Automatic parking system, control method of automatic parking system and automatic driving vehicle

Abstract

The present invention relates to an automatic parking system, a control method of the automatic parking system, and an automatic driving vehicle. The automatic parking system performs automatic parking of the automatic driving vehicle by giving instructions related to a target vehicle speed and a target route to the automatic driving vehicle in the parking lot, and comprises: a vehicle information acquisition unit, which acquires the position information of a target vehicle in the parking lot including the automatic driving vehicle and the communicable vehicle; a condition determination unit, which determines whether the target vehicle satisfies the inter-vehicle communication driving condition based on the position information of the target vehicle in the parking lot acquired by the vehicle information acquisition unit; and an inter-vehicle communication driving instruction unit, which performs inter-vehicle communication driving by inter-vehicle communication on the target vehicle determined by the condition determination unit as satisfying the inter-vehicle communication driving condition, and in the inter-vehicle communication driving, the automatic driving vehicle is given priority to the vehicle speed adjustment for vehicle approach suppression by inter-vehicle communication compared with the target vehicle speed for automatic parking.

Description

Technical Field

[0001] The present invention relates to an automatic parking system, a control method of the automatic parking system and an automatic driving vehicle. Background Art

[0002] Conventionally, Japanese Patent Application Laid-Open No. 2018-156641 is known as a technical document related to an automatic parking system. This publication shows a parking lot management system that realizes valet parking of a plurality of autonomous driving vehicles at one time.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: Japanese Patent Application Publication No. 2018-156641

[0006] However, in the case of valet parking performed by multiple autonomous vehicles, even if the same speed is indicated to multiple autonomous vehicles, the performance of the autonomous vehicles (acceleration performance, deceleration performance, or accuracy of speed control, etc.) will vary depending on the manufacturer or model, so the distance between vehicles may be too close. Summary of the invention

[0007] One embodiment of the present invention is an automatic parking system that executes automatic parking of an autonomous driving vehicle by instructing the autonomous driving vehicle in a parking lot regarding a target vehicle speed and a target route, the automatic parking system comprising: a vehicle information acquisition unit that acquires position information of the autonomous driving vehicle in the parking lot; a condition determination unit that determines whether the autonomous driving vehicle satisfies a preset inter-vehicle communication driving condition based on the position information of the autonomous driving vehicle in the parking lot acquired by the vehicle information acquisition unit; and an inter-vehicle communication driving instruction unit that performs inter-vehicle communication driving through inter-vehicle communication on the autonomous driving vehicle that is determined by the condition determination unit to satisfy the inter-vehicle communication driving condition, wherein during the inter-vehicle communication driving, the autonomous driving vehicle is given priority in speed adjustment for vehicle approach suppression through inter-vehicle communication over the target vehicle speed for automatic parking.

[0008] According to an automatic parking system of one embodiment of the present invention, by performing inter-vehicle communication driving by inter-vehicle communication on an automatic driving vehicle determined to satisfy the inter-vehicle communication driving condition, the inter-vehicle distance of the automatic driving vehicle can be appropriately maintained compared to a case where the inter-vehicle communication driving is not performed. In addition, according to the automatic parking system, the automatic driving vehicle is given priority to the vehicle speed adjustment for vehicle approach suppression by inter-vehicle communication compared to the target vehicle speed for automatic parking, so that the inter-vehicle distance of the automatic driving vehicle can be suppressed from being too close compared to a case where only the target vehicle speed is indicated to a plurality of automatic driving vehicles with different acceleration performance, deceleration performance or vehicle speed control accuracy.

[0009] In the above-mentioned automatic parking system, the vehicle information acquisition unit acquires the position information of the target vehicle in the parking lot including the automatic driving vehicle and the communicative vehicle, wherein the communicative vehicle is a vehicle that cannot perform automatic driving but can perform inter-vehicle communication, and the condition determination unit determines whether the target vehicle satisfies the pre-set inter-vehicle communication driving condition based on the position information of the target vehicle in the parking lot acquired by the vehicle information acquisition unit, and the inter-vehicle communication driving instruction unit performs inter-vehicle communication driving through inter-vehicle communication on the target vehicle determined by the condition determination unit as satisfying the inter-vehicle communication driving condition.

[0010] According to this automatic parking system, by performing inter-vehicle communication driving on a target vehicle determined to meet the inter-vehicle communication driving conditions through inter-vehicle communication, the inter-vehicle distance between the target vehicles including the automatic driving vehicle and the communicative vehicle can be appropriately maintained compared to a case where inter-vehicle communication driving is not performed.

[0011] In the automatic parking system, the condition determination unit may determine that the plurality of target vehicles traveling in the same lane satisfy the inter-vehicle communication traveling condition when the number of the plurality of target vehicles in the same lane in the parking lot is equal to or greater than a lane number threshold.

[0012] According to this automatic parking system, by performing inter-vehicle communication driving when the number of target vehicles in the same lane in the parking lot is equal to or greater than the lane number threshold, the inter-vehicle distance between the target vehicles in the lane can be suppressed from being too close.

[0013] In the automatic parking system, when there are a plurality of target vehicles whose inter-vehicle distance is less than the inter-vehicle distance threshold, the condition determination unit may determine that the plurality of target vehicles whose inter-vehicle distance is less than the inter-vehicle distance threshold satisfies the inter-vehicle communication driving condition.

[0014] According to this automatic parking system, by performing inter-vehicle communication driving on a plurality of target vehicles whose inter-vehicle distance is smaller than the inter-vehicle distance threshold, it is possible to suppress the inter-vehicle distance between the plurality of target vehicles from becoming too close.

[0015] In the above-mentioned automatic parking system, the vehicle information acquisition unit may acquire the position information in the parking lot of a general vehicle that cannot perform automatic driving and cannot perform inter-vehicle communication, and the condition determination unit may determine that the multiple object vehicles in the lane satisfy the inter-vehicle communication driving conditions when there are multiple object vehicles located in the lane where the general vehicle is traveling in the parking lot.

[0016] According to this automatic parking system, by performing inter-vehicle communication driving on multiple target vehicles located in lanes where general vehicles are driving in a parking lot, even if a sudden deceleration of the target vehicle performing inter-vehicle communication driving occurs due to the presence of general vehicles, the inter-vehicle distance between the multiple target vehicles can be prevented from being too close.

[0017] In the above-mentioned automatic parking system, the vehicle information acquisition unit may acquire the position information in the parking lot of a general vehicle that cannot perform automatic driving and cannot perform inter-vehicle communication, and the condition determination unit may determine that a plurality of object vehicles in the set area satisfy the inter-vehicle communication driving conditions when the general vehicle enters a set area pre-set in the parking lot.

[0018] According to this automatic parking system, when a general vehicle enters a set area, by performing inter-vehicle communication driving for multiple target vehicles in the set area, even if a sudden deceleration of the target vehicle performing inter-vehicle communication driving occurs due to the presence of the general vehicle, the inter-vehicle distance between the multiple target vehicles can be prevented from being too close.

[0019] In the above-mentioned automatic parking system, the automatic parking system also includes a release condition determination unit, which, in the case where there is a target vehicle performing inter-vehicle communication driving, determines whether the target vehicle satisfies a pre-set release condition based on the position information in the parking lot of multiple target vehicles acquired by the vehicle information acquisition unit, and the inter-vehicle communication driving indication unit terminates the inter-vehicle communication driving of the target vehicle determined by the release condition determination unit as satisfying the release condition.

[0020] According to this automatic parking system, the inter-vehicle communication driving of the target vehicle determined by the release condition determination unit to satisfy the release condition is terminated, so the speed of the automatic driving vehicle can be controlled according to the target vehicle speed for automatic parking, thereby improving the utilization efficiency of the parking lot.

[0021] Another embodiment of the present invention is a control method for an automatic parking system, which executes automatic parking of an automatic parking vehicle by instructing the automatic parking vehicle in the parking lot regarding a target vehicle speed and a target route, the control method for the automatic parking system comprising: a vehicle information acquisition step, acquiring position information in the parking lot of a target vehicle including an automatic parking vehicle and a communicative vehicle, wherein the communicative vehicle is a vehicle that cannot perform automatic driving but can perform inter-vehicle communication; a condition determination step, determining whether the target vehicle satisfies a preset inter-vehicle communication driving condition based on the position information in the parking lot of the target vehicle acquired in the vehicle information acquisition step; and an inter-vehicle communication driving instruction step, performing inter-vehicle communication driving through inter-vehicle communication on the automatic parking vehicle included in the target vehicle determined in the condition determination step as satisfying the inter-vehicle communication driving condition, wherein during the inter-vehicle communication driving, the automatic parking vehicle is given priority in performing a vehicle speed adjustment for vehicle approach suppression through inter-vehicle communication over the target vehicle speed for automatic parking.

[0022] According to another aspect of the present invention, a control method for an automatic parking system can appropriately maintain the inter-vehicle distance of a target vehicle determined to satisfy the inter-vehicle communication driving condition by performing inter-vehicle communication driving by inter-vehicle communication, compared with a case where inter-vehicle communication driving is not performed. In addition, according to the control method for the automatic parking system, the speed adjustment for vehicle approach suppression by inter-vehicle communication is prioritized over the target speed for automatic parking by the automatic driving vehicle, so that the inter-vehicle distance of the automatic driving vehicle can be suppressed from being too close, compared with a case where only the target speed is indicated to a plurality of automatic driving vehicles having different acceleration performance, deceleration performance or vehicle speed control accuracy.

