Automatic parking system

Abstract

The present disclosure relates to an automatic parking system which instructs an automatic driving vehicle parked in a parking lot to automatically move the automatic driving vehicle to a riding parking space in the parking lot according to a parking exit request from a user, the automatic parking system comprising: a user position determination unit; the determination unit determines whether a user terminal of a user is located in a preset riding area or a preset nearby riding area including a riding parking space. A warehouse-out request reception unit that receives a warehouse-out request when the user position determination unit determines that the user terminal is located in the riding area or in the vicinity of the riding area; and a vehicle instruction unit that instructs the autonomous vehicle, which is the target of the garage exit request, to move to the riding parking space when the garage exit request is received by the garage exit request receiving unit.

Description

[0001] This application is a divisional application of a Chinese patent application with an application date of October 9, 2020, an application number of 202011070994.6, and an invention title of "Automatic Parking System". Technical Field

[0002] The present invention relates to an automatic parking system. Background Art

[0003] Conventionally, as a technical document related to an automatic parking system, Japanese Unexamined Patent Application Publication No. 2019-066932 is known. This publication discloses a management device that manages the exit from a parking lot by the self-driving of a vehicle. When there is an exit instruction from a user, it acquires the current position of the user, and estimates the time when the user arrives at a predetermined pick-up (boarding, getting in) position of the vehicle from the current position of the user, thereby adjusting the exit time of the vehicle. Summary of the Invention

[0004] However, in the above management device, the straight-line distance between the current position of the user and the predetermined pick-up position is used. Depending on the path of the user to the parking lot, it may not be possible to appropriately adjust the exit time, resulting in the vehicle waiting at the predetermined pick-up position for a long time.

[0005] One technical solution of the present invention is an automatic parking system that, by instructing an autonomous vehicle parked in a parking lot according to an exit request from a user, causes the autonomous vehicle to automatically move to a pick-up parking space (pick-up space) in the parking lot. The automatic parking system includes: a user position determination unit that determines whether a user terminal of the user is located in a preset pick-up area including the pick-up parking space or a preset area near the pick-up; an exit request reception unit that, when it is determined by the user position determination unit that the user terminal is located in the pick-up area or the area near the pick-up, receives the exit request; and a vehicle instruction unit that, when the exit request is received by the exit request reception unit, instructs the autonomous vehicle that is the object of the exit request to move to the pick-up parking space.

[0006] According to the automatic parking system according to one technical solution of the present invention, when it is determined by the user position determination unit that the user terminal is located in the pick-up area including the pick-up parking space or the area near the pick-up, the exit request from the user terminal is received and the autonomous vehicle is instructed to move to the pick-up parking space. Therefore, compared with the case where the exit request is received even though the user is not in the pick-up area or the area near the pick-up, it is possible to prevent the autonomous vehicle from waiting at the pick-up parking space for a long time due to the late arrival of the user.

[0007] In the automatic parking system according to one aspect of the present invention, the area near the boarding area may also include at least a part of the elevator hall on the parking lot side on the same floor as the boarding parking space in the parking lot and at least a part of the elevator halls on other floors where the elevators in the elevator hall on the parking lot side stop and are on different floors from the elevator hall on the parking lot side. According to this automatic parking system, the area near the boarding area includes not only the elevator hall on the parking lot side near the parking lot, but also at least a part of the elevator halls on other floors that are on different floors from the parking lot. Therefore, compared with the case where the outbound reservation is accepted only after the user gets off the elevator on the same floor of the parking lot, the convenience of the user can be improved.

[0008] In the automatic parking system according to one aspect of the present invention, the outbound request acceptance unit may also be configured to, when it is not determined by the user location determination unit that the user terminal is located in the boarding area or the area near the boarding area when an outbound request is made, accept the outbound request as a reservation for outbound reservation acceptance, and automatically accept the outbound request when it is determined by the user location determination unit that the user terminal is located in the boarding area or the area near the boarding area after the outbound reservation acceptance. According to this automatic parking system, even when it is not determined that the user terminal is located in the boarding area or the area near the boarding area when an outbound request is made, the outbound reservation acceptance is still performed, and when it is determined that the user terminal is located in the boarding area or the area near the boarding area, the outbound request is automatically accepted. Therefore, compared with the case where the user has to make an outbound request again after entering the boarding area or the area near the boarding area, the convenience of the user can be improved.

[0009] According to one aspect of the present invention, it is possible to prevent the autonomous driving vehicle from waiting for a long time at the boarding parking space due to the late arrival of the user. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Hereinafter, the features, advantages, and technical and industrial significance of the exemplary embodiments of the present invention will be described with reference to the drawings. In the drawings, the same reference numerals denote the same elements, and:

[0011] Figure 1 is a block diagram showing an example of an automatic parking system according to one embodiment.

[0012] Figure 2 is a plan view showing an example of a parking lot where automatic valet parking is performed.

[0013] Figure 3 is a block diagram showing an example of the hardware configuration of a parking lot management server.

[0014] Figure 4 is a hierarchical diagram for explaining an example of the boarding area and the area near the boarding area.

[0015] Figure 5AIt is a flowchart showing an example of the processing of an outbound request in a user terminal.

[0016] Figure 5B It is a flowchart showing an example of the outbound processing in a parking lot management server.

[0017] Figure 6 It is a flowchart showing an example of the outbound processing after accepting an outbound reservation in a parking lot management server. Detailed implementation mode

[0018] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

[0019] Figure 1 It is a block diagram showing an automated parking system 100 according to an embodiment. Figure 1 The shown automated valet parking system (AVPS: Automated Valet Parking System) 100 is a system for performing automated valet parking of multiple autonomous vehicles 2 in a parking lot (Parking place).

