Automatic valet parking management system and automatic valet parking management method

Abstract

The invention relates to an automatic valet parking management system and an automatic valet parking management method. The present disclosure provides a technique that makes it possible to more flexibly perform garage entry / exit in automatic valet parking. The automatic valet parking management system manages automatic valet parking in the parking lot. The automatic valet parking management system includes: a recognition sensor that recognizes a situation around a parking lot; and one or more processors. The one or more processors are configured to execute an allocation process of allocating a first target garage-exiting location to a garage-exiting vehicle exiting from a parking lot; a monitoring process in which, after the allocation of the first target exit location, an identification sensor is used to detect the intrusion or approaching of an external vehicle from outside the parking lot to the first target exit location; and a countermeasure process for assigning a second target exit location to the exit vehicle or slowing down or stopping the exit vehicle exiting the first target exit location in a case where intrusion or proximity is detected by the monitoring process.

Description

Technical Field

[0001] The present disclosure relates to a technology for managing automatic valet parking (AVP: Automated Valet Parking) in a parking lot. Background Art

[0002] Patent document 1 discloses an automatic entry / exit system having an entry / exit control server that manages and controls entry and exit. When receiving an entry / exit request to use one of a plurality of boarding and exiting locations from a user using an automatic parking service, the entry / exit control server determines the congestion of the boarding and exiting location requested to be used during the entry / exit time period specified by the user. Then, when the congestion of the boarding and exiting location requested to be used is high, the entry / exit control server recommends to the user the use of another boarding and exiting location that is another boarding and exiting location among the plurality of boarding and exiting locations and has a lower congestion than the boarding and exiting location requested to be used.

[0003] Patent Document 2 and Patent Document 3 also disclose technologies related to automatic valet parking.

[0004] Prior art literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Patent Application Publication No. 2023-032601

[0007] Patent Document 2: Japanese Patent Application Publication No. 2020-049983

[0008] Patent Document 3: Japanese Patent Application Publication No. 2020-166719

[0009] In automatic valet parking in a parking lot, if an external vehicle mistakenly intrudes into a target exiting position from outside the parking lot after a target exiting position is assigned to an exiting vehicle, flexible entry / exit management in the automatic valet parking may be hindered. Summary of the invention

[0010] The present disclosure has been made in view of the above-mentioned problems, and an object of the present disclosure is to provide a technology that can more flexibly perform parking entry and exit in automatic valet parking.

[0011] The automatic valet parking management system of the present disclosure manages automatic valet parking in a parking lot. The automatic valet parking management system comprises: an identification sensor for identifying the surrounding conditions of the parking lot; and one or more processors. The one or more processors are configured to execute: an allocation process for allocating a first target outbound position to an outbound vehicle from the parking lot; a monitoring process for detecting an intrusion or approach of an external vehicle from outside the parking lot to the first target outbound position using an identification sensor after the allocation of the first target outbound position; and a countermeasure process for allocating a second target outbound position to the outbound vehicle, or slowing down or stopping the outbound vehicle in the process of outbound to the first target outbound position, when an intrusion or approach is detected by the monitoring process.

[0012] The automatic valet parking management method disclosed in the present invention is executed by a computer to manage automatic valet parking in a parking lot. The automatic valet parking management method includes: an allocation process, which allocates a first target outbound position to an outbound vehicle from the parking lot; a monitoring process, which uses a recognition sensor that recognizes the surrounding conditions of the parking lot to detect the intrusion or approach of an external vehicle from outside the parking lot to the first target outbound position after the first target outbound position is allocated; and a countermeasure process, which allocates a second target outbound position to the outbound vehicle, or slows down or stops the outbound vehicle in the process of leaving the parking lot to the first target outbound position when the intrusion or approach is detected through the monitoring process.

[0013] Effects of the Invention

[0014] According to the present disclosure, after the first target outbound position is assigned to the outbound vehicle from the parking lot, the intrusion or approach of an external vehicle from outside the parking lot to the first target outbound position is monitored. And, in the case of the intrusion or approach of an external vehicle, the above-mentioned countermeasure processing is executed. Thus, more flexible storage / outbound can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a conceptual diagram for explaining the outline of the automatic valet parking according to the embodiment.

[0016] Figure 2 It is a block diagram showing a configuration example of an automatic valet parking management system according to an embodiment.

[0017] Figure 3 This is a diagram showing a specific example of a parking lot according to the embodiment.

[0018] Figure 4 This is a flowchart showing the processing related to the countermeasure processing of the first example.

[0019] Figure 5 This is a flowchart showing the processing related to the countermeasure processing of the second example.

[0020] Figure 6 This is a flowchart showing the processing related to the countermeasure processing of the third example.

[0021] Figure 7 This is a flowchart showing the processing related to the countermeasure processing of the fourth example.

[0022] Figure 8 This is a flowchart showing the processing related to the countermeasure processing of the fifth example.

[0023] Fig. 9 It is used for Figure 8 A diagram for explaining a specific example of a predetermined position P is shown.

[0024] Description of Reference Numerals

[0025] 1: parking lot, 2: boarding and alighting area, 4: parking space, 6-8: boarding and alighting spaces, 10: vehicle, 10A: external vehicle (intrusive vehicle), 10EX: outbound vehicle, 10P: parked vehicle, 100: automatic valet parking (AVP) management system, 110: communication device, 120: processor, 130: storage device, 140, 141: infrastructure sensor, 150: management program, 160: parking lot map information, 170: parking lot utilization information, 180: vehicle management information, 190: display device, 200: user terminal. DETAILED DESCRIPTION

[0026] 1. Overview of Automated Valet Parking

[0027] Figure 1 This is a conceptual diagram for explaining the outline of automatic valet parking (AVP: Automated Valet Parking) according to the embodiment.

[0028] The vehicle 10 corresponds to the automatic valet parking in the parking lot 1. The vehicle 10 can automatically drive at least in the parking lot 1 without relying on the driving operation performed by the driver. More specifically, the vehicle 10 has a recognition sensor (for example, a camera) for recognizing the surrounding conditions. The vehicle 10 automatically drives in the parking lot 1 while recognizing the surrounding conditions using the recognition sensor. It should be noted that the vehicle 10 may also be an automatic driving vehicle that can also automatically drive outside the parking lot 1.

