Parking fee collection device and parking time management method

Abstract

One embodiment of the present application provides a parking fee charging device (39) configured to charge a fee in an automated valet parking facility in which a subject vehicle that is a subject of the fee is moved between a boarding and alighting area (3, 5) and a parking area (7). A control section (47) of the parking fee charging device (39) includes a count start section (47A) configured to start a count for charging when a start condition is satisfied, a count end section (47B) configured to end the count when an end condition is satisfied, and a fee calculation section (47C) configured to calculate a fee corresponding to the count.

Description

[0001] Cross Reference to Related Applications

[0002] This international application is based on Japanese Patent Application No. 2020-165993 filed on September 30, 2020 in the Japan Patent Office, the entire contents of which are hereby incorporated by reference into this international application. TECHNICAL FIELD

[0003] The present application relates to a parking fee charging device configured to charge a fee related to automated valet parking and a parking time management method. BACKGROUND

[0004] For example, in the following Patent Literature 1, a technology of automated valet parking is disclosed in which a management device on the parking lot side guides an automated driving vehicle between a drop-off area and a parking position of a parking area.

[0005] Patent Literature 1: Japanese Patent Application Publication No. 2011-054116

[0006] In a parking lot, generally, a parking fee is charged in accordance with a time from when a vehicle enters the parking lot to when the vehicle exits.

[0007] However, as a result of detailed studies by the inventors, it was found that the following problem exists: in charging of a parking fee in automated valet parking, charging in accordance with a time from entry to exit is not necessarily appropriate. For example, depending on the congestion situation of the parking lot, it is assumed that a waiting time occurs from when the vehicle enters the parking lot until the vehicle is parked, or a waiting time occurs while the vehicle is moving within the parking lot, and the like, which is disadvantageous for the user. SUMMARY

[0008] One embodiment of the present application provides a parking fee charging device or a parking time management method that charges a fee related to automated valet parking, and is capable of appropriately charging a parking fee that is adapted to an environment unique to an automated valet parking lot.

[0009] One embodiment of the present application provides a parking fee charging device configured to charge a fee in an automated valet parking lot in which an object vehicle that is a charge target moves between a drop-off area and a parking area. The parking fee charging device includes a count start unit, a count end unit, and a fee calculation unit.

[0010] The count start unit is configured to start counting for charging when a start condition is satisfied. The count end unit is configured to end counting when an end condition is satisfied. The fee calculation unit is configured to calculate a fee corresponding to the counting.

[0011] The counting start section is configured to adopt at least any one of the following as a start condition: when parking of the subject vehicle is reserved in the parking lot, when the subject vehicle enters the parking lot, when a user-based request to start automatic driving, i.e., a parking request, is detected, when the subject vehicle reaches the boarding and alighting area before the subject vehicle moves to the parking area, when the subject vehicle reaches the parking area, and when a parking completion notification indicating that the subject vehicle has reached the parking area is sent to the user.

[0012] The counting end section is configured to adopt at least any one of the following as an end condition: when a user-based request to start automatic driving, i.e., a departure request, is detected, when the subject vehicle reaches the boarding and alighting area after the subject vehicle is parked in the parking area, when the subject vehicle moves from the boarding and alighting area after the subject vehicle is parked in the parking area, when the subject vehicle exits the parking lot, when a reservation time set in advance expires, when a departure completion notification indicating that the subject vehicle has reached the boarding and alighting area is sent to the user, and when a notification indicating that the departure request has been accepted is sent to the user.

[0013] According to the present application, the counting start section adopts the entry of the subject vehicle into the parking lot as a start condition, and the counting end section removes the exit of the subject vehicle from the parking lot as an end condition.

[0014] According to such a configuration, since the charge is made at a timing other than the time from entry to exit, the parking fee that is appropriate to the environment unique to an automatic driving parking lot can be charged favorably. Furthermore, the functions of the counting start section and the counting end section can also be implemented as a parking time management method. BRIEF DESCRIPTION OF DRAWINGS

[0015] Figure 1 is a plan view of a parking lot.

[0016] Figure 2 is a block diagram showing the configuration of a parking assistance system.

[0017] Figure 3 is a functional block diagram of a control section of a management device.

[0018] Figure 4 is a flowchart of parking setting processing performed by a management device.

[0019] Figure 5 is a flowchart of automatic driving vehicle entry processing in the parking setting processing.

[0020] Figure 6 is a flowchart of automatic parking processing performed by an automatic driving vehicle.

[0021] Figure 7is a flowchart of the departure setting process executed by the management device.

[0022] Figure 8 is a flowchart of the automatic departure process in the departure setting process.

[0023] Figure 9 is a flowchart of the automatic departure process executed by the automatic driving vehicle.

[0024] Figure 10 is a flowchart of the charge counting start process executed by the management device.

[0025] Figure 11 is a timing chart showing the charge counting and the charge timing.

[0026] Figure 12 is a flowchart of the charge counting end process executed by the management device.

[0027] Figure 13 is a display example in the mobile terminal device when the parking lot usage fee is temporarily determined.

[0028] Figure 14 is a flowchart of the charge counting start process executed by the management device.

[0029] Figure 15 is a flowchart of the charge counting end process executed by the management device. DETAILED DESCRIPTION

[0030] Hereinafter, an embodiment of the present application will be described with reference to the accompanying drawings.

[0031] [1. Embodiment]

[0032] [1-1. Structure of the parking assistance system 1]

[0033] Based on Figures 1-3 The structure of the parking assistance system 1 will be described. As Figure 1 shown, the parking assistance system 1 is provided with: a parking-in vehicle room 3 set in a region where a user gets off, a parking-out vehicle room 5 set in a region where the user gets on, and a parking region 7. Further, hereinafter, the region including the parking-in vehicle room 3, the parking-out vehicle room 5, and the parking region 7 will be described as the parking lot or the automatic valet parking lot. In addition, the parking-in vehicle room 3 and the parking-out vehicle room 5 will be collectively referred to as the boarding and alighting region 3, 5.

[0034] A plurality of parking spaces are provided in the entry garage 3 and the exit garage 5, respectively. The entry garage 3 is connected to the outside of the parking assistance system 1 via an entrance 15. The automated driving vehicle 18 is able to enter the entry garage 3 from the outside through the entrance 15. The automated driving vehicle 18 is provided with an automatic valet parking function. The automated driving vehicle 18 is a vehicle that becomes a subject of a charge for parking fees, and is a subject vehicle in the present application.

[0035] Further, the automated driving vehicle 18 only needs to be able to implement the automatic valet parking function in the parking lot, and does not need to be provided with a function of performing automated driving outside the parking lot. In addition, the automatic valet parking function includes a function of driving from the entry garage 3 to a parking position in the parking area 7 and parking by automated driving, and a function of driving from the parking position in the parking area 7 to the exit garage 5. In addition, if the automatic valet parking function is implemented, the automated driving vehicle 18 moves between the drop-off area 3.5 and the parking area 7 in the parking lot in a state in which the user does not get on the vehicle.

