Automatic parking system, control method of automatic parking system, and storage medium

Abstract

The present application relates to an automatic parking system, a control method of the automatic parking system, and a storage medium. An automatic parking system that performs automatic valet parking, the automatic parking system including: an attention object space setting section that sets an attention object space based on a target parking space of a vehicle to be parked and parking lot map information including entrance position information of a parking lot, the attention object space being a parking space in a surrounding of the target parking space that, if there is another vehicle in the parking lot, will affect parking of the vehicle to be parked; and a vehicle instruction section that, in a case where it is determined that there is an attention object vehicle that is an autonomous vehicle in the parking lot in the attention object space, performs a start instruction for parking of the vehicle to be parked after it is determined that parking or departure from the parking space of all of the attention object vehicles is completed.

Description

Technical Field

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

[0002] Previously, Japanese Patent Application Publication No. 2020-079079 was known as a technical document related to automated parking systems. This publication disclosed a method for automated valet parking, which involves autonomous parking of vehicles via a parking management server (infrastructure).

[0003] Furthermore, to avoid vehicle contact during automated valet parking with multiple vehicles, it is considered that no new valet parking should begin until all vehicles surrounding the target parking space (where the entering vehicle is parked) and the exit parking space (where the exiting vehicle is parked) have completed their parking and exit operations. However, if no new valet parking begins until all vehicles have completed their parking and exit operations, it will reduce the parking lot utilization efficiency of the automated valet parking system, which would be problematic. Summary of the Invention

[0004] The first aspect of the present invention provides an automatic parking system configured to perform automatic valet parking, which automatically parks an autonomous vehicle in a target parking space selected from multiple parking spaces within a parking lot. The automatic parking system includes a vehicle information acquisition unit, a target space setting unit, a target vehicle determination unit, a completion determination unit, and a vehicle instruction unit. The vehicle information acquisition unit is configured to acquire vehicle information, including the location information of the autonomous vehicle within the parking lot and the vehicle's entry / exit information. The target space setting unit is configured to set a target space based on the target parking space of the entering vehicle and parking lot map information including the entrance location information of the parking lot. The entering vehicle is an autonomous vehicle that becomes the target for automatic valet parking, and the target space is the parking space surrounding the target parking space where the presence of other vehicles entering or exiting would affect the entering vehicle's entry. The target vehicle determination unit is configured to determine, based on the parking lot map information and the vehicle information, whether a target vehicle, which is an autonomous vehicle entering or exiting, exists in the target space. The completion determination unit is configured to, when the attention target vehicle determination unit determines that a attention target vehicle exists, determine whether all attention target vehicles have completed entering the parking space or leaving the parking space based on parking map information and vehicle information. The vehicle instruction unit is configured to, when the attention target vehicle determination unit determines that a attention target vehicle exists, and after the completion determination unit determines that all attention target vehicles have completed entering the parking space or leaving the parking space, to issue an instruction to begin entering the parking space for the vehicles entering the parking space.

[0005] Based on this configuration, a focus space is set up to monitor other vehicles entering or leaving the target parking space, as these vehicles could affect the entry of the vehicle. If a vehicle that is an autonomous vehicle entering or leaving the target parking space is present in this focus space, the entry start instruction is given to the vehicle entering the parking space only after the vehicle has completed its entry or detachment from the parking space. Therefore, compared to situations where no entry start instruction is given until all vehicles entering or leaving the target parking space have completed their entry or detachment, the parking lot utilization efficiency of automated valet parking is improved.

[0006] In the automatic parking system of the first scheme mentioned above, there may also be a route setting unit. The route setting unit sets the parking route from the parking vehicle to the target parking space based on the current location of the parking vehicle, the target parking space of the parking vehicle, and the parking lot map information. The attention object space setting unit sets the attention object space based on the parking route, the target parking space of the parking vehicle, and the parking lot map information.

[0007] Based on this configuration, the attention target space is set by considering the entry route of vehicles entering the parking space. Therefore, parking spaces that do not interfere with the entry and exit routes of other vehicles can be included in the attention target space, thus enabling the appropriate setting of the attention target space.

[0008] In the automatic parking system of the first scheme mentioned above, the vehicles to be noticed may also include vehicles that retreat, which are autonomous vehicles that temporarily retreat to the space to be noticed or temporarily retreat from the space to the driving path of the parking lot.

[0009] Based on this configuration, the impact of vehicles that retreat, which are related to the space of attention, on the entry of vehicles into the parking area can be suppressed by including vehicles that retreat in the vehicles of attention.

[0010] The second aspect of the present invention provides an automatic parking system configured to perform automatic valet parking, which automatically parks an autonomous vehicle in a target parking space selected from multiple parking spaces within a parking lot. The automatic parking system includes a vehicle information acquisition unit, a target space setting unit, a target vehicle determination unit, a completion determination unit, and a vehicle instruction unit. The vehicle information acquisition unit is configured to acquire vehicle information, including the location information of the autonomous vehicle within the parking lot and the vehicle's entry / exit information. The target space setting unit is configured to set a target space based on the exit target space where the exiting vehicle is parked and parking lot map information including the exit location information of the parking lot. The exiting vehicle is the autonomous vehicle that becomes the exit target for automatic valet parking, and the target space is the parking space surrounding the exit target space where the presence of other vehicles entering / exiting would affect the exiting vehicle's parking. The target vehicle determination unit is configured to determine, based on the parking lot map information and the vehicle information, whether a target vehicle, which is an autonomous vehicle entering / exiting, exists in the target space. The completion determination unit is configured to, when the attention target vehicle determination unit determines that a attention target vehicle exists, determine whether the entry or exit from the parking space of all attention target vehicles has been completed based on parking lot map information and vehicle information. The vehicle instruction unit is configured to, when the attention target vehicle determination unit determines that a attention target vehicle exists, and after the completion determination unit determines that the entry or exit from the parking space of all attention target vehicles has been completed, instruct the exiting vehicle to begin exiting.

[0011] Based on this configuration, a "pay attention" space is set for the parking spaces surrounding the exit target space, as the presence of other vehicles entering or leaving the parking area would affect the exit of the exiting vehicle. If a vehicle is within this attention space, the exit start instruction for the exiting vehicle is given only after it is determined that the vehicle has completed entering or leaving the parking space. Therefore, compared to not giving an exit start instruction until all vehicles entering or leaving the parking area surrounding the exit target space have completed their exit, the parking lot utilization efficiency of automated valet parking is improved.

[0012] In the automatic parking system of the second scheme mentioned above, there may also be a route setting unit, which sets the exit route of the vehicle from the parking lot to the exit of the parking lot based on the exit object space and parking lot map information, and the attention object space setting unit sets the attention object space based on the exit route and parking lot map information.

[0013] Based on this configuration, the attention target space is set by considering the exit route of the vehicles leaving the warehouse. Therefore, parking spaces that do not interfere with the exit route of other vehicles can be included in the attention target space, thus enabling the appropriate setting of the attention target space.

[0014] In the automatic parking system of the second scheme mentioned above, the attention target space setting unit may also set the parking space along the direction of the exit route in the parking space adjacent to the exit target space connected to the driving road of the parking lot as the attention target space, and not set the parking space that is not along the direction of the exit route in the parking space adjacent to the exit target space connected to the driving road of the parking lot as the attention target space.

[0015] Based on this configuration, parking spaces that are not in the direction of the exit route and are considered to have a low impact on the exit route are not designated as attention-oriented spaces among the parking spaces adjacent to the exit target space connected to the driving road of the parking lot. Therefore, it is not necessary to wait for the exit and entry of other vehicles associated with the low-impact parking spaces to be completed, thereby improving the utilization efficiency of the parking lot.

[0016] In the automatic parking system of the second scheme mentioned above, the vehicles to be noticed may also include reversing vehicles, which are automated vehicles that temporarily retreat to the space to be noticed or temporarily retreat from the space to the driving path of the parking lot.

[0017] Based on this configuration, the impact of retreating vehicles related to the space of attention on the departure of vehicles can be suppressed by including retreating vehicles in the vehicles of attention.

[0018] In the automatic parking system of the second scheme mentioned above, it should be noted that the target vehicles may not include vehicles located on the exit route of the exiting vehicles and retreating in a direction away from the exit route.