[0029] The parking lot 1 includes a boarding and alighting area 2, a passage 3, and a plurality of parking spaces 4. A vehicle 10 to enter the parking lot 1 stops at the boarding and alighting area 2, where the user gets off the vehicle 10. On the other hand, a vehicle 10 to leave the parking lot 1 stops at the boarding and alighting area 2, where the user gets on the vehicle 10. In other words, the boarding and alighting area is equivalent to the boarding area, and the boarding area is equivalent to the boarding area. In more detail, the boarding and alighting area 2 includes one or more boarding areas and one or more boarding areas. The one or more boarding areas and the one or more boarding areas may be separately provided, or may be provided as one or more shared areas that can be dynamically changed between boarding areas and boarding areas. A specific example of the parking lot 1 including the boarding and alighting area 2 will be described with reference to FIG. Figure 3 This will be described later.

[0030] The passage 3 is an area for the vehicle 10 to travel. The parking space 4 is a space for the vehicle 10 to park. For example, the parking space 4 is divided by a dividing line. In addition, a plurality of markers 5 are arranged in the parking lot 1. The markers 5 are used to guide the vehicle 10 in the parking lot 1. For example, the vehicle 10 uses a camera to obtain an image of the surroundings and recognizes the marker 5 based on the image. Then, the vehicle 10 performs a positioning process (Localization) to estimate the position of the vehicle 10 in the parking lot 1 with high accuracy based on the recognition result of the marker 5. The vehicle 10 automatically travels in the parking lot 1 based on the vehicle position estimated by the positioning process.

[0031] It should be noted that the parking lot 1 is not only used by the vehicle 10 supporting the automatic valet parking, but can also be used by ordinary vehicles other than the vehicle 10 .

[0032] The automatic valet parking management system 100 manages automatic valet parking in the parking lot 1. Hereinafter, the automatic valet parking management system 100 is referred to as the "AVP management system 100". The AVP management system 100 may also include a local management device disposed in the parking lot 1 and a management center that manages a plurality of parking lots 1.

[0033] The AVP management system 100 can communicate with the vehicle 10 and manage the vehicle 10. For example, the AVP management system 100 grasps the position and status of each vehicle 10 in the parking lot 1. The AVP management system 100 allocates a parking space 4 to the vehicle 10. The AVP management system 100 issues movement instructions (e.g., entry instructions, exit instructions) to the vehicle 10 in the parking lot 1. The AVP management system 100 can also provide the vehicle 10 with map information of the parking lot 1. For example, the AVP management system 100 generates a target route for the vehicle 10 in the parking lot 1 and provides the target route information to the vehicle 10. The AVP management system 100 can also remotely operate the vehicle 10 in the parking lot 1.

[0034] In addition, the AVP management system 100 manages information related to the user of the automatic valet parking service. The AVP management system 100 can communicate with the user terminal 200 operated by the user.

[0035] Hereinafter, an example of a flow when a certain user X utilizes the automatic valet parking service will be described. The member information of the user X is registered in advance in the AVP management system 100 .

[0036] First, user X makes a reservation for automatic valet parking. For example, user X operates the user terminal 200 to input information such as user X's ID information, desired parking lot 1, desired use date, and desired use time (scheduled entry time and scheduled exit time). The user terminal 200 sends reservation information including the input information to the AVP management system 100. The AVP management system 100 performs reservation processing based on the reservation information and sends a reservation completion notification to the user terminal 200. In addition, the AVP management system 100 sends authentication information corresponding to the reservation information to the user terminal 200. The user terminal 200 receives the authentication information and stores the received authentication information.

[0037] The vehicle 10 enters (checks in) the parking lot 1 as follows.

[0038] The vehicle 10 carrying the user X arrives at the boarding and alighting place 2 of the parking lot 1 and stops. At the boarding and alighting place 2, the user X (and other passengers if any) get off the vehicle 10. Then, the user X requests the parking of the vehicle 10 using the authentication information stored in the user terminal 200. The AVP management system 100 performs authentication of the user X in response to the parking request. When the authentication is completed, the operation authority of the vehicle 10 is transferred from the user X to the AVP management system 100. The AVP management system 100 performs the parking process related to the vehicle 10.

[0039] In the warehousing process, the AVP management system 100 communicates with the vehicle 10 and starts the vehicle 10 (turns the power on).

[0040] In addition, the AVP management system 100 allocates a vacant parking space 4 to the vehicle 10 with reference to the utilization status of the parking lot 1. Then, the AVP management system 100 communicates with the vehicle 10 and sends a parking entry instruction to the vehicle 10. The parking entry instruction includes information on the allocated parking space 4 and map information of the parking lot 1. The AVP management system 100 may also specify a target route from the boarding and alighting place 2 to the allocated parking space 4. In this case, the parking entry instruction includes information on the specified target route.

[0041] The vehicle 10 starts the vehicle driving control in response to the parking instruction. Specifically, the vehicle 10 automatically drives from the boarding and disembarking place 2 to the assigned parking space 4 in the passage 3, and automatically parks in the assigned parking space 4. At this time, the vehicle 10 may also drive along the target route specified by the AVP management system 100. The AVP management system 100 may also communicate with the vehicle 10 and remotely control the automatic driving of the vehicle 10.

[0042] When parking is completed, the vehicle 10 notifies the AVP management system 100 of the completion of parking. Alternatively, the AVP management system 100 may also use an infrastructure sensor 140 (see Figure 2 ) to sense the completion of parking of the vehicle 10. After parking is completed, the AVP management system 100 communicates with the vehicle 10 to stop the operation of the vehicle 10 (power off). The AVP management system 100 associates the information of the parking space 4 of the vehicle 10 with the user X and maintains it.

[0043] The vehicle 10 is checked out from the parking lot 1 as follows.

