Relay device, data relay method, and recording medium recording data relay program

Abstract

A relay device (10) according to one embodiment of the present disclosure comprises: a type determination unit (12A: S10) configured to determine the type of received data, wherein the received data is data received from a source device; a replacement transmission unit (12B: S21, S22, S23, S24, S25) configured to, when the type of the received data is a predetermined first type, replace the received data with at least one transmission data prepared in advance according to the type, and transmit the transmission data to a destination device; and a forwarding unit (12C: S11) configured to, when the type of the received data is a predetermined second type, treat the received data as transmission data and forward the transmission data to the destination device.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This international application claims the benefit of priority based on Japanese Patent Application No. 2020-165995 filed with the Japan Patent Office on September 30, 2020, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present disclosure relates to a relay device configured to relay data exchanged between a parking assist device that assists parking of a vehicle and a vehicle receiving the assistance, a data relay method, and a recording medium recording a data relay program. Background Art

[0004] Technologies for guiding autonomous vehicles within parking lots are known as parking assistance systems. For example, Patent Document 1 below proposes a mechanism for autonomously moving an autonomous vehicle between a parking position within a parking area where the autonomous vehicle is parked and a boarding and disembarking area where a user enters and exits the vehicle.

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2011-054116

[0006] The inventors' detailed research revealed the following problem: the parking assistance system requires various data to be prepared depending on the type of autonomous vehicle, making the system structure more complex. Alternatively, the parking assistance system can communicate with the autonomous vehicle via a relay device. Summary of the Invention

[0007] One aspect of the present disclosure is to simplify the structure of a parking assistance device using a relay device configured to relay data exchanged between the parking assistance device performing parking assistance for a vehicle and the assisted vehicle.

[0008] One embodiment of the present disclosure is a relay device configured to relay data exchanged between a parking assistance device performing parking assistance and a vehicle receiving assistance from the parking assistance device. The source device is the source of data transmitted between the parking assistance device and the vehicle, and the destination device is the destination device.

[0009] The relay device includes a type determination unit, a replacement transmission unit, and a forwarding unit. The type determination unit is configured to determine the type of received data, wherein the received data represents data received from a transmission source device. The replacement transmission unit is configured to, when the type of the received data is a predetermined first type, replace the received data with at least one transmission data pre-prepared according to the type, and transmit the transmission data to a transmission destination device. The forwarding unit is configured to, when the type of the received data is a predetermined second type, treat the received data as transmission data and forward the transmission data to the transmission destination device.

[0010] With this configuration, the relay device can replace the received data with specified transmission data based on the type of data received from the source device and transmit it. For example, if the parking assistance device is transmitting data to the vehicle, the parking assistance device simply issues a request, and the relay device can replace the request with a specified command or transmit the data directly. Alternatively, if the vehicle is transmitting data to the parking assistance device, the vehicle simply transmits the data appropriately, and the relay device can replace the data with data optimal for the parking assistance device or transmit the data directly. Consequently, the parking assistance device eliminates the need for a mechanism for transmitting commands or at least partially processing data from the vehicle, simplifying its configuration. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a block diagram showing the configuration of the parking assist system according to the first embodiment.

[0012] Figure 2 This is a block diagram showing the functions of the control unit.

[0013] Figure 3 This is an overhead view of the parking lot.

[0014] Figure 4 This is a flowchart showing the auxiliary relay processing executed by the control unit of the relay device.

[0015] Figure 5 This is an explanatory diagram showing an example of a command correspondence table.

[0016] Figure 6 This is a ladder diagram showing an example of data exchanged between the parking assistance device, the relay device, and the autonomous driving vehicle.

[0017] Figure 7 This is a flowchart showing the vehicle relay process according to the first embodiment executed by the control unit of the relay device.

[0018] Figure 8 This is a flowchart showing a vehicle relay process according to a modified example executed by the control unit of the relay device.

[0019] Figure 9 This is a block diagram showing the configuration of a parking assist system according to a second embodiment. DETAILED DESCRIPTION

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

[0021] [1. First embodiment]

[0022] [1-1. Structure]

[0023] based on Figures 1 and 2 , the structure of the parking assistance system 1 is described.

[0024] like Figure 1 As shown, parking assistance system 1 includes multiple parking assistance devices 39A, 39B, and 39C, multiple automated driving vehicles 18A, 18B, and 18C, an unmanned guided vehicle 21, and a relay device 10. Hereinafter, multiple parking assistance devices 39A, 39B, and 39C will also be referred to as multiple parking assistance devices 39, and any one of the multiple parking assistance devices 39 will also be referred to as parking assistance device 39. Furthermore, multiple automated driving vehicles 18A, 18B, and 18C and unmanned guided vehicle 21 will also be referred to as multiple vehicles 18, and any one of the multiple vehicles 18 will also be referred to as vehicle 18. Parking assistance system 1 may not include unmanned guided vehicle 21.

[0025] A P1 parking assist device 39A, a P2 parking assist device 39B, and a P3 parking assist device 39C are provided as the plurality of parking assist devices 39. The P1 parking assist device 39A is disposed in the parking lot P1 and performs automatic valet parking for the vehicle 18 in the parking lot P1.

[0026] The P2 parking assist device 39B is located in a parking lot P2 that is different from the parking lot P1 and performs automatic valet parking for vehicles 18 in the parking lot P2. The P3 parking assist device 39C is located in a parking lot P3 that is different from the parking lots P1 and P2 and performs automatic valet parking for vehicles 18 in the parking lot P3.

[0027] The plurality of parking assist devices 39 have the same structure. Below, the P1 parking assist device 39A will be described as a representative of the plurality of parking assist devices 39. The P1 parking assist device 39A includes a control unit 47 and a communication unit 49. The control unit 47 includes a microcomputer having a CPU 51 and a semiconductor memory such as RAM or ROM (hereinafter referred to as memory 53).

[0028] Each function of the control unit 47 is realized by the CPU 51 executing a program stored on a non-transitory physical recording medium. In this example, the memory 53 corresponds to the non-transitory physical recording medium storing the program. Furthermore, by executing the program, the method corresponding to the program is executed. Furthermore, the control unit 47 may include a single microcomputer or multiple microcomputers.

[0029] The control unit 47 has a configuration for transmitting a guide route to a target location and various instructions to the plurality of vehicles 18. However, the control unit 47 does not need to have the function of transmitting a guide route and various instructions as long as it has a configuration for transmitting at least the target location.