[0023] Another embodiment of the present invention is an autonomous driving vehicle that performs automatic parking in a parking lot based on instructions related to a target vehicle speed and a target route from an automatic parking system of the parking lot, the autonomous driving vehicle comprising: a vehicle position recognition unit that recognizes the position in the parking lot; a driving state recognition unit that recognizes the driving state of the autonomous driving vehicle based on internal sensors of the autonomous driving vehicle; a vehicle-side condition determination unit that determines whether the autonomous driving vehicle satisfies a preset vehicle-side inter-vehicle communication driving condition based on a comparison result between the driving state of the autonomous driving vehicle identified by the driving state recognition unit and the target vehicle speed or target route indicated from the automatic parking system; and an inter-vehicle communication driving execution unit that performs inter-vehicle communication driving of the autonomous driving vehicle through inter-vehicle communication with surrounding target vehicles when the vehicle-side condition determination unit determines that the vehicle-side inter-vehicle communication driving condition is satisfied, wherein during the inter-vehicle communication driving, vehicle speed adjustment for vehicle approach suppression achieved through inter-vehicle communication is given priority over the target vehicle speed for automatic parking.

[0024] According to another scheme of the present invention, an autonomous driving vehicle performs inter-vehicle communication driving through inter-vehicle communication with surrounding target vehicles based on a comparison result between the driving state of the autonomous driving vehicle and a target speed or a target route indicated by an automatic parking system, when the autonomous driving vehicle satisfies the vehicle-side inter-vehicle communication driving conditions. Compared with the target speed for automatic parking, speed adjustment for vehicle approach suppression achieved through inter-vehicle communication is given priority, thereby preventing the autonomous driving vehicle from being too close to the target vehicle.

[0025] In the above-mentioned autonomous driving vehicle, the vehicle-side condition determination unit may determine that the vehicle-side inter-vehicle communication driving condition is satisfied when the vehicle speed of the autonomous driving vehicle at the position is greater than a vehicle speed determination threshold value compared to a target vehicle speed indicated by the automatic parking system according to the position in the parking lot.

[0026] According to the autonomous driving vehicle, by performing inter-vehicle communication driving when the speed of the autonomous driving vehicle at the position is greater than a speed determination threshold compared to a target speed indicated by the automatic parking system according to the position in the parking lot, even if there is an obstacle to the speed control function of the autonomous driving vehicle or the responsiveness of the speed control, the inter-vehicle distance between the autonomous driving vehicle and the target vehicle can be prevented from being too close.

[0027] According to each aspect of the present invention, it is possible to suppress the inter-vehicle distance between target vehicles from being too close in a parking lot. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a diagram for explaining an automatic parking system according to an embodiment.

[0029] Figure 2 This is a plan view showing an example of a parking lot where automatic valet parking is performed.

[0030] Figure 3 This is a diagram showing an example of the hardware configuration of a parking lot control server.

[0031] Figure 4 This is a diagram showing an example of the functional configuration of a parking lot control server.

[0032] Figure 5 (a) is a diagram for explaining an example of a case where the number of vehicles passing through the same lane satisfies the inter-vehicle communication driving condition. Figure 5 (b) is a diagram for explaining an example of a case where the inter-vehicle communication driving condition is satisfied by the inter-vehicle distance. Figure 5 (c) is a diagram for explaining an example of a case where the inter-vehicle communication driving condition is satisfied by driving in the same lane as a general vehicle. Figure 5(d) is a diagram for explaining an example of a case where the inter-vehicle communication driving condition is satisfied by a general vehicle entering a set area.

[0033] Figure 6 (a) is a diagram for explaining an example of a case where inter-vehicle communication driving is performed according to the number of vehicles in the same lane. Figure 6 (b) is a diagram for explaining an example of a case where the inter-vehicle communication driving is performed according to the inter-vehicle distance. Figure 6 (c) is a diagram for explaining an example of a case where the vehicle is traveling in the same lane as a general vehicle and the inter-vehicle communication driving is performed. Figure 6 (d) is a diagram for explaining an example of a case where an inter-vehicle communication driving is performed in response to a general vehicle entering a set area.

[0034] Figure 7 (a) is a diagram for explaining an example of a case where a release condition determined by the number of vehicles in the same lane is satisfied. Figure 7 (b) is a diagram for explaining an example of a case where the release condition is satisfied by completion of parking of a general vehicle, etc. Figure 7 (c) is a diagram for explaining another example of a case where the release condition is satisfied by completion of parking of a general vehicle, etc.

[0035] Figure 8 (a) is a flowchart showing an example of the inter-vehicle communication driving process. Figure 8 (b) is a flowchart showing an example of an inter-vehicle communication driving condition determination process that determines the number of vehicles in the same lane.

[0036] Fig. 9 (a) is a flowchart showing an example of an inter-vehicle communication driving condition determination process that performs determination based on the inter-vehicle distance. Fig. 9 (b) is a flowchart showing an example of an inter-vehicle communication driving condition determination process in which determination is made by driving in the same lane as a general vehicle.

[0037] Fig.10 This is a flowchart showing an example of an inter-vehicle communication driving condition determination process in which a determination is made based on a general vehicle entering a set area.

[0038] Fig.11 (a) is a flowchart showing an example of the inter-vehicle communication driving cancellation process. Fig.11 (b) is a flowchart showing an example of a cancellation condition determination process for determining the number of vehicles passing through the same lane.

[0039] Fig.12is a block diagram representing an example of an autonomous vehicle.

[0040] Fig.13 (a) is a diagram for explaining an example of a setting position where a target vehicle speed is set on a target route of an autonomous driving vehicle. Fig.13 (b) is a diagram for explaining an example of a situation in which the vehicle-side inter-vehicle communication driving conditions are satisfied in the automatic driving vehicle and the inter-vehicle communication driving is performed.

[0041] Fig.14 (a) is a flowchart showing an example of an inter-vehicle communication driving execution process in an autonomous driving vehicle. Fig.14 (b) is a flowchart showing an example of vehicle-side inter-vehicle communication driving condition determination processing.

[0042] Description of reference numerals:

[0043] 1: Automatic parking system, 2: Automatic driving vehicle, 3: Parking lot sensor, 4: Parking lot map database, 10: Parking lot control server, 11: Vehicle information acquisition unit, 12: Parking plan generation unit, 13: Condition determination unit, 14: Inter-vehicle communication driving instruction unit, 15: Release condition determination unit, 20: Automatic driving ECU, 21: GPS receiving unit, 22: External sensor, 23: Internal sensor, 31: External environment recognition unit, 32: Driving state recognition unit, 33: Vehicle position recognition unit, 34: Vehicle information provision unit, 35: Automatic driving control unit, 36: Vehicle-side condition determination unit, 37: Inter-vehicle communication driving execution unit, 50: Parking lot, M: Communicable vehicle, F: Set area, Ta, Tb: General vehicles. DETAILED DESCRIPTION

[0044] Hereinafter, embodiments of the present invention will be described with reference to the drawings.

[0045] Figure 1 It is a diagram for explaining an automatic parking system according to an embodiment. Figure 1 The illustrated automatic parking system (AVPS: Automated Valet Parking System) 1 is a system for performing automatic valet parking (Automated Valet Parking) of a plurality of autonomous driving vehicles 2 in a parking lot (Parking place).

[0046] In the following, vehicles that can perform automatic driving for automatic valet parking are referred to as automatic driving vehicles, vehicles that cannot perform automatic driving but can perform inter-vehicle communication are referred to as communicative vehicles, and automatic driving vehicles and communicative vehicles are collectively referred to as target vehicles. In addition, vehicles that cannot perform automatic driving and cannot perform inter-vehicle communication are referred to as general vehicles. It should be noted that the inability to perform automatic driving is not limited to the case where the automatic driving function is not available, but also includes the case where the automatic driving function is turned off. The same applies to the case where inter-vehicle communication is not available.

[0047] Automatic valet parking refers to a service that allows an unmanned autonomous driving vehicle 2 that has dropped off a user (passenger) at a drop-off location in a parking lot to travel on a target route according to instructions from the parking lot side, and automatically park in a target parking space in the parking lot. The target parking space refers to a parking space (Parking space) that is pre-set as the parking position of the autonomous driving vehicle 2. The target route refers to the route in the parking lot that the autonomous driving vehicle 2 travels to reach the target parking space. It should be noted that the target route when leaving the garage becomes the route that is traveled to reach the boarding space described later.

[0048] The parking lot can be a parking lot dedicated to automatic valet parking or a parking lot that can be used by both communicative vehicles and general vehicles. The parking space for automatic valet parking and other parking spaces can also be separated and share the driving lane (driving road). In this embodiment, a parking lot that can be used by the automatic driving vehicle 2, communicative vehicles, and general vehicles is used as an example for explanation.

[0049] Here, Figure 2 This is a plan view showing an example of a parking lot where automatic valet parking is performed. Figure 2 5 shows a parking lot 50, a parking area 51, a drop-off area 52, and a pickup area 53. The parking lot 50 includes the parking area 51, the drop-off area 52, and the pickup area 53. It should be noted that the drop-off area 52 and the pickup area 53 do not need to be separately provided, and can also be provided as an integrated boarding and alighting area.

[0050] The parking area 51 is a place where a parking space (parking frame) 61 is formed for the autonomous driving vehicle 2 to park by automatic valet parking. Figure 2 As shown, a plurality of parking spaces 61 are formed side by side in one direction (eg, the vehicle width direction of the parked vehicle).

[0051] The getting-off place 52 is a place provided at the entrance side of the parking lot 50 for passengers including users to get off the autonomous driving vehicle 2 before entering the parking lot. The getting-off place 52 has a getting-off space 62 for the autonomous driving vehicle 2 to park when the passengers get off. The getting-off place 52 leads to the parking area 51 via the parking door 54.

[0052] The boarding place 53 is a place provided at the exit side of the parking lot 50 for passengers to board the autonomous driving vehicle 2 that is leaving the parking lot. A boarding space 63 is formed in the boarding place 53 for the autonomous driving vehicle 2 to wait for passengers to board. The boarding place 53 leads to the parking area 51 via the exit door 55. In addition, a return gate 56 is provided between the boarding place 53 and the parking area 51 for the autonomous driving vehicle 2 to return from the boarding place 53 to the parking area 51. It should be noted that the return gate 56 is not essential.