[0019] Based on this configuration, vehicles that retreat in a direction away from the exit route are considered to have a low probability of affecting the exit of vehicles. Therefore, parking lot utilization efficiency can be improved by not including these retreating vehicles in the list of vehicles to be monitored.

[0020] The control method for the automatic parking system of the third aspect of the present invention is a control method for an automatic valet parking system configured to automatically park an autonomous vehicle in a target parking space set from multiple parking spaces in a parking lot. The control method includes: acquiring vehicle information, including the location information of autonomous vehicles in the parking lot and their entry and exit information; setting a target space based on the target parking space of the entering vehicle and parking lot map information including the entrance location information of the parking lot, wherein the entering vehicle is an autonomous vehicle that becomes the target of automated valet parking, and the target space is the parking space around the target parking space where the presence of other vehicles entering or exiting would affect the entry of the entering vehicle; determining, based on the parking lot map information and vehicle information, whether there is a target vehicle in the target space that is an autonomous vehicle entering or exiting; if a target vehicle is determined to exist, determining, based on the parking lot map information and vehicle information, whether the entry or exit of all target vehicles has been completed; and, if a target vehicle is determined to exist, after determining that the entry or exit of all target vehicles has been completed, instructing the entering vehicle to begin parking.

[0021] Based on this configuration, a "focus area" is set up around the target parking space to monitor vehicles entering or exiting the parking area. If such vehicles are present in this focus area, the system initiates the parking maneuver for the vehicle in the target parking space only after the vehicle has completed its entry or exit from the parking space. Therefore, compared to not initiating the parking maneuver until all vehicles around the target parking space have completed their entry or exit, this improves the parking lot utilization efficiency of automated valet parking.

[0022] The control method for the automatic parking system of the fourth aspect of the present invention is a control method for an automatic valet parking system configured to automatically park an autonomous vehicle in a target parking space set from multiple parking spaces in a parking lot. The control method includes: acquiring vehicle information, including the location information of autonomous vehicles in the parking lot and their entry and exit information; setting a focus area based on the exit target space of the exiting vehicle and parking lot map information including the exit location information of the parking lot, wherein the exiting vehicle is an autonomous vehicle that becomes an exit target for automated valet parking, and the focus area is the parking space around the exit target space where the presence of other vehicles entering or exiting would affect the exiting vehicle's parking space; determining, based on the parking lot map information and vehicle information, whether there is a focus vehicle in the focus area that is an autonomous vehicle entering or exiting; if a focus vehicle is determined to exist, determining, based on the parking lot map information and vehicle information, whether all focus vehicles have completed entering or exiting the parking space; and, if a focus vehicle is determined to exist, after determining that all focus vehicles have completed entering or exiting the parking space, instructing the exiting vehicle to begin exiting.

[0023] Based on this configuration, a "pay attention" space is set for the parking spaces surrounding the exit target space, as the presence of other vehicles entering or leaving the parking area would affect the exit of the exiting vehicle. If a vehicle is within this attention space, the exit start instruction for the exiting vehicle is given only after it is determined that the vehicle has completed entering or leaving the parking space. Therefore, compared to not giving an exit start instruction until all vehicles entering or leaving the parking area surrounding the exit target space have completed their exit, the parking lot utilization efficiency of automated valet parking is improved.

[0024] The fifth aspect of the present invention is a non-transitory storage medium that stores a command that can be executed by a server including one or more processors, causing the server to perform automatic valet parking by automatically parking an autonomous vehicle in a target parking space set from multiple parking spaces in a parking lot, and the command causes the server including the one or more processors to perform the following functions. The functions include: acquiring vehicle information, including the location information of autonomous vehicles in the parking lot and their entry and exit information; setting a target parking space based on the target parking space of the entering vehicle and parking lot map information including the entrance location information of the parking lot, wherein the entering vehicle is an autonomous vehicle that becomes the target of the parking lot, and the target parking space is the parking space around the target parking space that would affect the entry of the entering vehicle if other vehicles entering or exiting the parking lot are present; determining whether there is a target vehicle in the target parking space that is an autonomous vehicle entering or exiting the parking lot based on the parking lot map information and vehicle information; if a target vehicle is determined to exist, determining whether the entry or exit of all target vehicles has been completed based on the parking lot map information and vehicle information; and, if a target vehicle is determined to exist, issuing an entry start instruction to the entering vehicle after determining that the entry or exit of all target vehicles has been completed.

[0025] Based on this configuration, a "focus area" is set to monitor the parking spaces surrounding the target parking space, as the presence of other vehicles entering or exiting the parking space could affect the entry of the vehicle. If a vehicle is within this focus area, the system initiates the entry of the vehicle only after it has completed its entry or detachment from the parking space. Therefore, compared to not initiating the entry until all vehicles entering or exiting the target parking space have completed their entry, the parking lot utilization efficiency of automated valet parking is improved.

[0026] The sixth aspect of the present invention provides a non-transitory storage medium that stores a command that can be executed by a server including one or more processors, causing the server to perform automatic valet parking by automatically parking an autonomous vehicle in a target parking space set from multiple parking spaces in a parking lot, and the command causes the server including the one or more processors to perform the following functions. The functions include: acquiring vehicle information, including the location information of autonomous vehicles in the parking lot and their entry and exit information; setting a focus area based on the exit target space of the exiting vehicle and parking lot map information including the exit location information of the parking lot, wherein the exiting vehicle is an autonomous vehicle that becomes an exit target of the parking lot, and the focus area is the parking space around the exit target space where the presence of other vehicles entering or exiting would affect the exiting vehicle's parking space; determining whether there is a focus vehicle in the focus area that is an autonomous vehicle entering or exiting the parking lot based on the parking lot map information and vehicle information; if a focus vehicle is determined to exist, determining whether all focus vehicles have completed entering or exiting the parking space based on the parking lot map information and vehicle information; and, if a focus vehicle is determined to exist, after determining that all focus vehicles have completed entering or exiting the parking space, instructing the exiting vehicle to begin exiting.

[0027] Based on this configuration, a "pay attention" space is set for the parking spaces surrounding the exit target space, as the presence of other vehicles entering or leaving the parking area would affect the exit of the exiting vehicle. If a vehicle is within this attention space, the exit start instruction for the exiting vehicle is given only after it is determined that the vehicle has completed entering or leaving the parking space. Therefore, compared to not giving an exit start instruction until all vehicles entering or leaving the parking area surrounding the exit target space have completed their exit, the parking lot utilization efficiency of automated valet parking is improved.

[0028] According to the various solutions of the present invention, the parking lot utilization efficiency of automated valet parking can be improved. Attached Figure Description

[0029] 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:

[0030] Figure 1 This is a diagram illustrating the automatic parking system of the first embodiment.

[0031] Figure 2 This is a top view showing an example of a parking lot where automated valet parking is provided.

[0032] Figure 3 This is a diagram illustrating an example of the hardware configuration of a parking management server.

[0033] Figure 4 This is a diagram illustrating an example of the functional configuration of a parking management server.

[0034] Figure 5 This is a diagram illustrating an example of how the attention space for vehicles entering the warehouse is set.

[0035] Figure 6 This is another example of a diagram used to illustrate the setting of the attention space for vehicles entering the warehouse.

[0036] Figure 7 This is a diagram illustrating an example of how the attention space for vehicles leaving the warehouse is set.

[0037] Figure 8 This is another example of a diagram used to illustrate the setting of the attention object space for vehicles leaving the warehouse.

[0038] Figure 9 This is a diagram used to illustrate an example of a vehicle that is avoiding another vehicle, which is included among vehicles that are subject to attention.

[0039] Figure 10 This diagram illustrates an example of a vehicle that is not included in the list of vehicles to be avoided.

[0040] Figure 11 This is a flowchart illustrating an example of the process initiating an inbound instruction.

[0041] Figure 12 This is a flowchart illustrating an example of a process indicating the start of outbound processing.

[0042] Figure 13 This is a flowchart illustrating an example of the vehicle avoidance determination process in the process of setting up the target vehicle. Detailed Implementation

[0043] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0044] Figure 1 This is a diagram illustrating an automatic parking system in one implementation. Figure 1The illustrated Automated Valet Parking System (AVPS) 1 is a system for automated valet parking of multiple automated vehicles 2 in a parking place. The automated vehicles 2 are vehicles equipped with automated driving functions that can perform automated valet parking upon instructions from the AVPS 1. The automated vehicles 2 may also include a transport robot vehicle capable of moving the vehicle. The transport robot vehicle, for example, can achieve automated valet parking of vehicles without automated driving functions by lifting or towing the vehicle being parked.

