Automatic valet parking system and automatic valet parking method

Abstract

The invention relates to an automatic valet parking system and an automatic valet parking method. And carrying out parking processing of automatic valet parking. In the entry processing, equipment information indicating an entry object of a vehicle that is an object of the entry processing is acquired. In addition, in the storage processing, based on the equipment information, it is determined whether or not the equipment to be stored includes the solar power generation system. Furthermore, in the parking processing, when the parking object belongs to a non-solar power generation vehicle without a solar power generation system as a result of the determination based on the equipment information, the parking space utilization information in the predetermined area and the sunshine duration information in the predetermined area are used to determine the parking space utilization information in the predetermined area. And generates guidance information for guiding the storage object to a parking space having a short sunshine duration based on the execution time of the storage processing.

Description

Technical Field

[0001] This disclosure relates to Automated Valet Parking (AVP) of vehicles in a predetermined area such as a parking lot. Background Technology

[0002] Japanese Patent Application Publication No. 2022-146456 discloses a technology related to AVP (Automated Guided Vehicle). This prior art, when performing AVP on a vehicle equipped with a receiver for contactless charging, guides the vehicle to a parking space equipped with a power supply corresponding to the receiver. Summary of the Invention

[0003] Consider an AVP (Automated Vehicle) for a vehicle equipped with a solar power generation system. In this system, electricity generated by solar panels charges the vehicle's battery. Therefore, in an AVP for a vehicle equipped with a solar power generation system, it is possible to charge the vehicle's battery while the vehicle is parked, provided the vehicle is guided to a parking space expected to receive sunlight. However, depending on the structure of the designated area, the number of parking spaces expected to receive sunlight may be limited. Therefore, it is desirable to develop a technology that can guide a vehicle equipped with a solar power generation system to such parking spaces even when the number of expected sunny parking spaces is limited.

[0004] This disclosure provides an AVP technology that can guide vehicles equipped with solar power generation systems to parking spaces even when the number of parking spaces expected to receive sunlight is limited.

[0005] The first aspect of this disclosure is a system for automated valet parking of vehicles within a predetermined area, characterized by the following features: The system includes one or more storage devices and one or more processors. Utilization information of parking spaces within the predetermined area and sunshine duration information within the predetermined area are stored in the one or more storage devices. The one or more processors perform the automated valet parking entry process based on the information stored in the one or more storage devices. The entry process includes: obtaining equipment information of the vehicle to be entered, the vehicle representing the vehicle to be entered; determining, based on the equipment information, whether the equipment of the vehicle includes a solar power generation system; and, if, as a result of the determination based on the equipment information, the vehicle is a non-solar power generation vehicle that does not have a solar power generation system, generating guidance information based on the utilization information and the sunshine duration information to guide the vehicle to a parking space with shorter sunshine duration based on the execution time of the entry process.

[0006] The second aspect of this disclosure is a method for enabling a computer to perform automated valet parking for vehicles within a predetermined area, characterized by the following features: The method includes: obtaining utilization information of parking spaces within the predetermined area and sunshine duration information within the predetermined area; obtaining equipment information of a vehicle to be parked, the vehicle being parked representing the vehicle to be parked in the automated valet parking process; determining, based on the equipment information, whether the equipment of the vehicle being parked includes a solar power generation system; and, if, as a result of the determination based on the equipment information, the vehicle being parked is a non-solar power generation vehicle without a solar power generation system, generating guidance information based on the utilization information and the sunshine duration information to guide the vehicle to a parking space with shorter sunshine duration based on the execution time of the parking process.

