Automatic parking system, automatic parking method, and storage medium

Abstract

The present application relates to an automatic parking system, an automatic parking method, and a storage medium. The automatic parking system is provided with an infrastructure sensor capable of detecting a state of a parking lot. A blind spot region in which detection of the state of the parking lot by the infrastructure sensor cannot be performed is identified, and a state of the parking lot is acquired, the state of the parking lot being a state of the parking lot detected by a vehicle-mounted sensor of a vehicle in the parking lot and being a state of the parking lot including the blind spot region. A travel route of a vehicle traveling in the parking lot is generated based on the state of the parking lot detected by the infrastructure sensor and the state of the parking lot including the blind spot region detected by the vehicle-mounted sensor of the vehicle in the parking lot.

Description

Technical Field

[0001] This invention relates to an automatic parking system, an automatic parking method, and a storage medium. Background Technology

[0002] In automated parking systems designed for autonomous vehicles, there are known automated parking systems that include infrastructure sensors that can detect the status of the parking lot, such as cameras that can take pictures of the parking lot, and calculate the driving routes of vehicles entering and leaving the parking lot based on the images taken by the cameras (see, for example, Japanese Patent Application Publication No. 2020-35071).

[0003] However, sometimes vehicles in a parking lot can create blind spots in the detection range of infrastructure sensors. In such cases, it becomes difficult to generate appropriate vehicle routes that do not come into contact with moving objects and fixed structures within the parking lot. Summary of the Invention

[0004] To address this problem, according to the present invention, an automatic parking system is provided, comprising: an infrastructure sensor capable of detecting the state of a parking lot; an identification unit capable of identifying blind spot areas within the parking lot where the state of the parking lot cannot be detected by the infrastructure sensor; an acquisition unit capable of acquiring the state of the parking lot, which is the state of the parking lot detected by onboard sensors of vehicles within the parking lot and includes the blind spot areas; and a driving route generation unit capable of generating a driving route for a vehicle traveling within the parking lot based on the state of the parking lot detected by the infrastructure sensor and the state of the parking lot including the blind spot areas detected by the onboard sensors of vehicles within the parking lot.

[0005] Furthermore, according to the present invention, an automatic parking method is provided, which uses infrastructure sensors capable of detecting the state of a parking lot. In this automatic parking method, blind spots in the parking lot that cannot be detected by the infrastructure sensors are identified, and the state of the parking lot is obtained. This state of the parking lot is the state of the parking lot detected by the on-board sensors of the vehicles in the parking lot and includes the blind spots. Based on the state of the parking lot detected by the infrastructure sensors and the state of the parking lot including the blind spots detected by the on-board sensors of the vehicles in the parking lot, a driving route for a vehicle traveling in the parking lot is generated.

[0006] Furthermore, according to the present invention, a storage medium is provided for storing a program for executing automatic parking using infrastructure sensors capable of detecting the state of a parking lot, wherein the program enables a computer to function in such a way as to: identify blind spot areas within the parking lot where the state of the parking lot cannot be detected by infrastructure sensors; acquire the state of the parking lot as detected by onboard sensors of vehicles within the parking lot and which includes the blind spot areas; and generate a driving route for vehicles traveling within the parking lot based on the parking lot state detected by infrastructure sensors and the parking lot state including the blind spot areas detected by onboard sensors of vehicles within the parking lot.

[0007] This invention can provide qualified outbound and inbound instructions. Attached Figure Description

[0008] Hereinafter, with reference to the accompanying drawings, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described, wherein the same reference numerals denote the same elements, wherein:

[0009] Figure 1 This is a top view illustrating an example of an automated parking system.

[0010] Figure 2 yes Figure 1 The side view of the automated parking lot shown.

[0011] Figure 3 It is a diagram that illustrates the vehicle.

[0012] Figure 4 This is a diagram illustrating the parking management server.

[0013] Figure 5 This is a functional configuration diagram of an embodiment of the present invention.

[0014] Figure 6 It is a flowchart used to create a map of a drivable area.

[0015] Figure 7 It is a flowchart used to create a map of a drivable area.