[0044] User X uses user terminal 200 to request the vehicle 10 to be shipped out. The shipping request includes authentication information, etc. In response to the shipping request, AVP management system 100 authenticates user X and performs shipping processing related to vehicle 10.

[0045] In the outbound process, the AVP management system 100 communicates with the vehicle 10 and starts the vehicle 10 (turns on the power).

[0046] In addition, the AVP management system 100 communicates with the vehicle 10 and sends a depot instruction to the vehicle 10. The depot instruction includes the location of the boarding and unloading place 2 (target depot position) and map information of the parking lot 1. The AVP management system 100 may also specify a target route from the parking lot 4 to the boarding and unloading place 2. In this case, the depot instruction includes information of the specified target route.

[0047] The vehicle 10 starts the vehicle driving control in response to the exit instruction. Specifically, the vehicle 10 automatically drives from the parking space 4 to the boarding and disembarking place 2 in the passage 3. At this time, the vehicle 10 may also drive along the target route specified by the AVP management system 100. The AVP management system 100 may also communicate with the vehicle 10 and remotely control the automatic driving of the vehicle 10.

[0048] The vehicle 10 arrives at the boarding and alighting place 2 and stops. The operation authority of the vehicle 10 is transferred from the AVP management system 100 to the user X. The user X (and other passengers if any) get on the vehicle 10. The vehicle 10 starts to move toward the next destination.

[0049] 2. Example of AVP management system configuration

[0050] Figure 2 1 is a block diagram showing a configuration example of an AVP management system 100 according to an embodiment. The AVP management system 100 includes a communication device 110, one or more processors 120 (hereinafter, simply referred to as processors 120), one or more storage devices 130 (hereinafter, simply referred to as storage devices 130), and an infrastructure sensor 140.

[0051] The communication device 110 communicates with the vehicle 10 and the user terminal 200 .

[0052] The processor 120 performs various processes. For example, the processor 120 includes a CPU (Central Processing Unit). The processor 120 communicates with the vehicle 10 and the user terminal 200 via the communication device 110. In addition, the processor 120 manages the automatic valet parking in the parking lot 1. For example, the processor 120 allocates parking space 4 to the vehicle 10. In addition, the processor 120 instructs the vehicle 10 in the parking lot 1 to move. In addition, the processes performed by the processor 120 include the "allocation process", "monitoring process" and "countermeasure process" described later.

[0053] The storage device 130 stores various information. The storage device 130 includes a volatile memory, a non-volatile memory, a HDD (Hard Disk Drive) or an SSD (Solid State Drive), or any combination thereof. The processor 120 reads various information from the storage device 130, and the processor 120 stores various information in the storage device 130.

[0054] The infrastructure sensor 140 is, for example, a camera, and recognizes the conditions of the parking lot 1 and its surroundings. The infrastructure sensor 140 includes, for example, one or more infrastructure sensors (not shown) that recognize the conditions inside the parking lot 1 and one or more infrastructure sensors 141 (see FIG. 1 ) that recognize the conditions around the parking lot 1. Figure 3 ). It should be noted that the latter one or more infrastructure sensors 141 are equivalent to an example of the “identification sensor” of the present disclosure.

[0055] The management program 150 is a computer program for managing automatic valet parking. The various functions of the AVP management system 100 (processor 120) are realized by executing the management program 150 by the processor 120. The management program 150 is stored in the storage device 130. The management program 150 can also be recorded in a computer-readable recording medium.

[0056] In addition, the storage device 130 stores information such as parking lot map information 160, parking lot utilization information 170, and vehicle management information 180. The parking lot map information 160 is map information of the parking lot 1. The parking lot map information 160 indicates the arrangement of elements such as the boarding and alighting places 2, passages 3, parking spaces 4, and signs 5 in the parking lot 1. The parking lot utilization information 170 indicates the utilization status (vacancy status) of the parking spaces 4 and the boarding and alighting places 2 in the parking lot 1.

[0057] The vehicle management information 180 is information for managing the vehicle 10 that is the object of the automatic valet parking. For example, the vehicle management information 180 includes a vehicle ID, user information, entry / exit time information, and position information. The vehicle ID, user information, entry / exit time information, and position information are associated with each vehicle 10. The vehicle ID is identification information of the vehicle 10. The user information is information related to the user who uses the vehicle 10. The entry / exit time information is information related to the entry / exit time of the vehicle 10. For example, the entry / exit time information includes a scheduled entry time, an actual entry time, and a scheduled exit time. The position information indicates the position of the vehicle 10 in the parking lot 1. For example, the position information indicates the position or identification information of the parking space 4 assigned to the vehicle 10. When the vehicle 10 is traveling in the parking lot 1, the position information may also indicate the driving position of the vehicle 10. The current driving position of the vehicle 10 is obtained by the positioning process performed by the vehicle 10. The processor 120 can communicate with the vehicle 10 and obtain information about the current driving position of the vehicle 10 .

[0058] In addition, the AVP management system 100 may also include a display device 190. The display device 190 is configured to display various information to the external vehicle 10A traveling from outside the parking lot 1 to the boarding and disembarking area 2 for parking. Figure 3 As shown, the display device 190 is provided corresponding to each of the loading and unloading spaces 6 to 8. The various information includes a warning to the external vehicle (intruding vehicle) 10A (refer to step S116 or step S208 described later).

[0059] 3. Countermeasures against vehicles intruding into the target exit location

[0060] Figure 3 FIG. 1 is a diagram showing a specific example of a parking lot 1 according to an embodiment. The parking lot 1 includes a boarding and alighting area 2, a passage 3, and a plurality of parking spaces 4. Figure 3In the example shown, the boarding and disembarking area 2 includes three boarding and disembarking spaces 6, 7, and 8 that can be used as entry and exit spaces. For example, the boarding and disembarking spaces 6, 7, and 8 are divided by a dividing line. In the following description, a vehicle 10 leaving the parking lot 1 is referred to as a "leaving vehicle 10EX", and a vehicle 10 parked in a parking space 4 is referred to as a "parked vehicle 10P".