[0053] In addition, Figure 2 , an autonomous driving vehicle 2A is shown parked in the disembarkation space 62 of the disembarkation place 52, autonomous driving vehicles 2Ba and 2Bb are shown traveling in the parking lot 50, an autonomous driving vehicle 2C is shown parked in the parking space 61 of the parking area 51, and an autonomous driving vehicle 2D is shown parked in the boarding space 63 of the boarding place 53. In addition, a communicative vehicle (a vehicle that cannot perform autonomous driving but can perform inter-vehicle communication) M traveling in the parking lot is shown.

[0054] In the automatic parking system 1, for example, after the autonomous driving vehicle 2 entering the parking lot 50 makes the passenger get off in the get-off space 62 (corresponding to the autonomous driving vehicle 2A), the automatic valet parking is started by obtaining the instruction authority of the autonomous driving vehicle 2. The automatic parking system 1 makes the autonomous driving vehicle 2Ba travel along the target route C1, and makes the autonomous driving vehicle 2Ba automatically park in the target parking space E1. The automatic parking system 1 makes the parked autonomous driving vehicle 2Bb travel along the target route C2 to the boarding place 53 according to the pickup request, and waits in the boarding space 63 (target parking space E2) until the passenger arrives.

[0055] It should be noted that the communicative vehicle M traveling in the parking lot is parked by manual operation of the driver, rather than by automatic valet parking. Alternatively, the communicative vehicle M may receive guidance information of the target parking space Em and the target route Cm when it can communicate with the parking lot control server 10.

[0056] [Automatic parking system configuration]

[0057] Hereinafter, the structure of the automatic parking system 1 will be described with reference to the accompanying drawings. Figure 1 As shown, the automatic parking system 1 includes a parking lot control server 10. The parking lot control server 10 is a server for managing a parking lot.

[0058] The parking lot control server 10 is configured to communicate with the autonomous driving vehicle 2. The details of the autonomous driving vehicle 2 will be described later. The parking lot control server 10 can be located in the parking lot or in a facility away from the parking lot. The parking lot control server 10 can also be composed of a plurality of computers located in different places. The parking lot control server 10 is connected to the parking lot sensor 3 and the parking lot map database 4.

[0059] The parking lot sensor 3 is a sensor for identifying the conditions in the parking lot. The parking lot sensor 3 includes, for example, a surveillance camera for detecting the position of the autonomous driving vehicle 2 in the parking lot. The surveillance camera is installed on the ceiling or wall of the parking lot to photograph the autonomous driving vehicle 2 in the parking lot. The surveillance camera sends the photographed image to the parking lot control server 10.

[0060] The parking lot sensor 3 may also include an empty vehicle sensor for detecting whether there is a parked vehicle in the parking frame (whether the parking frame is full or empty). The empty vehicle sensor may be provided for each parking frame, or may be provided on the ceiling, etc. and configured to monitor multiple parking frames by one empty vehicle sensor. The structure of the empty vehicle sensor is not particularly limited, and a well-known structure may be adopted. The empty vehicle sensor may be a pressure sensor, a radar sensor or a sonar sensor using radio waves, or a camera. The empty vehicle sensor sends the empty vehicle information of the parking frame to the parking lot control server 10.

[0061] The parking lot map database 4 is a database storing parking lot map information. The parking lot map information includes the position information of the parking boxes in the parking lot and the information of the driving paths in the parking lot. In addition, the parking lot map information may also include the position information of landmarks used by the autonomous driving vehicle 2 for position recognition. The landmarks include at least one of white lines, poles, road cones, and parking lot posts.

[0062] The hardware configuration of the parking lot control server 10 will be described. Figure 3 FIG. 1 is a block diagram showing an example of the hardware configuration of a parking lot control server. Figure 3 As shown, the parking lot control server 10 is configured as a general computer including a processor 10 a , a storage unit 10 b , a communication unit 10 c , and a user interface 10 d .

[0063] The processor 10a controls the parking lot control server 10 by operating various operating systems. The processor 10a is a computing unit such as a CPU (Central Processing Unit) including a control device, a computing device, a register, etc. The processor 10a manages the storage unit 10b, the communication unit 10c, and the user interface 10d. The storage unit 10b is, for example, a recording medium including at least one of a ROM (Read Only Memory), a RAM (Random Access Memory), a HDD (Hard Disk Drive), and a SSD (Solid State Drive).

[0064] The communication unit 10c is a communication device for wireless communication via a network. A network device, a network controller, a network card, etc. can be used in the communication unit 10c. The parking lot control server 10 communicates with the autonomous driving vehicle 2 using the communication unit 10c. The user interface 10d is an input / output unit of the parking lot control server 10 for the administrator of the parking lot control server 10 and the like. The user interface 10d includes an output device such as a display and a speaker and an input device such as a touch panel.

[0065] Next, the functional configuration of the parking lot control server 10 will be described. Figure 4 FIG. 1 is a diagram showing an example of the functional configuration of the parking lot control server 10. Figure 3 As shown, the parking lot control server 10 includes a vehicle information acquisition unit 11 , a parking plan generation unit 12 , a condition determination unit 13 , an inter-vehicle communication travel instruction unit 14 , and a release condition determination unit 15 .

[0066] The vehicle information acquisition unit 11 acquires the vehicle information of the autonomous driving vehicle 2 by communicating with the autonomous driving vehicle 2 in the parking lot. The vehicle information includes identification information of the autonomous driving vehicle 2 and position information of the autonomous driving vehicle 2 in the parking lot. The identification information is information that can identify each autonomous driving vehicle 2. The identification information can be an ID number, a vehicle number, or a reservation number for automatic valet parking.

[0067] The vehicle information may include the model of the autonomous driving vehicle 2, and may also include the vehicle number different from the identification information. The vehicle information may include the entry reservation information such as the entry reservation time, and may also include the exit reservation time. The vehicle information may include the turning radius, size, vehicle width and other body information of the autonomous driving vehicle 2, and may also include information related to the autonomous driving function of the autonomous driving vehicle 2. The information related to the autonomous driving function may include the version information of the autonomous driving function.

[0068] The vehicle information may also include the driving state of the autonomous driving vehicle 2 and the recognition result of the external environment. The recognition of the driving state and the external environment will be described later. The vehicle information may also include the remaining driving distance or remaining fuel information of the autonomous driving vehicle 2.

[0069] During the automatic valet parking, the vehicle information acquisition unit 11 continuously acquires vehicle information from the autonomous driving vehicle 2. When the autonomous driving vehicle 2 is parked, the vehicle information acquisition unit 11 may suspend the acquisition of vehicle information or may acquire vehicle information periodically.

[0070] The vehicle information acquisition unit 11 recognizes the status of the autonomous driving vehicle 2 in the automatic valet parking based on the acquired vehicle information. The status of the autonomous driving vehicle 2 includes the position of the autonomous driving vehicle 2 in the parking lot. The status of the autonomous driving vehicle 2 may include the speed of the autonomous driving vehicle 2, the yaw rate of the autonomous driving vehicle 2, and the distance between the autonomous driving vehicle 2 and other surrounding vehicles.

[0071] The vehicle information acquisition unit 11 acquires the position information of the communicable vehicle and the general vehicle in the parking lot. The vehicle information acquisition unit 11 acquires the position information of the communicable vehicle and the general vehicle based on the detection result of the parking lot sensor 3 (e.g., the image recognition result of the camera). The vehicle information acquisition unit 11 performs position tracking (continuous acquisition of position information) by, for example, performing vehicle identification by image recognition of the vehicle license plate.

[0072] The method for acquiring the position information of the vehicles in the parking lot is not particularly limited, and various well-known methods can be used. The vehicle information acquisition unit 11 can also acquire the position information of each vehicle by communicating with the driver's portable terminal. It should be noted that the following scheme can also be adopted: when the communicative vehicle M can communicate with the parking lot control server 10, it provides the vehicle position information to the parking lot control server 10 in the same way as the automatic driving vehicle 2.

[0073] The parking plan generation unit 12 generates a parking plan as a driving plan related to parking of the autonomous driving vehicle 2 based on the vehicle information acquired by the vehicle information acquisition unit 11. The parking plan includes a target parking space where the autonomous driving vehicle 2 is to park and a target route to the target parking space. The parking plan generation unit 12 starts generating the parking plan when, for example, the autonomous driving vehicle 2 that enters the parking lot receives a parking entry request. The parking entry request may be made by the user terminal of the passenger instead of the autonomous driving vehicle 2.

[0074] The parking plan generation unit 12 sets the target parking space based on the empty state of the parking frame in the parking lot identified from the detection result of the parking lot sensor 3. The parking plan generation unit 12 sets the target parking space for the parking frame pre-set in the parking lot. The parking plan generation unit 12 may also set an appropriate target parking space according to the size of the autonomous driving vehicle 2 based on the body information of the autonomous driving vehicle 2.

[0075] The parking plan generation unit 12 sets a target route from the current position of the autonomous driving vehicle 2 to the target parking space based on the position information of the autonomous driving vehicle 2 acquired by the vehicle information acquisition unit 11 , the position information of the target parking space, and the parking lot map information of the parking lot map database 4 .

[0076] The parking plan generation unit 12 sets a target route on the driving road in the parking lot. The target route does not necessarily need to be the shortest distance, and a route that does not interfere with the target routes of other autonomous driving vehicles 2 or interferes less with the target routes of other autonomous driving vehicles 2 may be preferentially selected. The method for setting the target route is not particularly limited, and various well-known methods may be used.

[0077] In addition, the parking plan generation unit 12 may also generate a speed plan for the autonomous driving vehicle 2. Alternatively, the parking plan generation unit 12 calculates the target speed at each set position pre-set on the target route (on the driving road), and transmits the speed plan including the position information of the set position and the target speed, thereby controlling the speed of the autonomous driving vehicle 2. The set position is, for example, virtually set at a certain interval for the driving road. The set position may also be set at an intersection or a curve on the driving road. The parking plan generation unit 12 may also update the target speed at the set position according to the driving conditions of other autonomous driving vehicles 2 or general vehicles.