[0030] The memory 53 stores map information of the parking lot. The map information also includes information indicating the state of the divisions in the parking area 7. Division states include an empty state (hereinafter referred to as the empty state) and a state occupied by multiple vehicles 18 (hereinafter referred to as the occupied state). The communication unit 49 can communicate with multiple vehicles 18 via the relay device 10.

[0031] The memory 53 also stores programs for implementing parking assistance. These programs include a program for generating a target position and a guidance route, a program for sending various instructions as needed, and a data relay program according to the present disclosure.

[0032] The relay device 10 is configured to relay communications between a plurality of parking assist devices 39 and a plurality of vehicles 18. However, as will be described later, the relay device 10 identifies the type of received data (i.e., received data). Moreover, the relay device 10 not only performs relaying but also functions as an SGW that performs some action on the relayed data. SGW is an abbreviation for ServiceGate Way. Specifically, the relay device 10 has the function of replacing the received data with one or more instructions and sending them according to the type of received data, the function of directly relaying the received data, and the function of thinning out or editing the received data and sending them, as functions of the SGW.

[0033] The relay device 10 includes a control unit 11 and a communication unit 14. The control unit 11 includes a microcomputer having a CPU 12 and a semiconductor memory (hereinafter referred to as a memory 13) such as a RAM or a ROM.

[0034] The various functions of the control unit 11 are implemented by the CPU 12 executing a program stored on a non-transitory physical recording medium. In this example, the memory 13 corresponds to the non-transitory physical recording medium storing the program. Furthermore, by executing the program, the method corresponding to the program is executed. Furthermore, the control unit 11 may include a single microcomputer or multiple microcomputers.

[0035] The communication unit 14 includes a receiving unit 15 and a transmitting unit 16. The receiving unit 15 has a function of receiving data from each of the plurality of vehicles 18 and the plurality of parking assistance devices 39 connected via wireless or wired communication. The transmitting unit 16 has a function of transmitting data to each of the plurality of vehicles 18 and the plurality of parking assistance devices 39 in accordance with an instruction from the control unit 11.

[0036] like Figure 2 As shown, the control unit 11 includes a type determination unit 12A, a replacement transmission unit 12B, a forwarding unit 12C, an ack transmission unit 12D, a vehicle information acquisition unit 12E, and a type acquisition unit 12F as functions executed by the control unit 11 .

[0037] The control unit 11 uses these functions to relay data exchanged between multiple parking assistance devices 39 and multiple vehicles 18, and to replace received data with transmit data different from the received data and transmit the data. Furthermore, the control unit 11 identifies information about a communication destination included in the received data and transmits transmit data based on the received data to the communication destination.

[0038] Multiple autonomous vehicles 18A, 18B, and 18C have the same hardware configuration. Below, autonomous vehicle 18A will be described as a representative example of these multiple autonomous vehicles 18A, 18B, and 18C. Autonomous vehicle 18A includes a control unit 69A, a sensor unit 71A, a position information acquisition unit 73A, and a communication unit 75.

[0039] Control unit 69A controls various components of autonomous vehicle 18A. Control by control unit 69A enables autonomous driving. Autonomous vehicle 18A obtains parking lot map information and a target location from parking assistance device 39 and uses the parking lot map information and the target location guidance route during autonomous driving.

[0040] Sensor unit 71A acquires surrounding information indicating the conditions surrounding autonomous vehicle 18A. Examples of surrounding information include the locations of obstacles surrounding autonomous vehicle 18A. Sensor unit 71A includes, for example, a camera and optical radar. Autonomous vehicle 18A uses surrounding information during autonomous driving.

[0041] The position information acquisition unit 73A acquires the position information of the autonomous vehicle 18A. The position information acquisition unit 73A is, for example, a position estimation system based on optical radar and maps. The autonomous vehicle 18A uses this position information when performing autonomous driving. However, in the configuration of the second embodiment described below, the autonomous vehicle 18A may not include the position information acquisition unit 73A. The communication unit 75 is capable of communicating with the parking assistance device 39.

[0042] Here, the parking assistance system 1 has an automatic valet parking function. This function controls the movement of multiple vehicles 18 within a parking lot to a target location, such as a parking position or a parking bay 5. To control the movement of multiple vehicles 18 to their target locations, the parking assistance system 1 includes at least a map acquisition function, a target setting function, a general routing function, a position acquisition function, a status acquisition function, a detailed routing function, and a vehicle control function. As described below, these functions are assigned to either the vehicle (i.e., the multiple vehicles 18) or the multiple parking assistance devices 39.

[0043] The map acquisition function acquires map information showing the detailed locations of aisle spaces and parking spaces in parking lots P1, P2, and P3, as well as the usage status of each parking space. The target setting function sets a target location (i.e., a parking zone or unloading bay 5) as the vehicle 18's destination based on the map information. The map information is stored in, for example, the memory 53 of the parking assistance device 39 and provided to the vehicle 18 as needed.

[0044] The general route function is a function for setting a guidance route to a target location based on map information. In addition, the guidance route is a general route indicating where to turn left or right, etc. The position acquisition function is a function for repeatedly acquiring the position of the vehicle 18.

[0045] The situation acquisition function repeatedly acquires the situation around vehicle 18. The detailed route function sets a specific driving route based on the guidance route, the position of vehicle 18, surrounding conditions, and map information. Furthermore, the driving route is a detailed representation of the specific location of vehicle 18, such as its lateral position within the route, as it actually travels along the guidance route, in units of several centimeters. The vehicle control function controls vehicle 18 based on the driving route.

[0046] There are multiple types of automatic valet parking functions, depending on whether these functions are allocated to the vehicle side (ie, the plurality of vehicles 18 side) or the parking lot side (ie, the plurality of parking assist devices 39 side), that is, depending on the way the functions are arranged.

[0047] For example, in the first type, the target setting function is assigned to the parking lot side, and the general routing function, position acquisition function, status acquisition function, detailed routing function, and vehicle control function are assigned to the vehicle side. The parking lot side and the vehicle side have a map acquisition function.

[0048] In the second type, the map acquisition function, the target setting function, the general route function, the position acquisition function, the status acquisition function, and the detailed route function are allocated to the parking lot side, and the vehicle control function is allocated to the vehicle side.