[0061] When the parked vehicle 10P leaves the garage, the parked vehicle 10P becomes an exiting vehicle 10EX. When leaving the garage, the processor 120 performs an "assignment process" of assigning the first target exiting position S1 to the exiting vehicle 10EX. The exiting vehicle 10EX assigned the first target exiting position S1 moves from the parking space 4 to the first target exiting position S1.

[0062] exist Figure 3 1 shows an outbound vehicle 10EX moving from a parking space 4 toward a loading / unloading space 6 assigned as a first target outbound space S1. Figure 3 Also shown is an external vehicle 10A, which is trying to intrude into the loading and unloading space 6 allocated as the first target unloading space S1 for the unloading vehicle 10EX.

[0063] like Figure 3 As shown in the scenario, if after the first target outgoing position S1 is assigned to the outgoing vehicle 10EX, an external vehicle 10A mistakenly invades the first target outgoing position S1 from outside the parking lot 1, the outgoing vehicle 10EX will be hindered from leaving the parking lot. Moreover, hindering the outgoing vehicle 10EX from leaving the parking lot may result in hindering the outgoing of other outgoing vehicles 10EX or hindering the entry of other vehicles 10 that normally enter the parking lot 1. In this way, the presence of the external vehicle 10A that invades the first target outgoing position S1 will hinder the flexible entry / exit management in the automatic valet parking. In addition, the external vehicle 10A that is assumed to invade or approach in this way is, for example, a vehicle 10 that is scheduled to enter the parking lot 1 for the use of automatic valet parking.

[0064] In order to perform parking in and out of the automatic valet parking more flexibly, the processing executed by the processor 120 of the present embodiment includes the following “monitoring processing” and “countermeasure processing”.

[0065] The monitoring process is a process in which, after the first target outgoing position S1 is allocated, the infrastructure sensor 141 is used to detect the intrusion or approach of the external vehicle 10A from the outside of the parking lot 1 to the first target outgoing position S1. More specifically, the period "after the allocation of the first target outgoing position S1" during which the monitoring of the first target outgoing position S1 by the monitoring process is performed includes not only the period when the outgoing vehicle 10EX moves toward the first target outgoing position S1 based on the instruction from the processor 120 (see Figure 3 ), and also includes the period before the outgoing vehicle 10EX starts to move based on the instruction. The infrastructure sensor 141 is installed at a location where the boarding and alighting spaces 6 to 8 of the boarding and alighting location 2 can be monitored.

[0066] The countermeasure process is a process for allocating the second target delivery position S2 to the delivery vehicle 10EX or decelerating or stopping the delivery vehicle 10EX that is being delivered to the first target delivery position S1 when the intrusion or approach of the external vehicle 10A is detected by the monitoring process.

[0067] Hereinafter, first to fifth examples of countermeasure processing according to the present embodiment will be described.

[0068] 3-1. The first example

[0069] Figure 4 1 is a flowchart showing the processing related to the countermeasure processing of the first example. The processor 120 starts the processing of this flowchart when starting to unload the parked vehicle 10P in response to a unloading request from the user X who operates the user terminal 200, for example.

[0070] In step S100 , the processor 120 executes “allocation processing” for allocating the first target exit position S1 to the exit vehicle 10EX. In the allocation processing, the processor 120 determines the first target exit position S1 based on the parking lot utilization information 170 , for example.

[0071] Next, in step S102, the processor 120 instructs the delivery vehicle 10EX to deliver to the first target delivery location S1.

[0072] Next, in step S104, the processor 120 uses the infrastructure sensor 141 to determine whether the external vehicle 10A has invaded or approached the first target outbound position S1 from outside the parking lot 1 (monitoring process). Specifically, when the infrastructure sensor 141 detects that the external vehicle 10A has entered the first target outbound position S1, the processor 120 determines that the external vehicle 10A has invaded the first target outbound position S1. In addition, in the monitoring process, the processor 120 uses the infrastructure sensor 141 to detect the distance D of the external vehicle 10A relative to the first target outbound position S1. When it is detected that the distance D is less than a specified threshold value TH, the processor 120 determines that the external vehicle 10A has approached the first target outbound position S1. In addition, detecting the approach of the external vehicle 10A to the first target outbound position S1 in this way is equivalent to predicting the intrusion of the external vehicle 10A into the first target outbound position S1.

[0073] When the intrusion and approach of the external vehicle 10A are not detected (step S104: No), the process proceeds to step S106. In step S106, the processor 120 determines whether the outbound vehicle 10EX has been completed using, for example, the infrastructure sensor 141. As a result, when the outbound vehicle 10EX has not been completed (step S106: No), the process returns to step S104. On the other hand, when the outbound vehicle has been completed (step S106: Yes), the process of this flowchart ends.

[0074] On the other hand, when the intrusion or approach of the external vehicle 10A is detected (step S104: yes), the processing enters step S108. In step S108, the processor 120 determines whether a second target outbound position S2 different from the first target outbound position S1 can be assigned to the outbound vehicle 10EX. In other words, the processor 120 determines whether the outbound route of the outbound vehicle 10EX can be changed (route change). For example, when any of the other boarding and disembarking spaces 6 to 8 that are not assigned as the first target outbound position S1 is vacant, the processor 120 determines that the route change can be made. In addition, the determination that the route change can be made may include the absence of obstacles in the route from the current position of the outbound vehicle 10EX to any of the other vacant boarding and disembarking spaces 6 to 8.

[0075] If the route change can be performed (step S108: Yes), the process proceeds to step S110. In step S110, the processor 120 assigns any one of the other vacant loading and unloading spaces 6 to 8 as the second target unloading position S2 to the unloading vehicle 10EX. Next, in step S112, the processor 120 instructs the unloading vehicle 10EX to unload to the second target unloading position S2.

[0076] On the other hand, when the route cannot be changed (step S108: No), that is, when the second target outbound position S2 cannot be allocated to the outbound vehicle 10EX, the processing enters step S114. For example, the situation where none of the other boarding and disembarking spaces 6 to 8 are vacant, or the situation where there are other vacant boarding and disembarking spaces 6 to 8 but there are obstacles on the route is equivalent to the situation where the route cannot be changed. In step S114, the processor 120 instructs the outbound vehicle 10EX to stop driving. It should be noted that when the route cannot be changed (step S108: No), the processor 120 may also decelerate the outbound vehicle 10EX instead of stopping the outbound vehicle 10EX, as in the processing of step S200 described later.

