Automatic parking system

Abstract

The present disclosure relates to an automatic parking system, which automatically moves an automatic driving vehicle parked in a parking lot to a boarding space in the parking lot by instructing the automatic driving vehicle based on a request from a user to leave the parking lot. The automatic parking system comprises: a user position determination unit, which determines whether a user terminal of a user is located in a pre-set boarding area or a pre-set boarding vicinity area including the boarding space; an exit request acceptance unit, which accepts an exit request when the user position determination unit determines that the user terminal is located in the boarding area or the boarding vicinity area; and a vehicle instruction unit, which instructs the automatic driving vehicle that is the object of the exit request to move to the boarding space when the exit request acceptance unit accepts an exit request.

Description

Technical Field

[0001] The present invention relates to an automatic parking system. Background Art

[0002] Japanese Patent Application Laid-Open No. 2019-066932 is a well-known technical document related to automatic parking systems. This publication discloses a management device for implementing vehicle unloading from a parking lot by autonomously moving the vehicle. Upon receiving an unloading instruction from the user, the device obtains the user's current location and estimates the time at which the user will arrive at the vehicle's scheduled pickup location based on the user's current location, thereby adjusting the vehicle's unloading time. Summary of the Invention

[0003] However, in the above-mentioned management device, the straight-line distance between the user's current location and the scheduled pick-up location is used. However, depending on the user's path to the parking lot, the departure time may not be properly adjusted, causing the vehicle to wait for a long time at the scheduled pick-up location.

[0004] One technical solution of the present invention is an automatic parking system, which instructs an automatic driving vehicle parked in a parking lot according to a request from a user to leave the parking lot, so that the automatic driving vehicle automatically moves to a boarding space (pickup space) in the parking lot. The automatic parking system comprises: a user position determination unit, which determines whether the user terminal of the user is located in a pre-set boarding area or a pre-set boarding vicinity area including the boarding space; an exit request acceptance unit, which accepts an exit request when the user position determination unit determines that the user terminal is located in the boarding area or the boarding vicinity area; and a vehicle indication unit, which instructs the automatic driving vehicle that is the object of the exit request to move to the boarding space when the exit request acceptance unit accepts the exit request.

[0005] According to an automatic parking system involved in a technical solution of the present invention, when the user position determination unit determines that the user terminal is located in a boarding area or a boarding vicinity area including a boarding space, the system accepts a depot request from the user terminal and instructs the autonomous driving vehicle to move to the boarding space. Therefore, compared with a case where a depot request is accepted even though the user is not in the boarding area or the boarding vicinity area, the autonomous driving vehicle can be prevented from waiting for a long time at the boarding space due to the user's late arrival.

[0006] In an automatic parking system according to one embodiment of the present invention, the vehicle boarding area may include at least a portion of a parking lot-side elevator lobby located on the same floor as a parking space for boarding in the parking lot, and at least a portion of an elevator lobby on a different floor from the parking lot-side elevator lobby where an elevator from the parking lot-side elevator lobby is parked. According to this automatic parking system, the vehicle boarding area includes not only the parking lot-side elevator lobby located near the parking lot but also at least a portion of an elevator lobby on a different floor from the parking lot. This improves user convenience compared to a system where a departure reservation is not accepted until the user exits the elevator on the same floor as the parking lot.

[0007] In an automatic parking system according to one aspect of the present invention, the exit request accepting unit may perform an exit reservation acceptance, accepting the exit request as a reservation, if the user position determining unit has not determined that the user terminal is located in the boarding area or the boarding vicinity area at the time the exit request is made, and automatically accept the exit request if the user position determining unit determines that the user terminal is located in the boarding area or the boarding vicinity area after the exit reservation acceptance. According to this automatic parking system, even if the user terminal has not been determined to be located in the boarding area or the boarding vicinity area at the time the exit request is made, the exit reservation acceptance is performed, and the exit request is automatically accepted if the user terminal is determined to be located in the boarding area or the boarding vicinity area. This improves user convenience compared to a case where the user has to make another exit request after entering the boarding area or the boarding vicinity area.

[0008] According to one technical solution of the present invention, it is possible to prevent an autonomous driving vehicle from waiting for a long time in a boarding parking space due to a user's late arrival. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Hereinafter, features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which like reference numerals represent like elements, and wherein:

[0010] Figure 1 This is a block diagram showing an example of an automatic parking system according to an embodiment.

[0011] Figure 2 This is a plan view showing an example of a parking lot where automatic valet parking is performed.

[0012] Figure 3 This is a block diagram showing an example of the hardware configuration of a parking lot management server.

[0013] Figure 4 This is a layered diagram used to illustrate an example of a boarding area and an area near the boarding area.

[0014] Figure 5AThis is a flowchart showing an example of the outbound request processing in the user terminal.

[0015] Figure 5B This is a flowchart showing an example of the parking lot management server's unloading process.

[0016] Figure 6 This is a flowchart showing an example of the unloading process after the unloading reservation is accepted in the parking lot management server. DETAILED DESCRIPTION

[0017] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0018] Figure 1 1 is a block diagram showing an automatic parking system 100 according to an embodiment. Figure 1 The illustrated automatic parking system (AVPS: Automated Valet Parking System) 100 is a system for performing automatic valet parking (Automated Valet Parking) for a plurality of autonomous driving vehicles 2 in a parking lot (Parking Place).