[0049] In the third type, map acquisition, target setting, and general routing functions are assigned to the parking lot, while position acquisition, status acquisition, detailed routing, and vehicle control functions are assigned to the vehicle. The information exchanged between the vehicle and the parking lot varies depending on the type of automated valet parking function.

[0050] Here, multiple parking assistance devices 39 specify a vehicle 18 and send various data. Among the various data, there is information such as the target location, map data, requests, and ACKs indicating that data has been received from the vehicle. In particular, the request includes an AVP function activation request. AVP stands for Automatic Valet Parking and is the abbreviation for Auto Valet Parking. The AVP function activation request is an instruction to multiple vehicles 18 to switch from manual driving or automatic driving (not automatic valet parking) to an automatic valet parking mode when multiple parking assistance devices 39 start automatic valet parking. Regardless of the type of multiple parking assistance devices 39, the AVP function activation request is sent. For example, when multiple parking assistance devices 39 receive a request to enter or exit the parking garage through a user's operation, the AVP function activation request is sent to the vehicle 18 specified by the user.

[0051] The entry request is a request to enter the vehicle 18 designated by the user from the entry compartment 3 described later into the parking area 7 . The exit request is a request to exit the vehicle 18 designated by the user from the parking area 7 to the exit compartment 5 .

[0052] In addition to the AVP function activation request, the requests sent by the plurality of parking assist devices 39 include, for example, a stop request, which is a request to stop the plurality of vehicles 18 while they are traveling, and a change request, which is a request to change the target positions of the plurality of vehicles 18. For example, a stop request is sent when an abnormality occurs in any of the plurality of vehicles 18. For example, a change request is sent when the target position needs to be changed after a stop request.

[0053] Furthermore, regardless of the type, multiple parking assistance devices 39 transmit the set target position to multiple vehicles 18 as a communication associated with the target setting function. Furthermore, multiple vehicles 18 transmit vehicle information indicating at least one of the vehicle's driving state and driving environment, such as driving speed, vehicle position, information indicating arrival at the target position, presence of any vehicle abnormality, or other data, to the parking assistance device 39 in charge of the vehicle 18. Any data transmitted from a vehicle 18 is also referred to as vehicle data.

[0054] Furthermore, the plurality of parking assist devices 39 can transmit data necessary for realizing automatic valet parking to the plurality of vehicles 18 .

[0055] In this embodiment, the plurality of vehicles 18 include an autonomous driving vehicle A type 18A, an autonomous driving vehicle B type 18B, an autonomous driving vehicle C type 18C, and an unmanned guided vehicle 21. The plurality of vehicles 18 may include at least one of at least one of these vehicles.

[0056] Multiple vehicles 18 may have different manufacturers, for example. Therefore, the multiple vehicles 18 may have different communication methods, command types, and other methods available for communication. As communication methods, the vehicles 18 may select and employ physical communication methods such as full-duplex communication and half-duplex communication, as well as logical communication methods such as communication protocols.

[0057] In this embodiment, the multiple parking assistance devices 39 and the multiple vehicles 18 all correspond to the second type described above, employing full-duplex communication as the physical communication method. Furthermore, MQTT is used as the communication protocol for the multiple parking assistance devices 39, the autonomous vehicle type A 18A, the autonomous vehicle type C 18C, and the unmanned guided vehicle 21. Furthermore, WebSocket is used for the autonomous vehicle type B 18B. MQTT stands for Message Queuing Telemetry Transport.

[0058] In the second type of communication, the target setting function, the general route function, the position acquisition function, the situation acquisition function, and the detailed route function are allocated to the plurality of parking assist devices 39 , and the vehicle control function is allocated to the vehicle side.

[0059] Incidentally, the case where some of the plurality of parking assist devices 39 and the plurality of vehicles 18 are of a type other than the second type will be described later in the second embodiment.

[0060] The AGV 21 has the same hardware configuration for autonomous driving as the automated driving vehicle 18A. However, the AGV 21 stores map information related to the parking lot where the AGV 21 is located. The AGV 21 uses this map information when performing autonomous driving.

[0061] The UGV 21 can travel in a state where any vehicle, including the automated vehicle 18, is loaded on it (hereinafter referred to as the loaded state). Furthermore, the UGV 21 can transition between a non-loaded state and a loaded state by diving under the vehicle and lifting it. Furthermore, the UGV 21 has the function of autonomously driving to a target location along a pre-set guide path.

[0062] The AGV 21 can transport any vehicle to a target location by automatically driving it along a guided path while carrying it. The vehicle transported by the AGV 21 can be an autonomous vehicle 18A, 18B, or 18C, or a vehicle that is not an autonomous vehicle 18, i.e., one that does not have autonomous driving capabilities.

[0063] [1-2. Parking lot structure]

[0064] For example, Figure 3 As shown, parking lot P1 includes a loading bay 3, designated as an area for users to get off their vehicles, a loading bay 5, designated as an area for users to get on their vehicles, and a parking area 7. Parking lots P2 and P3 are not shown. Parking lots P2 and P3 may simply include the loading bay 3, loading bay 5, and parking area 7, similar to parking lot P1. However, the size of the loading bay 3, loading bay 5, and parking area 7, i.e., the number of vehicles that can be parked, can be arbitrarily set for each of parking lots P1, P2, and P3.

[0065] Hereinafter, the area including the loading bay 3, unloading bay 5, and parking area 7 will also be referred to as the parking lot. Furthermore, the loading bay 3 and unloading bay 5 may be used for both purposes and collectively referred to as the loading and unloading areas 3 and 5. Alternatively, the loading bay 3 and unloading bay 5 may each be a dedicated bay.

[0066] Multiple sections are provided in each of the boarding and unloading areas 3 and 5. Multiple vehicles 18 can enter the loading bay 3 from outside the parking lot. The loading bay 3 and unloading bay 5 are adjacent to facilities such as shops. Passengers of vehicles 18 parked in the loading bay 3 can disembark and enter the facilities on foot.

[0067] The unloading compartment 5 is connected to the outside of the parking assistance system 1. A plurality of vehicles 18 can enter the outside of the parking assistance system 1 from the unloading compartment 5. Passengers can enter the unloading compartment 5 on foot from the facility.