[0020] Automated valet parking refers to the following service: an unmanned autonomous vehicle 2 after the user (occupant) gets off at the drop-off area in the parking lot travels along a target route according to an instruction from the parking lot side and automatically parks in a target parking space in the parking lot. The target parking space is a parking space (Parking space) preset as the parking position of the autonomous vehicle 2. The target route is the route in the parking lot that the autonomous vehicle 2 travels to reach the target parking space. In addition, the target route at the time of outbound is the route that travels to reach the pick-up and use parking space described later.

[0021] The parking lot can be either a parking lot dedicated to automated valet parking or a parking lot also used for general vehicles other than those subject to automated valet parking. A part of the parking lot for general vehicles can also be used as an area dedicated to automated valet parking. In this embodiment, a parking lot dedicated to automated valet parking is taken as an example for explanation.

[0022] Here, Figure 2 It is a plan view showing an example of a parking lot where automated valet parking is performed. In Figure 2The parking lot 50 for automated valet parking, the parking area 51, the drop-off zone 52, and the pick-up zone 53 are shown. The parking lot 50 is, for example, an in-facility parking lot. The parking lot 50 can be an underground parking lot provided underground in the facility. In addition, the parking lot 50 can also be an outdoor parking lot outside the facility. The parking lot 50 includes the parking area 51, the drop-off zone 52, and the pick-up zone 53.

[0023] The parking area 51 is a place where parking spaces (parking frames) 61 for parking the autonomous driving vehicle 2 by means of automated valet parking are formed. The parking spaces 61 are arranged in one direction (for example, the vehicle width direction of the parked vehicle) as shown, for example, and a plurality of them are formed. Figure 2 as shown, for example, and a plurality of them are formed in one direction (for example, the vehicle width direction of the parked vehicle).

[0024] The drop-off zone 52 is a place provided on the entrance side of the parking lot 50 for getting off the occupants including the user from the autonomous driving vehicle 2 before entering the warehouse. A drop-off parking space 62 for parking the autonomous driving vehicle 2 when the occupants get off is formed in the drop-off zone 52. The drop-off zone 52 communicates with the parking area 51 via the entrance door 54.

[0025] The drop-off zone 52 is connected to the facility entrance elevator hall 70, and the facility entrance elevator hall 70 is used for the user getting off the autonomous driving vehicle 2 to enter a facility such as a commercial facility. The facility entrance elevator hall 70 does not need to be directly connected to the drop-off zone 52, and can also be connected via a passage or the like. In the facility entrance elevator hall 70, there are provided: an elevator 71 for moving between different floors; a facility entrance side automatic door 72 between the drop-off zone 52; and an entrance side receiver 73. The entrance side receiver 73 is a device for receiving an inbound request for starting automated valet parking.

[0026] The pick-up zone 53 is a place provided on the exit side of the parking lot 50 for the occupants to get on the autonomous driving vehicle 2 coming out of the warehouse. A pick-up parking space 63 for the autonomous driving vehicle 2 to wait for picking up the occupants is formed in the pick-up zone 53. The pick-up zone 53 communicates with the parking area 51 via the exit door 55. In addition, a return gate 56 for returning the autonomous driving vehicle 2 from the pick-up zone 53 to the parking area 51 is provided between the pick-up zone 53 and the parking area 51. In addition, the return gate 56 is not essential.

[0027] The boarding area 53 is connected to the facility exit elevator hall (the elevator hall on the parking lot side) 80, and the facility exit elevator hall 80 is used for users to return from facilities such as commercial facilities to the parking lot 50. The facility exit elevator hall 80 does not need to be directly connected to the boarding area 53 and can also be connected via a passage or the like. In the facility exit elevator hall 80, there are provided: an elevator 81 for moving between different floors; a facility exit side automatic door 82 between the boarding area 53; and an exit side acceptor 83.

[0028] The exit side acceptor 83 is a device for accepting an out-of-parking request of the autonomous driving vehicle 2 parked in the parking area 51 through automated valet parking. The out-of-parking request refers to a request made by the user to make the autonomous driving vehicle 2 leave the parking lot. In addition to direct operation, the exit side acceptor 83 also has a function of accepting an out-of-parking request through short-range communication with the user terminal 3. As short-range communication, for example, BLE (Bluetooth Low Energy (Bluetooth is a registered trademark), Bluetooth low energy) or NFC (Near Field Communication, near field communication) can be used. In addition, the exit side acceptor 83 can perform short-range communication with the user terminal 3 at the place where the vehicle has left by using the in-facility network and in-facility terminals.

[0029] In addition, the getting-off area 52 and the boarding area 53 do not need to be provided separately and can also be provided as an integrated getting-on and getting-off area. In this case, the facility entrance elevator hall 70 and the facility exit elevator hall 80 can be an integrated elevator hall. In addition, the entrance side acceptor 73 and the exit side acceptor 83 do not need to be provided separately, and one acceptor can also be provided.

[0030] In addition, in Figure 2 , the autonomous driving vehicle 2A parked in the getting-off parking space 62 in the getting-off area 52, the autonomous driving vehicle 2B traveling in the parking lot 50, the autonomous driving vehicle 2C parked in the parking space 61 in the parking area 51, and the autonomous driving vehicle 2D parked in the boarding parking space 63 in the boarding area 53 are shown.

[0031] In the automatic parking system 100, for example, after the autonomous vehicle 2 that has entered the parking lot 50 drops off the passengers at the drop-off parking space 62 (corresponding to the autonomous vehicle 2A) and obtains the instruction permission of the autonomous vehicle 2, the automatic valet parking starts. The automatic parking system 100 causes the autonomous vehicle 2 to drive towards the target parking space within the parking area 51 (corresponding to the autonomous vehicle 2B), and parks the autonomous vehicle 2 in the target parking space (corresponding to the autonomous vehicle 2C). According to the pickup request, the automatic parking system 100 causes the parked autonomous vehicle 2 to drive towards the pick-up area 53 and wait at the pick-up parking space 63 until the passengers arrive (corresponding to the autonomous vehicle 2D).

