in the parking lot, the certainty is at level one. On the other hand, when vehicle 100T is still outside the parking lot, the certainty is at level two, lower than level one. Certainty can be considered the inversion of arrival cost.

[0058] 2-4. Registration Request

[0059] The AVP system 10 determines the entity issuing the registration request based on the aforementioned certainty level. More specifically, when the certainty level is above a predetermined threshold, the AVP system 10 sends a registration request from the management system (backend system 300) to the target vehicle 100T or the user terminal 200. Upon receiving the registration request, the target vehicle 100T performs the registration procedure. For example, the target vehicle 100T sends a confirmation notification to the management system confirming the use of AVP in the parking lot. The target vehicle 100T can send the confirmation notification automatically to the management system, or it can send the confirmation notification to the management system after obtaining user approval. Similarly, the user terminal 200, upon receiving the registration request, performs the registration procedure. For example, the user terminal 200 notifies the user that the registration request has been received. When the user approves the registration procedure, the user terminal 200 sends a confirmation notification to the management system confirming the use of AVP in the parking lot. This facilitates the registration process and allows for the smooth initiation of automated valet parking.

[0060] On the other hand, when the certainty is less than a predetermined threshold, the AVP system 10 allows the target vehicle 100T or the user terminal 200 to send a registration request to the management system. Upon receiving the registration request, the management system can pre-confirm that the target vehicle 100T is using the reserved AVP in the parking lot. This means that pre-registration is possible. By pre-registering, there is no need for the target vehicle to queue in a registration queue or complete registration procedures after arriving at the parking lot. As a result, automated valet parking can begin smoothly.

[0061] As described above, when the target vehicle 100T is in the parking lot, the certainty is at level one. On the other hand, when the target vehicle 100T is outside the parking lot, the certainty is at level two, which is lower than level one. The predetermined threshold can also be set between level one and level two.

[0062] Furthermore, in the event of a temporary communication error, the aforementioned registration request may fail to reach the other party. In this case, there is a possibility that the vehicle 100T may arrive at the registration area in the parking lot without completing the registration procedure initiated by the registration request. When the vehicle 100T has arrived at the registration area but has not yet completed the registration procedure, the AVP system 10 can send a notification to the user terminal 200 to prompt the registration procedure. The user operates the user terminal 200 to notify the management system that they have arrived at the registration area. Based on the notification from the user, the management system recognizes that the vehicle 100T has arrived at the registration area.

[0063] 3. Example of vehicle composition

[0064] Figure 5 This is a block diagram illustrating an example configuration of the vehicle 100 according to this embodiment. The vehicle 100 includes a communication device 110, a sensor group 120, a driving device 130, and a control device 150.

[0065] The communication device 110 communicates with external systems via a communication network. For example, the communication device 110 communicates with the backend system 300. Additionally, the communication device 110 communicates with the parking system 400 via a wireless LAN. The communication device 110 can also communicate with the user terminal 200.

[0066] Sensor group 120 includes identification sensors, vehicle status sensors, etc. The identification sensors are used to identify (detect) the conditions surrounding the vehicle 100. Examples of identification sensors include cameras, lidar, radar, etc. Vehicle status sensors include speed sensors, acceleration sensors, yaw rate sensors, steering angle sensors, etc.

[0067] The driving device 130 includes a steering device, a drive device, and a braking device. The steering device turns the wheels. For example, the steering device includes a power steering device. The drive device is the power source that generates driving force. Examples of drive devices include engines, electric motors, and in-wheel motors. The braking device generates braking force.

[0068] The control unit 150 is a computer that controls the vehicle 100. The control unit 150 includes one or more processors 151 and one or more storage devices 152. The processor 151 performs various processes. Examples of processors 151 include general-purpose processors, special-purpose processors, CPUs, GPUs, ASICs, FPGAs, integrated circuits, etc. The processor 151 can also be referred to as a processing circuit. The storage device 152 stores various information. Examples of storage devices 152 include volatile memory, non-volatile memory, HDDs, SSDs, etc.

