Parking assistance device, parking assistance method, parking assistance system, parking assistance program and portable terminal device

Abstract

The present invention provides a parking assistance device, a parking assistance method, a parking assistance system, a parking assistance program, and a portable terminal device. The parking assistance device (39) configured to assist in automatic valet parking of a vehicle comprises: an abnormality determination unit (47A: S110, S120) configured to determine whether the autonomous driving vehicle (18) has an abnormality when the autonomous driving vehicle (18) moves in the parking lot by autonomous driving; and a notification instruction unit (47B: S140-S160) configured to issue an instruction for notifying a portable terminal device (45) held by a user of the autonomous driving vehicle of contents including collection information and prompt information when it is determined that the abnormality exists, wherein the collection information indicates a collection location where the user should collect the autonomous driving vehicle, and the prompt information indicates that the user should go to the collection location.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This international application claims the priority based on Japanese Patent Application No. 2020-088229 filed with the Japan Patent Office on May 20, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a parking assistance device configured to assist parking of a vehicle, a parking assistance method executed by the parking assistance device, a parking assistance system including the parking assistance device, a parking assistance program, and a portable terminal device. Background Art

[0004] For example, Patent Document 1 listed below discloses an automatic valet parking technology in which a management device on the parking lot side guides an autonomous driving vehicle from a get-off area to a parking position in a parking area as the above-mentioned parking assistance system.

[0005] Patent Document 1: Japanese Patent Application Publication No. 2019-160086

[0006] However, in the technology of the above-mentioned patent document 1, when it can be confirmed that the function of the on-board sensor has been reduced, the driver is reminded to park the vehicle V in a parking lot where the driver can park the vehicle by his own operation, that is, a general parking lot. However, the possibility of abnormality when the autonomous driving vehicle moves in the parking lot is not considered. As a result of detailed research by the inventor, the following problem was found: after the driver gets off the vehicle, if the vehicle has an abnormality, the autonomous driving vehicle cannot move in the parking lot, and hinders the movement of other autonomous driving vehicles. Summary of the invention

[0007] One aspect of the present disclosure is to provide a parking assist device configured to assist parking of a vehicle so that even if an abnormality occurs in an autonomous driving vehicle, movement of other autonomous driving vehicles is unlikely to be hindered.

[0008] One aspect of the present disclosure is a management device, which is a parking assistance device configured to assist in parking a vehicle. A vehicle configured to be able to perform automatic driving according to a guidance path set by the parking assistance device in a parking lot having a plurality of partitioned boarding and alighting areas and parking areas is used as an automatic driving vehicle.

[0009] The parking assistance device includes an abnormality determination unit and a notification instruction unit. The abnormality determination unit is configured to determine whether the autonomous driving vehicle has an abnormality when the autonomous driving vehicle moves in the parking lot by autonomous driving. The notification instruction unit is configured to issue an instruction for notifying a portable terminal device held by a user of the autonomous driving vehicle of the contents including recycling information and prompt information when it is determined that an abnormality exists, wherein the recycling information indicates a recycling location where the user should recycle the autonomous driving vehicle, and the prompt information indicates that the user should go to the recycling location.

[0010] According to such a structure, the user can be informed of the collection location and the situation in which the user should go to the collection location through the portable terminal device held by the user, for example, the user should quickly move to the collection location to move the autonomous driving vehicle. Therefore, even if an abnormality occurs in the autonomous driving vehicle, it is difficult to hinder the movement of other autonomous driving vehicles. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is an overhead view of the parking lot.

[0012] Figure 2 is a block diagram showing the structure of a parking assist system.

[0013] Figure 3 This is a functional block diagram of the control unit of the management device.

[0014] Figure 4 This is a flowchart of the notification process executed by the management device.

[0015] Figure 5 This is an image diagram showing a notification image in the embodiment.

[0016] Figure 6 This is an image diagram showing a notification image in another embodiment.

[0017] Figure 7 This is an image diagram showing still another type of notification image.

[0018] Figure 8 This is an image diagram showing still another type of notification image.

[0019] Fig. 9 This is an image diagram showing still another type of notification image. DETAILED DESCRIPTION

[0020] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings.

[0021] [1-1. Configuration of parking assistance system 1]

[0022] based on Figure 1 to Figure 3 The structure of the parking assistance system 1 is described. Figure 1 As shown, the parking assistance system 1 includes a parking room 3 set in a disembarkation area where a user disembarks, a parking room 5 set in a boarding area where a user boards, and a parking area 7.

[0023] In addition, hereinafter, the area including the entry car room 3, the unloading car room 5 and the parking area 7 is also referred to as the parking lot. In addition, the area including the entry car room 3 and the unloading car room 5 is also referred to as the boarding and alighting areas 3 and 5. A plurality of partitions are provided in each of the entry car room 3 and the unloading car room 5. The entry car room 3 is connected to the outside of the parking assistance system 1 via the entrance 15. The autonomous driving vehicle 18 can enter the entry car room 3 from the outside through the entrance 15. The autonomous driving vehicle 18 has an automatic valet parking function.

[0024] In addition, the automatic driving vehicle 18 only needs to be able to implement the automatic valet parking function in the parking lot, and does not need to have the function of automatic driving outside the parking lot. In addition, the automatic valet parking function includes: a function of driving from the parking room 3 to the parking position in the parking area 7 and parking by automatic driving, and a function of driving from the parking position in the parking area 7 to the exiting room 5. In addition, the automatic valet parking function includes a function of driving to move in the parking area 7 when other vehicles enter or leave the parking lot.