[0032] [Configuration of the Automatic Parking System]

[0033] Hereinafter, the configuration of the automatic parking system 100 will be described with reference to the drawings. As Figure 1 shown, the automatic parking system 100 includes a parking lot management server 1. The parking lot management server 1 is a server for managing the parking lot.

[0034] The parking lot management server 1 is configured to be able to communicate with the autonomous vehicle 2 and the user terminal 3. The autonomous vehicle 2 and the user terminal 3 will be described in detail later. The parking lot management server 1 can be installed in the parking lot or in a facility away from the parking lot. The parking lot management server 1 can also be composed of multiple computers located in different places.

[0035] The parking lot management server 1 is connected to the parking lot sensor 4 and the parking lot map database 5. The parking lot sensor 4 is a sensor for identifying the situation within the parking lot 50. The parking lot sensor 4 includes a vacant space detection sensor for detecting whether there is a parked vehicle in each parking space (whether each parking space is occupied or vacant).

[0036] The vacant space detection sensor can be set for each parking space or installed on the ceiling or the like so as to be able to monitor multiple parking spaces with one sensor. The configuration of the vacant space detection sensor is not particularly limited, and a well-known configuration can be adopted. The vacant space detection sensor can be a pressure sensor, a radar sensor using radio waves, a sonar sensor, or a camera. The vacant space detection sensor sends the detection information of the parked vehicle in the parking space to the parking lot management server 1.

[0037] The parking lot sensor 4 may also include a surveillance camera for detecting the autonomous vehicle 2 traveling on the driving path in the parking lot 50. The surveillance camera is installed on the ceiling and / or wall of the parking lot and captures the traveling autonomous vehicle 2. The surveillance camera sends the captured image to the parking lot management server 1.

[0038] The parking lot map database 5 is a database that stores parking lot map information. The parking lot map information includes the location information of parking spaces in the parking lot, the location information of drop-off / pick-up parking spaces, the location information of pick-up parking spaces, and the information of driving paths in the parking lot. In addition, the parking lot map information includes the location information of landmarks used by the autonomous vehicle 2 for position recognition. The landmarks will be described later.

[0039] Next, the hardware configuration of the parking lot management server 1 will be described. Figure 3 It is a block diagram showing an example of the hardware configuration of the parking lot management server. As Figure 3 shown, the parking lot management server 1 is configured as a general computer having a processor 40, a memory 41, a storage 42, a communication interface 43, and a manager interface 44.

[0040] The processor 40 operates various operating systems to control the parking lot management server 1. The processor 40 is an arithmetic unit such as a CPU (Central Processing Unit) including a control device, an arithmetic device, registers, etc. The processor 40 comprehensively manages the memory 41, the storage 42, the communication interface 43, and the manager interface 44. The memory 41 is a recording medium such as a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage 42 is a recording medium such as an HDD (Hard Disk Drive).

[0041] The communication interface 43 is a communication device for performing wireless communication via a network. The communication interface 43 can use network devices, network controllers, network cards, etc. The parking lot management server 1 uses the communication interface 43 to communicate with the autonomous vehicle 2 and the user terminal 3. The manager interface 44 is an input / output unit of the parking lot management server 1 for managers, etc. of the parking lot management server 1. The manager interface 44 includes output devices such as a display and a speaker, and input devices such as a touch panel.

[0042] Next, the functional configuration of the parking lot management server 1 will be described. As Figure 1As shown in the figure, the parking lot management server 1 includes a vehicle information acquisition unit 11, a vehicle condition identification unit 12, a user location determination unit 13, a departure request reception unit 14, and a vehicle instruction unit 15.

[0043] The vehicle information acquisition unit 11 acquires the vehicle information of the autonomous driving vehicle 2 that is the object of automatic valet parking through communication with the autonomous driving vehicle 2. The vehicle information includes the identification information of the autonomous driving vehicle 2 and the position information of the autonomous driving vehicle 2 in the parking lot. The identification information is information that can identify each autonomous driving vehicle 2. The identification information can be an ID number (Identification Number), a vehicle number, or a reservation number for automatic valet parking, etc.

[0044] The vehicle information can include the vehicle type of the autonomous driving vehicle 2, and can also include a vehicle number different from the identification information. The vehicle information can include reservation information for entry such as the entry reservation time, and can also include the scheduled departure time. The vehicle information can include vehicle body information such as the turning radius and vehicle width of the autonomous driving vehicle 2, and can also include information related to the autonomous driving function of the autonomous driving vehicle 2. The information related to the autonomous driving function can also include the version information of the autonomous driving.

[0045] The vehicle information can also include the driving state of the autonomous driving vehicle 2 and the recognition result of the external environment. The recognition of the driving state and the external environment will be described later. The vehicle information can also include the remaining drivable distance or the remaining fuel information of the autonomous driving vehicle 2. The vehicle information can also include the fault information of the autonomous driving vehicle 2. The fault information refers to information related to the vehicle abnormality that has occurred in the autonomous driving vehicle 2. During automatic valet parking, the vehicle information acquisition unit 11 continuously acquires the vehicle information from the autonomous driving vehicle 2.

[0046] The vehicle condition identification unit 12 identifies the condition of the autonomous driving vehicle 2 during automatic valet parking based on the vehicle information acquired by the vehicle information acquisition unit 11. The condition of the autonomous driving vehicle 2 includes the position of the autonomous driving vehicle 2 in the parking lot. The condition of the autonomous driving vehicle 2 includes the communication condition between the parking lot management server 1 and the autonomous driving vehicle 2. The vehicle condition identification unit 12 can also identify the condition of the autonomous driving vehicle 2 based on the captured image of the autonomous driving vehicle 2 sent from the parking lot sensor 4.

