Method for controlling departure based on remote parking

Abstract

This disclosure relates to a remote parking exit control method, which is a remote parking exit control method performed by a user-operated terminal device, including: a step of confirming that the exit is from a mechanical multi-level parking garage; a step of determining whether the vehicle to be exited is being moved within the mechanical multi-level parking garage; and a step of prohibiting the vehicle from being moved by the automatic driving function of remote parking when it is determined that the vehicle is being moved or when it is determined that the vehicle is not in the exit preparation position.

Description

Technical Field

[0001] This invention relates to a method for controlling the exit of automobiles and other vehicles based on remote parking. Background Technology

[0002] Remote parking is known to be a system where a vehicle's entry into and exit from a parking space is controlled by a terminal device located at a distance from the vehicle. Entry control in remote parking involves moving the vehicle from its initial entry position to the target parking position using autonomous driving, while exit control involves moving the vehicle from its parking position to the target exit position using autonomous driving.

[0003] In remote parking, the distance between the vehicle and the terminal device must be within a limited distance for safe entry and exit control. For example, International Publication No. 2019 / 082388 describes a remote parking control method: when the relative height between the terminal device operator and the vehicle is above a second threshold and below a third threshold, the vehicle moves automatically at a low speed; when the relative height is above the third threshold, automatic vehicle movement is prohibited.

[0004] According to the remote parking control method described in International Publication No. 2019 / 082388, when the relative height between the operator of the terminal device and the vehicle is above a second threshold and below a third threshold, the vehicle moves automatically at a low speed. Therefore, compared to situations where the vehicle moves automatically without speed restrictions, this increases the operator's operational margin when operating the terminal device, ensuring operational accuracy.

[0005] Furthermore, when the relative height between the operator of the terminal device and the vehicle is significant, the accuracy of remote control operations performed by the operator through the terminal device may not be guaranteed. According to the remote parking control method described in International Publication No. 2019 / 082388, when the relative height between the operator of the terminal device and the vehicle exceeds a third threshold, vehicle movement via automatic driving is prohibited. This reduces the likelihood of the vehicle moving inappropriately based on inaccurate remote control operations performed by the operator. Summary of the Invention

[0006] When parking vehicles in a mechanical automated parking garage, the movement of the vehicles is achieved by moving the pallets carrying the vehicles. Therefore, in remote parking within a mechanical automated parking garage, in addition to controlling the relative height between the operator and the vehicle based on the terminal device, the movement of the vehicle must also be restricted during the movement of the pallets to prevent the vehicle from moving automatically.

[0007] However, when exiting a parking space in a mechanical parking garage, the operator must use the garage's control panel to perform a predetermined series of exit operations and wait for the vehicle to arrive at the exit preparation position via a pallet. Therefore, depending on the operator, sometimes during the waiting period after performing the predetermined series of exit operations, the operator will activate the remote parking application on the terminal device, enabling remote control operation of the vehicle.

[0008] The remote parking control method described in International Publication No. 2019 / 082388 does not take into account the need to restrict the vehicle's movement via automatic driving during exit from a mechanical parking garage. Therefore, it is impossible to prevent the operator from operating the terminal device to prepare for automatic vehicle movement before the vehicle reaches the exit preparation position when exiting a vehicle via remote parking in a mechanical parking garage.

[0009] This invention provides an improved exit control method that prevents the vehicle from moving automatically before it reaches the exit preparation position in a mechanical multi-level parking garage when the vehicle is exiting via remote parking.

[0010] The first technical solution of the present invention relates to a parking exit control method based on remote-controlled parking, which includes: confirming that the exit is from a mechanical multi-level parking garage; determining whether the vehicle to be exited is being moved; and prohibiting the vehicle from being moved by the automatic driving function of remote-controlled parking when it is determined that the vehicle is being moved.

[0011] Based on this configuration, when it is confirmed that the exit is from a mechanical multi-level parking garage and it is determined that the vehicle to be exited is being moved, the automatic driving system of remote parking is prohibited from moving the vehicle. Therefore, if a vehicle is being moved while exiting a mechanical multi-level parking garage via remote parking, the automatic driving system of remote parking cannot move the vehicle. Thus, it is possible to prevent the automatic driving system from starting before the vehicle has reached the exit preparation position.

[0012] The exit control method based on remote parking involved in the first technical solution mentioned above may also include: when it is determined that the vehicle is not being moved and the vehicle is in the exit preparation position, allowing the vehicle to be moved through the autonomous driving of remote parking.

[0013] Based on this configuration, when it is determined that the vehicle is not being moved and is located in the exit preparation position, the vehicle can be moved via remote parking's automated driving system. Thus, through remote parking's exit control, the vehicle can be moved autonomously from the exit preparation position to a location outside the mechanical multi-level parking garage.

