Software rewriting device

Abstract

Provided is a software rewriting device capable of rewriting software of a mobile object while avoiding a reduction in user convenience. The software rewriting device (60) comprises: a required time acquisition unit (611) that acquires information indicating the required time for rewriting the software of a vehicle (M); a scheduled stop time acquisition unit (612) that acquires information indicating the scheduled parking time of the vehicle (M) in a parking lot (PA); and a rewriting processing unit (621) that performs a rewriting process for rewriting the software of the vehicle (M). The rewriting processing unit (621) performs a rewriting process in the parking lot (PA) when the required time is shorter than the scheduled parking time, and does not perform a rewriting process in the parking lot (PA) when the required time is longer than the scheduled parking time, based on the information indicating the required time acquired by the required time acquisition unit (611) and the information indicating the scheduled parking time acquired by the scheduled stop time acquisition unit (612).

Description

Technical Field

[0001] The present invention relates to a software rewriting device capable of rewriting software of a mobile object. Background Art

[0002] In recent years, vehicles have been increasingly electrified, and in-vehicle devices are controlled by a control device called an ECU (Electronic Control Unit). Such a control device controls the in-vehicle devices by executing a control program pre-stored in the device itself. In addition, a technology capable of updating the control program of such a control device is also known.

[0003] For example, Patent Document 1 discloses a technology for updating a program of a control device that controls the operation of equipment mounted on a vehicle when the vehicle is in a safe location.

[0004] Prior Art Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2010-243339

[0006] When the software of the mobile body is rewritten, the user may not be able to use part or all of the functions of the mobile body. Therefore, if the software is rewritten when the user is using the mobile body, the convenience of the user will be reduced, and there is room for improvement in this regard. Summary of the invention

[0007] The present invention provides a software rewriting device capable of rewriting software of a mobile object while avoiding reduction in user convenience.

[0008] The present invention is a software rewriting device capable of rewriting software of a mobile object, the software rewriting device comprising:

[0009] a required time acquisition unit that acquires information indicating the time required to rewrite the software;

[0010] a scheduled stop time acquisition unit that acquires information indicating a scheduled stop time of the moving body at a predetermined position; and

[0011] a rewriting processing unit that performs a rewriting process of rewriting the software,

[0012] The rewriting processing unit, based on the information indicating the required time and the information indicating the scheduled stop time,

[0013] When the required time is shorter than the scheduled stop time, performing the rewriting process at the prescribed position,

[0014] When the required time is longer than the scheduled stop time, the rewriting process is not performed at the prescribed position.

[0015] Effects of the Invention

[0016] According to the present invention, it is possible to rewrite the software of a mobile object while avoiding a reduction in user convenience. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a diagram showing an example of the configuration of the vehicle system according to the present embodiment.

[0018] Figure 2 It is a diagram showing an example of a parking lot managed by the parking lot management device according to the present embodiment.

[0019] Figure 3 It is a diagram showing an example of the functional configuration of the software rewriting device according to the present embodiment.

[0020] Figure 4 It is a diagram showing an example of the functional configuration of the parking lot management device according to the present embodiment.

[0021] Figure 5 It is a diagram showing an example of a parking space information table.

[0022] Figure 6 It is a diagram showing an example of the functional configuration of the navigation device according to the present embodiment.

[0023] Figure 7 This is a flowchart showing an example of the rewrite reservation process performed by the software rewriting device according to the present embodiment.

[0024] Figure 8 This is a flowchart showing an example of the rewrite execution process performed by the software rewriting device according to the present embodiment.

[0025] Fig. 9 This is a flowchart showing an example of post-rewriting processing performed by the software rewriting device according to the present embodiment.

[0026] Fig.10 This is a flowchart showing an example of parking position determination processing performed by the parking lot management device according to the present embodiment.

[0027] Fig.11 This is a flowchart showing an example of parking lot search processing performed by the navigation device according to the present embodiment.

[0028] Fig.12 This is a flowchart showing an example of the utilization reservation process performed by the navigation device according to the present embodiment.

[0029] Description of reference numerals:

[0030] 60 software rewriting device;

[0031] 611 Required Time Acquisition Department;

[0032] 612: Stop the scheduled time acquisition unit;

[0033] 621 Rewrite Processing Department;

[0034] 500 Software Delivery Server (Other Devices);

[0035] M vehicle (moving body);

[0036] PA parking lot (designated location, containment area). DETAILED DESCRIPTION

[0037] Hereinafter, an embodiment of the software rewriting device of the present invention will be described based on the drawings. It should be noted that in the following description of the embodiment, an example is described in which the mobile object in the present invention is a vehicle such as a car and the storage area in the present invention is a parking lot.

[0038] First, a vehicle equipped with the software rewriting device of this embodiment is described. The vehicle equipped with the software rewriting device of this embodiment (hereinafter, also referred to as the vehicle M) is a car equipped with a driving source (for example, the driving force output device 200 described later) and wheels (for example, two wheels, three wheels, or four wheels) including driving wheels driven by the power of the driving source. As the driving source of the vehicle M, for example, an electric motor, an internal combustion engine (for example, a gasoline engine), or a combination of an electric motor and an internal combustion engine is used.

[0039] In addition, the vehicle M has Figure 1 The vehicle system 1 shown in FIG. The vehicle system 1 has at least a function of being able to perform all driving tasks related to the vehicle M in a limited specific area (for example, in a parking lot PA described later). Here, the driving tasks include real-time driving functions required for operating the vehicle M, such as control of the left-right movement (steering) of the vehicle M, control of the front-back movement (acceleration, deceleration), monitoring of the driving environment, and tactical functions such as design of a driving trajectory.

[0040] like Figure 1As shown, the vehicle system 1 includes a camera 11, a radar device 12, a detector 13, a vehicle sensor 14, an input / output device 20, a communication device 30, a navigation device 40, a driving operation member 50, a software rewriting device 60, an automatic driving control device 100, a driving force output device 200, a brake device 210, and a steering device 220. These devices are connected to each other through a wired or wireless communication network so that they can communicate with each other. The communication network connecting these devices is, for example, a CAN (Controller Area Network).

[0041] The camera 11 is a digital camera that captures the surroundings of the vehicle M (e.g., in front of the vehicle M), and outputs image data obtained by the capture to the automatic driving control device 100. The radar device 12 is, for example, a radar device that uses radio waves in the millimeter wave band, detects the positions of objects located around the vehicle M (e.g., in front of, behind, and to the sides of the vehicle M), and outputs the detection results to the automatic driving control device 100.

[0042] The detector 13 is, for example, a LIDAR (Laser Imaging Detection and Ranging), which uses a specified laser to measure the distance to an object (target object) located around the vehicle M (for example, in front of, behind, and to the side of the vehicle M), and outputs its measurement results to the automatic driving control device 100.

[0043] The vehicle sensor 14 includes, for example, a vehicle speed sensor for detecting the speed of the vehicle M, an acceleration sensor for detecting the acceleration of the vehicle M, an angular velocity sensor for detecting the angular velocity of the vehicle M around a vertical axis, an azimuth sensor for detecting the orientation of the vehicle M, and the like. In addition, the vehicle sensor 14 includes a radio wave intensity sensor for detecting the intensity of radio waves used by the communication device 30 for communication (i.e., the communication environment). The vehicle sensor 14 outputs the detection results based on each sensor to the automatic driving control device 100. It should be noted that the automatic driving control device 100 may also output the detection results based on each sensor of the vehicle sensor 14 to the software rewriting device 60, etc.

[0044] The input / output device 20 includes an output device that outputs various information to a user of the vehicle M (hereinafter, also referred to as a user) and an input device that receives various input operations from the user. It should be noted that in the present embodiment, the user is not limited to a person who manages or owns the vehicle M and uses the vehicle M. For example, the user may also be a person who receives a commission from a person who manages or owns the vehicle M and uses the vehicle M as an agent.

[0045] The output device of the input-output device 20 is, for example, a display that displays the processing results based on the automatic driving control device 100. The output device may be a speaker, a buzzer, a display light, etc. In addition, the input device of the input-output device 20 is, for example, a touch panel or an operation button (key or switch, etc.) that outputs an operation signal corresponding to an input operation received from a user to the automatic driving control device 100.

[0046] The communication device 30 is wirelessly connected to a network 35, and communicates with other devices provided outside the vehicle system 1 via the network 35. The network 35 is, for example, a mobile communication network, a Wi-Fi network, Bluetooth (registered trademark), or DSRC (Dedicated Short Range Communication).

[0047] The communication device 30 communicates with, for example, a terminal device 300 carried by a user, a parking lot management device 400 that manages a parking lot PA where the vehicle M can be parked, and a software delivery server 500 that delivers software for the vehicle M. The terminal device 300 is, for example, a smart phone or a tablet terminal, and is an electronic device connected to the network 35 and having an input / output device 310. The input / output device 310 is, for example, a display that displays various information to the user or a touch panel that receives input operations from the user. In addition, the software delivery server 500 is, for example, a server device managed by a manufacturer (for example, a manufacturer) of the vehicle M. The parking lot PA and the parking lot management device 400 will be described later.

[0048] The navigation device 40 includes a GNSS (Global Navigation Satellite System) receiver 41 and an input / output device 42. In addition, the navigation device 40 includes a storage device (not shown) such as a hard disk drive (hereinafter, also referred to as HDD) or a flash memory, in which first map information 43 is stored. The first map information 43 is, for example, information representing the shape of a road by road segments and nodes connected by the road segments. In addition, the first map information 43 may include information representing the curvature of the road or POI (Point Of Interest).

[0049] The GNSS receiver 41 determines the latitude and longitude of the location of the vehicle M as the position of the vehicle M based on signals received from GNSS satellites. Alternatively, the navigation device 40 may determine or correct the position of the vehicle M using an INS (Inertial Navigation System) using outputs from the vehicle sensors 14 .

[0050] The input-output device 42 includes an output device that outputs various information to the user and an input device that receives various input operations from the user. The output device of the input-output device 42 is, for example, a display that displays the processing results based on the navigation device 40 (for example, displays the path on the map described later). In addition, the input device of the input-output device 42 is, for example, a touch panel or an operation button (key or switch, etc.) that outputs an operation signal corresponding to the input operation received from the user to the navigation device 40. The input-output device 42 can also be shared with the input-output device 20.

[0051] Although detailed description is omitted, the navigation device 40 determines a path (hereinafter also referred to as a path on the map) from the position of the vehicle M determined by the GNSS receiver 41 to the destination input by the user, for example, by referring to the first map information 43. Furthermore, the navigation device 40 guides the user to the determined path on the map through the input / output device 42. In addition, the navigation device 40 is configured to output information indicating the determined position of the vehicle M and the determined path on the map to the software rewriting device 60, the automatic driving control device 100, etc. It should be noted that Figure 1 The first performance acquisition unit 44, the second performance acquisition unit 45, the processing unit 46 including the reporting unit 47, and the like will be described later.