[0068] The parking area 7 is a place where multiple vehicles 18 can be parked. Multiple sections are provided inside the parking area 7. Each section provided in the inbound vehicle room 3, the outbound vehicle room 5, and the parking area 7 is an area where one of the multiple vehicles 18 can be parked.

[0069] A plurality of vehicles 18 can travel from the inbound vehicle compartment 3 to the parking area 7 . A plurality of vehicles 18 can travel from the parking area 7 to the outbound vehicle compartment 5 .

[0070] [1-3. Processing]

[0071] The relay device 10 of this embodiment implements at least the following functions. However, the transmission and reception of ACK are omitted.

[0072] [A1] A function that replaces the AVP function activation request sent by the parking assist device 39 with multiple commands and sends them

[0073] [A2] Function of relaying map information of parking lots P1, P2, and P3 transmitted from the parking assist device 39 to the vehicle 18 (i.e., communication for a map acquisition function)

[0074] [A3] Function of relaying vehicle information including the position of the vehicle 18 transmitted from the vehicle 18 to the parking assist device 39 (i.e., communication for the position acquisition function and the situation acquisition function)

[0075] [A4] Function of relaying the target position set and transmitted by the parking assist device 39 to the vehicle 18 (i.e., communication for target setting function)

[0076] [A5] Function of relaying the guidance route set and transmitted together with the target position by the parking assist device 39 to the vehicle 18 (i.e., communication for the rough route function and the detailed route function)

[0077] Hereinafter, the operations when the relay device 10 realizes these functions will be briefly described, and the function [A1] described above will be described in detail.

[0078] When the control unit 11 of the relay device 10 receives some data from the parking assist device 39, it executes Figure 4 In this case, the parking assist device 39 corresponds to the transmission source device of the present disclosure, and the vehicle 18 corresponds to the transmission destination device of the present disclosure. In addition, the auxiliary relay process corresponds to the data relay method in the present disclosure.

[0079] In the auxiliary relay process, first, in S10 , the type determination unit 12A of the control unit 11 identifies the type of data received from the parking assistance device 39 and determines whether the data type is a request among request, information, ack, etc.

[0080] If type determination unit 12A determines in S10 that the data type is not a request, the process proceeds to S11, where forwarding unit 12C performs normal data forwarding. In other words, the received data is relayed as transmitted data to vehicle 18. However, the transmitted data is transmitted using the communication protocol compatible with destination vehicle 18. The communication protocol compatible with destination vehicle 18 can be determined by referring to command correspondence table 13A, described below.

[0081] Next, in S12, the ack transmitter 12D of the control unit 11 determines whether an ack for the transmission data has been received from the vehicle 18. If the ack transmitter 12D determines in S12 that an ack for the transmission data has not been received, the process returns to S12.

[0082] On the other hand, if the ack transmission unit 12D determines in S12 that the ack for the transmission data has been received, the process moves to S13 and transmits an ack as a response to the reception data received from the parking assistance device 39 to the parking assistance device 39. After S13, this process ends. Figure 4 Auxiliary relay processing.

[0083] However, if the control unit 11 determines in S10 that the data type is a request, the process proceeds to S21, where the replacement transmission unit 12B obtains type information of the vehicle 18 to which the data is to be transmitted. For example, this type information is obtained immediately after communication is established with the autonomous driving vehicle 18 and stored in the memory 13. The type information includes information on the type of the automatic valet parking function described above, information for determining the communication method used during communication, the type of control program, the type of command, and the like.

[0084] Next, in S22, the replacement transmission unit 12B extracts the instruction corresponding to the request and type information. Figure 5 Command correspondence table 13A is shown. Command correspondence table 13A contains multiple data sets. In each data set, the type and category information of received data are associated with commands. This allows one or more commands to be sent based on the type and category of received data. Each data set is a table that pre-assigns a corresponding relationship between a single combination of received data type and category information and multiple types of transmitted data.

[0085] exist Figure 5The command correspondence table 13A shown is set to enable the AVP function on request, and specifies which command is to be sent using which protocol for each vehicle A, B, and C classified by type information.

[0086] For example, when the vehicle 18 to which the data is to be transmitted is classified as vehicle A based on the type information, as shown in FIG. Figure 5 As shown, the communication protocol is set to MQTT. In addition, commands are set to send for locking the doors, IG-ON (i.e., turning on the ignition), closing the power windows, retracting the door mirrors, turning off the emergency lights, automatically setting the headlights, and turning off the air conditioner.

[0087] Thus, replacement transmitter 12B is configured to use different communication protocols and the type of command to be transmitted, depending on the vehicle 18 to which the transmission data is to be transmitted is categorized based on the type information. In other words, replacement transmitter 12B replaces the received data with at least one transmission data item prepared in advance based on the type, and switches the communication method as needed.

[0088] Next, in S23, the control unit 11 determines whether the command needs to be decomposed and sent. This means that the received data corresponds to multiple commands and cannot be sent simultaneously. If this is not possible, the control unit 11 will send a command and then wait until it receives an ACK before sending another command.

[0089] When it is determined in S23 that the command needs to be decomposed and sent, the process proceeds to S24, and the control unit 11 decomposes and sends the command.

[0090] Here, use Figure 6 , for the Figure 5 The following describes the specific data exchange when vehicle A receives an AVP function on request. Upon receiving the AVP function on request from the parking assistance device 39, the control unit 11 first transmits a door lock request to the vehicle 18. Then, upon receiving a confirmation from the vehicle 18 indicating that the door lock is complete, that is, an ACK in response to the door lock request, the control unit 11 transmits an IG-ON request.

[0091] Furthermore, if the control unit 11 receives the content that the IG-ON is completed, it will send the door mirror storage request and the air conditioner off request at the same time. In addition, for items that have been received before this process and have been recognized as having been set, the request can be omitted. In the case of this embodiment, Figure 5 In the command correspondence table 13A shown in FIG. 1 , the control unit 11 implements the emergency light off request and the headlight automatic on request. However, since the setting has been completed, Figure 6If the control unit 11 sends all the decomposed instructions, the process moves to Figure 4 S31.

[0092] On the other hand, if it is determined in S23 that the command does not need to be decomposed and transmitted, the process proceeds to S25, and the replacement transmission unit 12B does not decompose the commands to be transmitted and transmits them collectively. The commands to be transmitted may include a plurality of commands.