[0025] The automatic valet parking function specifically includes: a function of repeatedly acquiring the position information of the autonomous driving vehicle 18 and transmitting it to the management device 39 as the parking assistance device of the present disclosure, and a function of receiving a guidance path from the management device 39 and controlling the autonomous driving vehicle 18 to travel according to the guidance path. The position information of the autonomous driving vehicle 18 refers to the estimated result of the current position of the autonomous driving vehicle 18, for example, including the coordinate value within the area of ​​the parking lot.

[0026] The parking room 3 and the unparking room 5 are adjacent to an entrance 23 of a facility 22 such as a store. A passenger of the autonomous driving vehicle 18 parked in the parking room 3 can get off the autonomous driving vehicle 18 and enter the entrance 23 on foot.

[0027] The unloading chamber 5 is connected to the outside of the parking assistance system 1 via an exit 27. The automated driving vehicle 18 can enter the outside of the parking assistance system 1 from the unloading chamber 5 through the exit 27. The unloading chamber 5 is adjacent to the entrance 23. A passenger can enter the unloading chamber 5 from the entrance 23 on foot.

[0028] The parking area 7 is a place where a plurality of autonomous driving vehicles 18 can park. A plurality of partitions are provided inside the parking area 7. Each partition provided in the entry vehicle room 3, the exit vehicle room 5, and the parking area 7 is an area where one autonomous driving vehicle 18 can park. However, the parking area 7 does not need to be provided with partitions.

[0029] The autonomous driving vehicle 18 can travel from the inbound vehicle room 3 to the parking area 7 . Also, the autonomous driving vehicle 18 can travel from the parking area 7 to the outbound vehicle room 5 .

[0030] like Figure 2 As shown, the parking assistance system 1 includes a management device 39, an infrastructure 41, a fixed terminal device 43, and a mobile terminal device 45. The parking assistance system 1 includes a plurality of unmanned transport vehicles 21.

[0031] The unmanned transport vehicle 21 can travel in a state (hereinafter referred to as a loaded state) in which any vehicle including the automatic driving vehicle 18 is loaded on the unmanned transport vehicle 21, for example. In addition, the unmanned transport vehicle 21 can move between a state other than the loaded state and a loaded state by drilling under the vehicle and lifting the vehicle. In addition, the unmanned transport vehicle 21 has a function of automatically driving to a target location along a guide path provided by the management device 39.

[0032] The unmanned transport vehicle 21 can transport the vehicle to the target location by automatically driving along the guide path to the target location in the loaded state. The vehicle transported by the unmanned transport vehicle 21 can be an automatic driving vehicle 18 or a vehicle that is not an automatic driving vehicle 18, that is, a vehicle that does not have the automatic driving function.

[0033] The unmanned transportation vehicle 21 holds map information related to the parking lot. When the unmanned transportation vehicle 21 performs automatic driving, for example, the map information is used. When the unmanned transportation vehicle 21 performs automatic driving, the position information is used. The unmanned transportation vehicle 21 can communicate with the management device 39.

[0034] The management device 39 includes a control unit 47 and a communication unit 49. The control unit 47 includes a microcomputer having a CPU 51 and a semiconductor memory such as a RAM or a ROM (hereinafter referred to as a memory 53).

[0035] Each function of the control unit 47 is realized by the CPU 51 executing a program stored in a non-transitional physical recording medium. The program includes the parking assistance program disclosed in the present invention. In this example, the memory 53 is equivalent to a non-transitional physical recording medium storing the program. In addition, by executing the program, the method corresponding to the program is executed. In addition, the control unit 47 can have one microcomputer or multiple microcomputers.

[0036] The control unit 47 has a structure for sending a guidance path to the parking position and an instruction to start parking or leaving the garage to the autonomous driving vehicle 18 and the unmanned transport vehicle 21. When the autonomous driving vehicle 18 moves, the control unit 47 sets a guidance path from the current position of the autonomous driving vehicle 18 to the target position, and sends the guidance path and the start instruction to the autonomous driving vehicle 18. Then, the autonomous driving vehicle 18 moves according to the guidance path.

[0037] In addition, the control unit 47 sets a guidance path from the current position of the unmanned transportation vehicle 21 to the target position via the current position of the vehicle when moving any transportation target vehicle including a vehicle other than the automatic driving vehicle 18. Then, the control unit 47 sends the guidance path and the start instruction to the unmanned transportation vehicle 21. Then, the unmanned transportation vehicle 21 moves according to the guidance path and transports the transportation target vehicle to the target position.

[0038] For example, Figure 3 As shown, the control unit 47 includes an abnormality determination unit 47A, a notification instruction unit 47B, a manual setting unit 47C, an arrival detection unit 47D, a notification setting unit 47E, and a distance detection unit 47F. The operations of the units 47A to 47F constituting the control unit 47 will be described later.

[0039] The memory 53 stores the map information of the parking lot. The map information includes information indicating the state of the division in the parking area 7. The state of the division includes a vacant state (hereinafter referred to as an idle state) and a state occupied by the autonomous driving vehicle 18 (hereinafter referred to as an occupied state). The communication unit 49 can communicate with the autonomous driving vehicle 18.