[0016] Figure 8 It is a flowchart used to manage inbound and outbound operations.

[0017] Figure 9 This is a flowchart used for autonomous driving control. Detailed Implementation

[0018] Figure 1 It is a top view that schematically shows only a portion of the automated parking system. Figure 2 yes Figure 1 The side view of the automated parking system shown. (Refer to...) Figure 1 and Figure 2 1 represents a parking lot, 2 represents an automated parking building, 3 represents multiple parking spaces, 4 represents a pick-up / drop-off area, 5 represents an automated vehicle parked at pick-up / drop-off area 4, and 6, 7, and 8 represent automated vehicles parked in parking spaces 3 within parking lot 1. In this parking lot 1, an automated parking service, also known as automated valet parking, is implemented. This service allows automated vehicles 5 arriving at pick-up / drop-off area 4 to automatically enter empty parking spaces 3, and allows automated vehicles 6, 7, and 8 parked in parking spaces 3 to automatically exit to pick-up / drop-off area 4. On the other hand, in... Figure 1 In the diagram, 9 represents the inbound / outbound management server configured in the parking management facility for managing inbound and outbound operations. It should be noted that this automated parking system can also accommodate manually driven vehicles.

[0019] When a user using the automated parking service parks their vehicle in parking lot 1, for example, when the vehicle arrives at pick-up / drop-off area 4, the user sends a vehicle ID and a parking request to the parking management server 9 via a communication network from their portable terminal. Upon receiving the parking request, the parking management server 9 sets a route that allows the vehicle to move from pick-up / drop-off area 4 to an empty parking space 3 without contact with other vehicles or pedestrians, and sends this route to the user's vehicle. Upon receiving the route from the parking management server 9, the user's vehicle moves automatically from pick-up / drop-off area 4 to the empty parking space 3 along the set route.

[0020] On the other hand, the same applies when a user leaves the parking lot 1. For example, when a user arrives at the pick-up / drop-off area 4, the user's portable terminal sends a vehicle ID and a leave request to the parking lot management server 9 via the communication network. Upon receiving the leave request, the parking lot management server 9 sets a route that allows the vehicle to travel from the parked parking space 3 to the pick-up / drop-off area 4 without contact with other vehicles or pedestrians, and sends this set route to the user's vehicle. When the user's vehicle receives the set route from the parking lot management server 9, it moves automatically from the parked parking space 3 to the pick-up / drop-off area 4 along the set route.

[0021] In addition, automated parking systems typically employ numerous infrastructure sensors to detect the parking status of vehicles or to set driving routes for them. Figure 1 and Figure 2 A portion of the automated parking area is shown. Figure 1 and Figure 2 The example shown illustrates a scenario where four infrastructure sensors S1, S2, S3, and S4 are installed to detect the state of an area within an automated parking garage. These infrastructure sensors S1, S2, S3, and S4 can be cameras or laser sensors, etc. The following explanation uses a camera as an example of using these sensors. Specifically, it illustrates the scenario where the parking garage 1 is photographed using the infrastructure sensors S1, S2, S3, and S4.

[0022] First, let's explain the infrastructure sensor S1, such as... Figure 2 As shown, the infrastructure sensor S1 is positioned higher than the vehicle 6. Furthermore, referring to... Figure 1 and Figure 2 The detection range of the infrastructure sensor S1 when viewed from above is within Figure 1 In the figure, θ1 represents the detection range of the infrastructure sensor S1 when viewed laterally. Figure 2 In the middle of θ S The detection range of infrastructure sensor S1, starting from infrastructure sensor S1, is represented by R1. Similarly, the detection ranges of other infrastructure sensors S2, S3, and S4 when viewed from above are represented by θ2, θ3, and θ4, respectively, and the detection ranges of infrastructure sensors S2, S3, and S4 starting from other infrastructure sensors S2, S3, and S4 are represented by R2, R3, and R4, respectively. The image signals captured by each infrastructure sensor S1, S2, S3, and S4 are sent to the inbound / outbound management server 9.