[0069] Vehicle control program 160 is a computer program used to control vehicle 100. The functions of control device 150 can also be achieved through the cooperation of processor 151 executing vehicle control program 160 and storage device 152. Vehicle control program 160 is stored in storage device 152. Alternatively, vehicle control program 160 can also be recorded on a computer-readable recording medium.

[0070] The control device 150 performs vehicle driving control to control the movement of the vehicle 100. The vehicle driving control includes steering control, acceleration control, and deceleration control. The control device 150 performs vehicle driving control by controlling the driving devices 130 (steering device, drive device, braking device).

[0071] The control device 150 communicates with the back-end system 300 and the parking system 400 via the communication device 110.

[0072] The control device 150 acquires driving environment information 170 representing the driving environment of the vehicle 100. The driving environment information 170 is stored in the storage device 152. For example, the driving environment information 170 includes surrounding condition information, vehicle status information, map information, location information, etc.

[0073] The surrounding environment information represents the recognition results of the recognition sensor. This information may also include object information related to the objects identified by the recognition sensor. Examples of objects surrounding vehicle 100 include obstacles, white lines, and markers M. Examples of obstacles include walls, pillars, and other vehicles. The object information represents the relative position and relative speed of the object relative to vehicle 100.

[0074] Vehicle status information represents the vehicle status detected by vehicle status sensors. Examples of vehicle status include speed, acceleration, yaw rate, and steering angle.

[0075] The map information is map information of the parking lot in which vehicle 100 travels. The map information shows the layout of roads within the parking lot. Additionally, the map information shows the layout of stationary obstacles (e.g., walls, pillars) within the parking lot. Furthermore, the map information shows the layout of markers M within the parking lot. For example, the map information is provided by a parking system 400 that manages the parking lot. Control device 150 obtains the map information from parking system 400 via communication device 110.

[0076] Location information indicates the current position of vehicle 100 in the parking lot. For example, control device 150 obtains high-precision location information through positioning processing. Specifically, control device 150 calculates the approximate position of vehicle 100 in the parking lot based on vehicle state information (steering angle and speed). Control device 150 uses recognition sensors to identify markers M around vehicle 100. Control device 150 obtains the configuration information of markers M around vehicle 100 from map information. Control device 150 corrects the position of vehicle 100 by matching the identification results and configuration of markers M. Thus, high-precision location information can be obtained.

[0077] Alternatively, the location information of vehicle 100 can also be estimated by parking system 400 based on images captured by infrastructure camera CAM. In this case, control device 150 can also obtain location information from parking system 400 via communication device 110.

[0078] Additionally, the control device 150 obtains information about the driving path TP in the parking lot. For example, the driving path TP is determined by the parking system 400, and the control device 150 obtains the driving path TP information from the parking system 400 via the communication device 110. As another example, the control device 150 may also determine the driving path TP based on map information and location information. Furthermore, the control device 150 performs vehicle driving control based on the location information to cause the vehicle 100 to drive according to the driving path TP.

[0079] The control device 150 may also have the functions of the determination calculation unit described above. In this case, the control device 150 obtains reservation information and parking information from the management system (back-end system 300). Then, the control device 150 calculates the determination based on the vehicle 100's location information, vehicle status information (vehicle speed), reservation information, and parking information. The control device 150 may also provide the calculated determination information to the management system (back-end system 300) or the user terminal 200 via the communication device 110.

[0080] Additionally, the control device 150 may also have the function of issuing a registration request. More specifically, when the certainty is less than a predetermined threshold, the control device 150 may also send a registration request to the management system (back-end system 300) via the communication device 110.

[0081] Furthermore, the control device 150 may also have the function of responding to registration requests. More specifically, the control device 150 receives a registration request from the management system (back-end system 300) via the communication device 110. In response to the registration request, the control device 150 sends a confirmation notification to the management system (back-end system 300) via the communication device 110.