[0052] Some or all of the functions of the navigation device 40 may be implemented by the terminal device 300. Some or all of the functions of the navigation device 40 may be implemented by an external server device (navigation server) that the vehicle system 1 can communicate with via the communication device 30 or the like.

[0053] The driving operating member 50 is an accelerator pedal, a brake pedal, a gear lever, a steering wheel, a special-shaped steering gear, a joystick, and other operating members. The driving operating member 50 is provided with a sensor for detecting the amount of operation on the driving operating member 50 or the presence or absence of operation. The detection result of the sensor of the driving operating member 50 is output to a part or all of the automatic driving control device 100, the driving driving force output device 200, the braking device 210, and the steering device 220.

[0054] The driving force output device 200 outputs the driving force (torque) used for the vehicle M to drive to the drive wheels. The driving force output device 200 includes, for example, an electric motor and an electric motor ECU (Electronic Control Unit) that controls the electric motor. The electric motor ECU controls the electric motor based on the detection result of the sensor based on the driving operating member 50 (for example, the accelerator pedal) and the control information from the automatic driving control device 100. In addition, when the vehicle M has an internal combustion engine and a transmission as a driving source, the driving force output device 200 may include the internal combustion engine, the transmission and the ECU that controls them.

[0055] The brake device 210 includes, for example, a brake caliper, a hydraulic cylinder that transmits hydraulic pressure to the brake caliper, an electric motor that generates hydraulic pressure in the hydraulic cylinder, and a brake ECU. The brake ECU controls the electric motor of the brake device 210 based on the detection result of the sensor based on the driving operation member 50 (for example, the brake pedal) and the control information from the automatic driving control device 100, so that the brake torque corresponding to the brake operation is output to each wheel.

[0056] The steering device 220 includes, for example, a steering ECU and an electric motor. The electric motor of the steering device 220, for example, applies force to a rack and pinion mechanism to change the direction of the steering wheel. The steering ECU drives the electric motor of the steering device 220 to change the direction of the steering wheel (i.e., the steering angle) based on the detection result of the sensor based on the driving operating member 50 (e.g., the steering wheel) and the control information from the automatic driving control device 100.

[0057] The automatic driving control device 100 includes an environment recognition unit 110, a high-precision position recognition unit 120, an action plan generation unit 130, and an action control unit 140. In addition, the automatic driving control device 100 includes a storage device (not shown) implemented by a flash memory or the like that can be accessed by each functional unit of the automatic driving control device 100 (for example, the high-precision position recognition unit 120), and the second map information 150 is stored in the storage device.

[0058] The second map information 150 is map information with higher accuracy than the first map information 43. The second map information 150 includes, for example, information indicating the center of a lane, information indicating a lane boundary (for example, a road dividing line), etc. In addition, the second map information 150 may also include road information, traffic control information, address information, facility information, telephone number information, etc.

[0059] In addition, the second map information 150 can be updated at any time by communicating with other devices through the communication device 30. For example, when the vehicle M enters the parking lot PA, the communication device 30 receives information indicating the positions of the lanes and each parking space in the parking lot PA from the parking lot management device 400 (hereinafter also referred to as parking lot map information). Moreover, the automatic driving control device 100 updates the second map information 150 by incorporating the received parking lot map information into the second map information 150. As a result, the automatic driving control device 100 can refer to the second map information 150 to determine the positions of each parking space in the parking lot PA.

[0060] The environment recognition unit 110 performs sensor fusion processing on the information acquired by part or all of the camera 11, the radar device 12, and the detector 13, and recognizes objects located around the vehicle M and recognizes their positions. For example, the environment recognition unit 110 recognizes obstacles, road shapes, traffic lights, guardrails, utility poles, surrounding vehicles (including driving status and parking status including speed, acceleration, etc.), lane signs, pedestrians, etc., and recognizes their positions.

[0061] The high-precision position recognition unit 120 refers to the position of the vehicle M determined by the navigation device 40, the detection result based on the vehicle sensor 14, the image captured by the camera 11, the second map information, etc., to recognize the detailed position and posture of the vehicle M. The high-precision position recognition unit 120 recognizes, for example, the driving lane in which the vehicle M is traveling or recognizes the relative position and posture of the vehicle with respect to the driving lane. In addition, the high-precision position recognition unit 120 also recognizes, for example, the position of the vehicle M in the parking lot PA.

[0062] The action plan generation unit 130 generates an action plan for the vehicle M. Specifically, the action plan generation unit 130 generates a target trajectory for the vehicle M to travel in the future as the action plan for the vehicle M. The target trajectory is, for example, information that represents locations (track points) that the vehicle M should reach by arranging them according to a specified travel distance (for example, a few [m] or so). In addition, the target trajectory may also include information on speed elements such as a target speed and a target acceleration of the vehicle M at a specified time or at each track point. The action plan generation unit 130 generates the action plan, for example, according to an instruction of the parking lot management device 400 received through the communication device 30.

[0063] The behavior control unit 140 controls the vehicle M so that it behaves according to the behavior plan generated by the behavior plan generation unit 130. Specifically, the behavior control unit 140 controls the driving force output device 200, the braking device 210, and the steering device 220 so that the vehicle M passes through the target track generated by the behavior plan generation unit 130 at a predetermined time. For example, the behavior control unit 140 controls the driving force output device 200 and the braking device 210 according to the speed element attached to the target track, or controls the steering device 220 according to the curvature of the target track.

[0064] It should be noted that the various functional units of the automatic driving control device 100 are implemented, for example, by the CPU (Central Processing Unit) executing a prescribed program (software). In addition, part or all of the functional units of the automatic driving control device 100 can also be implemented by hardware such as LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), etc. For example, the storage device storing the second map information 150 and the high-precision position recognition unit 120 can also be implemented by MPU (Map Positioning Unit). Moreover, part or all of the functional units of the automatic driving control device 100 can also be implemented by the collaboration of software and hardware.

[0065] The software rewriting device 60 is configured to be able to communicate with other devices outside the vehicle system 1 via the communication device 30, and is also configured to be able to communicate with other devices in the vehicle system 1 such as the navigation device 40 and the automatic driving control device 100. The software rewriting device 60 communicates with these other devices to perform a rewriting process for rewriting the software of the vehicle M.

[0066] Here, the software of the vehicle M is, for example, a program for operating the onboard devices such as the navigation device 40 and the automatic driving control device 100, so-called firmware. In addition, the software of the vehicle M may be data, for example, the first map information 43, the second map information 150, or difference data for updating these. Furthermore, the software of the vehicle M may also be the firmware of the software rewriting device 60 itself.

[0067] The software rewriting device 60, for example, downloads (i.e., receives) the software of the vehicle M from the software delivery server 500 and rewrites it into the downloaded software. For example, when new firmware for the automatic driving control device 100 is downloaded from the software delivery server 500, the software rewriting device 60 rewrites the firmware of the automatic driving control device 100 into the downloaded new firmware. By performing such a rewriting process by the software rewriting device 60, it is possible to achieve stabilization of the operation of the device whose software has been rewritten, improvement of performance, addition of functions, etc. It should be noted that, with respect to an example of the structure of the software rewriting device 60, using Figure 3 Etc., which will be described later.

[0068] Next, refer to Figure 2 , an example of a parking lot PA where a vehicle M can be parked is described. Figure 2 As shown, the parking lot PA is an automatic valet parking lot provided in conjunction with a visitor facility serving as a user's visitor location, and is managed by the parking lot management device 400. The parking lot PA includes a plurality of parking spaces PS in which vehicles (e.g., vehicles M) can be parked, and a boarding and disembarking area PL provided in front of the plurality of parking spaces PS. Hereinafter, an example of a case where a user utilizes the parking lot PA, that is, a case where a vehicle M enters the parking lot PA, will be described.

[0069] Before using the parking lot PA, the user makes a reservation for using the parking lot PA (hereinafter also referred to as parking reservation) using the navigation device 40 or the terminal device 300. The "user" is not limited to the owner or manager of the vehicle M, and includes, for example, a person (for example, a receptionist) who performs procedures such as parking reservation as an agent of the owner of the vehicle M. In the parking reservation, the user inputs the vehicle ID as an identifier (identification information) of the vehicle M, the scheduled parking time for parking the vehicle M in the parking lot PA, and the like. As the scheduled parking time, for example, the scheduled entry date and time for the vehicle M to enter the parking lot PA and the scheduled exit date and time for the vehicle M to exit the parking lot PA are input. The information input by the user is sent to the parking lot management device 400. The parking lot management device 400 refers to the received information and the management table (not shown) indicating the parking reservation status of the parking lot PA, and determines whether there is a parking space PS that can park the vehicle M during the scheduled parking time (the period from the scheduled entry date and time to the scheduled exit date and time). Then, if there is a parking space PS in which the vehicle M can be parked, the parking lot management device 400 accepts a parking reservation and notifies the user of the receipt.

[0070] After that, when the scheduled parking time comes, the user drives the vehicle M to the boarding and disembarking area PL and gets off the vehicle M in the boarding and disembarking area PL. After the user gets off the vehicle M, the vehicle M automatically drives and executes a self-propelled parking event to move to a predetermined parking space PS in the parking lot PA. For example, when the user gets off the vehicle M in the boarding and disembarking area PL, a request to start the self-propelled parking event is sent to the parking lot management device 400 through the terminal device 300 or the like. When the parking lot management device 400 receives the request to start the self-propelled parking event, it determines the parking space PS that the vehicle M should enter by referring to the parking space information table 442 or the like described later, and instructs the vehicle M to move to the parking space PS. In addition, the parking lot management device 400 may also determine a path that the vehicle M should travel until it reaches the parking space PS that the vehicle M should enter, and instruct the vehicle M to move along the path. In addition, the vehicle M moves to the parking space PS indicated by the parking lot management device 400 while performing sensing based on the camera 11, the radar device 12, or the detector 13 or the like according to the instruction received from the parking lot management device 400.

[0071] In addition, when exiting the parking lot PA, the user causes the vehicle M to execute a self-walking out event. When the vehicle M executes the self-walking out event, it automatically moves from the parking space PS where it is parked to the boarding and disembarking area PL. For example, when causing the vehicle M to execute the self-walking out event, the user sends a request to start the self-walking out event to the parking lot management device 400 through his own terminal device 300 or the like. Upon receiving the request to start the self-walking out event, the parking lot management device 400 instructs the vehicle M to move to the boarding and disembarking area PL. In addition, at this time, the parking lot management device 400 may also determine a path that the vehicle M should travel until it reaches the boarding and disembarking area PL, and instruct the vehicle M to move along the path. The vehicle M that receives the instruction from the parking lot management device 400 moves to the boarding and disembarking area PL while performing sensing based on the camera 11, the radar device 12, or the detector 13 or the like. Then, the user gets on the vehicle M in the boarding and disembarking area PL and exits the parking lot PA.