[0036] The automatic valet parking function particularly includes a function of repeatedly acquiring position information of the automated driving vehicle 18 and transmitting the position information to the management device 39, and a function of receiving a guide path from the management device 39, and controlling the automated driving vehicle 18 to travel according to the guide path. Further, the guide path is a path for guiding the subject vehicle that becomes a guide target, that is, the automated driving vehicle 18, from a current position of the automated driving vehicle 18 to a parking position or a target position such as the exit garage 5 by automated driving. The position information of the automated driving vehicle 18 indicates an estimation result of the current position of the automated driving vehicle 18, and includes, for example, a coordinate value in the area of the parking lot.

[0037] The entry garage 3 and the exit garage 5 are adjacent to an entrance 23 of a facility 22 such as a store. A passenger of the automated driving vehicle 18 that is parked in the entry garage 3 is able to get off the automated driving vehicle 18 and enter the entrance 23 on foot.

[0038] The exit garage 5 is connected to the outside of the parking assistance system 1 via an exit 27. The automated driving vehicle 18 is able to enter the outside of the parking assistance system 1 from the exit garage 5 through the exit 27. The exit garage 5 is adjacent to the entrance 23. A passenger is able to enter the exit garage 5 on foot from the entrance 23.

[0039] The parking area 7 is a place in which a plurality of automated driving vehicles 18 are able to be parked. A plurality of parking spaces are provided inside the parking area 7. Each of the parking spaces provided in the entry garage 3, the exit garage 5, and the parking area 7 is an area in which one automated driving vehicle 18 is able to be parked. Among them, for the parking area 7, a parking space does not need to be provided.

[0040] The automated driving vehicle 18 is able to travel from the entrance garage 3 to the parking area 7. In addition, the automated driving vehicle 18 is able to travel from the parking area 7 to the exit garage 5.

[0041] As shown in Figure 2 , the parking assistance system 1 is provided with a management device 39, an infrastructure 41, a terminal device 43, and a reservation device 45.

[0042] The management device 39 is a parking fee device of the present application, and is provided with a control section 47 and a communication section 49. The control section 47 is provided with a microcomputer having a CPU 51, a semiconductor memory such as a RAM or a ROM, or the like (hereinafter, a memory 53).

[0043] Each function of the control section 47 is realized by the CPU 51 executing a program stored in a non-transitory tangible recording medium. In this example, the memory 53 corresponds to the non-transitory tangible recording medium in which the program is stored. In addition, by executing the program, a method corresponding to the program is executed. Further, the control section 47 can be provided with one microcomputer, or can be provided with a plurality of microcomputers.

[0044] The control section 47 is provided with a structure for transmitting a guide path until a parking position and a parking start instruction to the automated driving vehicle 18. As shown in Figure 3 , the control section 47 is provided with a count start section 47A, a count end section 47B, a fee calculation section 47C, a fee determination section 47D, a temporary calculation section 47E, and a movement request section 47F. The operation of each section 47A to 47E constituting the control section 47 will be described later.

[0045] The map information of the parking lot is stored in the memory 53. In addition, the map information includes information indicating the state of the parking space in the parking area 7. As the state of the parking space, there are an empty state (hereinafter, an empty state) and a state occupied by the automated driving vehicle 18 (hereinafter, an occupied state). The communication section 49 is able to communicate with the automated driving vehicle 18.

[0046] The infrastructure 41 is provided with a function of acquiring information indicating the state of the inside of the parking assistance system 1 (hereinafter, parking lot information), and supplying the parking lot information to the management device 39. As the infrastructure 41, there are included an outside sensor that measures the size of the vehicle in the entrance garage 3, and a camera, a radar, or the like that photographs the inside of the parking lot. The infrastructure 41 can also be configured to be able to detect a case where the automated driving vehicle 18 is present at a certain position in the parking lot, or to be able to detect the position of the automated driving vehicle 18 in the parking lot.

[0047] As the information in the parking lot, for example, information indicating the position of an obstacle, information indicating the state of a parking space in the parking area 7, position information of an automated driving vehicle 18 existing inside the parking assistance system 1, and the like are cited.

[0048] As shown in FIG. 1, the terminal device 43 is provided in the vicinity of the vehicle room 3. The vicinity of the vehicle room 3 means the boarding and alighting areas 3, 5, that is, the inside or the vicinity of the vehicle room 3, and indicates a range in which a user returns to the vehicle room 3 without waiting for other users. Figure 1

[0049] The terminal device 43 receives an input operation by a user and outputs a signal corresponding to the input operation to the management device 39. The terminal device 43 is capable of communicating with the management device 39. The terminal device 43 outputs a parking request signal, for example, in accordance with an input operation by a user.

[0050] The parking request signal is a signal that requests the automated driving vehicle 18 located in the vehicle room 3 to be transported to the parking area 7 and parked. In addition, the terminal device 43 outputs identification information of the automated driving vehicle 18 or the like when outputting a signal corresponding to an input operation to the management device 39.

[0051] The reservation device 45 is a device held by a user of the automated driving vehicle 18 and is capable of making a reservation for the parking lot in accordance with an operation by the user. In the reservation, a vehicle room entry scheduled time and a vehicle room exit scheduled time can be set, and if the management device 39 accepts the reservation, a parking frame for the automated driving vehicle 18 is secured in the parking area 7. Further, the vehicle room exit scheduled time is a time at which the reservation period expires. The reservation device 45 is configured to be capable of communicating with the management device 39. The reservation device 45 is configured as a smartphone, for example.

[0052] As described above, the automated driving vehicle 18 is provided with an automatic parking function. As shown in FIG. 1, the automated driving vehicle 18 is provided with a control unit 69, a sensor group 71, a position information acquisition unit 73, and a communication unit 75. Figure 2

[0053] The control unit 69 is provided with a microcomputer having a CPU, a semiconductor memory such as a RAM or a ROM, and the like. The control unit 69 controls each unit of the automated driving vehicle 18. The function of automated driving is realized by control by the control unit 69. The automated driving vehicle 18 acquires map information and a guide path of the parking lot from the management device 39 and uses the map information and the guide path of the parking lot when automated driving is performed.

[0054] ​​The sensor group 71 acquires surrounding information indicating the conditions around the autonomous vehicle 18. This surrounding information includes, for example, listing the locations of obstacles present around the autonomous vehicle 18. The sensor group 71 includes, for example, cameras and radar. The autonomous vehicle 18 uses this surrounding information when performing autonomous driving.

[0055] The location information acquisition unit 73 acquires the location information of the autonomous vehicle 18. The location information acquisition unit 73 may be a location inference system based on radar and maps. The autonomous vehicle 18 uses the location information when performing autonomous driving. The communication unit 75 is capable of communicating with the management device 39.