[0045] Automated valet parking refers to the following service: An unmanned, autonomous vehicle 2, having already disembarked at the designated drop-off point in the parking lot, travels along a target route (entry route, exit route, reversal route, etc.) according to instructions from the parking lot management system and automatically parks itself in a target parking space within the parking lot. The target parking space refers to the parking space pre-set as the parking location for each autonomous vehicle 2, allocated per vehicle 2. The target route refers to the route traveled by the autonomous vehicle 2 within the parking lot to reach the target parking space. It should be noted that the exit route is the route traveled by the autonomous vehicle 2 to reach the pick-up space described later.

[0046] The parking lot can be a dedicated parking lot for automated valet parking, or a combined parking lot for both valet parking vehicles and regular vehicles. Alternatively, the parking space for automated valet parking can be separated from other parking spaces, while the driving lanes can be shared.

[0047] 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. The parking lot 50 includes the parking area 51, the drop-off area 52, and the pick-up area 53. It should be noted that the drop-off area 52 and the pick-up area 53 do not need to be separate; they can be combined into a single pick-up and drop-off area.

[0048] Parking area 51 is a location that forms a parking space 61 for the autonomous vehicle 2 to park via automated valet parking. Parking space 61, for example... Figure 2 As shown, multiple such arrangements are formed in one direction (e.g., the width direction of the parked vehicles).

[0049] The drop-off area 52 is located at the entrance of the parking lot 50 and is used for passengers, including users, to disembark from the autonomous vehicle 2 before it enters the parking lot. The drop-off area 52 includes a disembarkation space 62 for parking the autonomous vehicle 2 when passengers disembark. The drop-off area 52 leads to the parking area 51 via the parking door 54.

[0050] The boarding area 53 is located on the exit side of the parking lot 50 and is used for passengers to board the autonomous vehicle 2 that has exited the parking lot. A boarding space 63 is formed in the boarding area 53 for the autonomous vehicle 2 to wait for passengers to board. The boarding area 53 leads to the parking area 51 via the exit door 55. The parking space 61, the disembarking space 62, and the boarding space 63 are all objects of the target parking space for the autonomous vehicle 2. Furthermore, a return door 56 is provided between the boarding area 53 and the parking area 51 for the autonomous vehicle 2 to return from the boarding area 53 to the parking area 51. It should be noted that the return door 56 is not mandatory.

[0051] 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 the parking space 61 of parking area 51, and an autonomous vehicle 2D parked in the boarding space 63 of boarding location 53.

[0052] In the automated parking system 1, for example, after the passenger has alighted from the vehicle in the exit space 62 (corresponding to automated vehicle 2A), the automated vehicle 2 entering the parking lot 50 receives instructions from the user to begin automated valet parking. The automated parking system 1 then moves the automated vehicle 2B, which has entered the parking area 51, and automatically parks it in the target parking space E1. Upon receiving an exit request from the user, the automated parking system 1 moves the parked automated vehicle 2B toward the entry area 53 and automatically parks it in the entry space 63 (corresponding to automated vehicle 2D).

[0053] <Components of an Automated Parking System>

[0054] The configuration 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.

[0055] The parking management server 10 is configured to communicate with the autonomous vehicle 2. The parking management server 10 can be located either in the parking lot or in a facility located elsewhere. The parking management server 10 can consist 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.

[0056] Parking sensor 3 is a sensor used to identify the conditions within the parking lot. Parking sensor 3 includes, for example, a surveillance camera for detecting the location of the autonomous vehicle 2 within the parking lot. The surveillance camera is installed on the ceiling and 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.

[0057] The parking lot sensor 3 may also include an empty vehicle sensor for detecting the presence of parked vehicles in the parking space (whether the parking space is full or empty). The empty vehicle sensor can be installed in each parking space, or it can be installed on the ceiling, etc., and configured to monitor multiple parking spaces with a single sensor. The configuration of the empty vehicle sensor is not particularly limited and can employ well-known configurations. The empty vehicle sensor can be a pressure sensor, a radar sensor using radio waves, a sonar sensor, or a camera. The empty vehicle sensor sends the empty vehicle information of the parking space to the parking lot control server 10.

[0058] 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 driving routes 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 recognition. Landmarks include at least one of the following: white lines, poles, traffic cones, parking lot pillars, etc.

[0059] The hardware configuration of the parking lot control server 10 is described. Figure 3 This is a block diagram illustrating an example of the hardware configuration of a parking management server. For example... Figure 3 As shown, the parking management server 10 is configured as a general computer with a processor 10a, a storage unit 10b, a communication unit 10c, and a user interface 10d.

[0060] Processor 10a enables various operating systems to perform 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 oversees storage unit 10b, communication unit 10c, and user interface 10d. Storage unit 10b is a recording medium that includes, for example, at least one of ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disk Drive), and SSD (Solid State Drive).

[0061] The communication unit 10c is a communication device used for wireless communication via a network. Network devices, network controllers, network interface cards (NICs), etc., can be used in the communication unit 10c. 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 or other personnel. The user interface 10d includes output devices such as displays and speakers, and input devices such as touch panels.

[0062] Next, the functional configuration of the parking lot control server 10 will be explained. Figure 4 This diagram illustrates an example of the functional configuration of a parking management server 10. (See diagram for example.) Figure 4 As shown, the parking management server 10 includes a vehicle information acquisition unit 11, a route setting unit 12, a target space setting unit 13, a target vehicle determination unit 14, a completion determination unit 15, and a vehicle instruction unit 16.

[0063] The vehicle information acquisition unit 11 acquires vehicle information of the autonomous vehicle 2 by communicating with the autonomous vehicle 2 in the parking lot. The vehicle information includes identification information of the autonomous vehicle 2 and its location information in the parking lot. Identification information is simply information that can identify each autonomous vehicle 2. Identification information can be an ID number, a vehicle number, or a reservation number for automated valet parking, etc. The vehicle information also includes entry and exit information related to the autonomous vehicle 2 entering or leaving the parking lot. The entry and exit information may also include information related to the target parking space and route.

[0064] The vehicle information may include the model of the autonomous vehicle 2, or it may include the vehicle number separately from the identification information. The vehicle information may include both entry reservation information (such as entry appointment time) and exit reservation time. The vehicle information may include body information such as the turning radius, size, and width of the autonomous vehicle 2, as well as information related to the autonomous driving functions of the autonomous vehicle 2. Information related to the autonomous driving functions may include the version information of the autonomous driving functions.

[0065] The vehicle information may also include the identification results of the autonomous vehicle 2's driving status (vehicle speed, acceleration, yaw rate, etc.) and the identification results of the external environment (distance from the preceding vehicle, etc.). The identification of driving status and external environment will be described later. The vehicle information may also include information on the remaining driving distance or remaining fuel of the autonomous vehicle 2.

[0066] During the automatic valet parking process, the vehicle information acquisition unit 11 continuously acquires vehicle information from the autonomous vehicle 2. When the autonomous vehicle 2 is in a parking position, the vehicle information acquisition unit 11 can either interrupt the acquisition of vehicle information or acquire vehicle information periodically.

[0067] The route setting unit 12 sets the target parking space, the entry route, and the exit route for the autonomous vehicle 2. Hereinafter, the autonomous vehicle 2 that will be the object of the automated valet parking will be referred to as the entry vehicle, and the autonomous vehicle 2 that will be the object of the automated valet parking will be referred to as the exit vehicle.

[0068] When the autonomous vehicle 2 is a vehicle entering a parking space, the route setting unit 12 sets a target parking space for the vehicle. Based on parking map information and vehicle information from the parking map database 4, the route setting unit 12 selects a target parking space from available parking spaces 61. The method for determining the target parking space is not particularly limited.

