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

Abstract

The present application provides an automatic parking system, a control method of the automatic parking system, and an automatic driving vehicle. The automatic parking system includes one or more processors configured to cause a second vehicle to perform follow driving on a first vehicle in a parking lot, wherein the follow driving is included in automatic valet parking; set a stop position between the first vehicle and the second vehicle when the second vehicle performs the follow driving on the first vehicle in the parking lot; calculate a start deceleration distance based on a position of the second vehicle, a vehicle speed of the second vehicle, and the stop position, the start deceleration distance being a distance from a position at which the second vehicle starts to decelerate to the stop position for stopping the second vehicle at the stop position; set a target inter-vehicle distance of the second vehicle relative to the first vehicle in the follow driving; and set a distance greater than a sum of a surplus distance from the stop position to the first vehicle and the start deceleration distance as the target inter-vehicle distance.

Description

Technical Field

[0001] This invention relates to an automatic parking system, a control method for an automatic parking system, and an autonomous vehicle. Background Technology

[0002] As a technical document related to automatic parking systems, Japanese Patent Application Publication No. 2020-079079 is known. In this publication, a method for automatic valet parking in which vehicles park autonomously via a parking lot control server (infrastructure) is shown. Summary of the Invention

[0003] Incidentally, when the parking management server is simultaneously managing multiple automated valet parking services, consider implementing a follow-me system where subsequent vehicles follow the preceding vehicles when multiple autonomous vehicles are traveling on the same road. Speed ​​adjustments for this follow-me system are made by the autonomous driving function of the following vehicle. However, if the parking management server's deceleration instructions to avoid approaching the preceding vehicle and the follow-me vehicle's acceleration decisions are complex, the repeated acceleration and deceleration of the following vehicle could potentially worsen driving efficiency.

[0004] The first aspect of the present invention provides an automatic parking system that enables a first vehicle and a second vehicle, which are autonomous driving vehicles, to perform automatic valet parking. The system includes one or more processors configured as follows: the second vehicle follows the first vehicle within a parking lot, wherein the following is included in the automatic valet parking; the first vehicle and the second vehicle are autonomous driving vehicles; when the second vehicle follows the first vehicle within the parking lot, a stop position is set between the first vehicle and the second vehicle; based on the position of the second vehicle, the speed of the second vehicle, and the stop position, a starting deceleration distance is calculated, the starting deceleration distance being the distance between the position where the second vehicle begins to decelerate and the stop position; a target inter-vehicle distance is set for the second vehicle during the following; and the target inter-vehicle distance is set as a distance greater than the sum of the distance from the stop position to the first vehicle (i.e., the margin distance) and the starting deceleration distance.

[0005] According to the first aspect of the automatic parking system of the present invention, the target vehicle distance is set to a distance greater than the sum of the distance from the stop position to the first vehicle (i.e., the margin distance) and the starting deceleration distance. Therefore, unnecessary repetition of the acceleration of the second vehicle for following the first vehicle and the deceleration of the second vehicle for stopping at the stop position can be avoided, and the reduction in the driving efficiency of the second vehicle when following can be suppressed.

[0006] In the above-described manner, the driving road of the parking lot may include multiple waypoints for indication, wherein the multiple waypoints are pre-set along the extension direction of the driving road, and the multiple waypoints include a first waypoint between the first vehicle and the second vehicle and above a predetermined occupancy distance from the first vehicle; and the one or more processors are configured to set the stopping position based on the first waypoint.

[0007] In the above-described manner, the parking lot's driving road may include multiple waypoints for indication, wherein the multiple waypoints are pre-set along the extension direction of the driving road, and further, the multiple waypoints include a first waypoint between the first vehicle and the second vehicle and beyond a predetermined occupancy distance from the first vehicle; and the one or more processors are configured to set the second waypoint, the one closest to the first vehicle among the first waypoints, as the stopping position. According to this automatic parking system, by using waypoints to set the stopping position, compared to setting the stopping position in a free location, the computational workload can be reduced, and the switching of the stopping position corresponding to the movement of the first vehicle can be easily performed.

[0008] In the above-described manner, one or more processors may be configured to: set the reference target workshop distance as the target workshop distance when the predetermined reference target workshop distance is greater than the sum of the starting deceleration distance and the surplus distance; and set the distance obtained by adding a predetermined distance to the sum of the starting deceleration distance and the surplus distance as the target workshop distance when the reference target workshop distance is less than the sum of the starting deceleration distance and the surplus distance.

[0009] The control method executed by the automatic parking system of the second aspect of the present invention, which enables a first vehicle and a second vehicle, as autonomous vehicles, to perform automatic valet parking, includes: causing the second vehicle to follow the first vehicle within a parking lot, wherein the following is included in automatic valet parking; when the second vehicle follows the first vehicle within the parking lot, setting a stop position between the first vehicle and the second vehicle; calculating a starting deceleration distance based on the position of the second vehicle, the speed of the second vehicle, and the stop position, the starting deceleration distance being the distance between the position where the second vehicle begins to decelerate at the stop position and the stop position; and setting a target inter-vehicle distance between the second vehicle and the first vehicle during the following, wherein the target inter-vehicle distance is set to be a distance greater than the sum of the distance from the stop position to the first vehicle (i.e., the margin distance) and the starting deceleration distance.

[0010] According to the control method of the automatic parking system of the second method described above, since the target vehicle distance is set to a distance greater than the sum of the distance from the stop position to the first vehicle (i.e., the margin distance and the starting deceleration distance), unnecessary repetition of the acceleration of the second vehicle for following the first vehicle and the deceleration of the second vehicle for stopping at the stop position can be avoided, and the reduction in driving efficiency during following can be suppressed.

[0011] The third-party autonomous vehicle of the present invention includes one or more processors configured as follows: when the autonomous vehicle is following a preceding vehicle in a parking lot according to the instructions of a parking lot control server, the processor obtains from the parking lot control server a stopping position set by the parking lot control server between the preceding vehicle and the autonomous vehicle, wherein the following is included in automated valet parking; calculates an initial deceleration distance based on the position of the autonomous vehicle, the speed of the autonomous vehicle, and the stopping position, the initial deceleration distance being the distance between the position where the autonomous vehicle begins to decelerate and the stopping position; sets a target vehicle-to-vehicle distance relative to the preceding vehicle during the following; and sets the target vehicle-to-vehicle distance to be greater than the sum of the distance from the stopping position to the preceding vehicle (i.e., the margin distance) and the initial deceleration distance.