[0077] In step S116 following step S114 , processor 120 performs at least one of warning and instruction to external vehicle (intrusive vehicle) 10A.

[0078] The warning to the external vehicle 10A mentioned here is, for example, a warning indicating that "the first target outbound position S1 is a place for the outbound of other vehicles 10 (outbound vehicles 10EX)." The warning is made, for example, using a display device 190 corresponding to any one of the boarding and disembarking positions 6 to 8 corresponding to the first target outbound position S1. Alternatively, if the AVP management system 100 is in a state where it can communicate with the external vehicle 10A, the warning may also be made using the display device 190 and a user terminal held by a user of the external vehicle 10A or a display device mounted on the external vehicle 10A, or may be made using a user terminal held by a user of the external vehicle 10A or a display device mounted on the external vehicle 10A instead of the display device 190. It should be noted that the warning may also be executed accompanied by at least one of sound and voice.

[0079] In addition, the instruction to the external vehicle 10A mentioned here is performed on the condition that the external vehicle 10A is a vehicle corresponding to the automatic valet parking in the parking lot 1. The instruction includes a request to the external vehicle 10A to make early preparations for enabling the automatic driving in the automatic valet parking to start quickly. As such preparation, it is equivalent to not disconnecting the power supply of the external vehicle 10A after intrusion into the first target exit position S1. In addition, the instruction includes a request to the external vehicle 10A in a state of preparation for automatic driving to enter the parking space 4 in the parking lot 1. It should be noted that in step S116, only one of the warning and the instruction may be executed. In addition, according to the above-mentioned instruction, the external vehicle 10A is allowed to enter the storage in priority compared to the exit vehicle 10EX, which will contribute to the flexible management of entry / exit of the parking lot 1 with an overview of the overall situation.

[0080] In step S118 following step S116, the processor 120 determines whether the intrusion or approach by the external vehicle 10A has been eliminated, for example, using the infrastructure sensor 141. For example, when the external vehicle 10A moves away from the first target outbound position S1 in accordance with the warning, or when the external vehicle 10A enters the warehouse in accordance with the instruction, the intrusion or approach is eliminated.

[0081] When the intrusion or approach is not eliminated (step S118: No), the processor 120 repeatedly executes the process of step S118, that is, makes the outgoing vehicle 10EX wait in a stopped state.

[0082] On the other hand, if the intrusion or approach is eliminated (step S118: YES), that is, if the first target delivery location S1 becomes available, the process proceeds to step S120. In step S120, the processor 120 re-instructs the delivery vehicle 10EX to deliver to the first target delivery location S1.

[0083] According to the first example described above, after the first target outbound position S1 is assigned to the outbound vehicle 10EX, the presence or absence of an external vehicle 10A intruding or approaching the first target outbound position S1 is monitored (monitoring process). Furthermore, in the event that an external vehicle 10A actually intrudes or approaches, a second target outbound position S2 different from the first target outbound position S1 is assigned to the outbound vehicle 10EX (countermeasure process). Thus, more flexible storage / outbound can be achieved.

[0084] In more detail, according to the first example, by performing this monitoring, the intrusion or approach of the external vehicle 10A to the first target outbound position S1 can be quickly identified, compared with the case where the above-mentioned monitoring is not performed. As a result, it is possible to quickly start a study on whether the allocation of the second target outbound position S2 (i.e., route change) can be performed. As a result, the allocation of the second target outbound position S2 can be performed quickly. In addition, in the case where the route change cannot be performed, a suboptimal countermeasure (for example, stopping the outbound vehicle 10EX) can be quickly implemented. In addition, by performing the allocation of the second target outbound position S2 as a countermeasure, the operating rate of the automatic valet parking service implemented by the AVP management system 100 can be effectively suppressed from being reduced due to the presence of the external vehicle 10A.

[0085] In addition, even though the first target outgoing position S1 cannot be used due to the presence of the external vehicle 10A, the outgoing vehicle 10EX still stops after traveling to the vicinity of the boarding and disembarking place 2 including the first target outgoing position S1 without knowing this fact, the presence of the stopped outgoing vehicle 10EX may easily hinder the entry / exit of other vehicles 10. In contrast, according to the first example, when the second target outgoing position S2 cannot be allocated, the processor 120 stops the outgoing vehicle 10EX quickly. As a result, the possibility that the stopped outgoing vehicle 10EX does not hinder the entry / exit of other vehicles 10 is increased.

[0086] According to the first example, when the second target delivery position S2 can be allocated, the process of delivering the delivery vehicle 10EX to the second target delivery position S2 is prioritized over stopping the delivery vehicle 10EX (steps S108 to S114). This can more effectively suppress the reduction in the operating rate caused by the presence of the external vehicle 10A.

[0087] 3-2. Second example

[0088] Figure 5 1 is a flowchart showing the processing associated with the countermeasure processing of the second example. The processing in this flowchart is similar to that in Figure 4 The processing of the flowchart shown is different.

[0089] exist Figure 5 In the case where the intrusion or approach of the external vehicle 10A to the first target delivery position S1 is detected (step S104: Yes), the process proceeds to step S200. In step S200, the processor 120 instructs the delivery vehicle 10EX to decelerate.

[0090] Next, in step S202, the processor 120 issues a warning to the external vehicle 10A. The warning mentioned here is executed in the same manner as the warning in step S116. Next, in step S204, the processor 120 determines whether the intrusion or approach of the external vehicle 10A has been eliminated. As a result, if the intrusion or approach has been eliminated by the warning (step S204: Yes), in step S206, the processor 120 instructs the outgoing vehicle 10EX to cancel the deceleration.