[0007] According to either the first or second viewpoint, non-solar-powered vehicles can be directed to parking spaces with shorter hours of sunlight. Therefore, even if the number of parking spaces with longer hours of sunlight is limited, this ensures a sufficient number of such spaces. In other words, even if the number of parking spaces expected to receive sunlight is limited, solar-powered vehicles can be directed to these spaces. Attached Figure Description

[0008] Hereinafter, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which the same reference numerals denote the same elements, and wherein:

[0009] Figure 1 This is a diagram illustrating an example of the configuration of an automated valet parking system;

[0010] Figure 2 This is a conceptual diagram illustrating the first inbound processing involved in the implementation method;

[0011] Figure 3 This is a flowchart representing a processing instance associated with the first inbound process;

[0012] Figure 4 This is a conceptual diagram illustrating the configuration replacement (repositioning) process involved in the implementation method;

[0013] Figure 5 This is a flowchart illustrating a process example associated with configuration change processing;

[0014] Figure 6 This is a conceptual diagram illustrating the second data entry process involved in the implementation method; and

[0015] Figure 7 This is a flowchart representing a processing example associated with the second inbound process. Detailed Implementation

[0016] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Furthermore, in the drawings, the same or equivalent parts are labeled with the same reference numerals, and their descriptions are simplified or omitted.

[0017] 1. Example of the overall system structure

[0018] Automated Valet Parking (AVP) systems are systems that automatically park vehicles within designated areas such as parking lots, factories, and facilities. Figure 1 This is a diagram illustrating an example of the configuration of an AVP system. Figure 1 The diagram depicts a parking lot PK as a designated area. The parking lot PK has a structure capable of implementing AVP (Automated Vehicle Response). This AVP-capable structure includes a pick-up / drop-off area (PD) and parking spaces (PS). The pick-up / drop-off area (PD) is the space for getting off and / or boarding a vehicle (VH). The parking spaces (PS) are the spaces for parking vehicles (VH). The parking spaces (PS) include vacant parking spaces (PS0) and occupied parking spaces (PS1). The AVP-capable structure also includes markers to assist vehicle (VH) movement within the parking lot PK, and sensors (such as cameras and radar) to monitor vehicle (VH) movement.

[0019] exist Figure 1 The document also describes a server (hereinafter referred to as a "parking server") 10 that manages the AVPs within the parking lot PK. The parking server 10 performs various processes related to the management of the vehicle VH operating permissions required by the AVPs within the parking lot PK. The parking server 10 also obtains various information from the sensor classes of the parking lot PK and performs various processes related to the execution of the AVPs within the parking lot PK based on this information. The parking server 10 can be a combination of a server performing various processes related to the execution of the AVPs (a local server) and a server performing various processes related to the management of the AVPs (a cloud server).

[0020] A parking server 10 is typically a computer comprising at least one processor 11, at least one storage device 12, and a communication I / F (interface) 13. The processor 11 is equivalent to the "one or more processors" configuration of this disclosure. The processor 11 performs various processes. Examples of processor 11 include a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), and a FPGA (Field-Programmable Gate Array). The processor 11 may also be referred to as a "circuit" or "processing circuitry." A "circuit" is hardware programmed to implement the described functions or hardware performing functions. The processor 11 reads various information from the storage device 12 and also stores various information in the storage device 12.

[0021] Storage device 12 is a structure equivalent to "one or more storage devices" in this disclosure. Examples of storage devices 12 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), SSD (Solid State Drive), etc. Examples of various information stored in storage device 12 include parking lot map information, parking lot utilization information, vehicle management information, sunshine duration information, etc.

[0022] Parking lot map information represents the map information of the parking lot PK. Parking lot utilization information is related to the utilization status (vacancy information) of the pick-up / drop-off area (PD) and parking spaces (PS) within the parking lot PK. Vehicle management information includes vehicle ID, entry / exit time, vehicle location, etc. Vehicle management information is managed on a per-vehicle (VH) basis. Vehicle ID is the identification information of the vehicle (VH). Entry / exit time is related to the entry / exit time of the vehicle (VH) (e.g., reservation time, actual entry time, etc.). Vehicle location represents information related to the location of the vehicle (VH) within the parking lot PK. Sunshine duration information is related to the sunshine duration (SD) within the parking lot PK, and is managed on a per-parking space (PS) basis. Sunshine duration (SD) is calculated daily, for example, based on sunshine factors. Sunshine factors can include meteorological information, structural information of the parking lot PK (location and information of structures), surrounding information of the parking lot PK (location and height of surrounding structures), and information of vehicles parked around the parking spaces (PS) (parking position and height of parked vehicles).