[0040] The infrastructure 41 has a function of acquiring information indicating the internal status of the parking assistance system 1 (hereinafter referred to as parking lot information) and supplying the parking lot information to the management device 39. The infrastructure 41 includes a sensor for measuring the size of the vehicle in the parking room 3, a camera for photographing the interior of the parking lot, a laser radar, and the like.

[0041] Examples of the parking lot information include information indicating the position of an obstacle, information indicating the state of the divisions in the parking area 7 , and position information of the automatic driving vehicle 18 existing in the parking assist system 1 .

[0042] like Figure 1As shown, the fixed terminal device 43 is installed near the parking room 3. The fixed terminal device 43 outputs a parking request signal according to an input operation performed by the user as the parking of the autonomous driving vehicle 18, such as a parking request. The so-called parking request signal is a signal requesting that the autonomous driving vehicle 18 in the parking room 3 be transported to the parking area 7 and parked. In addition, when the fixed terminal device 43 outputs a signal corresponding to the input operation to the management device 39, it outputs identification information of the autonomous driving vehicle 18, etc.

[0043] In addition, the fixed terminal device 43 outputs a departure request signal in response to an input operation by the user indicating the departure of the autonomous driving vehicle 18, such as a departure request. The departure request signal is a signal requesting that the autonomous driving vehicle 18 parked in the parking area 7 be guided to the departure room 5.

[0044] In addition, the fixed terminal device 43 outputs identification information of the autonomous driving vehicle 18, for example, based on an input operation. The identification information is information such as a license plate for uniquely identifying the autonomous driving vehicle 18.

[0045] The portable terminal device 45 is a device held by a passenger of the autonomous driving vehicle 18, and is configured to be able to communicate with the management device 39. The portable terminal device 45 repeatedly sends information about the current location of the portable terminal device 45 to the management device 39. In addition, the portable terminal device 45 has a notification unit 45A. As the notification unit 45A, for example, it has a display and a speaker, and a control circuit 45B that controls these components, and the portable terminal device 45 is configured as a smartphone having these components. The portable terminal device 45 reports to the passenger with images and sounds by the notification unit 45A based on instructions from the management device 39. In addition, the report to the passenger also includes a report made when the passenger gets off the autonomous driving vehicle 18 while holding the portable terminal device 45. The control circuit 45B corresponds to an example of a control unit in the portable terminal device 45.

[0046] The autonomous driving vehicle 18 has an automatic valet parking function as described above. Figure 2 As shown, the autonomous driving vehicle 18 includes a control unit 69 , a sensor group 71 , a position information acquisition unit 73 , and a communication unit 75 .

[0047] The control unit 69 controls each unit of the autonomous driving vehicle 18. The autonomous driving function is realized by the control performed by the control unit 69. The autonomous driving vehicle 18 obtains the map information and the guidance route of the parking lot from the management device 39, and uses the map information and the guidance route of the parking lot when performing autonomous driving.

[0048] The sensor group 71 acquires surrounding information indicating the surrounding conditions of the autonomous driving vehicle 18. The surrounding information may include, for example, the positions of obstacles existing around the autonomous driving vehicle 18. The sensor group 71 includes, for example, a camera, a laser radar, etc. The autonomous driving vehicle 18 uses the surrounding information when performing autonomous driving.

[0049] The position information acquisition unit 73 acquires the position information of the autonomous driving vehicle 18. The position information acquisition unit 73 is, for example, a position estimation system based on a laser radar and a map. The autonomous driving vehicle 18 uses the position information when performing autonomous driving. The communication unit 75 can communicate with the management device 39.

[0050] like Figure 2 As shown, the parking assistance system 1 further includes a device 96. The device 96 is any device held by a person other than the user, such as a rewritable remote control key or a smart phone. In this embodiment, the device 96 is held by the manager of the parking lot. The device 96 can communicate with the automatic driving vehicle 18 and the management device 39 by wireless.

[0051] The device 96 includes a processing unit 97 and a recording unit 98. The processing unit 97 includes a microcomputer having a CPU and a memory (not shown). The processing unit 97 obtains a virtual key from outside the device 96, processes the obtained virtual key in the recording unit 98, and performs processing to use the virtual key as a key of the autonomous driving vehicle 18. These processes will be described later.

[0052] [1-2. Processing]

[0053] Next, use Figure 4 The flowchart of will explain the notification processing performed by the management device 39. The notification processing is a process in which the management device 39 monitors whether the autonomous driving vehicle 18 has any abnormality after the user (e.g., the driver) of the autonomous driving vehicle 18 gets off at the parking room 3, and in the case of an abnormality, notifies the user to return to the autonomous driving vehicle 18. Alternatively, in the case of an abnormality in the autonomous driving vehicle 18, a person other than the user performs a program processing for quickly moving the autonomous driving vehicle 18.

[0054] In the notification process, first, in S110, the abnormality determination unit 47A of the management device 39 performs an inspection of the autonomous driving vehicle 18 or monitors the state of the autonomous driving vehicle 18. For example, when the autonomous driving vehicle 18 arrives at the parking room 3 and the user of the autonomous driving vehicle 18 gets off the vehicle and then wants to move the autonomous driving vehicle 18 to the parking area 7, the autonomous driving vehicle 18 is inspected. In this case, the inspection is performed to check whether the size of the autonomous driving vehicle 18 is suitable for the parking lot, and whether the state of the autonomous driving vehicle 18, such as the drivable distance and the presence or absence of a fault, meets a pre-set benchmark. The abnormality determination unit 47A determines whether the vehicle is qualified or unqualified through this inspection.