[0091] On the other hand, when the intrusion or approach is not eliminated by the warning alone (step S204: No), the processor 120 executes the process of instructing the outgoing vehicle 10EX to stop traveling (step S114) and the accompanying processes (steps S208, S118, and S120). The process related to the instruction to the external vehicle 10A in step S208 is the same as the process related to the instruction in step S116.

[0092] According to the above-mentioned second example, when the intrusion or approach of the external vehicle 10A is detected through the above-mentioned monitoring process, the processor 120 decelerates the outgoing vehicle 10EX that is heading to the first target outgoing position S1 (countermeasure processing). Thus, compared with the example in which the outgoing vehicle 10EX moves to the vicinity of the boarding and alighting place 2 due to the absence of monitoring processing, and it is clear that the first target outgoing position S1 cannot be used due to the presence of the external vehicle 10A, the outgoing vehicle 10EX can be decelerated quickly and countermeasures such as warnings (step S202) can be started quickly. This can lead to the early elimination of the intrusion or approach of the external vehicle 10A. In addition, even when the intrusion or approach is not eliminated, suboptimal countermeasures can be started quickly. In this way, more flexible warehousing / exiting can be achieved through the second example.

[0093] 3-3. The third example

[0094] Figure 6 1 is a flowchart showing the processing associated with the countermeasure processing of the third example. The processing of this flowchart is similar to that of Figure 4 and Figure 5 The processing of the flowchart shown is different.

[0095] exist Figure 6 In the case where the external vehicle 10A is detected to be intruding or approaching the first target outbound position S1 (step S104: Yes), the process proceeds to step S114, and the processor 120 instructs the outbound vehicle 10EX to stop traveling. Thereafter, the processor 120 executes the processes of steps S208, S118, and S120. It should be noted that the process of step S116 (including warning to the external vehicle 10A) may be executed instead of the process of step S208.

[0096] According to the third example described above, when the intrusion or approach of the external vehicle 10A is detected through the above-mentioned monitoring process, the processor 120 stops the outgoing vehicle 10EX that is heading to the first target outgoing position S1 (countermeasures processing). Thus, compared with the example in which the outgoing vehicle 10EX moves to the vicinity of the boarding and alighting place 2 due to the absence of monitoring processing, and it is clear that the first target outgoing position S1 cannot be used due to the presence of the external vehicle 10A, the outgoing vehicle 10EX can be stopped quickly. Thus, the possibility that the stopped outgoing vehicle 10EX does not hinder the entry / exit of other vehicles 10 is increased. In this way, more flexible entry / exit can also be achieved through the third example. In addition, by being able to stop the outgoing vehicle 10EX as soon as possible, countermeasures such as instructions to the external vehicle 10A (step S208) can also be quickly started. This can lead to the early elimination of the intrusion or approach of the external vehicle 10A.

[0097] 3-4. The fourth example

[0098] Figure 7 4 is a flowchart showing the processing associated with the countermeasure processing of the fourth example. The processing of this flowchart is similar to that of Figure 4 and Figure 5 The processing of the flowchart shown is different.

[0099] exist Figure 7 In step S102, the process proceeds to step S300. In step S300, the processor 120 detects the external vehicle 10A and determines whether the distance D is shorter than the first threshold value TH1. As already described, the distance D is the distance of the external vehicle 10A relative to the first target delivery position S1. As a result, if the external vehicle 10A is not detected or the distance D is greater than the first threshold value TH1 (step S300: No), the process proceeds to step S106.

[0100] On the other hand, when the distance D of the detected external vehicle 10A is shorter than the first threshold value TH1 (step S300: Yes), that is, when the external vehicle 10A has approached the first target delivery location S1, the process proceeds to step S108. As a result, if the route change is possible, delivery to the second target delivery location S2 is performed (steps S110 and S112).

[0101] In addition, Figure 7 In the case where the route change cannot be performed (step S108: No), the process proceeds to step S302. In step S302, the processor 120 determines whether the distance D is shorter than a predetermined second threshold value TH2. The second threshold value TH2 is set to be smaller than the first threshold value TH1. In the case where the distance D is greater than the second threshold value TH2 (step S302: No), the process returns to step S108. That is, the execution of the route change is attempted again.

[0102] On the other hand, when the distance D is shorter than the second threshold value TH2 (step S302: Yes), that is, when the degree of approach of the external vehicle 10A to the first target outbound position S1 becomes higher, the processor 120 instructs the outbound vehicle 10EX to decelerate (step S200). Next, the processor 120 performs the processing accompanying the deceleration instruction (steps S202, S204, and S206). Then, when the intrusion or approach is not eliminated only by the warning (step S204: No), the processing proceeds to step S304.

[0103] In step S304, processor 120 determines whether distance D is shorter than a predetermined third threshold value TH3. Third threshold value TH3 is set to be smaller than second threshold value TH2. If distance D is greater than or equal to third threshold value TH3 (step S304: No), the process returns to step S204.

[0104] On the other hand, when the distance D is shorter than the third threshold value TH3 (step S304: Yes), that is, when the degree of approach of the external vehicle 10A to the first target outgoing position S1 becomes further increased, the processor 120 instructs the outgoing vehicle 10EX in decelerating driving to stop driving (step S114). Thereafter, the processor 120 performs the processing associated with the stop driving (steps S208, S118, and S120). It should be noted that the condition that the distance D is shorter than the third threshold value TH3 also holds when the external vehicle 10A has invaded the first target outgoing position S1 (that is, when the distance D becomes zero).

[0105] According to the fourth example described above, by executing the monitoring process and the countermeasure process, more flexible storage / removal can be realized as in the first to third examples.

[0106] In addition, according to the fourth example, in response to the situation that the distance D is shorter than the first threshold value TH1, if the second target outgoing position S2 can be allocated, the second target outgoing position S2 is allocated to the outgoing vehicle 10EX. Moreover, in response to the situation that the external vehicle 10A has further approached the first target outgoing position S1 (distance D < second threshold value TH2) in a state where the second target outgoing position S2 cannot be allocated, the outgoing vehicle 10EX is decelerated. Thus, appropriate countermeasures can be taken according to the degree of approach of the external vehicle 10A to the first target outgoing position S1. In addition, by giving priority to the allocation of the second target outgoing position S2 compared to deceleration, the reduction in the operating rate caused by the presence of the external vehicle 10A can be effectively suppressed.