[0056] [1-2. Processing]

[0057] As a prerequisite for explaining the charging of parking fees by the management device 39, the operation of the automatic parking system will be explained below. The charging process will be explained after section [1-2-7].

[0058] [1-2-1. Parking setting process performed by management device 39]

[0059] use Figure 4 The parking setting process performed by the management device 39 will be described. The parking setting process is, for example, a process that starts when the power to the management device 39 is turned on and then repeats. In addition, the processes performed by the control unit 47 (especially the CPU 51) of the management device 39 will also be described below as being performed by the management device 39.

[0060] Management device 39 Figure 4 In step 11 of the parking setting process shown (hereinafter referred to as "S"), it is determined whether a parking request signal has been received.

[0061] Here, if a parking request is input by a user, such as a passenger of the autonomous vehicle 18, operating the terminal device 43, the terminal device 43 sends a parking request signal corresponding to the input to the management device 39. At this time, the user inputs vehicle information such as the license plate number, user information such as the user ID and password, and other necessary information into the terminal device 43. After making the parking request, the user can leave the parking lot and head towards their destination.

[0062] Next, in S12, the management device 39 sends the map information of the parking lot to the autonomous vehicle 18. That is, if the user inputs an indication that parking has begun using the terminal device 43, the management device 39 sends the map information of the parking lot to the autonomous vehicle 18. Even if the management device 39 accepts an exit request (described later) after a parking request but before parking is completed, the map information of the parking lot will still be sent to the autonomous vehicle 18.

[0063] The automated driving vehicle 18 that has received the map information is set to return the position information as described later. Therefore, the management device 39 receives the position information transmitted from the automated driving vehicle 18 in S13. Next, the process moves to S14, and the control section 47 implements the automated driving vehicle storage processing. The automated driving vehicle storage processing is processing of moving the automated driving vehicle 18 to a parking position. If the automated driving vehicle storage processing ends, the management device 39 ends the parking setting processing.

[0064] [1-2-2. Automated driving vehicle storage processing]

[0065] Using Figure 5 The automated driving vehicle storage processing performed by the management device 39 is described. In the automated driving vehicle storage processing, first, the management device 39 selects a parking position that is a target position that becomes the end point of the guidance route in S21.

[0066] As the parking position, a parking space in the parking area 7 that is in an idle state is selected. The management device 39 determines the state of each parking space, for example, as follows. The automated driving vehicle 18, when parking in a certain parking space, transmits the identification information of the parking space and information of the start of parking to the management device 39. In addition, the automated driving vehicle 18, when leaving a parking space in which it was parked before, transmits the identification information of the parking space and information of the end of parking to the management device 39.

[0067] The management device 39 determines the state of each parking space based on the history of the information transmitted from the automated driving vehicle 18. In addition, the management device 39 can determine the state of each parking space based on the information supplied by the infrastructure 41.

[0068] In a case where there is only one parking space in an idle state, the management device 39 selects the parking space as the parking position. In a case where there are a plurality of parking spaces in an idle state, the management device 39 selects one parking space from among the plurality of parking spaces in an idle state based on a prescribed criterion. As the criterion, for example, there are a criterion of selecting a parking space closest to the storage garage 3, a criterion of selecting a parking space closest to the retrieval garage 5, a criterion of selecting a parking space located in an area where parking spaces in an idle state are concentrated, and the like.

[0069] In S22, the management device 39 sets a guidance path using the map information of the parking lot. The management device 39 sets a guidance path for the automatic driving vehicle 18 to automatically travel, sets a path from the current position of the automatic driving vehicle 18, that is, the entry initial position indicating the position of the automatic driving vehicle 18 before movement, to the parking position selected in S21 described above. In addition, in S23, the management device 39 transmits information indicating the guidance path set in S22 described above (hereinafter, guidance path information) to the automatic driving vehicle 18 using the communication section 49.

[0070] Further, the guidance path information transmitted in S23 serves as an instruction for the automatic driving vehicle 18 to start parking. As described later, the automatic driving vehicle 18 receives the guidance path information and starts automatic driving in accordance with the guidance path.

[0071] Next, in S31, the management device 39 acquires the position information of the automatic driving vehicle 18. Next, in S26, it is determined whether or not the parking completion notification is received by the communication section 49. The parking completion notification is a notification transmitted by the automatic driving vehicle 18 when the automatic driving vehicle 18 is parked to the target position.

[0072] In a case where the parking completion notification is not received, the process returns to S31. In addition, in a case where the parking completion notification is received, the management device 39 transmits the user completion notification in S27. For example, the management device 39 transmits the user completion notification to the mobile terminal device held by the user, here, the reservation device 45. The user completion notification is a notification indicating that the work related to the parking of the automatic driving vehicle 18 is completed. After this process, the process ends.

[0073] [1-2-3. Automatic parking process performed by the automatic driving vehicle 18]

[0074] Using Figure 6 The automatic parking process performed by the automatic driving vehicle 18 will be described. The automatic parking process is a process of causing the automatic driving vehicle 18 to automatically drive from the entry garage 3 to the parking position according to the automatic driving vehicle entry process performed by the management device 39.

[0075] The control section 69 of the automatic driving vehicle 18 first determines whether or not the map information of the parking lot is received by the communication section 75 in S40. In a case where the map information is not received, the process returns to S40.

[0076] In a case where the map information is received, the process proceeds to S41, and the control section 69 estimates the current position of the automatic driving vehicle 18. Further, in S42, the control section 69 transmits the estimation result of the current position as the position information of the automatic driving vehicle 18 to the management device 39.

[0077] Next, the control section 69 determines whether or not the guidance route information is received in S46. The guidance route information is transmitted by the management device 39. In S46, if the guidance route information is not received, the present processing returns to S46.

[0078] In S46, if the guidance route information is received, the control section 69 starts the automatic driving of the automated vehicle 18 in S52. In the automatic driving, the control section 69 causes the automated vehicle 18 to travel in accordance with the guidance route included in the guidance route information.

[0079] Next, the control section 69 continues the automatic driving of the automated vehicle 18 in S55. At this time, the control section 69 repeatedly transmits the position information of the automated vehicle 18 to the management device 39 until it is determined that the parking is completed in S57 described later. The transmitted position information is received by the management device 39.

[0080] Next, the control section 69 determines whether or not the parking is completed in S57. The completion of the parking means that the automated vehicle 18 reaches the parking position set by the management device 39. In the case where the parking position is set as the target position and then the target position is changed, the control section 69 determines that the parking is completed in the case where the automated vehicle 18 reaches the new target position after the change. In the case where the parking is not completed, the processing returns to S55.

[0081] In the case where the parking is completed, the processing moves to S58, and the control section 69 transmits the parking completion notification using the communication section 75, and ends the present processing. Further, the management device 39 receives the transmitted parking completion notification.