[0019] Automatic valet parking is a service that allows an unmanned autonomous vehicle 2, after a user (passenger) has exited the vehicle at a parking lot, to automatically park in a target parking space within the parking lot, following instructions from the parking lot. The target parking space is a pre-determined parking space for the autonomous vehicle 2. The target route is the route within the parking lot that the autonomous vehicle 2 will travel to reach the target parking space. Furthermore, the target route during exiting the parking lot is the route that the autonomous vehicle 2 will travel to reach the passenger parking space described later.

[0020] The parking lot can be a dedicated parking lot for automated valet parking or a parking lot used for general vehicles other than those targeted by automated valet parking. Alternatively, a portion of a parking lot for general vehicles can be used as an area dedicated to automated valet parking. In this embodiment, a dedicated parking lot for automated valet parking is used as an example for illustration.

[0021] Here, Figure 2 This is a plan view showing an example of a parking lot where automatic valet parking is performed. Figure 2The figure shows a parking lot 50 for automated valet parking, a parking area 51, a drop-off zone 52, and a pickup zone 53. Parking lot 50 is, for example, a facility parking lot. It can be an underground parking lot located underground within the facility. Alternatively, it can be an outdoor parking lot outside the facility. Parking lot 50 includes parking area 51, drop-off zone 52, and pickup zone 53.

[0022] The parking area 51 is a place where a parking space (parking frame) 61 is formed to park the autonomous driving vehicle 2 by automatic valet parking. The parking space 61 is, for example, Figure 2 As shown, a plurality of them are arranged in one direction (eg, the vehicle width direction of the parked vehicle).

[0023] The drop-off area 52 is located at the entrance to the parking lot 50 and is used to drop off passengers, including users, from the autonomously driven vehicle 2 before entering the parking lot. The drop-off area 52 has a drop-off parking space 62 for parking the autonomously driven vehicle 2 when passengers exit the vehicle. The drop-off area 52 communicates with the parking area 51 via an entrance door 54.

[0024] The drop-off area 52 is connected to a facility entrance lobby 70, which allows users exiting the automated vehicle 2 to enter a commercial facility or other facility. The facility entrance lobby 70 does not need to be directly connected to the drop-off area 52; it can also be connected via a passageway or other means. The facility entrance lobby 70 is equipped with an elevator 71 for traveling between floors; an automatic door 72 at the facility entrance between the drop-off area 52 and the facility; and an entrance reception machine 73. The entrance reception machine 73 is a device that receives parking requests to initiate automated valet parking.

[0025] The boarding area 53 is located at the exit of the parking lot 50, where passengers board the autonomous vehicles 2 leaving the parking lot. The boarding area 53 has a parking space 63 where the autonomous vehicles 2 wait to pick up passengers. The boarding area 53 is connected to the parking area 51 via an exit door 55. A return gate 56 is provided between the boarding area 53 and the parking area 51, allowing the autonomous vehicles 2 to return from the boarding area 53 to the parking area 51. However, the return gate 56 is not required.

[0026] The boarding area 53 is connected to a facility exit lobby (parking lot side lobby) 80, which serves as a means of transporting users from commercial facilities and other facilities back to the parking lot 50. The facility exit lobby 80 does not need to be directly connected to the boarding area 53 and can be connected via a passageway or other means. The facility exit lobby 80 is equipped with an elevator 81 for traveling between floors; an automatic door 82 at the facility exit between the boarding area 53; and an exit-side reception counter 83.

[0027] The exit-side acceptance machine 83 is a device for accepting exit requests from the autonomous driving vehicle 2 parked in the parking area 51 by automatic valet parking. An exit request is a request issued by the user to have the autonomous driving vehicle 2 leave the garage. In addition to direct operation, the exit-side acceptance machine 83 also has the function of accepting exit requests through short-range communication with the user terminal 3. As short-range communication, for example, BLE (Bluetooth Low Energy (Bluetooth is a registered trademark)) or NFC (Near Field Communication) can be used. In addition, the exit-side acceptance machine 83 can use the network within the facility and the terminal within the facility to perform short-range communication with the user terminal 3 at the place where it has left.

[0028] Furthermore, the boarding area 52 and the boarding area 53 do not need to be separate; they can be integrated into one boarding and alighting area. In this case, the facility entrance elevator hall 70 and the facility exit elevator hall 80 can be integrated into one elevator hall. Furthermore, the entrance-side reception terminal 73 and the exit-side reception terminal 83 do not need to be separate; a single reception terminal can be used.

[0029] In addition, Figure 2 In the figure, an autonomous driving vehicle 2A is shown parked in the parking space 62 for getting off in the getting-off lot 52, an autonomous driving vehicle 2B is traveling in the parking lot 50, an autonomous driving vehicle 2C is parked in the parking space 61 in the parking area 51, and an autonomous driving vehicle 2D is parked in the parking space 63 for getting on in the boarding lot 53.

[0030] In the automated parking system 100, for example, after autonomous vehicle 2 enters parking lot 50 and drops off a passenger at exit parking space 62 (corresponding to autonomous vehicle 2A), the system obtains instruction authority from autonomous vehicle 2 and begins automated valet parking. The automated parking system 100 directs autonomous vehicle 2 to a target parking space within parking area 51 (corresponding to autonomous vehicle 2B) and parks autonomous vehicle 2 in the target parking space (corresponding to autonomous vehicle 2C). In response to a pickup request, the automated parking system 100 directs the parked autonomous vehicle 2 to boarding area 53 and waits in boarding space 63 until the passenger arrives (corresponding to autonomous vehicle 2D).