[0082] 4. Example of backend system configuration

[0083] Figure 6 This is a block diagram illustrating an example configuration of the backend system 300 according to this embodiment. The backend system 300 includes a communication device 310, one or more processors 320 (hereinafter referred to as processors 320), and one or more storage devices 330 (hereinafter referred to as storage devices 330).

[0084] The communication device 310 communicates with each vehicle 100. Additionally, the communication device 310 communicates with each user's user terminal 200. Furthermore, the communication device 310 communicates with the parking system 400 of each parking lot.

[0085] Processor 320 performs various processes. Examples of processor 320 include general-purpose processors, special-purpose processors, CPUs, GPUs, ASICs, FPGAs, integrated circuits, etc. Processor 320 can also be referred to as processing circuitry. Storage device 330 stores various information. Examples of storage devices 330 include volatile memory, non-volatile memory, HDDs, SSDs, etc.

[0086] Management program 340 is a computer program used to manage AVPs in a parking lot. The functions of backend system 300 can also be achieved through the cooperation of processor 320 and storage device 330 in executing management program 340. Management program 340 is stored in storage device 330. Management program 340 can also be recorded on a computer-readable recording medium.

[0087] Management information 350 is stored in storage device 330. Management information 350 may also include user information related to each user. Management information 350 may also include reservation information, parking information (see [reference]). Figure 4 ).

[0088] The processor 320 communicates with the vehicle 100, the user terminal 200, and the parking system 400 via the communication device 310.

[0089] The processor 320 may also have the functions of the determination calculation unit described above. In this case, the processor 320 obtains vehicle information from the target vehicle 100T via the communication device 310. Then, the processor 320 calculates the determination based on the vehicle information and management information 350. The processor 320 may also provide the calculated determination information to the target vehicle 100T or the user terminal 200 via the communication device 310.

[0090] The processor 320 may also have the function of issuing registration requests. More specifically, when the certainty is above a predetermined threshold, the processor 320 may also send a registration request to the target vehicle 100T or the user terminal 200 via the communication device 310.

[0091] The processor 320 can also receive registration requests from the target vehicle 100T or the user terminal 200 via the communication device 310.

Claims

1. An automated valet parking system, which is an automated valet parking system used in parking lots. The automated valet parking system has one or more processors. The target vehicle is a vehicle used by a user who has reserved the automated valet parking service in the parking lot. The registration process is a confirmation of intent to use the reserved automated valet parking service in the parking lot. The one or more processors are configured to, Prior to the registration procedure, based on vehicle information including the location of the target vehicle and parking information including the location of the parking lot, the certainty of the target vehicle arriving at the parking lot is calculated. When the certainty level is above a threshold, the management system for the automated valet parking requests the registration procedure from the target vehicle or the user's user terminal. If the certainty is less than the threshold, it is permissible to request the registration procedure from the target vehicle or the user terminal to the management system in advance.

2. The automated valet parking system according to claim 1, wherein, When the target vehicle is in the parking lot, the certainty level is first. When the target vehicle is outside the parking lot, the certainty level is a second level, which is lower than the first level. The threshold is between the first level and the second level.

3. The automated valet parking system according to claim 1, wherein, If the target vehicle arrives at the registration area in the parking lot but has not yet completed the registration procedure, the one or more processors send a notification to the user's user terminal urging the registration procedure to be completed.

4. A registration method, executed by a computer and applied to the registration of automated valet parking in a parking lot. The target vehicle is a vehicle used by a user who has reserved the automated valet parking service in the parking lot. The registration process is a confirmation of intent to use the reserved automated valet parking service in the parking lot. The registration method includes: Prior to the registration procedure, the certainty of the target vehicle arriving at the parking lot is calculated based on vehicle information containing the location of the target vehicle and parking lot information containing the location of the parking lot. When the certainty is above a threshold, the management system that manages the automated valet parking requests the registration procedure from the target vehicle or the user's user terminal. and If the certainty is less than the threshold, the registration procedure may be requested in advance from the target vehicle or the user terminal to the management system.

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