[0082] [1-2-4. Departure setting processing performed by the management device 39]

[0083] Based on Figure 7 The departure setting processing performed by the management device 39 will be described. The departure setting processing is processing for moving the automated vehicle 18 from the parking position to the departure garage 5 by the automatic driving of the automated vehicle 18. Further, hereinafter, the processing performed by the control section 47 (particularly, the CPU 51) of the management device 39 will also be described as being performed by the management device 39.

[0084] The departure setting processing is processing repeatedly performed by the management device 39, for example, in parallel with other processing. In the departure setting processing, first, the management device 39 determines whether or not the departure request signal is received in S60. The departure request signal is transmitted by the terminal device 43.

[0085] If there is no outbound request signal, S60 is repeated. Alternatively, if there is an outbound request signal, the management device 39 sends an acceptance notification in S61 to the user's mobile terminal device, indicating that the outbound operation of the autonomous vehicle 18 has been accepted.

[0086] Next, in S62, management device 39 receives location information sent from the autonomous vehicle 18. Then, in S63, management device 39 performs the autonomous vehicle out-of-warehouse processing. The autonomous vehicle out-of-warehouse processing involves moving the autonomous vehicle 18 to the out-of-warehouse compartment 5. Once this processing is complete, management device 39 terminates the process.

[0087] [1-2-5. Processing of Autonomous Vehicles Leaving the Depot]

[0088] based on Figure 8 The process of autonomous vehicle outbound processing performed by management device 39 is described. In the autonomous vehicle outbound processing, such as... Figure 8 As shown, the above-mentioned autonomous vehicle parking process is implemented. Figure 5 S22 and S23 in ).

[0089] Following S23, the management device 39 performs the processing described in S31 above. Next, in S67, the management device 39 determines whether a delivery completion notification has been received. The delivery completion notification is a notification sent from the autonomous vehicle 18 when the autonomous vehicle 18 arrives at the target location, namely the delivery compartment 5.

[0090] The exit completion notification is sent by the autonomous vehicle 18 when it stops at the end of the guided path, i.e., the target location. If the exit completion notification is not received, this process returns to S31; if the exit completion notification is received, the process described in S27 above is executed, and then this process ends.

[0091] [1-2-6. Automated outbound processing performed by autonomous vehicle 18]

[0092] based on Figure 9 The automated outbound process performed by the autonomous vehicle 18 will be described. The automated outbound process is the process by which the autonomous vehicle 18 moves from its parking position to the outbound compartment 5 based on the automated vehicle outbound process performed by the management device 39.

[0093] In automated outbound processing, such as Figure 9 As shown, the control unit 69 performs processes S46, S52, and S55 in the aforementioned automatic parking process. After S55, in S81, the control unit 69 determines whether the exit is complete. If it detects that the automated driving vehicle 18 has reached the target location, namely the exit compartment 5, the control unit 69 determines that the exit is complete.

[0094] If the outbound process is not completed, the process returns to S55. Alternatively, if the outbound process is completed, in S82, the control unit 69 sends an outbound completion notification to the management device 39, ending the automatic outbound process.

[0095] [1-2-7. The toll collection process executed by the management device 39 begins]

[0096] use Figure 10 The flowchart illustrates the charge counting start process performed by the management device 39. The charge counting start process is performed in parallel with the processes described above for each autonomous vehicle 18. The charge counting start process begins the counting process for charging at an arbitrary time interval within the processes described above. Here, "charge" refers to the charge for parking in the parking lot. Furthermore, the charge counting start process and the charge counting end process described later correspond to the parking time management method of the present invention. In the charge counting start process and the charge counting end process, the parking time for charging is timed, and the parking fee based on the parking time is calculated. The parking time management method is also a method for calculating parking time.

[0097] In the charge counting process, firstly, in S101, the management device 39 determines whether parking for the autonomous vehicle 18 has been reserved in the parking lot. Parking reservation for the autonomous vehicle 18 is then made via the reservation device 45. Alternatively, in S101, the confirmation can be made not after the parking reservation, but after the scheduled entry time. The management device 39 compares the current time with the scheduled entry time; if it matches the scheduled entry time, counting begins.

[0098] If, in step S101, the management device 39 determines that there is no reserved parking space for the autonomous vehicle 18 in the parking lot, it moves to step S102 to determine whether the autonomous vehicle 18 has entered the parking lot. Entering, for example, means that the autonomous vehicle 18 passes through entrance 15.

[0099] For example, management device 39 determines whether autonomous vehicle 18 has entered based on information sent from infrastructure 41, such as the location information of autonomous vehicle 18 detected by infrastructure 41. Alternatively, it can determine whether autonomous vehicle 18 has entered based on location information sent by autonomous vehicle 18 to management device 39.

[0100] In a case where the management device 39 determines in S102 that the automated driving vehicle 18 has not entered the parking lot, the processing moves to S103. In S103, the management device 39 determines whether the automated driving vehicle 18 has arrived at the storage garage 3 before the automated driving vehicle 18 moves to the parking area 7, that is, before the parking of the automated driving vehicle 18. For example, the management device 39 determines whether the automated driving vehicle 18 has arrived at the storage garage 3 on the basis of information transmitted from the infrastructure 41. Alternatively, the management device 39 can determine whether the automated driving vehicle 18 has arrived at the storage garage 3 on the basis of position information transmitted by the automated driving vehicle 18 to the management device 39.

[0101] In a case where the management device 39 determines in S103 that the automated driving vehicle 18 has not arrived at the storage garage 3, the processing moves to S104, and it is determined whether a parking request is detected. In a case where it is determined in S104 that a parking request is detected, the processing moves to S105, and the counting start unit 47A starts counting for charging. In this case, in a case where counting has already started, the counting is continued.

[0102] Further, in a case where the management device 39 determines in S101 that the parking of the automated driving vehicle 18 is reserved in the parking lot, in a case where the management device 39 determines in S102 that the automated driving vehicle 18 has entered the parking lot, and in a case where the management device 39 determines in S103 that the automated driving vehicle 18 has arrived at the storage garage 3 before the automated driving vehicle 18 moves to the parking area 7, the processing moves to S105.

[0103] That is, the counting start unit 47A is configured to start counting for charging in S105 when the start condition indicated in any one of S101 to S104 is satisfied. For example, in a case where the start conditions of S101 to S103 are employed, the counting start unit 47A starts counting until a parking request is detected.

[0104] Further, the processing of S101 can be omitted. With respect to S102 to S104, only any one of the processing can be employed, and the other processing can be omitted. For example, in a case where the processing of S102 and S103 is omitted, if negative determination is made in S101, the processing can move to S104.

[0105] In a case where the management device 39 determines in S104 that a parking request is not detected, the processing returns to S101. Further, the management device 39 determines whether the parking of the automated driving vehicle 18 is completed after S105. Here, whether the parking is completed is determined in S110 and S111, but either one of the processing can be omitted.