[0023] The communication I / F13 is an interface used to communicate with external devices of the parking server 10 to send and receive information. For example, the communication I / F13 may consist of devices for connecting to surrounding devices via a wireless LAN, devices for connecting to a mobile communication network, or devices for connecting to the Internet. The parking server 10 sends and receives information with the vehicle VH (vehicle system 20) via the communication I / F13. Additionally, the parking server 10 sends and receives information with the integrated management server 30 via the communication I / F13.

[0024] exist Figure 1 The document also depicts a vehicle system 20. The vehicle system 20 is installed in each vehicle (VH) as a system capable of performing AVP (Automatic Vehicle Utility). The vehicle system 20 includes a control unit 21, a communication I / F (Integrated / Integrated Function) 22, and a driving unit 23.

[0025] The control unit 21 is communicatively connected to the communication I / F 22 and the driving unit 23. The control unit 21 is a computer that processes information related to vehicle VH control based on various information. The control unit 21 includes at least one processor and at least one storage device. The processor of the control unit 21 has the same structure as the processor of the processor 11. Furthermore, the storage device of the control unit 21 has the same structure as the storage device 12. The processor and storage device of the control unit 21 cooperate to perform the information processing related to vehicle VH control.

[0026] For example, control unit 21 may consist of one or more ECUs (Electronic Control Units). In another example, control unit 21 may consist of a suite of functions (e.g., an AVP suite) provided by parking server 10. Control unit 21 generates and outputs control signals for vehicle VH through information processing. When vehicle VH receives guidance information GDN for AVP actions (e.g., parking entry, parking exit, configuration change, etc.) from parking server 10, control unit 21 generates control signal CON for the AVP action. Control signal CON is transmitted to driving unit 23.

[0027] Communication I / F22 is an interface used to communicate with external devices of the vehicle VH to send and receive information. The vehicle VH sends and receives information with the parking server 10 via Communication I / F22. In addition, the vehicle VH can also send and receive information with the user terminal 40 via Communication I / F22.

[0028] The driving unit 23 includes a drive unit, a braking unit, a steering unit, etc. Each component of the driving unit 23 includes an actuator that can be controlled by the control unit 21. The driving unit 23 receives control signals from the control unit 21. The actuators operate according to the control signals, thereby enabling the control unit 21 to control the driving unit 23. Furthermore, vehicle VH control is achieved through the control of the driving unit 23. The actuators operate according to the control signal CON for AVP operation, thereby achieving vehicle control for AVP operation.

[0029] exist Figure 1 The diagram also shows a management server 30. The management server 30 is a server (cloud server) that manages the AVP service as a whole. The management server 30 manages users utilizing the AVP service (hereinafter also referred to as "AVP users"), vehicles with vehicle systems 20 (i.e., vehicle VHs), etc. AVP user management includes AVP user authentication and AVP user reservation management. Vehicle VH management includes vehicle VH information management, vehicle VH operation permission management, and vehicle VH AVP action log management.

[0030] The management server 30 performs various processes related to the management of AVP reservations within the parking lot PK. The management server 30 is typically a computer including at least one processor 31, at least one storage device 32, and communication I / F 33. The structure of the processor 31 is the same as that of the processor 11. Furthermore, the structure of the storage device 32 is the same as that of the storage device 12.

[0031] The various information stored in the storage device 32 may include AVP reservation information, user information, AVP vehicle information, etc.

[0032] AVP reservation information relates to AVP user reservations. This includes information such as the parking lot the AVP user wishes to use and their entry / exit times. User information includes the AVP user's user ID and the vehicle ID of the vehicle used by the AVP user. User information is managed for each AVP user. AVP vehicle information includes the vehicle ID of the vehicle with vehicle system 20, the IP address of vehicle system 20, and the AVP action log of vehicle system 20. AVP vehicle information also includes equipment information for the vehicle with vehicle system 20. Equipment information relates to onboard equipment. Examples of onboard equipment include solar power systems and external charging systems. Solar power systems include solar panels, converters, and batteries, while external charging systems include batteries that can be charged from an external charger. In the case of vehicles equipped with solar power systems or external charging systems, the State of Charge (SOC) of the batteries in these systems can also be included in the AVP vehicle information.