[0031] [Composition of the automatic parking system]

[0032] Hereinafter, the structure of the automatic parking system 100 will be described with reference to the accompanying drawings. Figure 1 As shown, the automatic parking system 100 includes a parking lot management server 1. The parking lot management server 1 is a server for managing a parking lot.

[0033] Parking lot management server 1 is configured to communicate with autonomous vehicles 2 and user terminals (user frontends) 3. Autonomous vehicles 2 and user terminals 3 will be described in detail later. Parking lot management server 1 can be located in the parking lot or in a facility outside the parking lot. Parking lot management server 1 can also be composed of multiple computers located in different locations.

[0034] The parking lot management server 1 is connected to parking lot sensors 4 and a parking lot map database 5. The parking lot sensors 4 are sensors for identifying the conditions within the parking lot 50. The parking lot sensors 4 include vacant space detection sensors for detecting whether a vehicle is parked in each parking space (i.e., whether each parking space is occupied or vacant).

[0035] A vacancy detection sensor can be installed for each parking space, or it can be installed on the ceiling, etc., so that a single sensor can monitor multiple parking spaces. The configuration of the vacancy detection sensor is not particularly limited, and a well-known configuration can be employed. The vacancy detection sensor can be a pressure sensor, a radar sensor or sonar sensor using radio waves, or a camera. The vacancy detection sensor transmits detection information of parked vehicles in parking spaces to the parking lot management server 1.

[0036] The parking lot sensor 4 may also include a surveillance camera for detecting the autonomous vehicle 2 traveling along the path of the parking lot 50. The surveillance camera is installed on the ceiling and / or wall of the parking lot to capture images of the autonomous vehicle 2 traveling. The surveillance camera transmits the captured images to the parking lot management server 1.

[0037] The parking lot map database 5 stores parking lot map information. This information includes the location information of parking spaces, exit spaces, and boarding spaces within the parking lot, as well as information about driving routes within the parking lot. Furthermore, this information includes the location information of landmarks used by the autonomous driving vehicle 2 for position recognition. Landmarks will be discussed later.

[0038] Next, the hardware configuration of the parking lot management server 1 will be described. Figure 3 FIG. 1 is a block diagram showing an example of the hardware configuration of a parking lot management server. Figure 3 As shown, the parking lot management server 1 is configured as a general computer including a processor 40 , a memory 41 , a storage 42 , a communication interface 43 , and an administrator interface 44 .

[0039] Processor 40 controls parking lot management server 1 by running various operating systems. Processor 40 is a computing unit such as a CPU (Central Processing Unit) that includes a control device, a computing device, and registers. Processor 40 comprehensively manages memory 41, storage 42, communication interface 43, and administrator interface 44. Memory 41 is a recording medium such as ROM (Read Only Memory) or RAM (Random Access Memory). Storage 42 is a recording medium such as an HDD (Hard Disk Drive).

[0040] Communication interface 43 is a communication device for wireless communication via a network. Network equipment, network controllers, network cards, and the like can be used for communication interface 43. Parking lot management server 1 communicates with autonomous driving vehicle 2 and user terminal 3 using communication interface 43. Administrator interface 44 is the input / output unit of parking lot management server 1 for administrators and others. Administrator interface 44 includes output devices such as a display and speaker, and input devices such as a touch panel.

[0041] Next, the functional structure of the parking lot management server 1 will be described. Figure 1As shown, the parking lot management server 1 includes a vehicle information acquisition unit 11 , a vehicle status recognition unit 12 , a user position determination unit 13 , a departure request reception unit 14 , and a vehicle instruction unit 15 .

[0042] The vehicle information acquisition unit 11 acquires vehicle information of the autonomous vehicle 2 by communicating with the autonomous vehicle 2 that is the target of the automated valet parking service. This vehicle information includes identification information of the autonomous vehicle 2 and its location within the parking lot. The identification information can be any information that can identify each autonomous vehicle 2. This identification information can include an ID number, a vehicle number, an automated valet parking reservation number, or the like.

[0043] Vehicle information may include the type of autonomous vehicle 2 and the vehicle number, which is distinct from identification information. Vehicle information may include entry reservation information, such as the scheduled entry time, and the scheduled exit time. Vehicle information may include vehicle information such as the turning radius and width of autonomous vehicle 2, as well as information related to the autonomous driving function of autonomous vehicle 2. Information related to the autonomous driving function may also include information about the autonomous driving version.

[0044] Vehicle information may also include the driving status of the autonomous vehicle 2 and the recognition results of the external environment. The recognition of the driving status and external environment will be described later. Vehicle information may also include information about the remaining driving distance or remaining fuel of the autonomous vehicle 2. Vehicle information may also include fault information of the autonomous vehicle 2. Fault information refers to information related to vehicle abnormalities that have occurred in the autonomous vehicle 2. During automatic valet parking, the vehicle information acquisition unit 11 continuously acquires vehicle information from the autonomous vehicle 2.