[0106] Specifically, the management device 39 moves to S110 to determine whether the automated driving vehicle 18 has reached the parking space of the parking area 7. For example, the management device 39 determines whether the automated driving vehicle 18 has reached the parking space based on the information transmitted from the infrastructure 41. Alternatively, the management device 39 can determine whether the automated driving vehicle 18 has reached the parking space based on the position information transmitted by the automated driving vehicle 18 to the management device 39. In a case where the management device 39 determines in S110 that the automated driving vehicle 18 has not reached the parking space of the parking area 7, the management device 39 moves to S111 to determine whether the user completion notification described above has been transmitted.

[0107] In a case where the management device 39 determines in S110 that the automated driving vehicle 18 has reached the parking space of the parking area 7 and in a case where the management device 39 determines in S111 that the user completion notification has been transmitted, the management device 39 moves to S112 to determine, by the charge determination section 47D, that the automated driving vehicle 18 is charged. At this time, it can be configured to charge the other fees for using the automated valet parking, such as the basic fee of the flat rate for the automated valet parking. Further, in S112, the automated driving vehicle 18 is determined to be charged, but the fee to be charged is not determined. The fee to be charged is calculated in the charge counting end processing described later in accordance with the counting. After this processing, the charge counting start processing described later is executed. Figure 1

[0108] Further, in the present embodiment, as shown in Figure 11 , the counting start of S105 shown in [A] and the charge determination of S112 shown in [B] are configured to be different periods. This is to enable the cancellation of parking shown in [a] to be dealt with by a simple processing after the counting start, as shown in Figure 11 . That is, in the present processing, only in a case where the counting for charging is performed and the determination of charging is performed, the calculation for charging is implemented in the charge counting end processing described later.

[0109] That is, if the automated driving vehicle 18 satisfies the first condition, the management device 39 starts the counting with respect to the automated driving vehicle 18. Further, if the second condition is satisfied, it is determined that the parking lot usage fee is charged when the automated driving vehicle 18 leaves the parking lot. In other words, the parking lot usage fee is not charged for the time from after the counting is started by satisfying the first condition until the second condition is satisfied. Further, the first condition refers to, for example, at least one of the reservation of the parking of the automated driving vehicle 18 in the parking lot, the entry of the automated driving vehicle 18 into the parking lot, the arrival of the automated driving vehicle 18 at the parking-in vehicle room 3, and the detection of the parking request. In addition, the second condition refers to, for example, at least one of the arrival of the automated driving vehicle 18 at the parking space of the parking area 7 and the transmission of the user completion notification.

[0110] ​Further, the charge counting start processing is processing performed for each autonomous vehicle 18. If the first condition is satisfied, the management device 39 starts a timer not shown, which the management device 39 has, with respect to the corresponding autonomous vehicle 18. Alternatively, the management device 39 can record the time at which the first condition is satisfied in the memory 53 or the like, and record whether or not the second condition is satisfied in the memory 53 or the like.

[0111] Further, the counting start of S105 represented in [A] and the charge determination of S112 represented in [B] can be set at the same period. In this case, in a case where affirmative determination is made in any of the processes of S101 to S104 and S110 to S111, the processes of S105 and S112 can be continuously implemented.

[0112] However, in a case where the management device 39 determines that the user completion notification is not transmitted in S111, the processing moves to S113, and it is determined whether or not the parking is canceled. The management device 39 cancels the parking means to suspend the parking before the parking of the autonomous vehicle 18 is completed.

[0113] Specifically, the parking is canceled in a case where the user inputs an instruction indicating the intention to stop the parking of the autonomous vehicle 18 from the terminal device 43, the reservation device 45, or the like. Alternatively, the parking is canceled in a case where the management device 39 or the like checks the autonomous vehicle 18 and the result is a check result indicating that the parking of the autonomous vehicle 18 cannot be performed.

[0114] In these cases, in a case where the autonomous vehicle 18 is located in the garage compartment 3, the autonomous vehicle 18 becomes in a state of staying in the garage compartment 3, and in a case where the autonomous vehicle 18 moves from the garage compartment 3 toward the parking position, the autonomous vehicle 18 is caused to move to the garage compartment 5. In a case where it is determined that the parking is not canceled in S113, the processing returns to S110.

[0115] On the other hand, in a case where the management device 39 determines that the parking is canceled in S113, the processing moves to S114, and the counting end portion 47B clears the counting for the charge. In this case, since the charge is not determined, even if the counting is performed, the user is not charged. Then, the charge counting start processing ends. Figure 10

[0116] Further, the management device 39 can, for example, total the time required for the autonomous vehicle 18 to reach the garage compartment 3 after reaching the parking frame, and the frequency of canceling the autonomous parking on the way to the garage, by starting the counting in S105 and determining the charge in S112. As a result, the management device 39 can more efficiently operate the parking lot.

[0117] [1-2-8. Charge counting end processing performed by the management device 39]​

[0118] use Figure 12 The flowchart illustrates the charge counting termination process performed by the management device 39. For example, if a charge is determined, the charge counting termination process begins.

[0119] In the charge counting completion process, firstly, in S121, the management device 39 determines whether an outbound request has been detected. If the management device 39 determines in S121 that no outbound request has been detected, it proceeds to S122 to determine whether an acceptance notification has been sent to the user (i.e., Figure 7 (Notification in S61).

[0120] If the management device 39 determines in S122 that no acceptance notification has been sent to the user, it moves to S123 to determine whether the autonomous vehicle 18 has arrived at the outbound vehicle room 5.

[0121] For example, management device 39 determines whether autonomous vehicle 18 has arrived at the outbound storage area 5 based on whether it has received an outbound completion notification from autonomous vehicle 18. Alternatively, management device 39 determines whether autonomous vehicle 18 has arrived at the outbound storage area 5 based on information sent from infrastructure 41. Or, management device 39 may also determine whether autonomous vehicle 18 has arrived at the outbound storage area 5 based on location information sent by autonomous vehicle 18 to management device 39.

[0122] If, in S123, the management device 39 determines that the autonomous vehicle 18 has not arrived at the outbound storage room 5, it proceeds to S124 to determine whether the pre-set reservation time has expired. If, in S124, the management device 39 determines that the reservation time has not expired, it proceeds to S125 to determine whether a user completion notification has been sent.

[0123] If management device 39 determines in S125 that no user completion notification has been sent, it returns to S121. Conversely, if management device 39 determines in S125 that a user completion notification has been sent, it proceeds to S126, where the temporary calculation unit 47E temporarily determines the charge amount. This temporary determination means calculating a temporary charge based on the count performed in S126. Figure 11 In the middle, it is equivalent to the period indicated in [C].

[0124] For example, the cost is calculated based on the count (e.g., elapsed time) from the time point where the charge is determined in S112 to the time point in S126. Alternatively, in S126, the count of the time point from any of the processes in S121 to S125 to S126 may be stored, and the cost is calculated in S132.