[0033] The communication I / F33 is an interface used to communicate with external devices of the management server 30 to send and receive information. For example, the communication I / F33 may consist of devices for connecting to surrounding devices via a wireless LAN, devices for connecting to a mobile communication network, or devices for connecting to the Internet. The management server 30 sends and receives information with the parking server 10 via the communication I / F33. Additionally, the management server 30 sends and receives information with the user terminal 40 via the communication I / F33.

[0034] User terminal 40 is a terminal (e.g., a smartphone) carried by the AVP user. The AVP user sends and receives information with the vehicle VH (vehicle system 20) through the operation of user terminal 40. The AVP user also sends and receives information with the management server 30 through the operation of user terminal 40. User terminal 40 is used by AVP users to register and reserve AVP services. User terminal 40 is also appropriately used when AVP is active in the parking lot PK. Alternatively, the operation of a terminal (e.g., HMI) installed in the vehicle VH can replace the operation of user terminal 40 to send and receive AVP-related information.

[0035] 2. AVP processing

[0036] During AVP (Entry Processing) execution, for example, the parking server 10 and the integrated management server 30 exchange information to obtain operation permissions for the vehicle (VH) waiting in the pick-up / drop-off area (PD). This operation permission is transferred to the parking server 10, which (processor 11) can then execute the AVP for the vehicle (VH). The vehicle system 20 generates a control signal CON according to the AVP action (entry action) guidance information GDN received from the parking server 10 and controls the driving device 23. Thus, vehicle control is performed for the AVP action (entry action) from the pick-up / drop-off area (PD) to the parking space (PS0).

[0037] When performing AVP (Configuration Change Processing), for example, vehicle system 20 generates control signal CON according to the AVP action (configuration change action) guidance information GDN received from parking lot server 10, and controls driving device 23. Thus, vehicle control is performed for AVP action (configuration change action) from parking space PS1 to parking space PS0.

[0038] During AVP (Available View Processing) processing, for example, vehicle system 20 generates control signal CON according to the AVP action (outbound action) guidance information GDN received from parking server 10, and controls driving device 23. This performs vehicle control for the AVP action (outbound action) from parking space PS1 to pick-up / drop-off area PD. After vehicle VH arrives at pick-up / drop-off area PD, parking server 10 and integrated management server 30 exchange information to return the operating rights of vehicle VH. Through this transfer of operating rights to integrated management server 30, parking server 10 (processor 11) terminates the AVP execution of vehicle VH.

[0039] 3. Characteristics of AVP processing

[0040] 3-1. Characteristics of the first inbound processing

[0041] Figure 2 This is a conceptual diagram illustrating the first data entry process involved in the implementation method. Figure 2 The document describes two types of vehicles (VH). One type is a vehicle VH equipped with a solar power generation system (hereinafter also referred to as "Vehicle VH-SS"), and the other type is a vehicle VH without a solar power generation system (hereinafter also referred to as "Vehicle VH-NSS"). Vehicle VH-SS is equivalent to the "solar power generation vehicle" of this disclosure, and vehicle VH-NSS is equivalent to the "non-solar power generation vehicle" of this disclosure.

[0042] In the first parking process, the parking locations for vehicles VH-SS and VH-NSS are arbitrary parking spaces PS0. However, parking spaces PS0 include those expected to receive sunlight (hereinafter also referred to as "sunny parking spaces PS0-SD0") and those expected to not receive sunlight (hereinafter also referred to as "shady parking spaces PS0-SD1"). Here, the distinction between sunny and shaded spaces is based on the length of the sunshine duration SD. For example, parking spaces PS0 with a sunshine duration SD longer than the designated duration DD are classified as "sunny parking spaces PS0-SD0". Parking spaces PS0 with a sunshine duration SD shorter than the designated duration DD are classified as "shady parking spaces PS0-SD1". Sunny and shaded spaces are distinguished in this way.

[0043] If vehicle VH-SS can be parked in the sunny parking space PS0-SD0, it is possible to charge the battery through the operation of the solar power system during the vehicle's parking period. However, if vehicle VH-NSS is parked in the sunny parking space PS0-SD0, vehicle VH-SS's parking opportunity in the sunny parking space PS0-SD0 is deprived. Therefore, in the first parking process, if the vehicle VH (hereinafter referred to as "parking object LT") to be processed in the parking process is vehicle VH-NSS, the parking position of parking object LT is set to the shaded parking space PS0-SD1. This ensures that vehicle VH-SS, which is different from vehicle VH-NSS that is parking object LT, has the opportunity to park in the sunny parking space PS0-SD0.

