Control device, parking lot system, and position accuracy calculation method

Abstract

The present invention relates to a control device, a parking lot system, and a position accuracy calculation method. The control device (25) is used in an automated valet parking lot (1). The control device includes a travel path determination unit (58), a travel path transmission unit (58), a position acquisition unit (57), and a position accuracy calculation unit (41, 59, 61). The travel path determination unit determines a travel path to a parking space (8). The travel path transmission unit transmits the travel path determined by the travel path determination unit to a vehicle (11A). The position acquisition unit acquires the position of the vehicle inferred by the vehicle in a traveling state from the vehicle. Before the vehicle starts autonomous driving according to the travel path determined by the travel path determination unit, the position accuracy calculation unit calculates the accuracy of the position of the vehicle in the traveling state acquired by the position acquisition unit, that is, the dynamic inference accuracy.

Description

[0001] Cross - reference to related applications

[0002] This international application claims priority based on Japanese Patent Application No. 2020 - 028457 filed with the Japan Patent Office on February 21, 2020, and incorporates the entire contents of Japanese Patent Application No. 2020 - 028457 by reference into this international application. Technical field

[0003] This disclosure relates to a control device, a parking lot system, and a position accuracy calculation method. Background art

[0004] A parking lot management device is disclosed in Patent Document 1. The parking lot management device determines a driving route to an empty parking space in the parking lot. The parking lot management device uses an automatic driving function to guide a vehicle to the empty parking space.

[0005] Patent Document 1: Japanese Unexamined Patent Application Publication No. 2011 - 54116

[0006] A vehicle guided by a parking lot management device uses sensors such as an in - vehicle camera to repeatedly estimate the position of the vehicle and drives automatically along the driving route. As a result of the inventors' detailed research, the following problem was found: There are cases where the accuracy of estimating the position of the vehicle (hereinafter referred to as position estimation accuracy) decreases due to aging, accidents, contamination, etc., and it is easy to deviate from the driving route during automatic driving. Summary of the invention

[0007] In one aspect of the present disclosure, it is preferable to provide a technology capable of calculating the position estimation accuracy of a vehicle.

[0008] One aspect of the present disclosure is a control device used in an automated valet parking lot. The control device includes a driving route determination unit, a driving route transmission unit, a position acquisition unit, and a position accuracy calculation unit. The driving route determination unit is configured to determine a driving route to a parking space. The driving route transmission unit is configured to transmit the driving route determined by the driving route determination unit to the vehicle. The position acquisition unit is configured to acquire from the vehicle the position of the vehicle estimated in the driving state. The position accuracy calculation unit is configured to calculate the accuracy of the position of the vehicle in the driving state acquired by the position acquisition unit, that is, the dynamic estimation accuracy, before the vehicle starts automatic driving according to the driving route determined by the driving route determination unit.

[0009] According to the control device which is one aspect of the present disclosure, the dynamic estimation accuracy can be calculated as the position estimation accuracy.

[0010] Another aspect of the present disclosure is a method for calculating position accuracy performed by a control device used in an automated valet parking lot. The method for calculating position accuracy includes the following steps: determining a driving path to a parking space; sending the driving path to a vehicle; obtaining from the vehicle the position of the vehicle inferred by the vehicle while in motion; and calculating the accuracy of the position of the vehicle in the moving state obtained from the vehicle, that is, the dynamic inference accuracy, before the vehicle starts autonomous driving according to the driving path.

[0011] According to the method for calculating position accuracy which is another aspect of the present disclosure, the dynamic inference accuracy can be calculated as the position inference accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is an explanatory diagram showing the structure of an automated valet parking lot in the first embodiment.

[0013] Figure 2 It is a block diagram showing the structure of a control system.

[0014] Figure 3 It is a block diagram showing the functional structure of a control unit in the first embodiment.

[0015] Figure 4 It is a sequence diagram showing the processes related to parking in by the control system and the vehicle in the first embodiment.

[0016] Figure 5 It is a sequence diagram showing the processes related to parking in by the control system and the vehicle in the first embodiment.

[0017] Figure 6 It is a sequence diagram showing the processes related to parking in by the control system and the vehicle in the first embodiment.

[0018] Figure 7 It is a sequence diagram showing the processes related to parking in by the control system and the vehicle in the first embodiment.

[0019] Figure 8 It is a sequence diagram showing the processes related to parking out by the control system and the vehicle.

[0020] Figure 9 It is a sequence diagram showing the processes related to parking out by the control system and the vehicle.

[0021] Figure 10 It is an explanatory diagram showing the structure of a parking space for parking in.

[0022] Figure 11 It is a flowchart showing the process of calculating the static inference accuracy.

[0023] Figure 12 It is a flowchart showing the process of calculating the static measurement accuracy of in-vehicle sensors.

[0024] Figure 13 It is an explanatory diagram showing the structure of the valet parking lot in the second embodiment.

[0025] Figure 14 It is a flowchart showing the process of calculating the dynamic inference accuracy and the dynamic measurement accuracy of in-vehicle sensors.

[0026] Figure 15 It is a flowchart showing the process of determining the dynamic inference accuracy in the process of calculating the dynamic inference accuracy and the dynamic measurement accuracy of in-vehicle sensors.

[0027] Figure 16 It is a flowchart showing the process of determining the dynamic measurement accuracy of in-vehicle sensors in the process of calculating the dynamic inference accuracy and the dynamic measurement accuracy of in-vehicle sensors.

[0028] Figure 17 It is a block diagram showing the functional structure of the control unit in the third embodiment. Detailed implementation mode

[0029] With reference to the accompanying drawings, exemplary embodiments of the present disclosure will be described.

[0030] <First Embodiment>

[0031] 1. Structure of the valet parking lot 1

[0032] Based on Figure 1 , the structure of the valet parking lot 1 will be described. The valet parking lot 1 includes an entrance space 3, an exit space 5, and a parking space 7.

[0033] The entrance space 3 is adjacent to the exit space 5 and the parking space 7. The entrance space 3 has an entrance 9. The vehicle 11 to be parked later enters the entrance space 3 from the outside of the valet parking lot 1 through the entrance 9. As the vehicle 11, there are a vehicle 11A equipped with an AVP function and a vehicle 11B not equipped with an AVP function. The AVP function refers to the automatic valet parking function. The AVP function includes autonomous driving and automatic parking functions.

[0034] The storage space 3 has a plurality of storage parking spaces 13. The plurality of storage parking spaces 13 are arranged on the side of the parking space 7 in the storage space 3. Each storage parking space 13 has a size capable of accommodating one vehicle 11. The vehicle 11 entering the storage space 3 from the entrance 9 can enter any one of the storage parking spaces 13 and stop. Inside the storage parking space 13, the driver gets out of the vehicle 11. The vehicle 11 in the storage parking space 13 can enter the parking space 7 by being carried by a parking robot 31 described later, or by using the AVP function when the vehicle 11 is an AVP function-equipped vehicle 11A.

[0035] The exit space 5 has a plurality of exit parking spaces 15. The plurality of exit parking spaces 15 are arranged on the side of the parking space 7 in the exit space 5. Each exit parking space 15 has a size capable of accommodating one vehicle 11.

[0036] The vehicle 11 exiting the parking space 7 enters any one of the exit parking spaces 15. The exit space 5 has an exit 17. Inside the exit parking space 15, the driver gets into the vehicle 11. The vehicle 11 in the exit parking space 15 can go outside the automated valet parking lot 1 through the exit 17.

[0037] The parking space 7 is a space where multiple vehicles 11 can be parked. The parking space 7 is a space that includes a plurality of parking frames 8. The parking frame 8 is a frame for parking one vehicle 11. In the parking space 7, the parking frames 8 are marked by white lines or the like. However, when the position of the parking frame 8 is determined by a control device 25 described later, the parking frame 8 may not be marked by white lines or the like.

[0038] The storage space 3 and the exit space 5 are adjacent to the facility 19. The facility 19 is, for example, a store, an office, a residence, a station, or the like. The entrance 21 of the facility 19 is connected to the storage space 3 by, for example, a pedestrian-only area. In addition, the entrance 21 is connected to the exit space 5 by, for example, a pedestrian-only area.

[0039] 2. Structure of the control system 23

[0040] Based on Figures 2 to 3 , the structure of the control system 23 will be described. The control system 23 is used in the automated valet parking lot 1. As Figure 2 shown, the control system 23 includes a control device 25, a plurality of individual terminals 27, a shared terminal 29, a parking robot 31, and an infrastructure 32.

[0041] The control device 25 includes a control unit 33 and a communication unit 35. The control unit 33 includes a microcomputer having a CPU 37 and a semiconductor memory such as a RAM or a ROM (hereinafter referred to as the memory 39).

[0042] The various functions of the control unit 33 are realized by the CPU 37 executing a program stored in a non-transitory tangible recording medium. In this example, the memory 39 corresponds to the non-transitory tangible recording medium storing the program. Further, by executing this program, a method corresponding to the program is executed. In addition, the control unit 33 may include one microcomputer or may include a plurality of microcomputers.

[0043] As Figure 3 shown, the control unit 33 includes a position acquisition unit 57, a position accuracy calculation unit 41, an accuracy determination unit 42, a notification unit 43, a parking robot control unit 45, a relative position acquisition unit 47, a relative position measurement unit 49, a sensor accuracy calculation unit 51, a sensor notification unit 53, a parking frame setting unit 55, and an auxiliary unit 58. The position accuracy calculation unit 41 includes a position measurement unit 59 and an arithmetic unit 61.

[0044] The communication unit 35 can perform wireless communication with the parking robot 31 and the vehicle 11A equipped with the AVP function.

[0045] Each of the plurality of individual terminals 27 corresponds to one parking space 13 for entry. Each individual terminal 27 is provided near the corresponding parking space 13 for entry. The individual terminal 27 accepts operations by the user. Examples of operations by the user include an entry request operation, input of the user's identification information, etc. Further, the individual terminal 27 displays information to the user.

[0046] The shared terminal 29 is provided in the exit space 5. The shared terminal 29 accepts operations by the user. Examples of operations by the user include an exit request operation, input of the user's identification information, etc. Further, the shared terminal 29 displays information to the user.