[0069] The route setting unit 12 sets the parking route from the parking vehicle to the target parking space based on the current position of the parking vehicle, the target parking space of the parking vehicle, and parking lot map information. The location of the parking lot entrance can also be used as the current position of the parking vehicle. As an example, the route setting unit 12 sets the shortest route from the parking vehicle to the target parking space as the parking route. The route setting unit 12 can also set the parking route in a way that does not interfere with the routes of other autonomous vehicles 2 that are entering or exiting the parking space. When a swivel or turnaround operation is required for the parking vehicle to park in the target parking space, the route setting unit 12 sets the parking route including the swivel and turnaround operations.

[0070] When the autonomous vehicle 2 is a vehicle leaving the depot, the route setting unit 12 sets the vacant boarding space 63 in the boarding space 63 of the boarding area 53 used for waiting users of the vehicle leaving the depot as the target parking space for the vehicle leaving the depot. It should be noted that if there is only one boarding space 63, it is not necessary to set the target parking space for the vehicle leaving the depot.

[0071] The route setting unit 12 sets the exit route for the exiting vehicle to the exit of the parking lot based on the exit target space, the target parking space, and parking lot map information of the parking space 61 where the exiting vehicle is parked. The exit route can be set in the same way as the entry route. It should be noted that when there is only one entry space 63, the target parking space information of the exiting vehicle is not required.

[0072] The attention object space setting unit 13 sets attention object spaces for each type of vehicle, including both incoming and outgoing vehicles. First, the setting of the attention object space for incoming vehicles will be explained.

[0073] The attention target space setting unit 13 sets the attention target space for the target parking space of the vehicle entering the parking space. The attention target space is the parking space 61 surrounding the target parking space that will affect the parking space 61 of the vehicle entering the parking space if other vehicles are entering or leaving the parking space.

[0074] The parking space surrounding the target parking space can refer to the parking spaces 61 within a certain distance from the target parking space, or it can refer to the parking spaces 61 adjacent to the target parking space on all sides, or it can include the parking spaces 61 that are even further adjacent to the target parking space. The parking spaces 61 adjacent to the target parking space can also include those adjacent to the driving lanes across the parking lot. The parking space 61 surrounding the target parking space can be predetermined for each target parking space.

[0075] The attention target space setting unit 13 can set attention target spaces, for example, based on the target parking space of the vehicle entering the parking space, the parking route, and parking lot map information. The attention target space setting unit 13 can also set the parking spaces 61 along the parking route (such as the parking spaces 61 close to the parking route) among the parking spaces 61 surrounding the target parking space as attention target spaces.

[0076] Figure 5 This is a diagram illustrating an example of how the attention space for vehicles entering a parking area is set up. Figure 5 The diagram shows the vehicle entering the parking space (2Ba), the parking route (R1), the driving route (P), the target parking space (E2), the opposite parking space (M), and the space of the object of attention (W). It should be noted that, for ease of understanding, [the diagram is missing from the original text]. Figure 5The image shows vehicle 2Ba entering the parking lot, but at the time when the object space W is set, vehicle 2Ba does not begin entering the parking lot 50.

[0077] The parking route R1 is the route for vehicle 2Ba to turn around and park from the rear into the target parking space E2. The opposite parking space M is the parking space opposite the target parking space E2, across the driving road P of the parking lot.

[0078] exist Figure 5 In the illustrated situation, the attention target space W includes a first attention target space W1, a second attention target space W2, and a third attention target space W3. The first attention target space W1 consists of the opposite parking space M and multiple parking spaces 61 arranged laterally on the opposite parking space M. The second attention target space W2 is the parking space 61 located to the left of the target parking space E2. The third attention target space W3 is the parking space 61 located to the right of the target parking space E2.

[0079] When the vehicle 2Ba turns its head, the attention target space setting unit 13 sets a first attention target space W1 including multiple parking spaces 61 located on the left side starting from the opposite parking space M (viewed from the perspective of the vehicle 2Ba approaching the target parking space E2 as the opposite side of the target parking space E2). The number of additional parking spaces 61 on the left side can be one, two, or more than three. It should be noted that when the vehicle 2Ba does not turn its head (is not approaching the opposite parking space M), the attention target space setting unit 13 does not need to set a first attention target space W1 including the opposite parking space M.

[0080] The attention target space setting unit 13 may include the parking space 61 on the right side of the opposite parking space M (viewed from the perspective of the vehicle 2Ba entering the parking space E2 as the front side of the target parking space E2) in the first attention target space W1, or it may exclude it from the first attention target space W1. Alternatively, the attention target space setting unit 13 may include the parking space on the right side of the opposite parking space M in the first attention target space W1 when the vehicle 2Ba approaches while turning back to park in the target parking space E2.

[0081] The attention target space setting unit 13 sets the parking spaces 61 to the left and right of the target parking space E2 as the second attention target space W2 and the third attention target space W3. The attention target space setting unit 13 may also set only the parking space 61 in the approach direction of the parking vehicle 2Ba in the parking spaces 61 to the left and right of the target parking space E2 as the attention target space W.

[0082] It should be noted that the attention target space setting unit 13 may also include the inner parking space 61 in the attention target space W when the target parking space E2 is connected to the driving road P (when there is a parking space that cannot be reached without passing through the target parking space E2).

[0083] There are no particular limitations on the method for setting the attention object space implemented by the attention object space setting unit 13. The attention object space setting unit 13 can also set the attention object space W based on the distance from the parking route. The attention object space setting unit 13 can also set the parking spaces within a predetermined distance from the parking route R1 of the parking spaces 61 surrounding the target parking space E2 as attention object spaces W. The attention object space setting unit 13 can also assume the routes of vehicles entering and leaving each parking space 61, calculate the contact risk based on the relationship with the parking route R1, and set the parking spaces with a contact risk of a certain threshold or higher as attention object spaces W. In terms of contact risk, for example, the closer the routes are to each other, the higher the contact risk value becomes, and the maximum value is set when the routes intersect.

[0084] The attention target space setting unit 13 can also set the attention target space W based on the target parking space E2 and the approach direction of the parking vehicle 2Ba relative to the target parking space E2. The approach direction of the parking vehicle 2Ba relative to the target parking space E2 can be identified based on the parking route R1 or based on the entrance location information of the parking lot 50.

[0085] The attention target space setting unit 13 may also set the attention target space W based on the target parking space E2 of the parking vehicle 2Ba and parking lot map information, instead of using the parking route R1. For example, the attention target space setting unit 13 refers to table data that has pre-established the positional relationship between the target parking space E2 and the attention target space W, and sets the attention target space W from the parking spaces 61 surrounding the target parking space E2.

[0086] Figure 6 This diagram is another example used to illustrate the setting of the attention object space for vehicles entering the parking area. Figure 6 The diagram shows the parking vehicle 2Bb, the parking route R2, the target parking space E3, the passing object space T, the fourth attention object space W4, the fifth attention object space W5, and the sixth attention object space W6. The parking route R2 is the route taken by parking vehicle 2Bb after it makes a turn and parks in the target parking space E3. The passing object space T is the parking space 61 between the target parking space E3 and the driving road P. It should be noted that, for ease of understanding, in... Figure 6The image also shows vehicle 2Bb entering the parking lot, but at the time when the object space W is set, vehicle 2Bb does not begin entering the parking lot 50.

[0087] exist Figure 6 In this context, a target parking space E3, which is not connected to the driving road P, is designated as the target parking space for vehicle 2Bb. For vehicle 2Bb to travel from driving road P to the target parking space E3, it needs to pass through the access space T, which is connected to driving road P.

[0088] exist Figure 6 In the situation shown, besides with Figure 5 In addition to the same first attention target space W1, the attention target space setting unit 13 also sets a fourth attention target space W4, a fifth attention target space W5, and a sixth attention target space W6 as attention target spaces. The fourth attention target space W4 includes parking spaces to the left and right of the object space T. The fifth attention target space W5 is the parking space to the left of the target parking space E3. The sixth attention target space W6 is the parking space to the right of the target parking space E3. Figure 6 As an example, note that the scope of the object space W can be changed appropriately.

[0089] Next, the setting of the attention target space for vehicles leaving the warehouse will be explained. The attention target space setting unit 13 sets the attention target space W for the leaving vehicle's exit target space. This attention target space W is the parking space 61 surrounding the exit target space where the leaving vehicle is parked, which would affect the exit of the leaving vehicle if other vehicles are present during exit or entry. The parking space 61 surrounding the exit target space can be defined with the same definition as the attention target space surrounding the target parking space of the entering vehicle.