[0047] The user location determination unit 13 determines whether the user terminal 3 is located in the boarding area R or in the area Rn near the boarding area based on the communication with the user terminal 3. The location measurement in the user terminal 3 can be performed using the radio waves of beacons installed in the parking lot or facility in addition to using GPS (Global Positioning System) or GNSS (Global Navigation Satellite System). The location measurement in the user terminal 3 is not particularly limited and can also be performed by other methods.

[0048] The boarding area R is a preset area including the boarding parking space 63. As an example, the boarding area R is set as the area including the boarding lot 53. The area Rn near the boarding area is a preset area near the boarding area R. As an example, the area Rn near the boarding area is set as the facility exit elevator hall (elevator hall on the parking lot side) 80 on the same floor as the boarding parking space 63. The area Rn near the boarding area may also include elevator halls on different floors where the elevator 81 in the facility exit elevator hall 80 stops.

[0049] Here, Figure 4 is a hierarchical diagram for explaining an example of the boarding area R and the area Rn near the boarding area. In Figure 4 it shows the facility first floor part 101, the first floor elevator hall (elevator hall on other floors) 102, the first floor automatic door 103, and the first floor acceptance terminal 104.

[0050] The facility first floor part 101 is the first floor part of the facility having the parking lot 50. The first floor elevator hall 102 is an elevator hall connected to the facility first floor part 101. The first floor elevator hall 102 shares the elevator 81 with the facility exit elevator hall 80. The first floor elevator hall 102 is the elevator hall where the elevator 81 stops. The first floor automatic door 103 is the automatic door between the facility first floor part 101 and the first floor elevator hall 102.

[0051] The first floor acceptance terminal 104 is a receiver installed in the first floor elevator hall 102 for short - distance communication with the user terminal 3 in the first floor elevator hall 102. The first floor acceptance terminal 104 is connected to the exit - side acceptance machine 83 through a network. The user can also directly operate the first floor acceptance terminal 104 to request for checkout.

[0052] In addition, in Figure 4In it, the second - floor part 201 of the facility, the second - floor elevator hall (elevator halls on other floors) 202, the second - floor automatic door 203, and the second - floor acceptance terminal 204 are shown. The second - floor part 201 of the facility is the second - floor part of the facility with a parking lot 50. The second - floor elevator hall 202 is an elevator hall connected to the second - floor part 201 of the facility. The second - floor elevator hall 202 shares the elevator 81 with the facility exit elevator hall 80. The second - floor elevator hall 202 is the elevator hall where the elevator 81 stops. The second - floor automatic door 203 is an automatic door between the second - floor part 201 of the facility and the second - floor elevator hall 202.

[0053] The second - floor acceptance terminal 204 is an acceptance machine set in the second - floor elevator hall 202 for short - distance communication with the user terminal 3 in the second - floor elevator hall 202. The second - floor acceptance terminal 204 is connected to the exit - side acceptance machine 83 through a network. It is also possible that the user can directly operate the second - floor acceptance terminal 204 to request vehicle out - of - storage.

[0054] As Figure 4 shown, the boarding area R is set as an area including the entire range of the boarding lot 53, for example. The area near boarding Rn is set as an area including the facility exit elevator hall 80 on the same floor as the boarding vehicle space 63, the first - floor elevator hall 102 where the elevator 81 of the facility exit elevator hall 80 stops, and the second - floor elevator hall 202. In this way, the area near boarding Rn can include other - floor elevator halls (such as the first - floor elevator hall 102 and the second - floor elevator hall 202) on different floors from the boarding vehicle space 63. The area near boarding Rn can also include the elevator 81 itself.

[0055] In addition, as long as the boarding area R includes the boarding vehicle space 63, it can also be a part of the boarding lot 53. The boarding area R can also be an area including the passenger waiting space set near the boarding vehicle space 63 within the boarding lot 53. The boarding area R can also be composed of multiple areas. The boarding area R can be either an area formed only by multiple boarding vehicle spaces 63 or an area formed by multiple boarding vehicle spaces 63 and the passenger waiting spaces set respectively for each boarding vehicle space 63. In the case where the parking lot 50 is a multi - storey parking lot, the boarding area R can also be set on each floor.

[0056] The area near boarding Rn does not necessarily have to include all other - floor elevator halls where the elevator 81 stops. The area near boarding Rn can also only include other - floor elevator halls with a certain number of floor differences from the floor where the boarding vehicle space 63 is located. The certain number of floor differences can be one floor, two floors, or more than three floors.

[0057] In addition, the boarding vicinity area Rn does not need to be an area including the entire range of the facility exit elevator hall 80 and the elevator halls of other floors. The boarding vicinity area Rn only needs to be an area including at least a part of the facility exit elevator hall 80. At least a part of the area can be, for example, an area within the range from the user terminal 3 to the exit side receiving machine 83 as a short-distance communication.

[0058] Similarly, the boarding vicinity area Rn may also be an area including at least a portion of the elevator halls on other floors. For example, at least a portion of the area may be an area within the range of the first-floor acceptance terminal 104 or the second-floor acceptance terminal 204 as a short-distance communication from the user terminal 3. In addition, the boarding vicinity area Rn may be set to include a moving path such as a passage that the user may pass through when going to the boarding parking space 63, or may be set to an area within a certain range from the moving path.

[0059] Furthermore, the user position determination unit 13 may determine that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn when the user terminal 3 is connected to a predetermined receiving machine or receiving terminal through short-distance communication.

[0060] The outbound request accepting unit 14 accepts an outbound request from a user. The outbound request from the user is made through the user terminal 3. The user terminal 3 can make an outbound request through long-distance communication or short-distance communication. The outbound request from the user can also be made by directly operating an accepting machine such as the exit-side accepting machine 83. The outbound request includes information for specifying the autonomous driving vehicle 2 that is the object of the outbound request.