[0055] In addition, for example, the state of the autonomous driving vehicle 18 is always monitored during the movement of the autonomous driving vehicle 18. In the monitoring of this situation, it is determined whether the autonomous driving vehicle 18 is traveling without deviating from the designated guidance path, whether the autonomous driving vehicle 18 has a fault such as a failure or an error, etc. If the inspection is unqualified, if the autonomous driving vehicle 18 has deviated from the guidance path, or if a fault occurs in the autonomous driving vehicle 18, etc., the abnormality determination unit 47A determines that the autonomous driving vehicle 18 has an abnormality.

[0056] Next, in S120, the abnormality determination unit 47A determines whether the automatic driving vehicle 18 has an abnormality. When the abnormality determination unit 47A determines that there is no abnormality in S120, the process moves to S130, and the management device 39 determines whether the movement is completed. If the management device 39 receives any one of a parking completion notification indicating that parking is completed, a departure completion notification indicating that departure is completed, and a movement completion notification indicating that movement within the parking area 7 is completed from the automatic driving vehicle 18, the management device 39 determines that the movement is completed. If any of these notifications are not received, the management device 39 determines that the movement is not completed.

[0057] When the management device 39 determines in S130 that the movement is not completed, it returns to S110. On the other hand, when the management device 39 determines in S130 that the movement is completed, it ends. Figure 4 Notification processing.

[0058] In addition, when the management device 39 determines in S120 that there is some abnormality, the process moves to S135, and the distance detection unit 47F detects the distance between the portable terminal device 45 and the recovery position. Here, the so-called recovery position means the position where the autonomous driving vehicle 18 is parked, or the position where the autonomous driving vehicle 18 is to be parked, and the position to which the user should move in order to ride the autonomous driving vehicle 18.

[0059] When the autonomous driving vehicle 18 is located in the inbound vehicle room 3, the recovery position is set to the inbound vehicle room 3. When the autonomous driving vehicle 18 moves, the predetermined target position that the autonomous driving vehicle 18 finally reaches is mainly set to the outbound vehicle room 5.

[0060] When there are multiple partitions in the entry vehicle room 3 and the exit vehicle room 5, the recovery position indicates the position of the partition where the autonomous driving vehicle 18 is parked or the partition that becomes the target position. The partition that becomes the target position is also the partition where the autonomous driving vehicle 18 will park. When the distance detection unit 47F measures the distance between the portable terminal device 45 and the recovery position, it only needs to measure the straight-line distance between them. In this case, the distance in three-dimensional space can be measured, and the distance in two-dimensional plane can also be measured.

[0061] Next, the notification setting unit 47E of the management device 39 sets the notification interval in S140. The notification interval is the interval at which the notification in S160 described later is performed repeatedly, and is set according to a pre-set arbitrary condition. Here, for example, the notification setting unit 47E sets the notification interval to be shorter as time passes from the start of the notification, and sets the notification interval to be longer as the distance between the portable terminal device 45 and the collection position approaches.

[0062] The time from the start of notification is, for example, the time from the first execution of S160 described later to the current time. The notification setting unit 47E changes the notification interval as time passes, for example, every 5 minutes for the first 10 minutes, every 3 minutes for the next 6 minutes, and then every 1 minute.

[0063] However, for example, if the distance between the portable terminal device 45 and the collection position is closer than that at the time of the last notification, the notification setting unit 47E may not shorten the notification interval or further reduce the amount of change in the notification interval. In other words, when the distance between the portable terminal device 45 and the collection position changes in a manner of approaching, the notification interval may be set longer than when the distance between the portable terminal device 45 and the collection position does not change in a manner of approaching.

[0064] Next, in S150, the notification instruction unit 47B of the management device 39 determines whether it is the notification timing. In other words, the notification instruction unit 47B determines whether the time specified by the notification interval has passed since the previous notification.

[0065] When the notification instruction unit 47B determines in S150 that it is the notification timing, it moves to S160 and implements the notification. Here, the notification instruction unit 47B performs an instruction for notifying the portable terminal device 45 held by the user of the autonomous driving vehicle 18 of the content including the recycling information and the prompt information, wherein the recycling information indicates the recycling location of the autonomous driving vehicle 18, and the prompt information indicates that the user should go to the recycling location. The instruction from the notification instruction unit 47B is received by the control circuit 45B. The notification unit 45A of the portable terminal device 45 receives the instruction, causes the display of the portable terminal device 45 to display an image according to the instruction, and uses sound from the speaker to remind the user's attention.

[0066] Specifically, an example of a notification image displayed on the portable terminal device 45 is shown in FIG. Figure 5 . Figure 5 The notification image 100A shown is an example of a display when some error occurs during the movement of the vehicle entering the garage. The notification image 100A includes, for example, a picture of a vehicle, an X symbol overlapping the picture of the vehicle to indicate that the vehicle cannot enter the garage, the content of the abnormality as a prompt information, a message reminding the user to return to the garage, and a driving authority granting button.

[0067] The driving authority granting button is an approval content requesting approval of the use of the virtual key, and includes at least one of text and an image. The virtual key is different from the remote control key dedicated to the autonomous driving vehicle 18 that can be used at any time, and is a virtual key that can grant temporary use authority to a device 96 held by the manager of the parking lot, such as a rewritable remote control key or a smartphone. Hereinafter, the virtual key is referred to as a digital key.