[0107] Furthermore, according to the fourth example, in response to the situation that the external vehicle 10A has further approached the first target outgoing position S1 (distance D < third threshold value TH3) while the outgoing vehicle 10EX is decelerating, the outgoing vehicle 10EX is stopped. Accordingly, appropriate countermeasures can be taken according to the degree of approach of the external vehicle 10A to the first target outgoing position S1.

[0108] 3-5. The fifth example

[0109] Figure 8 1 is a flowchart showing the processing associated with the countermeasure processing of the fifth example. The processing in this flowchart is similar to that in Figure 7 The processing of the flowchart shown is different.

[0110] exist Figure 8 In step S102, the process proceeds to step S400. In step S400, the processor 120 detects the external vehicle 10A and determines whether the distance D is shorter than a predetermined fourth threshold value TH4. The fourth threshold value TH4 may be, for example, the same as the first threshold value TH1 or the second threshold value TH2 (see Figure 7 )same.

[0111] When the distance D of the detected external vehicle 10A is shorter than the fourth threshold value TH4 (step S400: YES), the processor 120 instructs the outgoing vehicle 10EX to decelerate (step S200). Next, the processor 120 executes processing associated with the deceleration instruction (steps S202, S204, and S206).

[0112] In addition, Figure 8 In the case where the intrusion or approach is not eliminated by the warning alone (step S204: No), the process proceeds to step S402. In step S402, the processor 120 determines whether the distance D is shorter than a prescribed fifth threshold value TH5. The fifth threshold value TH5 is set to be smaller than the fourth threshold value TH4. The fifth threshold value TH5 can be, for example, equal to the third threshold value TH3 (see Figure 7) is the same. When the distance D is greater than or equal to the fifth threshold value TH5 (step S402: No), the process returns to step S204.

[0113] On the other hand, when the distance D is shorter than the fifth threshold value TH5 (step S402: Yes), that is, when the degree of approach of the external vehicle 10A to the first target outbound position S1 becomes higher, the processor 120 instructs the outbound vehicle 10EX to stop traveling (step S114). Next, the processor 120 performs processing related to the instruction to the external vehicle 10A (step S208). Figure 8 In the process, after step S208, the process proceeds to step S404.

[0114] In step S404, the processor 120 determines whether or not a predetermined time T has elapsed. The predetermined time T corresponds to the elapsed time from when the outgoing vehicle 10EX was stopped by the process in step S114.

[0115] If the predetermined time T has not elapsed (step S404: No), the process proceeds to step S406. In step S406, the processor 120 uses, for example, the infrastructure sensor 141 to determine whether any of the loading / unloading spaces 6 to 8 (including the first target unloading space S1) that can be used as the target unloading space is vacant.

[0116] If none of the loading and unloading spaces 6 to 8 are vacant (step S406: No), the process returns to step S404. On the other hand, if any of the loading and unloading spaces 6 to 8 are vacant (step S406: Yes), the process proceeds to step S408. In step S408, the processor 120 determines the vacant exit position (any of the loading and unloading spaces 6 to 8) as the target exit position (the first target exit position S1 or the second target exit position S2). Next, in step S410, the processor 120 instructs the exit vehicle 10EX to exit to the target exit position.

[0117] On the other hand, when the specified time T has passed without determining the target outgoing position (step S404: Yes), that is, when the first target outgoing position S1 or the second target outgoing position S2 cannot be assigned to the outgoing vehicle 10EX before the specified time T has passed, the process proceeds to step S412. In step S412, the processor 120 instructs the outgoing vehicle 10EX to move to the specified position P (see the following description). Fig. 9 Thereafter, when any of the boarding and unboarding spaces 6 to 8 becomes vacant (step S414: Yes), the above-mentioned processes of step S408 and step S410 are executed.

[0118] Fig. 9It is used for Figure 8 The figure explains a specific example of the predetermined position P shown in FIG. The predetermined position P is, for example, a departure start position P1 of the departure vehicle 10EX. The departure start position P1 is the position of the parking space 4 where the departure vehicle 10EX has been parked.

[0119] Furthermore, the predetermined position P may be a position P2 that does not hinder the passage of other vehicles 10 for entering / exiting the garage compared to the current stop position P0 of the exiting vehicle 10EX. The position P2 is determined in advance, for example, in consideration of the shape of the parking lot 1 that is the target of the automatic valet parking, and is stored in the storage device 130 as the parking lot map information 160. The current stop position P0 is based on Figure 8 The position of the outgoing vehicle 10EX stopped by the travel stop instruction in step S114.

[0120] In addition, the predetermined position P may be a position P3 that is closer to one or more delivery location candidates than the current stop position P0. Fig. 9 In the example shown, the "one or more delivery position candidates" referred to herein correspond to the loading and unloading positions 6 to 8 that can be determined as the first target delivery position S1 or the second target delivery position S2. Similarly to the position P2, the position P3 is also determined in advance in consideration of the shape of the parking lot 1 that is the target of the automatic valet parking, for example, and is stored in the storage device 130 as the parking lot map information 160.

[0121] The predetermined position P may be a waiting position P4. The waiting position is provided separately from the parking space 4, and the position P4 is stored in the storage device 130 as the parking lot map information 160. Alternatively, the predetermined position P may be a position P5 of a vacant parking space 4.

[0122] According to the fifth example described above, by executing the monitoring process and the countermeasure process, more flexible storage / removal can be realized as in the first to fourth examples.

[0123] According to the fifth example, in response to the distance D being shorter than the fourth threshold value TH4, the deceleration of the outgoing vehicle 10EX is performed. In response to the distance D being shorter than the fifth threshold value TH5 (<TH4), the outgoing vehicle 10EX is stopped. Thus, appropriate countermeasures can be taken according to the degree of approach of the external vehicle 10A to the first target outgoing position S1.