[0090] The attention target space setting unit 13 can set the attention target space, for example, based on the exit target space, the exit route, and parking map information including the exit location information of the parking lot. The attention target space setting unit 13 can also set the parking space 61 along the exit route (the parking space 61 close to the exit route) among the parking spaces 61 around the exit target space as the attention target space.

[0091] Figure 7 This is a diagram illustrating an example of how the attention space for vehicles leaving the warehouse should be set up. Figure 7 The diagram shows the vehicle 2Bc leaving the warehouse, the exit route R3, the exit object space N1, and the seventh attention object space W7. The exit object space N1 is connected to the driving road P, and the exit route R3 is a route that curves to the left from the exit object space N1 and proceeds on the driving road P.

[0092] exist Figure 7 In the situation shown, the attention target space setting unit 13 sets the parking space 61 adjacent to the exit target space N1 connected to the driving road P of the parking lot 50 along the direction of the exit route R3 as the seventh attention target space W7, and does not set the parking space 61 adjacent to the exit target space N1 connected to the driving road P of the parking lot 50 that is not along the direction of the exit route R3 as attention target spaces.

[0093] Figure 8 This diagram is another example used to illustrate the setting of the attention object space for vehicles leaving the warehouse. Figure 8 The diagram shows the outgoing vehicle 2Bd, the outgoing route R4, the outgoing object space N2, the eighth attention object space W8, and the ninth attention object space W9. The outgoing object space N2 is not connected to the travel route P, and the outgoing vehicle 2Bd can reach the travel route P by passing through the object space T.

[0094] exist Figure 8 In the illustrated situation, the attention object space setting unit 13 sets the passage object space T in front of the exit object space N2 and the parking space 61 to the left of the passage object space T (along the direction of the exit route R4) as the eighth attention object space W8. Furthermore, the attention object space setting unit 13 sets the parking space 61 to the left of the exit object space N2 (along the direction of the exit route R4) as the ninth attention object space W9. It should be noted that the setting of the ninth attention object space W9 is not mandatory.

[0095] The vehicle detection unit 14 determines whether a vehicle is a target vehicle based on the target space W, parking lot map information, and vehicle information. A target vehicle refers to an autonomous vehicle 2 that is entering or leaving the parking lot within the target space W.

[0096] The vehicles subject to attention may also include those that are considered to affect vehicles entering or leaving the parking space, which are temporarily reversing autonomous vehicles 2. Reversing vehicles include vehicles temporarily reversing from parking space 61 to the attention space W and vehicles temporarily reversing from the attention space W in parking to the driving path P of the parking lot.

[0097] For example, in Figure 5 In the scenario shown, if an autonomous vehicle 2 enters the opposite parking space M before the entering vehicle 2Ba, the attention target vehicle determination unit 14 determines that autonomous vehicle 2 is the attention target vehicle. If an autonomous vehicle 2C, parked in the second attention target space W2 adjacent to the target parking space E2, exits the parking space before the entering vehicle 2Ba, the attention target vehicle determination unit 14 determines that autonomous vehicle 2C is the attention target vehicle.

[0098] For example, in Figure 7 In the scenario shown, when the autonomous vehicle 2C, parked in the seventh attention target space W7, exits before the exiting vehicle 2Bc, the attention target vehicle determination unit 14 determines the autonomous vehicle 2C as the attention target vehicle. The same applies to autonomous vehicles 2 entering or exiting other attention target spaces W.

[0099] Figure 9 This is a diagram used to illustrate an example of a vehicle that is reversing, included among vehicles being observed. Figure 9 The diagram shows the reversing vehicle 2Da and the reversing route R5. Vehicle 2Da is parked in the through-object space T; therefore, it needs to temporarily reverse to allow vehicle 2Bd to exit. The reversing route R5 is the path for vehicle 2Da to reverse from the through-object space T to the adjacent parking space 61 on the left (parking space 61 within the eighth attention object space W8). It should be noted that... Figure 9 The illustration is omitted, but 2Bd vehicles have been reserved for delivery. Figure 8 The exit route R4 is shown as the exit route that leads out of the warehouse along the left side of the driving road P.

[0100] exist Figure 9 In the case shown, the reversing vehicle 2Da retreats into the eighth attention target space W8, therefore, the attention target vehicle determination unit 14 determines the reversing vehicle 2Da as an attention target vehicle. If the reversing vehicle 2Da retreats into the parking space 61 outside the attention target space W, the attention target vehicle determination unit 14 may not determine the reversing vehicle 2Da as an attention target vehicle.

[0101] Figure 10 This diagram illustrates an example of a vehicle that is not included in the list of vehicles requiring attention when reversing. Figure 10 The diagram shows the reversing vehicle 2Db and the reversing route R6. The reversing vehicle 2Db is also parked in the through-object space T; therefore, it needs to temporarily reverse in order for the exiting vehicle 2Bd to exit. The reversing route R6 is the route for the reversing vehicle 2Db to turn right from the through-object space T and reverse into the driving road P. The reversing vehicle 2Db can either wait until the exiting vehicle 2Bd has left and then return to its original through-object space T to park, or it can park in the parking space 61 outside the attention object space W without returning to the through-object space T. It should be noted that... Figure 10 In addition, 2Bd vehicles were also ordered for delivery. Figure 8 The exit route R4 is shown as the exit route that leads out of the warehouse along the left side of the driving road P.

[0102] exist Figure 10 In the situation shown, vehicle 2Db, which is reversing on the outbound route R4 of vehicle 2Bd, moves away from the outbound route R4 (refer to...). Figure 8 Therefore, the vehicle detection unit 14 does not identify the retreating vehicle 2Db as a vehicle to be observed because the vehicle is retreating in the direction of the retreating vehicle.

[0103] The completion determination unit 15 determines whether the entry into or exit from the parking space of all vehicles identified by the target vehicle determination unit 14 has been completed. Completion of entry into the parking space for a target vehicle means that the target vehicle has completed parking relative to the target parking space designated for that vehicle. Completion of entry into the parking space for a target vehicle also includes cases where a vehicle has completed parking or stopping while reversing into the parking space for avoidance purposes.

[0104] The completion of the departure of the vehicle from the parking space refers to the completion of the departure of the vehicle from the parking space. Completion of departure from the parking space can be determined when the vehicle has moved a certain distance away from the parking space. Alternatively, completion can be determined when the vehicle has moved a certain distance away from the target parking space of the entering vehicle or the exiting parking space of the exiting vehicle, rather than from the parking space of the vehicle itself.

[0105] The judgment unit 15 determines whether all vehicles under its attention have completed entering the parking space or leaving the parking space based on parking lot map information and vehicle information (including the location information and entry / exit information of autonomous vehicle 2).

[0106] The vehicle instruction unit 16 provides various instructions for performing automatic valet parking on the autonomous vehicle 2. When the vehicle instruction unit 16 determines that there is a vehicle of interest for the vehicle entering the parking space, it waits until the completion determination unit 15 determines that all vehicles of interest have entered the parking space or detached from the parking space, and then gives the instruction to start parking the vehicle entering the parking space.

[0107] Even if there is an unattended vehicle in the parking space outside the attention target space, which is an autonomous vehicle entering or leaving the parking space, the vehicle instruction unit 16 will not wait for the unattended vehicle to enter the parking space or to leave the parking space before instructing the vehicle to begin entering the parking space.

[0108] A parking start instruction is an instruction used to initiate the parking process of a vehicle using automated valet parking. The parking start instruction may include, for example, the target parking space where the vehicle will be parked and / or the parking route to the target parking space. The parking start instruction may also include a target value related to the vehicle's speed while traveling along the parking route.

[0109] The parking start instruction may include vehicle information such as the location of the autonomous vehicle 2 within the parking lot. Alternatively, the parking start instruction may include obstacle information instead of vehicle information, specifically the outline of the autonomous vehicle 2 currently parking in the parking lot. The obstacle information may be limited to the area along the parking route. The parking start instruction may also exclude information about the autonomous vehicle 2 other than the vehicle being monitored.