[0012] Based on the aforementioned third-party autonomous vehicle, the target vehicle-to-vehicle distance is set to be greater than the sum of the distance from the stop position to the leading vehicle (i.e., the margin distance) and the starting deceleration distance. Therefore, unnecessary repetition of acceleration for the autonomous vehicle to follow the leading vehicle and deceleration for the autonomous vehicle to stop at the stop position can be avoided, thus suppressing the decrease in driving efficiency when following.

[0013] According to various methods of the present invention, it is possible to suppress the decrease in driving efficiency when following other vehicles in a parking lot during automated valet parking. Attached Figure Description

[0014] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals denote the same elements, and wherein:

[0015] Figure 1 This is a diagram illustrating the automatic parking system of the first embodiment.

[0016] Figure 2 This is a top view showing an example of a parking lot where automated valet parking is provided.

[0017] Figure 3This is a diagram illustrating an example of the hardware structure of a parking management server.

[0018] Figure 4 This is a diagram illustrating an example of the functional structure of a parking management server.

[0019] Figure 5A It is a diagram used to illustrate the waypoints of a parking lot.

[0020] Figure 5B This is a diagram used to illustrate the setting of the stop position.

[0021] Figure 6 This is a chart illustrating the relationship between the distance to the target workshop and the vehicle speed.

[0022] Figure 7 This is a flowchart illustrating an example of target inter-vehicle distance setting processing during the following motion in automated valet parking.

[0023] Figure 8 This is a diagram illustrating the autonomous vehicle of the second embodiment.

[0024] Figure 9 This is a flowchart illustrating an example of the target vehicle distance setting process during the following drive of the automatic valet parking vehicle in the second embodiment. Detailed Implementation

[0025] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0026] [First Implementation Method]

[0027] Figure 1 This is a diagram illustrating the automatic parking system of the first embodiment. Figure 1 The Automated Valet Parking System (AVPS) 1 shown is a system for automated valet parking of multiple autonomous vehicles 2 in a parking place. Details about the autonomous vehicles 2 will be described later.

[0028] Automated valet parking refers to a service where an unmanned, autonomous vehicle 2, following instructions from the parking lot, automatically parks itself in a designated parking space after the user (occupant) has disembarked at the designated drop-off point. The target parking space is a pre-defined parking space designated as the parking location for the autonomous vehicle 2. The target path is the route taken by the autonomous vehicle 2 within the parking lot to reach the target parking space. It should be noted that the target path upon exiting the parking space becomes the path taken to reach the pick-up area (described later).

[0029] Parking lots can be dedicated to automated valet parking or can be used by both automated valet parking systems and regular vehicles. Parking lots can also be divided into parking spaces for automated valet parking and other parking spaces, allowing shared access roads.

[0030] Here, Figure 2 This is a top view showing an example of a parking lot where automated valet parking is provided. Figure 2 The diagram shows a parking lot 50, a parking area 51, a drop-off area 52, and a pick-up area 53. Parking lot 50 includes parking area 51, drop-off area 52, and pick-up area 53. It should be noted that drop-off area 52 and pick-up area 53 can also be combined into a single pick-up / drop-off area instead of being set up separately.

[0031] Parking area 51 is a space that provides parking spaces 61 for autonomous vehicles 2 to park via automated valet parking. Parking spaces 61 are, for example, as follows: Figure 2 As shown, multiple such arrangements are formed in one direction (e.g., the width of the parked vehicle).

[0032] Drop-off point 52 is located at the entrance of parking lot 50 and is a place for passengers, including users, to disembark from the autonomous vehicle 2 before entering the parking lot. Drop-off point 52 has a disembarkation space 62 for parking the autonomous vehicle 2 when passengers disembark. Drop-off point 52 is connected to parking area 51 via parking door 54.

[0033] The boarding location 53 is located on the exit side of the parking lot 50 and is a place for passengers, including users, to board the exiting autonomous vehicle 2. A boarding space 63 is formed at the boarding location 53 for the autonomous vehicle 2 to wait for passengers to board. The boarding location 53 is connected to the parking area 51 via the exit door 55. The parking space 61, the exit space 62, and the boarding space 63 are the targets (including parking spaces) for the autonomous vehicle 2. Furthermore, a return door 56 is provided between the boarding location 53 and the parking area 51 for the autonomous vehicle 2 to return from the boarding location 53 to the parking area 51. It should be noted that the return door 56 is not mandatory.

[0034] In addition, Figure 2 The diagram shows an autonomous vehicle 2A parked in the drop-off space 62 of drop-off location 52, an autonomous vehicle 2B driving in parking lot 50, an autonomous vehicle 2C parked in parking space 61 of parking area 51, and an autonomous vehicle 2D parked in the boarding space 63 of boarding location 53.

[0035] For example, after an occupant alights from the autonomous vehicle 2 entering the parking lot 50 at the exit space 62 (corresponding to autonomous vehicle 2A), the automatic parking system 1 receives instructions from autonomous vehicle 2 and begins automatic valet parking. The automatic parking system 1 then directs the autonomous vehicle 2B, which has entered the parking area 51, to drive and automatically park in the target parking space E1. Upon receiving an exit instruction from the user, the automatic parking system 1 directs the parked autonomous vehicle 2B to the boarding location 53 and automatically parks in the boarding space 63 (corresponding to autonomous vehicle 2D).

[0036] <Structure of an Automated Parking System>

[0037] The structure of the automatic parking system 1 will now be described with reference to the accompanying drawings. Figure 1 As shown, the automatic parking system 1 includes a parking lot management server 10. The parking lot management server 10 is a server used to manage the parking lot.

[0038] The parking management server 10 is configured to communicate with the autonomous vehicle 2. Details regarding the autonomous vehicle 2 will be described later. The parking management server 10 can be located either in the parking lot or in a facility located away from the parking lot. The parking management server 10 can also be composed of multiple computers located in different locations. The parking management server 10 is connected to the parking sensors 3 and the parking map database 4.

[0039] Parking sensor 3 is a sensor used to identify conditions within the parking lot. Parking sensor 3 may include, for example, a surveillance camera used to detect the location of the autonomous vehicle 2 within the parking lot. The surveillance camera is installed on the ceiling or walls of the parking lot and captures images of the autonomous vehicle 2 within the parking lot. The surveillance camera sends the captured images to the parking lot control server 10.