[0061] When a request for unloading is made from the user, the unloading request accepting unit 14 refers to the determination result of the user position determining unit 13. The unloading request accepting unit 14 accepts the unloading request when the user position determining unit 13 determines that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn. The unloading request accepting unit 14 notifies the user terminal 3 that the unloading of the autonomous driving vehicle 2 has started.

[0062] If the user position determination unit 13 does not determine that the user terminal 3 is located in the boarding area R or the boarding vicinity area Rn, the outbound request acceptance unit 14 does not accept the outbound request but performs outbound reservation acceptance. Outbound reservation acceptance refers to acceptance for making a reservation for outbound request acceptance. The outbound request acceptance unit 14 notifies the user terminal 3 of the outbound reservation acceptance. At this time, the outbound request acceptance unit 14 may also obtain the user's consent by continuously receiving the location information of the user terminal 3.

[0063] When the outbound request reception unit 14 has accepted an outbound reservation, it refers to the determination result made by the user location determination unit 13 at regular intervals. When it is determined that the user terminal 3 for which the outbound reservation has been accepted is located in the boarding area R or the area Rn near boarding, the outbound request reception unit 14 automatically accepts the outbound request. The outbound request reception unit 14 notifies the user terminal 3 of the start of outbound of the autonomous driving vehicle 2 based on the outbound reservation. Thus, even if the user does not perform the operation of making an outbound request again, the outbound request will be accepted, and the autonomous driving vehicle 2 can start outbound.

[0064] The vehicle instruction unit 15 gives instructions to the autonomous driving vehicle 2 performing automated valet parking. The vehicle instruction unit 15 performs automated valet parking of the autonomous driving vehicle 2 by instructing a target route to the parking space 61 or the boarding and using space 63 within the parking lot 50. As an example, the target route can be the shortest path from the current position of the autonomous driving vehicle 2 within the parking lot 50 to the destination. In addition, the vehicle instruction unit 15 may also instruct the upper speed limit and / or the upper acceleration within the parking lot together with the target route. The upper speed limit and the upper acceleration are predetermined.

[0065] When the outbound request reception unit 14 has accepted an outbound request, the vehicle instruction unit 15 instructs the autonomous driving vehicle 2 that is the object of the outbound request to move to the boarding and using space 63 (start of outbound). For example, the vehicle instruction unit 15 makes the autonomous driving vehicle 2 start outbound by instructing a target route from the current position of the autonomous driving vehicle 2 parked at the parking space 61 to the vacant boarding and using space 63.

[0066] Next, the autonomous driving vehicle 2 and the user terminal 3 that communicate with the parking lot management server 1 will be described. In addition, the automated parking system 100 according to the present embodiment does not need to include the autonomous driving vehicle 2.

[0067] 〈Configuration of Autonomous Driving Vehicle〉

[0068] As Figure 1 shown, as an example, the autonomous driving vehicle 2 has an autonomous driving ECU 20. The autonomous driving ECU 20 is an electronic control unit having a CPU, a ROM, a RAM, etc. In the autonomous driving ECU 20, for example, by loading the program recorded in the ROM into the RAM and executing the program loaded into the RAM by the CPU, various functions are realized. The autonomous driving ECU 20 may also be composed of multiple electronic units.

[0069] The autonomous driving ECU 20 is connected to a communication unit 21, an external sensor 22, an internal sensor 23, and an actuator 24.

[0070] The communication unit 21 is a communication device that controls wireless communication with the outside of the autonomous driving vehicle 2. The communication unit 21 transmits and receives various information through communication with the parking lot management server 1. For example, the communication unit 21 transmits vehicle information to the parking lot management server 1 and obtains information required for automated valet parking (such as information on landmarks along the target route) from the parking lot management server 1. In addition, the communication unit 21 communicates with the user terminal 3 associated with the autonomous driving vehicle 2.

[0071] The external sensor 22 is an in-vehicle sensor that detects the external environment of the autonomous driving vehicle 2. The external sensor 22 includes at least a camera. The camera is an imaging device that captures the external environment of the autonomous driving vehicle 2. The camera is, for example, installed inside the front windshield of the autonomous driving vehicle 2 and captures the front of the vehicle. The camera sends imaging information related to the external environment of the autonomous driving vehicle 2 to the autonomous driving ECU 20. The camera can be a monocular camera or a stereo camera. Multiple cameras can also be installed, and in addition to the front of the autonomous driving vehicle 2, the left and right sides and the rear can also be captured.

[0072] The external sensor 22 may also include a radar sensor. The radar sensor is a detection device that uses radio waves (such as millimeter waves) or light to detect objects around the autonomous driving vehicle 2. The radar sensor includes, for example, a millimeter wave radar or a lidar (Light Detection and Ranging). The radar sensor detects objects by sending radio waves or light to the surroundings of the autonomous driving vehicle 2 and receiving the radio waves or light reflected by the objects. The radar sensor sends the detected object information to the autonomous driving ECU 20. In addition, the external sensor 22 may also include a sonar sensor that detects sounds outside the autonomous driving vehicle 2.

[0073] The internal sensor 23 is an in-vehicle sensor that detects the driving state of the autonomous driving vehicle 2. The internal sensor 23 includes a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detector that detects the speed of the autonomous driving vehicle 2. As the vehicle speed sensor, a wheel speed sensor that detects the rotational speed of each wheel and is provided for the wheels of the autonomous driving vehicle 2 or a drive shaft that rotates integrally with the wheels can be used. The vehicle speed sensor sends the detected vehicle speed information (wheel speed information) to the autonomous driving ECU 20.