[0047] The parking robot 31 has the following functions. The parking robot 31 can perform wireless communication with the control device 25. The parking robot 31 can receive a travel path from the control device 25. The parking robot 31 has map information of the automatic valet parking lot 1. The parking robot 31 can acquire its own position information. The parking robot 31 can use the map information, the position information, and the travel path to travel along the travel path.

[0048] The parking robot 31 can lift the vehicle 11. The parking robot 31 can travel along the travel path in a state where the vehicle 11 is lifted. The travel of the parking robot 31 in a state where the vehicle 11 is lifted corresponds to the parking robot 31 transporting the vehicle 11. The parking robot 31 can unload the lifted vehicle 11 onto the road surface, that is, lower it.

[0049] The parking robot 31 can send position information to the control device 25. The parking robot 31 can receive instructions from the control device 25 and perform actions corresponding to the instructions. As instructions, for example, there are stop, start, lane change, etc.

[0050] The infrastructure 32 is equipped with a plurality of sensors for detecting the states of various parts of the automatic valet parking lot 1. As sensors, for example, cameras, lidars, etc. can be cited. Cameras, lidars, etc. are installed on the ceiling or wall surface of the automatic valet parking lot 1, for example. A part of the camera captures the license plate number of the vehicle 11 located in the parking space 13 for entry. In addition, a part of the camera captures the vehicle 11 located in the parking space 13 for entry and a marker 69 described later at one time. In addition, the infrastructure 32 is equipped with a device for guiding the vehicle 11. As a guiding device, for example, a display device for displaying the traveling direction of the vehicle 11 can be cited.

[0051] The vehicle 11A equipped with the AVP function is equipped with an in-vehicle camera 65 and an in-vehicle sensor 67. The in-vehicle camera 65 is, for example, a camera that captures the front of the vehicle 11A equipped with the AVP function. The in-vehicle camera 65 corresponds to a sensor for inferring the position of the vehicle 11A equipped with the AVP function. The vehicle 11A equipped with the AVP function uses the in-vehicle camera 65 to capture a range including the markers provided in the automatic valet parking lot 1 and generates an image. The vehicle 11A equipped with the AVP function measures the relative position between the marker and the vehicle 11A based on the relative position of the marker in the image.

[0052] The vehicle 11A equipped with the AVP function reads the absolute position of the marker from the map information described later. The absolute position is the position in a coordinate system fixed to the earth. The vehicle 11A equipped with the AVP function infers the position of the vehicle 11A equipped with the AVP function based on the relative position between the marker and the vehicle 11A equipped with the AVP function and the absolute position of the marker. The position of the vehicle 11A equipped with the AVP function is the position in a coordinate system fixed to the earth. In addition, instead of the position in a coordinate system fixed to the earth, the position in a coordinate system fixed to the automatic valet parking lot 1 can also be used.

[0053] When the vehicle 11A equipped with the AVP function performs automatic valet parking using the AVP function, the above method is repeated to infer the position of the vehicle 11A equipped with the AVP function.

[0054] The vehicle 11A equipped with the AVP function uses the in-vehicle sensor 67 for autonomous driving, automatic valet parking, or both. The in-vehicle sensor 67 is a millimeter-wave sensor in this embodiment. The in-vehicle sensor 67 can also be a camera, a lidar, etc., for example. In addition, the in-vehicle camera 65 can also be a part of the in-vehicle sensor 67 or a component independent of the in-vehicle sensor 67. The in-vehicle sensor 67 can be one or multiple.

[0055] 3. Handling related to storage performed by the control system 23 and the vehicle 11

[0056] Based on Figures 4 to 7 , the handling related to storage performed by the control system 23 and the vehicle 11 will be described.

[0057] When the user makes a reservation for storage, the processes A1 to A8 shown below are performed. When the user does not make a reservation for storage, the processes A1 to A8 are not performed, but the processes A9 and later shown below are performed. Figure 4 When the user does not make a reservation for storage, the processes A1 to A8 are not performed, but the processes A9 and later shown below are performed. Figure 5 the processes shown in A9 and later.

[0058] In A1, the user inputs information into the smartphone and makes a reservation operation for storage. The smartphone is carried by the user. As the information, for example, there is the identification information of the vehicle 11, the identification information of the user, the scheduled storage time, the type of the AVP system equipped in the vehicle 11, etc.

[0059] In A2, the smartphone sends the information input in the above A1 to the control device 25 and asks whether a reservation can be made.

[0060] In A3, the control device 25 confirms the matching between the parking lot and the vehicle 11 based on the information received in the above A2. The matching between the parking lot and the vehicle 11 means that the AVP system equipped in the vehicle 11 matches the control system 23 and the AVP function of the vehicle 11 can be used.

[0061] In A4, the control device 25 obtains the availability status of the parking space 7 and confirms whether a reservation for storage can be made based on the obtained availability status.

[0062] Only when the control device 25 determines in the above A3 that the parking lot and the vehicle 11 match, the processes A5 and A6 are performed. In A5, the control device 25 notifies the smartphone whether a reservation can be made.

[0063] In A6, the smartphone notifies the user whether a reservation can be made.

[0064] Only when the control device 25 determines in the above A3 that the parking lot and the vehicle 11 do not match, the processes A7 and A8 are performed. In A7, the control device 25 notifies the smartphone whether a reservation can be made. In addition, the control device 25 notifies the smartphone that the parking method is robot parking. Robot parking means automatic valet parking using the parking robot 31.

[0065] In A8, the smartphone notifies the user whether a reservation can be made. In addition, the smartphone notifies the user that the parking method is robot parking.

[0066] In A9, the user arrives at the automated valet parking lot 1. By "arrives", for example, it means when the vehicle 11 passes through the entrance 9. When the user arrives at the automated valet parking lot 1, the user gets in the vehicle 11 and drives the vehicle 11.

[0067] In A10, the infrastructure 32 detects the positions of the user and the vehicle 11. The infrastructure 32 notifies the control device 25 of the positions of the user and the vehicle 11.

[0068] In A11, the control device 25 instructs the infrastructure 32 to guide the user and the vehicle 11 to a position where automated valet parking can be performed. The position where automated valet parking can be performed is any one of the storage spaces 13.

[0069] In A12, the infrastructure 32, for example, displays any one of the storage spaces 13 and guides the user and the vehicle 11 to a position where automated valet parking can be performed.

[0070] In A13, the user parks the vehicle 11 in any one of the storage spaces 13 and gets out of the vehicle 11. Any one of the storage spaces 13 corresponds to the position where automated valet parking can be performed.

[0071] In A14, the user inputs information into the separate terminal 27. As the information, there are the presence or absence of a reservation, the reservation number in the case of having a reservation, the parking method, the storage request, etc. The parking method is either robot parking or parking based on the AVP function. In addition, the user can also input this information into the smartphone.

[0072] In A15, the separate terminal 27 sends the information input in the above A14 to the control device 25. In addition, the smartphone can also send the information input in the above A14 to the control device 25.

[0073] When the user selects parking based on the AVP function, the processes of A16 to A19 are performed. When the user selects robot parking, the processes of A16 to A19 are not performed. The vehicle 11 in the processes of A16 to A19 is the vehicle 11A equipped with the AVP function.

[0074] In A16, first, the control device 25 sends the map information of the storage space 13 to the vehicle 11. The map information of the storage space 13 determines the position of the marker 69 and the type of the marker 69 for each of the storage spaces 13. In addition, the map information of the storage space 13 can also determine the position of the obstacles within the storage space 13. As Figure 10 shown, in each of the storage spaces 13, there are markers 69 and white lines 71 provided. The markers 69 and the white lines 71 are drawn on the ground. The marker 69 corresponds to the reference position in the automated valet parking lot 1.

[0075] The shape of the white line 71 is, for example, rectangular, or a shape representing a part corresponding to the corner of a rectangle. When the vehicle 11 is parked inside the white line 71, the in-vehicle camera 65 can capture the marker 69, and the in-vehicle sensor 67 can detect the marker 69 and the white line 71. The white line 71 corresponds to the guiding unit. The inside of the white line 71 is the preset position of the vehicle 11 when calculating the position inference accuracy. The combination of the control device 25 and the white line 71 corresponds to the parking lot system.

[0076] Next, the control device 25 requests the vehicle 11 to send information. As the information, there are (a) information indicating the position of the vehicle 11 inferred by the vehicle 11 using the in-vehicle camera 65, (b) information indicating the relative position between the marker 69 and the vehicle 11 inferred by the vehicle 11 using the in-vehicle sensor 67, and (c) information regarding whether the parking lot matches the vehicle 11.

[0077] The vehicle 11 creates the above-mentioned information (a) as follows. The vehicle 11 uses the in-vehicle camera 65 to capture the range including the marker 69 and generates an image. The vehicle 11 measures the relative position between the marker 69 and the vehicle 11 based on the relative position of the marker 69 in the image. In addition, in the image, the direction of the marker 69 based on the vehicle 11 is not limited. For example, the marker 69 may be in front of the vehicle 11 or behind the vehicle 11.

[0078] The vehicle 11 reads the absolute position of the marker 69 from the map information of the storage space 13. The vehicle 11 infers the position of the vehicle 11 based on the relative position between the marker 69 and the vehicle 11 and the absolute position of the marker 69.

[0079] As a method for inferring the position of the vehicle 11, for example, there is the following method. The shapes of the markers 69 depicted in the storage space 3 and the storage space 13 are different. The map information has node information corresponding to the marker 69. The node information includes the shape of the marker 69 and the absolute position information of the marker 69. The vehicle 11 identifies the shape of the marker 69 in the captured image. The vehicle 11 extracts the node information with the identified shape and determines the absolute position of the marker 69. The vehicle 11 infers the absolute position of the vehicle 11 based on the relative distance between the vehicle 11 and the marker 69 recognized from the captured image.

[0080] Vehicle 11 creates the information in (b) above as follows. Vehicle 11 uses in-vehicle sensor 67 to detect detection objects such as marker 69. Vehicle 11 measures the relative position of marker 69 with respect to vehicle 11 based on the detection result of in-vehicle sensor 67. In addition, depending on the type of in-vehicle sensor 67, the detection object of in-vehicle sensor 67 is different. In the case where in-vehicle sensor 67 is a millimeter-wave sensor as in the present embodiment, in-vehicle sensor 67 detects the distance to an obstacle instead of marker 69.