[0045] The vehicle status recognition unit 12 recognizes the status of the autonomous vehicle 2 during automatic valet parking based on the vehicle information acquired by the vehicle information acquisition unit 11. The status of the autonomous vehicle 2 includes the position of the autonomous vehicle 2 within the parking lot. The status of the autonomous vehicle 2 also includes the communication status between the parking lot management server 1 and the autonomous vehicle 2. The vehicle status recognition unit 12 may also recognize the status of the autonomous vehicle 2 based on images of the autonomous vehicle 2 transmitted from the parking lot sensor 4.

[0046] The user position determination unit 13 determines whether the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn based on communication with the user terminal 3. Position determination at the user terminal 3 can be performed using not only GPS (Global Positioning System) or GNSS (Global Navigation Satellite System) but also radio waves from beacons installed in parking lots or facilities. Position determination at the user terminal 3 is not particularly limited and may be performed using other methods.

[0047] The boarding area R is a predefined area that includes the boarding spaces 63. For example, the boarding area R is defined as an area that includes the boarding area 53. The boarding vicinity area Rn is a predefined area near the boarding area R. For example, the boarding vicinity area Rn is defined as the facility exit elevator lobby (parking lot side elevator lobby) 80 on the same floor as the boarding spaces 63. The boarding vicinity area Rn may also include an elevator lobby on a different floor where the elevator 81 of the facility exit elevator lobby 80 stops.

[0048] Here, Figure 4 This is a hierarchical diagram for explaining an example of the boarding area R and the boarding vicinity area Rn. Figure 4 In FIG, a first floor portion 101 of a facility, a first floor elevator hall (elevator hall on another floor) 102, a first floor automatic door 103, and a first floor reception terminal 104 are shown.

[0049] Facility ground floor section 101 is the first floor section of the facility, which includes parking lot 50. A first-floor elevator lobby 102 is connected to facility ground floor section 101. First-floor elevator lobby 102 shares elevator 81 with facility exit lobby 80. First-floor elevator lobby 102 is where elevator 81 stops. First-floor automatic door 103 is an automatic door between facility ground floor section 101 and first-floor elevator lobby 102.

[0050] The first floor acceptance terminal 104 is located in the first floor elevator hall 102 and is used for short-range communication with the user terminal 3 in the first floor elevator hall 102. The first floor acceptance terminal 104 is connected to the exit-side acceptance terminal 83 via a network. Users can also directly request delivery from the first floor acceptance terminal 104.

[0051] In addition, Figure 4In the figure, the second floor of the facility 201, the second floor elevator hall (elevator hall on another floor) 202, the second floor automatic door 203, and the second floor reception terminal 204 are shown. The second floor of the facility 201 is the second floor portion of the facility with parking lot 50. The second floor elevator hall 202 is connected to the second floor of the facility 201. The second floor elevator hall 202 shares elevator 81 with the facility exit elevator hall 80. The second floor elevator hall 202 is the elevator hall where elevator 81 stops. The second floor automatic door 203 is an automatic door between the second floor of the facility 201 and the second floor elevator hall 202.

[0052] The second-floor reception terminal 204 is located in the second-floor elevator hall 202 and is used for short-range communication with the user terminal 3 in the second-floor elevator hall 202. The second-floor reception terminal 204 is connected to the exit-side reception terminal 83 via a network. Alternatively, a user can directly request a shipment through the second-floor reception terminal 204.

[0053] like Figure 4 As shown, the boarding area R is set to include, for example, the entire area of the boarding area 53. The boarding vicinity area Rn is set to include the facility exit elevator hall 80 located on the same floor as the boarding spaces 63, and the first-floor elevator hall 102 and second-floor elevator hall 202 where the elevator 81 of the facility exit elevator hall 80 stops. Thus, the boarding vicinity area Rn can include elevator halls on other floors (such as the first-floor elevator hall 102 and second-floor elevator hall 202) on different floors from the boarding spaces 63. The boarding vicinity area Rn can also include the elevator 81 itself.

[0054] Furthermore, the boarding area R may be a portion of the boarding lot 53 as long as it includes the boarding spaces 63. The boarding area R may also be an area that includes passenger waiting spaces located near the boarding spaces 63 within the boarding lot 53. The boarding area R may also be composed of multiple areas. The boarding area R may be an area formed solely by the boarding spaces 63, or an area formed by the boarding spaces 63 and passenger waiting spaces provided for each boarding space 63. If the parking lot 50 is a multi-story parking lot, the boarding area R may be provided on each floor.

[0055] The boarding vicinity area Rn does not necessarily include all the elevator halls on all floors where the elevator 81 stops. The boarding vicinity area Rn may also include only the elevator halls on other floors that are a certain number of floors away from the floor where the boarding space 63 is located. The certain number of floors may be one, two, or three or more.

[0056] The boarding vicinity area Rn does not need to include the entire facility exit elevator lobby 80 and the elevator lobby on other floors. The boarding vicinity area Rn only needs to include at least a portion of the facility exit elevator lobby 80. For example, at least a portion of the area can be a range within which short-range communication from the user terminal 3 can reach the exit-side receiving terminal 83.

[0057] Similarly, the boarding vicinity area Rn may also include at least a portion of the elevator lobby on another floor. For example, the at least a portion of the area may be within the range of short-range communication from the user terminal 3 to the first-floor reception terminal 104 or the second-floor reception terminal 204. Furthermore, the boarding vicinity area Rn may be set to include a path, such as a passageway, that the user will pass through when reaching the boarding space 63, or may be set to an area within a certain distance from the path.