[0014] In the remote parking-based exit control method of the first technical solution mentioned above, it is also possible to determine that the vehicle is not being moved when no vibration of the vehicle is detected by the acceleration sensor mounted on the vehicle.

[0015] When a vehicle is moved within a mechanical multi-level parking garage, it is moved by a pallet carrying the vehicle. As a result, the vehicle experiences vibrations accompanying the movement of the pallet. Therefore, if the vehicle's vibrations are not detected by the vehicle's accelerometer as periodic variations in acceleration, it can be determined that the vehicle is not being moved.

[0016] Based on this configuration, if no vibration of the vehicle is detected by the accelerometer mounted on the vehicle, it is determined that the vehicle is not moving. Therefore, without needing to communicate with the control system of the mechanical automated parking system, it is possible to determine that the vehicle is not moving simply because no vibration is detected by the accelerometer.

[0017] In the remote parking-based exit control method of the first technical solution mentioned above, it is also possible to determine that the vehicle is not being moved when the image of the stationary objects in the mechanical multi-level parking lot captured by the camera sensor mounted on the vehicle does not change.

[0018] When a vehicle moves within a mechanical parking garage, its position relative to the stationary structures within the garage changes, thus altering the image of the stationary structures captured by the camera sensor mounted on the vehicle. Conversely, when the vehicle is stationary within the mechanical parking garage, its position relative to the stationary structures remains unchanged, and therefore, the image of the stationary structures captured by the camera sensor remains unchanged.

[0019] Based on this configuration, if the image of a stationary object in the mechanical parking garage captured by the camera sensor remains unchanged, it is determined that the vehicle is not moving. Therefore, without needing to communicate with the control unit of the mechanical parking garage, it is possible to determine that the vehicle is not moving simply by observing the unchanged image of a stationary object in the mechanical parking garage.

[0020] In the remote parking-based exit control method of the first technical solution mentioned above, it is also possible to determine that the vehicle is not being moved when no change in the vehicle's position relative to a stationary object in the mechanical multi-level parking garage is detected by a target object sensor mounted on the vehicle that uses reflected waves of irradiation waves to detect the target objects around the vehicle.

[0021] When a vehicle moves within a mechanical automated parking garage, its position relative to the stationary objects in the garage changes. Therefore, the position of the vehicle relative to the stationary objects, detected by the target object sensor mounted on the vehicle, will also change. Conversely, when the vehicle is not moving within the mechanical automated parking garage, its position relative to the stationary objects does not change, and therefore, the position of the vehicle relative to the stationary objects, detected by the target object sensor, remains unchanged.

[0022] Based on this configuration, if no change in the vehicle's position relative to a stationary object in the mechanical parking garage is detected by the target object sensor mounted on the vehicle, it is determined that the vehicle is not moving. Therefore, without needing to communicate with the control unit of the mechanical parking garage, it can be determined that the vehicle is not moving simply because the target object sensor detects that the vehicle's position relative to the stationary object in the mechanical parking garage remains unchanged.

[0023] In the remote-controlled parking exit control method of the first technical solution mentioned above, it is also possible to determine that the vehicle is not being moved when information indicating that the pallet carrying the vehicle is not being moved is obtained through communication with the control device of the mechanical multi-level parking lot.

[0024] When a vehicle is moved within a mechanical automated parking system, it is moved by a control device via a pallet carrying the vehicle. Therefore, if the pallet is not being moved, it can be determined that the vehicle is not being moved.

[0025] Based on this configuration, when information indicating that the pallet carrying the vehicle is not being moved is obtained through communication with the control unit of the mechanical parking garage, it is determined that the vehicle is not being moved. Therefore, without needing information from onboard sensors, this situation can be determined simply by communicating with the control unit of the mechanical parking garage when neither the pallet nor the vehicle is being moved.

[0026] In the remote parking-based exit control method of the first technical solution mentioned above, it is also possible to determine that the vehicle is in the exit preparation position when the satellite positioning device mounted on the vehicle determines that the vehicle's height is the height of the exit preparation position and the elapsed time from the time point when the vehicle is determined to become immobile is a reference value.

[0027] According to the above technical solution, when the satellite positioning device installed on the vehicle determines that the vehicle's height is at the height of the departure preparation position and the elapsed time from the time when the vehicle is determined to be immobile is above the reference value, the vehicle is determined to be in the departure preparation position.

[0028] Therefore, there is no need to communicate with the control device of the mechanical automated parking system. The situation can be determined by using a satellite positioning device mounted on the vehicle when the vehicle is in the exit preparation position.

[0029] In the remote-controlled parking-based exit control method of the first technical solution mentioned above, it is also possible to determine that the vehicle is in the exit preparation position when information indicating that the pallet carrying the vehicle is in the exit preparation position is obtained through communication with the control device of the mechanical multi-level parking lot.