[0081] In A17, vehicle 11 transmits the information in (a) to (c) above to control device 25. Control device 25 receives the information in (a) to (c) above from vehicle 11.

[0082] Control device 25 uses the information in (a) above received from vehicle 11 to perform processing for calculating the position inference accuracy. The position inference accuracy is the accuracy when vehicle 11 infers its own position. In the present embodiment, the position inference accuracy is calculated as the static inference accuracy, which is the position inference accuracy when vehicle 11 is parked. Based on Figure 11 , the processing of calculating the static inference accuracy for control device 25 will be described.

[0083] In step 1, position acquisition unit 57 acquires the position of vehicle 11 inferred by vehicle 11 in the parked state from the information in (a) above.

[0084] In step 2, position measurement unit 59 uses infrastructure 32 to measure the position of vehicle 11 in the parked state. In addition, since vehicle 11 is parked in A16 and A17, the position of vehicle 11 when infrastructure 32 measures the position is the same as the position of vehicle 11 when vehicle 11 measures the position in A16.

[0085] In step 3, operation unit 61 calculates the static inference accuracy based on the difference between the position of vehicle 11 acquired in the above step 1 and the position of vehicle 11 measured in the above step 2. The smaller the difference, the higher the static inference accuracy.

[0086] In step 4, accuracy determination unit 42 determines whether the static inference accuracy calculated in the above step 3 is less than a preset static reference accuracy. If the static inference accuracy is less than the static reference accuracy, this processing proceeds to step 5. If the static inference accuracy is equal to or higher than the static reference accuracy, this processing proceeds to step 6.

[0087] In step 5, accuracy determination unit 42 determines that the static inference accuracy is unqualified.

[0088] In step 6, accuracy determination unit 42 determines that the static inference accuracy is qualified.

[0089] In addition, in the above processing, the position of the vehicle 11 obtained in the above step 1 and the position of the vehicle 11 measured in the above step 2 are absolute positions. The position of the vehicle 11 obtained in the above step 1 and the position of the vehicle 11 measured in the above step 2 may also be relative positions. As relative positions, for example, a position where the vehicle 11 is 50 cm to the right of the marker 69, a position where the vehicle 11 is 30 cm to the left of the marker 69, etc. can be cited.

[0090] The control device 25 uses the information of the above (b) obtained from the vehicle 11 to perform processing for calculating the measurement accuracy of the in-vehicle sensor 67. In the present embodiment, as the measurement accuracy of the in-vehicle sensor 67, the measurement accuracy of the in-vehicle sensor 67 in the state where the vehicle 11 is parked, that is, the static measurement accuracy, is calculated. Based on Figure 12 , the processing for calculating the static measurement accuracy of the in-vehicle sensor 67 will be described.

[0091] In step 11, the relative position acquisition unit 47 acquires the relative position between the marker 69 and the vehicle 11 in the parked state according to the information of the above (b).

[0092] In step 12, the relative position measurement unit 49 uses the infrastructure 32 to measure the relative position between the marker 69 and the vehicle 11 in the parked state. In addition, since the vehicle 11 is parked in A16 and A17, the position of the vehicle 11 when the infrastructure 32 measures the relative position is the same as the position of the vehicle 11 when the vehicle 11 measures the relative position in A16.

[0093] In step 13, the sensor accuracy calculation unit 51 calculates the static measurement accuracy of the in-vehicle sensor 67 based on the difference between the relative position acquired in the above step 11 and the relative position measured in the above step 12. The smaller the difference, the higher the static measurement accuracy.

[0094] In step 14, the accuracy determination unit 42 determines whether the static measurement accuracy of the in-vehicle sensor 67 calculated in the above step 13 is less than a preset static reference measurement accuracy. If the static measurement accuracy is less than the reference measurement accuracy, this processing proceeds to step 15. If the static measurement accuracy is equal to or higher than the static reference measurement accuracy, this processing proceeds to step 16.

[0095] In step 15, the accuracy determination unit 42 determines that the static measurement accuracy of the in-vehicle sensor 67 is unqualified.

[0096] In step 16, the accuracy determination unit 42 determines that the static measurement accuracy of the in-vehicle sensor 67 is qualified.

[0097] In the case where the static inference accuracy is determined to be unqualified, the case where the static measurement accuracy of the in-vehicle sensor 67 is determined to be unqualified, or the case where the content of the information in (c) above is that the parking lot does not match the vehicle 11, the processes of A18 and A19 are performed. In other cases, the processes of A18 and A19 are not performed.

[0098] In A18, the control device 25 notifies the individual terminal 27. The specific content of the notification is as follows. In the case where the static inference accuracy is determined to be unqualified, the notification unit 43 notifies the individual terminal 27 of the content that the static inference accuracy is unqualified. In the case where the static measurement accuracy of the in-vehicle sensor 67 is determined to be unqualified, the sensor notification unit 53 notifies the individual terminal 27 of the content that the static measurement accuracy of the in-vehicle sensor 67 is unqualified. In the case where the content of the information in (c) above is that the parking lot does not match the vehicle 11, the control device 25 notifies the individual terminal 27 of this content. In addition, the control device 25 notifies the individual terminal 27 that the method of parking is robot parking. In addition, the control device 25 may also notify the smartphone.

[0099] In A19, the individual terminal 27 notifies the user of the notification obtained from the control device 25 in A18 above. In addition, the smartphone may also notify the user.

[0100] In A20, the control device 25 requests the infrastructure 32 to confirm whether the dimensions of the vehicle 11, etc. are dimensions that can be handled, etc. What is meant by "can be handled" is that automatic valet parking can be performed in the automatic valet parking lot 1.

[0101] In A21, the infrastructure 32 confirms whether the dimensions of the vehicle 11, etc. are dimensions that can be handled, etc., and sends the confirmation result to the control device 25.

[0102] In the case where the content of the response in A21 is that the dimensions of the vehicle 11, etc. are dimensions that cannot be handled, etc., the processes of A22 and A23 are performed, and this process ends. In the case where the content of the response in A21 is that the dimensions of the vehicle 11, etc. are dimensions that can be handled, etc., the processes of A22 and A23 are not performed, and the processes of A24 and subsequent are continued.

[0103] In A22, the control device 25 notifies the individual terminal 27 that automatic valet parking cannot be performed due to the mismatch of the dimensions of the vehicle 11, etc. In addition, the control device 25 may also notify the smartphone.

[0104] In A23, the individual terminal 27 notifies the user that automatic valet parking cannot be performed due to the mismatch of the dimensions of the vehicle 11, etc. In addition, the individual terminal 27 requests the user to move to another parking lot. In addition, the smartphone may also notify the user and make the request.

[0105] In A24, the control device 25 notifies the individual terminal 27 of the start of warehousing. In addition, the control device 25 may also notify the smartphone.

[0106] In A25, the individual terminal 27 notifies the user of the start of warehousing. In addition, the smartphone may also notify the user of the start of warehousing.

[0107] In the case where the user selects robot parking, or in the case where robot parking is notified in the above A19, the Figure 6 processes shown in A26 to A40 are performed. In the case where the user selects parking based on the AVP function and robot parking is not notified in the above A19, the Figure 7 processes shown in A41 to A51 are performed. The vehicle 11 in the processes of A41 to A51 is the vehicle 11A equipped with the AVP function.

[0108] In A26, the control device 25 sends the target vehicle information, location information, driving route, and vehicle greeting instruction to the parking robot 31. The target vehicle information is information related to the target vehicle. The target vehicle is the vehicle 11 to be parked hereafter. The location information is the location information indicating the current position of the target vehicle. The driving route is the driving route from the current position of the parking robot 31 to the current position of the target vehicle. The vehicle greeting instruction is an instruction to go and greet the target vehicle.

[0109] The processes of A27 to A29 are repeated until the parking robot 31 reaches the vicinity of the target vehicle. In A27, the parking robot 31 drives towards the position of the target vehicle and sends the current position of the parking robot 31 to the control device 25.

[0110] In A28, the control device 25 performs traffic management based on the current position of the parking robot 31 received in the above A27. The control device 25 sends instructions to stop, start, and change lanes to the parking robot 31 as needed. The parking robot 31 performs stopping, starting, and changing lanes according to the instructions.

[0111] In A29, the parking robot 31 determines whether the parking robot 31 has reached the vicinity of the target vehicle. If the parking robot 31 has not reached the vicinity of the target vehicle, this process returns to A27. If the parking robot 31 has reached the vicinity of the target vehicle, the processes of A27 to A29 end and this process proceeds to A30.

[0112] In A30, the parking robot 31 notifies the control device 25 that the parking robot 31 has reached the vicinity of the target vehicle.

[0113] In A31, the control device 25 instructs the parking robot 31 to lift the target vehicle.

[0114] In A32, the parking robot 31 lifts the target vehicle. When the lifting is completed, it proceeds to A33.

[0115] In A33, the parking robot 31 notifies the control device 25 of the completion of the lifting.

[0116] In A34, the control device 25 sends the target parking position information, the driving path, and the parking instruction to the parking robot 31. The target parking position information is the information indicating the target parking position. The target parking position is the parking position where the vehicle 11 will park later. The driving path is the driving path from the current position of the parking robot 31 to the target parking position. The parking instruction is the instruction to instruct the target vehicle to park at the target parking position.

[0117] The processes of A35 to A37 are repeated until the parking robot 31 reaches the target parking position. In A35, the parking robot 31 drives towards the target parking position and sends the current position of the parking robot 31 to the control device 25.

[0118] In A36, the control device 25 performs traffic management based on the position of the parking robot 31 received in the above A35. The control device 25 sends instructions to stop, start, and change the route to the parking robot 31 as needed. The parking robot 31 performs stopping, starting, and changing the route according to the instructions.

[0119] In A37, the parking robot 31 determines whether the parking robot 31 has reached the target parking position. If the parking robot 31 has not reached the target parking position, this process returns to A35. If the parking robot 31 has reached the target parking position, the processes of A35 to A37 end, and this process proceeds to A38.