[0040] The parking sensor 3 may also include an empty vehicle sensor for detecting whether a vehicle is parked in a parking space (whether the parking space is full or empty). The empty vehicle sensor can be installed for each parking space individually, or it can be configured to monitor multiple parking spaces from a single unit, such as on a roof. The structure of the empty vehicle sensor is not particularly limited and can employ known structures. The empty vehicle sensor can be a pressure sensor, a radar sensor using radio waves, a sonar sensor, or even a camera. The empty vehicle sensor sends the empty vehicle information of the parking space to the parking management server 10.

[0041] Parking map database 4 is a database that stores parking map information. This parking map information includes the location information of parking spaces within the parking lot and information about the roads within the parking lot. Additionally, the parking map information may also include the location information of landmarks used by the autonomous vehicle 2 for location identification. Landmarks include at least one of the following: white lines, poles, traffic cones, parking lot pillars, etc.

[0042] The hardware structure of the parking lot control server 10 is described. Figure 3 This is a block diagram illustrating an example of the hardware structure of a parking management server. For example... Figure 3 As shown, the parking management server 10 is configured as a typical computer with a processor 10a, a storage unit 10b, a communication unit 10c, and a user interface 10d.

[0043] Processor 10a enables various operating system actions to control parking management server 10. Processor 10a is an arithmetic unit such as CPU (Central Processing Unit) that includes control devices, arithmetic devices, registers, etc. Processor 10a integrates storage unit 10b, communication unit 10c, and user interface 10d. Storage unit 10b is, for example, a recording medium including at least one of ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), and SSD (Solid State Drive).

[0044] The communication unit 10c is a communication device used for wireless communication via a network. The communication unit 10c can use network devices, network controllers, network interface cards (NICs), etc. The parking management server 10 uses the communication unit 10c to communicate with the autonomous vehicle 2. The user interface 10d is an input / output unit for the parking management server 10, intended for administrators and other personnel. The user interface 10d includes output devices such as displays and speakers, and input devices such as touchpads.

[0045] Next, the functional structure of the parking lot control server 10 will be explained. Figure 4 This is a diagram illustrating an example of the functional structure of a parking management server 10. (See diagram below.) Figure 4 As shown, the parking management server 10 (CPU) includes a vehicle information acquisition unit 11, a vehicle control unit 12, a stop position setting unit 13, a start deceleration distance calculation unit 14, and a target vehicle distance setting unit 15.

[0046] The vehicle information acquisition unit 11 acquires vehicle information of the autonomous vehicles 2 by communicating with them in the parking lot. The vehicle information includes the identification information of the autonomous vehicles 2 and their location information in the parking lot. The identification information only needs to be information that can identify each autonomous vehicle 2. The identification information can be an ID number, a vehicle number, or a reservation number for automated valet parking, etc.

[0047] Vehicle information may include the model of the autonomous vehicle 2, or, different from the identification information, the vehicle number. Vehicle information may include entry reservation information such as the entry appointment time, or the scheduled exit time. Vehicle information may include vehicle body information such as the turning radius, size, and width of the autonomous vehicle 2, or information related to the autonomous driving function of the autonomous vehicle 2. Information related to the autonomous driving function may also include the version information of the autonomous driving function.

[0048] Vehicle information may also include the driving status of autonomous vehicle 2 and the identification results of the external environment (such as the distance between the autonomous vehicle and the preceding vehicle). The identification of driving status and external environment will be described later. Vehicle information may also include information on the remaining driving range or remaining fuel of autonomous vehicle 2.

[0049] During automated valet parking, the vehicle information acquisition unit 11 continuously acquires vehicle information from the automated driving vehicle 2. When the automated driving vehicle 2 is parked, the vehicle information acquisition unit 11 can either interrupt the acquisition of vehicle information or acquire vehicle information periodically.

[0050] Based on the acquired vehicle information, the vehicle information acquisition unit 11 identifies the status of the autonomous vehicle 2 in the automated valet parking. The status of the autonomous vehicle 2 includes its position within the parking lot. The status of the autonomous vehicle 2 may include its speed, yaw rate, and distance from other vehicles in the vicinity.

[0051] Based on the vehicle information acquired by the vehicle information acquisition unit 11 and the parking status of the parking lot, the vehicle control unit 12 determines the target parking space for the autonomous vehicle 2. The vehicle control unit 12 generates a path within the parking lot, i.e., a target path, for the autonomous vehicle 2 to reach the target parking space. The vehicle control unit 12 instructs the autonomous vehicle 2 to drive along the target path to automatically park at the target parking space.

[0052] The vehicle control unit 12 can also use multiple waypoints pre-set within the parking lot to instruct the autonomous vehicle 2. Waypoints are virtual location points (passage points) set within the parking lot. Waypoints are set at certain intervals, for example, along the extension direction of the parking lot's driving road. It should be noted that the interval between waypoints is not necessarily fixed. The interval between waypoints can also be changed in areas such as curves and near parking lot entrances / exits.

[0053] Figure 5A This is a map used to illustrate the waypoints in a parking lot. Figure 5A The diagram shows the driving road R, the automated driving vehicles 2 (i.e., the first vehicle N1 and the second vehicle N2) moving according to the instructions of the parking lot control server 10, and the waypoints W1 to W6. Figure 5A As shown, path points W1 to W6 are set at certain intervals along the extension direction of the driving road R in the width direction of the driving road R.

[0054] When two or more automated vehicles 2 are traveling on the same road, the vehicle control unit 12 instructs the following vehicle to follow the preceding vehicle. The vehicle control unit 12 may also set further conditions for instructing following, such as setting the distance between the preceding vehicle and the following vehicle to a certain distance or less.

[0055] Vehicle control unit 12 instructs the second vehicle N2 to... Figure 5AThe following situation describes the following vehicle N1. The vehicle control unit 12 instructs the second vehicle N2 on the target distance L set by the target distance setting unit 15 (described later). The second vehicle N2 follows the first vehicle by adjusting its speed so that its distance from the first vehicle N1 becomes the target distance instructing by the vehicle control unit 12. The speed adjustment for following the first vehicle N1 is determined by the second vehicle N2. Hereinafter, the first vehicle N1 will be designated as the vehicle being followed, and the second vehicle N2 will be designated as the vehicle following the first vehicle N1.

[0056] When the second vehicle N2 is following the first vehicle N1 in the parking lot, the stop position setting unit 13 sets a stop position D between the first vehicle N1 and the second vehicle N2. The stop position setting unit 13 sets the stop position D based on the positions of the first vehicle N1 and the second vehicle N2. Figure 5B This is a diagram used to illustrate the setting of the stop position. In Figure 5B The diagram shows the stopping position D (path point W4), the starting deceleration position G, the target vehicle distance L, the starting deceleration distance Lg, and the margin distance Lm. The margin distance Lm is the distance from the first vehicle N1 to the stopping position D. The starting deceleration distance Lg will be described in detail later.