[0068] If the user clicks the driving authority granting button on the notification image 100A, the management device 39 performs processing to grant the device 96 held by the manager of the parking lot the authority to drive the automatic driving vehicle 18, that is, processing to enable the use of the digital key. Figure 2 As shown, the management device 39 obtains the digital key from the key distribution server 91 connected to the management device 39 via the Internet 95, and sends it to the target device 96 to set the digital key.

[0069] At this time, the processing unit 97 of the device 96 receives the digital key and stores the received digital key in the recording unit 98, thereby enabling the digital key to be used. However, the timing at which the management device 39 obtains the digital key from the key distribution server 91 is arbitrary.

[0070] If the digital key is given in this way, the manager of the parking lot can use the device 96 to which the driving authority is given to drive the automatic driving vehicle 18. In addition, the technology that can give the digital key to the device 96 to drive the vehicle is standardized by Digital Key 1.0 or 2.0. After the processing of S160, this processing moves to S210.

[0071] However, when the management device 39 determines in S150 that it is not the notification timing, the process moves to S210, and the arrival detection unit 47D determines whether it detects that the user has moved to the vehicle compartment that becomes the recovery position. In addition, the arrival detection unit 47D is configured to detect that the user has arrived at the recovery position by monitoring the position of the portable terminal device 45. Alternatively, the arrival detection unit 47D may be a camera that captures the interior of the vehicle compartment or the space where the user enters and exits the vehicle compartment. In this case, the arrival detection unit 47D is configured to detect that the user has arrived at the recovery position by monitoring whether there is an occupant in the vehicle compartment.

[0072] When the management device 39 determines in S210 that the user has been detected to have moved into the vehicle cabin, the process proceeds to S220 and sends a command to the portable terminal device 45 to end the notification. Upon receiving the command to end the notification, the portable terminal device 45 ends the display of the notification image 100A. Figure 4 The notification processing is completed.

[0073] On the other hand, when the management device 39 determines in S210 that the user has not been detected to have moved to the cabin, the process moves to S230 to determine whether there is a notification that the user cannot move to the cabin, in other words, cannot return. In addition, the function of the management device 39 to receive a notification that the user cannot return is equivalent to the notification receiving unit in the present disclosure.

[0074] When the management device 39 determines in S230 that there is no notification of non-return, it moves to S240 to determine whether a predetermined time has passed since the start of notification. When the management device 39 determines in S240 that a predetermined time has not passed since the start of notification, it returns to S135.

[0075] On the other hand, when the management device 39 determines in S230 that there is a notification indicating that there is no return, or in S240 that a predetermined time has passed since the start of the notification, the process moves to S250 to determine whether to permit the granting of the digital key.

[0076] On the other hand, the management device 39 moves to S250 to determine whether the digital key is permitted to be issued. If the driving authority grant button is operated by the user, the management device 39 determines that the digital key is permitted to be issued.

[0077] When the management device 39 determines in S250 that the digital key is not allowed to be given, the process moves to S260 and ends after setting the automatic driving vehicle 18 to be towed. Figure 4 As a setting for the towing and moving automatic driving vehicle 18, for example, it is considered to notify the manager of the parking lot that the user cannot return to the vehicle cabin and therefore requests towing and moving.

[0078] On the other hand, when the management device 39 determines in S250 that the issuance of the digital key is permitted, the process proceeds to S270, and the manual setting unit 47C issues the digital key to a predetermined device possessed by the manager of the parking lot.

[0079] Next, in S280, the manual setting unit 47C sets the automatic driving vehicle 18 so that manual driving using the digital key is possible. Then, Figure 4 The notification processing is completed.

[0080] [1-3. Effect]

[0081] According to the first embodiment described in detail above, the following effects are achieved.

[0082] (1a) One embodiment of the present disclosure is a management device 39 configured to assist in parking of a vehicle. An autonomous driving vehicle 18 is a vehicle configured to be able to perform autonomous driving according to a guidance path set by the management device 39 in a parking lot having a plurality of partitioned boarding and alighting areas 3 and 5 and a parking area 7.

[0083] The management device 39 includes an abnormality determination unit 47A and a notification instruction unit 47B. The abnormality determination unit 47A is configured to determine whether the autonomous driving vehicle 18 has an abnormality when the autonomous driving vehicle 18 moves in the parking lot by autonomous driving. The notification instruction unit 47B is configured to issue an instruction for notifying the portable terminal device 45 held by the user of the autonomous driving vehicle 18 of the contents including recycling information and prompt information when it is determined that there is an abnormality, wherein the recycling information indicates the recycling position where the user should recycle the autonomous driving vehicle 18, and the prompt information indicates that the user should go to the recycling position. In addition, the so-called "when moving by autonomous driving" means when the autonomous driving vehicle 18 moves by automatic driving without being operated by the user or the like after the user gets off the vehicle, including when parking in a garage or moving on a guided path.

[0084] According to such a configuration, the user can be notified of the collection location and the situation in which the user should go to the collection location through the portable terminal device 45 held by the user, for example, the situation in which the user should quickly move to the collection location and move the autonomous driving vehicle 18. Therefore, even if an abnormality occurs in the autonomous driving vehicle 18, it is difficult to hinder the movement of other autonomous driving vehicles 18.