[0072] Next, refer to Figure 3 , an example of the functional structure of the software rewriting device 60 is described. Figure 3 As shown in FIG. 1 , the software rewriting device 60 includes an acquisition unit 610 that acquires various information and a processing unit 620 that performs various processes based on the information acquired by the acquisition unit 610. In addition, the software rewriting device 60 includes a communication unit 630 that functions as an interface for the software rewriting device 60 to communicate with other devices. The acquisition unit 610 and the processing unit 620 are configured to be able to communicate with other devices appropriately via the communication unit 630.

[0073] It should be noted that the various functional units of the software rewriting device 60 are implemented, for example, by a CPU (Central Processing Unit) executing a pre-stored predetermined program (software). In addition, part or all of the functional units of the software rewriting device 60 may be implemented by hardware such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), or by the collaboration of software and hardware.

[0074] When rewriting the software of the vehicle M, the user cannot use part (for example, the device to be rewritten) or all of the vehicle system 1, and there is a possibility that the convenience of the user is reduced. Therefore, in order to rewrite the software of the mobile body while avoiding the reduction of the convenience of the user, the software rewriting device 60 rewrites the software of the vehicle M while assuming that the user does not use the vehicle M.

[0075] When specifically described, the acquisition unit 610 includes a required time acquisition unit 611 and a scheduled stop time acquisition unit 612. The required time acquisition unit 611 acquires information indicating the required time for rewriting the software of the vehicle M. The information indicating the required time may be transmitted by the software delivery server 500, or may be acquired by performing a predetermined calculation by the required time acquisition unit 611. In the case of acquisition by calculation, the required time can be obtained, for example, based on the data size of the software of the vehicle M and the data size that can be rewritten per unit time by the software rewriting device 60, etc. In addition, the required time acquisition unit 611 may acquire a certain time as the required time regardless of the data size of the software of the vehicle M.

[0076] The scheduled stop time acquisition unit 612 acquires information indicating the scheduled stop time of the vehicle M at a specified position. Here, the specified position is a position where the vehicle M is scheduled to stop. More specifically, the specified position is a position where the date and time when the vehicle M starts to stop (hereinafter, also referred to as the scheduled stop start date and time) and the date and time when the vehicle M ends to stop (hereinafter, also referred to as the scheduled stop end date and time) are predetermined.

[0077] The scheduled stop time acquisition unit 612, for example, derives the period (time difference) from the scheduled stop start date and time to the scheduled stop end date and time at the specified position as the scheduled stop time at the specified position, and acquires information indicating the derived scheduled stop time. Thus, it is possible to acquire information indicating the scheduled stop time, which indicates a period during which the vehicle M is likely to stop according to a predetermined plan.

[0078] It should be noted that, in the present embodiment, an example is described below in which the prescribed position is set as the parking lot PA and the scheduled stop time at the prescribed position is set as the scheduled parking time of the parking lot PA. That is, the scheduled stop time acquisition unit 612 acquires information indicating the scheduled parking time of the vehicle M in the parking lot PA. The scheduled stop time acquisition unit 612, for example, derives the period from the scheduled entry date and time input by the user at the time of the parking lot PA utilization reservation (i.e., parking reservation) to the scheduled exit date and time as the scheduled parking time, and acquires information indicating the derived scheduled parking time. It should be noted that the information indicating the scheduled entry date and time and the scheduled exit date and time can be acquired from the navigation device 40 or the terminal device 300 used by the user at the time of the parking reservation, or the parking lot management device 400 of the parking lot PA where the parking reservation is made.

[0079] The processing unit 620 includes a rewrite processing unit 621 that performs a rewrite process for rewriting the software of the vehicle M. The rewrite processing unit 621 performs the rewrite process while the vehicle M is stopped at a predetermined position, that is, while the vehicle M is parked in the parking lot PA. Thus, the software of the vehicle M can be rewritten while the vehicle M is parked in the parking lot PA, that is, while it is assumed that the user does not use the vehicle M.

[0080] Specifically, the rewrite processing unit 621 first inquires whether the vehicle M is parked in the parking lot PA, for example, to another device such as the navigation device 40 or the automatic driving control device 100 that can determine the position of the vehicle M. If the result of the inquiry is that the vehicle M is parked in the parking lot PA, the rewrite processing unit 621 determines whether to perform the rewrite process based on the information indicating the required time acquired by the required time acquisition unit 611 and the information indicating the scheduled parking time acquired by the scheduled stop time acquisition unit 612.

[0081] For example, when the required time is shorter than the scheduled parking time, the rewrite processing unit 621 determines that the rewrite processing is to be performed, and thus performs the rewrite processing. Thus, the rewrite processing unit 621 can perform the rewrite processing while the vehicle M is parked in the parking lot PA, and complete the rewrite processing. Therefore, the software of the vehicle M can be rewritten while the vehicle M is parked in the parking lot PA, that is, during the period when the user is not expected to use the vehicle M, and the software of the vehicle M can be rewritten while avoiding a reduction in the convenience of the user.

[0082] On the other hand, if the required time is longer than the scheduled parking time, the rewrite processing unit 621 determines that the rewrite processing is not to be performed, and thus the rewrite processing is not performed. Thus, when the rewrite processing cannot be completed while the vehicle M is parked in the parking lot PA, the rewrite processing unit 621 can limit the execution of the rewrite processing during this period. Therefore, for example, when the user attempts to use the vehicle M to exit the parking lot PA, it is possible to avoid a situation where part or all of the vehicle system 1 cannot be used because the software of the vehicle M is being rewritten, and the user's convenience can be prevented from being reduced.

[0083] However, if the software of the vehicle M is rewritten without the user's permission, there is a possibility that the user will not trust or feel unhappy. Therefore, the rewrite processing unit 621 preferably performs the rewrite processing on the condition that the user permits it. When specifically described, in this case, before the vehicle M is parked in the parking lot PA (for example, when parking is reserved), the user is allowed to perform an operation of selecting whether to perform the rewrite processing using the input and output devices 20, 42, etc.

[0084] Furthermore, when the user performs an operation to execute the rewrite process, the rewrite processing unit 621 executes the rewrite process. Thus, the software of the vehicle M can be rewritten without causing distrust and discomfort to the user. On the other hand, when the user performs an operation not to execute the rewrite process, the rewrite processing unit 621 does not execute the rewrite process. Thus, the rewrite of the software of the vehicle M that may cause distrust and discomfort to the user can be prevented.

[0085] In addition, as described above, the rewriting process is, for example, a process of rewriting the software downloaded (i.e., received) from the software delivery server 500. If an attempt is made to download software from the software delivery server 500 at a location where the communication environment between the software rewriting device 60 and the software delivery server 500 is poor (e.g., a location where the radio wave strength of the network 35 is weak), the download itself cannot be performed or even if the download is possible, it takes time. Therefore, if an attempt is made to perform the rewriting process at a location where the communication environment between the software rewriting device 60 and the software delivery server 500 is poor, the rewriting process may not be successfully completed.

[0086] Therefore, the rewrite processing unit 621 preferably performs the rewrite processing when the communication environment of the parking lot PA, more specifically, the communication environment of the parking space PS where the vehicle M to be rewritten is parked, is above a prescribed level. Here, the communication environment being above a prescribed level means, for example, that the intensity of the radio waves (for example, the radio waves of the network 35) used for communication by the communication device 30 is strong enough to smoothly download the software for the rewrite processing from the software delivery server 500. It should be noted that the rewrite processing unit 621 can determine whether the communication environment is above a prescribed level based on the detection results of the radio wave intensity sensor included in the vehicle sensor 14, for example. In addition, the communication environment being above a prescribed level can also mean that the communication speed of the communication line (for example, the network 35) that can communicate (can be used) is above a prescribed speed.

[0087] In this way, by executing the rewriting process when the communication environment in the parking lot PA is at or above the prescribed level, the rewriting process can be executed to rewrite the software of the vehicle M in a situation where the software of the vehicle M can be successfully downloaded from the software delivery server 500 and the rewriting process can be successfully executed. On the other hand, in a situation where the software of the vehicle M cannot be successfully downloaded from the software delivery server 500 because the communication environment in the parking lot PA is lower than the prescribed level, and it is expected that the rewriting process will take a long time, the rewriting process can be not executed.

[0088] Furthermore, even if the communication environment in the parking lot PA is lower than the prescribed level, if the download of the software of the vehicle M for the rewriting process is completed before the vehicle M is parked in the parking lot PA, it can be considered that the rewriting process can be smoothly performed. Therefore, even if the communication environment in the parking lot PA, more specifically, the communication environment of the parking space PS where the vehicle M to be rewritten is parked is lower than the prescribed level, the rewriting processing unit 621 can perform the rewriting process if the download of the software for the rewriting process is completed before the vehicle M is parked there. Thus, even if the communication environment is lower than the prescribed level, the rewriting process can be performed, and the chance of being able to rewrite the software of the vehicle M can be increased.

[0089] However, as described above, the parking lot PA is a parking lot of automatic valet parking, and the parking lot management device 400 may appropriately change the parking position (i.e., parking space PS) of a vehicle parked in the parking lot PA from the viewpoint of effectively utilizing the parking lot PA. For example, there is a case where, when a vehicle of a special size or a special type enters the parking lot PA, the currently vacant parking space PS cannot park the special vehicle, but the special vehicle can be parked by moving other parked vehicles to other parking spaces PS. In this case, the parking lot management device 400 moves the parked vehicle to other parking spaces PS (i.e., changes the parking position). Hereinafter, the case where the parking position of a parked vehicle is changed in this way is also referred to as re-parking.

[0090] In addition, re-parking can also be performed based on a request from a parked vehicle. For example, it is also considered that there is a location where the communication environment in the parking lot PA is above a specified level (for example, Figure 5 The parking space PS of the parking space ID "001" and the location where the communication environment is lower than the prescribed level (for example, Figure 5 Parking space PS with parking space ID “003”).

[0091] Therefore, when the rewrite processing unit 621 performs the rewrite processing, when the vehicle M is parked at a position where the communication environment is lower than the specified level, the rewrite processing unit 621 can make a request to the parking lot management device 400 through the communication unit 630 to guide (induce) the vehicle M to a position where the communication environment is higher than the specified level. In this case, the parking lot management device 400 performs re-parking to move the vehicle M to a position where the communication environment is higher than the specified level according to the request from the vehicle M. In this way, the vehicle M that is undergoing the rewrite processing can be parked at a position suitable for the rewrite processing, thereby increasing the chances of performing the rewrite processing.