[0023] Figure 3 A schematic representation of an example of a vehicle 20 suitable for utilizing an automated parking service, such a vehicle 20 being used as... Figure 1 and Figure 2 The autonomous vehicles shown are 5, 6, 7, and 8. (Refer to...) Figure 3 21 represents a vehicle drive unit that provides driving force to the drive wheels of vehicle 20; 22 represents a braking device for braking vehicle 20; 23 represents a steering device for steering vehicle 20; and 24 represents an electronic control unit mounted within vehicle 20. For example... Figure 3 As shown, the electronic control unit 24 is composed of a digital computer and includes a CPU (Central Processing Unit) 26 interconnected via a bidirectional bus 25, a memory 27 composed of ROM (Read-Only Memory) and RAM (Random Access Memory), and input / output ports 28.

[0024] On the other hand, such as Figure 3 As shown, the vehicle 20 is equipped with various sensors 30 necessary for autonomous driving, namely sensors for detecting the state of the vehicle 20 and sensors for detecting the surroundings of the vehicle 20. In this case, as sensors for detecting the state of the vehicle 20, accelerometers, speed sensors, and azimuth sensors are used; as sensors for detecting the surroundings of the vehicle 20, onboard cameras that capture images of the front, sides, and rear of the vehicle 20, LiDAR, radar, etc., are used. Furthermore, the vehicle 20 is equipped with a GNSS (Global Navigation Satellite System) receiver 31, a map data storage device 32, a navigation device 33, and an operating unit 34 for performing various operations. The GNSS receiver 31 can detect the current position of the vehicle 20 (e.g., the latitude and longitude of the vehicle 20) based on information obtained from multiple satellites. Therefore, the current position of the vehicle 20 can be obtained through this GNSS receiver 31. For example, a GPS (Global Positioning System) receiver is used as this GNSS receiver 31.

[0025] The map data storage device 32 stores map data and other data required for autonomous driving of the vehicle 20. Furthermore, the operation unit 34 is equipped with an operation panel required for autonomous driving, etc. When a destination is entered on the operation panel, the navigation device 33 is used to retrieve the driving route of the vehicle 20. These various sensors 30, GNSS receiver 31, map data storage device 32, navigation device 33, and operation unit 34 are connected to the electronic control unit 24. In an embodiment of the present invention, the vehicle drive unit 21 is composed of an electric motor driven by a secondary battery or an electric motor driven by a fuel cell, and the drive wheels are driven and controlled by these electric motors according to the output signals of the electronic control unit 24. Furthermore, the braking control of the vehicle 20 is performed by the braking device 22 according to the output signals of the electronic control unit 24, and the steering control of the vehicle 20 is performed by the steering device 23 according to the output signals of the electronic control unit 24.

[0026] on the other hand, Figure 4 express Figure 1 The inbound and outbound management server 9. (For example...) Figure 4As shown, the inbound / outbound management server 9 is equipped with an electronic control unit 40. This electronic control unit 40 is a digital computer, including a CPU (microprocessor) 42 interconnected via a bidirectional bus 41, a memory 43 consisting of ROM and RAM, and input / output ports 44. Furthermore, the inbound / outbound management server 9 is equipped with a communication device 45 for communicating with the vehicle 20. On the other hand, the vehicle 20 is equipped with a communication device 35 for communicating with the inbound / outbound management server 9. Figure 4 As shown, image signals captured by the infrastructure sensors S1, S2, S3, and S4 are input to the electronic control unit 40. Furthermore, map data of the parking lot 1 is stored in the memory 43 of the electronic control unit 40.

[0027] return Figure 1 and Figure 2 As described above, the image signals captured by the infrastructure sensors S1, S2, S3, and S4 are sent to the inbound / outbound management server 9. In the inbound / outbound management server 9, based on these image signals and the map data of parking lot 1 stored in memory 43, a system is established to determine... Figure 1 The map of parking lot 1 shows the locations of moving objects such as vehicles and pedestrians, as well as fixed structures such as pillars, walls, and the ground. Once the locations of these moving objects and fixed structures are determined, the inbound / outbound management server 9 sets the travel routes for vehicles that do not come into contact with these moving objects and fixed structures. For example, in... Figure 1 In order to enable the autonomous vehicle 5 to enter the parking space, a driving route F is set for the autonomous vehicle 5 to reach the empty parking space 3 from the pick-up and drop-off location 4.