[0058] Furthermore, the user position determination unit 13 may determine that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn when the user terminal 3 is connected to a predetermined receiving machine or receiving terminal through short-distance communication.

[0059] The dispatch request accepting unit 14 accepts dispatch requests from users. Departure requests from users are made via the user terminal 3. The user terminal 3 can make dispatch requests via long-distance or short-distance communication. Departure requests from users can also be made by directly operating a terminal such as the exit-side terminal 83. The dispatch request includes information identifying the autonomous driving vehicle 2 to which the dispatch request is addressed.

[0060] When a user requests a departure from the vehicle, the departure request accepting unit 14 refers to the determination result of the user position determining unit 13. If the user position determining unit 13 determines that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn, the departure request accepting unit 14 accepts the departure request. The departure request accepting unit 14 notifies the user terminal 3 that the autonomous vehicle 2 has started departing from the vehicle.

[0061] If the user location determination unit 13 does not determine that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn, the dispatch request acceptance unit 14 does not accept the dispatch request and instead performs dispatch reservation acceptance. Reservation acceptance is the acceptance of a reservation for dispatch request acceptance. The dispatch request acceptance unit 14 notifies the user terminal 3 of the dispatch reservation acceptance. At this time, the dispatch request acceptance unit 14 may also obtain the user's consent by continuously receiving information about the user terminal 3's location.

[0062] When a departure reservation has been accepted, the departure request accepting unit 14 references the determination result of the user location determination unit 13 at regular intervals. If it is determined that the user terminal 3 that has accepted the departure reservation is located in the boarding area R or the boarding vicinity area Rn, the departure request accepting unit 14 automatically accepts the departure request. The departure request accepting unit 14 notifies the user terminal 3 that the autonomous driving vehicle 2 has begun departing based on the departure reservation. This allows the departure request to be accepted even if the user does not perform another departure request operation, enabling the autonomous driving vehicle 2 to begin departing.

[0063] The vehicle instruction unit 15 instructs the autonomous vehicle 2 to perform automatic valet parking. The vehicle instruction unit 15 performs automatic valet parking for the autonomous vehicle 2 by indicating a target route with a parking space 61 or a passenger space 63 within the parking lot 50 as the destination. For example, the target route can be the shortest path from the current location of the autonomous vehicle 2 within the parking lot 50 to the destination. Furthermore, the vehicle instruction unit 15 may also indicate a maximum speed and / or acceleration limit within the parking lot along with the target route. The maximum speed and acceleration limits are predetermined.

[0064] When the exit request accepting unit 14 accepts the exit request, the vehicle instruction unit 15 instructs the autonomous driving vehicle 2, which is the subject of the exit request, to move to the boarding space 63 (start exit). For example, the vehicle instruction unit 15 starts the exit of the autonomous driving vehicle 2 by indicating a target route from the current position of the autonomous driving vehicle 2 parked in the parking space 61 to the vacant boarding space 63.

[0065] Next, the autonomous driving vehicle 2 and the user terminal 3 that communicate with the parking lot management server 1 will be described. Note that the automatic parking system 100 according to this embodiment does not necessarily need to include the autonomous driving vehicle 2 .

[0066] <Composition of autonomous vehicles>

[0067] like Figure 1 As shown, as an example, the autonomous driving vehicle 2 includes an autonomous driving ECU 20. The autonomous driving ECU 20 is an electronic control unit that includes a CPU, ROM, RAM, and the like. In the autonomous driving ECU 20, various functions are implemented by, for example, loading programs stored in the ROM into the RAM and executing the programs loaded into the RAM by the CPU. The autonomous driving ECU 20 may also be composed of multiple electronic units.

[0068] The automatic driving ECU 20 is connected to a communication unit 21 , an external sensor 22 , an internal sensor 23 , and an actuator 24 .

[0069] The communication unit 21 is a communication device that controls wireless communications with the outside world of the autonomous vehicle 2. The communication unit 21 transmits and receives various information through communication with the parking lot management server 1. For example, the communication unit 21 transmits vehicle information to the parking lot management server 1 and retrieves information necessary for automated valet parking (e.g., information on landmarks along the target route) from the parking lot management server 1. The communication unit 21 also communicates with the user terminal 3 associated with the autonomous vehicle 2.

[0070] The external sensor 22 is an onboard sensor that detects the external environment of the autonomous vehicle 2. The external sensor 22 includes at least a camera. The camera is a camera device that captures the external environment of the autonomous vehicle 2. For example, the camera is installed on the inner side of the front windshield of the autonomous vehicle 2 to capture the front of the vehicle. The camera sends the captured information related to the external environment of the autonomous vehicle 2 to the autonomous driving ECU 20. The camera can be either a monocular camera or a stereo camera. Multiple cameras can also be installed, and in addition to the front of the autonomous vehicle 2, it can also capture the left, right, and rear sides.

[0071] The external sensor 22 may also include a radar sensor. A radar sensor is a detection device that uses radio waves (such as millimeter waves) or light to detect objects around the autonomous driving vehicle 2. Radar sensors include, for example, millimeter wave radars or laser radars (LIDAR: Light Detection and Ranging). The radar sensor detects objects by sending radio waves or light to the periphery of the autonomous driving vehicle 2 and receiving radio waves or light reflected by the objects. The radar sensor sends the detected object information to the autonomous driving ECU 20. In addition, the external sensor 22 may also include a sonar sensor that detects sounds outside the autonomous driving vehicle 2.