[0092] In addition, from the viewpoint of parking the vehicle M to be rewritten at a location suitable for the rewriting process, the rewriting processing unit 621 can make a request to the parking lot management device 400 via the communication unit 630 when performing the rewriting process, so as to guide (induce) the vehicle M to a location where energy can be supplied to the vehicle M. In this way, the vehicle M can be supplied with energy to perform the rewriting process, and the situation in which the energy of the vehicle M is exhausted during the rewriting process and the software cannot be rewritten normally can be prevented.

[0093] In addition, as described above, the parking lot management device 400 appropriately instructs each vehicle parked in the parking lot PA to park again, etc. However, if a vehicle receiving an instruction from the parking lot management device 400 is in the process of rewriting software, there is a case where it cannot communicate with the parking lot management device 400 or cannot move according to the instruction from the parking lot management device 400. In this case, there is a possibility that the parking lot management device 400 detects a failure (that is, an obstacle has occurred in the parking lot PA) due to the presence of a vehicle that cannot communicate with the parking lot management device 400 or cannot move according to the instruction from the parking lot management device 400.

[0094] In order to suppress such erroneous detection of a failure of the parking lot management device 400, when executing the rewriting process, the rewriting processing unit 621 preferably notifies the parking lot management device 400 of the execution of the rewriting process via the communication unit 630. Thus, the parking lot management device 400 can be notified of the execution of the rewriting process in advance, and for example, even if the vehicle M fails to communicate with or move the parking lot management device 400 due to the execution of the rewriting process, the parking lot management device 400 can be suppressed from detecting a failure due to these circumstances.

[0095] In addition, when the rewriting process is completed, the rewriting processing unit 621 preferably notifies the parking lot management device 400 of the completion of the rewriting process via the communication unit 630. In this way, the parking lot management device 400 can be notified of the completion of the rewriting process. For example, after receiving the notification, the parking lot management device 400 can treat the vehicle M that has undergone the rewriting process as the same as other vehicles and appropriately park it again, thereby effectively utilizing the parking lot PA.

[0096] In addition, when executing the rewriting process, the rewriting processing unit 621 may also notify the user's terminal device 300 of the execution of the rewriting process via the communication unit 630. Thus, the user can be notified in advance of the execution of the rewriting process, and the user can take action after understanding that the vehicle M is temporarily unavailable, for example, thereby improving the convenience of the user.

[0097] In addition, when the rewriting process is completed, the rewriting processing unit 621 may also notify the user's terminal device 300 of the completion of the rewriting process via the communication unit 630. Thus, the user can be notified of the completion of the rewriting process, and, for example, the user can take action after understanding that the vehicle M can be used, thereby improving the convenience of the user.

[0098] Furthermore, when the software of the vehicle M is rewritten by the rewriting process, it is preferable to verify whether the vehicle M operates normally with the rewritten software from the viewpoint of ensuring the safety and convenience of the user.

[0099] Therefore, the processing unit 620 includes, for example, a verification processing unit 622 that causes the vehicle M to perform a test operation using the software rewritten by the rewriting process. Specifically, after the rewriting process by the rewriting processing unit 621, the verification processing unit 622 causes the vehicle M to perform a test operation using the software rewritten by the rewriting process in the parking lot PA.

[0100] The verification processing unit 622 performs a test action of, for example, temporarily withdrawing the vehicle M that has undergone the rewriting process from the parking space PS in which it is parked and parking it again in the parking space PS. That is, the test action includes an action of moving the vehicle M that has undergone the rewriting process from the parking space PS. In this way, it is possible to verify whether the vehicle M that has undergone the rewriting process can be moved from the parking space PS. In addition, the test action includes an action of stopping the vehicle M that has undergone the rewriting process in the parking space PS. In this way, it is possible to verify whether the vehicle M that has undergone the rewriting process can be stopped in the parking space PS. Through this test action, it is possible to verify whether the vehicle M that has undergone the rewriting process can also be accurately parked in the specified parking space PS after the rewriting process.

[0101] When the vehicle can be accurately parked again in the parking space PS where it was parked, the verification processing unit 622 determines that the test operation result is good (that is, there is no problem even if the rewritten software is enabled). Furthermore, the verification processing unit 622 enables the rewritten software based on the fact that the test operation result is determined to be good. Thus, the safety and convenience of the user can be ensured.

[0102] On the other hand, when the vehicle cannot be parked accurately in the parking space PS where it was parked (for example, when the parking position is deviated), the verification processing unit 622 determines that the test operation result is bad (that is, a problem will occur if the rewritten software is enabled). This can prevent the software from being enabled that may reduce the safety and convenience of the user.

[0103] In addition, the software rewriting device 60 may also allow the user to perform an operation to validate the rewritten software when the action result of the test action is good. Specifically, in this case, the software rewriting device 60 sends the fact that the action result of the test action is good to the terminal device 300 to notify the user, and allows the user to perform an operation to validate the rewritten software using the input / output device 310. Furthermore, when the user performs an operation to validate the rewritten software, the software rewriting device 60 validates the rewritten software. Thus, the rewritten software can be validated under the condition of the user's permission, and the user's distrust and unhappiness caused by arbitrarily validating the software can be prevented.

[0104] In addition, after the software is rewritten, it may take a certain amount of time until the behavior of the vehicle M stabilizes. Therefore, when the user performs an operation to enable the rewritten software, the software rewriting device 60 may enable the rewritten software after the vehicle M exits the parking lot PA. For example, when the software has been rewritten, the vehicle M may learn using the rewritten software by traveling in the parking lot PA (for example, traveling to exit the parking space PS in which the vehicle is parked). Therefore, by enabling the rewritten software after the driving (i.e., learning) in the parking lot PA is completed and the vehicle exits the parking lot PA, the rewritten software can be enabled after the behavior of the vehicle M stabilizes.

[0105] In addition, the verification processing unit 622 may perform the test operation when no one is riding in the vehicle M. In this case, for example, the verification processing unit 622 performs the test operation when there is no key of the vehicle M in the vehicle or when it is recognized from the image captured by the camera capturing the interior of the vehicle that no one is riding in the vehicle M. Thus, the test operation can be performed while ensuring the safety of the user.

[0106] Next, refer to Figure 4 , an example of the functional configuration of the parking lot management device 400 is described. As described above, if the vehicle M attempting to perform the rewrite process in the parking lot PA is parked in a parking position suitable for performing the rewrite process, such as a parking position where the communication environment is at or above a predetermined level, the possibility that the rewrite process can be performed in the parking lot PA increases. Therefore, the parking lot management device 400 allows the vehicle M attempting to perform the rewrite process in the parking lot PA to park in a suitable parking position.

[0107] When describing specifically, Figure 4 As shown, the parking lot management device 400 includes a communication unit 410, a control unit 420, and a storage unit 440. The communication unit 410 and the control unit 420 of the parking lot management device 400 are implemented, for example, by a CPU (Central Processing Unit) executing a pre-stored predetermined program (software). In addition, part or all of these functional units can be implemented by hardware such as LSI (Large Scale Integration) or ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit), or can be implemented by the collaboration of software and hardware.

[0108] The storage unit 440 is implemented by various storage devices such as HDD or flash memory, and stores various information such as parking lot map information 441 and parking space information table 442. The parking lot map information 441 is information that geometrically represents the structure of the parking lot PA, and includes, for example, information representing the coordinates (positions) of each parking space PS provided in the parking lot PA.

[0109] The parking space information table 442 stores information indicating the type or parking status of each parking space PS provided in the parking lot PA. Figure 5 As shown, the parking space information table 442 stores, for example, a parking space ID as identification information of the parking space PS, information indicating the type of the parking space PS identified by the parking space ID, and parking information indicating the parking status of the parking space PS identified by the parking space ID in correspondence with each other.

[0110] In the parking space information table 442, the information indicating the type of parking space PS includes, for example, information indicating whether energy can be replenished and information indicating the communication environment. A parking space PS in which the information "Yes" is stored as information indicating whether energy can be replenished is a parking space PS in which energy that can be used when the vehicle M is in motion can be replenished to the vehicle M. For example, in the case where the vehicle M is an electric car, a parking space PS in which the information "Yes" is stored as information indicating whether energy can be replenished is a parking space PS that has a device that can supply power to the vehicle M. On the other hand, a parking space PS in which the information "No" is stored as information indicating whether energy can be replenished is a parking space PS that does not have a device that can supply energy to the vehicle M (for example, a device that can supply power).

[0111] The parking space PS in which the information "strong" is stored as information indicating the communication environment is a parking space PS in which the communication environment between the vehicle M and the software delivery server 500 is at or above a predetermined level. For example, the parking space PS in which the information "strong" is stored as information indicating the communication environment is a parking space PS in which the intensity of the radio wave used for the network 35 is strong enough for the vehicle M (software rewriting device 60) to smoothly download the software from the software delivery server 500. On the other hand, the parking space PS in which the information "weak" is stored as information indicating the communication environment is a parking space PS in which the intensity of the radio wave used for the network 35 is weak and it is difficult for the vehicle M (software rewriting device 60) to smoothly download the software from the software delivery server 500. It should be noted that, although an example in which the communication environment is set to the radio wave intensity is described here, it is not limited to this. The communication environment can be determined based on, for example, the communication speed of the communication line that can communicate (use) at the location.

[0112] In the parking space information table 442, the parking information includes, for example, information indicating whether there is a parked vehicle in each corresponding parking space PS and information indicating the parked vehicle. As the information indicating whether there is a parked vehicle, for example, "full" indicating that there is a parked vehicle or "empty" indicating that there is no parked vehicle is stored. As the information indicating the parked vehicle, information indicating the vehicle ID for identifying the vehicle parked in the parking space PS is stored.

[0113] The communication unit 410 communicates with the vehicle M via wireless (e.g., the network 35). In addition, the communication unit 410 may also communicate with the user's terminal device 300. The control unit 420 determines the parking position of the vehicle M based on the information obtained by the communication unit 410 and the information stored in the storage unit 440, and guides the vehicle M to the determined parking position.

[0114] Specifically, the control unit 420 includes a parking position determination unit 421 and a processing unit 422. The parking position determination unit 421 determines the parking position of the vehicle M according to whether the vehicle M performs software rewriting in the parking lot PA. That is, the parking position determination unit 421 can make the parking position different when the vehicle M performs software rewriting in the parking lot PA and when the vehicle M does not perform software rewriting.