[0028] Furthermore, in this situation, blind spots may sometimes arise due to vehicles present in parking lot 1, making it impossible to detect the state of parking lot 1 as implemented by infrastructure sensors S1, S2, S3, and S4. For example, in Figure 1 In the example shown, the autonomous vehicle 6 is located in the lateral region opposite to the infrastructure sensor S1 (in Figure 1 The diagonally marked areas (represented by B1 and B2) become blind spots where the state of parking lot 1 cannot be detected by infrastructure sensor S1. However, in this case, in the lateral areas B1 and B2 of the autonomous vehicle 6 located on the opposite side of infrastructure sensor S1, lateral area B2 becomes an area where the state of parking lot 1 can be detected by infrastructure sensor S3. Therefore, in Figure 1 In the example shown, the side area B1 of the autonomous vehicle 6, located opposite to the infrastructure sensor S1, becomes a blind spot area where the state of the parking lot 1 cannot be detected by the infrastructure sensors S1, S2, S3, and S4.

[0029] When such a blind spot area B1 exists, it is difficult to set a driving route for a vehicle that is unlikely to come into contact with moving objects or fixed objects. Therefore, in an embodiment of the present invention, the state of the parking lot 1 containing the blind spot area B1 is obtained from a vehicle equipped with onboard sensors, such as cameras, that exist around the blind spot area B1 and are capable of detecting the state of the parking lot 1 containing the blind spot area B1. Based on the state of the parking lot 1 detected by infrastructure sensors S1, S2, S3, and S4 and the state of the parking lot 1 containing the blind spot area B1 detected by onboard sensors of vehicles within the parking lot 1, a driving route for a vehicle traveling within the parking lot 1 is generated.

[0030] In this situation, the state of the parking lot 1 containing the blind spot area B1 can be captured by any one of the onboard cameras of the autonomous vehicle 6 that captures images of the front, sides, or rear. Therefore, when generating the driving route, image signals from any one of the onboard cameras of the autonomous vehicle 6 that capture images of the front, sides, or rear are used. Furthermore, in Figure 1 In the example shown, the status of parking lot 1, including blind spot area B1, can be captured by the onboard cameras of autonomous vehicles 7 and 8 that capture images of the area ahead. Figure 1 In this context, θ7 and θ8 represent the shooting range of the onboard cameras of autonomous vehicles 7 and 8 that capture images of the front. Therefore, when generating the driving route, image signals from the onboard cameras of autonomous vehicles 7 and 8 that capture images of the front are also used.

[0031] That is, in the embodiments of the present invention, such as Figure 5 As shown in the functional configuration diagram, the system includes: infrastructure sensors S1, S2, S3, and S4, capable of detecting the state of parking lot 1 within the parking area; an identification unit, capable of identifying blind spots within the parking area where the state of parking lot 1 cannot be detected by the infrastructure sensors S1, S2, S3, and S4; an acquisition unit, capable of acquiring the state of parking lot 1, which is the state of parking lot 1 detected by the on-board sensors of vehicles within parking lot 1 and includes the blind spots; and a driving route generation unit, capable of generating driving routes for vehicles traveling within parking lot 1 based on the state of parking lot 1 detected by the infrastructure sensors S1, S2, S3, and S4 and the state of parking lot 1 including the blind spots detected by the on-board sensors of vehicles within parking lot 1. In this case, in the embodiment of the present invention, the electronic control unit 40 of the inbound / outbound management server 9 constitutes these identification units, acquisition units, and driving route generation units.