[0074] The acceleration sensor is a detector that detects the acceleration of the autonomous driving vehicle 2. The acceleration sensor includes, for example, a longitudinal acceleration sensor that detects the acceleration of the autonomous driving vehicle 2 in the longitudinal direction. The acceleration sensor may also include a lateral acceleration sensor that detects the lateral acceleration of the autonomous driving vehicle 2. The acceleration sensor sends the acceleration information of the autonomous driving vehicle 2 to the autonomous driving ECU 20, for example. The yaw rate sensor is a detector that detects the yaw rate (rotational angular velocity) of the autonomous driving vehicle 2 about the vertical axis passing through the center of gravity. As the yaw rate sensor, a gyro sensor can be used, for example. The yaw rate sensor sends the detected yaw rate information of the autonomous driving vehicle 2 to the autonomous driving ECU 20.

[0075] The actuator 24 is a device used in the control of the autonomous driving vehicle 2. The actuator 24 includes at least a drive actuator, a brake actuator, and a steering actuator. The drive actuator controls the amount of air supplied to the engine (throttle opening) according to a control signal from the autonomous driving ECU 20, and controls the driving force of the autonomous driving vehicle 2. Further, in the case where the autonomous driving vehicle 2 is a hybrid vehicle, in addition to the amount of air supplied to the engine, a control signal from the autonomous driving ECU 20 is input to the motor serving as a power source, thereby controlling the driving force. In the case where the autonomous driving vehicle 2 is an electric vehicle, a control signal from the autonomous driving ECU 20 is input to the motor serving as a power source, thereby controlling the driving force. The motor serving as a power source in these cases constitutes the actuator 24.

[0076] The brake actuator controls the braking system according to a control signal from the autonomous driving ECU 20, and controls the braking force applied to the wheels of the autonomous driving vehicle 2. As the braking system, a hydraulic braking system can be used, for example. The steering actuator controls the drive of the assist motor that controls the steering torque in the electric power steering system according to a control signal from the autonomous driving ECU 20. Thereby, the steering actuator controls the steering torque of the autonomous driving vehicle 2.

[0077] Next, an example of the functional configuration of the autonomous driving ECU 20 will be described. The autonomous driving ECU 20 has an external environment recognition unit 31, a driving state recognition unit 32, a vehicle position recognition unit 33, a vehicle information providing unit 34, and a vehicle control unit 35.

[0078] The external environment recognition unit 31 recognizes the external environment of the autonomous driving vehicle 2 based on the detection results of the external sensor 22 (the captured image of the camera or the object information detected by the radar sensor). The external environment includes the relative positions of surrounding objects with respect to the autonomous driving vehicle 2. The external environment may also include the relative speeds and moving directions of surrounding objects with respect to the autonomous driving vehicle 2. The external environment recognition unit 31 recognizes objects such as other vehicles and pillars in the parking lot through pattern matching or the like. The external environment recognition unit 31 may also recognize the doors of the parking lot, the walls of the parking lot, poles, safety cones, etc. In addition, the external environment recognition unit 31 may also recognize the driving boundaries in the parking lot through white line recognition.

[0079] The driving state recognition unit 32 recognizes the driving state of the autonomous driving vehicle 2 based on the detection results of the internal sensor 23. The driving state includes the vehicle speed of the autonomous driving vehicle 2, the acceleration of the autonomous driving vehicle 2, and the yaw rate of the autonomous driving vehicle 2. Specifically, the driving state recognition unit 32 recognizes the vehicle speed of the autonomous driving vehicle 2 based on the vehicle speed information of the vehicle speed sensor. The driving state recognition unit 32 recognizes the acceleration of the autonomous driving vehicle 2 based on the acceleration information of the acceleration sensor. The driving state recognition unit 32 recognizes the orientation of the autonomous driving vehicle 2 based on the yaw rate information of the yaw rate sensor.

[0080] The vehicle position recognition unit 33 recognizes the position of the autonomous driving vehicle 2 in the parking lot based on the parking lot map information obtained from the parking lot management server 1 through the communication unit 21 and the external environment recognized by the external environment recognition unit 31.

[0081] The vehicle position recognition unit 33 recognizes the position of the autonomous driving vehicle 2 in the parking lot based on the position information of the landmarks in the parking lot included in the parking lot map information and the relative positions of the landmarks with respect to the autonomous driving vehicle 2 recognized by the external environment recognition unit 31. As the landmark, an object fixedly installed in the parking lot can be used. The landmark can be, for example, at least one of the pillars in the parking lot, the walls of the parking lot, poles, safety cones, etc. The driving boundary can also be used as a landmark.

[0082] In addition to this, the vehicle position recognition unit 33 may also recognize the position of the autonomous driving vehicle 2 through dead reckoning based on the detection results of the internal sensor 23. In addition, the vehicle position recognition unit 33 may also recognize the position of the autonomous driving vehicle 2 through communication with the beacon installed in the parking lot.

[0083] The vehicle information providing unit 34 provides vehicle information to the parking lot management server 1 through the communication unit 21. For example, the vehicle information providing unit 34 provides vehicle information including the position of the autonomous driving vehicle 2 in the parking lot identified by the vehicle position identifying unit 33 to the parking lot management server 1 at regular intervals.

[0084] When the vehicle information providing unit 34 detects a vehicle abnormality, it provides vehicle information including failure information related to the vehicle abnormality to the parking lot management server 1. The method for detecting vehicle abnormalities (various failures) is not particularly limited, and well-known methods can be adopted.

[0085] The vehicle control unit 35 executes the autonomous driving of the autonomous driving vehicle 2. During autonomous driving, the autonomous driving vehicle 2 is automatically driven along the target route indicated by the parking lot management server 1. For example, based on the target route, the position of the autonomous driving vehicle 2, the external environment of the autonomous driving vehicle 2, and the driving state of the autonomous driving vehicle 2, the vehicle control unit 35 generates a driving trajectory (trajectory, forward road, direction) of the autonomous driving vehicle 2. The driving trajectory corresponds to the driving plan of autonomous driving. The driving trajectory includes the path that the vehicle travels through autonomous driving and the vehicle speed plan during autonomous driving.