[0125] In addition, in S126, the management device 39 can also notify the user of temporary charges for the mobile terminal device it holds.Figure 13 is a display example displayed on the screen of the user's mobile terminal device when the provisional fare is calculated. In the display example shown in Figure 13 indicates that the provisional fare is calculated and the specific amount of the provisional fare.

[0126] At this time, the provisional calculation unit 47E temporarily stops the increase in the fare in order not to increase the fare, but continues the counting for the fare. The fare charged is an amount obtained by adding the basic fare for automatic valet parking to the fare based on the time from [A] to [C].

[0127] The fare based on the time from [B] to [C] after the determination of the fare can also be added. The basic fare for automatic valet parking can also not be added.

[0128] Further, the management device 39 moves to S126 in a case where it is determined in S121 that the departure request is detected and in a case where it is determined in S122 that the acceptance notification is sent to the user. In addition, the management device 39 moves to S126 in a case where it is determined in S123 that the automated driving vehicle 18 has arrived at the departure garage 5 and in a case where it is determined in S124 that the reservation time set in advance has expired.

[0129] That is, the provisional calculation unit 47E is configured to temporarily determine the fare amount when the conditions for the provisional calculation shown in S121 to S125 are satisfied. Further, with respect to S121 to S125, only one of the processes can be used, and the other processes can be omitted. For example, in a case where the processes of S121 to S124 are omitted, if affirmative determination is made in S125, it can move to S126.

[0130] Next, in S130, the management device 39 determines whether the automated driving vehicle 18 moves from the departure garage 5 toward the exit 27 after the automated driving vehicle 18 is parked in the parking area 7.

[0131] For example, the management device 39 determines whether the automated driving vehicle 18 moves from the departure garage 5 toward the exit 27 based on the information transmitted from the infrastructure 41. Alternatively, the management device 39 can determine whether the automated driving vehicle 18 moves from the departure garage 5 toward the exit 27 based on the position information transmitted by the automated driving vehicle 18 to the management device 39.

[0132] The management device 39 moves to S131 in a case where it is determined in S130 that the automated driving vehicle 18 does not move from the departure garage 5 toward the exit 27 after the automated driving vehicle 18 is parked in the parking area 7. Further, in S131, the management device 39 determines whether the automated driving vehicle 18 exits from the parking space, that is, whether it passes through the exit 27.

[0133] For example, management device 39 determines whether autonomous vehicle 18 has exited the parking lot based on information sent from infrastructure 41. Alternatively, management device 39 may also determine whether autonomous vehicle 18 has exited the parking lot based on location information sent by autonomous vehicle 18 to management device 39.

[0134] If, in S131, the management device 39 determines that the autonomous vehicle 18 has exited the parking lot, i.e., passed through exit 27, it moves to S132 to determine the charge amount. Additionally, if, in S130, the management device 39 determines that the autonomous vehicle 18 has parked in parking area 7 and then moved from the exit bay 5 towards exit 27, it also moves to S132, and the fee calculation unit 47C determines the charge amount. At this time, the fee calculation unit 47C stops and clears the counter used for charging. Figure 11 The period in [D] is equivalent to the period indicated in [D].

[0135] Alternatively, one of the processes in S130 and S131 can be omitted. Additionally, it is also possible to... Figure 11 The provisional determination of the charge amount in S126, as indicated in [C], and the cessation of counting in S132, as indicated in [D], are set to occur at the same time. In this case, if an affirmative determination is made in any of the processes S121-S125 and S130-S131, the processes S125 and S132 can continue to be performed. In S132, the charge calculation unit 47C determines the provisionally determined charge as the charge corresponding to the count.

[0136] On the other hand, if the management device 39 determines in S131 that the autonomous vehicle 18 has not exited the parking lot, i.e., has not passed through exit 27, it moves to S133 to determine whether to re-enter the parking lot. For example, after the autonomous vehicle 18 arrives at the exit parking room 5, the management device 39 measures the time it stays in the exit parking room 5. If it exceeds a preset allowable time, it determines that it is re-entering the parking lot. Re-entering the parking lot means the action of returning the autonomous vehicle 18 to the parking area 7.

[0137] Alternatively, users can also instruct the vehicle to re-enter the warehouse via terminal device 43 or reservation device 45. For example, there may be situations where a user wishes to change their reservation and have the autonomous vehicle 18 re-enter the warehouse, or where they wish to load purchased items into the autonomous vehicle 18 midway through their shopping trip. In these cases, management device 39 is configured to charge based on continuous counts without resetting the counter.

[0138] The management device 39 returns to S130 in the case where it is determined in S133 that the re-entry is not performed. On the other hand, the management device 39 moves to S134 in the case where it is determined in S133 that the re-entry is performed, and performs the re-charging. In this case, as indicated by [β] of FIG. 9, the counting for the charging is continued, and it is determined that the state of the charging continues from the period of [B]. In S134, the charging amount temporarily determined in S126 is cleared, that is, released. In addition, since the counting is continued, in the case where it is determined in S133 that the re-entry is performed, the charging at the time of the exit is also performed with respect to the time until the point of time at which it is determined in S126 that the re-entry is performed. Figure 11 In S134, the charging amount temporarily determined in S126 is cleared, that is, released. In addition, since the counting is continued, in the case where it is determined in S133 that the re-entry is performed, the charging at the time of the exit is also performed with respect to the time until the point of time at which it is determined in S126 that the re-entry is performed.

[0139] Here, the re-charging means that the temporarily determined fee is abandoned, and the charging counting end processing of FIG. 8 is performed again, whereby the temporarily determined fee is determined on the basis of the continued counting. Figure 12

[0140] Further, the counting for the charging can also be restarted from 0 with the period of [C] as the starting point. In this case, the temporarily determined fee can be maintained in the memory 53 or the like without being abandoned, and the fee can be added to the temporarily determined fee calculated again.

[0141] Next, the movement request section 47F performs a movement request for moving the autonomous vehicle 18 to the parking area 7 in S135 in order to perform the re-entry. Then, the charging counting end processing of FIG. 8 is ended. Figure 12

[0142] Thus, if the third condition is satisfied, the management device 39 temporarily determines the charging amount with respect to the autonomous vehicle 18. The third condition is, for example, at least one of the detection of the exit request, the sending of the acceptance notification to the user, the arrival of the autonomous vehicle 18 at the exit garage 5, the expiration of the reservation time set in advance, and the sending of the user completion notification.

[0143] In addition, the counting in the charging counting end processing is calculated on the basis of the counting of the timer of the management device 39 with respect to each autonomous vehicle 18. Alternatively, the management device 39 can manage the timing at which the third condition is satisfied by recording the timing in the memory 53 or the like. In the present embodiment, the time from when the second condition is established until when the third condition is established is used for the calculation of the temporary usage fee.