[0093] Next, in S31, the ACK transmitter 12D determines whether it has received an ACK for at least the last command. Here, the determination is made as to whether ACKs have been received for all transmitted data. However, if at least an ACK has been received for the last command, it can be estimated that commands before the last command have arrived normally, so it is also possible to determine whether an ACK has been received for the last command.

[0094] If the ack transmission unit 12D determines in S31 that it has not received an ack for the last command, the process returns to S31. If the ack transmission unit 12D determines in S31 that it has received at least an ack for the last command, the process proceeds to S32 and transmits an ack to the parking assistance device 39 in response to the request from the parking assistance device 39.

[0095] exist Figure 6 In the example, if the relay device 10 receives an ack indicating that the air conditioner is turned off, it sends an ack for the AVP function on request to the parking assistance device 39. By receiving one ack for the request, the parking assistance device 39 can recognize that multiple commands are sent to the vehicle 18. After S32, this process ends. Figure 4 Auxiliary relay processing.

[0096] In the auxiliary relay process described above, data is not relayed with thinning as in the vehicle relay process described later, but the same process as in the vehicle relay process described later may be applied depending on the type of data.

[0097] Next, upon receiving vehicle data from the vehicle 18, the control unit 11 of the relay device 10 executes Figure 7 In this case, the vehicle 18 corresponds to the transmission source device of the present disclosure, and the parking assist device 39 corresponds to the transmission destination device of the present disclosure.

[0098] In the vehicle relay process, first in S40 , the forwarding unit 12C determines whether it has received predetermined types of data other than vehicle information. The predetermined types of data include relatively urgent types of data such as requests and alarms from the vehicle 18 .

[0099] If data of a predetermined type is received in S40, the process proceeds to S46, and the forwarding unit 12C performs normal data forwarding. Specifically, the forwarding unit 12C immediately forwards the data to the parking assist device 39 without thinning out the vehicle data.

[0100] On the other hand, if the predetermined type of data is not received in S40, the process proceeds to S41, where the vehicle information acquisition unit 12E of the control unit 11 determines whether vehicle information has been received from the autonomous driving vehicle 18. The vehicle information is information indicating at least one of the driving state and driving environment of the vehicle 18.

[0101] Furthermore, in this embodiment, the relay device 10 obtains vehicle information from the vehicle 18. However, at least a portion of the vehicle information may be obtained from a source other than the vehicle 18. For example, the vehicle information may be obtained from a vehicle state recognition device configured to recognize at least one of the driving state and driving environment of the vehicle 18 outside the vehicle 18. The vehicle information may include, for example, driving conditions such as the vehicle 18's speed, position, presence of abnormalities, and operating status of its lights, as well as driving environments such as lane width and distance to both ends of the lane.

[0102] If the vehicle information acquiring unit 12E determines in S41 that the vehicle information has not been received, the process proceeds to S44 . If the vehicle information acquiring unit 12E determines in S41 that the vehicle information has been received, the process proceeds to S42 , where the transfer unit 12C overwrites the vehicle information stored in the memory 13 .

[0103] Next, in S43, the forwarding unit 12C sets the frequency of transmitting the vehicle information to the parking assistance device 39 based on the vehicle information. In other words, it sets the period for transmitting the vehicle information. For example, the forwarding unit 12C may identify the situation as being of high urgency if, for example, an abnormality has occurred in the vehicle 18, the vehicle 18's speed is above a predetermined threshold, or the distance between the vehicle 18 and the two ends of the lane is short.

[0104] In cases of high urgency, forwarding unit 12C sets the frequency of vehicle information transmission to a higher frequency, depending on the situation, to match the period for acquiring vehicle information. On the other hand, in cases of low urgency, such as when no abnormality has occurred in vehicle 18, the frequency is set lower than in cases of high urgency. In this case, vehicle information is forwarded to parking assistance device 39 at a lower frequency than the frequency of receiving vehicle information.

[0105] Next, the transfer unit 12C determines whether it is time to transmit data to the parking assist device 39. The determination of whether it is time to transmit data is based on whether the time since the last data transmission exceeds the cycle for transmitting vehicle information.

[0106] If the forwarding unit 12C determines in S44 that it is not the time to transmit data to the parking assistance device 39, the process returns to S41. On the other hand, if the forwarding unit 12C determines in S44 that it is the time to transmit data to the parking assistance device 39, the process proceeds to S45 to transmit the vehicle information. Since this vehicle information is only the latest one among the multiple received vehicle information, the thinned-out vehicle information is transmitted to the parking assistance device 39. After S45, the process ends.

[0107] [1-4. Modification of the First Embodiment]

[0108] In the vehicle relay process of the first embodiment, the relay device 10 thins out the vehicle data and transmits it to the parking assist device 39 . However, it is also possible to generate new data based on the vehicle data and transmit the data to the parking assist device 39 .

[0109] In such a case, the vehicle relay processing of the first embodiment may be replaced by, for example, Figure 8 The vehicle relay process of the modified example shown is implemented. In the vehicle relay process of the modified example, if vehicle information is received in S41 described above, the process proceeds to S47, where the forwarding unit 12C records the received vehicle information in the memory 13. In other words, in this process, the previously received vehicle information is not overwritten, but is retained in the memory 13 together with the newly received vehicle information.

[0110] After S47, the process proceeds to S43 described above. If, in S44, the timing for transmitting each type of data is reached, the process proceeds to S48, where the forwarding unit 12C performs a predetermined operation on the plurality of vehicle information items stored in the memory 13. This operation includes, for example, performing arbitrary calculations such as the average, maximum, minimum, median, weighted average, and variance on the plurality of vehicle information items.

[0111] Next, in S49, the control unit 11 sends the calculation result to the parking assist device 39 and ends the process. Figure 8 Vehicle relay processing.

[0112] [1-5. Effect]

[0113] According to the first embodiment or the modified example described in detail above, the following effects are achieved.

[0114] (1a) One embodiment of the present disclosure is a relay device 10 configured to relay data exchanged between a parking assistance device 39 that performs parking assistance and a vehicle 18 that receives assistance from the parking assistance device 39. The source of data transmitted between the parking assistance device 39 and the vehicle 18 is referred to as a source device, and the destination of data transmitted between the parking assistance device 39 and the vehicle 18 is referred to as a destination device.