[0120] In A38, the parking robot 31 notifies the control device 25 of the completion of parking.

[0121] In A39, the control device 25 notifies the separate terminal 27 of the completion of parking. In addition, the control device 25 can also notify the smartphone of the completion of parking.

[0122] In A40, the separate terminal 27 notifies the user of the completion of parking. In addition, the smartphone can also notify the user of the completion of parking.

[0123] In A41, the control device 25 distributes the parking lot map to the vehicle 11 and sends an ignition-on instruction to the vehicle 11. The parking lot map is map information of the automated valet parking lot 1. The ignition-on instruction is an instruction to turn on the ignition switch of the vehicle 11. The vehicle 11 receives the parking lot map. The vehicle 11 turns on the ignition switch according to the ignition-on instruction.

[0124] In A42, the vehicle 11 sends an ignition-on notification and its own position to the control device 25. The ignition-on notification is a notification indicating that the ignition switch of the vehicle 11 has been turned on. The so-called own position is the position of the vehicle 11 inferred by the vehicle 11.

[0125] In A43, the control device 25 sends a target parking position, a driving route, and a parking instruction to the vehicle 11. The so-called driving route is the driving route from the current position of the vehicle 11 to the target parking position. The target parking position is any one of the parking bays 8. The so-called parking instruction is an instruction to drive along the driving route and park at the target parking position.

[0126] The processes of A44 to A46 are repeated until the vehicle 11 reaches the target parking position. In A44, the vehicle 11 drives toward the target parking position and sends the current position of the vehicle 11 to the control device 25. The so-called current position of the vehicle 11 is the current position of the vehicle 11 inferred by the vehicle 11.

[0127] In A45, the control device 25 performs traffic management based on the current position of the vehicle 11 received in the above A44. The control device 25 sends instructions to stop, start, and change lanes to the vehicle 11 as needed. The vehicle 11 stops, starts, and changes lanes according to the instructions.

[0128] In A46, the vehicle 11 determines whether the vehicle 11 has reached the target parking position. If the vehicle 11 has not reached the target parking position, this process returns to A44. If the vehicle 11 has reached the target parking position, the processes of A44 to A46 end and this process enters A47.

[0129] In A47, the vehicle 11 notifies the control device 25 of the completion of parking.

[0130] In A48, the control device 25 instructs the vehicle 11 to turn off the ignition. The vehicle 11 turns off the ignition switch.

[0131] In A49, the vehicle 11 notifies the control device 25 of the completion of turning off the ignition.

[0132] In A50, the control device 25 notifies the separate terminal 27 of the completion of parking. In addition, the control device 25 may also notify a smartphone of the completion of parking.

[0133] In A51, the individual terminal 27 notifies the user that parking is completed. In addition, the smartphone can also notify the user that parking is completed.

[0134] In addition, the process of setting the parking frame 8 as the target parking position in the process executed by the control device 25 is executed by the parking frame setting unit 55.

[0135] The processes of A26 - A28, A30, A31, A33 - A36, A38 - A39 correspond to the parking robot control unit 45 controlling the parking robot 31 to travel from the storage space 13 to the target parking position. The processes of A41 - A45, A47 - A50 correspond to the auxiliary unit 58 assisting the AVP - equipped vehicle 11A to travel from the storage space 13 to the target parking position.

[0136] The assistance performed by the auxiliary unit 58 means, for example, providing various instructions and information required for the AVP - equipped vehicle 11A to travel from the storage space 13 to the target parking position. As instructions, for example, there are the above - mentioned vehicle - welcoming instructions, stop, start, lane - change instructions, lift instructions, parking instructions, ignition - on instructions, ignition - off instructions, etc. As information, for example, the position information of the target vehicle, the driving route, the target parking position information, the parking lot map, etc. can be cited. In addition, the auxiliary unit 58 determines the driving route. The auxiliary unit 58 corresponds to the driving route determination unit and the driving route sending unit.

[0137] 4. Processes related to vehicle - out performed by the control system 23 and the vehicle requesting vehicle - out

[0138] Based on Figures 8 to 9 , the processes related to vehicle - out performed by the control system 23 and the vehicle requesting vehicle - out are described.

[0139] In B1, the user makes a vehicle - out reservation or a vehicle - out request to the shared terminal 29. In addition, the user inputs the user's identification information and the identification information of the vehicle requesting vehicle - out to the shared terminal 29. The vehicle requesting vehicle - out is the vehicle 11 that has requested vehicle - out through a vehicle - out request.

[0140] In B2, the shared terminal 29 sends the vehicle - out reservation or the vehicle - out request to the control device 25. When the shared terminal 29 sends a vehicle - out reservation, the following processes are executed according to the reservation time of the vehicle - out reservation. When the shared terminal 29 sends a vehicle - out request, the following processes are executed immediately.

[0141] When the vehicle requesting vehicle - out is parked by robotic parking, the processes of B3 - B17 are executed. When the vehicle 11 is parked by the AVP function of the vehicle requesting vehicle - out, the processes of B18 - B28 are executed.

[0142] In B3, the control device 25 sends the outgoing storage request vehicle position, the driving route, and the vehicle greeting instruction to the parking robot 31. The outgoing storage request vehicle position is the current position of the vehicle with an outgoing storage request. The driving route is the driving route from the current position of the parking robot 31 to the outgoing storage request vehicle position. The vehicle greeting instruction is an instruction to go and greet the vehicle with an outgoing storage request.

[0143] Repeat the processes of B4 to B6 until the parking robot 31 reaches the outgoing storage request vehicle position. In B4, the parking robot 31 drives towards the outgoing storage request vehicle position and sends the current position of the parking robot 31 to the control device 25.

[0144] In B5, the control device 25 performs traffic management based on the current position of the parking robot 31 received in B4 above. The control device 25 sends instructions to the parking robot 31 to stop, start, or change lanes as needed. The parking robot 31 stops, starts, or changes lanes according to the instructions.

[0145] In B6, the parking robot 31 determines whether the parking robot 31 has reached the outgoing storage request vehicle position. If the parking robot 31 has not reached the outgoing storage request vehicle position, this process returns to B4. If the parking robot 31 has reached the outgoing storage request vehicle position, the processes of B4 to B6 end and this process enters B7.

[0146] In B7, the parking robot 31 notifies the control device 25 that the parking robot 31 has reached the outgoing storage request vehicle position.

[0147] In B8, the control device 25 instructs the parking robot 31 to lift the vehicle with an outgoing storage request.

[0148] In B9, the parking robot 31 lifts the vehicle with an outgoing storage request. When the lifting is completed, it enters B10.

[0149] In B10, the parking robot 31 notifies the control device 25 of the completion of the lifting.

[0150] In B11, the control device 25 sends the target outgoing storage position information, the driving route, and the outgoing storage instruction to the parking robot 31. The target outgoing storage position is any one of the outgoing storage spaces 15. The target outgoing storage position information is the position information indicating the target outgoing storage position. The driving route is the driving route from the current position of the parking robot 31 to the target outgoing storage position. The outgoing storage instruction is an instruction to move the vehicle with an outgoing storage request out to the target outgoing storage position.

[0151] Repeat the processes of B12 to B14 until the parking robot 31 reaches the target outbound position. In B12, the parking robot 31 travels towards the target outbound position and sends its current position to the control device 25.

[0152] In B13, based on the position of the parking robot 31 received in B12 above, the control device 25 conducts traffic management. As needed, the control device 25 sends instructions to the parking robot 31 to stop, start, or change lanes. The parking robot 31 performs stops, starts, and lane changes according to the instructions.

[0153] In B14, the parking robot 31 determines whether it has reached the target outbound position. If the parking robot 31 has not reached the target outbound position, this process returns to B12. If the parking robot 31 reaches the target outbound position, the processes of B12 to B14 end and this process proceeds to B15.

[0154] In B15, the parking robot 31 notifies the control device 25 that the outbound operation is completed.

[0155] In B16, the control device 25 notifies the shared terminal 29 that the outbound operation is completed. Additionally, the control device 25 may also notify a smartphone that the outbound operation is completed.

[0156] In B17, the shared terminal 29 notifies the user that the outbound operation is completed. Additionally, a smartphone may also notify the user that the outbound operation is completed.

[0157] In B18, the control device 25 sends an ignition-on instruction to the vehicle with an outbound request. The vehicle with an outbound request turns on the ignition switch according to the ignition-on instruction.

[0158] In B19, the vehicle with an outbound request sends an ignition-on notification to the control device 25.

[0159] In B20, the control device 25 sends the target outbound position, the driving route, and an outbound instruction to the vehicle with an outbound request. The driving route is the driving route from the current position of the vehicle with an outbound request to the target outbound position.

[0160] Repeat the processes of B21 to B23 until the vehicle with an outbound request reaches the target outbound position. In B21, the vehicle with an outbound request travels towards the target outbound position and sends its current position to the control device 25.

[0161] In B22, the control device 25 performs traffic management based on the current position of the vehicle with an outbound request received in B21 above. As needed, the control device 25 sends instructions to the vehicle with an outbound request to stop, start, or change lanes. The vehicle with an outbound request stops, starts, or changes lanes according to the instructions.

[0162] In B23, the vehicle with an outbound request determines whether it has reached the target outbound position. If the vehicle with an outbound request has not reached the target outbound position, this process returns to B21. If the vehicle with an outbound request has reached the target outbound position, the processing of B21 - B23 ends and this process proceeds to B24.

[0163] In B24, the vehicle with an outbound request notifies the control device 25 of the completion of the outbound.

[0164] In B25, the control device 25 instructs the vehicle with an outbound request to turn off the ignition. The vehicle with an outbound request turns off the ignition switch.

[0165] In B26, the vehicle with an outbound request notifies the control device 25 of the completion of turning off the ignition.

[0166] In B27, the control device 25 notifies the shared terminal 29 of the completion of the outbound. In addition, the control device 25 may also notify a smartphone of the completion of the outbound.

[0167] In B28, the shared terminal 29 notifies the user of the completion of the outbound. In addition, a smartphone may also notify the user of the completion of the outbound.