[0030] When a vehicle is moved to the exit preparation position within a mechanical automated parking garage, the vehicle is moved by a pallet carrying the vehicle. Therefore, when the pallet is in the exit preparation position, it can be determined that the vehicle is in the exit preparation position.

[0031] Based on this configuration, when information indicating that the pallet carrying the vehicle is in the exit preparation position is obtained through communication with the control device of the mechanical automated parking system, it is determined that the vehicle is in the exit preparation position. Therefore, by using communication with the control device of the mechanical automated parking system, this situation can be determined when the vehicle is in the exit preparation position.

[0032] In the foregoing description, to aid in understanding the invention, the names and / or reference numerals used in the embodiments corresponding to the following descriptions are enclosed in parentheses. However, the elements of the invention are not limited to the elements of the embodiments corresponding to the names and / or reference numerals enclosed in parentheses. Other objects, features, and accompanying advantages of the invention should be readily understood from the following description of embodiments of the invention with reference to the accompanying drawings. Attached Figure Description

[0033] Hereinafter, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which the same reference numerals denote the same elements, and wherein:

[0034] Figure 1 This diagram illustrates a vehicle and a mechanical multi-level parking garage that utilizes the remote-controlled parking exit control method according to an embodiment of the present invention.

[0035] Figure 2 This is an image of a soft-touch button displayed on the terminal device's screen, used to select controls for remote parking.

[0036] Figure 3 This is an exterior view of an example of a lift-and-slide type mechanical multi-level parking garage.

[0037] Figure 4 This is a graphical plan view of the second floor (2nd floor) of a mechanical multi-level parking garage, representing vehicles parked in the garage.

[0038] Figure 5 This is a graphical plan view of the two levels of a mechanical multi-level parking garage, showing vehicles moving laterally within the garage.

[0039] Figure 6 This is a graphical plan view of the first floor of a mechanical automated parking garage, showing vehicles that have moved to the exit preparation position within the garage.

[0040] Figure 7 This is a flowchart illustrating the remote-controlled parking exit control routine in the implementation method. Detailed Implementation

[0041] The following describes in detail, with reference to the accompanying drawings, the outbound control method based on remote parking control according to the embodiments of the present invention.

[0042] Remote parking control is performed by a remote parking device 100. The remote parking device 100 includes a parking assistance ECU 10 mounted on the vehicle 110 and a terminal device 120 that works in conjunction with the ECU 10. Figure 1 As shown, in addition to the parking assist ECU 10, vehicle 110 also has a drive ECU 20, a brake ECU 30, and an electric power steering ECU 40. Furthermore, as... Figure 1 As shown, vehicle 110 also includes an acceleration sensor 50 and a satellite positioning device 60. Furthermore, the electric power steering ECU is abbreviated as EPS-ECU (Electric Power Steering ECU).

[0043] Each ECU is an Electronic Control Unit (ECU) with a microcomputer as its main component, connected to each other via a Controller Area Network (CAN) 70 to send and receive information. The microcomputer includes a CPU, ROM, RAM, non-volatile memory, and interfaces. The CPU executes various functions by executing instructions (programs, routines) stored in the ROM. These ECUs can also be several or all integrated into a single ECU.

[0044] The parking assistance ECU 10 is the central control device for remote parking control, performing vehicle driving control such as autonomous driving control that allows the vehicle to move without driver intervention. The parking assistance ECU 10 is connected to a transceiver 12 that wirelessly communicates with the terminal device 120, a camera sensor 14, a target object sensor 16, and a verification (comparison) device 18. Furthermore, the terminal device 120 can be, for example, a smartphone that wirelessly communicates with the transceiver 12 via Bluetooth (registered trademark).

[0045] The camera sensor 14 includes four camera units that capture images of the front, rear, left, and right sides of the vehicle 110; and an identification unit that analyzes the image data captured by the camera units to identify other vehicles, roads, and stationary objects in the parking lot. The camera units of the camera sensor 14 capture images of the scenery surrounding the vehicle. The identification unit of the camera sensor 14 supplies the parking assistance ECU 10 with information on other identified vehicles, white lines, stationary objects in the parking lot, and the relative position of the vehicle to the stationary objects in the parking lot at predetermined intervals.

[0046] The target sensor 16 includes multiple radar sensors that detect target information around the vehicle 110. Each radar sensor has a radar transceiver unit and a signal processing unit (not shown). The radar transceiver unit transmits millimeter-wave radio waves (hereinafter referred to as "millimeter waves") and receives millimeter waves (i.e., reflected waves) reflected by targets (such as other vehicles, bicycles, guardrails, etc.) within the transmission range. Based on the phase difference between the transmitted millimeter waves and the received reflected waves, the attenuation level of the reflected waves, and the time from the transmission of the millimeter waves to the receipt of the reflected waves, the signal processing unit supplies target information to the parking assistance ECU 10 at predetermined intervals, indicating the distance between the vehicle and the target, the relative speed between the vehicle and the target, and the relative position (direction) of the target relative to the vehicle.