[0032] Furthermore, in an embodiment of the present invention, an automatic parking method is provided, which uses infrastructure sensors S1, S2, S3, and S4 capable of detecting the state of parking lot 1 within a parking area. In this automatic parking method, blind spots within the parking area that cannot be detected by the infrastructure sensors S1, S2, S3, and S4 are identified, and the state of parking lot 1 is obtained. This state of parking lot 1 is the state of parking lot 1 detected by the on-board sensors of the vehicles within parking lot 1 and includes the blind spot area. Based on the state of parking lot 1 detected by the infrastructure sensors S1, S2, S3, and S4 and the state of parking lot 1 including the blind spot area detected by the on-board sensors of the vehicles within parking lot 1, a driving route for a vehicle traveling within parking lot 1 is generated.

[0033] Furthermore, in embodiments of the present invention, a program is provided for executing automatic parking using infrastructure sensors S1, S2, S3, and S4 capable of detecting the state of parking lot 1 within a parking area. This program enables a computer to function in the following manner: identify blind spots within the parking area where the state of parking lot 1 cannot be detected by the infrastructure sensors S1, S2, S3, and S4; acquire the state of parking lot 1, which is the state of parking lot 1 detected by the onboard sensors of vehicles within parking lot 1 and includes the blind spots; and generate a driving route for vehicles traveling within parking lot 1 based on the state of parking lot 1 detected by the infrastructure sensors S1, S2, S3, and S4 and the state of parking lot 1 including the blind spots detected by the onboard sensors of vehicles within parking lot 1. Moreover, in embodiments of the present invention, a storage medium for storing this program is provided.

[0034] Next, refer to Figure 6 and Figure 7 The method for creating a map representing the area within parking lot 1 where vehicles 20 can drive is explained. Figure 6 and Figure 7 This indicates a routine used to create a map of the drivable area, which is repeatedly executed in the electronic control unit 40 of the inbound / outbound management server 9.

[0035] Reference Figure 6 and Figure 7First, in step 50, images captured by infrastructure sensors S1, S2, S3, and S4 are acquired. Next, in step 51, object detection methods such as CNN (Convolutional Neural Network) are used to detect moving objects such as vehicles 20 and pedestrians within parking lot 1, as well as the ground surface of parking lot 1. That is, the state of vehicles 20 and other objects within parking lot 1, and the state of pathways within parking lot 1 are detected. It should be noted that the ground detected at this time is the portion of the ground directly visible from each infrastructure sensor S1, S2, S3, and S4; therefore, the detected ground will be referred to as the visible ground below.

[0036] Next, in step 52, the position of the detected vehicle 20 on the floor plan of parking lot 1 is determined based on the map data of parking lot 1 stored in the memory 43 of the electronic control unit 40. Next, in step 53, the position of the detected visible ground area on the floor plan of parking lot 1 is determined based on the map data of parking lot 1 stored in the memory 43 of the electronic control unit 40. Next, in step 54, the position of the blind spot area on the floor plan of parking lot 1 is determined based on the position of vehicle 20 determined in step 52 and the position of the visible ground area determined in step 53.

[0037] It should be noted that in this case, the area on the floor plan of parking lot 1, excluding the area of ​​the identified vehicle 20 and the identified visible ground area, becomes a blind spot area. However, in step 54, the portion of the blind spot area required for setting the driving route is identified as a blind spot area. For example, the area between vehicles 20 parked in adjacent parking spaces 3 also becomes a blind spot area, but such blind spots are excluded from the blind spot areas to be identified. Next, in step 55, the identified vehicle 20 on the floor plan of parking lot 1 is associated with the vehicle ID registered in the parking lot entry and exit management server 9.

[0038] Next, in step 56, based on the determined position of the vehicles 20 on the floor plan of parking lot 1 and the determined positional relationship of the visible ground area, vehicles No.1 to No.n that form blind spot areas are identified from the identified vehicles 20. Next, in step 57, a request to transmit image signals captured by the onboard cameras that capture images from the front, the sides, and the rear is sent to vehicle No.m that forms a blind spot area. Figure 1In the example shown, a request is sent to the parked autonomous vehicle 6 to transmit image signals captured by the onboard cameras that capture images in front, to the side, and to the rear. The autonomous vehicle 6 then sends the image signals captured by each onboard camera to the inbound / outbound management server 9.