[0168] 5. Effects of the control device 25 and the parking lot system

[0169] (1A) Before the vehicle 11 starts parking using the AVP function, the control device 25 calculates the static inference accuracy as the position inference accuracy. Parking using the AVP function corresponds to autonomous driving. The control device 25 can, for example, prevent the vehicle 11 with a low static inference accuracy from using the AVP function. As a result, the control device 25 can reduce accidents in the automated valet parking lot 1 and emergency stops of the vehicle 11 during the use of the AVP function.

[0170] (1B) The control device 25 obtains the position of the vehicle 11 inferred when the vehicle 11 is parked from the vehicle 11. The control device 25 uses the infrastructure 32 to measure the position of the vehicle 11 in the parked state. The control device 25 calculates the static inference accuracy as the position inference accuracy based on the difference between the position of the vehicle 11 inferred by the vehicle 11 and the position of the vehicle 11 measured using the infrastructure 32. Therefore, the control device 25 can calculate the static inference accuracy more accurately.

[0171] (1C) When the static inference accuracy is insufficient for a preset static reference accuracy, the control device 25 notifies the user of the vehicle 11. Therefore, the user of the vehicle 11 can understand that the static inference accuracy is insufficient for the static reference accuracy.

[0172] (1D) When the static inference accuracy is insufficient for a preset static reference accuracy, the control device 25 uses the parking robot 31 to move the vehicle 11 to the parking frame 8. Therefore, the control device 25 can prevent the vehicle 11 with a low static inference accuracy from using the AVP function. As a result, the control device 25 can reduce accidents in the automated valet parking lot 1, emergency stops of the vehicle 11 during the use of the AVP function, and the like.

[0173] (1E) The control device 25 obtains the relative position between the marker 69 inferred by the in-vehicle sensor 67 and the vehicle 11 in the parked state from the vehicle 11. The control device 25 uses the infrastructure 32 to measure information related to the relative position between the marker 69 and the vehicle 11 in the parked state. The control device 25 calculates the static measurement accuracy of the in-vehicle sensor 67 based on the difference between the relative position obtained from the vehicle 11 and the relative position measured using the infrastructure 32. For example, the control device 25 can prevent the vehicle 11 with a low static measurement accuracy of the in-vehicle sensor 67 from using the AVP function. As a result, the control device 25 can reduce accidents in the automated valet parking lot 1, emergency stops of the vehicle 11 during the use of the AVP function, and the like.

[0174] (1F) When the static measurement accuracy of the in-vehicle sensor 67 is insufficient for a preset static reference measurement accuracy, the control device 25 notifies the user of the vehicle 11. Therefore, the user of the vehicle 11 can understand that the static measurement accuracy of the in-vehicle sensor 67 is insufficient for the static reference measurement accuracy.

[0175] (1G) The parking lot system includes a white line 71. The parking lot system can guide the vehicle 11 inside the white line 71 when calculating the position inference accuracy of the vehicle 11. When the vehicle 11 is inside the white line 71, the in-vehicle camera 65 can capture the marker 69. As a result, the control device 25 can correctly calculate the position inference accuracy of the vehicle 11.

[0176] <Second Embodiment>

[0177] 1. Differences from the First Embodiment

[0178] Since the basic structure of the second embodiment is the same as that of the first embodiment, the following describes the differences. In addition, the same reference numerals as those in the first embodiment denote the same structures, and refer to the previous description.

[0179] In the above first embodiment, the automated valet parking lot 1 includesFigure 1 The structure shown. In contrast, in the second embodiment, the automated valet parking lot 1 has Figure 13 a different structure from the first embodiment in that it has the structure shown.

[0180] The entrance 9 in the second embodiment has an opening and closing door. Therefore, the vehicle 11 to enter the automated valet parking lot 1 decelerates and temporarily stops in front of the entrance 9. After the door opens, it enters the storage space 3 in the automated valet parking lot 1 through the entrance 9. Since it temporarily stops in front of the entrance 9, the driving speed of the entrance 9 and the vehicle 11 before and after the entrance 9 is lower than the case where the entrance 9 does not have an opening and closing door. For example, in front of and behind the entrance 9, the vehicle 11 travels slowly. It should be noted that the entrance 9 in the second embodiment corresponds to a speed inhibitor. In addition, the storage space 3 in the second embodiment corresponds to a driving space.

[0181] In addition, the automated valet parking lot 1 in the second embodiment further has a dynamic determination space 79 on the path from the entrance 9 in the storage space 3 to the storage parking space 13. The vehicle 11 moving from the entrance 9 towards the storage parking space 13 passes through the dynamic determination space 79 regardless of which storage parking space 13 it is heading towards. Since the dynamic determination space 79 in the second embodiment is provided immediately after the entrance 9, the vehicle 11 passes through the dynamic determination space 79 at a relatively low speed for the above reasons. In addition, the range where the dynamic determination space 79 is provided in the second embodiment is included in the driving space. A marker 69 is provided in the dynamic determination space 79. The marker 69 in the dynamic determination space 79 is depicted on the ground at a constant interval, for example.

[0182] In the second embodiment, a part of the camera provided in the infrastructure 32 captures the license plate number of the vehicle 11 traveling in the dynamic determination space 79. In addition, in the second embodiment, a part of the camera provided in the infrastructure 32 captures the vehicle 11 traveling in the dynamic determination space 79 and the marker 69 provided in the dynamic determination space 79 at one time.

[0183] 2. Processing related to storage performed by the control system 23 and the vehicle 11

[0184] In the second embodiment, when the infrastructure 32 notifies the control device 25 of the positions of the user and the vehicle 11 in the above-mentioned A10, the control device 25 performs processing to calculate the position inference accuracy and the measurement accuracy of the in-vehicle sensor 67 when the vehicle 11 is traveling. Hereinafter, the position inference accuracy when the vehicle 11 is traveling is referred to as the dynamic inference accuracy. The measurement accuracy of the in-vehicle sensor 67 when the vehicle 11 is traveling is referred to as the dynamic measurement accuracy of the in-vehicle sensor 67. The processing for calculating the dynamic inference accuracy and the dynamic measurement accuracy of the in-vehicle sensor 67 is executed in parallel with the processing of the above-mentioned A11 to the above-mentioned A15. Based on Figures 14 to 16 , the processing for calculating the dynamic inference accuracy and the dynamic measurement accuracy of the in-vehicle sensor 67 will be described.

[0185] In Figure 14 shown in step 21, the auxiliary unit 58 transmits the map information of the dynamic determination space 79 to the vehicle 11. The map information of the dynamic determination space 79 determines the positions and types of the markers 69 provided in the dynamic determination space 79.

[0186] In step 22, the auxiliary unit 58 requests the vehicle 11 to send information. As the information, there are the information of the above-mentioned (a) and the above-mentioned (b), the information indicating the inference time for each of the information of the above-mentioned (a) and the above-mentioned (b), and the identification information of the vehicle 11. The production methods of the information of the above-mentioned (a) and the above-mentioned (b) are as detailed in the above-mentioned A16. It should be noted that, instead of using the map information of the parking space 13, the vehicle 11 uses the map information of the dynamic determination space 79 in order to read the absolute position of the marker 69 provided in the dynamic determination space 79. The inference time for the above-mentioned (a) is the time when the in-vehicle camera 65 captures the range including the marker 69 provided in the dynamic determination space 79 when the vehicle 11 produces the information of the above-mentioned (a). The inference time for the above-mentioned (b) is the time when the in-vehicle sensor 67 detects the detection object such as the marker 69 provided in the dynamic determination space 79 when the vehicle 11 produces the information of the above-mentioned (b). The identification information of the vehicle 11 is information for identifying the vehicle 11, and for example, information indicating the vehicle identification number (VIN), the vehicle registration number, etc.

[0187] The vehicle 11 that has been requested to send information from the auxiliary unit 58 in the above step 22 produces the information of the above-mentioned (a) and the above-mentioned (b) while traveling in the dynamic determination space 79 by the user's driving (i.e., manual driving). Then, the vehicle 11 transmits the information of the above-mentioned (a) and the above-mentioned (b), the information indicating the inference time for each of the information of the above-mentioned (a) and the above-mentioned (b), and the identification information of the vehicle 11 to the control device 25. In addition, the vehicle 11 mentioned here is the vehicle 11A equipped with the AVP function.

[0188] In step 23, the position acquisition unit 57 receives the information of the above (a) and the above (b), the information indicating the respective inference times for the information of the above (a) and the above (b), and the identification information of the vehicle 11 from the vehicle 11. In addition, when the vehicle 11 is a vehicle 11B not equipped with the AVP function or in a situation where the position acquisition unit 57 cannot receive the above information from the vehicle 11, the subsequent processing may not be performed and the process may end. Figure 14 The processing shown.

[0189] In step 24, the position measurement unit 59 measures the absolute position of the vehicle 11 while traveling in the dynamic determination space 79 using the infrastructure 32. The position measurement unit 59 records the information indicating the measured absolute position of the vehicle 11 and its measurement time in the memory 39. In addition, the relative position measurement unit 49 measures the relative position between the vehicle 11 and the marker 69 in the dynamic determination space 79 while the vehicle 11 is traveling in the dynamic determination space 79 using the infrastructure 32. The relative position measurement unit 49 records the information indicating the measured relative position and its measurement time in the memory 39.

[0190] In step 25, the assistance unit 58 uses the camera in the storage parking space 13 included in the infrastructure 32 to photograph the license plate number of the vehicle 11 in the storage parking space 13, and obtains the identification information of the vehicle 11 in the storage parking space 13 by querying an external server (not shown). When the identification information of the vehicle 11 is input to the separate terminal 27 in the above A14, the assistance unit 58 may also receive the identification information of the vehicle 11 from the separate terminal 27 in the above A15.

[0191] In addition, in step 25, the assistance unit 58 determines whether the user has selected parking based on the AVP function or robot parking based on the information received from the separate terminal 27 in the above A15. When the user has selected parking based on the AVP function, this process proceeds to step 26. When the user has selected robot parking, this process ends.

[0192] In step 26, as Figure 15 shown, the control device 25 determines the dynamic inference accuracy.