[0047] Alternatively, a LiDAR (Light Detection and Ranging) sensor can be used instead of a radar sensor. Furthermore, the target sensor 16 can be any sensor that detects target information by emitting radiated waves and detecting their reflected waves; for example, it could be a sonar that uses ultrasound as the radiated wave, or a laser sensor that uses a laser beam as the radiated wave.

[0048] The verification device 18 is paired with the smart key 130, for example, by communicating wirelessly with the smart key via Bluetooth (registered trademark), thereby achieving so-called smart entry. Alternatively, the smart key 130 can be replaced with a keyless key that is paired with the verification device 18.

[0049] Although Figure 1 Not shown in the diagram, but a setting operator is also connected to the parking assistance ECU 10. The setting operator is an operator with multiple switches for setting whether to implement automatic driving and remote parking. The setting operator includes a remote parking switch, and when the remote parking switch is turned on, the parking assistance ECU 10 works in conjunction with the terminal device 120 to implement remote parking entry control and exit control.

[0050] The drive ECU20 is connected to a device that allows for communication with the system. Figure 1 The drive unit 22, which is not shown, applies driving force to the drive wheels to accelerate the vehicle 110. The drive ECU 20 normally controls the drive unit 22 in a manner that varies the driving force generated by the drive unit 22 according to the driver's driving operation, and controls the drive unit 22 based on the command signal received from the parking assist ECU 10.

[0051] The drive unit 22 can be a combination of an internal combustion engine and a transmission. Furthermore, the invention can also be applied to so-called hybrid electric vehicles (HVs) that have both an internal combustion engine and a motor as driving forces, or so-called electric vehicles (EVs) that do not have an internal combustion engine but only have a motor as a driving force. Additionally, the invention can also be applied to so-called plug-in hybrid electric vehicles (PHVs) that use power output from at least one of a first electric generator and a second electric generator as driving force and can charge a battery from an external power source. Moreover, the invention can also be applied to so-called fuel cell electric vehicles (FCVs) that utilize electricity generated by a fuel cell to drive a motor, or so-called in-wheel motor vehicles that assemble motors on each wheel and drive each wheel by a corresponding motor.

[0052] The brake ECU30 is connected to a device that allows for the connection of... Figure 1The braking device 32, which applies braking force to the wheels to decelerate the vehicle 110, is not shown in the diagram. The braking ECU 30 normally controls the braking device 32 in a manner that varies the braking force generated by the braking device 32 according to the driver's braking operation. When it receives a command signal from the parking assist ECU 10, it performs automatic braking by controlling the braking device 32 based on the command signal.

[0053] An EPS device 42 is connected to the EPS-ECU40. The EPS-ECU40 transmits power via an EPS device 42 based on... Figure 1 The steering torque sensor and vehicle speed sensor (not shown) detect the steering torque and vehicle speed respectively to control the EPS device 42, thereby controlling the steering assist torque and reducing the driver's steering load. Additionally, the EPS-ECU 40, by controlling the EPS device 42, can steer the steering wheels as needed. Thus, the EPS-ECU 40 and EPS device 42 function as a steering device that automatically steers the steering wheels as needed.

[0054] The parking assist ECU 10 controls the braking and driving forces of the vehicle 110 by outputting command signals to the drive ECU 20 and brake ECU 30, and automatically steers the steering wheels by outputting command signals to the EPS-ECU 40, thereby enabling autonomous driving. In particular, during remote parking exit control, the parking assist ECU 10 works in conjunction with the terminal device 120 to move the vehicle 110 automatically, so that the vehicle moves towards the target exit position along the target exit path based on remote parking.

[0055] In this embodiment, the accelerometer 50 and the satellite positioning device 60 are connected to the CAN 70. The accelerometer 50 includes an accelerometer for vertical acceleration, an accelerometer for front-rear acceleration, and a lateral acceleration for the vehicle 110, respectively, but any one of the accelerometers may be omitted.

[0056] Satellite positioning device 60 is one of the satellite positioning devices that sequentially receives radio waves emitted by positioning satellites and determines the current position (specifically, longitude and latitude) of vehicle 110 based on the received radio waves. Furthermore, satellite positioning device 60 sequentially sends the determined current position of vehicle 110 to parking assistance ECU 10. In addition, satellite positioning device 60 can be a Global Navigation Satellite System (GNSS) device or a Global Positioning System (GPS) device.

[0057] Although Figure 1Not shown in the diagram, but the CAN70 is also connected to an instrument cluster ECU, which in turn is connected to a display showing the status of the controls performed by the parking assist ECU10. This display could be, for example, a head-up display, a multi-information display showing instrument cluster and various other information, or even a display for a navigation device.