[0057] In addition, Figure 5B The diagram shows the total length Ln1 of the first vehicle N1, the front occupancy distance Lf1 of the first vehicle N1, the rear occupancy distance Lr1 of the first vehicle N1, the total length Ln2 of the second vehicle N2, the front occupancy distance Lf2 of the second vehicle N2, and the rear occupancy distance Lr2 of the second vehicle N2.

[0058] Figure 5B The forward occupancy distance Lf1 and the rear occupancy distance Lr1 of the first vehicle N1 shown are preset distances based on the first vehicle N1. The forward occupancy distance Lf1 and the rear occupancy distance Lr1 can be fixed values ​​or values ​​determined according to the total length Ln1 of the first vehicle N1. Alternatively, the higher the speed of the first vehicle N1, the longer the forward occupancy distance Lf1 and the rear occupancy distance Lr1 are set. The same applies to the forward occupancy distance Lf2 and the rear occupancy distance Lr2 of the second vehicle N2.

[0059] exist Figure 5B In this context, path points W5 and W6, which are contained within the total length Ln1 of the first vehicle N1, the forward occupancy distance Lf1 of the first vehicle N1, and the rear occupancy distance Lr1 of the first vehicle N1, are considered path points occupied by the first vehicle N1. It should be noted that the same relationship applies to path points W1 and W2 relative to the second vehicle N2.

[0060] Stop position D refers to the position set by the parking control server 10 to prevent the second vehicle N2, which is following the first vehicle N1, from getting too close. For example... Figure 5B As shown, the stop position setting unit 13 sets the position of the path point W4, which is the closest to the first vehicle N1 among the path points not occupied by the first vehicle N1 and the second vehicle N2, as the stop position D. Other methods for setting the stop position D will be described later. By determining the stop position D, the margin distance Lm (the distance from the first vehicle N1 to the stop position D) is also determined.

[0061] The initial deceleration distance calculation unit 14 calculates the initial deceleration distance Lg based on the position of the second vehicle N2, the speed of the second vehicle N2, and the stop position D set by the stop position setting unit 13, obtained by the vehicle information acquisition unit 11. The initial deceleration distance Lg is the distance between the position where the second vehicle N2 begins to decelerate and the stop position D, which is the point from the stop position D to the point where it stops. The position from the stop position D to the point where the deceleration distance Lg begins is called the initial deceleration position G. The second vehicle N2 can stop at the stop position D by decelerating from the initial deceleration position G.

[0062] The initial deceleration distance calculation unit 14 calculates, for example, the initial deceleration distance Lg as the distance at which the second vehicle N2 stops at the stop position D with a predetermined deceleration. The deceleration used for calculating the initial deceleration distance Lg can also be determined from multiple deceleration patterns prepared in advance based on the current speed of the second vehicle N2. The deceleration pattern is, for example, time-series data of the deceleration until the second vehicle N2 stops.

[0063] The target vehicle distance setting unit 15 sets the target vehicle distance L used by the second vehicle N2 in following motion. The target vehicle distance setting unit 15 sets the target vehicle distance L to a distance greater than the sum of the distance from the stop position D to the first vehicle N1, i.e., the margin distance Lm, and the starting deceleration distance Lg.

[0064] As an example, the target vehicle distance setting unit 15 calculates the reference target vehicle distance Lb used in following driving using a method based on related technologies. The reference target vehicle distance Lb can be set to a value used in normal following driving. The reference target vehicle distance Lb can also be calculated as a distance predetermined based on the speed of the second vehicle N2. It should be noted that the reference target vehicle distance can also be obtained from the second vehicle N2 as vehicle information. It is assumed that the target vehicle distance for following driving is predetermined in the second vehicle N2 by the driver and the vehicle manufacturer.

[0065] The target vehicle distance setting unit 15 calculates the margin distance Lm based on the position of the first vehicle N1 obtained by the vehicle information acquisition unit 11 and the stop position D set by the stop position setting unit 13. The target vehicle distance setting unit 15 determines whether the reference target vehicle distance Lb is greater than the sum of the starting deceleration distance Lg and the margin distance Lm. If the reference target vehicle distance Lb is greater than the sum of the starting deceleration distance Lg and the margin distance Lm, the target vehicle distance setting unit 15 sets the reference target vehicle distance Lb as the target vehicle distance L. If the reference target vehicle distance Lb is less than the sum of the starting deceleration distance Lg and the margin distance Lm, the target vehicle distance setting unit 15 sets the distance obtained by adding a certain distance to the sum of the starting deceleration distance Lg and the margin distance Lm as the target vehicle distance L. This certain distance is not particularly limited and can be a very small distance. The certain distance can be 1 cm or 5 cm.

[0066] Figure 6 This is a chart illustrating the relationship between the distance to the target workshop and the vehicle speed. Figure 6 The vertical axis corresponds to the distance L from the target vehicle, and the horizontal axis corresponds to the speed of the second vehicle N2. Figure 6 In the diagram, a dashed line represents the sum of the initial deceleration distance Lg and the surplus distance Lm, and a dashed line represents the baseline target inter-vehicle distance Lb. Figure 6 In this case, the higher the speed of the second vehicle N2, the longer the distance Lb between the reference target and the vehicle is calculated.

[0067] like Figure 6 As shown, when the speed of the second vehicle N2 is low and the reference target distance Lb is less than the sum of the initial deceleration distance Lg and the allowance distance Lm, the target distance setting unit 15 sets the distance obtained by adding a certain distance to the sum of the initial deceleration distance Lg and the allowance distance Lm as the target distance L. When the speed of the second vehicle N2 is high and the reference target distance Lb is greater than the sum of the initial deceleration distance Lg and the allowance distance Lm, the target distance setting unit 15 sets the reference target distance Lb as the target distance L.

[0068] <Control Methods for Automatic Parking Systems>

[0069] Next, an example of the control method of the automatic parking system 1 according to the first embodiment will be described. Figure 7 This is a flowchart illustrating an example of target inter-vehicle distance setting processing during the following motion in automated valet parking. Figure 7 The target vehicle distance setting process shown is executed when following is instructed by the parking management server 10. The target vehicle distance setting process is executed repeatedly when following is performed.