[0115] For example, as described later, when the vehicle M enters the parking lot PA, it transmits vehicle information related to the vehicle M to the parking lot management device 400. The vehicle information includes information indicating whether the rewrite process is executed in the parking lot PA. Thus, the vehicle M can notify the parking management device 400 whether the rewrite process is executed in the parking lot PA.

[0116] Moreover, when the parking position determination unit 421 receives a notification of the intention to perform a rewrite process from the vehicle M, that is, when the vehicle information indicating the execution of the rewrite process is received through the communication unit 410, the parking position determination unit 421 determines the parking position of the vehicle M as a parking space PS where the communication environment between the vehicle M and the software delivery server 500 is above a specified level.

[0117] Specifically, the parking position determination unit 421 refers to the parking space information table 442 and determines the parking space PS whose information indicating the communication environment is "strong" and whose parking information is "empty" as the parking position of the vehicle M to be subjected to the rewriting process. Thus, the vehicle M to be subjected to the rewriting process is stopped in the parking space PS whose communication environment is at or above a predetermined level, and the possibility that the vehicle M can be subjected to the rewriting process can be increased.

[0118] In addition, if the vehicle M runs out of energy during the rewrite process and the rewrite process is interrupted, the software cannot be rewritten normally by the rewrite process. Therefore, it is preferable for the vehicle M to stop at a parking position where energy can be replenished and perform the rewrite process while replenishing energy.

[0119] Therefore, when receiving notification from the vehicle M that the rewriting process is to be executed, that is, when receiving vehicle information indicating execution of the rewriting process through the communication unit 410 , the parking position determination unit 421 determines the parking position of the vehicle M to be a parking space PS where the vehicle M can be replenished with energy.

[0120] Specifically, the parking position determination unit 421 refers to the parking space information table 442 and determines the parking space PS whose information indicating whether energy can be recharged is "yes" and whose parking information is "empty" as the parking position of the vehicle M to be rewritten. Thus, the vehicle M to be rewritten can be stopped in the parking space PS where energy can be recharged, and the possibility that the vehicle M can be rewritten is increased.

[0121] In addition, there may be other vehicles (for example, other vehicles to be rewritten) parked in parking spaces PS suitable for rewriting, such as parking spaces PS where the communication environment between the vehicle M and the software delivery server 500 is at or above a predetermined level, parking spaces PS where energy can be supplied to the vehicle M, etc. In this case, the parking position determination unit 421 determines the parking position of the vehicle M that has issued a notification of the intention to execute the rewriting process to be another parking space PS that is vacant at that time. Thus, even if there are other vehicles parked in parking spaces PS suitable for rewriting, the vehicle M that has issued a notification of the intention to execute the rewriting process can enter the parking lot PA.

[0122] However, when the parking lot management device 400 determines that the parking position of the vehicle M that has issued the notification of the execution of the rewriting process is another parking space PS that is vacant at that time (parking space PS that is not suitable for the rewriting process), the vehicle M is instructed not to execute the rewriting process, thereby restricting the rewriting process of the vehicle M. In this way, it is possible to suppress the execution of the rewriting process that may not be completed normally.

[0123] In addition, the parking lot management device 400 may move the vehicle M that has issued a notification of executing the overwriting process to the parking space PS suitable for the overwriting process when another vehicle parked in the parking space PS suitable for the overwriting process moves from the parking space PS, and allow the overwriting process to be executed. Thus, the vehicle M that has issued a notification of executing the overwriting process can be moved to the parking space PS suitable for the overwriting process that has become vacant, and the overwriting process can be appropriately executed.

[0124] Furthermore, as described above, if the vehicle M that performs the rewriting process has downloaded the software for the rewriting process before entering the parking lot PA, the rewriting process can be stably performed regardless of the communication environment of the parking position in the parking lot PA. Therefore, it is less necessary to allocate a parking space PS with a good communication environment to such a vehicle M. On the contrary, from the viewpoint of effectively utilizing the parking lot PA, it is sometimes preferable to allocate a parking space PS with a poor communication environment to such a vehicle M.

[0125] Therefore, the vehicle M transmits vehicle information including information indicating whether the software for the rewriting process has been downloaded to the parking lot management device 400, and notifies the parking lot management device 400 whether the software for the rewriting process has been downloaded. In this case, when the vehicle M is notified that the software for the rewriting process has been downloaded, the parking position determination unit 421 determines the parking position of the vehicle M to be a parking space PS where the communication environment between the vehicle M and the software delivery server 500 is lower than a predetermined level.

[0126] Specifically, the parking position determination unit 421 refers to the parking space information table 442 and determines the parking space PS whose information indicating the communication environment is "weak" and whose parking information is "empty" as the parking position of the vehicle M to be subjected to the rewriting process. Thus, the limited parking space PS whose communication environment is above a predetermined level can be allocated to other vehicles that have not yet downloaded the software for the rewriting process, and the parking lot PA can be effectively utilized.

[0127] In addition, when the energy remaining of the vehicle M undergoing the rewriting process is sufficient, there is less need to allocate a parking space PS capable of replenishing energy to such a vehicle M. On the contrary, from the perspective of effectively utilizing the parking lot PA, it is sometimes preferred to allocate a parking space PS incapable of replenishing energy to such a vehicle M.

[0128] Therefore, the vehicle M transmits vehicle information including information indicating the remaining energy to the parking lot management device 400, and notifies the remaining energy to the parking lot management device 400. In this case, when the remaining energy of the vehicle M to be rewritten is equal to or greater than a predetermined amount, the parking position determination unit 421 determines the parking position of the vehicle M to be a parking space PS where energy cannot be replenished.

[0129] Specifically, the parking position determination unit 421 refers to the parking space information table 442 and determines the parking space PS whose information indicating whether energy can be recharged is "not possible" and whose parking information is "empty" as the parking position of the vehicle M to be rewritten. In this way, the limited parking space PS where energy can be recharged can be allocated to other vehicles whose remaining energy amount is less than a predetermined amount, and the parking lot PA can be effectively used.

[0130] The processing unit 422 obtains the position of the parking space PS where each vehicle M in the parking lot PA should be parked from the parking lot map information 441, and transmits an appropriate path to the acquired parking space PS to the vehicle M via the communication unit 410. In the vehicle M that has received the path, the action plan generation unit 130 generates a target trajectory based on the received path, and the action control unit 140 controls the vehicle M to act according to the action plan generated by the action plan generation unit 130. As a result, the vehicle M is guided to the parking space PS determined by the parking lot management device 400 and parked in the parking space PS.

[0131] However, as parking lots with automatic valet parking such as parking lot PA, multiple types of parking lots with different automatic driving performances required of vehicles when parking can be considered. As a first type of parking lot with automatic valet parking, for example, a parking lot management device that manages the parking lot determines a parking position and a path to the parking position, and guides the vehicle to the parking position according to the path.

[0132] In addition, as a second type of parking lot with automatic valet parking, for example, a parking lot management device that manages the parking lot only determines a parking position, and the vehicle autonomously determines a path to the parking position and moves to the parking position based on the path. In order to park in such a second type of parking lot with automatic valet parking, the vehicle is required to have higher automatic driving performance than that of the first type of parking lot with automatic valet parking, and specifically, is required to have a function of determining a path to the parking position and autonomously moving to the parking position based on the path.

[0133] Therefore, for example, a vehicle that can move to a parking position based on a path determined by the parking lot management device but cannot determine a path to a parking position and autonomously move to a parking position based on the path can be parked in a parking lot of the first type of automatic valet parking method, but cannot be parked in a parking lot of the second type of automatic valet parking method. In this way, depending on the automatic driving performance of the vehicle, the parking lot that can be parked may be different.

[0134] However, if the software of the vehicle M is rewritten, the automatic driving performance of the vehicle M may be improved by adding new functions to the vehicle M (for example, a function of determining a path to a parking position and autonomously moving to a parking position based on the path). Furthermore, if the automatic driving performance of the vehicle M is improved, the number of parking lots where the vehicle M can be parked may increase. Therefore, from the perspective of improving the commercial quality of the vehicle M and the convenience of the user, it is desirable to promote the rewriting of the software of the vehicle M.

[0135] Therefore, in the present embodiment, the navigation device 40 is caused to function as a notification device that notifies parking lots where the vehicle M can be parked, and the user is urged to rewrite the software of the vehicle M through the notification.

[0136] like Figure 1 As shown, the navigation device 40 is configured to include a first performance acquisition unit 44, a second performance acquisition unit 45, and a processing unit 46. The first performance acquisition unit 44 acquires information indicating the current performance of the vehicle M. The first performance acquisition unit 44 acquires information indicating the current autonomous driving performance of the vehicle M from, for example, the autonomous driving control device 100 or the like. The information indicating the autonomous driving performance can be, for example, information indicating the type of parking lot where the vehicle M can be parked, such as the above-mentioned “first type” or “second type”. The information indicating the current autonomous driving performance of the vehicle M is pre-set in the autonomous driving control device 100, and the autonomous driving control device 100 sends the set information indicating the current autonomous driving performance of the vehicle M to the navigation device 40 in response to a request from the navigation device 40.

[0137] The second performance acquisition unit 45 acquires information indicating the changed performance of the vehicle M by rewriting the software of the vehicle M. The second performance acquisition unit 45 acquires information indicating the changed automatic driving performance of the vehicle M by rewriting the software of the vehicle M, for example, from the software delivery server 500 or the like. The software of the vehicle M and the information indicating the automatic driving performance after rewriting to the software are pre-set in the software delivery server 500, and the software delivery server 500 transmits the set information indicating the automatic driving performance after rewriting to the navigation device 40 in response to a request from the navigation device 40.

[0138] The processing unit 46 includes a reporting unit 47. The reporting unit 47 reports parking lots where the vehicle M can be parked, based on the information indicating the current performance obtained by the first performance acquisition unit 44 and the information indicating the changed performance obtained by the second performance acquisition unit 45. Specifically, the reporting unit 47 reports parking lots where the vehicle M can be parked and parking lots where the vehicle M can be parked with the changed autonomous driving performance in a distinguishable manner. Thus, it is possible to report to the user how the parking lots where the vehicle M can be parked are changed by rewriting the software of the vehicle M, and to prompt the rewriting of the software of the vehicle M. It should be noted that, with regard to the example of reporting parking lots where the vehicle M can be parked and parking lots where the vehicle M can be parked in a distinguishable manner, Fig.12 Etc., which will be described later.

[0139] In addition, the reporting unit 47 may make the above-mentioned report when, for example, the user performs an operation to search for parking lots that can park the vehicle M. Thus, the above-mentioned report can be made when the user is interested in parking lots that can park the vehicle M. That is, the above-mentioned report can be made efficiently, and the software rewriting of the vehicle M can be prompted.