[0193] In step 261, the position acquisition unit 57 determines, for example, the information of the above (a) corresponding to the vehicle 11 in the storage space 13 and the information indicating the inference time for the information of the above (a) based on the identification information of the vehicle 11 received from the vehicle 11 in the above step 23 and the identification information of the vehicle 11 in the storage space 13 acquired in the above step 25. Then, the position acquisition unit 57 acquires the position of the vehicle 11 inferred when the vehicle 11 is traveling in the dynamic determination space 79 according to the determined information of the above (a).

[0194] In step 262, the arithmetic unit 61 calculates the dynamic inference accuracy based on the difference between the position of the vehicle 11 acquired in the above step 261 and the position of the vehicle 11 measured at the same time t1 as the inference time of the position of the vehicle 11 acquired in the above step 261 in the above step 24. The smaller the difference, the higher the dynamic inference accuracy. The inference time of the position of the vehicle 11 acquired in the above step 261 is the inference time of the information of the above (a) determined in the above step 261. When the position of the vehicle 11 is not measured at time t1 in the above step 24, the position measurement unit 59 calculates the position of the vehicle 11 at time t1 by interpolation based on the position of the vehicle 11 measured before time t1 and the position of the vehicle 11 measured after time t1. Then, the arithmetic unit 61 uses the position of the vehicle 11 at time t1 calculated by the position measurement unit 59 by interpolation to calculate the dynamic inference accuracy.

[0195] In step 263, the accuracy determination unit 42 determines whether the dynamic inference accuracy calculated in the above step 262 is less than a preset dynamic reference accuracy. When the dynamic inference accuracy is less than the dynamic reference accuracy, this process proceeds to step 264. When the dynamic inference accuracy is equal to or higher than the dynamic reference accuracy, this process proceeds to step 265.

[0196] In step 264, the accuracy determination unit 42 determines that the dynamic inference accuracy is unqualified.

[0197] In step 265, the accuracy determination unit 42 determines that the dynamic inference accuracy is qualified.

[0198] In addition, in the above process, the position of the vehicle 11 acquired in the above step 261 and the position of the vehicle 11 measured in the above step 24 are absolute positions. The position of the vehicle 11 acquired in the above step 261 and the position of the vehicle 11 measured in the above step 24 may also be relative positions.

[0199] If step 264 or step 265 ends, this process proceeds to Figure 14 step 27 shown

[0200] In step 27, as Figure 16 shown, the control device 25 determines the dynamic measurement accuracy of the vehicle-mounted sensor 67.

[0201] In step 271, the relative position acquisition unit 47, in the same manner as in the above step 261, determines the information of the above (b) corresponding to the vehicle 11 in the storage parking space 13 and the information indicating the inference time for the information of the above (b). Then, the relative position acquisition unit 47 obtains the relative position of the vehicle 11 inferred when the vehicle 11 is traveling in the dynamic determination space 79 based on the determined information of the above (b). The relative position of the vehicle 11 refers to the relative position between the vehicle 11 traveling in the dynamic determination space 79 and the marker 69 in the dynamic determination space 79.

[0202] In step 272, the sensor accuracy calculation unit 51 calculates the dynamic measurement accuracy of the vehicle-mounted sensor 67 based on the difference between the relative position of the vehicle 11 obtained in the above step 271 and the relative position of the vehicle 11 measured at the same time t2 as the inference time of the relative position of the vehicle 11 obtained in the above step 271 in the above step 24. The smaller the difference, the higher the dynamic measurement accuracy of the vehicle-mounted sensor 67. The inference time of the relative position of the vehicle 11 obtained in the above step 271 refers to the inference time of the information of the above (b) determined in the above step 271. In the case where the relative position of the vehicle 11 at time t2 is not measured in the above step 24, the relative position measurement unit 49 calculates the relative position of the vehicle 11 at time t2 by interpolation calculation based on the relative position of the vehicle 11 measured before time t2 and the relative position of the vehicle 11 measured after time t2. Then, the sensor accuracy calculation unit 51 uses the relative position of the vehicle 11 at time t2 calculated by the relative position measurement unit 49 through interpolation calculation to calculate the dynamic measurement accuracy of the vehicle-mounted sensor 67.

[0203] In step 273, the accuracy determination unit 42 determines whether the dynamic measurement accuracy of the vehicle-mounted sensor 67 calculated in the above step 272 is less than the preset dynamic reference measurement accuracy. If the dynamic measurement accuracy is less than the dynamic reference measurement accuracy, this process proceeds to step 274. If the dynamic measurement accuracy is equal to or higher than the dynamic reference measurement accuracy, this process proceeds to step 275.

[0204] In step 274, the accuracy determination unit 42 determines that the dynamic measurement accuracy of the vehicle-mounted sensor 67 is unqualified.

[0205] In step 275, the accuracy determination unit 42 determines that the dynamic measurement accuracy of the vehicle-mounted sensor 67 is qualified.

[0206] If steps 274 and 275 are completed, then Figure 14 the processing shown ends. After this processing ends, the processing after A16 and later described above is performed.

[0207] In the first embodiment described above, in the case where it is determined that the static inference accuracy is unqualified, in the case where it is determined that the static measurement accuracy of the in-vehicle sensor 67 is unqualified, or in the case where the content of the information in (c) above is that the parking lot does not match the vehicle 11, the processing of A18 and A19 above is performed. In the second embodiment, in addition to the above cases, in the case where it is determined that the dynamic inference accuracy is unqualified, or in the case where it is determined that the dynamic measurement accuracy of the in-vehicle sensor 67 is unqualified, the processing of A18 and A19 above is also performed.

[0208] The specific content of the notification in A18 above is basically the same as that in the first embodiment. However, in the case where it is determined that the dynamic inference accuracy is unqualified, the notification unit 43 notifies the separate terminal 27 of the content that the dynamic inference accuracy is unqualified. In the case where it is determined that the dynamic measurement accuracy of the in-vehicle sensor 67 is unqualified, the sensor notification unit 53 notifies the separate terminal 27 of the content that the dynamic measurement accuracy of the in-vehicle sensor 67 is unqualified. In addition, the control device 25 may also notify the smartphone.

[0209] 3. Effects of the control device 25 and the parking lot system

[0210] According to the second embodiment described in detail above, the effects of the first embodiment described above are achieved, and the following effects are also achieved.

[0211] (2A) Before the vehicle 11 starts parking using the AVP function, the control device 25 calculates the dynamic inference accuracy as the position inference accuracy. The parking corresponds to autonomous driving using the AVP function. The control device 25 can, for example, suppress the vehicle 11 with a low dynamic inference accuracy from using the AVP function. As a result, the control device 25 can reduce accidents in the automated valet parking lot 1, emergency stops of the vehicle 11 during the use of the AVP function, etc.

[0212] (2B) The control device 25 obtains the position of the vehicle 11 inferred by the vehicle 11 in a state where the vehicle 11 is traveling in the entrance space 3 provided with the entrance 9 that decelerates the vehicle 11. The entrance 9 corresponds to a speed inhibitor. The entrance space 3 corresponds to a traveling space.

[0213] When the vehicle 11 parks using the AVP function, the traveling speed of the vehicle 11 is relatively low. According to the structure described above, the control device 25 can calculate the dynamic inference accuracy in a state where the vehicle 11 is traveling at a speed close to the state of using the AVP function.

[0214] (2C) The control device 25 obtains the position of the vehicle 11 inferred while the vehicle 11 is in motion from the vehicle 11. The control device 25 measures the position of the vehicle 11 in the moving state using the infrastructure 32. The control device 25 calculates the dynamic inference accuracy as the position inference accuracy based on the difference between the position of the vehicle 11 inferred by the vehicle 11 and the position of the vehicle 11 measured using the infrastructure 32. Therefore, the control device 25 can calculate the dynamic inference accuracy more correctly.

[0215] (2D) When the dynamic inference accuracy is less than a preset dynamic reference accuracy, the control device 25 notifies the user of the vehicle 11. Therefore, the user of the vehicle 11 can learn that the dynamic inference accuracy is less than the dynamic reference accuracy.

[0216] (2E) When the dynamic inference accuracy is less than a preset dynamic reference accuracy, the control device 25 uses the parking robot 31 to move the vehicle 11 to the parking space 8. Therefore, the control device 25 can prevent the vehicle 11 with a low dynamic inference accuracy from using the AVP function. As a result, the control device 25 can reduce accidents in the automated valet parking lot 1, emergency stops of the vehicle 11 during the use of the AVP function, etc.

[0217] (2F) The control device 25 obtains the relative position of the marker 69 inferred using the in-vehicle sensor 67 and the vehicle 11 in the moving state from the vehicle 11. The control device 25 measures the relative position of the marker 69 and the vehicle 11 in the moving state using the infrastructure 32. The control device 25 calculates the dynamic measurement accuracy of the in-vehicle sensor 67 based on the difference between the relative position obtained from the vehicle 11 and the relative position measured using the infrastructure 32. The control device 25 can, for example, prevent the vehicle 11 with a low dynamic measurement accuracy of the in-vehicle sensor 67 from using the AVP function. As a result, the control device 25 can reduce accidents in the automated valet parking lot 1, emergency stops of the vehicle 11 during the use of the AVP function, etc.

[0218] (2G) When the dynamic measurement accuracy of the in-vehicle sensor 67 is less than a preset dynamic reference measurement accuracy, the control device 25 notifies the user of the vehicle 11. Therefore, the user of the vehicle 11 can learn that the dynamic measurement accuracy of the in-vehicle sensor 67 is less than the dynamic reference measurement accuracy.

[0219] (2H) Before the vehicle 11 starts parking using the AVP function, the control device 25 calculates both the static measurement accuracy and the dynamic inference accuracy as the position inference accuracy. Therefore, the control device 25 can further reduce accidents in the automated valet parking lot 1, emergency stops of the vehicle 11 during the use of the AVP function, etc.

[0220] <Third Embodiment>

[0221] 1. Differences from the First Embodiment

[0222] Since the basic structure of the third embodiment is the same as that of the first embodiment, the following will describe the differences. In addition, the same reference numerals as those in the first embodiment denote the same structures, and refer to the previous description.