[0078] Alternatively, the parking plan generation unit 12 may appropriately indicate a target vehicle speed corresponding to a change in the position of the autonomous driving vehicle 2 without generating a vehicle speed plan. Alternatively, the parking plan generation unit 12 may indicate a vehicle speed upper limit to the autonomous driving vehicle 2 and make the autonomous driving vehicle 2 take charge of vehicle speed adjustment.

[0079] The condition determination unit 13 determines whether the target vehicle satisfies the inter-vehicle communication driving condition based on the position information of the target vehicle in the parking lot acquired by the vehicle information acquisition unit 11. The inter-vehicle communication driving condition is a condition set in advance to determine whether the inter-vehicle communication driving described later is necessary.

[0080] Alternatively, the condition determination unit 13 may determine that the plurality of subject vehicles traveling in the same lane satisfy the inter-vehicle communication driving condition when the number of the plurality of subject vehicles in the same lane in the parking lot is greater than the lane number threshold. The condition determination unit 13 may also refer to the parking lot map information to determine the same lane. The identity of the lane may be set arbitrarily. The identity of the lane may be distinguished as a separate lane with an intersection as a boundary, or may be set as a lane that crosses multiple intersections.

[0081] The lane number threshold refers to a threshold value that is preset in order to determine the driving conditions for inter-vehicle communication. The lane number threshold can be a constant value or a value set according to the length of the lane. For example, the lane number threshold can be set to a value that is larger as the length of the lane is longer. The lane number threshold can also be set to a value that is larger as the number of lanes connected in the middle increases. In the case where there is a curve in the middle of the lane, the lane number threshold can also be set to a value that is smaller than the lane number threshold when the lane is a straight road.

[0082] It should be noted that the number of target vehicles in the set area pre-set in the parking lot may be used instead of the number of target vehicles in the lane. Alternatively, the condition determination unit 13 may determine that the target vehicles in the set area meet the inter-vehicle communication driving condition when the number of target vehicles in the set area is greater than the area number threshold. The area number threshold is a threshold of a pre-set value. The area number threshold may also be set to a value that increases as the area of ​​the set area increases.

[0083] Figure 5 (a) is a diagram for explaining an example of a case where the number of vehicles passing through the same lane satisfies the inter-vehicle communication driving condition. Figure 5 (a) shows a lane 60 in a parking lot and five autonomous driving vehicles 2Ea to 2Ee. Here, the lane number threshold is set to 5. In this case, for the five autonomous driving vehicles 2Ea to 2Ee, due to differences in acceleration performance, deceleration performance, or vehicle speed control accuracy, even if the same target vehicle speed is given, the inter-vehicle distance will deviate.

[0084] exist Figure 5 In the situation shown in (a), the number of the autonomous driving vehicles 2Ea to 2Ee as the target vehicles is 5 or more (lane number threshold), so the condition determination unit 13 determines that the autonomous driving vehicles 2Ea to 2Ee meet the inter-vehicle communication driving condition. It should be noted that the autonomous driving vehicles 2Ea to 2Ee may also include vehicles capable of communication.

[0085] Alternatively, the condition determination unit 13 may determine that the plurality of target vehicles having a mutual inter-vehicle distance less than the inter-vehicle distance threshold satisfy the inter-vehicle communication driving condition when there are a plurality of target vehicles having an inter-vehicle distance less than the inter-vehicle distance threshold. The inter-vehicle distance threshold is a threshold value preset for determining the inter-vehicle communication driving condition.

[0086] Figure 5 (b) is a diagram for explaining an example of a case where the inter-vehicle communication driving condition is satisfied by the inter-vehicle distance. Figure 5 (b) shows the autonomous driving vehicle 2Fa and the autonomous driving vehicle 2Fb and the inter-vehicle distance L between the autonomous driving vehicles 2Fa and 2Fb.

[0087] exist Figure 5 In the situation shown in (a), the inter-vehicle distance L between the autonomous driving vehicle 2Fa and the autonomous driving vehicle 2Fb is less than the inter-vehicle distance threshold, so the condition determination unit 13 determines that the autonomous driving vehicle 2Fa and the autonomous driving vehicle 2Fb meet the inter-vehicle communication driving condition. One of the autonomous driving vehicle 2Fa and the autonomous driving vehicle 2Fb may also be a communicable vehicle.

[0088] It should be noted that it is also possible to determine whether the inter-vehicle communication driving condition determined by the inter-vehicle distance is satisfied in the autonomous driving vehicle 2Fa and the autonomous driving vehicle 2Fb. The automatic parking system 1 may also allow the autonomous driving vehicle 2, which is the target of automatic valet parking, to perform inter-vehicle communication driving if the inter-vehicle communication driving condition is satisfied in advance. The inter-vehicle communication driving will be described later.

[0089] Alternatively, when there are a plurality of target vehicles located in a lane where general vehicles travel in the parking lot, the condition determination unit 13 may determine that the plurality of target vehicles in the lane satisfy the inter-vehicle communication travel condition. The identity of the lane may be set arbitrarily. The condition determination unit 13 may also refer to parking lot map information.

[0090] Figure 5 (c) is a diagram for explaining an example of a case where the inter-vehicle communication driving condition is satisfied by driving in the same lane as a general vehicle. Figure 5 (c) shows a general vehicle Ta and autonomous driving vehicles 2Ga to 2Gc. The general vehicle Ta and the autonomous driving vehicles 2Ga to 2Gc are traveling in the same lane 60.

[0091] exist Figure 5 In the situation shown in (c), the condition determination unit 13 determines that the autonomous driving vehicles 2Ga to 2Gc located in the lane where the general vehicle Ta is traveling satisfy the inter-vehicle communication driving condition. The autonomous driving vehicles 2Ga to 2Gc may include vehicles capable of communication.

[0092] Alternatively, when a general vehicle enters a set area pre-set in a parking lot, the condition determination unit 13 determines that a plurality of target vehicles in the set area satisfy the inter-vehicle communication driving condition. The set area is not particularly limited. The set area may be set for the entire parking lot or only for Figure 2 The parking area 51 is shown. The set area may be set for a lane. The condition determination unit 13 refers to parking lot map information in which the set area is set.

[0093] Figure 5 (d) is a diagram for explaining an example of a case where the inter-vehicle communication driving condition is satisfied by a general vehicle entering a set area. Figure 5 (d) shows a lane 70, a merging lane 71, a set area F, a general vehicle Tb, and autonomous driving vehicles 2Ha and 2Hb. The merging lane 71 merges in the middle of the lane 70 to form a T-junction. The autonomous driving vehicles 2Ha and 2Hb are traveling in the lane 70 toward the intersection, and the general vehicle Tb traveling in the merging lane 71 will appear in front of the autonomous driving vehicles 2Ha and 2Hb. As an example, the set area F includes the entire lane 70 and an area in the merging lane 71 that is a certain distance away from the intersection of the lane 70.

[0094] exist Figure 5 In the situation shown in (d), the condition determination unit 13 determines that the autonomous driving vehicle 2Ha and the autonomous driving vehicle 2Hb in the set area F satisfy the inter-vehicle communication driving condition. One of the autonomous driving vehicle 2Ha and the autonomous driving vehicle 2Hb may be a communicable vehicle.

[0095] The inter-vehicle communication driving instruction unit 14 performs inter-vehicle communication driving through inter-vehicle communication on the target vehicle determined by the condition determination unit 13 as satisfying the inter-vehicle communication driving conditions. Inter-vehicle communication driving refers to driving control that controls the vehicle speed according to the driving status (acceleration, deceleration, etc.) of other vehicles acquired using inter-vehicle communication. It should be noted that in a communicative vehicle driven manually by the driver, it is not necessarily necessary to accept inter-vehicle communication driving. In addition, in the case where there are no other target vehicles capable of inter-vehicle communication around the target vehicle, inter-vehicle communication driving may be instructed as a reservation.

[0096] The inter-vehicle communication driving instruction unit 14 instructs the autonomous driving vehicle 2 to perform inter-vehicle communication driving through communication. The autonomous driving vehicle 2 performs inter-vehicle communication driving by connecting inter-vehicle communication with surrounding target vehicles. The inter-vehicle communication driving instruction unit 14 may also instruct the connection object of inter-vehicle communication for each autonomous driving vehicle 2. The target vehicles within a certain distance from the autonomous driving vehicle 2 that meets the inter-vehicle communication driving conditions may be transmitted as the connection objects of inter-vehicle communication, or only the target vehicles before and after the autonomous driving vehicle 2 that meets the inter-vehicle communication driving conditions may be transmitted as the connection objects of inter-vehicle communication. The inter-vehicle communication driving instruction unit 14 may also entrust the judgment of the connection object of inter-vehicle communication to the autonomous driving vehicle 2.

[0097] Alternatively, the inter-vehicle communication driving instruction unit 14 may instruct the inter-vehicle communication driving (requesting the connection of inter-vehicle communication) to the communicative vehicle through communication when the communicative vehicle that meets the inter-vehicle communication driving condition can communicate with the parking lot control server 10. Alternatively, the inter-vehicle communication driving instruction unit 14 may instruct the inter-vehicle communication driving via the autonomous driving vehicle 2 when the communicative vehicle that meets the inter-vehicle communication driving condition cannot communicate with the parking lot control server 10.

[0098] Figure 6 (a) is a diagram for explaining an example of a case where inter-vehicle communication driving is performed according to the number of vehicles in the same lane. Figure 6 As shown in (a), by performing inter-vehicle communication driving with the autonomous driving vehicles 2Ea to 2Ee traveling in the same lane, the inter-vehicle communication driving instruction unit 14 can prevent the inter-vehicle distance from being too close and thus appropriately maintain the inter-vehicle distance even if there are differences in acceleration performance, deceleration performance or vehicle speed control accuracy.