[0058] like Figure 2 As shown, the terminal device 120 has a touch panel display 122 and possesses... Figure 2 The terminal wireless transceiver, GPS receiver, and terminal ECU are not shown. The display 122 is connected to the terminal ECU and, controlled by the terminal ECU, displays various images. Additionally, the user can use the display 122 to give necessary instructions related to parking. The terminal wireless transceiver is connected to the terminal ECU and wirelessly transmits various signals emitted by the terminal ECU. The GPS receiver receives GPS signals used to detect the current location of the terminal device 120. Furthermore, the terminal wireless transceiver receives various signals wirelessly transmitted by the parking assistance ECU 10 of the vehicle 110 via transceiver 12 and transmits them to the terminal ECU.

[0059] The terminal ECU has a microcomputer as its main component, which includes a CPU, ROM, RAM, non-volatile memory, and interfaces. The CPU performs various functions by executing instructions (programs, routines) stored in the ROM. A remote parking application program is installed in the ROM to work in conjunction with the parking assistance ECU 10 for remote parking control.

[0060] Furthermore, the remote parking application will be referred to simply as the "Remote Parking Application (APP)". Additionally, the user operating the terminal device 120 may not be a driver, and the terminal device 120 may not be a driver's terminal device.

[0061] When entering the parking space, the parking assist ECU 10 and the terminal device 120 transmit and receive information to each other via the transceiver 12 when the remote parking switch of the setting operator is turned on and the remote parking application of the terminal device 120 is activated. Furthermore, when leaving the parking space, the parking assist ECU 10 and the terminal device 120 transmit and receive information to each other via the transceiver 12 when the remote parking application of the terminal device 120 is activated, the power to the vehicle 110 is turned on by the operation of the terminal device, and the remote parking switch of the setting operator is turned on.

[0062] Especially when exiting from a mechanical automated parking garage, the vehicle scheduled for exit, loaded onto a pallet, moves from its parking position to the exit preparation position within the automated parking garage while still loaded onto the pallet. Once the vehicle is at the exit preparation position, it moves to the exit completion position outside the automated parking garage via automated driving based on remote parking control. Therefore, even if the remote parking application of terminal device 120 is activated before the vehicle moves to the exit preparation position, movement of the vehicle via automated driving based on remote parking control is prohibited until the vehicle's movement to the exit preparation position is complete.

[0063] For example, Figure 3 This is an exterior view of an example of a lift-and-slide type mechanical multi-level parking garage 140 with multiple parking spaces on each of the 1st to 4th floors. Taking the case where a vehicle 110 to be exited is parked in the second parking space from the left on the 2nd floor, and no vehicles are parked in the parking spaces on the left side of the 1st and 2nd floors, the exit sequence is explained.

[0064] In addition, although Figure 3 Not shown in the diagram, but the actions such as moving the pallets for vehicle entry and exit are controlled by a control device 144 (see reference) built into the control panel 142 of the mechanical automated parking garage 140. Figure 1 )control.

[0065] The user of terminal device 120 opens the door of control panel 142 of mechanical automated parking garage 140, inserts the key, and turns the key, thereby turning on the power to control device 144. The user uses the numeric keys on control panel 142 to input the reference code number of vehicle 110, confirms safety, and presses the exit button. Figure 4 and Figure 5 As shown, the pallet 146 carrying vehicle 110, under the control of control device 144, moves horizontally from the second parking space 146A on the left side of the second floor to the parking space 146B at the left end of the second floor. Next, as... Figure 6 As shown, pallet 146 moves vertically downwards and towards parking space 146C at the left end of the first floor, i.e., the outbound preparation position.

[0066] After pressing the exit button, the user activates the remote parking application on the terminal device 120. The user then selects the control on the display screen 124 on the terminal device 120 (see reference). Figure 2 Select "Exit from Mechanical Parking System" and turn on the power to vehicle 110. After confirming that vehicle 110 has moved to the exit preparation position and the gate 148 has risen and opened, and after confirming that the surrounding area is safe, set the target exit position 110A in front of the mechanical parking system 140 through the operating terminal device 120.

[0067] The user moves vehicle 110 from the departure preparation position 146C to the target departure position 110A via remote-controlled autonomous driving. Furthermore, after confirming safety, the user presses the departure completion button on control panel 142. In response, gate 148 is closed by control device 144. The user then confirms this and turns the key, thereby turning off the power to control device 144 and closing the door on control panel 142. Alternatively, a smart key can be used instead of a physical key.