[0140] In addition, for example, the vehicle M may rewrite the software while parked in the first type of parking lot, and as a result, the vehicle M may also be parked in the second type of parking lot. In other words, the second type of parking lot is a parking lot where the vehicle M performs more driving tasks than the first type of parking lot. In addition, from the perspective of user convenience, it may be preferable that the vehicle M be parked in the second type of parking lot.

[0141] Therefore, when the software is rewritten when the vehicle M is parked in the parking lot of the first type, the processing unit 46 can perform an operation of whether to move the vehicle M to a parking lot that can be parked with the changed performance after the software is rewritten. Furthermore, when an operation of moving to a parking lot that can be parked with the changed performance is received from the user, the vehicle M moves to the parking lot that can be parked with the changed performance after the software is rewritten, either autonomously or in coordination with the parking lot management device of the parking lot that is the moving destination. As a result, the convenience of the user can be improved.

[0142] In addition, the software of the vehicle M sometimes has an expiration date set. Therefore, when rewriting the software, the processing unit 46 can allow the user to set the expiration date of the software to a first period (for example, 1 day) or to a second period (for example, 1 year) that is longer than the first period. When receiving an operation to set the expiration date of the software to the first period, the vehicle M sets the expiration date of the rewritten software to the first period. On the other hand, when receiving an operation to set the expiration date of the software to the second period, the vehicle M sets the expiration date of the rewritten software to the second period. In this way, the expiration date can be set as desired by the user, which can improve the convenience of the user.

[0143] [Processing by software rewriting device]

[0144] [Rewrite reservation process]

[0145] Next, an example of processing performed by the software rewriting device 60 is described. Figure 6 The rewriting reservation process performed by the software rewriting device 60 will be described. The software rewriting device 60 performs the rewriting reservation process at a predetermined period, for example. Figure 6 Rewrite reservation processing shown.

[0146] like Figure 6As shown, in the rewriting reservation process, the software rewriting device 60 determines whether the parking lot PA is reserved for use (step S11). If it is determined that the parking lot PA is not reserved for use (No in step S11), the software rewriting device 60 directly ends the process. Figure 6 Rewrite reservation processing shown.

[0147] When it is determined that a reservation for use of the parking lot PA has been made (Yes in step S11), the software rewriting device 60 determines whether an operation to execute the rewriting process has been performed during the reservation (step S12). When it is determined that no operation to execute the rewriting process has been performed (No in step S12), the software rewriting device 60 directly terminates the process. Figure 6 Rewrite reservation processing shown.

[0148] When it is determined that an operation to execute the rewrite process has been performed (Yes in step S12), the software rewriting device 60 acquires information indicating the time required to rewrite the software by the rewrite process (step S13). Next, the software rewriting device 60 acquires information indicating the scheduled parking time for parking in the parking lot PA for which the use reservation has been made (step S14).

[0149] Then, the software rewriting device 60 determines whether the required time is shorter than the scheduled parking time based on the information indicating the required time acquired in step S13 and the information indicating the scheduled parking time acquired in step S14 (step S15). If it is determined that the required time is longer than the scheduled parking time (No in step S15), the software rewriting device 60 directly ends the operation. Figure 6 Rewrite reservation processing shown.

[0150] When it is determined that the required time is shorter than the scheduled parking time (Yes in step S15), the software rewriting device 60 schedules the execution of the rewriting process so that the rewriting process is executed when the vehicle M is parked in the parking lot PA for which the utilization reservation is made (step S16). In step S16, the software rewriting device 60 stores information indicating that the rewriting process is executed when the vehicle M enters the parking lot PA according to the utilization reservation, for example, in a storage device (not shown) or the like provided in the software rewriting device 60.

[0151] Next, the software rewriting device 60 obtains information indicating the communication environment of the parking lot PA for which the reservation for use is made (step S17). For example, the first map information 43 stored in the navigation device 40 includes information indicating the communication environment of each parking lot. Furthermore, in step S17, the software rewriting device 60 obtains information indicating the communication environment of the parking lot PA from the navigation device 40. Alternatively, the software rewriting device 60 may obtain information indicating the communication environment of the parking lot PA from the parking lot management device 400 via the communication device 30 or the like.

[0152] Next, the software rewriting device 60 determines whether the communication environment of the parking lot PA is above the prescribed level based on the information indicating the communication environment obtained in step S17 (step S18). If it is determined that the communication environment of the parking lot PA is above the prescribed level (yes in step S18), the software rewriting device 60 directly ends the operation. Figure 6 Rewrite reservation processing shown.

[0153] On the other hand, when it is determined that the communication environment of the parking lot PA is lower than the prescribed level (No in step S18), the software rewriting device 60 downloads the software for the rewriting process from the software delivery server 500 before the vehicle M enters the parking lot PA according to the utilization reservation (step S19), and ends. Figure 6 It should be noted that, if the software rewriting device 60 downloads software for rewriting processing from the software delivery server 500, the downloaded software and the information indicating the execution of the rewriting processing stored in step S16 are associated with each other and stored in advance in a storage device or the like of the device itself.

[0154] [Rewrite execution process]

[0155] Next, refer to Figure 7 The rewriting execution process performed by the software rewriting device 60 is described below. The software rewriting device 60 performs the rewriting execution process at a predetermined period, for example. Figure 7 The rewrite execution process shown.

[0156] like Figure 7 As shown, in the rewrite execution process, the software rewriting device 60 determines whether the vehicle M has entered the parking lot PA for which a reservation has been made (step S21). If it is determined that the vehicle M has not entered the parking lot PA for which a reservation has been made (No in step S21), the software rewriting device 60 directly ends the process. Figure 7 The rewrite execution process shown.

[0157] When it is determined that the vehicle M has entered the parking lot PA for which a reservation for use has been made (Yes in step S21), the software rewriting device 60 transmits vehicle information related to the vehicle M to the parking lot management device 400 of the entered parking lot PA (step S22). The vehicle information includes, for example, information indicating whether the rewriting process is executed in the parking lot PA, whether the software for the rewriting process has been downloaded when the rewriting process is executed, and the remaining energy of the vehicle M.

[0158] Therefore, the software rewriting device 60 can notify the parking lot management device 400 whether the rewriting process is executed in the parking lot PA, whether the software for the rewriting process is downloaded in advance when executing the rewriting process, the energy remaining of the vehicle M, etc. by sending the vehicle information to the parking lot management device 400.

[0159] Next, the software rewriting device 60 determines whether the vehicle M is parked in the parking space PS indicated by the parking lot management device 400 (step S23). If the vehicle M is not parked in the parking space PS (No in step S23), the software rewriting device 60 waits until the vehicle M is parked.

[0160] If the vehicle M is parked in the parking space PS indicated by the parking lot management device 400 (Yes in step S23), the software rewriting device 60 determines whether there is an execution reservation for executing the rewriting process in the parking lot PA (step S24). If it is determined that there is no execution reservation for the rewriting process (No in step S24), the software rewriting device 60 directly ends the process. Figure 7 The rewrite execution process shown.

[0161] When it is determined that there is a reservation for rewriting (Yes in step S24), the software rewriting device 60 determines whether the software for rewriting has been downloaded (step S25). When it is determined that the software for rewriting has been downloaded (Yes in step S25), the software rewriting device 60 switches to the process of step S28.

[0162] On the other hand, when it is determined that the software for the rewriting process has not been downloaded (No in step S25), the software rewriting device 60 acquires information indicating the communication environment of the parking space PS where the vehicle M is parked (step S26). Furthermore, the software rewriting device 60 determines whether the communication environment of the parking space PS where the vehicle M is parked is equal to or higher than a predetermined level based on the information indicating the communication environment acquired in step S26 (step S27).

[0163] When it is determined that the communication environment of the parking space PS where the vehicle M is parked is above the predetermined level (Yes in step S27), the software rewriting device 60 notifies the parking lot management device 400 and the user's terminal device 300 of the intention to execute the rewriting process (step S28), executes the rewriting process (step S29), and ends. Figure 7 The rewrite execution process shown.

[0164] On the other hand, when it is determined that the communication environment of the parking space PS where the vehicle M is parked is lower than the prescribed level (No in step S27), the software rewriting device 60 requests the parking lot management device 400 to guide the vehicle to another parking space PS where the communication environment is higher than the prescribed level (step S30). Furthermore, the software rewriting device 60 determines whether the result of the request is that the vehicle M is already parked in another parking space PS (step S31).

[0165] When it is determined that the vehicle M is not parked in the other parking space PS (No in step S31), the software rewriting device 60 waits until the vehicle M is parked in the other parking space PS. When it is determined that the vehicle M is parked in the other parking space PS (Yes in step S31), the software rewriting device 60 switches to the process of step S26.

[0166] [Post-rewrite processing]

[0167] Next, refer to Figure 8 , the post-rewriting process performed by the software rewriting device 60 is described. The software rewriting device 60, for example, Figure 7 When the rewrite execution process shown in the figure is executed, Figure 8 Rewrite post-processing shown.

[0168] like Figure 8 As shown, in the post-rewriting process, the software rewriting device 60 determines whether the rewriting process has been completed (step S41). If the rewriting process has not been completed (No in step S41), the software rewriting device 60 waits until the rewriting process is completed.

[0169] If the rewriting process is completed (Yes in step S41), the software rewriting device 60 notifies the parking lot management device 400 that the rewriting process is completed and that the test action is performed (step S42). It should be noted that the software rewriting device 60 may also separately notify the parking lot management device 400 that the rewriting process is completed and that the test action is performed. Next, the software rewriting device 60 determines whether there is anyone on the vehicle M performing the test action (step S43).

[0170] When it is determined that there is a person on board the vehicle M (No in step S43), the software rewriting device 60 notifies the person on board the vehicle M that the test action cannot be performed through the input and output devices 20, 42, etc. (step S44), and ends. Figure 8 When it is determined that there is no one on the vehicle M (Yes in step S43), the software rewriting device 60 causes the vehicle M to perform a test action (step S45). In step S45, as described above, the software rewriting device 60 causes the vehicle M to perform a test action of temporarily moving the vehicle M from the parking space PS in which it is parked and then parking the vehicle M in the parking space PS again.

[0171] Next, the software rewriting device 60 determines whether the test result based on the test action executed in step S45 is good (step S46). If it is determined that the test result is bad (No in step S46), the software rewriting device 60 directly ends the process. Figure 8In this case, the process of step S50 described later is not performed, so the software rewritten by the rewriting process (software that is likely to be a factor causing a failure in the test operation result) does not become effective.

[0172] On the other hand, if it is determined that the test operation result is good (Yes in step S46), the software rewriting device 60 notifies the user's terminal device 300 that the rewriting process has been completed, and confirms with the user whether to make the software rewritten by the rewriting process effective (step S47). In addition, the software rewriting device 60 determines whether there is an operation to make the rewritten software effective based on the result of the process in step S47 and the information received from the terminal device 300 (step S48).