[0070] like Figure 7As shown, in step S10, the parking management server 10 of the automatic parking system 1 uses the vehicle information acquisition unit 11 to acquire various information about the autonomous vehicle 2 in the parking lot (vehicle information acquisition step). The vehicle information acquisition unit 11 acquires the vehicle information of the autonomous vehicle 2 by communicating with the autonomous vehicle 2 in the parking lot.

[0071] As in S11, the parking management server 10 uses the stop position setting unit 13 to set the stop position D (stop position setting step). The stop position setting unit 13 sets the stop position D based on the positions of the first vehicle N1 and the second vehicle N2.

[0072] As in step S12, the parking management server 10 calculates the initial deceleration distance Lg using the initial deceleration distance calculation unit 14 (initial deceleration distance calculation step). The initial deceleration distance calculation unit 14 calculates the initial deceleration distance Lg based on the position of the second vehicle N2 obtained by the vehicle information acquisition unit 11, the speed of the second vehicle N2, and the stop position D set by the stop position setting unit 13. The initial deceleration distance calculation unit 14 also calculates the margin distance Lm.

[0073] As in S13, the parking management server 10 calculates the reference target distance Lb using the target vehicle distance setting unit 15 (reference target distance calculation step). The target vehicle distance setting unit 15 calculates, for example, a predetermined reference target distance Lb based on the speed of the second vehicle N2 (see reference). Figure 6 ).

[0074] In step S14, the parking management server 10 uses the target vehicle distance setting unit 15 to determine whether the reference target vehicle distance Lb is greater than the sum of the starting deceleration distance Lg and the allowance distance Lm (determination step). If the parking management server 10 determines that the reference target vehicle distance Lb is greater than the sum of the starting deceleration distance Lg and the allowance distance Lm (S14: YES), it proceeds to step S15. If the parking management server 10 does not determine that the reference target vehicle distance Lb is greater than the sum of the starting deceleration distance Lg and the allowance distance Lm (S14: NO), it proceeds to step S16.

[0075] In S15, the parking management server 10 sets the reference target distance Lb to the target distance L via the target workshop distance setting unit 15 (target workshop distance setting step). After that, the parking management server 10 proceeds to S17.

[0076] In S16, the parking management server 10 uses the target vehicle distance setting unit 15 to set the distance obtained by adding a certain distance to the sum of the initial deceleration distance Lg and the margin distance Lm as the target vehicle distance L (target vehicle distance setting step). After that, the parking management server 10 moves to S17.

[0077] In S17, the parking management server 10 uses the vehicle control unit 12 to indicate the target inter-vehicle distance L to the second vehicle N2 (target inter-vehicle distance indication step). The second vehicle N2 follows the first vehicle N1, which is the first vehicle, with the inter-vehicle distance being the target inter-vehicle distance L.

[0078] According to the first embodiment of the automatic parking system 1 described above, the target vehicle distance L is set to a distance greater than the sum of the distance from the stop position D to the first vehicle N1 (i.e., the margin distance Lm) and the starting deceleration distance Lg. Therefore, compared with the case where the parking lot control server 10 independently sets the target vehicle distance L between the stop position D and the second vehicle N2, it is possible to avoid unnecessary repeated acceleration of the second vehicle N2 for following the first vehicle N1 and deceleration of the second vehicle N2 for stopping at the stop position D, and to suppress the decrease in the driving efficiency of the second vehicle N2 when following.

[0079] Furthermore, in the automatic parking system 1, by using waypoints to set the stop position D, the amount of computation can be reduced compared to setting the stop position D in a free position, and the stop position D corresponding to the movement of the first vehicle N1 can be easily switched.

[0080] [Second Implementation]

[0081] The autonomous vehicle 100 in the second embodiment is a vehicle capable of performing automatic parking (automatic valet parking) according to instructions from the parking management server 110. Compared with the parking management server 10 in the first embodiment, the parking management server 110 in the second embodiment does not have the functions of the start deceleration distance calculation unit 14 and the target vehicle distance setting unit 15, while the autonomous vehicle 100 has the functions corresponding to the start deceleration distance calculation unit 14 and the target vehicle distance setting unit 15.

[0082] The autonomous vehicle 100 follows instructions from the parking lot control server 110 to track the preceding vehicle. Figure 5B In the case shown, the lead vehicle corresponds to the first vehicle N1, and the autonomous vehicle 100 corresponds to the second vehicle N2.

[0083] Figure 8 This is a diagram illustrating the autonomous vehicle of the second embodiment. (As shown) Figure 8As shown, as an example, the autonomous vehicle 100 has an autonomous driving ECU 20. The autonomous driving ECU 20 is an electronic control unit with a CPU, ROM, RAM, etc. In the autonomous driving ECU 20, various functions are implemented, for example, by loading a program recorded in the ROM into the RAM and executing the program loaded into the RAM by the CPU. The autonomous driving ECU 20 may also be composed of multiple electronic units.

[0084] The autonomous driving ECU 20 is connected to the GPS receiver 21, external sensor 22, internal sensor 23, communication unit 24, and actuator 25.

[0085] GPS receiver 21 determines the position (e.g., latitude and longitude of autonomous vehicle 100) of autonomous vehicle 100 by receiving signals from multiple GPS satellites. GPS receiver 21 transmits the measured position information of autonomous vehicle 100 to autonomous driving ECU 20. Alternatively, a GNSS (Global Navigation Satellite System) receiver may be used instead of GPS receiver 21.

[0086] External sensor 22 is an onboard sensor for detecting the external environment of the autonomous vehicle 100. External sensor 22 includes at least a camera. The camera is a recording device that captures images of the external environment of the autonomous vehicle 100. For example, the camera is mounted on the back of the windshield of the autonomous vehicle 100 to capture images of the front of the vehicle. The camera sends the captured information related to the external environment of the autonomous vehicle 100 to the autonomous driving ECU 20. The camera can be a monocular camera or a stereo camera. Multiple cameras can be installed, and in addition to capturing images of the front of the autonomous vehicle 100, the left and right sides and the rear can also be captured.

[0087] External sensor 22 may also include a radar sensor. A radar sensor is a detection device that uses radio waves (e.g., millimeter waves) or light to detect objects around the autonomous vehicle 100. Radar sensors include, for example, millimeter-wave radar or lidar (Light Detection and Ranging). The radar sensor detects objects by sending radio waves or light to the vicinity of the autonomous vehicle 100 and receiving the radio waves or light reflected by the objects. The radar sensor sends the detected object information to the autonomous driving ECU 20. Additionally, external sensor 22 may also include a sonar sensor to detect sounds outside the autonomous vehicle 100.