[0072] Internal sensors 23 are onboard sensors that detect the driving state of the autonomous vehicle 2. Internal sensors 23 include a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor detects the speed of the autonomous vehicle 2. Wheel speed sensors, which detect the rotational speed of each wheel, provided for the wheels of the autonomous vehicle 2 or for drive shafts rotating integrally with the wheels, can be used as the vehicle speed sensors. The vehicle speed sensors transmit the detected vehicle speed information (wheel speed information) to the autonomous vehicle ECU 20.

[0073] The acceleration sensor is a detector that detects the acceleration of the autonomous driving vehicle 2. The acceleration sensor includes, for example, a front and rear acceleration sensor that detects the acceleration in the front and rear directions of the autonomous driving vehicle 2. The acceleration sensor may also include a lateral acceleration sensor that detects the lateral acceleration of the autonomous driving vehicle 2. The acceleration sensor sends, for example, the acceleration information of the autonomous driving vehicle 2 to the autonomous driving ECU 20. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) of the autonomous driving vehicle 2 about the vertical axis of the center of gravity. As the yaw rate sensor, for example, a gyroscope sensor can be used. The yaw rate sensor sends the detected yaw rate information of the autonomous driving vehicle 2 to the autonomous driving ECU 20.

[0074] The actuator 24 is a device used in the control of the autonomous driving vehicle 2. The actuator 24 includes at least a drive actuator, a brake actuator, and a steering actuator. The drive actuator controls the amount of air supplied to the engine (throttle opening) based on the control signal from the autonomous driving ECU 20, thereby controlling the driving force of the autonomous driving vehicle 2. In addition, in the case where the autonomous driving vehicle 2 is a hybrid vehicle, in addition to the amount of air supplied to the engine, a control signal from the autonomous driving ECU 20 is input to the motor serving as the power source, thereby controlling the driving force. In the case where the autonomous driving vehicle 2 is an electric vehicle, a control signal from the autonomous driving ECU 20 is input to the motor serving as the power source, thereby controlling the driving force. The motor serving as the power source in these cases constitutes the actuator 24.

[0075] The brake actuator controls the braking system based on control signals from the autonomous driving ECU 20, controlling the braking force applied to the wheels of the autonomous driving vehicle 2. For example, a hydraulic brake system can be used as the braking system. The steering actuator controls the driving of the assist motor in the electric power steering system, which controls the steering torque, based on control signals from the autonomous driving ECU 20. Thus, the steering actuator controls the steering torque of the autonomous driving vehicle 2.

[0076] Next, an example of the functional configuration of the automatic driving ECU 20 will be described. The automatic driving ECU 20 includes an external environment recognition unit 31 , a driving state recognition unit 32 , a vehicle position recognition unit 33 , a vehicle information provision unit 34 , and a vehicle control unit 35 .

[0077] The external environment recognition unit 31 recognizes the external environment of the autonomous vehicle 2 based on the detection results of the external sensor 22 (images captured by the camera or object information detected by the radar sensor). The external environment includes the relative positions of surrounding objects with respect to the autonomous vehicle 2. The external environment may also include the relative speed and movement direction of surrounding objects with respect to the autonomous vehicle 2. The external environment recognition unit 31 recognizes other vehicles and objects such as pillars in the parking lot through pattern matching, etc. The external environment recognition unit 31 can also recognize parking lot doors, parking lot walls, poles, safety cones, etc. In addition, the external environment recognition unit 31 can also recognize driving boundaries in the parking lot through white line recognition.

[0078] The driving state recognition unit 32 identifies the driving state of the autonomous vehicle 2 based on the detection results of the internal sensor 23. The driving state includes the speed of the autonomous vehicle 2, the acceleration of the autonomous vehicle 2, and the yaw rate of the autonomous vehicle 2. Specifically, the driving state recognition unit 32 identifies the speed of the autonomous vehicle 2 based on the speed information from the speed sensor. The driving state recognition unit 32 identifies the acceleration of the autonomous vehicle 2 based on the acceleration information from the acceleration sensor. The driving state recognition unit 32 identifies the heading of the autonomous vehicle 2 based on the yaw rate information from the yaw rate sensor.

[0079] The vehicle position recognition unit 33 recognizes the position of the autonomous driving vehicle 2 in the parking lot based on the parking lot map information acquired from the parking lot management server 1 via the communication unit 21 and the external environment recognized by the external environment recognition unit 31 .

[0080] The vehicle position recognition unit 33 identifies the position of the autonomous vehicle 2 within the parking lot based on the location information of landmarks within the parking lot included in the parking lot map information and the relative position of the landmarks with respect to the autonomous vehicle 2 identified by the external environment recognition unit 31. Landmarks can be objects fixedly installed in the parking lot. For example, at least one of parking lot pillars, parking lot walls, poles, and safety cones can be used as landmarks. Alternatively, a driving boundary can be used as a landmark.

[0081] In addition, the vehicle position recognition unit 33 may also recognize the position of the autonomous vehicle 2 by dead reckoning based on the detection results of the internal sensor 23. Alternatively, the vehicle position recognition unit 33 may recognize the position of the autonomous vehicle 2 by communicating with beacons installed in the parking lot.