[0068] Remote parking control routine

[0069] In the implementation method, according to Figure 7 The remote parking control shown in the flowchart is performed repeatedly according to a predetermined control cycle by the coordinated work of the terminal ECU's CPU and parking assistance ECU 10. The implementation method of the out-of-garage control method of the present invention is carried out according to... Figure 7 The flowchart shown illustrates the execution of remote parking control. Furthermore, in the following description, the remote parking control will be referred to simply as "this control".

[0070] First, in step S10, the CPU displays the image 124 of the touch-sensitive button used to select the entry / exit control based on remote parking control on the display 122 of the terminal device 120. For example... Figure 2 As shown, the image includes touch buttons 126 for "Entry into a flat parking lot", "Exit from a flat parking lot", "Entry into a mechanical multi-level parking lot" and "Exit from a mechanical multi-level parking lot".

[0071] In step S20, the CPU determines whether "exit from the mechanical automated parking garage" has been selected. If the CPU makes an affirmative determination, the control proceeds to step S40; if it makes a negative determination, the control proceeds to step S30.

[0072] In step S30, the CPU executes the control corresponding to the control selected by touching the touch button (other than "exiting from the mechanical automated parking garage") in accordance with principles known in the art.

[0073] In step S40, the CPU communicates with the parking assist ECU 10 to turn on the power to the vehicle 110. This causes the camera sensor 14, object sensor 16, and other sensors to begin operating.

[0074] In step S50, the CPU determines whether vehicle 110 is being moved within the mechanical automated parking garage 140. If the CPU makes an affirmative determination, the control proceeds to step S70; if it makes a negative determination, the control proceeds to step S60.

[0075] In this step, if the terminal device 120 cannot communicate with the control device 144 of the mechanical parking garage 140, it can be determined that the vehicle 110 is being moved within the mechanical parking garage 140 if any one of the following conditions A1 to A4 is met. In other words, it can be determined that the vehicle 110 is not being moved within the mechanical parking garage 140 if none of the following conditions A1 to A4 are met.

[0076] A1: The acceleration variation, i.e. vehicle vibration, is detected by at least one of the vertical acceleration sensor, the front-rear acceleration sensor and the lateral acceleration sensor of the acceleration sensor 50 at a frequency higher than the acceleration of the vehicle 110 when it is moving.

[0077] A2: The position of stationary objects (e.g., frame 140A) in the mechanical multi-level parking garage 140, captured by camera sensor 14, changes within the image.

[0078] A3: The position of vehicle 110 relative to the stationary object in the mechanical multi-level parking garage 140 is changing, as detected by target object sensor 16.

[0079] A4: The position of vehicle 110, detected by satellite positioning device 60, is changing.

[0080] Additionally, the terminal device 120 is paired with the control device 144 of the mechanical automated parking system 140, such as... Figure 1 When communication with the control device 144 is possible as shown, it can be determined that the vehicle 110 is being moved within the mechanical parking garage 140 if the following condition B1 is met. In other words, it can be determined that the vehicle 110 is not being moved within the mechanical parking garage 140 if the following condition B1 is not met.

[0081] B1: The control device 144 provides information indicating that the pallet 146 carrying the vehicle 110 is moving toward the departure preparation position (parking space 146C).

[0082] In step S60, the CPU determines whether vehicle 110 is in the exit preparation position 146C. If the CPU makes an affirmative determination, the control proceeds to step S80; if it makes a negative determination, the control proceeds to step S70.

[0083] In this step, if the terminal device 120 cannot communicate with the control device 144 of the mechanical parking garage 140, the vehicle 110 can be determined to be in the exit preparation position when all of the following conditions C1 to C4 are met.

[0084] C1: The elapsed time Te1 after which the vibration of the vehicle is not detected by any of the vertical acceleration sensors, front and rear acceleration sensors and lateral acceleration sensors of the acceleration sensor 50 is greater than the first reference time Tec1 (normal number).

[0085] C2: The elapsed time Te2 from the moment the position of the stationary object in the mechanical multi-level parking garage 140 captured by the camera sensor 14 remains unchanged within the image, which is above the second reference time Tec2 (normal number).

[0086] C3: The elapsed time Te3 from when the position of the vehicle 110 relative to the stationary object of the mechanical multi-level parking garage 140, detected by the target object sensor 16, does not change is greater than the third reference time Tec3 (normal number).

[0087] C4: The height of vehicle 110 detected by satellite positioning device 60 is the height of vehicle 146C at the departure preparation position.

[0088] In addition, if the terminal device 120 can communicate with the control device 144 of the mechanical parking garage 140, the vehicle 110 can be determined to be in the exit preparation position when the following condition D1 is met.

[0089] D1: Information was supplied from the control device 144 indicating that the pallet 146 carrying the vehicle 110 was in the outbound preparation position.