[0088] Internal sensor 23 is an onboard sensor that detects the driving status of the autonomous vehicle 100. Internal sensor 23 includes a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the autonomous vehicle 100. As a vehicle speed sensor, a wheel speed sensor can be used, which is set for the wheels of the autonomous vehicle 100 or a drive shaft that rotates together with the wheels, and detects the rotational speed of each wheel. The vehicle speed sensor sends the detected vehicle speed information (wheel speed information) to the autonomous driving ECU 20.

[0089] An accelerometer is a detector that detects the acceleration of the autonomous vehicle 100. For example, an accelerometer may include a front-rear accelerometer that detects acceleration in the longitudinal direction of the autonomous vehicle 100. An accelerometer may also include a lateral accelerometer that detects lateral acceleration of the autonomous vehicle 100. The accelerometer transmits the acceleration information of the autonomous vehicle 100 to the autonomous driving ECU 20. A yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) about the vertical axis of the center of gravity of the autonomous vehicle 100. A gyroscope sensor may be used as an example of a yaw rate sensor. The yaw rate sensor transmits the detected yaw rate information of the autonomous vehicle 100 to the autonomous driving ECU 20.

[0090] The communication unit 24 is a communication device that controls wireless communication with the external environment of the autonomous vehicle 100. The communication unit 24 sends and receives various types of information through communication with the parking management server 110. For example, the communication unit 24 sends vehicle information to the parking management server 110 and obtains information required for automated valet parking (e.g., information about landmarks along the target path) from the parking management server 110.

[0091] Actuator 25 is a device for controlling the autonomous vehicle 100. Actuator 25 includes at least a drive actuator, a brake actuator, and a steering actuator. The drive actuator controls the air supply to the engine (throttle opening) according to the control signal from the autonomous driving ECU 20, thereby controlling the driving force of the autonomous vehicle 100. It should be noted that when the autonomous vehicle 100 is a hybrid vehicle, in addition to controlling the air supply to the engine, a control signal from the autonomous driving ECU 20 is also input to the motor, which serves as the power source, to control the driving force. When the autonomous vehicle 100 is an electric vehicle, a control signal from the autonomous driving ECU 20 is input to the motor, which serves as the power source, to control the driving force. In these cases, the motor, which serves as the power source, constitutes actuator 25.

[0092] The brake actuator controls the braking system according to control signals from the autonomous driving ECU 20, and controls the braking force applied to the wheels of the autonomous vehicle 100. For example, a hydraulic braking system can be used as the braking system. The steering actuator controls the drive of the auxiliary motor that controls the steering torque in the electric power steering system according to control signals from the autonomous driving ECU 20. Therefore, the steering actuator controls the steering torque of the autonomous vehicle 100.

[0093] Next, an example of the functional structure of the autonomous driving ECU 20 will be described. The autonomous driving ECU 20 includes an external environment recognition unit 31, a driving state recognition unit 32, a vehicle position recognition unit 33, a vehicle information providing unit 34, a stop position acquisition unit 35, a start deceleration distance calculation unit 36, a target vehicle distance setting unit 37, and an autonomous driving control unit 38.

[0094] The external environment recognition unit 31 identifies the external environment of the autonomous vehicle 100 based on the detection results of the external sensors 22 (images captured by cameras or object information detected by radar sensors). The external environment includes the relative positions of surrounding objects with respect to the autonomous vehicle 100. The external environment may also include the relative speed and direction of movement of surrounding objects with respect to the autonomous vehicle 100. The external environment recognition unit 31 identifies other vehicles and objects such as pillars in the parking lot through pattern matching and other methods. The external environment recognition unit 31 can also identify parking lot doors, parking lot walls, poles, traffic cones, etc. In addition, the external environment recognition unit 31 can also identify driving boundaries in the parking lot through white line recognition.

[0095] The driving state recognition unit 32 identifies the driving state of the autonomous vehicle 100 based on the detection results of the internal sensors 23. The driving state includes the vehicle speed, acceleration, and yaw rate of the autonomous vehicle 100. Specifically, the driving state recognition unit 32 identifies the vehicle speed of the autonomous vehicle 100 based on the vehicle speed information from the vehicle speed sensor. The driving state recognition unit 32 identifies the acceleration of the autonomous vehicle 100 based on the vehicle speed information from the acceleration sensor. The driving state recognition unit 32 identifies the orientation of the autonomous vehicle 100 based on the yaw rate information from the yaw rate sensor.

[0096] The vehicle location recognition unit 33 identifies the location of the autonomous vehicle 100 in the parking lot based on the parking lot map information obtained from the parking lot control server 110 via the communication unit 24 and the external environment identified by the external environment recognition unit 31.

[0097] The vehicle position recognition unit 33 identifies the position of the autonomous vehicle 100 within the parking lot based on the location information of landmarks within the parking lot contained in the parking lot map information and the relative positions of the landmarks identified by the external environment recognition unit 31 with respect to the autonomous vehicle 100. Landmarks can be objects permanently located within the parking lot.

[0098] Furthermore, the vehicle location recognition unit 33 can also identify the position of the autonomous vehicle 100 by dead reckoning based on the detection results of the internal sensors 23. Additionally, the vehicle location recognition unit 33 can also identify the position of the autonomous vehicle 100 by communicating with beacons located in parking lots.

[0099] The vehicle information providing unit 34 provides vehicle information to the parking lot control server 110 via the communication unit 24. For example, the vehicle information providing unit 34 provides vehicle information, including information on the location of the autonomous vehicle 100 in the parking lot as identified by the vehicle location identification unit 33, to the parking lot control server 110 at regular intervals. The vehicle information may also include the external environment (including the distance to preceding vehicles) and / or driving status identified by the autonomous vehicle 100.

[0100] When the autonomous vehicle 100 follows a preceding vehicle within a parking lot according to the instructions of the parking lot control server 110, the stop position acquisition unit 35 acquires information about the stop position D set by the parking lot control server 110. The parking lot control server 110 can set the stop position D in the same way as in the first embodiment.

[0101] The stop position acquisition unit 35 can acquire information about the stop position D either by associating it with a location on a parking lot map, or by acquiring the information about the stop position D as the distance to the autonomous vehicle 100. The stop position D can be associated with a waypoint or set to a location unrelated to a waypoint. Based on the distance from the autonomous vehicle 100 to the lead vehicle identified by the external environment recognition unit 31 and the stop position D, the stop position acquisition unit 35 calculates the distance from the stop position D to the lead vehicle, i.e., the margin distance Lm.