[0110] When the vehicle instruction unit 16 determines, via the target vehicle determination unit 14, that a target vehicle is present for a vehicle leaving the parking space, it waits until the completion determination unit 15 determines that all target vehicles have completed entering or leaving the parking space before instructing the vehicle to begin leaving the parking space. Even if there is a vehicle other than the target vehicle that is an autonomous vehicle entering or leaving the parking space in a parking space other than the target space W, the vehicle instruction unit 16 will not wait for the vehicle other than the target vehicle to complete entering or leaving the parking space before instructing the vehicle to begin leaving the parking space.

[0111] A departure start instruction is an instruction used to signal the start of a vehicle's departure from an automated valet parking facility. The departure start instruction may include, for example, a boarding space 63 for waiting users and / or a departure route extending to boarding space 63. The departure start instruction may also include a target value related to the vehicle's speed while traveling along the departure route.

[0112] The exit start instruction may include vehicle information such as the location of the autonomous vehicle 2 within the parking lot. Alternatively, the exit start instruction may include obstacle information instead of vehicle information, specifically the outline of the autonomous vehicle 2 currently parked in the parking lot. The obstacle information may be limited to the area along the exit route. The exit start instruction may also exclude information about the autonomous vehicle 2 other than the vehicle being monitored.

[0113] <Program>

[0114] The program enables the processor 10a of the parking management server 10 to function as the vehicle information acquisition unit 11, route setting unit 12, target space setting unit 13, target vehicle determination unit 14, completion determination unit 15, and vehicle instruction unit 16. Furthermore, the program enables the communication unit 10c of the parking management server 10 to function as the vehicle information acquisition unit 11 and vehicle instruction unit 16. The program is provided by the storage unit 10b of the parking management server 10, such as a non-transitory recording medium like ROM or semiconductor memory. Alternatively, the program can also be provided via communication through a network or the like.

[0115] <Control Methods for Automatic Parking Systems>

[0116] Next, an example of a control method for an automatic parking system 1 according to one embodiment will be described. Figure 11 This is a flowchart illustrating an example of a parking start instruction process. The parking start instruction process is performed, for example, when the parking management server 10 identifies a vehicle entering the parking lot 50. The parking management server 10 identifies the vehicle entering the parking lot, for example, when a user parks the autonomous vehicle 2 in the exit space 62 and exits, and the parking management server 10 receives a parking start request from the user.

[0117] like Figure 11 As shown, in S10, the parking management server 10 of the automatic parking system 1 obtains the vehicle information of the autonomous vehicle 2 in the parking lot through the vehicle information acquisition unit 11 (vehicle information acquisition step).

[0118] In S11, the parking management server 10 sets the target parking space and entry route for the vehicles entering the parking lot through the route setting unit 12 (route setting step). The route setting unit 12 sets the target parking space and entry route based on parking lot map information and vehicle information.

[0119] In S12, the parking management server 10 sets the attention object space W through the attention object space setting unit 13 (attention object space setting step). The attention object space setting unit 13 sets the attention object space W for the target parking space of the entering vehicle. The attention object space W is the parking space 61 around the target parking space that will affect the parking space 61 of the entering vehicle if other vehicles are entering or leaving the parking space.

[0120] In S13, the parking management server 10 determines whether a vehicle of interest exists through the target vehicle determination unit 14 (target vehicle determination step). The target vehicle determination unit 14 determines whether a vehicle of interest exists based on the target space W, parking map information, and vehicle information. If the parking management server 10 determines that a vehicle of interest exists (S13: Yes), it proceeds to S14. If the parking management server 10 does not determine that a vehicle of interest exists (S13: No), it proceeds to S16.

[0121] In S14, the parking management server 10 determines, through the completion determination unit 15, whether the entry into or exit from the parking space of all vehicles under observation has been completed (completion determination step). The completion determination unit 15 makes the determination based on parking lot map information and vehicle information. If the parking management server 10 determines that the entry into or exit from the parking space of all vehicles under observation has been completed (S14: Yes), it proceeds to S16. If the parking management server 10 does not determine that the entry into or exit from the parking space of all vehicles under observation has been completed (S14: No), it proceeds to S15.

[0122] In S15, the parking lot control server 10 re-acquires the vehicle information of the autonomous vehicle 2 in the parking lot through the vehicle information acquisition unit 11 (vehicle information re-acquisition step). Afterwards, the parking lot control server 10 returns to S14 and repeats the process.

[0123] In S16, the parking lot control server 10 issues an entry start instruction (vehicle instruction step) to the vehicle entering the parking lot via the vehicle instruction unit 16. The vehicle instruction unit 16, for example, sends an entry start instruction to the vehicle entering the parking lot, including information on the target parking space, the entry route, and obstacles. Afterward, the entry start instruction processing ends.

[0124] Figure 12 This is a flowchart illustrating an example of an outbound start indication process. The outbound start indication process is executed, for example, when a user makes an outbound request to the parking management server 10.

[0125] like Figure 12 As shown, as S20, the parking lot control server 10 of the automatic parking system 1 obtains the vehicle information of the autonomous vehicle 2 in the parking lot through the vehicle information acquisition unit 11 (vehicle information acquisition step).

[0126] In S21, the parking lot control server 10 sets the boarding space 63 and the exit route for the exiting vehicle through the route setting unit 12 (route setting step). The route setting unit 12 sets the boarding space 63 and the exit route based on parking lot map information and vehicle information.

[0127] In S22, the parking management server 10 sets the attention object space W through the attention object space setting unit 13 (attention object space setting step). The attention object space setting unit 13 sets the attention object space W for the exit object space of the exiting vehicle. The attention object space W is the parking space 61 around the exit object space where the exiting vehicle is parked. If other vehicles are entering or leaving the parking space, it will affect the exit parking space 61 of the exiting vehicle.

[0128] In S23, the parking management server 10 determines whether a vehicle of interest exists using the target vehicle determination unit 14 (target vehicle determination step). The target vehicle determination unit 14 determines whether a vehicle of interest exists based on the target space W, parking map information, and vehicle information. If the parking management server 10 determines that a vehicle of interest exists (S23: Yes), it proceeds to S24. If the parking management server 10 does not determine that a vehicle of interest exists (S23: No), it proceeds to S26.

[0129] In S24, the parking management server 10 determines, through the completion determination unit 15, whether the entry into or exit from the parking space of all vehicles under observation has been completed (completion determination step). The completion determination unit 15 makes the determination based on parking lot map information and vehicle information. If the parking management server 10 determines that the entry into or exit from the parking space of all vehicles under observation has been completed (S24: Yes), it proceeds to S26. If the parking management server 10 does not determine that the entry into or exit from the parking space of all vehicles under observation has been completed (S24: No), it proceeds to S25.

[0130] In S25, the parking lot control server 10 re-acquires the vehicle information of the autonomous vehicle 2 in the parking lot through the vehicle information acquisition unit 11 (vehicle information re-acquisition step). Afterwards, the parking lot control server 10 returns to S24 and repeats the process.

[0131] In S26, the parking lot control server 10 issues an exit start instruction (vehicle instruction step) to the exiting vehicle via the vehicle instruction unit 16. The vehicle instruction unit 16, for example, sends an exit start instruction to the exiting vehicle including information on the boarding space 63, the exit route, and obstacles. Afterward, the exit start instruction processing ends.

[0132] Figure 13 This is a flowchart illustrating an example of the vehicle avoidance determination process in the target vehicle setting step. The vehicle avoidance determination process is performed in the target vehicle determination steps of S13 and S23.

[0133] exist Figure 13 In step S30, the parking management server 10 determines, via the target vehicle determination unit 14, whether there is a reversing vehicle related to the target space W (reversing vehicle determination step). If the parking management server 10 determines that there is a reversing vehicle related to the target space W (S30: Yes), it proceeds to step S31. If the parking management server 10 does not determine that there is a reversing vehicle related to the target space W (S30: No), it ends the current reversing vehicle determination process.

[0134] In S31, the parking management server 10 determines, through the target vehicle determination unit 14, whether the reversing vehicle is located on the exit route of the exiting vehicle and is reversing away from the exit route (reversing direction determination step). If the parking management server 10 determines that the reversing vehicle is located on the exit route of the exiting vehicle and is not reversing away from the exit route (S31: No), it proceeds to S32. If the parking management server 10 determines that the reversing vehicle is located on the exit route of the exiting vehicle and is reversing away from the exit route (S31: Yes), it proceeds to S33.