[0115] The relay device 10 includes a type determination unit 12A, a replacement transmission unit 12B, and a forwarding unit 12C. The type determination unit 12A is configured to determine the type of received data, where the received data represents data received from a transmission source device. The replacement transmission unit 12B is configured to, when the type of the received data is a predetermined first type (e.g., a request in the above embodiment), replace the received data with at least one transmission data prepared in advance according to the type, and transmit the transmission data to the transmission destination device. The forwarding unit 12C is configured to, when the type of the received data is a predetermined second type (e.g., data other than a request in the above embodiment), treat the received data as transmission data and forward the transmission data to the transmission destination device.

[0116] With this configuration, the relay device 10 can replace the received data with specified transmission data based on the type of data received from the source device and transmit it. For example, when transmitting data from the parking assistance device 39 to the vehicle 18, the parking assistance device 39 simply issues a request, and the relay device 10 can replace the request with a specified command and transmit it. Alternatively, when transmitting data from the vehicle 18 to the parking assistance device 39, the vehicle 18 simply transmits the appropriate data, and the relay device 10 can replace the data with data optimal for the parking assistance device 39 or transmit it directly. Therefore, the parking assistance device 39 need not include a structure for transmitting commands or at least a portion of the structure for processing data from the vehicle 18, simplifying the structure of the parking assistance device 39.

[0117] (1b) In one embodiment of the present disclosure, at least one of the replacement transmitter 12B and the forwarder 12C is configured to convert, when transmitting transmission data, to a communication method different from the communication method used when receiving reception data.

[0118] According to such a configuration, even if the parking assist device 39 and the vehicle 18 are configured to communicate using different communication methods, communication between the parking assist device 39 and the vehicle 18 can be relayed satisfactorily.

[0119] (1c) In one embodiment of the present disclosure, the replacement transmitter 12B is configured to replace a single received data item with a plurality of transmitted data items, and transmit the plurality of transmitted data items to the destination device. Furthermore, the ACK transmitter 12D receives a plurality of ACKs from the destination device, each of which is a response to the plurality of transmitted data items. Furthermore, upon receiving an ACK for at least the most recently transmitted transmit data item, the ACK transmitter 12D is configured to transmit an ACK as a response to the received data item to the source device.

[0120] With this configuration, even when multiple transmission data corresponding to one reception data are transmitted, an ACK for the one reception data can be transmitted. In other words, ACKs can be exchanged satisfactorily.

[0121] (1d) In one embodiment of the present disclosure, forwarding unit 12C is configured to transmit transmission data to vehicle 18 based on reception data received from parking assist device 39. Furthermore, forwarding unit 12C is configured to forward vehicle data to parking assist device 39 at a frequency lower than a frequency at which vehicle data representing data received from vehicle 18 is received.

[0122] According to such a configuration, since the vehicle data is transferred to the parking assist device 39 at a frequency lower than the frequency at which the vehicle data is received, the processing load on the parking assist device 39 can be reduced.

[0123] (1e) In one embodiment of the present disclosure, the forwarding unit 12C is configured to receive a plurality of vehicle data and forward an average value of the plurality of vehicle data to the parking assist device 39 .

[0124] According to such a configuration, it is possible to transmit the vehicle data after performing calculation to obtain the average value of the plurality of vehicle data.

[0125] (1f) In one embodiment of the present disclosure, the forwarding unit 12C is configured to forward the vehicle data to the parking assist device 39 without reducing the frequency when the vehicle data includes data of a predetermined type.

[0126] According to such a configuration, the command can be transferred to the parking assist device 39 without being thinned out.

[0127] (1g) In one embodiment of the present disclosure, vehicle information acquisition unit 12E is configured to acquire vehicle information indicating at least one of the driving state and driving environment of vehicle 18. Forwarding unit 12C is configured to set a frequency based on the vehicle information and forward the vehicle data to parking assist device 39 at the set frequency.

[0128] With this configuration, the frequency of transferring vehicle data to parking assistance device 39 can be changed based on vehicle information. For example, if the frequency of transferring vehicle data to parking assistance device 39 is increased when vehicle 18 is traveling at a high speed, when an abnormality has occurred in vehicle 18, or when the likelihood of an abnormality is high, the situation of vehicle 18 can be addressed more quickly.

[0129] (1h) In one embodiment of the present disclosure, type acquisition unit 12F is configured to acquire type information indicating the type of automatic valet parking being performed in vehicle 18. Replacement transmission unit 12B is configured to select a data set containing a plurality of pre-prepared transmission data based on the type information, extract transmission data corresponding to the type of received data from the selected data set, and transmit the extracted transmission data.

[0130] According to such a configuration, transmission data can be selected based on the type information and the type of received data.

[0131] (1i) In one aspect of the present disclosure, a request to the destination device is set as the first type, and data other than the request to the destination device is set as the second type.

[0132] The replacement transmission unit 12B is configured to, when the type of received data is a request to a destination device, replace the received data with at least one transmission data prepared in advance according to the type, and transmit the transmission data.

[0133] The forwarding unit 12C is configured to forward the transmission data as transmission data without replacing the received data when the type of the received data is data other than a request to the transmission destination device.

[0134] According to such a configuration, whether or not to replace received data can be set according to whether or not the request is to the destination device.

[0135] (1j) In one embodiment of the present disclosure, the parking assist device 39 is configured as a device that assists automatic valet parking in a parking lot, and the vehicle 18 is configured to have an automatic valet parking function.

[0136] With such a configuration, the relay device 10 of the present disclosure can be applied to the parking assistance system 1 having a function of assisting automatic valet parking.

[0137] [2. Second embodiment]

[0138] [2-1. Differences from the First Embodiment]

[0139] Since the basic structure of the second embodiment is the same as that of the first embodiment, the following description will focus on the differences. Note that the same reference numerals as those of the first embodiment denote the same structures, and reference is made to the previous description.

[0140] In the first embodiment described above, the automatic valet parking function provided by the parking assist device 39 and the vehicle 18 is described as being of the second type, and their types are identical. In contrast, the parking assist system 2 of the second embodiment differs from the first embodiment in that the automatic valet parking function provided by the parking assist device 39 and the vehicle 18 is of a different type.