[0085] (1b) In one aspect of the present disclosure, the notification instruction unit 47B is configured to issue an instruction for notifying the following content, wherein the content includes information identifying the section where the autonomous driving vehicle 18 is parked in the boarding and alighting areas 3 and 5 as the collection information.

[0086] According to such a configuration, since the area where the autonomous driving vehicle 18 is parked can be identified and notified, the user can be guided to the area without being confused.

[0087] (1c) In one aspect of the present disclosure, the notification instruction unit 47B is configured to issue an instruction for notifying the following content, wherein the content includes information identifying a section in the boarding and alighting areas 3 and 5 where the autonomous driving vehicle 18 is to park as the collection information.

[0088] According to such a configuration, since the area where the autonomous driving vehicle 18 is to park can be identified and notified, the user can be guided to the area without being confused.

[0089] (1d) In one embodiment of the present disclosure, the notification instruction unit 47B is configured to include, as the prompt information, one or more of the following: details of an abnormality of the autonomous driving vehicle 18 , a time limit for when the user should arrive at the collection location, and an additional fee to be charged to the user.

[0090] According to such a configuration, since the prompt information includes information indicating that the user wants to go to the collection position, the user can move to the collection position earlier.

[0091] (1e) In one embodiment of the present disclosure, the notification instruction unit 47B is configured to issue an instruction for notifying the approval content, the approval content requesting approval of the use of the virtual key for a person other than the user to manually drive the autonomous driving vehicle 18. The manual setting unit 47C is configured to set the autonomous driving vehicle 18 to be manually driven using the virtual key when the use of the virtual key is approved by the portable terminal device 45.

[0092] According to such a configuration, when it is determined that there is an abnormality, the approval content of the request for use of the virtual key is notified, so that the user can request the parking lot manager or the like to move the automatic driving vehicle 18 by operating the portable terminal device 45 and approving.

[0093] (1f) In one aspect of the present disclosure, the manual setting unit 47C is configured to grant authority to drive the autonomous driving vehicle 18 to a device owned by a person other than the user.

[0094] According to such a configuration, it is possible to set a setting so that a person other than the user can temporarily drive the automatic driving vehicle 18 using the device possessed by the user.

[0095] (1g) In one aspect of the present disclosure, the arrival detection unit 47D is configured to detect that the user has arrived at the collection position. The notification instruction unit 47B repeatedly issues instructions at a preset notification interval until the user reaches the collection position.

[0096] According to such a configuration, notification can be repeatedly made until the user reaches the collection position, thereby prompting the user to go to the collection position earlier.

[0097] (1h) In one aspect of the present disclosure, notification setting unit 47E is configured to set the notification interval based on a preset condition. Notification instruction unit 47B is configured to repeatedly issue instructions at the notification interval set by notification setting unit 47E.

[0098] According to such a configuration, the notification interval can be arbitrarily set according to a preset condition, that is, a situation.

[0099] (1i) In one aspect of the present disclosure, the notification setting unit 47E is configured to set the notification interval to be shorter as time passes.

[0100] According to such a configuration, the user can be reminded more strongly to move to the collection position as time passes.

[0101] (1j) In one aspect of the present disclosure, the distance detection unit 47F is configured to repeatedly detect the distance between the portable terminal device 45 and the collection position. The notification setting unit 47E is configured to set the notification interval to be longer as the distance between the portable terminal device 45 and the collection position is closer.

[0102] According to such a configuration, when the distance between the portable terminal device 45 and the collection position is close, the user has the intention to go to the collection position, and the frequency of notification can be reduced. Therefore, it is possible to prevent the user from feeling that the notification is troublesome.

[0103] (1k) In one embodiment of the present disclosure, the management device 39 is configured to receive a notification from a user via a portable terminal device 45 indicating that the user cannot return to the autonomous driving vehicle 18 as a response to the notification related to the prompt information.

[0104] According to such a structure, when the user cannot return to the autonomous driving vehicle 18 or has no intention to return, the intention can be sent as a notification of the intention to return to the management device 39. Therefore, the management device 39 that receives the notification of the intention to return can stop the notification of the movement of the autonomous driving vehicle 18 or entrust a person other than the user to move the autonomous driving vehicle 18 on behalf of the user.

[0105] (11) One aspect of the present disclosure is a portable terminal device 45 held by a user of an autonomous driving vehicle 18. The portable terminal device 45 includes a control unit 45B and a notification unit 45A. When the autonomous driving vehicle 18 moves in the parking lot by autonomous driving, the management device 39 determines whether the autonomous driving vehicle 18 has any abnormality.

[0106] The control unit 45B is configured to receive an instruction for notifying the user of the contents including the recycling information and the prompt information from the management device 39 when the management device 39 determines that the autonomous driving vehicle 18 has an abnormality. The recycling information is information indicating the recycling location where the user should recycle the autonomous driving vehicle 18. The prompt information is information that requires the user to go to the recycling location. The notification unit 45A is configured to report to the user through images or sounds based on the instruction for notifying the contents including the recycling information and the prompt information.

[0107] According to such a configuration, since the portable terminal device 45 receives a command for notifying the user of the contents including the collection information and the presentation information from the management device 39, the notification unit 45A can be used to satisfactorily notify the user.

[0108] [2. Other embodiments]

[0109] As mentioned above, although embodiment of this disclosure was described, this disclosure is not limited to the said embodiment, Various deformation|transformation can be made and it can be implemented.