[0086] The path is the trajectory that the vehicle is scheduled to travel during autonomous driving on the target route. For example, the path can be set as data on the change in the steering angle of the autonomous driving vehicle 2 corresponding to the position on the target route (steering angle plan). The position on the target route is, for example, a set longitudinal position set at predetermined intervals (e.g., 1 meter) in the traveling direction of the target route. The so-called steering angle plan is data in which a target steering angle is associated with each set longitudinal position.

[0087] For example, the vehicle control unit 35 generates a driving trajectory so as to pass through the center of the driving path in the parking lot along the target route. When the upper limit vehicle speed is indicated by the parking lot management server 1, the vehicle control unit 35 generates a driving trajectory so as to have a vehicle speed plan that does not exceed the upper limit vehicle speed. The vehicle control unit 35 can also use the parking lot map information obtained through communication with the parking lot management server 1 to generate the driving trajectory.

[0088] When the vehicle control unit 35 receives a parking instruction from the parking lot management server 1, it stops the autonomous driving vehicle 2. When the vehicle control unit 35 receives a traveling instruction from the parking lot management server 1, it makes the stopped autonomous driving vehicle 2 travel. The above is an example of the configuration of the autonomous driving vehicle 2, but as long as the autonomous driving vehicle 2 has a configuration capable of realizing automatic valet parking, it is not limited to the above content.

[0089] 〈Configuration of the user terminal〉

[0090] The user terminal 3 is a portable information terminal of a user associated with the autonomous vehicle 2. The user terminal 3 is registered in the autonomous vehicle 2 as, for example, the terminal of the owner of the autonomous vehicle 2. The user terminal 3 can also be the terminal of a user who is a temporary owner due to lease or is registered in the autonomous vehicle 2 as a permission holder through the transfer of the instruction permission from the owner. The user terminal 3 is constituted by, for example, a computer including a processor such as a CPU, a memory such as a ROM or a RAM, a communication device, and a user interface including a display and a touch panel, etc.

[0091] The user terminal 3 has a function of making an entry request and an exit request to the parking lot management server 1. The user can make an entry request and an exit request for automated valet parking by operating the user terminal 3. For example, after the user gets out of the autonomous vehicle 2 and parks it in the drop-off parking space 62 in the drop-off area 52 of the parking lot 50, the user operates the user terminal 3 and makes an entry request through short-range communication with the entrance-side acceptor 73. Similarly, when the user returns to the parking lot 50 from the facility, the user operates the user terminal 3 and makes an exit request through short-range communication with the exit-side acceptor 83, the first-floor acceptor 104, the second-floor acceptor 204, etc.

[0092] [Processing of the Automated Parking System]

[0093] Next, the processing of the automated parking system 100 will be described with reference to the drawings. Figure 5A It is a flowchart showing an example of the exit request processing in the user terminal 3. The exit request processing can be executed after the start of automated valet parking of the autonomous vehicle 2.

[0094] As Figure 5A shown, as S10, the user terminal 3 determines (identifies) whether the user has made an exit request operation. When the user terminal 3 determines that the user has made an exit request operation (S10: Yes), it moves to S12. When the user terminal 3 does not determine that the user has made an exit request operation (S10: No), this processing ends.

[0095] In S12, the user terminal 3 sends the location information of the user terminal 3 and the exit request to the parking lot management server 1. The location information of the user terminal 3 can use the information obtained through the location measurement function (GPS, GNSS, beacon, etc.) of the user terminal 3. The exit request includes information for identifying the autonomous vehicle 2 that is the object of the exit request.

[0096] Figure 5B It is a flowchart showing an example of the exit processing in the parking lot management server 1. The exit processing is performed when an exit request is sent from the user terminal 3.

[0097] As Figure 5B shown, as S20, the parking lot management server 1 determines whether the user terminal 3 is located in the boarding area R or the area Rn near the boarding area by the user location determination unit 13. The user location determination unit 13 performs location determination based on the location information of the user terminal 3. When the parking lot management server 1 determines that the user terminal 3 is located in the boarding area R or the area Rn near the boarding area (S20: Yes), it moves to S26. When the parking lot management server 1 does not determine that the user terminal 3 is located in the boarding area R or the area Rn near the boarding area (S20: No), it moves to S22.

[0098] In S22, the parking lot management server 1 accepts the outbound reservation by the outbound request acceptance unit 14. The outbound request acceptance unit 14 adds the user's autonomous driving vehicle 2 to the list of vehicles scheduled to leave the warehouse. In S24, the parking lot management server 1 notifies the user terminal 3 of the acceptance of the outbound reservation. After that, the parking lot management server 1 moves to the outbound process after the acceptance of the outbound reservation described later.

[0099] In S26, the parking lot management server 1 accepts the outbound request by the outbound request acceptance unit 14. The outbound request acceptance unit 14 notifies the user terminal 3 of the start of outbound. In S28, the parking lot management server 1 instructs the autonomous driving vehicle 2 to move to the boarding parking space 63 (start of outbound) by the vehicle instruction unit 15.

[0100] Figure 6 It is a flowchart showing an example of the outbound process after the acceptance of the outbound reservation in the parking lot management server.

[0101] As Figure 6 shown, as S30, the parking lot management server 1 determines whether the user terminal 3 is located in the boarding area R or the area Rn near the boarding area by the user location determination unit 13. The parking lot management server 1 continuously obtains the location information from the user terminal 3 that has become the object of the outbound reservation. When the parking lot management server 1 determines that the user terminal 3 is located in the boarding area R or the area Rn near the boarding area (S30: Yes), it moves to S32. When the parking lot management server 1 does not determine that the user terminal 3 is located in the boarding area R or the area Rn near the boarding area (S30: No), it ends the current process. After that, the parking lot management server 1 makes a determination in S30 again after a certain period of time.