[0044] Furthermore, even when the vehicle being entered (LT) belongs to vehicle VH-SS, there are cases where the SOC (State of Charge) of the solar power system of vehicle LT is sufficient. In such cases, other vehicles VH-SS with insufficient SOC are deprived of the opportunity to park in sunny parking spaces PS0-SD0. Therefore, in the first entry process, if the SOC information of vehicle LT is available, and if the SOC is sufficient, the parking location of vehicle LT can be set to shaded parking space PS0-SD1. This ensures that other vehicles VH-SS with insufficient SOC have the opportunity to park in sunny parking spaces PS0-SD0.

[0045] Figure 3 This is a flowchart illustrating a computer processing example associated with the first inbound process. Figure 3 The routine shown is from Figure 1 The parking lot server 10 (processor 11) shown is executing. Figure 3 The routine shown, for example, begins at the timing when the inbound object LT arrives at the pick-up / drop-off area PD.

[0046] exist Figure 3 In the example shown, firstly, various information is obtained (S11). Examples of such information include parking lot map information, parking lot utilization information, vehicle management information, and sunshine duration information stored in storage device 12. Examples of such information also include AVP reservation information, user information, and AVP vehicle information (including equipment information and SOC information) related to the LT being stored in storage device 32.

[0047] Following the processing in S11, the specified time DD is calculated (S12). The specified time DD is calculated based on the execution time ET of the storage process. For example, if the execution time ET is after sunset and before sunrise, the sunlight exposure during the parking period of the stored object LT is expected to last from sunrise to sunset. Therefore, in this case, the specified time DD is calculated based on the daytime period (e.g., 4 hours before and after noon). If the execution time ET is after sunrise and before sunset, the sunlight exposure during the parking period of the stored object LT is expected to begin after it is parked in parking space PS. Therefore, in this case, the specified time DD is calculated based on the period from the execution time ET to sunset.

[0048] Following the processing in S12, parking spaces PS0 are divided into sunny parking spaces PS0-SD0 and shaded parking spaces PS0-SD1 (S13). In processing S13, firstly, based on the parking lot utilization information and sunshine duration information obtained through processing in S11, the sunshine duration SD of parking space PS0 is determined. Then, the determined sunshine duration SD is compared with the prescribed time DD calculated through processing in S12. Then, parking spaces PS0 with a sunshine duration SD longer than the prescribed time DD are designated as sunny parking spaces PS0-SD0. On the other hand, parking spaces PS0 with a sunshine duration SD shorter than the prescribed time DD are designated as shaded parking spaces PS0-SD1.

[0049] Following the processing in S13, it is determined whether the inbound object LT belongs to vehicle VH-SS (S14). The processing in S14 is based on the equipment information of the inbound object LT obtained through the processing in S11. If, as a result of the processing in S14, it is determined that the inbound object LT belongs to vehicle VH-SS, then processing in S16 is performed. If it is determined that the inbound object LT does not belong to vehicle VH-SS (that is, the inbound object LT belongs to vehicle VH-NSS), then processing in S15 is performed.

[0050] In the S15 process, a guidance information GDN is generated for the parking object LT. This guidance information GDN is used for the parking action from the pick-up / drop-off area PD to the shaded parking spaces PS0-SD1. Furthermore, the generated guidance information GDN is sent to the parking object LT.

[0051] Processing S16 is performed if the State of Charge (SOC) information of the solar power system's cells for the object LT in the database is available. If the SOC information is unavailable, processing S17 is performed instead of S16. In processing S16, it is determined whether the SOC is below the threshold TH1. The threshold (charging implementation threshold) TH1 is preset as the charging rate at which the solar power system's cells are determined to need charging.