[0090] In step S70, the CPU prohibits the vehicle 110 from moving via autonomous driving and displays this message (e.g., "Vehicle cannot be moved. Please wait.") on the display 122 of the terminal device 120. Thus, even if the user intends to move the vehicle 110 via autonomous driving, the vehicle cannot be moved. Furthermore, upon completing step S70, the CPU initiates the control process into step S50.

[0091] In step S80, the CPU allows the vehicle 110 to move out of the parking garage via autonomous driving and displays this message (e.g., "The vehicle can be moved.") on the display 122 of the terminal device 120. Thus, if a user intends to move the vehicle 110 outside the mechanical multi-level parking garage 140 via autonomous driving, the user can move the vehicle.

[0092] In step S90, the CPU switches the control to the step of moving the vehicle via automatic driving. Thus, by operating the terminal device 120, the user can set a target exit position outside the mechanical automated parking garage 140, and the vehicle 110 will move to the target exit position via automatic driving. Furthermore, the movement of the vehicle via automatic driving can be performed according to any method known in the art.

[0093] As can be seen from the above description, according to the implementation method, when the user intends to exit the mechanical parking garage 110 (step S20), the control after step S40 is executed. When it is determined that the vehicle 110 is being moved within the mechanical parking garage 140 (step S50), or when it is determined that the vehicle 110 is not in the exit preparation position (step S60), the movement of the vehicle 110 through automatic driving is prohibited (step S70).

[0094] Therefore, when a vehicle exits a mechanical multi-level parking garage via remote parking, it cannot be moved automatically via remote parking if the vehicle is being moved or is not in the exit preparation position. Thus, it prevents the vehicle from starting to move automatically before it reaches the exit preparation position.

[0095] Furthermore, according to the implementation method, when it is determined that the vehicle is not being moved (step S50) and the vehicle is located in the exit preparation position (step S60), the vehicle is allowed to move via remote parking's automatic driving (step S80). Thus, by using exit control based on remote parking, the vehicle can be moved automatically from the exit preparation position to a location outside the mechanical multi-level parking garage.

[0096] Since the vehicle moves while being carried on a pallet, it is subjected to vibrations accompanying the movement of the pallet. Therefore, if the acceleration sensor 50 mounted on the vehicle 110 does not detect the vibration of the vehicle as a periodic change in the vehicle's acceleration, it can be determined that the vehicle 110 is not moving.

[0097] Furthermore, when a vehicle moves within the mechanical parking garage 140, its position relative to the stationary objects in the mechanical parking garage changes. Therefore, if the image of the stationary objects in the mechanical parking garage captured by the camera sensor 14 remains unchanged, it can be determined that the vehicle is not moving. Similarly, if the position of the vehicle relative to the stationary objects in the mechanical parking garage detected by the target object sensor 16 remains unchanged, it can also be determined that the vehicle is not moving. Moreover, when a vehicle moves within the mechanical parking garage, the position of the vehicle detected by the satellite positioning device 60 changes.

[0098] According to the implementation method, when none of the above conditions A1 to A4 are met, it is determined that vehicle 110 is not being moved within the mechanical parking garage 140 (step S50). Therefore, compared to the case where it is determined that vehicle 110 is not being moved within the mechanical parking garage 140 when any one of the above conditions A1 to A4 is not met, the determination that the vehicle is not being moved can be made more accurate. Furthermore, it is possible to determine that the vehicle is not being moved without communicating with the control device 144 of the mechanical parking garage 140.

[0099] Furthermore, according to the embodiment, when the terminal device 120 is able to communicate with the control device 144 of the mechanical parking garage 140, if the aforementioned condition B1 is not met, it is determined that the vehicle 110 is not being moved within the mechanical parking garage 140. Therefore, when the pallet is not being moved and the vehicle is not being moved, information from onboard sensors is not required; communication with the control device 144 is sufficient to accurately determine that the vehicle is not being moved.

[0100] Furthermore, if the vehicle height of vehicle 110 detected by satellite positioning device 60 is the height of the departure preparation position 146C, and if the vehicle 110 is determined to have not passed a predetermined time since being moved based on the detection results obtained by acceleration sensor 50, camera sensor 14 and target sensor 16, it can be determined that vehicle 110 is in the departure preparation position.

[0101] According to the implementation method, when all of the above conditions C1 to C4 are met, it is determined that vehicle 110 is in the exit preparation position. Therefore, compared to the case where vehicle 110 is determined to be in the exit preparation position when any one of the above conditions C1 to C4 is met, and the case where condition C4 is omitted, it is possible to accurately determine that the vehicle is in the exit preparation position. Furthermore, it is possible to determine that the vehicle is in the exit preparation position without communicating with the control device 144 of the mechanical parking garage 140.

[0102] Furthermore, according to the embodiment, when the terminal device 120 is able to communicate with the control device 144 of the mechanical parking garage 140, the vehicle 110 is determined to be in the exit preparation position when the aforementioned condition D1 is met. Therefore, when the vehicle is in the exit preparation position, communication with the control device 144 can be used to accurately determine that the vehicle is in the exit preparation position.