[0099] Figure 6 (b) is a diagram for explaining an example of a case where inter-vehicle communication driving is performed according to the inter-vehicle distance. Figure 6 As shown in (b), by making the autonomous driving vehicle 2Fa and the autonomous driving vehicle 2Fb, whose vehicle distance is shortened due to the difference in acceleration performance, deceleration performance or vehicle speed control accuracy, perform vehicle-to-vehicle communication driving, the vehicle-to-vehicle communication driving instruction unit 14 can prevent the vehicle distance from being too close and thus maintain the vehicle distance appropriately.

[0100] Figure 6 (c) is a diagram for explaining an example of a case where a vehicle performs inter-vehicle communication driving while driving in the same lane as a general vehicle. Figure 6As shown in (c), by making the autonomous driving vehicles 2Ga to 2Gc located in the lane where the general vehicle Ta is traveling perform inter-vehicle communication driving, even if the autonomous driving vehicle 2Gb suddenly decelerates due to the behavior of the general vehicle Ta, the inter-vehicle communication driving instruction unit 14 can prevent the inter-vehicle distance between the autonomous driving vehicles 2Ga and 2Gb from being too close. It should be noted that the inter-vehicle communication driving instruction unit 14 may also determine that only the target vehicle traveling behind the general vehicle satisfies the inter-vehicle communication driving condition.

[0101] Figure 6 (d) is a diagram for explaining an example of a situation where a general vehicle enters a set area and performs inter-vehicle communication driving. Figure 6 As shown in (d), by causing the autonomous driving vehicle 2Ha and the autonomous driving vehicle 2Hb, which are traveling in the set area F entered by the general vehicle Tb, to perform inter-vehicle communication driving, even if a sudden deceleration of the autonomous driving vehicle 2Ha occurs due to the entry of the general vehicle Tb, the inter-vehicle communication driving instruction unit 14 can prevent the inter-vehicle distance between the autonomous driving vehicle 2Ha and the autonomous driving vehicle 2Hb from being too close.

[0102] The inter-vehicle communication driving instruction unit 14 instructs the termination of the inter-vehicle communication driving when a cancellation condition determination unit 15 described later determines that a cancellation condition is satisfied after the inter-vehicle communication driving is instructed.

[0103] It should be noted that the inter-vehicle communication driving instruction unit 14 can also instruct the autonomous driving vehicle 2 to retreat based on the presence of general vehicles. By using inter-vehicle communication while making the autonomous driving vehicle 2 retreat, the inter-vehicle distance can be properly maintained even when retreating. Alternatively, the inter-vehicle communication driving instruction unit 14 stops the autonomous driving vehicle 2 close to the shoulder of the road in a manner that allows general vehicles to go first. The inter-vehicle communication driving instruction unit 14 restarts the driving of the autonomous driving vehicle 2 that has retreated or stopped, for example, when a general vehicle has left for more than a certain distance. Alternatively, the inter-vehicle communication driving instruction unit 14 provides route guidance and speed limit guidance to general vehicles when the general vehicle or the portable terminal of the driver of the general vehicle can communicate with the parking lot control server 10.

[0104] The cancellation condition determination unit 15 determines whether the target vehicle performing the inter-vehicle communication driving satisfies the cancellation condition based on the position information of the target vehicle in the parking lot acquired by the vehicle information acquisition unit 11 when there is a target vehicle performing the inter-vehicle communication driving. The cancellation condition refers to a condition preset to determine whether to cancel the inter-vehicle communication driving. The cancellation condition may selectively apply a condition corresponding to the inter-vehicle communication driving condition for starting the inter-vehicle communication driving from among a plurality of conditions.

[0105] For example, when the vehicle number of the target vehicles in the same lane becomes equal to or greater than the lane number threshold and the inter-vehicle communication driving condition is satisfied, the release condition determination unit 15 determines that the release condition of the target vehicles in the lane is satisfied when the vehicle number of the target vehicles in the lane is less than the lane number release threshold. The lane number release threshold is a threshold value preset for determining the end of inter-vehicle communication driving. The lane number release threshold may be the same as the lane number threshold in the inter-vehicle communication driving condition, or may be a value smaller than the lane number threshold.

[0106] Figure 7 (a) is a diagram for explaining an example of a case where the release condition determined by the number of vehicles in the same lane is satisfied. The lane number release threshold in this case is set to 5. Figure 7 In (a), Figure 6 The autonomous driving vehicle 2Ee in (a) leaves the lane after parking is completed.

[0107] exist Figure 7 Under the condition shown in (a), the release condition determination unit 15 determines that the release condition of the autonomous driving vehicle 2Ea to the autonomous driving vehicle 2Ed is met when the number of target vehicles (autonomous driving vehicle 2Ea to autonomous driving vehicle 2Ed) on the lane 60 is less than the lane number release threshold.

[0108] It should be noted that the number of target vehicles in the set area pre-set in the parking lot may be used instead of the number of target vehicles in the lane. Alternatively, the release condition determination unit 15 may determine that the target vehicles in the set area satisfy the release condition when the number of target vehicles in the set area is less than the area number release threshold. The area number release threshold is a threshold of a pre-set value. The area number release threshold may be the same value as the area number threshold in the inter-vehicle communication driving condition, or may be a value smaller than the area number threshold.

[0109] When the inter-vehicle communication driving condition is satisfied due to the presence of the general vehicle, the cancellation condition determination unit 15 determines that the cancellation condition of the target vehicle is satisfied when the general vehicle is no longer present due to parking completion or the like.

[0110] Figure 7 (b) is a diagram for explaining an example of a case where the release condition is satisfied by completion of parking of a general vehicle, etc. Figure 7In the situation shown in (b), the general vehicle Ta, which is the factor that satisfies the inter-vehicle communication driving condition, has left the lane, so the release condition determination unit 15 determines that the release condition of the automatic driving vehicle 2Ga~2Gc is satisfied. As a result, the automatic driving vehicle 2Ga~2Gc controls the vehicle speed according to the target vehicle speed indicated by the automatic parking system 1, thereby improving the overall use efficiency of the parking lot. It should be noted that the inter-vehicle communication driving also ends when the parking is completed.

[0111] Figure 7 (c) is a diagram for explaining another example of a case where the release condition is satisfied by completion of parking of a general vehicle, etc. Figure 7 Under the condition shown in (b), the general vehicle Tb in motion, which is a factor in satisfying the inter-vehicle communication driving condition, no longer exists in the set area (not traveling in the set area), so the release condition determination unit 15 determines that the release condition of the automatic driving vehicles 2Ha, 2Hb is satisfied.

[0112] [Control method of automatic parking system]

[0113] Next, an example of a control method (process) of the automatic parking system 1 according to the present embodiment will be described. Figure 8 (a) is a flowchart showing an example of the inter-vehicle communication driving process. The inter-vehicle communication driving process is executed when there is an autonomous driving vehicle 2 in automatic valet parking.

[0114] like Figure 8 As shown in (a) of FIG. 1 , as S10 , the parking lot control server 10 of the automatic parking system 1 acquires position information (vehicle information) of a target vehicle in the parking lot through the vehicle information acquisition unit 11 (vehicle information acquisition step).

[0115] In S12 , the parking lot control server 10 determines whether the inter-vehicle communication driving condition of the target vehicle is satisfied by the condition determination unit 13 (condition determination step). The condition determination unit 13 makes the determination based on the position information of the target vehicle in the parking lot acquired by the vehicle information acquisition unit 11 .

[0116] If the parking lot control server 10 determines that the vehicle meets the inter-vehicle communication driving condition (S12: Yes), the process proceeds to S14. If the parking lot control server 10 does not determine that the vehicle meets the inter-vehicle communication driving condition (S12: No), the process ends. Thereafter, the parking lot control server 10 repeats the determination from S10 again.

[0117] In S14, the parking lot control server 10 instructs the target vehicle satisfying the inter-vehicle communication travel condition to perform inter-vehicle communication travel via the inter-vehicle communication travel instructing unit 14 (inter-vehicle communication travel instructing step). The target vehicle performs inter-vehicle communication travel by establishing inter-vehicle communication with surrounding target vehicles.

[0118] Next, for Figure 8 A specific example of the inter-vehicle communication driving condition determination process (condition determination step) corresponding to S12 of (a) will be described. Figure 8 (b) is a flowchart showing an example of an inter-vehicle communication driving condition determination process that determines the number of vehicles in the same lane.

[0119] like Figure 8 As shown in (b), as S20, the parking lot control server 10 determines by the condition determination unit 13 whether the number of the plurality of target vehicles in the same lane in the parking lot is equal to or greater than a lane number threshold (lane number determination step).

[0120] When the parking lot control server 10 determines that the number of target vehicles on the same lane is greater than the lane number threshold (S20: Yes), the process moves to S22. When the parking lot control server 10 does not determine that the number of target vehicles on the same lane is greater than the lane number threshold (S20: No), the process ends. In S22, the parking lot control server 10 determines that the inter-vehicle communication driving condition is satisfied through the condition determination unit 13.

[0121] Fig. 9 (a) is a flowchart showing an example of an inter-vehicle communication driving condition determination process based on the inter-vehicle distance. Fig. 9 As shown in (a) of FIG. 1 , the parking lot control server 10 determines whether there are a plurality of target vehicles whose inter-vehicle distances are smaller than an inter-vehicle distance threshold value as S30 (inter-vehicle distance determination step).

[0122] When the parking lot control server 10 determines that there are a plurality of target vehicles whose inter-vehicle distance is less than the inter-vehicle distance threshold (S30: Yes), the process moves to S32. When the parking lot control server 10 does not determine that there are a plurality of target vehicles whose inter-vehicle distance is less than the inter-vehicle distance threshold (S30: No), the process ends. In S32, the parking lot control server 10 determines that the inter-vehicle communication driving condition is satisfied through the condition determination unit 13.

[0123] Fig. 9 (b) is a flowchart showing an example of inter-vehicle communication driving condition determination processing by making a determination by driving in the same lane as a general vehicle. Fig. 9As shown in (b) of FIG. 4 , the parking lot control server 10 determines whether or not there are a plurality of target vehicles located in a lane in which general vehicles travel in the parking lot as S40 (general vehicle lane determination step).