[0102] The starting deceleration distance calculation unit 36 ​​calculates the starting deceleration distance Lg based on the position of the autonomous vehicle 100 identified by the vehicle position recognition unit 33, the speed of the autonomous vehicle 100 identified by the driving state recognition unit 32, and the stopping position D obtained by the stopping position acquisition unit 35. The starting deceleration distance Lg is the distance between the position where the autonomous vehicle 100 begins to decelerate in order to stop at the stopping position D and the stopping position D. From the perspective of the autonomous vehicle 100, the position from the stopping position D towards the starting deceleration distance Lg is the starting deceleration position G. The autonomous vehicle 100 can stop at the stopping position D by starting to decelerate from the starting deceleration position G.

[0103] The initial deceleration distance calculation unit 36 ​​calculates, for example, the initial deceleration distance Lg as the distance at which the autonomous vehicle 100 stops at the stop position D with a predetermined deceleration. The deceleration used to calculate the initial deceleration distance Lg can also be determined from multiple deceleration modes prepared in advance based on the current speed of the autonomous vehicle 100.

[0104] When the autonomous vehicle 100 follows the lead vehicle within the parking lot according to the instructions of the parking lot control server 110, the target vehicle-to-vehicle distance setting unit 37 sets the target vehicle-to-vehicle distance L between the lead vehicle and the autonomous vehicle 100. The target vehicle-to-vehicle distance setting unit 37 sets the target vehicle-to-vehicle distance L to be greater than the sum of the distance from the stop position D to the lead vehicle (i.e., the margin distance Lm) and the starting deceleration distance Lg.

[0105] As an example, the target vehicle distance setting unit 37 calculates the reference target vehicle distance Lb used in following driving using a method based on related technologies. The calculation method for the reference target vehicle distance Lb can be set to be the same as in the first embodiment. The reference target vehicle distance Lb can also be a target vehicle distance preset by the driver for the autonomous vehicle 100.

[0106] The target workshop distance setting unit 37 determines whether the reference target workshop distance Lb is greater than the sum of the initial deceleration distance Lg and the surplus distance Lm. If the reference target workshop distance Lb is greater than the sum of the initial deceleration distance Lg and the surplus distance Lm, the target workshop distance setting unit 37 sets the reference target workshop distance Lb as the target workshop distance L. If the reference target workshop distance Lb is less than the sum of the initial deceleration distance Lg and the surplus distance Lm, the target workshop distance setting unit 37 sets the distance obtained by adding a certain distance to the sum of the initial deceleration distance Lg and the surplus distance Lm as the target workshop distance L.

[0107] The automatic driving control unit 38 enables the automatic driving vehicle 100 to perform automatic driving. Based on instructions from the parking lot control server 110, the automatic driving control unit 38 causes the automatic driving vehicle 100 to follow the preceding vehicle. The automatic driving control unit 38 uses the target vehicle distance L set by the target vehicle distance setting unit 37 for following.

[0108] <Control Methods for Automated Vehicles>

[0109] Next, an example of the control method for the autonomous vehicle 100 according to the second embodiment will be described. Figure 9 This is a flowchart illustrating an example of the target vehicle distance setting process during the following maneuver of the automated valet parking system in the second embodiment. When the parking management server 110 instructs the automated vehicle 100 to follow maneuver, the following is executed... Figure 9 The target vehicle distance setting process is shown. This process is executed repeatedly during follow-up driving.

[0110] like Figure 9 As shown, in S20, the autonomous driving ECU 20 of the autonomous driving vehicle 100 uses the stop position acquisition unit 35 to acquire the stop position D of the autonomous driving vehicle 100 relative to the lead vehicle (stop position acquisition step). In addition, the stop position acquisition unit 35 calculates the distance from the stop position D to the lead vehicle, i.e., the margin distance Lm, based on the distance from the autonomous driving vehicle 100 to the lead vehicle identified by the external environment recognition unit 31 and the stop position D.

[0111] In S21, the autonomous driving ECU 20 calculates the initial deceleration distance Lg using the initial deceleration distance calculation unit 36 ​​(initial deceleration distance calculation step). The initial deceleration distance calculation unit 36 ​​calculates the initial deceleration distance Lg based on the position of the autonomous driving vehicle 100, the speed of the autonomous driving vehicle 100, and the stopping position D.

[0112] In S22, the autonomous driving ECU 20 calculates the reference target distance Lb using the target vehicle distance setting unit 37 (reference target distance calculation step). The target vehicle distance setting unit 37 calculates the reference target distance Lb, for example, based on the speed of the autonomous driving vehicle 100.

[0113] In S23, the automatic driving ECU 20 uses the target vehicle distance setting unit 37 to determine whether the reference target vehicle distance Lb is greater than the sum of the starting deceleration distance Lg and the margin distance Lm (determination step). If the automatic driving ECU 20 determines that the reference target vehicle distance Lb is greater than the sum of the starting deceleration distance Lg and the margin distance Lm (S23: YES), it proceeds to S24. If the automatic driving ECU 20 does not determine that the reference target vehicle distance Lb is greater than the sum of the starting deceleration distance Lg and the margin distance Lm (S23: NO), it proceeds to S25.

[0114] In S24, the automatic driving ECU 20 uses the target vehicle distance setting unit 37 to set the reference target vehicle distance Lb to the target vehicle distance L (target vehicle distance setting step). After that, the automatic driving ECU 20 moves to S26.

[0115] In S25, the automatic driving ECU 20 uses the target inter-vehicle distance setting unit 37 to set the distance obtained by adding a certain distance to the sum of the initial deceleration distance Lg and the margin distance Lm as the target inter-vehicle distance L (target inter-vehicle distance setting step). After that, the automatic driving ECU 20 moves to S26.

[0116] In S26, the autonomous driving ECU 20 uses the autonomous driving control unit 38 to perform following driving (vehicle control step) using the target inter-vehicle distance L. The autonomous driving vehicle 100 performs speed adjustment so that the inter-vehicle distance with the preceding vehicle becomes the target inter-vehicle distance L.

[0117] According to the second embodiment of the autonomous vehicle 100 described above, the target vehicle-to-vehicle distance L is set to a distance greater than the sum of the distance from the stop position D to the preceding vehicle (i.e., the margin distance Lm) and the starting deceleration distance Lg. Therefore, compared with the case where the parking management server 110 independently sets the stop position D and the target vehicle-to-vehicle distance L of the autonomous vehicle 100, it is possible to avoid unnecessary repetition of the acceleration of the autonomous vehicle 100 for following the preceding vehicle and the deceleration of the autonomous vehicle 100 for stopping at the stop position D, and to suppress the decrease in driving efficiency when following.