[0103] The present invention has been described in detail above with reference to specific embodiments, but the present invention is not limited to the embodiments described above. Obviously, those skilled in the art can implement various other embodiments within the scope of the present invention.

[0104] For example, in the above embodiment, in step S50, if none of the above conditions A1 to A4 are met, it is determined that vehicle 110 is not being moved within the mechanical parking garage 140. However, at least one of the above conditions A1 to A4, such as condition A4, may be omitted.

[0105] Furthermore, in the above embodiment, when the terminal device 120 is able to communicate with the control device 144 of the mechanical parking garage 140, it is determined that the vehicle 110 is being moved within the mechanical parking garage 140 when condition B1 is met. However, it is also possible to determine that the vehicle 110 is being moved within the mechanical parking garage 140 when at least one of the conditions A1 to A4, other than condition B1, is met.

[0106] Furthermore, in the above embodiment, in step S60, vehicle 110 is determined to be in the departure preparation position when all conditions C1 to C4 are met. However, vehicle 110 may also be determined to be in the departure preparation position when at least one of conditions C1 to C3 and condition C4 are met.

[0107] Furthermore, in the above embodiment, when the terminal device 120 is able to communicate with the control device 144 of the mechanical parking garage 140, the vehicle 110 is determined to be in the exit preparation position when condition D1 is met. However, the vehicle 110 may also be determined to be in the exit preparation position when at least one of the conditions A1 to A3, other than condition D1, is met.

[0108] Furthermore, in the above embodiment, when a positive determination is made in step S50, or a negative determination is made in steps S50 and S60, the movement of vehicle 110 via autonomous driving is prohibited in step S70. That is, when it is determined that vehicle 110 is being moved within the mechanical parking garage 140, or when it is determined that vehicle 110 is not in the exit preparation position 146C, the movement of vehicle 110 via autonomous driving is prohibited. However, the determination in step S50 can also be omitted, and the movement of vehicle 110 via autonomous driving can be prohibited when it is determined that vehicle 110 is not in the exit preparation position 146C.

[0109] Furthermore, in the above-described embodiments, the mechanical parking garage 140 is a lifting and traversing type mechanical parking garage, but as long as the vehicle is placed on a pallet and moves, it can also be a vertical circulation type mechanical parking garage, an elevator type mechanical parking garage, etc.

Claims

1. A method for controlling vehicle exit from a parking space based on remote-controlled parking, comprising: A terminal device capable of wirelessly communicating with the control device mounted on the vehicle and the control device of the mechanical automated parking garage confirms that the exit is from the mechanical automated parking garage. Determine whether the vehicle to be removed from the warehouse is being moved. and When it is determined that the vehicle is being moved, it is prohibited to move the vehicle via remote parking's automatic driving function. Even if it is determined that the vehicle is not being moved and is not in the exit preparation position, it is still prohibited to move the vehicle via remote parking's automatic driving function. When the terminal device is capable of communicating with the control device of the mechanical automated parking system, and upon obtaining information indicating that the pallet carrying the vehicle is in the exit preparation position through communication with the control device of the mechanical automated parking system, it is determined that the vehicle is in the exit preparation position. If the terminal device cannot communicate with the control device of the mechanical automated parking system, the vehicle is determined to be located at the exit preparation position when the satellite positioning device mounted on the vehicle determines that the vehicle's height is at the height of the exit preparation position and the elapsed time from the time when the vehicle is determined to be immobile is greater than or equal to the reference value.

2. The method for controlling vehicle exit from a parking space based on remote-controlled parking according to claim 1 further includes: When it is determined that the vehicle is not being moved and the vehicle is located at the exit preparation position, the vehicle may be moved via remote parking's automated driving function.

3. The parking control method based on remote parking according to claim 1, If no vibration of the vehicle is detected by the accelerometer mounted on the vehicle, it is determined that the vehicle is not moving.

4. The parking exit control method based on remote parking according to claim 1, If the image of the stationary objects in the mechanical multi-level parking garage captured by the camera sensor mounted on the vehicle does not change, it is determined that the vehicle is not being moved.

5. The parking exit control method based on remote parking according to claim 1, If no change in the vehicle's position relative to a stationary object in the mechanical parking garage is detected by a target sensor mounted on the vehicle that detects targets around the vehicle using reflected waves of the irradiated wave, it is determined that the vehicle is not being moved.

6. The method for controlling vehicle exit from a parking garage based on remote-controlled parking according to claim 1, When information indicating that the pallet carrying the vehicle is not being moved is obtained through communication with the control device of the mechanical automated parking system, it is determined that the vehicle is not being moved.

Images