[0141] [2-2. Structure and Processing]

[0142] In parking assistance system 2, parking assistance device 39 corresponds to the first type, which is the least functional, and vehicle 18 corresponds to the second type, which is the least functional. Specifically, parking assistance device 39 includes a map acquisition function and a target setting function, which are functions required for automatic valet parking, while vehicle 18 includes a vehicle control function. Parking assistance device 39 and vehicle 18 do not include the general route function, position acquisition function, situation acquisition function, or detailed route function, which are functions required for automatic valet parking.

[0143] Therefore, the relay device 10 of the second embodiment has a general routing function, a position acquisition function, a status acquisition function, and a detailed routing function to supplement the functions required for automatic valet parking. In addition, the relay device 10 of the second embodiment has a map acquisition function to realize these functions.

[0144] Figure 9 FIG2 shows a parking assistance system 2 according to a second embodiment. In the parking assistance system 2, the relay device 10 is arranged corresponding to the parking lot P1 and includes a camera 17. The camera 17 is configured to capture images of the entire parking lot P1 together with the vehicle 18 in the parking lot P1. In addition, if the position of the vehicle 18 in the parking lot P1 can be detected, a radar device or the like may be provided in place of or in addition to the camera 17. Figure 2 As shown by the dotted line, the control unit 11 includes a position detection unit 12G as a function.

[0145] The position detection unit 12G detects the position of each vehicle 18 in the parking lot P1 based on the captured image obtained by the camera 17. That is, the position detection unit 12G realizes a position acquisition function.

[0146] The control unit 11 of the relay device 10 also implements a general routing function, a status acquisition function, and a detailed routing function. Specifically, when communicating with the parking assistance device 39, the relay device 10 generates data supplementary to the data transmitted from the vehicle 18, as is done when the parking assistance device 39 communicates with the first type of vehicle 18, and transmits the data to the parking assistance device 39. Furthermore, when communicating with the vehicle 18, the relay device 10 generates data supplementary to the data transmitted from the parking assistance device 39, as is done when the vehicle 18 communicates with the second type of parking assistance device 39, and transmits the data to the vehicle 18.

[0147] Specifically, the relay device 10 includes the following functions [B2], [B3], and [B5] instead of the functions [A2], [A3], and [A5] included in the relay device 10 of the first embodiment.

[0148] [A1] A function that replaces the AVP function activation request sent by the parking assist device 39 with multiple commands and sends them

[0149] [B2] A function for acquiring map information of parking lots P1, P2, and P3 transmitted from the parking assist device 39 (but not relayed to the vehicle 18) (i.e., communication for a map acquisition function)

[0150] [B3] A function of relaying vehicle information transmitted from the vehicle 18 to the parking assist device 39, and a function of detecting the position of the vehicle 18 itself (i.e., communication for the position acquisition function and the status acquisition function)

[0151] [A4] Function of relaying the target position set and transmitted by the parking assist device 39 to the vehicle 18 (i.e., target setting function)

[0152] [B5] Function of generating a guidance route and transmitting it to the vehicle 18 (i.e., communication for the rough route function and the detailed route function)

[0153] As described above, in the parking assist system 2 , the relay device 10 can absorb the difference between the types of the parking assist device 39 and the vehicle 18 , thereby achieving automatic valet parking in an excellent manner.

[0154] [2-3. Modification of the Second Embodiment]

[0155] In the parking assistance system 2 of the second embodiment described above, the parking assistance device 39 is of the first type and the vehicle 18 is of the second type. However, other types are also possible. For example, if the parking assistance device 39 is of the first type and the vehicle 18 is of the third type, the parking assistance device 39 and the vehicle 18 lack the general routing function, but the relay device 10 can be configured to implement the general routing function.

[0156] Furthermore, in the parking assistance system 2 of the second embodiment, a plurality of vehicles 18 of different types may coexist. When automatic valet parking is performed by the parking assistance device 39 and the vehicles 18, the relay device 10 supplements the missing functions as needed, thereby enabling automatic valet parking to be performed for the vehicles 18 even when a plurality of vehicles 18 of different types coexist.

[0157] In addition, when the parking assistance device 39 is of the third type and the vehicle 18 is of the first type, some functions are overlapped. However, in this case, the parking assistance device 39 and the vehicle 18 can stop the overlapping functions spontaneously or by receiving instructions from the relay device 10, etc.

[0158] [2-4. Effect]

[0159] According to the second embodiment described in detail above, the effect (1a) of the first embodiment described above is achieved, and the following effects are achieved.

[0160] (2a) In one embodiment of the present disclosure, when neither the parking assist device 39 nor the vehicle 18 has a function required for automatic valet parking, the relay device 10 supplements the missing function and relays data.

[0161] With this configuration, even when a vehicle 18 that does not support the parking assist device 39 attempts to park in the parking lot P1, the relay device 10 can supplement the missing functions according to the type of vehicle 18, thereby further increasing the types of vehicles 18 that can park.

[0162] (2b) For example, when parking a plurality of vehicles 18 of different types in parking lot P1, relay device 10 generates a Type 3 instruction and a Type 2 instruction in response to an instruction from Type 3 parking assist device 39. Furthermore, relay device 10 can transmit the Type 3 instruction to Type 3 vehicles 18 and the Type 2 instruction to Type 2 vehicles 18.

[0163] [3. Other Implementation Methods]

[0164] As mentioned above, although embodiment of this disclosure was described, this disclosure is not limited to the said embodiment, Various deformation|transformation and implementation are possible.

[0165] (3a) In the above embodiment, only one relay device 10 is provided, but this is not limiting. For example, a relay device 10 may be provided for each parking lot P1, P2, or P3. The relay device 10 may be configured on the cloud, in any parking lot, or within each parking lot P1, P2, or P3. When a relay device 10 is provided for each parking lot P1, P2, or P3, each relay device 10 may be configured to communicate only with the vehicles 18 located in the parking lot P1, P2, or P3 with which the relay device 10 has established a corresponding relationship.

[0166] (3b) It is also possible to implement multiple functions of one component in the above-mentioned embodiment by multiple components, or to implement one function of one component by multiple components. In addition, it is also possible to implement multiple functions of multiple components by one component, or to implement one function implemented by multiple components by one component. In addition, part of the structure of the above-mentioned embodiment may be omitted. In addition, at least part of the structure of the above-mentioned embodiment may be added to or replaced with the structure of another above-mentioned embodiment.