[0082] The vehicle information providing unit 34 provides vehicle information to the parking lot management server 1 via the communication unit 21. The vehicle information providing unit 34 provides the parking lot management server 1 with vehicle information including the position of the autonomous driving vehicle 2 in the parking lot recognized by the vehicle position recognition unit 33 at regular intervals, for example.

[0083] When a vehicle abnormality is detected, the vehicle information providing unit 34 provides vehicle information including failure information related to the vehicle abnormality to the parking lot management server 1. The method for detecting a vehicle abnormality (various failures) is not particularly limited, and a well-known method can be used.

[0084] The vehicle control unit 35 executes autonomous driving of the autonomous vehicle 2. During autonomous driving, the autonomous vehicle 2 automatically travels along a target route indicated by the parking lot management server 1. The vehicle control unit 35 generates a driving trajectory (i.e., a path or direction) for the autonomous vehicle 2 based on, for example, the target route, the position of the autonomous vehicle 2, the external environment of the autonomous vehicle 2, and the driving state of the autonomous vehicle 2. The driving trajectory is equivalent to the driving plan for autonomous driving. The driving trajectory includes the path the vehicle will travel during autonomous driving and the speed plan for autonomous driving.

[0085] A path is the planned trajectory of a vehicle during autonomous driving on a target route. For example, the path can be data (a steering angle plan) indicating changes in the steering angle of the autonomous vehicle 2 corresponding to positions on the target route. Positions on the target route, for example, are set longitudinal positions at predetermined intervals (e.g., 1 meter) in the direction of travel along the target route. The steering angle plan is data that associates a target steering angle with each set longitudinal position.

[0086] The vehicle control unit 35, for example, generates a driving trajectory so that the vehicle passes through the center of the driving path of the parking lot along the target route. If a speed limit is specified by the parking lot management server 1, the vehicle control unit 35 generates a driving trajectory so that the vehicle does not exceed the speed limit. The vehicle control unit 35 may also generate a driving trajectory using parking lot map information obtained through communication with the parking lot management server 1.

[0087] The vehicle control unit 35 parks the autonomous vehicle 2 upon receiving a parking instruction from the parking lot management server 1. Upon receiving a moving instruction from the parking lot management server 1, the vehicle control unit 35 moves the stopped autonomous vehicle 2. While the above description provides an example of the configuration of the autonomous vehicle 2, the configuration is not limited to the above description as long as the autonomous vehicle 2 is capable of automatic valet parking.

[0088] <Configuration of User Terminal>

[0089] User terminal 3 is a portable information terminal of a user associated with autonomous vehicle 2. User terminal 3 is registered with autonomous vehicle 2 as, for example, the terminal of the owner of autonomous vehicle 2. User terminal 3 may also be the terminal of a user registered with autonomous vehicle 2 as a user with authority due to a temporary lease or transfer of authority from the owner. User terminal 3 is comprised of, for example, a computer including a processor such as a CPU, memory such as ROM or RAM, a communication device, and a user interface including a display and touch panel.

[0090] User terminal 3 has the function of making parking entry and exit requests to parking lot management server 1. A user can make automatic valet parking entry and exit requests by operating user terminal 3. For example, after parking autonomous vehicle 2 in parking lot 52 in parking lot 50 and exiting, the user operates user terminal 3 to make a parking entry request via short-range communication with entrance-side terminal 73. Similarly, when returning to parking lot 50 from the facility, the user operates user terminal 3 to make an exit request via short-range communication with exit-side terminal 83, first-floor terminal 104, second-floor terminal 204, and the like.

[0091] [Processing of automatic parking system]

[0092] Next, the processing of the automatic parking system 100 will be described with reference to the drawings. Figure 5A 3 is a flowchart showing an example of a departure request process in the user terminal 3. The departure request process can be executed after the automatic valet parking of the autonomous driving vehicle 2 is started.

[0093] like Figure 5A As shown, as S10, the user terminal 3 determines (identifies) whether the user has performed a shipment request operation. If the user terminal 3 determines that the user has performed a shipment request operation (S10: Yes), the process proceeds to S12. If the user terminal 3 does not determine that the user has performed a shipment request operation (S10: No), the process ends.

[0094] In S12, the user terminal 3 transmits the location information of the user terminal 3 and a request for a departure from the parking lot to the parking lot management server 1. The location information of the user terminal 3 can be information obtained using a positioning function (GPS, GNSS, beacon, etc.) of the user terminal 3. The request for a departure from the parking lot includes information identifying the autonomous driving vehicle 2 to which the request for a departure is directed.

[0095] Figure 5B 3 is a flowchart showing an example of the parking lot management server 1. The parking lot management server 1 performs the parking lot management process when a parking lot management request is transmitted from the user terminal 3.

[0096] like Figure 5B As shown, as S20, the parking lot management server 1 has the user position determination unit 13 determine whether the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn. The user position determination unit 13 performs position determination based on the position information of the user terminal 3. If the parking lot management server 1 determines that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn (S20: Yes), the process proceeds to S26. If the parking lot management server 1 does not determine that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn (S20: No), the process proceeds to S22.

[0097] In S22, the parking lot management server 1 uses the unloading request accepting unit 14 to accept the unloading reservation. The unloading request accepting unit 14 adds the user's autonomous driving vehicle 2 to the list of scheduled unloadings. In S24, the parking lot management server 1 notifies the user terminal 3 of the unloading reservation acceptance. The parking lot management server 1 then proceeds to the unloading process after unloading reservation acceptance, which will be described later.