[0144] ​​Further, the management device 39 determines whether or not a fourth condition is satisfied. The fourth condition is, for example, at least one of the automatic driving vehicle 18 moving from the parking space 5 toward the exit 27 after the automatic driving vehicle 18 is parked in the parking area 7, and the automatic driving vehicle 18 exiting from the parking lot. If the fourth condition is satisfied, the management device 39 determines the fee, and stops the counting. Alternatively, if the fourth condition is satisfied, a flag of fee determination is established in a database in which a correspondence is established for each of the automatic driving vehicles 18 with respect to the counting.

[0145] [1-3. Effects]

[0146] According to the above-described embodiments, the following effects are achieved.

[0147] (1a) One embodiment of the present application provides a management device 39 configured to charge a fee in an automatic parking lot in which an automatic driving vehicle 18 that is a charge target moves between a boarding and alighting area 3, 5 and a parking area 7. The management device 39 includes a counting start section 47A, a counting end section 47B, and a fee calculation section 47C.

[0148] The counting start section 47A is configured to start counting for charging when a start condition is satisfied. The counting end section 47B is configured to end the counting when an end condition is satisfied. The fee calculation section 47C is configured to calculate a fee corresponding to the counting.

[0149] The counting start section 47A is configured to adopt at least any one of a user's request based on a parking start in automatic driving, which is a parking request, when the automatic driving vehicle 18 enters the parking lot, when the automatic driving vehicle 18 arrives at the boarding and alighting area 3, 5 before the automatic driving vehicle 18 moves to the parking area 7, when the automatic driving vehicle 18 arrives at the parking area 7, and when a parking completion notification indicating that the automatic driving vehicle 18 has arrived at the parking area 7 is sent to the user, as the start condition.

[0150] The counting end section 47B is configured to adopt at least any one of a user's request based on an exit start in automatic driving, which is an exit request, when the automatic driving vehicle 18 arrives at the boarding and alighting area 3, 5 after the automatic driving vehicle 18 is parked in the parking area 7, when the automatic driving vehicle 18 moves from the boarding and alighting area 3, 5 after the automatic driving vehicle 18 is parked in the parking area 7, when the automatic driving vehicle 18 exits from the parking lot, when a predetermined reservation time expires, when an exit completion notification indicating that the automatic driving vehicle 18 has arrived at the boarding and alighting area 3, 5 is sent to the user, when a notification indicating that the exit request is accepted is sent to the user, and when the user gets on the automatic driving vehicle 18, as the end condition.

[0151] Here, according to the present application, the counting start section 47A adopts as a start condition the time when the automated driving vehicle 18 enters the parking lot, and the counting end section 47B adopts as an end condition the time when the automated driving vehicle 18 exits the parking lot.

[0152] According to such a structure, since the charge is made at a timing other than the time from the entry to the exit, the parking fee that is adapted to the environment unique to the automated parking lot can be charged favorably.

[0153] (1b) One embodiment of the present application further includes a charge determination section 47D. The charge determination section 47D is configured to determine the charge if a predetermined determination condition is satisfied after the parking request is detected. At this time, the fee calculation section 47C calculates the fee corresponding to the count after the charge is determined.

[0154] According to such a structure, the fee can be calculated after the charge is determined.

[0155] (1c) In one embodiment of the present application, the counting start section 47A is configured to start counting until the parking request is detected.

[0156] According to such a structure, since the counting is started before the parking request, the reservation fee or the fee for occupying the boarding and alighting areas 3, 5 can be requested even if the automated driving vehicle 18 does not actually park in the parking area 7.

[0157] (1d) One embodiment of the present application further includes a temporary calculation section 47E. The temporary calculation section 47E is configured to calculate a temporary fee based on the count at the time when the exit request is detected. At this time, the counting end section 47B is configured to adopt as an end condition a condition that the user boards the automated driving vehicle 18 within a predetermined time after the automated driving vehicle 18 arrives at the boarding and alighting area 3, 5. If the counting is stopped within the time, the fee calculation section 47C adopts the temporary fee as the fee corresponding to the count.

[0158] According to such a structure, in a case where the user boards the automated driving vehicle 18 within the predetermined time, the charge is made based on the timing when the exit request is made, and in a case where the user does not board the automated driving vehicle 18 within the predetermined time, further charge can be made by continuing the counting.

[0159] (1e) One embodiment of the present application further includes a movement request section 47F. The movement request section 47F is configured to make a movement request to move the automated driving vehicle 18 to the parking area 7 if the user does not board the automated driving vehicle 18 within the predetermined time. If the movement request exists, the temporary calculation section 47E gives up the temporary fee, and calculates the temporary fee again based on the count at the time when the exit request is detected again.

[0160] According to such a structure, in a case where the user does not get on the automated driving vehicle 18 within the prescribed time, re-entry into the parking area 7 can be performed so as to move the automated driving vehicle 18 to the parking area 7. In a case where the automated driving vehicle 18 is moved to the parking area 7 again, the temporary charge can be abandoned, and the charge can be performed again on the basis of the time at which the request for exit is present.

[0161] (If) In one embodiment of the present application, the movement request section 47F is configured to perform a movement request so as to move the automated driving vehicle 18 to the parking area 7 in a case where an instruction for re-entry into the parking area 7 is accepted from the user. The temporary calculation section 47E is configured to abandon the temporary charge if the movement request is present, and to calculate the temporary charge again on the basis of the count at the time at which the request for exit is detected again.

[0162] According to such a structure, in a case where the user performs an instruction for re-entry into the parking area 7, re-entry into the parking area 7 can be performed so as to move the automated driving vehicle 18 to the parking area 7. In a case where the automated driving vehicle 18 is moved to the parking area 7 again, the temporary charge can be abandoned, and the charge can be performed again on the basis of the time at which the request for exit is present.

[0163] (Ig) In one embodiment of the present application, the charge calculation section 47C is configured to be set so as to add a charge for automated valet parking on the basis of a charge corresponding to the count if a request for parking is detected.

[0164] According to such a structure, in a case where a parking lot that is not automated valet parking is provided, a charge for use of the valet service can be requested separately in a case where automated valet parking is used.

[0165] (Ih) In one embodiment of the present application, the communication section 49 is configured to transmit information indicating a guidance route for guiding the automated driving vehicle 18 from a current position of the automated driving vehicle 18 to a target position by automated driving.

[0166] According to such a structure, information indicating a guidance route can be transmitted to the automated driving vehicle 18 or the like.

[0167] [2. Other Embodiments]

[0168] The embodiments of the present application have been described above, but the present application is not limited to the above-described embodiments, and can be variously modified.

[0169] (2a) In the above-described embodiment, an example in which the automated driving vehicle 18 moves within the parking lot by automatic driving has been described, but the present application is not limited thereto. For example, the present application can also be employed in a structure in which an unmanned transport vehicle that moves a vehicle by mounting the vehicle and performing automated driving. In this case, the vehicle transported by the unmanned transport vehicle is the subject vehicle in the present application.