[0124] When the parking lot control server 10 determines that there are a plurality of target vehicles located in a lane where general vehicles travel in the parking lot (S40: Yes), the process moves to S42. When the parking lot control server 10 does not determine that there are a plurality of target vehicles located in a lane where general vehicles travel in the parking lot (S40: No), the process ends. In S42, the parking lot control server 10 determines that the inter-vehicle communication travel condition is satisfied through the condition determination unit 13.

[0125] Fig.10 FIG. 2 is a flowchart showing an example of an inter-vehicle communication driving condition determination process in which a general vehicle enters a set area. Fig.10 As shown, as S50 , the parking lot control server 10 determines whether a general vehicle has entered a set area of ​​the parking lot (general vehicle entry determination step).

[0126] When the parking lot control server 10 determines that a general vehicle has entered the set area of ​​the parking lot (S50: Yes), the process moves to S52. When the parking lot control server 10 does not determine that a general vehicle has entered the set area of ​​the parking lot (S50: No), the process ends. In S52, the parking lot control server 10 determines that the inter-vehicle communication driving condition is satisfied through the condition determination unit 13.

[0127] Next, the inter-vehicle communication travel cancellation process in the automatic parking system 1 will be described. Fig.11 (a) is a flowchart showing an example of the inter-vehicle communication driving cancellation process. The inter-vehicle communication driving cancellation process is executed when there is a target vehicle that is performing inter-vehicle communication driving, for example.

[0128] like Fig.11 As shown in (a) of FIG. 1 , as S60 , the parking lot control server 10 acquires the position information (vehicle information) of the target vehicle in the parking lot through the vehicle information acquisition unit 11 (vehicle information acquisition step).

[0129] In S62 , the parking control server 10 determines whether the release condition of the target vehicle traveling with inter-vehicle communication is satisfied by the release condition determination unit 15 (release condition determination step). The release condition determination unit 15 makes the determination based on the position information of the target vehicle in the parking lot acquired by the vehicle information acquisition unit 11 .

[0130] When the parking lot control server 10 determines that the release condition of the target vehicle is satisfied (S62: Yes), the process moves to S64. When the parking lot control server 10 does not determine that the release condition of the target vehicle is satisfied (S62: No), the process ends. Thereafter, the parking lot control server 10 repeats the process from S60 again. In S64, the parking lot control server 10 instructs the target vehicle that meets the release condition to terminate the inter-vehicle communication travel through the inter-vehicle communication travel instructing unit 14 (inter-vehicle communication travel termination step).

[0131] To Fig.11 A specific example of the release condition determination processing (release condition determination step) corresponding to S62 of (a) will be described. Fig.11 (b) is a flowchart showing an example of a cancellation condition determination process for determining the number of vehicles passing through the same lane.

[0132] like Fig.11 As shown in (a), as S70, the parking lot control server 10 determines by the release condition determination unit 15 whether the number of target vehicles in the same lane in the parking lot is less than the lane number release threshold value (lane number release determination step).

[0133] When the parking lot control server 10 determines that the number of target vehicles in the same lane is less than the lane number release threshold (S70: Yes), the process moves to S72. When the parking lot control server 10 does not determine that the number of target vehicles in the same lane is less than the lane number release threshold (S70: No), the process ends. In S72, the parking lot control server 10 determines that the release condition of the target vehicle is satisfied through the release condition determination unit 15.

[0134] According to the automatic parking system 1 of the present embodiment described above, by performing inter-vehicle communication driving through inter-vehicle communication on the target vehicle determined to meet the inter-vehicle communication driving conditions, the inter-vehicle distance between the target vehicles including the automatic driving vehicle and the communicative vehicle can be appropriately maintained compared to the case where the inter-vehicle communication driving is not performed.

[0135] Furthermore, according to the automatic parking system 1, the vehicle speed adjustment for vehicle approach suppression achieved by the inter-vehicle communication is prioritized for the automatic driving vehicle 2 compared to the target vehicle speed for automatic parking. Therefore, compared to a situation where only the target vehicle speed is indicated for a plurality of automatic driving vehicles 2 having different acceleration performance, deceleration performance or vehicle speed control accuracy, the inter-vehicle distance of the automatic driving vehicle 2 can be suppressed from being too close.

[0136] Furthermore, according to the automatic parking system 1, by performing inter-vehicle communication driving when the number of target vehicles in the same lane in the parking lot is greater than the lane number threshold, the inter-vehicle distance between the target vehicles in the lane can be suppressed from being too close. Similarly, in the automatic parking system 1, by performing inter-vehicle communication driving on the target vehicles whose inter-vehicle distance is less than the inter-vehicle distance threshold, the inter-vehicle distance between the target vehicles can be suppressed from being too close.

[0137] Furthermore, according to the automatic parking system 1, by performing inter-vehicle communication driving on a plurality of target vehicles located in a lane where general vehicles are driving in a parking lot, even if the target vehicle performing inter-vehicle communication driving suddenly decelerates due to the presence of the general vehicle, the inter-vehicle distance between the plurality of target vehicles can be suppressed from being too close. Similarly, according to the automatic parking system 1, by performing inter-vehicle communication driving on a plurality of target vehicles in a set area when a general vehicle enters the set area, even if the target vehicle performing inter-vehicle communication driving suddenly decelerates due to the presence of the general vehicle, the inter-vehicle distance between the plurality of target vehicles can be suppressed from being too close.

[0138] Furthermore, according to the automatic parking system, the inter-vehicle communication driving of the target vehicle determined by the release condition determination unit 15 to satisfy the release condition is terminated, so that the speed of the automatic driving vehicle is controlled according to the target speed for automatic parking, thereby improving the use efficiency of the parking lot.

[0139] [Composition of autonomous vehicles]

[0140] Next, an example of the configuration of the automated driving vehicle 2 (automatically driven vehicle that receives instructions related to automated parking from the automated parking system 1 ) according to the present embodiment will be described. Fig.12 2 is a block diagram showing an example of an autonomous driving vehicle 2. It should be noted that in the present embodiment, the autonomous driving vehicle 2 is not included in the automatic parking system 1.

[0141] like Fig.12 As shown, as an example, the autonomous driving vehicle 2 has an autonomous driving ECU 20. The autonomous driving ECU 20 is an electronic control unit having a CPU, a ROM, a RAM, etc. In the autonomous driving ECU 20, various functions are realized by, for example, loading a program recorded in the ROM into the RAM and executing the program loaded into the RAM by the CPU. The autonomous driving ECU 20 may also be composed of a plurality of electronic units.

[0142] The automatic driving ECU 20 is connected to a GPS receiving unit 21 , an external sensor 22 , an internal sensor 23 , a communication unit 24 , and an actuator 25 .

[0143] The GPS receiving unit 21 measures the position of the autonomous driving vehicle 2 (e.g., the latitude and longitude of the autonomous driving vehicle 2) by receiving signals from a plurality of GPS satellites. The GPS receiving unit 21 transmits the measured position information of the autonomous driving vehicle 2 to the autonomous driving ECU 20. A GNSS (Global Navigation Satellite System) receiving unit may be used instead of the GPS receiving unit 21.

[0144] The external sensor 22 is a vehicle-mounted sensor that detects the external environment of the autonomous driving vehicle 2. The external sensor 22 includes at least a camera. The camera is a photographing device that photographs the external environment of the autonomous driving vehicle 2. The camera is, for example, disposed on the inner side of the front windshield of the autonomous driving vehicle 2 to photograph the front of the vehicle. The camera sends photographing information related to the external environment of the autonomous driving vehicle 2 to the autonomous driving ECU 20. The camera can be either a monocular camera or a stereo camera. Multiple cameras can also be provided to photograph the left and right sides and rear in addition to the front of the autonomous driving vehicle 2.

[0145] The external sensor 22 may also include a radar sensor. A radar sensor is a detection device that uses radio waves (such as millimeter waves) or light to detect objects around the autonomous driving vehicle 2. Radar sensors include, for example, millimeter wave radars or laser radars (LIDAR: Light Detection and Ranging). The radar sensor sends radio waves or light to the vicinity of the autonomous driving vehicle 2, and receives radio waves or light reflected by the object, thereby detecting the object. The radar sensor sends the detected object information to the autonomous driving ECU 20. In addition, the external sensor 22 may also include a sonar sensor that detects sounds outside the autonomous driving vehicle 2.

[0146] The internal sensor 23 is a vehicle-mounted sensor that detects the driving state of the autonomous driving vehicle 2. The internal sensor 23 includes a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the autonomous driving vehicle 2. As the vehicle speed sensor, a wheel speed sensor can be used, which is a sensor that is provided on the wheels of the autonomous driving vehicle 2 or a drive shaft that rotates integrally with the wheels, and detects the rotation speed of each wheel. The vehicle speed sensor sends the detected vehicle speed information (wheel speed information) to the autonomous driving ECU 20.

[0147] The acceleration sensor is a detector that detects the acceleration of the autonomous driving vehicle 2. The acceleration sensor includes, for example, front and rear acceleration sensors that detect the acceleration in the front and rear directions of the autonomous driving vehicle 2. The acceleration sensor may also include a lateral acceleration sensor that detects the lateral acceleration of the autonomous driving vehicle 2. The acceleration sensor, for example, sends the acceleration information of the autonomous driving vehicle 2 to the autonomous driving ECU 20. The yaw angular velocity sensor is a detector that detects the yaw angular velocity (rotational angular velocity) of the center of gravity of the autonomous driving vehicle 2 around the vertical axis. For example, a gyroscope sensor can be used as a yaw angular velocity sensor. The yaw angular velocity sensor sends the detected yaw angular velocity information of the autonomous driving vehicle 2 to the autonomous driving ECU 20.