[0098] In S26, the parking lot management server 1 receives the unloading request through the unloading request receiving unit 14. The unloading request receiving unit 14 notifies the user terminal 3 of the start of unloading. In S28, the parking lot management server 1 instructs the autonomous driving vehicle 2 to move to the boarding space 63 through the vehicle instructing unit 15 (start of unloading).

[0099] Figure 6 This is a flowchart showing an example of the unloading process after the unloading reservation is accepted in the parking lot management server.

[0100] like Figure 6 As shown, as S30, the parking lot management server 1 uses the user location determination unit 13 to determine whether the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn. The parking lot management server 1 continuously obtains location information from the user terminal 3 that is the subject of the unloading reservation. If the parking lot management server 1 determines that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn (S30: Yes), the process proceeds to S32. If the parking lot management server 1 does not determine that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn (S30: No), the process ends. The parking lot management server 1 then repeats the determination in S30 after a certain period of time.

[0101] In S32, the parking lot management server 1 uses the unloading request accepting unit 14 to notify the user terminal 3 of the start of unloading based on the unloading reservation. The unloading request accepting unit 14 automatically accepts the unloading request. In S34, the parking lot management server 1 uses the vehicle instructing unit 15 to instruct the autonomous driving vehicle 2 to move to the boarding space 63 (start unloading).

[0102] According to the automatic parking system 100 involved in the present embodiment described above, when the user position determination unit 13 determines that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn including the boarding space 63, the system accepts a depot request from the user terminal 3 and instructs the autonomous driving vehicle 2 to move to the boarding space 63. Therefore, compared with a case where a depot request is accepted even though the user is not in the boarding area R or the boarding vicinity area Rn, the autonomous driving vehicle can be prevented from waiting for a long time in the boarding space 63 due to the user's late arrival.

[0103] In addition, according to the automatic parking system 100, the boarding vicinity area Rn includes not only the facility exit elevator hall (parking lot side elevator hall) 80 located near the parking lot 50, but also includes at least a portion of the elevator halls 102, 202 on other floors that are different from the parking lot 50. Therefore, compared to when the outbound reservation is not accepted until the user gets off the elevator on the same floor as the parking lot 50, the user convenience can be improved.

[0104] Furthermore, according to the automatic parking system 100, even when it is not determined that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn when a request for leaving the warehouse is made, the leaving the warehouse reservation is accepted, and when it is determined that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn, the leaving the warehouse request is automatically accepted. Therefore, compared with the case where the user has to make a leaving the warehouse request again after entering the boarding area R or the boarding vicinity area Rn, the convenience of the user can be improved.

[0105] While the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. The present invention can be implemented in various forms by applying various changes and improvements based on the knowledge of those skilled in the art to the above-described embodiments.

[0106] The user position determination unit 13 may be configured to determine whether the user terminal 3 is located only in the boarding area R, or may be configured to determine whether the user terminal 3 is located only in the boarding vicinity area Rn. The boarding vicinity area Rn does not necessarily include a portion of an elevator lobby on another floor. It may also include only a portion of the parking lot side elevator lobby on the same floor as the parking lot 50.

[0107] The outbound request accepting unit 14 does not necessarily have to accept an outbound reservation. The outbound request accepting unit 14 may also notify the user terminal 3 that the outbound request was not accepted when it is not determined that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn when an outbound request is made. In this case, Figure 5BIn the illustrated parking lot management server 1's unloading process, instead of S22 and S24, the user terminal 3 is notified that the unloading request has not been accepted. Furthermore, the unloading request accepting unit 14 may, while notifying the user that the unloading request has not been accepted, also provide guidance to the area where the user must go in order for the unloading request to be accepted.

Claims

1. An automatic parking system that instructs an autonomous vehicle parked in a parking lot to automatically move to a passenger parking space in the parking lot in response to a request from a user to leave the parking lot, the autonomous parking system comprising: a user position determination unit for determining whether the user terminal of the user is located in a predetermined boarding area including the boarding space or a predetermined boarding vicinity area; When the user makes the unloading request by operating the user terminal, if the user position determination unit determines that the user terminal is located in the boarding area or the boarding vicinity area, the autonomous driving vehicle is instructed to move to the boarding parking space. When the user makes the outbound request by operating the user terminal, if the user position determination unit does not determine that the user terminal is located in the boarding area or the area near the boarding area, the autonomous driving vehicle is not instructed to move to the boarding parking space. Instead, the autonomous driving vehicle is instructed to move to the boarding parking space by referring to the determination result made by the user position determination unit at regular intervals, when the user position determination unit determines that the user terminal is located in the boarding area or the area near the boarding area. The area near the boarding vehicle includes at least a portion of the parking lot side elevator hall on the same floor as the parking space for boarding vehicles in the parking lot and at least a portion of the elevator halls on other floors on different floors from the parking lot side elevator hall where the elevators of the parking lot side elevator hall are parked.

2. The automatic parking system according to claim 1, When the user makes the outbound request by operating the user terminal, and the user position determination unit does not determine that the user terminal is located in the boarding area or the area near the boarding, an outbound reservation acceptance is performed to accept the outbound request as a reservation. When the user position determination unit determines that the user terminal is located in the boarding area or the area near the boarding after the outbound reservation acceptance, the outbound request is automatically accepted.

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