[0170] (2b) In the above-described embodiment, the count start section 47A and the count end section 47B in the management device 39 can also count as follows. For example, the control section 47 is provided with a module (not shown) that measures time, and causes the counter to operate from the time point at which the above-described start condition is satisfied. Further, the control section 47 acquires the count value at the time point at which the end condition is satisfied, and calculates the elapsed time. Furthermore, even if the count value at the time point at which the end condition is satisfied is acquired, the counter can continue to operate for the purpose of reentry into the garage. Alternatively, the control section 47 can acquire and store the time at the time point at which the end condition is satisfied. In addition, for example, the time at the time point at which the start condition is satisfied can be stored, the time at the time point at which the end condition is satisfied can be stored, and the elapsed time can be calculated by calculating the difference.

[0171] (2c) One embodiment of the present application can also be configured as follows. Figure 14 is a modification example of the flowchart of the charge count start processing performed by the management device 39. Figure 15 is a modification example of the flowchart of the charge count end processing performed by the management device 39.

[0172] The main points of difference from the above-described embodiment will be described. In the above-described embodiment, S101 to S104 are described, but at least one processing can also be performed. The count start condition of S201 is at least one of the processes of S101 to S104.

[0173] Similarly, the charge determination condition of S202 is at least one of the processes of S110 and S111. The temporary charge condition of S203 is at least one of the processes of S121 to S125. The charge amount determination condition of S204 is at least one of the processes of S130 and S131. The count start condition, the charge determination condition, the temporary charge condition, and the charge amount determination condition are arbitrarily determined by the operator of the automated parking lot. The count start condition and the like are determined by the charge policy of the automated parking lot, and by employing the flowchart of the modification example, application in various automated parking lots is possible.

[0174] (2d) The control section 47 and the method thereof according to the present application can also be implemented by a special-purpose computer provided by a processor and a memory programmed to execute one or more functions embodied by a computer program. Alternatively, the control section 47 and the method thereof according to the present application can also be implemented by a special-purpose computer provided by a processor composed of one or more special-purpose hardware logic circuits. Alternatively, the control section 47 and the method thereof according to the present application can also be implemented by one or more special-purpose computers composed of a combination of a processor programmed to execute one or more functions and a processor composed of one or more hardware logic circuits. In addition, the computer program can be stored as instructions executed by a computer in a non-transitory tangible recording medium readable by the computer. In the method of implementing the functions of the respective sections included in the control section 47, software is not necessarily included, and all the functions thereof can be implemented using one or more hardware.

[0175] (2e) A plurality of functions possessed by one structural element of the above-described embodiment can also be implemented by a plurality of structural elements, or one function possessed by one structural element can be implemented by a plurality of structural elements. In addition, a plurality of functions possessed by a plurality of structural elements can also be implemented by one structural element, or one function implemented by a plurality of structural elements can be implemented by one structural element. In addition, a part of the structure of the above-described embodiment can be omitted. In addition, at least a part of the structure of the above-described embodiment can be added to or replaced from the structure of another above-described embodiment.

[0176] (2f) In addition to the above-described parking assistance system 1, the present application can also be implemented by various means such as the management device 39 which is a structural element of the parking assistance system 1, a program for causing a computer to function as the structural element, a non-transitory tangible recording medium such as a semiconductor memory in which the program is recorded, and a parking assistance method.

Claims

1. A parking fee charging device configured to charge a fee in an automated valet parking facility in which a subject vehicle that is a subject of the fee is moved between a boarding and alighting area and a parking area, wherein The parking fee charging device has: a count start unit configured to start counting for charging when a start condition is satisfied; a count end unit configured to end the counting when an end condition is satisfied; a fee calculation unit configured to calculate a fee corresponding to the counting; and a temporary calculation unit configured to calculate a temporary fee based on the counting when a user-based request to start disembarking, i.e., a disembarking request, is detected under automatic driving, at least any one of the following conditions is used as the start condition: when parking of the subject vehicle is reserved in the parking lot, when the subject vehicle enters the parking lot, when a user-based request to start parking, i.e., a parking request, is detected under automatic driving, when the subject vehicle reaches the boarding and disembarking area before the subject vehicle moves to the parking area, when the subject vehicle reaches the parking area, and when a parking completion notification indicating that the subject vehicle has reached the parking area is sent to the user, the following condition is used as the end condition: the user boards the subject vehicle within a predetermined time after the subject vehicle reaches the boarding and disembarking area, if the counting is stopped within the time, the fee calculation unit uses the temporary fee as the fee corresponding to the counting.

2. The parking fee charging device according to claim 1, wherein the parking fee charging device further has a fee determination unit configured to determine charging if a predetermined determination condition is satisfied after the parking request is detected, the fee calculation unit is configured to calculate the fee corresponding to the counting after the charging is determined.

3. The parking fee charging device according to claim 1, wherein the count start unit is configured to start the counting until the parking request is detected.

4. The parking fee charging device according to claim 1, wherein the parking fee charging device further has a movement request unit configured to make a movement request to move the subject vehicle to the parking area if the user does not board the subject vehicle within the time, the temporary calculation unit is configured to discard the temporary fee if the movement request exists, and to calculate the temporary fee again based on the counting when the disembarking request is detected again.

5. The parking fee charging device according to claim 1, wherein the parking fee charging device further has a movement request unit configured to make a movement request to move the subject vehicle to the parking area if an instruction to re-enter the parking lot is accepted from the user, the temporary calculation unit is configured to discard the temporary fee if the movement request exists, and to calculate the temporary fee again based on the counting when the disembarking request is detected again.

6. The parking fee charging device according to claim 1, wherein the fee calculation unit is configured to set a fee for using automatic valet parking to be added to the fee corresponding to the counting if the parking request is detected.

7. The parking fee charging device according to claim 1, wherein The parking fee device also has a communication unit configured to transmit information indicating a guidance path for guiding the subject vehicle from a current location of the subject vehicle to a target location by automatic driving.

8. A parking time management method executed by a management device that calculates a parking time of a subject vehicle in an automated valet parking facility that moves the subject vehicle between a boarding and alighting area and a parking area, in which the counting of the parking time is started when a start condition is satisfied, the counting of the parking time is ended when an end condition is satisfied, a provisional fee is calculated based on the counting at the time of a user-based request for departure, i.e., a departure request, detected as a start of departure under automatic driving, any one of the following conditions is adopted as the start condition: when a parking of the subject vehicle is reserved in the parking facility, when the subject vehicle enters the parking facility, when a user-based request for parking, i.e., a parking request, is detected as a start of parking under automatic driving, when the subject vehicle reaches the boarding and alighting area before the subject vehicle moves to the parking area, when the subject vehicle reaches the parking area, and when a parking completion notification indicating that the subject vehicle has reached the parking area is transmitted to the user, the following condition is adopted as the end condition: the user boards the subject vehicle within a predetermined time after the subject vehicle reaches the boarding and alighting area, if the counting is stopped within the time, the provisional fee is adopted as a fee corresponding to the counting.

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