[0223] In the above-described first embodiment, the control unit 33 has the Figure 3 structure shown. In contrast, in the third embodiment, the control unit 33 has a Figure 17 structure different from that of the first embodiment. The control unit 33 in the third embodiment further includes a correction instruction unit 73.

[0224] 2. Processes Related to Parking Performed by the Control System 23 and the Vehicle 11

[0225] When it is determined in A17 above that the static inference accuracy is unqualified, the correction instruction unit 73 in the third embodiment instructs the vehicle 11 to correct the in-vehicle camera 65. The content of the correction is to change the angle of the in-vehicle camera 65 so that the position of the vehicle 11 inferred by the vehicle 11 coincides with the position of the vehicle 11 measured using the infrastructure 32. By performing this correction, the difference between the position of the vehicle 11 inferred by the vehicle 11 and the position of the vehicle 11 measured using the infrastructure 32 becomes smaller, and the static inference accuracy is improved. After the above correction, the Figure 7 parking process based on the AVP function shown in A41 - A51 is performed.

[0226] The correction of the in-vehicle camera 65 can also be the following correction. For example, the image area cut out for image recognition can be moved. For example, when the shooting area is larger than the image analysis area, the image analysis area can be set as a rectangular area shifted 1 cm to the right compared to before the correction. Additionally, the position of the vehicle 11 calculated later can be corrected. For example, the following correction can be performed, that is, after calculating the position of the vehicle 11 in the same way as before the correction, the position of the vehicle 11 is moved 3 cm to the right.

[0227] It should be noted that when it is determined in A17 above that the static measurement accuracy of the in-vehicle sensor 67 is unqualified, or when the content of the information in (c) above is that the parking lot does not match the vehicle 11, the processes of A26 - A40 are performed.

[0228] 3. Effects of the Control Device 25 and the Parking Lot System

[0229] According to the third embodiment described in detail above, the effects of the above-described first embodiment are achieved, and the following effects are also achieved.

[0230] (3A) When the static inference accuracy is less than a preset static reference accuracy, the control device 25 instructs the vehicle 11 to correct the in-vehicle camera 65. Therefore, the static inference accuracy of the vehicle 11 can be improved. In addition, for example, even if the initial static inference accuracy is less than the static reference accuracy, parking can be performed based on the AVP function after the in-vehicle camera 65 is corrected.

[0231] <Fourth Embodiment>

[0232] 1. Differences from the First Embodiment

[0233] Since the basic structure of the fourth embodiment is the same as that of the first embodiment, the differences will be described below. In addition, the same reference numerals as those in the first embodiment denote the same structures, and reference is made to the previous description.

[0234] In the above first embodiment, when it is determined that the static measurement accuracy of the in-vehicle sensor 67 is unqualified, the parking method is robot parking. In contrast, in the fourth embodiment, even when it is determined that the static measurement accuracy of the in-vehicle sensor 67 is unqualified, if it is determined that the static inference accuracy is qualified and the parking lot matches the AVP system of the vehicle 11, parking based on the AVP function is performed.

[0235] It should be noted that when it is determined that the static measurement accuracy of the in-vehicle sensor 67 is unqualified, the parking frame 8 as the target parking position is enlarged, or the position of the parking frame 8 as the target parking position is made closer to the parking space 13 for entry, compared with the case where it is determined that the static measurement accuracy of the in-vehicle sensor 67 is qualified.

[0236] 2. Effects of the Control Device 25 and the Parking Lot System

[0237] According to the fourth embodiment described in detail above, the effects of the above first embodiment are achieved, and the following effects are also achieved.

[0238] (4A) By enlarging the parking frame 8 or making the position of the parking frame 8 closer to the parking space 13 for entry, accidents in the automated valet parking lot 1 and emergency stops of the vehicle 11 during the use of the AVP function can be reduced even when the static measurement accuracy of the in-vehicle sensor 67 is unqualified.

[0239] <Other Embodiments>

[0240] The embodiments of the present disclosure have been described above, but the present disclosure is not limited to the above embodiments and can be variously modified and implemented.

[0241] (1) Instead of the white line 71 or in addition to the white line 71, other guiding units can also be used. As other guiding units, for example, a monitor provided in the parking space 13 for entry can be cited. The user of the vehicle 11 can visually confirm this monitor. The monitor displays the current position and the target position of the vehicle 11 in the parking space 13 for entry. The user can guide the position of the vehicle 11 to the target position while observing the monitor. When the vehicle 11 is parked at the target position displayed on the monitor, the in-vehicle camera 65 can capture the marker 69, and the in-vehicle sensor 67 can detect the marker 69 and the white line 71.

[0242] (2) When it is determined that the dynamic inference accuracy is unqualified in the above-described second embodiment, for example, the in-vehicle camera 65 can also be corrected. The content of the correction of the in-vehicle camera 65 is, for example, the same as the content of the correction in the above-described third embodiment. After the correction of the in-vehicle camera 65, for example, parking based on the AVP function can be performed instead of robot parking.

[0243] According to such a structure, when the dynamic inference accuracy is less than the preset dynamic reference accuracy, the control device 25 instructs the vehicle 11 to correct the in-vehicle camera 65. Therefore, the dynamic inference accuracy of the vehicle 11 can be improved. In addition, for example, even if the dynamic inference accuracy is initially less than the dynamic reference accuracy, after the in-vehicle camera 65 is corrected, parking based on the AVP function can be performed.

[0244] (3) In the above-described second embodiment, if it is determined that the dynamic inference accuracy is qualified and the parking lot matches the AVP system of the vehicle 11, even when it is determined that the dynamic measurement accuracy of the in-vehicle sensor 67 is unqualified, robot parking is not performed and parking based on the AVP function is performed. However, when it is determined that the dynamic measurement accuracy of the in-vehicle sensor 67 is unqualified, the parking frame 8 as the target parking position is enlarged, or the position of the parking frame 8 as the target parking position is made closer to the parking space 13 for entry compared to the case where it is determined that the dynamic measurement accuracy of the in-vehicle sensor 67 is qualified.

[0245] According to such a structure, even when the dynamic measurement accuracy of the in-vehicle sensor 67 is unqualified, accidents in the automatic valet parking lot 1 and emergency stops of the vehicle 11 during the use of the AVP function can be reduced.

[0246] (4) In the above-described embodiment, since the method of determining parking is based on each of the position inference accuracy, the measurement accuracy of the in-vehicle sensor 67, and the matching between the parking lot and the vehicle 11, the control device 25 requests the vehicle 11 to transmit the information of the above (a) to (c) in A16. However, the method of parking may also be determined based on one or two of the position inference accuracy, the measurement accuracy of the in-vehicle sensor 67, and the matching between the parking lot and the vehicle 11. That is, the control device 25 does not request the vehicle 11 to transmit all of the information of the above (a) to (c), but requests the vehicle 11 to transmit one or two of these pieces of information.

[0247] (5) The location of the vehicle 11 when calculating the static inference accuracy as the position inference accuracy may also be a location other than the parking space 13 for entry. For example, the static inference accuracy of the vehicle 11 may be calculated on the path from the entrance 9 to the parking space 13 for entry. For example, the marker 69 provided in the entry space 3 as shown can be used to calculate the static inference accuracy. Figure 1 The static inference accuracy can be calculated using the marker 69 provided in the entry space 3 as shown.

[0248] In addition, when the vehicle 11 is traveling, the position inference accuracy of the vehicle 11 can be calculated. In this case, for example, at the same time t, the vehicle 11 infers the position of the vehicle 11 and uses the infrastructure 32 to measure the position of the vehicle 11. Then, based on the difference between the position of the vehicle 11 measured by the vehicle 11 and the position of the vehicle 11 measured using the infrastructure 32, the position inference accuracy of the vehicle 11 is calculated.

[0249] Furthermore, when it is not possible to measure the position of the vehicle 11 at time t using the infrastructure 32, the position of the vehicle 11 at time t can be calculated by interpolation calculation based on the position of the vehicle 11 measured using the infrastructure 32 before time t and the position of the vehicle 11 measured using the infrastructure 32 after time t. The position inference accuracy of the vehicle 11 at time t calculated by interpolation calculation can be used to calculate the position inference accuracy of the vehicle 11 by the above method.

[0250] (6) The location of the vehicle 11 when calculating the dynamic inference accuracy as the position inference accuracy may, for example, also include curves, narrow roads, speed bumps, signs or road markings indicating temporary stops or decelerations, displays such as traffic signals, etc. Before, after, or at curves, etc., the traveling speed of the vehicle 11 is relatively low. Therefore, the dynamic inference accuracy of the vehicle 11 in a state of traveling at a speed close to the state of using the AVP function can be calculated. In addition, curves, etc. correspond to speed inhibitors.

[0251] (7) Calculate the static inference accuracy, the dynamic inference accuracy, and the location where they are used as the location inference accuracy. For example, it can also be on the path from the outside of the automated valet parking lot 1 towards the entrance 9. For example, by setting a marker 69 on the path from the outside of the automated valet parking lot 1 towards the entrance 9, the location inference accuracy of the vehicle 11 can be calculated by utilizing the infrastructure on this path. At this time, the wireless communication between the control device 25 and the vehicle 11, for example, uses a communication standard for mobile phones such as LTE, and can be achieved by the method of the control device 25 sending information to the vehicle 11 existing within a specific communication range.

[0252] (8) The determination of the dynamic inference accuracy and the determination of the dynamic measurement accuracy of the in-vehicle sensor 67 can also be carried out before the vehicle 11 arrives at the parking space 13 for storage. In other words, regarding the determination of the dynamic inference accuracy, similar to the second embodiment described above, before the vehicle 11 arrives at the parking space 13 for storage, the position acquisition unit 57 acquires the position of the vehicle 11 inferred by the vehicle 11 in the state of traveling in the dynamic determination space 79 (i.e., the information in the above (a)) from the vehicle 11. Moreover, before the vehicle 11 arrives at the parking space 13 for storage, the position accuracy calculation unit 41 can complete the determination of whether the dynamic inference accuracy is less than a preset reference accuracy, and record the determination result together with the identification information of the vehicle 11 in the memory 39. According to such a structure, when information is sent from the individual terminal 27 to the control device 25 for the corresponding vehicle 11 in the above A15, the above A16 and subsequent processes are immediately performed. The determination of the dynamic measurement accuracy of the in-vehicle sensor 67 can be carried out in the same way.