[0167] (3c) In addition to the above-mentioned parking assistance systems 1 and 2, the present disclosure can also be implemented in various ways, such as the relay device 10, parking assistance device 39, vehicle 18 and other devices that constitute the structural elements of the parking assistance systems 1 and 2, a program for causing a computer to function as each device, a non-transitional physical recording medium such as a semiconductor memory recording the program, a parking assistance method, a relay method, etc.

Claims

1. A relay device configured to relay data exchanged between a parking assistance device performing parking assistance and a vehicle receiving assistance from the parking assistance device. A transmission source of data between the parking assist device and the vehicle is defined as a transmission source device, and a transmission destination of data between the parking assist device and the vehicle is defined as a transmission destination device. The relay device has: The type determination unit is configured to determine the type of received data, wherein: The received data refers to data received from the sending source device; a replacement transmission unit configured to, when the type of the received data is a predetermined first type, replace the received data with at least one transmission data prepared in advance according to the first type, and transmit the transmission data to the destination device; as well as a forwarding unit that, when the type of the received data is a preset second type, treats the received data as the transmission data and forwards the transmission data to the transmission destination device; The request to the destination device is set as the first type, and data other than the request to the destination device is set as the second type. The replacement transmission unit is configured to replace the received data with at least one transmission data prepared in advance according to the type when the type of the received data is a request to the destination device, and transmit the transmission data. The forwarding unit is configured to forward the transmission data as transmission data without replacing the reception data when the type of the reception data is data other than a request to the transmission destination device.

2. The relay device according to claim 1, wherein: At least one of the replacement transmission unit and the forwarding unit is configured to convert, when transmitting the transmission data, a communication method different from a communication method used when receiving the reception data.

3. The relay device according to claim 1, wherein: The replacement transmission unit is configured to replace the one received data with a plurality of transmission data and transmit the plurality of transmission data to the transmission destination device. The relay device further includes an ACK sending unit, which is configured to receive multiple ACKs from the destination device, wherein the multiple ACKs are responses to each of the multiple transmission data, and if at least an ACK for the last transmission data sent is received, the ACK as a response to the received data is sent to the source device. The relay device according to claim 1 , wherein: The forwarding unit is used as the first forwarding unit. The replacement transmission unit and the first forwarding unit are configured to transmit the transmission data to the vehicle based on the reception data received from the parking assist device. The relay device further includes a second forwarding unit configured to forward the vehicle data to the parking assist device at a frequency lower than a frequency of receiving the vehicle data, wherein the vehicle data indicates data received from the vehicle. The relay device according to claim 4 , wherein: The second forwarding unit is configured to receive the plurality of vehicle data and forward an average value of the plurality of vehicle data to the parking assist device. The relay device according to claim 4 , wherein: The second transfer unit is configured to transfer the vehicle data to the parking assist device without reducing the frequency when the vehicle data includes data of a predetermined type.

7. The relay device according to any one of claims 4 to 6, wherein: The device further comprises a vehicle information acquisition unit configured to acquire vehicle information, wherein the vehicle information is information indicating at least one of a driving state and a driving environment of the vehicle. The second forwarding unit is configured to set the frequency based on the vehicle information and forward the vehicle data to the parking assist device at the set frequency.

8. The relay device according to any one of claims 1 to 6, wherein: The device further comprises a type acquisition unit configured to acquire type information, wherein the type information indicates a type of automatic valet parking performed in the vehicle. The replacement transmission unit is configured to select a data set of a plurality of transmission data prepared in advance based on the type information, extract the transmission data corresponding to the type of the received data from the selected data set, and transmit the extracted data.

9. The relay device according to any one of claims 1 to 6, wherein: The parking assist device is configured as a device that assists automatic valet parking in a parking lot, and the vehicle is configured to have an automatic valet parking function.

10. The relay device according to claim 8, wherein: The type information indicates to which of the parking assist device and the vehicle a functional element when automatic valet parking is performed in the vehicle is allocated. The relay device according to claim 10 , wherein: The above-mentioned type information indicates to which of the above-mentioned parking assistance device and the above-mentioned vehicle a vehicle information acquisition unit, which is a functional element when implementing automatic valet parking in the above-mentioned vehicle, is assigned, wherein the above-mentioned vehicle information acquisition unit is configured to acquire vehicle information, and the above-mentioned vehicle information is information indicating at least one of the driving state and driving environment of the above-mentioned vehicle.

12. A data relay method, the method being performed by a relay device configured to relay data exchanged between a parking assistance device performing parking assistance and a vehicle receiving assistance from the parking assistance device. The above relay method performs the following steps: A transmission source of data between the parking assist device and the vehicle is defined as a transmission source device, and a transmission destination of data between the parking assist device and the vehicle is defined as a transmission destination device. Determine the type of received data, where The received data is data received from the source device. When the type of the received data is a predetermined first type, the received data is replaced with at least one transmission data prepared in advance according to the first type, and the transmission data is transmitted to the destination device. When the type of the received data is a preset second type, the received data is used as the transmission data and the transmission data is forwarded to the transmission destination device. The request to the destination device is set as the first type, and data other than the request to the destination device is set as the second type. When the type of the received data is a request to the destination device, the received data is replaced with at least one transmission data prepared in advance according to the type, and the transmission data is transmitted. When the type of the received data is data other than a request to the destination device, the received data is not replaced but the transmitted data is forwarded as transmitted data.

13. A recording medium recording a data relay program, the data relay program being executed by a computer included in a relay device, the relay device being configured to relay data exchanged between a parking assistance device performing parking assistance and a vehicle receiving assistance from the parking assistance device. A transmission source of data between the parking assist device and the vehicle is defined as a transmission source device, and a transmission destination of data between the parking assist device and the vehicle is defined as a transmission destination device. The data relay program is used to implement the following functions: The type determination unit is configured to determine the type of received data, wherein: The received data refers to data received from the sending source device; a replacement transmission unit configured to, when the type of the received data is a predetermined first type, replace the received data with at least one transmission data prepared in advance according to the first type, and transmit the transmission data to the destination device; as well as a forwarding unit that, when the type of the received data is a preset second type, treats the received data as transmission data and forwards the transmission data to the transmission destination device; The replacement transmission unit is configured to replace the received data with at least one transmission data prepared in advance according to the type when the type of the received data is a request to the destination device, and transmit the transmission data. The forwarding unit is configured to forward the transmission data as transmission data without replacing the reception data when the type of the reception data is data other than a request to the transmission destination device.

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