[0052] If, as a result of processing S16, the charging rate SOC is determined to be below the threshold TH1, then processing S17 is performed. Otherwise, processing S15 as described above is performed. In processing S17, guidance information GDN is generated for the parking object LT. This guidance information GDN is used for the parking action from the pick-up / drop-off area PD to the sunlit parking spaces PS0-SD0. Furthermore, the generated guidance information GDN is sent to the parking object LT.

[0053] Following the processing in S15 or S17, the parking lot utilization information is updated (S18). By performing the processing in S18, information related to the utilization status of the pick-up and drop-off area PD used by the parking object LT and the utilization status of the sunny parking spaces PS0-SD0 that the parking object LT will use next is updated.

[0054] 3-2. Configuration replacement processing features

[0055] Figure 4 This is a conceptual diagram used to illustrate the configuration change process involved in the implementation method. Figure 4 The text describes a vehicle VH-SS. A vehicle VH-SS is a vehicle VH parked in a parking space PS1 (hereinafter also referred to as "sunny parking space PS1-SD0") that is expected to receive sunlight. For example, a sunny parking space PS1-SD0 is set as the parking location for vehicle VH-SS as an entry object LT.

[0056] In addition to the sunny parking space PS1-SD0, parking space PS1 also includes parking space PS1 that is not expected to receive sunlight (hereinafter also referred to as "shaded parking space PS1-SD1"). The idea behind the sunny parking space PS1-SD0 and the shaded parking space PS1-SD1 is the same as that behind the sunny parking space PS0-SD0 and the shaded parking space PS0-SD1.

[0057] Vehicle VH-SS parked in the sunny parking space PS1-SD0 charges its battery through the operation of the solar power system. As a result, the State of Charge (SOC) of the battery in vehicle VH-SS's solar power system increases. However, sometimes vehicle VH-SS continues to be parked in the sunny parking space PS1-SD0 even after the battery's SOC has sufficiently increased. In this case, other vehicles VH-SS with insufficient SOC are deprived of the opportunity to park in the sunny parking space PS0-SD0.

[0058] Therefore, in the configuration change process according to the implementation method, the parking location is changed from a sunny parking space PS1-SD0 to a shaded parking space PS0-SD1 under the following circumstances: That is, when the vehicle VH (hereinafter also referred to as "configuration change target RT") to be the vehicle VH-SS parked in the sunny parking space PS1-SD0, and the state of charge (SOC) of the solar power system of configuration change target RT is sufficient. By changing the parking location, the sunny parking space PS1-SD0 used by configuration change target RT is switched to a sunny parking space PS0-SD0. This ensures that vehicle VH-SS, which is different from vehicle VH-SS to configuration change target RT, has the opportunity to park in the sunny parking space PS0-SD0.

[0059] Figure 5 This is a flowchart illustrating a computer processing example associated with configuration change processing. Figure 5 The routine shown is from Figure 1 The parking lot server 10 (processor 11) shown is executing. Figure 5 The routine shown is executed repeatedly at a certain period.

[0060] exist Figure 5 In the example shown, first, processes S21 to S23 are executed. The content of processes S21 to S23 is as follows: Figure 3 In the descriptions of S11 to S13, "Inbound Object LT" is replaced with "Configuration Replacement Object RT", and "Inbound Processing" is replaced with "Configuration Replacement Processing". Furthermore, the Configuration Replacement Object RT is arbitrarily selected from the vehicles VH parked in parking space PS1.

[0061] Following the processing in S23, it is determined whether the configuration replacement target RT belongs to vehicle VH-SS parked in the sunny parking space PS1-SD0 (S24). The processing in S24 is based on the equipment information of the configuration replacement target RT obtained through the processing in S21. If the determination result of S24 is positive (that is, if it is determined that the configuration replacement target RT belongs to vehicle VH-SS parked in the sunny parking space PS1-SD0), the processing in S25 is performed. Otherwise (that is, if it is determined that the configuration replacement target RT belongs to vehicle VH-NSS, or if the configuration replacement target RT belongs to vehicle VH-SS parked in the shaded parking space PS1-SD1), the routine processing ends.

[0062] In process S25, it is determined whether the charge rate SOC exceeds the threshold TH2. The threshold (charge completion threshold) TH2 is preset to the charge rate at which the solar power system's battery is considered to be fully charged (TH2>TH1). If the determination result of S25 is positive, process S27 is performed.