[0110] (2a) In the above embodiment, the notification image 100A is displayed during notification, but the present invention is not limited to this. Figure 6 to Figure 9 Any notification image such as the notification images 100B to 100E shown.

[0111] exist Figure 6 The notification image 100B includes, as prompt information, an image and message indicating the time until the charge, an increase in the charge amount, and a message reminding the user to return to the parking compartment. The notification image 100B can make the user who hates the charge aware and quickly return to the parking compartment.

[0112] exist Figure 7 The notification image 100C shown is an example of a display in the case where the pre-warehousing inspection fails, including a picture of the vehicle, a dotted frame overlapping the picture of the vehicle to indicate size inconsistency, the cabin number as recycling information, the abnormal content as prompt information, and a message reminding the user to return to the cabin.

[0113] In this example, since the cabin number is included, the cabin to which the user should move can be notified in an easily understandable manner.

[0114] exist Figure 8The notification image 100D shown includes the abnormal content such as "the door is open" as the prompt information, a message indicating a solution to the abnormality such as returning to the vehicle and locking the door, and the parking time.

[0115] exist Fig. 9 The notification image 100E shown includes, as prompt information, an image indicating that the vehicle is making a U-turn and a driving authority granting button. The user can be similarly prompted to move to the collection position using these notification images 100B to 100E.

[0116] (2b) The control unit 47 and the method thereof described in the present disclosure may also be implemented by a special-purpose computer, which is provided by a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the control unit 47 and the method thereof described in the present disclosure may also be implemented by a special-purpose computer provided by a processor constituted by one or more special-purpose hardware logic circuits. Alternatively, the control unit 47 and the method thereof described in the present disclosure may also be implemented by one or more special-purpose computers, which are constituted by a combination of a processor and a memory programmed to execute one or more functions and a processor constituted by one or more hardware logic circuits.

[0117] The computer program may be stored in a computer-readable non-transitory tangible recording medium as instructions executed by the computer. The method of realizing the functions of each unit included in the control unit 47 does not necessarily need to include software, and all functions may be realized using one or more hardware.

[0118] (2c) Multiple functions of one component in the above-mentioned embodiment can be realized by multiple components, or one function of one component can be realized by multiple components. In addition, multiple functions of multiple components can be realized by one component, or one function realized by multiple components can be realized by one component. In addition, part of the structure of the above-mentioned embodiment can be omitted. In addition, at least part of the structure of the above-mentioned embodiment can be added to or replaced with the structure of other above-mentioned embodiments.

[0119] (2d) In addition to the above-mentioned parking assistance system 1, the present disclosure can also be implemented in various forms such as a system that uses the parking assistance system 1 as a component, a program for causing a computer to function as the parking assistance system 1, a non-transitional physical recording medium such as a semiconductor memory that records the program, and a parking assistance method.

Claims

1. A parking assistance device configured to assist automatic valet parking of a vehicle, A vehicle configured to be able to perform automatic driving according to a guidance path set by the parking assistance device in a parking lot having a plurality of partitioned boarding and alighting areas and parking areas is used as an automatic driving vehicle. The parking assist device includes: an abnormality determination unit configured to determine whether the autonomous driving vehicle has an abnormality when the autonomous driving vehicle moves in the parking lot by autonomous driving; and The notification instruction unit is configured to issue an instruction for notifying a portable terminal device held by a user of the autonomous driving vehicle of contents including recycling information and prompt information when it is determined that the abnormality is present, wherein: The above recycling information indicates the recycling location where the user should recycle the autonomous driving vehicle, and the above prompt information indicates that the user should go to the recycling location. The notification instruction unit is configured to issue an instruction for notifying an approval content, wherein the approval content requires approval of use of a virtual key for a person other than the user to manually drive the autonomous driving vehicle, The parking assist device further includes a manual setting unit configured to set the automatic driving vehicle to be manually driven using the virtual key if the portable terminal device approves the use of the virtual key.

2. The parking assist device according to claim 1, wherein: The notification instruction unit is configured to issue instructions for notifying the following contents, wherein the above contents include one or more of the abnormality of the above-mentioned autonomous driving vehicle, the time limit for the time when the above-mentioned user should arrive at the recovery location, and the additional fees levied on the above-mentioned user as the above-mentioned prompt information.

3. The parking assist device according to claim 1, wherein: The parking assist device includes an arrival detection unit configured to detect that the user has arrived at the recovery position. The notification command unit is configured to repeatedly issue the command at a preset notification interval until the recovery position is reached.

4. The parking assist device according to claim 1, wherein: The parking assist device includes a notification receiving unit configured to receive a notification inputted by the user via the portable terminal device indicating that the user cannot return to the autonomous driving vehicle as a response to the notification regarding the prompt information.

5. The parking assist device according to claim 1, wherein: The notification instruction unit is configured to issue an instruction for notifying the following content, wherein the content includes information specifying a zone in the boarding and alighting area where the autonomous driving vehicle is parked as the collection information.

6. The parking assist device according to claim 1, wherein: The notification instruction unit is configured to issue an instruction for notifying the following content, wherein the content includes information identifying a section in the boarding and alighting area where the autonomous driving vehicle is to park as the collection information.

7. The parking assist device according to claim 1, wherein: The manual setting unit is configured to grant authority to drive the autonomous driving vehicle to a device owned by a person other than the user.