[0148] The communication unit 24 is a communication device that controls wireless communication with the outside of the autonomous driving vehicle 2. The communication unit 24 transmits and receives various information by communicating with the parking lot control server 10. For example, the communication unit 24 transmits vehicle information to the parking lot control server 10, and obtains information required for automatic valet parking (e.g., information on landmarks along the target route) from the parking lot control server 10.

[0149] The actuator 25 is a device for controlling the autonomous driving vehicle 2. The actuator 25 includes at least a driving actuator, a braking actuator, and a steering actuator. The driving actuator controls the amount of air supplied to the engine (throttle opening) according to a control signal from the autonomous driving ECU 20, thereby controlling the driving force of the autonomous driving vehicle 2. It should be noted that, in the case where the autonomous driving vehicle 2 is a hybrid vehicle, in addition to the amount of air supplied to the engine, a control signal from the autonomous driving ECU 20 is input to the motor serving as a power source to control the driving force. In the case where the autonomous driving vehicle 2 is an electric vehicle, a control signal from the autonomous driving ECU 20 is input to the motor serving as a power source to control the driving force. The motor serving as a power source in these cases constitutes the actuator 25.

[0150] The brake actuator controls the brake system according to the control signal from the automatic driving ECU 20, thereby controlling the braking force applied to the wheels of the automatic driving vehicle 2. For example, a hydraulic brake system can be used as the brake system. The steering actuator controls the drive of the auxiliary motor that controls the steering torque in the electric power steering system according to the control signal from the automatic driving ECU 20. Thus, the steering actuator controls the steering torque of the automatic driving vehicle 2.

[0151] Next, an example of the functional configuration of the automatic driving ECU 20 is described. The automatic driving ECU 20 includes an external environment recognition unit 31, a driving state recognition unit 32, a vehicle position recognition unit 33, a vehicle information provision unit 34, an automatic driving control unit 35, a vehicle-side condition determination unit 36, and an inter-vehicle communication driving execution unit 37.

[0152] The external environment recognition unit 31 recognizes the external environment of the autonomous driving vehicle 2 based on the detection results of the external sensor 22 (the image captured by the camera or the object information detected by the radar sensor). The external environment includes the relative positions of the surrounding objects relative to the autonomous driving vehicle 2. The external environment may also include the relative speed and movement direction of the surrounding objects relative to the autonomous driving vehicle 2. The external environment recognition unit 31 recognizes other vehicles and objects such as parking lot pillars through pattern matching, etc. The external environment recognition unit 31 can also recognize parking lot doors, parking lot walls, poles, road cones, etc. In addition, the external environment recognition unit 31 can also recognize driving boundaries in the parking lot through white line recognition.

[0153] The driving state recognition unit 32 recognizes the driving state of the autonomous driving vehicle 2 based on the detection result of the internal sensor 23. The driving state includes the speed of the autonomous driving vehicle 2, the acceleration of the autonomous driving vehicle 2, and the yaw rate of the autonomous driving vehicle 2. Specifically, the driving state recognition unit 32 recognizes the speed of the autonomous driving vehicle 2 based on the speed information of the speed sensor. The driving state recognition unit 32 recognizes the acceleration of the autonomous driving vehicle 2 based on the speed information of the acceleration sensor. The driving state recognition unit 32 recognizes the direction of the autonomous driving vehicle 2 based on the yaw rate information of the yaw rate sensor.

[0154] The vehicle position recognition unit 33 recognizes the position of the autonomous driving vehicle 2 in the parking lot based on the parking lot map information acquired from the parking lot control server 10 via the communication unit 24 and the external environment recognized by the external environment recognition unit 31 .

[0155] The vehicle position recognition unit 33 recognizes the position of the autonomous driving vehicle 2 in the parking lot based on the position information of the landmark in the parking lot included in the parking lot map information and the relative position of the landmark recognized by the external environment recognition unit 31 with respect to the autonomous driving vehicle 2. As the landmark, an object fixedly installed in the parking lot can be used.

[0156] In addition, the vehicle position recognition unit 33 can also recognize the position of the autonomous driving vehicle 2 by dead reckoning based on the detection result of the internal sensor 23. In addition, the vehicle position recognition unit 33 can also recognize the position of the autonomous driving vehicle 2 by communicating with a beacon installed in the parking lot.

[0157] The vehicle information providing unit 34 provides the parking lot control server 10 with vehicle information via the communication unit 24. The vehicle information providing unit 34 provides the parking lot control server 10 with vehicle information including information on the position of the autonomous driving vehicle 2 in the parking lot identified by the vehicle position identifying unit 33, for example, at regular intervals. The vehicle information may also include external conditions and / or driving status identified by the autonomous driving vehicle 2.

[0158] The automatic driving control unit 35 performs automatic driving of the automatic driving vehicle 2. The automatic driving control unit 35 generates a trajectory of the automatic driving vehicle 2 based on, for example, the target route, the position of the automatic driving vehicle 2, the external environment of the automatic driving vehicle 2, and the driving state of the automatic driving vehicle 2. The trajectory is equivalent to the driving plan of the automatic driving. The trajectory includes the path of the vehicle through automatic driving and the vehicle speed plan in the automatic driving.

[0159] The path is the predetermined trajectory that the vehicle in automatic driving will travel on the target route indicated to the automatic parking system. The path can be set, for example, as data on the steering angle change of the automatic driving vehicle 2 corresponding to the position on the target route (steering angle plan). The position on the target route refers to, for example, a set longitudinal position (set longitudinal position) set at a specified interval (for example, 1m) in the direction of travel of the target route. The steering angle plan refers to data in which the target steering angle is associated with each set longitudinal position. The automatic driving control unit 35 generates a route in a manner that passes through the center of the driving path of the parking lot along the target route, for example.

[0160] When the parking plan generating unit 12 of the parking control server 10 indicates a parking plan (target parking space and target route) during automatic valet parking, the automatic driving control unit 35 performs automatic parking according to the parking plan. When the parking plan does not include a steering angle plan and a vehicle speed plan corresponding to the position, the automatic driving control unit 35 generates a steering angle plan and a vehicle speed plan on the side of the automatic driving vehicle 2 to realize automatic parking.

[0161] The vehicle-side condition determination unit 36 ​​determines whether the autonomous driving vehicle 2 satisfies the vehicle-side inter-vehicle communication driving condition based on a comparison result between the driving state of the autonomous driving vehicle 2 identified by the driving state recognition unit 32 and the target vehicle speed or target route instructed by the automatic parking system 1 .

[0162] For example, when the speed of the autonomous driving vehicle 2 at the position is greater than the target speed indicated by the automatic parking system 1 according to the position in the parking lot by a speed determination threshold, the vehicle-side condition determination unit 36 ​​determines that the autonomous driving vehicle 2 satisfies the vehicle-side inter-vehicle communication driving condition. The speed determination threshold is a threshold value preset to determine the state of the speed control of the autonomous driving vehicle 2 in automatic valet parking. The speed determination threshold is not particularly limited and may be 10 km / h, 15 km / h, or 20 km / h.

[0163] Fig.13 (a) is a diagram for explaining an example of a setting position where a target vehicle speed is set on a target route of an autonomous driving vehicle. Fig.13 (a) shows a lane 80, a branch lane 81, a node N1, an automated driving vehicle 2Ja, and a target route C3. The branch lane 81 branches off from the lane 80 on which the automated driving vehicle 2Ja is traveling to form a T-junction. The node N1 corresponds to a setting position set at the intersection of the lane 80 and the branch lane 81 on the target route C3. At the node N1, the target vehicle speed is set by the automatic parking system 1.

[0164] Fig.13 (b) is a diagram for explaining an example of a situation in which the vehicle-side inter-vehicle communication driving condition is satisfied in the autonomous driving vehicle and the inter-vehicle communication driving is performed. Fig.13 In (b), the autonomous driving vehicle 2Ja arrives at the node N1. Fig.13 Under the condition shown in (b), when the speed of the autonomous driving vehicle 2 passing through the node N1 is greater than the target speed set at the node N1 by the automatic parking system 1 by more than the speed determination threshold, the vehicle side condition determination unit 36 ​​determines that the autonomous driving vehicle 2 satisfies the vehicle side inter-vehicle communication driving conditions.

[0165] In addition, the vehicle-side condition determination unit 36 ​​may estimate the vehicle speed upper limit based on the curvature of the target route at a position where no node (target vehicle speed) is set, and when the vehicle speed of the autonomous driving vehicle 2 exceeds the vehicle speed upper limit, it may be determined that the autonomous driving vehicle 2 satisfies the vehicle-side inter-vehicle communication driving condition. The estimation of the vehicle speed upper limit based on the curvature may adopt various well-known methods.

[0166] When the vehicle-side condition determination unit 36 ​​determines that the autonomous driving vehicle 2 satisfies the vehicle-side inter-vehicle communication driving condition, the inter-vehicle communication driving execution unit 37 executes the inter-vehicle communication driving of the autonomous driving vehicle 2. The inter-vehicle communication driving execution unit 37 performs inter-vehicle communication driving by performing inter-vehicle communication with target vehicles around the autonomous driving vehicle 2. The autonomous driving vehicle 2 controls the vehicle speed according to the driving state (acceleration, deceleration, etc.) of other vehicles acquired by using inter-vehicle communication, thereby preventing the inter-vehicle distance with the target vehicles around from being too close.

[0167] Next, a control method of the automatically driven vehicle 2 according to the present embodiment will be described with reference to the drawings. Fig.14 (a) is a flowchart showing an example of an inter-vehicle communication driving execution process in an automatic driving vehicle. The inter-vehicle communication driving execution process is performed in an automatic valet parking system.

[0168] like Fig.14 As shown in (a), as S80, the autonomous driving ECU 20 of the autonomous driving vehicle 2 identifies the driving state of the autonomous driving vehicle 2 through the driving state identification unit 32 (driving state identification step). The driving state identification unit 32 identifies the driving state of the autonomous driving vehicle 2 based on the detection result of the internal sensor 23.