[0063] If the determination result of S25 is negative, a guidance information GDN for the configuration replacement object RT is generated (S26). This guidance information GDN is information used for the configuration replacement action from sunny parking space PS1-SD0 to shaded parking space PS0-SD1. In addition, the generated guidance information GDN is sent to the configuration replacement object RT.

[0064] If the determination result of S25 is positive, or if the processing follows S26, the processing of S27 is performed. In the processing of S27, the parking lot utilization information is updated. By performing the processing of S27, information related to the utilization status of the sunny parking space PS1-SD0 used by the configuration replacement object RT, and the utilization status of the shaded parking space PS0-SD1 that the configuration replacement object RT will use next, is updated.

[0065] 3-3. Characteristics of the Second Inbound Processing

[0066] Figure 6 This is a conceptual diagram illustrating the second data entry process involved in the implementation method. Figure 6 The text describes a vehicle VH-PIN. The vehicle VH-PIN is a vehicle VH equipped with an external charging system. The vehicle VH-PIN is equivalent to the "externally charged vehicle" of this disclosure.

[0067] In the second parking process, the parking position of the vehicle VH-PIN is any parking space PS0. However, it is conceivable that a sunny parking space PS0-SD0 or a shaded parking space PS0-SD1 is also a parking space PS0 equipped with a charger BC (hereinafter referred to as "external charging parking space PS0-PIN").

[0068] If the vehicle's VH-PIN can be parked in an external charging parking space (PS0-PIN), it is possible to charge the battery through the operation of the external charging system while the vehicle is parked. However, sometimes the vehicle's VH-PIN will be parked in a sunny parking space (PS0-SD0) if the external charging parking space (PS0-PIN) is also a sunny parking space (PS0-SD0). In this case, the vehicle's VH-PIN is deprived of the opportunity to be parked in a sunny parking space (PS0-SD0).

[0069] Therefore, in the second parking process, if the parking object LT belongs to the vehicle VH-PIN and the SOC of the battery of the external charging system of the parking object LT is sufficient, the parking position of the parking object LT is set to the shaded parking space PS0-SD1. On the other hand, if the SOC of the battery of the external charging system of the parking object LT is insufficient, the parking position of the parking object LT is set to the external charging parking space PS0-PIN. This ensures that the vehicle VH-SS has the opportunity to be parked in the external charging parking space PS0-PIN and the sunny parking space PS0-SD0.

[0070] In the second parking process, if the SOC of the battery in the external charging system of the parking object LT is insufficient, the parking position of the parking object LT can be set to external charging parking space PS0-PIN and shaded parking space PS0-SD1. In this case, the distinction between sunny and shaded areas made in the first parking process is performed separately. Even in this case, the opportunity for vehicle VH-SS to be parked in external charging parking space PS0-PIN and sunny parking space PS0-SD0 can be ensured.

[0071] Figure 7 This is a flowchart illustrating a computer processing example associated with the second data entry process. Figure 7 The example shown is as Figure 3 If the result of processing S14 determines that the inbound object LT does not belong to vehicle VH-SS, then the process will proceed.

[0072] exist Figure 7 In the example shown, the first step is to determine whether the inbound object LT belongs to the vehicle VH-PIN (S31). The processing of S31 is based on... Figure 3 The equipment information of the incoming object LT obtained from the S11 process is used. If, as a result of the S31 process, it is determined that the incoming object LT belongs to the vehicle VH-PIN, the S33 process is performed. If it is determined that the incoming object LT does not belong to the vehicle VH-PIN, the S32 process is performed.

[0073] In the S32 process, bootstrap information GDN is generated for the inbound object LT. The content of the S32 process is related to... Figure 3 The content processed by S15 is the same.

[0074] In the S33 process, it is determined whether the SOC of the battery in the external charging system of the inbound object LT is below the threshold TH3. The threshold (charging implementation threshold) TH3 is preset as the charging rate at which the battery in the external charging system is determined to need charging. The threshold TH3 is sometimes set to the same value as the threshold TH1, and sometimes to a different value.