[0118] The embodiments of the present invention have been described above, but the present invention is not limited to the above embodiments. The present invention is represented by the above embodiments and can be implemented in various ways with various modifications and improvements based on the knowledge of those skilled in the art.

[0119] The autonomous vehicle 2 of the first embodiment may also be the same as the autonomous vehicle 100 of the second embodiment. Furthermore, the autonomous vehicle 2 of the first embodiment may also be a vehicle derived from the autonomous vehicle 100 of the second embodiment by removing the functions of the stop position acquisition unit 35, the start deceleration distance calculation unit 36, and the target inter-vehicle distance setting unit 37.

[0120] For example, as autonomous vehicles 2 and 100, transport robots capable of moving other vehicles (parking target vehicles) can also be used. Parking target vehicles can be either ordinary vehicles without autonomous driving capabilities or autonomous vehicles. The transport robots, for example, possess a lifting mechanism capable of lifting and holding the parking target vehicles. Parking management servers 10 and 110 instruct the transport robots to move the parking target vehicles, thereby achieving automated valet parking. Parking management servers 10 and 110 also instruct the transport robots to follow each other.

[0121] The stopping position D does not necessarily need to use the rear occupancy distance Lr1 of the first vehicle N1 (the leading vehicle). The stopping position D can be set at either the path point closest to the first vehicle N1 behind it, or the second path point closest to the first vehicle N1 behind it. Setting the stopping position D does not necessarily require using a path point. The stopping position D can also be set at any location within the parking lot, independent of a path point. Alternatively, a pre-defined distance can be taken from the position of the first vehicle N1 towards the second vehicle N2 as the stopping position D.

[0122] The target workshop distance L does not necessarily need to be set using the baseline target workshop distance Lb. Alternatively, the target workshop distance L can be calculated as the distance greater than the sum of the initial deceleration distance Lg and the margin distance Lm.

Claims

1. An automatic parking system that enables a first vehicle and a second vehicle, both operating as autonomous vehicles, to perform automatic valet parking, characterized in that, Includes one or more processors, said one or more processors being configured as follows: The second vehicle is made to follow the first vehicle within the parking lot, wherein the following is included in automatic valet parking; When the second vehicle follows the first vehicle within the parking lot, a stopping position is set between the first vehicle and the second vehicle; Based on the position of the second vehicle, the speed of the second vehicle, and the stopping position, the starting deceleration distance is calculated. The starting deceleration distance is the distance between the position where the second vehicle begins to decelerate so that it stops at the stopping position and the stopping position. Set the target vehicle-to-vehicle distance relative to the first vehicle while the second vehicle is following it; and The target inter-vehicle distance is defined as the distance greater than the sum of the distance from the stopping position to the first vehicle (i.e., the margin distance) and the starting deceleration distance. The parking lot's driving roads include multiple waypoints for indication, wherein the multiple waypoints are pre-defined along the extension direction of the driving roads, and further include a first waypoint between the first vehicle and the second vehicle and above a predetermined occupancy distance from the first vehicle. The one or more processors are configured to set the stop position based on the first path point.

2. The automatic parking system according to claim 1, characterized in that, The one or more processors are configured to set the second path point, which is closest to the first vehicle among the first path points, as the stopping position.

3. The automatic parking system according to claim 1 or 2, characterized in that, The one or more processors are configured as follows: If the predetermined benchmark target workshop distance is greater than the sum of the starting deceleration distance and the margin distance, the benchmark target workshop distance is set as the target workshop distance; as well as If the target workshop distance is smaller than the sum of the starting deceleration distance and the margin distance, the distance obtained by adding a predetermined distance to the sum of the starting deceleration distance and the margin distance is set as the target workshop distance.

4. A control method, said control method being executed by an automatic parking system that enables a first vehicle as an autonomous driving vehicle and a second vehicle as an autonomous driving vehicle to perform automatic valet parking, characterized in that, The control method includes: The second vehicle is made to follow the first vehicle within the parking lot, wherein the following is included in automatic valet parking; When the second vehicle follows the first vehicle within the parking lot, a stopping position is set between the first vehicle and the second vehicle; Based on the position of the second vehicle, its speed, and the stopping position, a starting deceleration distance is calculated. This starting deceleration distance is the distance between the position where the second vehicle begins to decelerate and the stopping position, which is required for the second vehicle to come to a stop at the stopping position. A target inter-vehicle distance is set relative to the first vehicle while the second vehicle is following it. This target inter-vehicle distance is set to be greater than the sum of the distance from the stopping position to the first vehicle (i.e., the margin distance) and the starting deceleration distance. The parking lot's driving roads include multiple waypoints for indication, wherein the multiple waypoints are pre-defined along the extension direction of the driving roads, and further include a first waypoint between the first vehicle and the second vehicle and above a predetermined occupancy distance from the first vehicle. The control method is configured to set the stop position based on the first path point.

5. The control method according to claim 4, characterized in that, The control method is configured to set the second path point, which is closest to the first vehicle among the first path points, as the stopping position.

6. An autonomous vehicle, characterized in that, Includes one or more processors, said one or more processors being configured as follows: When the autonomous vehicle follows the lead vehicle in the parking lot according to the instructions of the parking lot control server, the parking lot control server obtains the stopping position set between the lead vehicle and the autonomous vehicle, wherein the following is included in the automatic valet parking. Based on the position of the autonomous vehicle, the speed of the autonomous vehicle, and the stopping position, the starting deceleration distance is calculated. The starting deceleration distance is the distance between the position where the autonomous vehicle begins to decelerate and the stopping position so that the autonomous vehicle stops at the stopping position. Set the target vehicle-to-vehicle distance relative to the leading vehicle while the autonomous vehicle is following; and The target workshop distance is set to be greater than the sum of the distance from the stopping position to the leading vehicle (i.e., the margin distance) and the starting deceleration distance. The parking lot's driving roads include multiple waypoints for indication, wherein the multiple waypoints are pre-defined along the extension direction of the driving roads, and further include a first waypoint between the lead vehicle and the autonomous vehicle, and above a predetermined occupancy distance from the lead vehicle. The one or more processors are configured to set the stop position based on the first path point.

7. The autonomous vehicle according to claim 6, characterized in that, The one or more processors are configured to set the second path point, which is closest to the first vehicle among the first path points, as the stopping position.

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