8. The parking assist device according to claim 3, wherein: further comprising a notification setting unit configured to set the notification interval according to a preset condition, The notification instruction unit is configured to repeatedly issue the instruction at the notification interval set by the notification setting unit.

9. The parking assist device according to claim 8, wherein: The notification setting unit is configured to set the notification interval to be shorter as time passes.

10. The parking assist device according to claim 8, wherein: further comprising a distance detection unit configured to repeatedly detect the distance between the portable terminal device and the collection position, The notification setting unit is configured to set the notification interval to be longer as the distance between the portable terminal device and the collection position becomes closer.

11. A parking assistance method, the parking assistance method being performed by a parking assistance device configured to assist automatic valet parking of a vehicle, A vehicle configured to be capable of autonomous driving in accordance with a guidance path set by the parking assistance device in a parking lot having a plurality of partitioned boarding and alighting areas and parking areas is used as the autonomous driving vehicle. When the autonomous driving vehicle moves in the parking lot by autonomous driving, determining whether there is any abnormality in the autonomous driving vehicle, When it is determined that the above-mentioned abnormality exists, an instruction is issued to notify a portable terminal device held by a user of the above-mentioned autonomous driving vehicle of the contents including recycling information and prompt information, wherein the above-mentioned recycling information indicates a recycling location where the user should recycle the autonomous driving vehicle, and the above-mentioned prompt information indicates that the user should go to the recycling location, In the step of performing the instruction, an instruction is performed for notifying the approval content, wherein the approval content requires approval of the use of the virtual key for a person other than the user to manually drive the autonomous driving vehicle, In the parking assistance method, if the portable terminal device approves the use of the virtual key, it is set that the automatic driving vehicle can be manually driven using the virtual key.

12. A parking assistance system comprising: a parking assist device configured to assist in automatic valet parking of a vehicle; and A portable terminal device, held by a user of an autonomous vehicle, The autonomous driving vehicle is configured to be capable of autonomous driving in a parking lot having a plurality of boarding and alighting areas and a parking area, according to a guidance path set by the parking assistance device. The parking assist device includes: an abnormality determination unit configured to determine whether the autonomous driving vehicle has an abnormality when the autonomous driving vehicle moves in the parking lot by autonomous driving; and The notification instruction unit is configured to, when it is determined that the above-mentioned abnormality exists, issue an instruction for notifying the above-mentioned portable terminal device of the contents including recycling information and prompt information, wherein the above-mentioned recycling information indicates a recycling location where the user should recycle the autonomous driving vehicle, and the above-mentioned prompt information indicates that the user should go to the recycling location, The portable terminal device includes a notification unit, and the notification unit is configured to notify the user of the recycling information and the prompt information upon receiving an instruction including the recycling information and the prompt information. The notification instruction unit is configured to issue an instruction for notifying an approval content, wherein the approval content requires approval of use of a virtual key for a person other than the user to manually drive the autonomous driving vehicle, The parking assist device further includes a manual setting unit configured to set the automatic driving vehicle to be manually driven using the virtual key when the portable terminal device approves the use of the virtual key.

13. A recording medium having a parking assistance program recorded thereon, the parking assistance program being a parking assistance program executed by a computer included in a parking assistance device configured to assist automatic valet parking of a vehicle, The parking assistance program is used to enable the computer to implement the following functions: When the autonomous driving vehicle moves by autonomous driving, determining whether the autonomous driving vehicle has any abnormality, wherein: The autonomous driving vehicle is a vehicle that is configured to be able to perform autonomous driving according to a guidance route in a parking lot having a plurality of partitioned boarding and alighting areas and parking areas; and When it is determined that the above-mentioned abnormality exists, an instruction is performed to notify a portable terminal device held by a user of the above-mentioned autonomous driving vehicle of the contents including recycling information and prompt information, wherein the above-mentioned recycling information indicates a recycling location where the user should recycle the autonomous driving vehicle, and the above-mentioned prompt information indicates that the user should go to the recycling location, In the function for performing the instruction, an instruction for notifying approval content is performed, the approval content requiring approval of use of a virtual key for a person other than the user to manually drive the autonomous driving vehicle, The parking assist program enables the computer to realize a function of enabling the automatic driving vehicle to be manually driven using the virtual key if the portable terminal device approves the use of the virtual key.

14. A portable terminal device, wherein a vehicle configured to perform automatic driving in a parking lot having a plurality of partitioned boarding and alighting areas and parking areas according to a guidance path set by a parking assistance device configured to assist automatic valet parking of the vehicle is used as an automatic driving vehicle, and a portable terminal device held by a user of the automatic driving vehicle, The portable terminal device includes: The control unit is configured to determine whether the autonomous driving vehicle has any abnormality through the parking assistance device when the autonomous driving vehicle moves in the parking lot by autonomous driving, and when it is determined that the autonomous driving vehicle has the abnormality, receive a command for notifying the contents including the recycling information and the prompt information through the parking assistance device, wherein: The recycling information indicates a recycling location where the user should recycle the autonomous driving vehicle, and the prompt information indicates that the user should go to the recycling location; and a notification unit configured to make a notification to the user through an image or sound based on the instruction, The notification unit notifies the approval content, wherein the approval content requires approval of the use of the virtual key for a person other than the user to manually drive the autonomous driving vehicle, If the portable terminal device approves the use of the virtual key, it is configured so that the automatic driving vehicle can be manually driven using the virtual key.

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