[0135] In S32, the parking management server 10 determines the reversing vehicle as a vehicle of concern by the vehicle determination unit 14 (determination step). Afterwards, the parking management server 10 ends the reversing vehicle determination process. In S33, the parking management server 10 does not determine the reversing vehicle as a vehicle of concern by the vehicle determination unit 14 (no determination step). Afterwards, the parking management server 10 ends the reversing vehicle determination process.

[0136] According to one embodiment of the automatic parking system 1 described above, a focus space W is set for the parking spaces 61 surrounding the target parking space, which would affect the parking of the vehicle entering the parking space if other vehicles are entering or leaving the parking space. Even if there are vehicles other than the focus space W in the parking spaces 61 outside the focus space, the system does not wait for the vehicles other than the focus space to enter the parking space or to leave the parking space before instructing the vehicle to begin entering the parking space. Therefore, compared to the case where no parking start instruction is given until all vehicles around the target parking space have completed entering or leaving the parking space, the parking lot utilization efficiency of the automatic valet parking system can be improved.

[0137] Furthermore, according to the automatic parking system 1, the attention target space W is set considering the parking route of the vehicle entering the parking space. Therefore, parking spaces where the entry and exit of other vehicles do not interfere with the parking route can be included in the attention target space, thus enabling appropriate setting of the attention target space. Moreover, according to the automatic parking system 1, by including reversing vehicles in the attention target vehicles, the impact of reversing vehicles related to the attention target space W on the parking of the vehicle entering the parking space can be suppressed.

[0138] Furthermore, according to the automatic parking system 1, if there are other vehicles entering or leaving the parking space 61 surrounding the exit target space, it will affect the exit target space W of the exiting vehicle. Even if there are non-target vehicles entering or leaving the parking space 61 outside the target space W, the exit start instruction for the exiting vehicle is given without waiting for the non-target vehicles to enter or leave the parking space. Therefore, compared with the case where no entry start instruction is given before all exits or entryes around the exit target space are completed, the parking lot utilization efficiency of automatic valet parking can be improved.

[0139] Furthermore, according to the automatic parking system 1, the attention target space is set by taking into account the exit route of the exiting vehicle. Therefore, parking spaces that do not interfere with the exit route of other vehicles can be included in the attention target space, thereby enabling the appropriate setting of the attention target space.

[0140] Furthermore, according to the automatic parking system 1, parking spaces that are considered to have a low impact on the exit route and are not in the direction of the exit route are not designated as attention objects among the parking spaces adjacent to the exit object space connected to the driving road of the parking lot. Therefore, it is not necessary to wait for the exit and entry of other vehicles associated with the low-impact parking spaces to be completed, thereby improving the parking lot utilization efficiency.

[0141] Furthermore, according to the automatic parking system 1, the impact of reversing vehicles related to the target space on the exit of exiting vehicles can be suppressed by including reversing vehicles in the target vehicles. Moreover, according to the automatic parking system 1, for reversing vehicles moving away from the exit route, the likelihood of the reversing vehicle affecting the exit of exiting vehicles is considered low; therefore, parking lot utilization efficiency can be improved by not including such reversing vehicles in the target vehicles.

[0142] The embodiments of the present invention have been described above, but the present invention is not limited to the embodiments described above. The present invention can be implemented in various ways with various modifications and improvements based on the knowledge of those skilled in the art, as exemplified by the embodiments described above.

[0143] The vehicle detection unit 14 may choose not to detect vehicles that are reversing as vehicles subject to attention. Alternatively, the vehicle detection unit 14 may only detect autonomous vehicles 2 that are entering or leaving the warehouse as vehicles subject to attention.

[0144] Note that object space setting section 13 can also be found in... Figure 7 In the situation shown, the parking space 61 that is not along the exit route R3 is designated as the attention target space W. Furthermore, the attention target vehicle determination unit 14 can also... Figure 10In the situation shown, the retreating vehicle 2Db is identified as the vehicle to be monitored.

Claims

1. An automatic parking system for automatically parking an autonomous vehicle in a target parking space selected from a plurality of parking spaces in a parking lot, the automatic parking system being characterized by comprising: The vehicle information acquisition unit is configured to acquire vehicle information including the location information of the autonomous vehicle in the parking lot and the entry and exit information of the autonomous vehicle. The attention object space setting unit is configured to set the attention object space based on the target parking space of the entering vehicle and parking lot map information including the entrance location information of the parking lot. The entering vehicle is the autonomous driving vehicle that becomes the object of the automatic valet parking. The attention object space is the parking space around the target parking space that would affect the entry of the entering vehicle if other vehicles entering or leaving the parking space are present. The attention target vehicle determination unit is configured to determine, based on the attention target space, the parking lot map information, and the vehicle information, whether there is an attention target vehicle of the autonomous driving vehicle that is driving in order to enter or leave the parking lot with the attention target space as the object of attention. The completion determination unit is configured to, when the attention target vehicle determination unit determines that the attention target vehicle exists, determine whether all the attention target vehicles have completed entering the parking lot or leaving the parking space based on the parking lot map information and the vehicle information. The vehicle instruction unit is configured to, when the attention target vehicle determination unit determines that the attention target vehicle exists, and after the completion determination unit determines that all the attention target vehicles have completed entering or leaving the parking space, instruct the vehicle to begin entering the parking space; and The route setting unit is configured to set an entry route for the vehicle to reach the target parking space via the parking lot's driving road based on the vehicle's current location, the vehicle's target parking space, and the parking lot map information. Multiple parking spaces are arranged adjacent to each other along the driving road. The attention target space setting unit sets the parking space on the side adjacent to the target parking space, along the parking route and closest to the parking vehicle, as the attention target space. Even if there is a vehicle outside the target of attention in the parking space outside the target of attention, which is the autonomous vehicle entering or leaving the parking space, the vehicle instruction unit will not wait for the vehicle outside the target of attention to enter the parking space or to leave the parking space before instructing the vehicle to start entering the parking space.

2. The automatic parking system according to claim 1, characterized in that, The vehicles subject to attention include reversing vehicles, which are autonomous vehicles that temporarily retreat to the space subject to attention or temporarily retreat from the space subject to attention to the driving path of the parking lot.

3. An automatic parking system for automatically parking an autonomous vehicle in a target parking space selected from multiple parking spaces within a parking lot, the automatic parking system characterized by comprising: The vehicle information acquisition unit is configured to acquire vehicle information including the location information of the autonomous vehicle in the parking lot and the entry and exit information of the autonomous vehicle. The attention object space setting unit is configured to set the attention object space based on the exit object space where the exiting vehicle is parked and parking lot map information including the exit location information of the parking lot. The exiting vehicle is the autonomous driving vehicle that becomes the exit object of the automatic valet parking. The attention object space is the parking space around the exit object space that would affect the exiting vehicle if other vehicles entering or leaving the parking lot are present. The attention target vehicle determination unit is configured to determine, based on the attention target space, the parking lot map information, and the vehicle information, whether there is an attention target vehicle of the autonomous driving vehicle that is driving in order to enter or leave the parking lot with the attention target space as the object of attention. The completion determination unit is configured to, when the attention target vehicle determination unit determines that the attention target vehicle exists, determine whether all the attention target vehicles have completed entering the parking lot or leaving the parking space based on the parking lot map information and the vehicle information. The vehicle instruction unit is configured to, when the attention target vehicle determination unit determines that the attention target vehicle exists, and after the completion determination unit determines that all the attention target vehicles have completed entering or leaving the parking space, instruct the exiting vehicle to begin exiting; and The route setting unit is configured to set an exit route for the exiting vehicle to travel through the parking lot to the parking lot exit based on the exiting object space and the parking lot map information. Multiple parking spaces are arranged adjacent to each other along the driving road. The attention target space setting unit is configured to: designate parking spaces adjacent to the exit target space connected to the driving road of the parking lot along the direction of the exit route as attention target spaces, and not designate parking spaces adjacent to the exit target space connected to the driving road of the parking lot that are not along the direction of the exit route as attention target spaces. Even if there is a vehicle outside the target of attention in the parking space outside the target of attention, which is the autonomous vehicle entering or leaving the parking space, the vehicle instruction unit will not wait for the vehicle outside the target of attention to enter the parking space or leave the parking space before instructing the vehicle to start leaving the parking space.