[0173] If there is no operation to make the rewritten software effective, that is, if there is an operation not to make the rewritten software effective (No in step S48), the software rewriting device 60 directly ends the process. Figure 8 The rewrite post-processing shown. That is, in this case, the processing of step S50 described later is not performed either, so the software rewritten by the rewrite processing does not become valid. In addition, when there is an operation with the intention of not making the rewritten software valid (that is, No in step S48), the software rewriting device 60 can confirm with the user again whether to make the rewritten software valid at a specified time during the period when the vehicle M is parked in the parking lot PA. In addition, the software rewriting device 60 can confirm with the user again whether to make the rewritten software valid when the next use reservation of the parking lot PA is made, or when the vehicle M is parked in the parking lot PA next time according to the use reservation, etc. Moreover, when the result of confirming with the user again whether to make the rewritten software valid is that the operation with the intention of making the rewritten software valid is performed, the software rewriting device 60 makes the rewritten software valid. It should be noted that in this case, test actions have been implemented, so the software rewriting device 60 only needs to make the rewritten software valid.

[0174] On the other hand, when there is an operation to make the rewritten software effective (Yes in step S48), the software rewriting device 60 waits for the vehicle M to exit the parking lot PA (No in step S49). If the vehicle M exits the parking lot PA (Yes in step S49), the software rewritten by the rewriting process is made effective (step S50), and the process ends. Figure 8 Rewrite post-processing shown.

[0175] [Processing by parking lot management device]

[0176] Next, an example of the processing performed by the parking lot management device 400 is described. The parking lot management device 400 performs the processing at a predetermined period, for example. Fig. 9 The parking position determination process is shown.

[0177] like Fig. 9 As shown, in the parking position determination process, the parking lot management device 400 determines whether there is a vehicle entering the parking lot PA (step S61). When it is determined that there is no vehicle entering the parking lot PA (No in step S61), the parking lot management device 400 repeats the process of step S61.

[0178] When it is determined that there is a vehicle entering the parking lot PA (Yes in step S61), the parking lot management device 400 obtains vehicle information from the vehicle entering the parking lot PA (step S62). Thus, the parking lot management device 400 can obtain information indicating whether the rewriting process is executed in the parking lot PA, whether the software for the rewriting process has been downloaded, the remaining energy, etc. for the vehicle entering the parking lot PA.

[0179] The parking lot management device 400 determines whether the vehicle entering is a vehicle for which rewriting is to be performed based on the vehicle information acquired in step S62 (step S63). If it is determined that the vehicle entering is a vehicle for which rewriting is not to be performed (No in step S63), the parking lot management device 400 switches to the process of step S70.

[0180] When it is determined that the entered vehicle is a vehicle that performs the rewriting process (Yes in step S63), the parking lot management device 400 determines whether the energy remaining of the entered vehicle (i.e., the vehicle that performs the rewriting process) is greater than a specified amount based on the vehicle information obtained in step S62 (step S64).

[0181] When it is determined that the remaining energy of the vehicle entering is less than the prescribed amount (No in step S64), the parking lot management device 400 determines the parking space PS that can be replenished with energy (i.e., the parking space PS for which the information indicating whether energy can be replenished is "yes") as the candidate parking position for the vehicle entering (step S65), and switches to the processing of step S68. It should be noted that in the present embodiment, the parking space PS that can be replenished with energy is set to have a communication environment that is also above the prescribed level.

[0182] When it is determined that the remaining energy of the vehicle entering is greater than or equal to the prescribed amount (Yes in step S64), the parking lot management device 400 determines whether the vehicle entering has completed downloading the software for the rewriting process based on the vehicle information acquired in step S62 (step S66). When it is determined that the software for the rewriting process has not been downloaded (No in step S66), the parking lot management device 400 determines the parking space PS with a communication environment greater than or equal to the prescribed level (that is, the parking space PS with information indicating the communication environment as "strong") as the parking candidate position for the vehicle entering (step S67), and switches to the process of step S68.

[0183] Next, the parking lot management device 400 determines whether another vehicle is parked at the parking candidate position determined by the processing of step S65 or step S67 (step S68). It should be noted that sometimes there are multiple parking spaces PS that can replenish energy (parking spaces PS whose information indicating whether energy can be replenished is "available") and parking spaces PS whose communication environment is above a predetermined level (parking spaces PS whose information indicating the communication environment is "strong"). In this case, the parking lot management device 400 determines whether another vehicle is parked in all parking spaces PS of the type determined as the parking candidate position.

[0184] When it is determined that there are other vehicles parked at the determined parking candidate position (yes in step S68), the parking lot management device 400 cannot allocate a parking space PS suitable for rewriting processing to the entering vehicle, and therefore issues an instruction to the vehicle not to perform the rewriting processing to limit the execution of the rewriting processing of the vehicle (step S69), and switches to the processing of step S70.

[0185] Next, the parking lot management device 400 determines the normal parking space PS as the parking position of the vehicle that has entered, instructs the vehicle to move to the parking space PS (step S70), and ends the process. Fig. 9 The parking position determination process shown. A normal parking space PS is, for example, a parking space PS in which the information indicating whether or not energy can be supplied is "not available" in the parking space information and the information indicating the communication environment is "weak".

[0186] On the other hand, when it is determined that no other vehicle is parked at the determined parking candidate position (No in step S68), the parking lot management device 400 determines the determined parking candidate position (i.e., the parking space PS suitable for rewriting processing) as the parking position of the vehicle entering, instructs the vehicle to move to the parking space PS (step S71), and ends. Fig. 9 The parking position determination process is shown.

[0187] It should be noted that, here, an example is described in which the communication environment of the parking space PS where energy can be replenished is also above the prescribed level, but the present invention is not limited thereto. When the communication environment of the parking space PS where energy can be replenished does not reach above the prescribed level, the software can be downloaded first at a location with a good communication environment, and then the vehicle can be moved to the parking space PS where energy can be replenished (parking again).

[0188] [Processing by navigation device]

[0189] [Parking lot search process]

[0190] Next, an example of processing performed by the navigation device 40 will be described. Fig.10The parking lot search process performed by the navigation device 40 will be described. The navigation device 40 performs the search at a predetermined period, for example. Fig.10 The parking lot search process shown.

[0191] like Fig.10 As shown, in the parking lot search process, the navigation device 40 determines whether there is an operation from the user to search for a parking lot (step S81). When there is no operation to search for a parking lot (No in step S81), the navigation device 40 repeats the process of step S81. When there is an operation to search for a parking lot (Yes in step S81), the navigation device 40 obtains the information indicating the current automatic driving performance of the vehicle M equipped with the navigation device 40 from the automatic driving control device 100 or the like in which the information indicating the current automatic driving performance of the vehicle M equipped with the navigation device itself is pre-set (step S82).

[0192] Furthermore, the navigation device 40 searches for a parking lot that can be parked with the current automatic driving performance of the vehicle M based on the information indicating the current automatic driving performance acquired by the process of step S82 (step S83). In step S83, the navigation device 40 searches for a parking lot that can be parked with the current automatic driving performance among parking lots around the destination, based on, for example, the information indicating the automatic driving performance required for parking in each parking lot included in the first map information 43 and the information indicating the destination set by the user.

[0193] Next, the navigation device 40 inquires, for example, the software delivery server 500 to determine whether there is any rewritable software for the vehicle M (step S84). If it is determined that there is no rewritable software (No in step S84), the navigation device 40 displays the parking lot retrieved by the process of step S83, that is, the parking lot that can be parked with the current automatic driving performance (step S85), and ends. Fig.10 In step S85, the navigation device 40 displays the searched parking lot that can be parked with the current automatic driving performance on the display of the input / output device 42, for example, in a state that can be recognized by the user.

[0194] On the other hand, when it is determined that there is rewritable software (Yes in step S84), the navigation device 40 acquires information indicating the automatic driving performance of the vehicle M after rewriting when the software is rewritten using the software from the software delivery server 500 (step S86).

[0195] Next, the navigation device 40 determines whether the autonomous driving performance of the vehicle M has changed by software rewriting based on the information indicating the current autonomous driving performance obtained by processing step S82 and the information indicating the rewritten autonomous driving performance obtained by processing step S85 (step S87).

[0196] When it is determined that the automatic driving performance of the vehicle M has not been changed by software rewriting (No in step S87), the navigation device 40 switches to the process of step S85. On the other hand, when it is determined that the automatic driving performance of the vehicle M has been changed by software rewriting (Yes in step S87), the navigation device 40 searches for a parking lot that can be parked by the automatic driving performance of the vehicle M after the rewriting, that is, the changed automatic driving performance (step S88). In step S88, the navigation device 40 searches for a parking lot that can be parked by the changed automatic driving performance among the parking lots around the destination set by the user, for example.

[0197] Then, the navigation device 40 distinguishes and displays the parking lot that can be parked by the current automatic driving performance retrieved by step S83 and the parking lot that can be parked by the changed automatic driving performance retrieved by step S88 (step S89), and ends. Fig.10 In step S89, the navigation device 40 displays the parking lot that can be parked with the current automatic driving performance and the parking lot that can be parked with the changed automatic driving performance on the display of the input / output device 42 in a state that can be recognized by the user. An example of a display screen displayed by the processing of step S89 is shown in FIG. Fig.12 The details will be described later.

[0198] It should be noted that, here, an example is described in which the processing after step S84 is performed after the processing of steps S81 to S83 is performed, but the present invention is not limited to this. The processing of steps S81 to S83 and the processing after step S84 may be performed separately. In other words, the processing after step S84 may be performed without performing the processing of steps S81 to S83.

[0199] [Use reservation processing]

[0200] Next, an example of the use reservation process performed by the navigation device 40 will be described. Fig.10 When the parking lot search process shown in the figure is performed to display the parking lot searched, Fig.11 The use reservation process shown.

[0201] like Fig.11 As shown, in the reservation process, the navigation device 40 determines whether any of the parking lots displayed by the process of step S85 or step S89 is selected by the user (step S91). If there is no operation to select a parking lot (No in step S91), the navigation device 40 repeats the process of step S91.

[0202] When there is an operation to select any parking lot (Yes in step S91), the navigation device 40 determines whether the selected parking lot is a parking lot that requires software rewriting (step S92). For example, when the automatic driving performance required for parking in the selected parking lot is higher than the current automatic driving performance of the vehicle M, the navigation device 40 makes an affirmative determination in step S92. On the other hand, when the automatic driving performance required for parking in the selected parking lot is equal to or lower than the current automatic driving performance of the vehicle M, the navigation device 40 makes a negative determination in step S92.