[0169] In S82, the automatic driving ECU 20 determines whether the automatic driving vehicle 2 satisfies the vehicle-side inter-vehicle communication driving condition through the vehicle-side condition determination unit 36 ​​(vehicle-side inter-vehicle communication driving condition determination step). The vehicle-side condition determination unit 36 ​​makes the above determination based on the comparison result between the driving state of the automatic driving vehicle 2 identified by the driving state recognition unit 32 and the target vehicle speed or target route instructed by the automatic parking system 1.

[0170] When the automatic driving ECU 20 determines that the automatic driving vehicle 2 meets the vehicle-to-vehicle communication driving condition (S82: Yes), it moves to S84. When the automatic driving ECU 20 does not determine that the automatic driving vehicle 2 meets the vehicle-to-vehicle communication driving condition (S82: No), it ends the current processing. After that, the automatic driving ECU 20 repeatedly executes the processing from S80 again.

[0171] In S84 , the automatic driving ECU 20 executes the inter-vehicle communication driving of the automatic driving vehicle 2 via the inter-vehicle communication driving executing unit 37 (inter-vehicle communication driving executing step). The inter-vehicle communication driving executing unit 37 performs inter-vehicle communication driving by performing inter-vehicle communication with target vehicles around the automatic driving vehicle 2 .

[0172] Next, for Fig.14 A specific example of the vehicle-side inter-vehicle communication driving condition determination process (vehicle-side inter-vehicle communication driving condition determination step) corresponding to S82 of (a) will be described. Fig.14 (b) is a flowchart showing an example of vehicle-side inter-vehicle communication driving condition determination processing.

[0173] like Fig.14 As shown in (b), as S90, the automatic driving ECU 20 determines through the vehicle side condition determination unit 36 ​​whether the speed of the automatic driving vehicle 2 at the position is greater than the speed determination threshold value compared with the target speed indicated by the automatic parking system 1 according to the position in the parking lot. Fig.13 Node N1 etc. shown in (a).

[0174] When the automatic driving ECU 20 determines that the speed of the automatic driving vehicle 2 is greater than the target speed by more than the speed determination threshold (S90: Yes), the process moves to S92. When the automatic driving ECU 20 does not determine that the speed of the automatic driving vehicle 2 is greater than the target speed by more than the speed determination threshold (S90: No), the process ends. In S92, the automatic driving ECU 20 determines that the vehicle-side inter-vehicle communication driving condition is satisfied through the vehicle-side condition determination unit 36.

[0175] According to the automatic driving vehicle 2 of the present embodiment described above, when the automatic driving vehicle 2 satisfies the vehicle-side inter-vehicle communication driving conditions based on the comparison result between the driving state of the automatic driving vehicle 2 and the target vehicle speed or target route indicated by the automatic parking system 1, the inter-vehicle communication driving is achieved through inter-vehicle communication with surrounding target vehicles. Compared with the target vehicle speed for automatic parking, the speed adjustment for vehicle approach suppression achieved through inter-vehicle communication is given priority, thereby preventing the automatic driving vehicle 2 from being too close to the target vehicle.

[0176] In addition, according to the autonomous driving vehicle 2, by performing inter-vehicle communication driving when the speed of the autonomous driving vehicle 2 at the position is greater than the speed determination threshold compared to the target speed indicated by the automatic parking system 1 according to the position in the parking lot, even if there is an obstacle to the speed control function of the autonomous driving vehicle 2 or the responsiveness of the speed control, the inter-vehicle distance between the autonomous driving vehicle 2 and the target vehicle can be prevented from being too close.

[0177] Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments. The present invention can be implemented in various forms represented by the above-described embodiments, with various changes and improvements made based on the knowledge of those skilled in the art.

[0178] The target vehicle may be only the autonomous driving vehicle 2. The condition determination unit 13 does not necessarily need to include the communicable vehicles to determine the inter-vehicle communication driving conditions. The condition determination unit 13 may also count only the number of autonomous driving vehicles 2. Similarly, the release condition determination unit 15 does not necessarily need to include the communicable vehicles to determine the release conditions.

[0179] The inter-vehicle communication driving instruction unit 14 does not necessarily need to instruct the inter-vehicle communication driving to the communicable vehicle. The inter-vehicle communication driving instruction unit 14 may instruct only the autonomous driving vehicle 2 to perform the inter-vehicle communication driving.

[0180] The automatic parking system 1 does not necessarily need to include the release condition determination unit 15. When the inter-vehicle communication driving is started, the inter-vehicle communication driving may be continued until the vehicle is parked or stopped.

[0181] The autonomous driving vehicle 2 does not necessarily need to determine the vehicle-side inter-vehicle communication driving condition. The autonomous driving vehicle 2 may not include the vehicle-side condition determination unit 36 ​​and the inter-vehicle communication driving execution unit 37. The autonomous driving vehicle 2 only needs to have a function that can execute automatic valet parking.

Claims

1. An automatic parking system for executing automatic parking of an automatic driving vehicle in a parking lot by instructing the automatic driving vehicle in relation to a target vehicle speed and a target route, the automatic parking system comprising: A vehicle information acquisition unit, which acquires the position information of the autonomous driving vehicle in the parking lot; a condition determination unit that determines whether the autonomous driving vehicle satisfies a preset inter-vehicle communication driving condition based on the position information of the autonomous driving vehicle in the parking lot acquired by the vehicle information acquisition unit; and an inter-vehicle communication driving instruction unit configured to perform inter-vehicle communication driving by inter-vehicle communication on the automatically driven vehicle determined by the condition determination unit to satisfy the inter-vehicle communication driving condition, During the inter-vehicle communication driving, the automatic driving vehicle is caused to prioritize vehicle speed adjustment for vehicle approach suppression achieved by the inter-vehicle communication over the target vehicle speed for the automatic parking. The vehicle information acquisition unit acquires position information of a target vehicle including the autonomous driving vehicle and the communicable vehicle in the parking lot, wherein: The communicative vehicle is a vehicle that cannot perform autonomous driving but can perform inter-vehicle communication. The condition determination unit determines whether the target vehicle satisfies a preset inter-vehicle communication driving condition based on the position information of the target vehicle in the parking lot acquired by the vehicle information acquisition unit, the inter-vehicle communication driving instruction unit causes the target vehicle determined by the condition determination unit to satisfy the inter-vehicle communication driving condition to perform the inter-vehicle communication driving by inter-vehicle communication; The condition determination unit determines that the plurality of target vehicles traveling in the same lane satisfies the inter-vehicle communication traveling condition when the number of the plurality of target vehicles in the same lane in the parking lot is equal to or greater than a lane number threshold.

2. The automatic parking system according to claim 1, wherein: Furthermore, when there are a plurality of the target vehicles whose inter-vehicle distance is smaller than an inter-vehicle distance threshold, the condition determination unit determines that the plurality of target vehicles whose inter-vehicle distance is smaller than the inter-vehicle distance threshold satisfies the inter-vehicle communication driving condition.

3. The automatic parking system according to claim 1 or 2, wherein: The vehicle information acquisition unit acquires position information in the parking lot of a general vehicle that is not capable of autonomous driving and is not capable of inter-vehicle communication, The condition determination unit determines that the plurality of target vehicles on the lane satisfy the inter-vehicle communication driving condition when a plurality of the target vehicles are present in the parking lot and located in the lane on which the general vehicle is traveling.

4. The automatic parking system according to claim 1 or 2, wherein: The vehicle information acquisition unit acquires position information in the parking lot of a general vehicle that is not capable of autonomous driving and is not capable of inter-vehicle communication, The condition determination unit determines that a plurality of the target vehicles in the set area satisfy the inter-vehicle communication driving condition when the general vehicle enters a set area that is preset in the parking lot.

5. The automatic parking system according to claim 1 or 2, further comprising: a release condition determination unit that determines whether the target vehicle satisfies a preset release condition based on the position information of the plurality of target vehicles in the parking lot acquired by the vehicle information acquisition unit when there is the target vehicle that is driving in the inter-vehicle communication; The inter-vehicle communication travel instructing unit causes the inter-vehicle communication travel of the target vehicle determined by the cancellation condition determination unit to satisfy the cancellation condition to be terminated.

6. A control method of an automatic parking system, wherein the automatic parking system performs automatic parking of the automatic parking vehicle by instructing the automatic parking vehicle in a parking lot in relation to a target vehicle speed and a target route, the control method of the automatic parking system comprising: A vehicle information acquisition step, acquiring location information of the autonomous driving vehicle in the parking lot; a condition determination step of determining whether the autonomous driving vehicle satisfies a preset inter-vehicle communication driving condition based on the position information of the autonomous driving vehicle in the parking lot acquired in the vehicle information acquisition step; as well as an inter-vehicle communication driving instruction step of performing inter-vehicle communication driving by inter-vehicle communication on the automatic driving vehicle determined in the condition determination step to satisfy the inter-vehicle communication driving condition, During the inter-vehicle communication driving, the automatic driving vehicle is caused to prioritize vehicle speed adjustment for vehicle approach suppression achieved by the inter-vehicle communication over the target vehicle speed for the automatic parking. In the vehicle information acquisition step, position information of a target vehicle in the parking lot including the autonomous driving vehicle and a communicative vehicle is acquired, wherein the communicative vehicle is a vehicle that cannot perform autonomous driving but can perform inter-vehicle communication, In the condition determination step, whether the target vehicle satisfies a preset inter-vehicle communication driving condition is determined based on the position information of the target vehicle in the parking lot acquired in the vehicle information acquisition step, In the inter-vehicle communication driving instruction step, the inter-vehicle communication driving is performed by inter-vehicle communication on the target vehicle determined in the condition determination step to satisfy the inter-vehicle communication driving condition. In the condition determination step, when the number of the plurality of target vehicles in the same lane in the parking lot is equal to or greater than a lane number threshold, it is determined that the plurality of target vehicles traveling in the same lane satisfy the inter-vehicle communication traveling condition.

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