4. The automatic parking system according to claim 3, characterized in that, The vehicles subject to attention include reversing vehicles, which are autonomous vehicles that temporarily retreat to the space subject to attention or temporarily retreat from the space subject to attention to the driving path of the parking lot.

5. The automatic parking system according to claim 3, characterized in that, The vehicles subject to attention do not include vehicles located on the exit route of the exiting vehicles and retreating in a direction away from the exit route.

6. A control method for an automatic parking system, the automatic parking system performing automatic valet parking by automatically parking an autonomous vehicle in a target parking space selected from multiple parking spaces in a parking lot, the control method being characterized by comprising: Obtain vehicle information including the location information of the autonomous vehicles in the parking lot and the entry and exit information of the autonomous vehicles; The attention target space is set based on the target parking space of the vehicle entering the parking lot and the parking lot map information including the entrance location information of the parking lot. The vehicle entering the parking lot is the autonomous driving vehicle that becomes the object of the automatic valet parking. The attention target space is the parking space around the target parking space. If there are other vehicles entering or leaving the parking lot, it will affect the parking space of the vehicle entering the parking lot. Based on the attention object space, the parking lot map information, and the vehicle information, it is determined whether there is an attention object vehicle of the autonomous driving vehicle that is driving in order to enter or leave the parking lot with the attention object space as the object; If it is determined that the vehicle of the concern exists, the parking lot map information and the vehicle information are used to determine whether the entry into the parking space or the detachment from the parking space of all the vehicles of the concern has been completed. If the presence of the vehicles under observation is determined, and after all vehicles under observation have completed entering or leaving the parking space, an instruction to begin entering the parking space for the vehicles entering the parking space is issued; and Based on the current location of the vehicle entering the parking lot, the target parking space of the vehicle entering the parking lot, and the parking lot map information, the entry route of the vehicle entering the parking lot to the target parking space is set. Multiple parking spaces are arranged adjacent to each other along the driving road. The parking space adjacent to the target parking space on the left and right, along the parking route and closest to the parking vehicle, is designated as the space of interest. Even if there is a vehicle outside the target of attention in the parking space outside the target of attention, which is the autonomous vehicle entering or leaving the parking space, the vehicle entering the parking space is instructed to start entering the parking space without waiting for the vehicle outside the target of attention to enter the parking space or to leave the parking space.

7. A control method for an automatic parking system, the automatic parking system performing automatic valet parking by automatically parking an autonomous vehicle in a target parking space selected from multiple parking spaces in a parking lot, the control method being characterized by comprising: Obtain vehicle information including the location information of the autonomous vehicles in the parking lot and the entry and exit information of the autonomous vehicles; The attention target space is set based on the parking space of the exiting vehicle and the parking map information including the exit location information of the parking lot. The exiting vehicle is the autonomous driving vehicle that becomes the exiting object of the automatic valet parking. The attention target space is the parking space around the exiting object space. If there are other vehicles exiting or entering the parking space, it will affect the exiting vehicle's exiting parking space. Based on the attention object space, the parking lot map information, and the vehicle information, it is determined whether there is an attention object vehicle of the autonomous driving vehicle that is driving in order to enter or leave the parking lot with the attention object space as the object; If it is determined that the vehicle of the concern exists, the parking lot map information and the vehicle information are used to determine whether the entry into the parking space or the detachment from the parking space of all the vehicles of the concern has been completed. If the presence of the vehicles under observation is confirmed, and after all vehicles under observation have completed entering or leaving the parking space, an instruction is given to begin the exit of the vehicles leaving the parking space; and Based on the outbound object space and the parking lot map information, the outbound route of the vehicle is set to travel through the parking lot to the parking lot exit. Multiple parking spaces are arranged adjacent to each other along the driving road. Parking spaces adjacent to the exit target space connected to the driving road of the parking lot, along the direction of the exit route, are designated as the target spaces for attention. Parking spaces adjacent to the exit target space connected to the driving road of the parking lot that are not along the direction of the exit route are not designated as target spaces for attention. Even if there is a vehicle outside the target of attention in the parking space outside the target of attention, which is the autonomous vehicle entering or leaving the parking space, the vehicle leaving the parking space is instructed to start leaving the parking space without waiting for the vehicle outside the target of attention to enter the parking space or leave the parking space.

8. A non-transitory storage medium storing a command executable by a server including one or more processors, causing the server to perform automated valet parking by automatically parking an autonomous vehicle in a target parking space set from a plurality of parking spaces in a parking lot, and the command causing the server including the one or more processors to perform the following functions: Obtain vehicle information including the location information of the autonomous vehicles in the parking lot and the entry and exit information of the autonomous vehicles; The attention object space is set based on the target parking space of the incoming vehicle and parking lot map information including entrance position information of the parking lot, wherein The vehicle entering the parking space is the autonomous driving vehicle that becomes the object of the parking lot. The object of attention space is the parking space around the target parking space. If there are other vehicles entering or leaving the parking space, it will affect the parking space where the vehicle entering the parking space will enter. Based on the attention object space, the parking lot map information, and the vehicle information, it is determined whether there is an attention object vehicle of the autonomous driving vehicle that is driving in order to enter or leave the parking lot with the attention object space as the object; If it is determined that the vehicle of the concern exists, the parking lot map information and the vehicle information are used to determine whether the entry into the parking space or the detachment from the parking space of all the vehicles of the concern has been completed. If the presence of the vehicles under observation is determined, and after all vehicles under observation have completed entering or leaving the parking space, an instruction to begin entering the parking space for the vehicles entering the parking space is issued; and Based on the current location of the vehicle entering the parking lot, the target parking space of the vehicle entering the parking lot, and the parking lot map information, the entry route of the vehicle entering the parking lot to the target parking space is set. Multiple parking spaces are arranged adjacent to each other along the driving road. The parking space adjacent to the target parking space on the left and right, along the parking route and closest to the parking vehicle, is designated as the space of interest. Even if there is a vehicle outside the target of attention in the parking space outside the target of attention, which is the autonomous vehicle entering or leaving the parking space, the vehicle entering the parking space is instructed to start entering the parking space without waiting for the vehicle outside the target of attention to enter the parking space or to leave the parking space.

9. A non-transitory storage medium storing a command executable by a server including one or more processors, causing the server to perform automated valet parking by automatically parking an autonomous vehicle in a target parking space set from a plurality of parking spaces in a parking lot, and the command causing the server including the one or more processors to perform the following functions: Obtain vehicle information including the location information of the autonomous vehicles in the parking lot and the entry and exit information of the autonomous vehicles; The attention target space is set based on the parking space of the vehicles leaving the parking lot and the parking lot map information including the exit location information of the parking lot, wherein, The exiting vehicle is the autonomous driving vehicle that becomes the exiting object of the parking lot. The attention object space is the parking space around the exiting object space. If there are other vehicles exiting or entering the parking lot, it will affect the exiting vehicle's exiting parking space. Based on the parking lot map information and the vehicle information, it is determined whether there is a vehicle that is the object of attention of the autonomous driving vehicle that is moving in and out of the parking lot with the object of attention as the object of attention. If it is determined that the vehicle of the concern exists, the parking lot map information and the vehicle information are used to determine whether the entry into the parking space or the detachment from the parking space of all the vehicles of the concern has been completed. If the presence of the vehicles under observation is confirmed, and after all vehicles under observation have completed entering or leaving the parking space, an instruction is given to begin the exit of the vehicles leaving the parking space; and Based on the outbound object space and the parking lot map information, the outbound route of the vehicle is set to travel through the parking lot to the parking lot exit. Multiple parking spaces are arranged adjacent to each other along the driving road. Parking spaces adjacent to the exit target space connected to the driving road of the parking lot, along the direction of the exit route, are designated as the target spaces for attention. Parking spaces adjacent to the exit target space connected to the driving road of the parking lot that are not along the direction of the exit route are not designated as target spaces for attention. Even if there is a vehicle outside the target of attention in the parking space outside the target of attention, which is the autonomous vehicle entering or leaving the parking space, the vehicle leaving the parking space is instructed to start leaving the parking space without waiting for the vehicle outside the target of attention to enter the parking space or leave the parking space.

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