[0102] In S32, the parking lot management server 1 notifies the user terminal 3 of the start of outbound based on the outbound reservation by the outbound request acceptance unit 14. The outbound request acceptance unit 14 automatically accepts the outbound request. In S34, the parking lot management server 1 instructs the autonomous driving vehicle 2 to move to the boarding parking space 63 (start of outbound) by the vehicle instruction unit 15.

[0103] According to the automatic parking system 100 according to the above-described embodiment, when the user position determination unit 13 determines that the user terminal 3 is located in the boarding area R including the boarding parking space 63 or the area Rn near the boarding area, the outbound request from the user terminal 3 is accepted and the autonomous driving vehicle 2 is instructed to move to the boarding parking space 63. Therefore, compared with the case where the outbound request is accepted even though the user is not in the boarding area R or the area Rn near the boarding area, it is possible to suppress the autonomous driving vehicle from waiting for a long time at the boarding parking space 63 due to the late arrival of the user.

[0104] In addition, according to the automatic parking system 100, the area Rn near the boarding area includes not only the facility exit elevator hall (parking lot side elevator hall) 80 near the parking lot 50, but also at least a part of the other floor elevator halls 102 and 202 on different floors from the parking lot 50. Therefore, compared with the case where the outbound reservation is accepted only after the user gets off the elevator on the same floor of the parking lot 50, the convenience of the user can be improved.

[0105] Furthermore, according to the automatic parking system 100, even when it is not determined that the user terminal 3 is located in the boarding area R or the area Rn near the boarding area when the outbound request is made, the outbound reservation is accepted, and when it is determined that the user terminal 3 is located in the boarding area R or the area Rn near the boarding area, the outbound request is automatically accepted. Therefore, compared with the case where the user has to make an outbound request again after entering the boarding area R or the area Rn near the boarding area, the convenience of the user can be improved.

[0106] The above describes the embodiments of the present invention, but the present invention is not limited to the above-described embodiments. The present invention can be implemented in various ways obtained by making various changes and improvements based on the above-described embodiments according to the knowledge of those skilled in the art.

[0107] The user position determination unit 13 may also be configured to determine only whether the user terminal 3 is located in the boarding area R, or may be configured to determine only whether the user terminal 3 is located in the area Rn near the boarding area. The area Rn near the boarding area does not necessarily include a part of the other floor elevator hall. It may also be in a form that includes only a part of the parking lot side elevator hall on the same floor as the parking lot 50.

[0108] The outbound request acceptance unit 14 does not necessarily accept the outbound reservation. The outbound request acceptance unit 14 may also notify the user terminal 3 that the outbound request has not been accepted when it is not determined that the user terminal 3 is located in the boarding area R or the area Rn near the boarding area when the outbound request is made. In this case, Figure 5BIn the outbound processing of the parking lot management server 1 shown, instead of S22 and S24, the user terminal 3 is notified that the outbound request has not been accepted. In addition, the outbound request acceptance unit 14 may, while notifying that the outbound request has not been accepted, also issue a guidance notification for the area where the user must arrive in order to accept the outbound request.

Claims

1. An automatic parking system, characterized in that, in response to a departure request from a user terminal which is a terminal held by a user, an instruction is given to an autonomous driving vehicle parked in a parking lot, whereby the autonomous driving vehicle automatically moves to a boarding and alighting parking space in the parking lot, the system includes a processor configured to: acquire the position information of the user terminal; determine whether the user terminal is located in a boarding vicinity area including a preset boarding area, the preset boarding area including a boarding and alighting parking space; when receiving a departure request from the user terminal, determine whether the user terminal is located within or outside the boarding vicinity area; notify the user terminal of different parking-related notifications in the case of being located within the boarding vicinity area and in the case of being located outside the boarding vicinity area respectively.

2. The automatic parking system according to claim 1, the processor, in the case of determining that the user terminal is located within the boarding vicinity area, instruct the autonomous driving vehicle to move to the boarding and alighting parking space, and notify the user terminal that the autonomous driving vehicle has started to depart; in the case of determining that the user terminal is located outside the boarding vicinity area, notify the user terminal that the departure reservation of the vehicle has been accepted.

3. The automatic parking system according to claim 1, the processor, in the case of determining that the user terminal is located within the boarding vicinity area, instruct the autonomous driving vehicle to move to the boarding and alighting parking space, and notify the user terminal that the autonomous driving vehicle has started to depart; when determining that the user terminal is located outside the boarding vicinity area, notify the user terminal that there is no intention of accepting the departure request.

4. The automatic parking system according to claim 1, the boarding vicinity area includes: at least a part of the parking lot side elevator hall on the same floor as the boarding and alighting parking space of the parking lot; at least a part of the other floor elevator hall where the elevator of the parking lot side elevator hall stops on a different floor from the parking lot side elevator hall; and at least a part of the elevator.

5. The automatic parking system according to claim 1, the boarding vicinity area includes at least a part of a movement path that a user will pass through when going to the boarding and alighting parking space.

6. The automatic parking system according to claim 1, the processor, in the case of determining that the user terminal is located outside the boarding vicinity area, determine again after a certain period of time whether the user terminal is located within or outside the boarding vicinity area.

7. The automatic parking system according to claim 2, the processor, continuously acquires the position information from the user terminal that has become the object of the departure reservation.

8. The automatic parking system according to claim 1, the processor, acquires vehicle information of the autonomous driving vehicle, the vehicle information including inbound reservation information, autonomous driving version information, vehicle body information or fault information; and instructs the autonomous driving vehicle with the speed limit in the parking lot and the target route together.

9. The automatic parking system according to claim 8, The target route is set as the shortest path from the current position of the autonomous vehicle in the parking lot to the destination.

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