[0039] Next, in step 58, other matters are communicated to the vehicle No. m where the blind spot area has been created. For example, the vehicle No. m is informed that a blind spot area has been created. Alternatively, a fee may be charged to the vehicle No. m for creating the blind spot area. In this case, for example, if the vehicle No. m where the blind spot area has been created is a manually driven vehicle, the owner of the vehicle No. m is informed that a fee will be charged if the vehicle continues to be parked in this manner, thereby encouraging the vehicle No. m to move.

[0040] Next, in step 59, a request is sent to vehicles 20 located around the blind spot area to transmit image signals captured by at least a portion of the onboard cameras (including those capturing images of the front, sides, and rear) capable of capturing the blind spot area. Image signals of the area containing the blind spot area, captured by the onboard cameras, are then sent from the vehicles 20 around the blind spot area to the inbound / outbound management server 9. Figure 1 In the example shown, a request is sent to the parked autonomous vehicles 7 and 8 to transmit image signals captured by the onboard cameras that are shooting ahead. The autonomous vehicles 7 and 8 send the image signals captured by the onboard cameras that are shooting ahead to the inbound / outbound management server 9.

[0041] Next, in step 60, it is determined whether steps 57 to 59 have been completed for all vehicles 20 identified as vehicle No. 1 to No. n. If it is determined that steps 57 to 59 have not been completed for all vehicles 20 identified as vehicle No. 1 to No. n, the process returns to step 57, and steps 57 to 59 are performed on the identified vehicle No. m+1. On the other hand, if it is determined in step 60 that steps 57 to 59 have been completed for all vehicles 20 identified as vehicle No. 1 to No. n, the process proceeds to step 61.

[0042] In step 61, the area representing the area in parking lot 1 where vehicles 20 can drive without contacting moving objects or fixed objects is updated based on image signals from each vehicle-mounted camera sent from vehicles No.1 to No.n that form blind spot areas and image signals from vehicles 20 existing around each blind spot area. Figure 1The map shown is a map of the drivable area. The driving route of vehicle 20 is set based on this updated map of the drivable area.

[0043] Figure 8 This refers to the outbound and inbound management routine executed in the electronic control unit 40 of the outbound and inbound management server 9 for the purpose of managing the outbound and inbound operations of vehicles 20 in parking lot 1.

[0044] Reference Figure 8 First, in step 70, it is determined whether there is an outbound / inbound request for vehicle 20 from the user of vehicle 20 to the outbound / inbound management server 9. If there is an outbound / inbound request for vehicle 20, proceed to step 71 to obtain the vehicle ID of the vehicle 20 to be outbound / inbound. Next, in step 72, the destination of vehicle 20 is set. In this case, if there is an inbound request, an empty parking space 3 is set as the destination of vehicle 20 from among many parking spaces 3. On the other hand, if there is an outbound request, the pick-up / drop-off location 4 is set as the destination of vehicle 20. When the destination is set, proceed to step 73, based on the... Figure 6 and Figure 7 The example shown is an updated drivable area map used to set the driving route from pick-up / drop-off point 4 to empty parking space 3 or from parking space 3 to pick-up / drop-off point 4.

[0045] Next, in step 74, based on... Figure 6 and Figure 7 The updated drivable area map shown in the routine determines the driving trajectory and speed of vehicle 20, which does not contact moving objects or fixed objects. Next, in step 75, an autonomous driving execution command is issued to vehicle 20. Then, in step 76, the set destination, driving route, driving trajectory, driving speed, and autonomous driving execution command are sent from the inbound / outbound management server 9 to vehicle 20.

[0046] When the inbound / outbound management server 9 sends an autonomous driving execution command to vehicle 20, autonomous driving control of vehicle 20 begins. Figure 9 This indicates a routine used for autonomous driving control of the vehicle 20, which is repeatedly executed in the electronic control unit 24 mounted on the vehicle 20.