[0253] (9) In the second embodiment described above, both the dynamic inference accuracy and the dynamic measurement accuracy of the in-vehicle sensor 67 are calculated, but only either one can also be calculated. For example, in the case of only calculating the dynamic inference accuracy, in the above step 22, the auxiliary unit 58 may not request the vehicle 11 to send the information representing the above (b) and the information of the inference time of the above (b) that can be used in the calculation of the dynamic measurement accuracy of the in-vehicle sensor 67. On the contrary, for example, in the case of only calculating the dynamic measurement accuracy of the in-vehicle sensor 67, in the above step 22, the auxiliary unit 58 may not request the vehicle 11 to send the information representing the above (a) and the information of the inference time of the above (a) that can be used in the calculation of the dynamic inference accuracy.

[0254] (10) A part of the cameras provided in the infrastructure 32 captures the vehicle 11 and the marker 69 at once. However, for example, when the position of the camera is fixed, it is also possible to capture only the vehicle 11 without capturing the marker 69. When the position of the camera is fixed, since the shooting range of the camera is constant, the control device 25 can measure the position of the vehicle 11 even if the marker 69 is not captured.

[0255] (11) The wireless communication from the control device 25 to the vehicle 11 can also be achieved, for example, by a method in which the control device 25 transmits information within the communication range.

[0256] (12) The control unit 33 and its method described in the present disclosure can also be implemented by a dedicated computer, which is provided by a processor and a memory configured to execute one or more functions embodied by a computer program. Alternatively, the control unit 33 and its method described in the present disclosure can also be implemented by a dedicated computer provided by a processor constituted by one or more dedicated hardware logic circuits. Alternatively, the control unit 33 and its method described in the present disclosure can also be implemented by one or more dedicated computers, which are constituted by a combination of a processor programmed to execute one or more functions and a memory, and a processor constituted by one or more hardware logic circuits. In addition, the computer program can also be stored as an instruction executed by a computer in a computer-readable non-transitory tangible recording medium. In the method of implementing the functions of the respective parts included in the control unit 33, it is not necessarily required to include software, and all of its functions can also be implemented using one or more hardware.

[0257] (13) It is also possible to implement the multiple functions of one component in the above-described embodiment by multiple components, or to implement one function of one component by multiple components. In addition, it is also possible to implement the multiple functions of multiple components by one component, or to implement one function implemented by multiple components by one component. In addition, a part of the structure of the above-described embodiment can also be omitted. In addition, at least a part of the structure of the above-described embodiment can also be added to or replaced with the structure of other above-described embodiments.

[0258] (14) In addition to the above-described control device 25, the present disclosure can also be implemented in various ways such as a system having the control device 25 as a component, a program for causing a computer to function as the control unit 33 of the control device 25, a non-transitory entity recording medium such as a semiconductor memory recording the program, and an automatic parking assist method.

Claims

1. A control device, which is a control device used in an automated valet parking lot, wherein, Comprising: A travel path determination unit configured to determine a travel path to a parking space; A travel path transmission unit configured to transmit the travel path to the vehicle; A position acquisition unit configured to acquire from the vehicle the position of the vehicle inferred by the vehicle in a traveling state; and A position accuracy calculation unit configured to calculate the accuracy of the position of the vehicle in a traveling state acquired by the position acquisition unit, that is, the dynamic inference accuracy, before the vehicle starts autonomous driving according to the travel path, The control device is provided outside the vehicle and communicates wirelessly with the vehicle, The position accuracy calculation unit comprises: A position measurement unit configured to measure the position of the vehicle when the vehicle infers the position of the vehicle in a traveling state by using sensors provided in the automatic valet parking lot; And An arithmetic unit configured to calculate the dynamic inference accuracy based on the difference between the position of the vehicle in a traveling state acquired by the position acquisition unit and the position of the vehicle in a traveling state measured by the position measurement unit.

2. The control device according to claim 1, wherein The position acquisition unit is configured to acquire from the vehicle the position of the vehicle inferred by the vehicle in a traveling state in a travel space provided with a speed inhibitor for decelerating the vehicle.

3. The control device according to claim 1, wherein, Further comprising: A notification unit configured to notify the user of the vehicle when the dynamic inference accuracy calculated by the position accuracy calculation unit is less than a preset reference accuracy.

4. The control device according to claim 1, wherein, Further comprising: A parking robot control unit configured to use a parking robot to transport the vehicle to the parking space when the dynamic inference accuracy calculated by the position accuracy calculation unit is less than a preset reference accuracy.

5. The control device according to claim 1, wherein, Further comprising: A correction instruction unit configured to instruct the vehicle to correct the sensor used by the vehicle to infer the position of the vehicle when the dynamic inference accuracy calculated by the position accuracy calculation unit is less than a preset reference accuracy.

6. The control device according to claim 1, wherein, Further comprising: A relative position acquisition unit configured to acquire from the vehicle the relative position between a reference position in the automatic valet parking lot and the vehicle measured by on-vehicle sensors provided in the vehicle for autonomous driving; A relative position measurement unit configured to measure the relative position by using sensors provided in the automatic valet parking lot; and A sensor accuracy calculation unit configured to calculate the measurement accuracy of the on-vehicle sensors based on the difference between information related to the relative position acquired by the relative position acquisition unit and information related to the relative position measured by the relative position measurement unit.

7. The control device according to claim 6, wherein, Further comprising: A sensor notification unit configured to notify the user of the vehicle when the measurement accuracy of the on-vehicle sensors calculated by the sensor accuracy calculation unit is less than a preset reference measurement accuracy.

8. The control device according to claim 6 or 7, wherein, Further comprising: A parking space setting unit configured to set the parking space in the automatic valet parking lot, The above parking frame setting unit is configured such that, when the measurement accuracy of the in-vehicle sensor calculated by the above sensor accuracy calculation unit is less than a preset reference measurement accuracy, the parking frame is enlarged or the position of the parking frame is made closer to the vehicle compared to the case where the measurement accuracy of the in-vehicle sensor is equal to or higher than the reference measurement accuracy.

9. The control device according to any one of claims 1 to 7, wherein the above position acquisition unit is configured to acquire, from the vehicle, the position of the vehicle inferred in a parked state; the above position accuracy calculation unit is configured to calculate the accuracy of the position of the vehicle in the parked state acquired by the above position acquisition unit, that is, the static inference accuracy, before the vehicle starts autonomous driving according to the above driving path.

10. The control device according to claim 1, wherein the above control device sends respective driving paths to a plurality of vehicles traveling in the above automatic valet parking lot.

11. A control device, which is a control device used in an automated valet parking lot, wherein, Comprising: a driving path determination unit configured to determine a driving path to a parking frame; a driving path sending unit configured to send the above driving path to a vehicle; a position acquisition unit configured to acquire, from the vehicle, the position of the vehicle inferred in a traveling state; and a position accuracy calculation unit configured to calculate the accuracy of the position of the vehicle in the traveling state acquired by the above position acquisition unit, that is, the dynamic inference accuracy, before the vehicle starts autonomous driving according to the above driving path, the above control device is provided outside the vehicle and communicates wirelessly with the vehicle, Further comprising: a relative position acquisition unit configured to acquire, from the vehicle, the relative position between a reference position in the above automatic valet parking lot and the vehicle measured by an in-vehicle sensor provided in the vehicle for autonomous driving; a relative position measurement unit configured to measure the above relative position using a sensor provided in the above automatic valet parking lot; and a sensor accuracy calculation unit configured to calculate the measurement accuracy of the in-vehicle sensor based on the difference between information related to the above relative position acquired by the above relative position acquisition unit and information related to the above relative position measured by the above relative position measurement unit.

12. The control device according to claim 11, wherein the above position acquisition unit is configured to acquire, from the vehicle, the position of the vehicle inferred in a parked state; the above position accuracy calculation unit is configured to calculate the accuracy of the position of the vehicle in the parked state acquired by the above position acquisition unit, that is, the static inference accuracy, before the vehicle starts autonomous driving according to the above driving path.

13. A parking lot system, wherein, Comprising: the control device according to claim 9 or 12; and a guiding unit configured to guide the vehicle to a preset position when the above position accuracy calculation unit calculates the above static inference accuracy.

14. A method for calculating position accuracy, which is a method for calculating position accuracy executed by a control device used in an automated valet parking lot, wherein, Comprising: Determine a driving path to a parking frame; Send the above driving path to a vehicle; Acquire, from the vehicle, the position of the vehicle inferred in a traveling state; and Before the above vehicle starts autonomous driving along the above driving route, calculate the accuracy of the position of the above vehicle in the driving state obtained from the above vehicle, that is, the dynamic inference accuracy. The above control device is provided outside the above vehicle and communicates wirelessly with the above vehicle. Calculating the above dynamic inference accuracy includes: Using the sensors equipped in the above automated valet parking lot to measure the position of the above vehicle when the above vehicle infers its own position in the driving state; and Based on the difference between the position of the above vehicle in the obtained driving state and the measured position of the above vehicle in the driving state, calculate the above dynamic inference accuracy.

15. A method for calculating position accuracy, which is a method for calculating position accuracy executed by a control device used in an automated valet parking lot, wherein, It includes: Determine the driving route to the parking space; Send the above driving route to the vehicle; Obtain the position of the above vehicle inferred by the above vehicle in the driving state from the above vehicle; and Before the above vehicle starts autonomous driving along the above driving route, calculate the accuracy of the position of the above vehicle in the driving state obtained from the above vehicle, that is, the dynamic inference accuracy. The above control device is provided outside the above vehicle and communicates wirelessly with the above vehicle. It further includes: Obtain from the above vehicle the relative position between the reference position in the above automated valet parking lot and the above vehicle measured by the in-vehicle sensors for autonomous driving equipped in the above vehicle; Use the sensors equipped in the above automated valet parking lot to measure the above relative position; and Based on the difference between the information related to the obtained above relative position and the information related to the measured above relative position, calculate the measurement accuracy of the above in-vehicle sensors.

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