[0124] According to the fifth example, when the first target outgoing position S1 or the second target outgoing position S2 cannot be allocated to the outgoing vehicle 10EX until the predetermined time T has passed since the outgoing vehicle 10EX was stopped, the processor 120 moves the outgoing vehicle 10EX to the predetermined position P. Thus, according to each predetermined position P, the following effects can be obtained.

[0125] That is, first, at the specified position P is Fig. 9 In the case of the outbound starting position P1, the position P2 that is not easy to become an obstruction, the waiting position P4, or the position P5 of the vacant parking space shown as an example, the following effects can be obtained. That is, if the outbound vehicle 10EX stops for a long time at the unexpected current stop position P0 due to the existence of the external vehicle 10A, the flexible entry / exit of other vehicles 10 will be hindered according to the current stop position P0 and the congestion in the parking lot 1. In contrast, according to the position P1, P2, P4 or P5, from the perspective of the management of the flexible entry / exit of the parking lot 1 as a whole including other vehicles 10, the outbound vehicle 10EX can be moved to a more suitable place. In addition, according to the outbound starting position P1, position P4 or position P5, compared with the position P2, it is possible to more reliably prevent the passage of other vehicles 10 from being obstructed. In addition, according to the position P4, a space that is not used as a parking space 4 is required, but compared with the outbound starting position P1 and position P5, it has the advantage of not hindering the entry of other vehicles 10. Furthermore, when position P5 is closer to the target delivery location ( S1 or S2 ) than delivery start position P1 , selecting position P5 instead of delivery start position P1 is preferred for user X because it shortens the delivery time after restart.

[0126] On the other hand, at the specified position P is Fig. 9 In the case of the position P3 (a position closer to the candidate for the outbound position than the current stop position P0) shown as an example, the following effect can be obtained. That is, when the outbound vehicle 10EX can be restarted from the warehouse, the outbound vehicle 10EX can be quickly outbound compared to the example of using the outbound start position P1 as the specified position P. In addition, the position P3 can also be determined as a position that is closer to the candidate for the outbound position than the current stop position P0, or a position that does not hinder the passage of other vehicles 10 compared to the current stop position P0.

[0127] In addition, Figure 8 In the process shown, when the distance D is shorter than the fifth threshold value TH5 (step S402: Yes), the process associated with the route change (steps S108 to S112) may be executed instead of the process associated with the stop of the outbound vehicle 10EX (steps S114 and S208). Then, when the route change cannot be performed (step S108: No), the process may enter the process associated with the stop (steps S114 and S208).

[0128] In addition, in the above Figure 4 , Figure 5 , Figure 6 or Figure 7In the process of the flowchart, you can also execute Figure 8 The processing of steps S404 to S414 in replaces the processing of steps S118 and S120.

Claims

1. An automatic valet parking management system for managing automatic valet parking in a parking lot, wherein the automatic valet parking management system is characterized by: An identification sensor is used to identify the surrounding conditions of the parking lot; and one or more processors, The one or more processors are configured to perform: Allocation processing, allocating a first target outbound position to the outbound vehicle from the parking lot; monitoring processing, after the first target outbound location is allocated, using the identification sensor to detect an intrusion or approach of an external vehicle from outside the parking lot to the first target outbound location; as well as The countermeasure process allocates a second target outgoing position to the outgoing vehicle, or decelerates or stops the outgoing vehicle that is outgoing to the first target outgoing position, when the intrusion or the approach is detected by the monitoring process.

2. The automatic valet parking management system according to claim 1, characterized in that: In the countermeasure processing, the one or more processors are configured to: Determining whether the second target outbound location can be allocated to the outbound vehicle; and When the second target delivery location can be allocated, a process of causing the delivery vehicle to be delivered toward the second target delivery location is performed with priority over decelerating or stopping the delivery vehicle.

3. The automatic valet parking management system according to claim 2, characterized in that: In the countermeasure processing, the one or more processors are configured to: stop the outbound vehicle when the second target outbound location cannot be allocated.

4. The automatic valet parking management system according to claim 1, characterized in that: In the countermeasure processing, the one or more processors are configured to: In response to a situation where the distance of the external vehicle to the first target outbound location is shorter than a first threshold, allocating the second target outbound location to the outbound vehicle if the second target outbound location can be allocated; and In response to the situation that the distance is shorter than a second threshold value that is smaller than the first threshold value in a state where the second target delivery location cannot be allocated, the delivery vehicle is decelerated.

5. The automatic valet parking management system according to claim 4, characterized in that: In the countermeasure processing, the one or more processors are configured to stop the outbound vehicle in response to the distance being shorter than a third threshold value that is smaller than the second threshold value.

6. The automatic valet parking management system according to claim 1, characterized in that: In the countermeasure processing, the one or more processors are configured to: In response to the situation that the distance of the external vehicle to the first target outbound location is shorter than a fourth threshold, decelerating the outbound vehicle; as well as In response to the distance being shorter than a fifth threshold value that is smaller than the fourth threshold value, the outbound vehicle is stopped.

7. The automatic valet parking management system according to claim 1, characterized in that: In the countermeasure processing, the one or more processors are configured to: when the first target outbound position or the second target outbound position cannot be allocated to the outbound vehicle within a specified time after the outbound vehicle is stopped, move the outbound vehicle to the outbound starting position of the outbound vehicle, a position that does not hinder the passage of other vehicles compared to the current stopping position of the outbound vehicle, a position closer to one or more outbound position candidates than the current stopping position of the outbound vehicle, a waiting position or a vacant parking space.

8. An automatic valet parking management method, executed by a computer, to manage automatic valet parking in a parking lot, the automatic valet parking management method being characterized by comprising: Allocation processing, allocating a first target outbound position to the outbound vehicle from the parking lot; Monitoring processing, after the first target delivery position is allocated, using a recognition sensor that recognizes the surrounding conditions of the parking lot to detect an intrusion or approach of an external vehicle from outside the parking lot to the first target delivery position; as well as The countermeasure process allocates a second target outgoing position to the outgoing vehicle, or decelerates or stops the outgoing vehicle that is outgoing to the first target outgoing position, when the intrusion or the approach is detected by the monitoring process.

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