[0047] Reference Figure 9First, in step 80, the destination set in the outbound / inbound management server 9 is obtained. Next, in step 81, the driving route set in the outbound / inbound management server 9 is obtained. Then, in step 82, the driving trajectory and speed set in the outbound / inbound management server 9 are obtained. Next, in step 83, the vehicle 20 is controlled to drive along the set driving trajectory, based on the detection results from sensors such as cameras, LiDAR, and radar used by the vehicle 20 to capture images of the road ahead, without contact with other vehicles or pedestrians. Next, in step 84, it is determined whether the vehicle 20 has reached the destination. If it is determined that the vehicle 20 has not reached the destination, the process returns to step 83 and continues with autonomous driving. Conversely, if it is determined in step 84 that the vehicle 20 has reached the destination, the process proceeds to step 85, and the outbound / inbound service of the vehicle 20 is terminated.

Claims

1. An automatic parking system, comprising: Infrastructure sensors can detect the status of parking lots; The identification unit identifies blind spots in the parking lot where the parking lot's status cannot be detected by infrastructure sensors. The acquisition unit acquires the status of the parking lot, which is detected by the onboard sensors of the vehicles within the parking lot, and includes the status of the parking lot in the blind spot area; and The driving route generation unit generates driving routes for vehicles traveling within the parking lot based on the parking lot status detected by infrastructure sensors and the parking lot status including blind spot areas detected by the vehicle's onboard sensors. The identification unit identifies the vehicle that has formed the blind spot area and notifies the vehicle that the blind spot area has been formed.

2. The automatic parking system according to claim 1, wherein, The parking lot status includes the status of the access roads within the parking lot and the status of the vehicles within the parking lot. The identification unit identifies blind spots in the parking lot where the status of the access roads within the parking lot cannot be detected by infrastructure sensors. The acquisition unit acquires the status of the access roads, which is the status of the access roads within the parking lot detected by the on-board sensors of the vehicles within the parking lot and includes the blind spot areas. The driving route generation unit generates driving routes for vehicles traveling within the parking lot based on the status of the access roads within the parking lot detected by infrastructure sensors and the status of the access roads within the parking lot including the blind spot areas detected by the on-board sensors of the vehicles within the parking lot.

3. The automatic parking system according to claim 1, The system includes an entry and exit management server for managing the entry and exit of vehicles in a parking lot. The electronic control unit of the entry and exit management server comprises the identification unit, the acquisition unit, and the driving route generation unit.

4. The automatic parking system according to claim 1, wherein, The infrastructure sensor includes multiple cameras that capture images of the parking lot, and the recognition unit identifies blind spots that cannot be detected by the cameras based on the images of the parking lot captured by the multiple cameras.

5. The automatic parking system according to claim 1, wherein, The vehicle's driving route is generated based on the state of the passageway within the parking lot containing the blind spot, detected by onboard sensors of one or more vehicles that form the blind spot and are present around the blind spot.

6. The automatic parking system according to claim 1, wherein, A fee will be charged to vehicles that create the blind spot area.

7. An automated parking method that uses infrastructure sensors capable of detecting the status of a parking lot, wherein in the automated parking method, Identify blind spots in parking lots where the parking lot's status cannot be detected by infrastructure sensors. The status of the parking lot is obtained through onboard sensors in the vehicles within the parking lot, specifically including the blind spot area. The driving routes of vehicles traveling within the parking lot are generated based on the parking lot status detected by infrastructure sensors and the parking lot status including blind spot areas detected by the on-board sensors of the vehicles within the parking lot. The system identifies the vehicle that has formed the blind spot area and notifies the vehicle that the blind spot area has been formed.

8. A storage medium storing a program for executing automatic parking using infrastructure sensors capable of detecting the state of a parking lot, wherein, This program enables the computer to function in the following ways: Identify blind spots in parking lots where the parking lot's status cannot be detected by infrastructure sensors. The status of the parking lot is obtained through onboard sensors in the vehicles within the parking lot, specifically including the blind spot area. The driving routes of vehicles traveling within the parking lot are generated based on the parking lot status detected by infrastructure sensors and the parking lot status including blind spot areas detected by the on-board sensors of the vehicles within the parking lot. The system identifies the vehicle that has formed the blind spot area and notifies the vehicle that the blind spot area has been formed.

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