[0075] If, as a result of processing S33, the State of Charge (SOC) is determined to be below the threshold TH3, processing S34 is performed. Otherwise, processing S32 as described above is performed. In processing S34, a guidance information GDN is generated for the storage object LT. This guidance information GDN is used for the storage operation from the pick-up / drop-off area PD to the external charging parking space PSO-PIN. Furthermore, the generated guidance information GDN is sent to the storage object LT.

[0076] In the processing of S34, it is also possible to utilize Figure 3 The result of S13 generates information for the entry action to the external charging parking space PS0-PIN and the sun-facing parking space PS0-SD0.

Claims

1. An automated valet parking system, which performs automated valet parking of vehicles within a predetermined area, comprising: One or more storage devices store parking space utilization information and sunshine duration information within the predetermined area; as well as One or more processors perform the automated valet parking entry processing based on information stored in the one or more storage devices. The warehousing process includes: Obtain the equipment information of the object to be put into storage, wherein the object to be put into storage refers to the vehicle of the object to be put into storage; Based on the equipment information, determine whether the equipment of the object to be put into storage includes a solar power generation system; and If, as a result of the determination based on the equipment information, the vehicle entering the parking space is a non-solar vehicle without a solar power generation system, guidance information is generated based on the utilization information and the sunshine duration information to guide the vehicle to a parking space with a shorter sunshine duration based on the execution time of the parking process.

2. The automated valet parking system according to claim 1, The warehousing process includes: If, as a result of the determination based on the equipment information, the object entering the warehouse is a solar power vehicle equipped with a solar power system, the charging rate of the battery of the solar power system equipped with the object entering the warehouse is obtained. and If the charging rate of the battery in the solar power generation system exceeds the charging implementation threshold, guidance information is generated based on the utilization information and the sunshine duration information to guide the object entering the parking space to a parking space with shorter sunshine duration based on the execution time of the parking process. If the charging rate is below the charging implementation threshold, guidance information is generated based on the utilization information and the sunshine duration information to guide the object entering the parking space to a parking space with longer sunshine duration based on the execution time of the parking process.

3. The automated valet parking system according to claim 1 or 2, The one or more processors also perform configuration change processing for vehicles parked within the predetermined area. The configuration change process includes: When the configuration replacement target is a solar-powered vehicle parked in a parking space with long sunshine hours based on the execution time of the configuration replacement process, the charging rate of the battery of the solar power system of the configuration replacement target is obtained, where the configuration replacement target refers to the vehicle to which the configuration replacement process is applied. and If the charging rate of the battery in the solar power generation system exceeds the charging completion threshold, guidance information is generated based on the utilization information and the sunshine duration information to guide the configuration replacement object to a parking space with shorter sunshine duration based on the execution time of the configuration replacement process.

4. The automated valet parking system according to claim 1 or 2, The parking spaces within the designated area include those equipped with chargers. The warehousing process includes: If the object entering the warehouse is a solar power vehicle, based on the equipment information, it is determined whether the equipment of the object entering the warehouse includes an external charging system. If, as a result of the determination based on the equipment information, the object entering the warehouse is determined to be an external charging vehicle equipped with the external charging system, the charging rate of the battery of the external charging system equipped with the object entering the warehouse is obtained. and If the charging rate of the battery in the external charging system exceeds the charging implementation threshold, guidance information is generated based on the utilization information and the sunshine duration information to guide the object entering the parking space to a parking space with short sunshine duration based on the execution time of the parking process. If the charging rate is below the charging implementation threshold, guidance information is generated based on the utilization information to guide the object entering the parking space to a parking space with a charger.

5. An automated valet parking method, comprising enabling a computer to automatically park a vehicle within a predetermined area, including: Obtain parking space utilization information and sunshine duration information within the predetermined area; Obtain the equipment information of the object to be put into storage, wherein the object to be put into storage refers to the vehicle to be processed by the automated valet parking; Based on the equipment information, determine whether the equipment of the object to be put into storage includes a solar power generation system; and If, as a result of the determination based on the equipment information, the vehicle entering the parking space is a non-solar vehicle without a solar power generation system, guidance information is generated based on the utilization information and the sunshine duration information to guide the vehicle to a parking space with a shorter sunshine duration based on the execution time of the parking process.

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