[0203] When it is determined that the selected parking lot is a parking lot that does not require software rewriting (No in step S92), the navigation device 40 switches to the processing of step S96. On the other hand, when it is determined that the selected parking lot is a parking lot that requires software rewriting (Yes in step S92), the navigation device 40 notifies the user that software rewriting is required (step S93).

[0204] In step S93, the navigation apparatus 40 displays a message such as “In order to park in this parking lot, software rewriting is required. Do you want to rewrite the software?” and operation buttons corresponding to “Yes” and “No”, respectively, on the display of the input / output device 42, for example.

[0205] Then, the navigation device 40 determines whether there is an operation to rewrite the software, that is, an operation to execute the rewrite process (step S94). In step S94, the navigation device 40 determines whether the operation button corresponding to "yes" displayed by the process of step S93 is operated.

[0206] When there is an operation to not rewrite the software (No in step S94), that is, when the operation button corresponding to "No" displayed by the process of step S93 is operated, the navigation device 40 ends. Fig.11 In this case, for example, the process of step S96 described later is not performed, so the user cannot make a reservation for the use of the selected parking lot (that is, cannot use the parking lot).

[0207] On the other hand, when there is an operation to rewrite the software (Yes in step S94), that is, when the operation button corresponding to "Yes" displayed by the process of step S93 is operated, the navigation device 40 displays a predetermined expiration date selection screen on the display of the input / output device 42 (step S95). Then, the navigation device 40 allows the user to input the expiration date for the rewritten software through the expiration date selection screen.

[0208] More specifically, on the validity period selection screen, the navigation device 40 displays a message such as "Please select the validity period of the software", and displays operation buttons corresponding to "1 day (price: 500 yen)" and "1 year (price: 5000 yen)" on the display of the input-output device 42, allowing the user to input the desired validity period using these operation buttons.

[0209] Then, the navigation device 40 displays a reservation screen for inputting the vehicle ID, the scheduled entry date and time, the scheduled exit date and time, etc. on the display of the input / output device 42 (step S96), so that the user can make a reservation for the selected parking lot using the reservation screen, and the process ends. Fig.11 The use reservation process shown.

[0210] [An example of a display screen of a navigation device]

[0211] Next, refer to Fig.12 An example of a display screen displayed by the navigation device 40 through the processing of step S89 described above will be described. Fig.12 As shown, the navigation device 40 displays a first icon Ic1 (for example, a yellow icon) at a position corresponding to a parking lot that can be parked by the current automatic driving performance (the parking lot retrieved by the process of step S83) on the map displayed on the display D of the input / output device 42. On the other hand, the navigation device 40 displays a second icon Ic2 (for example, a red icon) of a type different from the first icon Ic1 at a position corresponding to a parking lot that can be parked by the changed automatic driving performance (the parking lot retrieved by the process of step S87) on the map.

[0212] Therefore, the user can identify parking lots that can be parked with the current automatic driving performance and parking lots that can be parked with the changed automatic driving performance by referring to the first icon Ic1 and the second icon Ic2 displayed on the display D, and can understand the location of each parking lot. Fig.12 In the case of the illustrated example, the user can learn that by rewriting the software of the vehicle M, the vehicle can be parked in a parking lot close to (eg, adjacent to) the destination.

[0213] In addition, if Fig.12 As shown, the navigation device 40 may display a message Ms conveying that the parking lot of the second icon Ic2 can be parked by rewriting the software on the display D. Thus, the user can easily know that the parking lot of the second icon Ic2 can be parked by rewriting the software.

[0214] It should be noted that the present invention is not limited to the above-described embodiments, and modifications, improvements, etc. may be made as appropriate.

[0215] For example, in the above-mentioned embodiment, the example of providing the first performance acquisition unit 44, the second performance acquisition unit 45, and the processing unit 46 in the navigation device 40, and implementing the reporting device for reporting the parking lot where the vehicle M can be parked through the navigation device 40 is described, but it is not limited to this. For example, the first performance acquisition unit 44, the second performance acquisition unit 45, and the processing unit 46 may also be provided in the terminal device 300, and implementing the reporting device for reporting the parking lot where the vehicle M can be parked through the terminal device 300. In addition, similarly, the reporting device for reporting the parking lot where the vehicle M can be parked may be implemented by the automatic driving control device 100. In the case of such a setting, the automatic driving control device 100 may report the parking lot where the vehicle M can be parked, for example, using the display of the input / output device 20.

[0216] In addition, in the above-mentioned embodiment, the example of executing the rewriting process in the parking lot PA is described, but the present invention is not limited to this. The place where the rewriting process is executed can be any place where the vehicle M is parked (stopped) in a planned manner and the software rewriting device 60 can obtain the information indicating the scheduled parking time (scheduled stop time), and is not limited to a public parking lot such as the parking lot PA, and may also be a parking lot of a private residence, etc.

[0217] In addition, in the above-mentioned embodiment, an example in which the mobile body is a vehicle is described, but the invention is not limited thereto. The concept of the present invention is not limited to vehicles, but can also be applied to robots, ships, aircraft, etc. that have a driving source and can move by the power of the driving source. In addition, similarly, the storage area can also be an aircraft hangar, a parking lot, an aircraft parking lot (airport), etc.

[0218] At least the following matters are described in this specification. It should be noted that the corresponding components and the like in the above-mentioned embodiment are shown in parentheses, but the present invention is not limited thereto.

[0219] (1) A software rewriting device (software rewriting device 60) capable of rewriting software of a mobile object (vehicle M), the software rewriting device (software rewriting device 60) comprising:

[0220] a required time acquisition unit (required time acquisition unit 611) that acquires information indicating the time required to rewrite the software;

[0221] a stop scheduled time acquisition unit (stop scheduled time acquisition unit 612) that acquires information indicating the stop scheduled time of the moving body at a predetermined position (parking lot PA); and a rewrite processing unit (rewrite processing unit 621) that performs a rewrite processing of rewriting the software,

[0222] The rewriting processing unit, based on the information indicating the required time and the information indicating the scheduled stop time,

[0223] When the required time is shorter than the scheduled stop time, performing the rewriting process at the prescribed position,

[0224] When the required time is longer than the scheduled stop time, the rewriting process is not performed at the prescribed position.

[0225] According to (1), when the time required for rewriting the software is shorter than the scheduled stop time at the specified position, the rewriting process is performed at the specified position, and when the time required is longer than the scheduled stop time, the rewriting process is not performed at the specified position. Thus, the rewriting process is performed in a case where the rewriting process can be completed while the moving body is stopped at the specified position, and the software of the moving body can be rewritten while avoiding a reduction in the convenience of the user of the moving body.

[0226] (2) The software rewriting device according to (1), wherein:

[0227] The scheduled stop time acquisition unit acquires information indicating the scheduled stop time based on the scheduled stop start date and time and the scheduled stop end date and time of the moving body at the predetermined position.

[0228] According to (2), information indicating the scheduled stop time is obtained based on the scheduled stop start date and time and the scheduled stop end date and time of the moving body at the specified position, so that information indicating the scheduled stop time can be obtained, wherein the scheduled stop time indicates a period during which the moving body is likely to stop.

[0229] (3) The software rewriting device according to (2), wherein:

[0230] When an operation to execute the rewriting process is performed before the moving body stops at the predetermined position, the rewriting processing unit executes the rewriting process at the predetermined position.

[0231] According to (3), when the user of the mobile body performs an operation to execute the rewrite process before the mobile body stops at a predetermined position, the rewrite process is executed, so that the software of the mobile body can be rewritten without causing distrust and discomfort to the user.

[0232] (4) The software rewriting device according to any one of (1) to (3), wherein:

[0233] The software rewriting device is configured to be able to communicate with another device (software delivery server 500) that delivers the software.

[0234] The rewriting process is a process of rewriting the software received from the other device,

[0235] The rewriting processing unit executes the rewriting process at the predetermined location when the communication environment of the software rewriting device at the predetermined location is equal to or higher than a predetermined level.

[0236] According to (4), when the communication environment at the predetermined location is equal to or higher than a predetermined level, rewriting processing is performed to rewrite the software received from another device, so that the rewriting processing can be performed while the software can be smoothly received from another device at the predetermined location.

[0237] (5) The software rewriting device according to (4), wherein:

[0238] When the reception of the software from the other device is completed before the moving body stops at the prescribed position, the rewriting processing section performs the rewriting process at the prescribed position even if the communication environment at the prescribed position is lower than the prescribed level.

[0239] According to (5), when receiving software from other devices is completed before the moving body stops at the specified position, even if the communication environment at the specified position is lower than the specified level, the rewriting process is performed when the moving body stops at the specified position, thereby increasing the chance of performing the rewriting process.

[0240] (6) The software rewriting device according to any one of (1) to (5), wherein:

[0241] The predetermined position is a storage area capable of storing the moving object.

[0242] According to (6), the rewriting process can be performed when the moving object is accommodated in the accommodation area.

Claims

1. A software rewriting device capable of rewriting software of a mobile object, the software rewriting device comprising: a required time acquisition unit that acquires information indicating the time required to rewrite the software; a scheduled stop time acquisition unit that acquires information indicating a scheduled stop time of the moving body at a prescribed position based on a utilization reservation for utilizing the prescribed position of the moving body; and a rewriting processing unit that performs a rewriting process of rewriting the software, The rewriting processing unit, based on the information indicating the required time and the information indicating the scheduled stop time, When the required time is shorter than the scheduled stop time, performing the rewriting process at the prescribed position, When the required time is longer than the scheduled stop time, the rewriting process is not performed at the prescribed position.

2. The software rewriting device according to claim 1, wherein: The scheduled stop time acquisition unit acquires information indicating the scheduled stop time based on the scheduled stop start date and time and the scheduled stop end date and time of the moving body at the predetermined position.

3. The software rewriting device according to claim 2, wherein: The rewrite processing unit executes the rewrite processing at the predetermined position when a user of the moving body performs an operation to execute the rewrite processing before the moving body stops at the predetermined position.

4. The software rewriting device according to any one of claims 1 to 3, wherein: The software rewriting device is configured to be able to communicate with other devices that transmit the software, The rewriting process is a process of rewriting the software received from the other device, The rewriting processing unit executes the rewriting process at the predetermined location when the communication environment of the software rewriting device at the predetermined location is equal to or higher than a predetermined level.

5. The software rewriting device according to claim 4, wherein: When the software is received from the other device before the moving body stops at the prescribed position, the rewriting processing unit performs the rewriting process at the prescribed position even if the communication environment at the prescribed position is lower than the prescribed level.

6. The software rewriting device according to any one of claims 1 to 3, wherein: The predetermined position is a storage area capable of storing the moving object.

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