Automatic valet parking system and automatic valet parking method

Abstract

The invention provides an automatic valet parking system and an automatic valet parking method. After a first request requesting entry or exit of a vehicle is received from a user terminal of the vehicle, if a second request opposite to the first request is further received from the user terminal, it is determined whether or not a driving-back condition of the vehicle is satisfied. Furthermore, when it is determined that the return condition is satisfied, a return command for causing the vehicle to return to the departure point during automatic valet parking of the vehicle is transmitted to a control device of the vehicle.

Description

Technical Field

[0001] This disclosure relates to an Automated Valet Parking (AVP) system and method for vehicles within a predetermined area such as a parking lot. Background Technology

[0002] Japanese Patent Application Publication No. 2024-527070 discloses a system for assisting AVP (Automated Vehicle Assistance) for vehicles using parking facilities. The parking facilities have pick-up and drop-off areas, where vehicle delivery occurs between the user and the parking facilities using AVP. Specifically, when a vehicle enters the parking space, it is delivered from the user to the parking facilities. When a vehicle leaves the parking space, it is delivered from the parking facilities to the user. The assistance system adjusts the time required for vehicle delivery. Summary of the Invention

[0003] When a user delivers a vehicle to the parking facility, the vehicle's entry into the parking space is processed via a computer (e.g., an auxiliary system). During the entry process, the vehicle moves from the pick-up / drop-off area to the parking space according to the entry instructions from the computer.

[0004] Here, the user delivers their vehicle to the parking equipment based on their intention to park. Therefore, it is assumed that there are almost no instances of user intervention during the parking process. However, consider the following scenario: due to reasons such as having left-behind items in the vehicle, the user might want the vehicle to return to its starting point after expressing their intention to park. However, once the parking process has begun, it would be difficult to fulfill this wish.

[0005] Imagine a similar problem with vehicle return during computer-based vehicle exit processing. For example, imagine a user who has expressed their intention to exit the parking lot to the parking system, but then remembers they have something else to attend to. In this case, the user would want the vehicle to return to its starting point after expressing their exit intention. However, once the exit process has begun, fulfilling this wish would be difficult.

[0006] This disclosure provides AVP technology that enables a vehicle to return to its origin after the parking equipment has conveyed the user's intention to enter or exit the parking space.

[0007] The first point of this disclosure is an automated valet parking system that automatically valet parks vehicles within a designated area.

[0008] The system includes a management device, a vehicle control device, and a vehicle user terminal. The management device is configured to manage the automated valet parking vehicle. The control device and the user terminal are configured to communicate with the management device.

[0009] The management device is configured such that, in the automatic valet parking process of the vehicle, after receiving a first request from the user terminal requesting the vehicle to enter or leave the parking space, and further receiving a second request from the user terminal that is contrary to the first request, it determines whether the return conditions of the vehicle are met. If the return conditions are met, it sends a return command to the control device based on the second request to cause the vehicle to return to the starting point in the automatic valet parking.

[0010] In the automated valet parking system described in the first aspect of this disclosure, the return conditions may include a predetermined time or less for the vehicle to travel along the return path from the vehicle's current location to the departure location.

[0011] In the automated valet parking system described in the first aspect of this disclosure, if the first request is a request for the vehicle to enter the parking space, the return condition may also include that the distance from the departure point to the location of the user terminal is less than a predetermined distance.

[0012] In the automated valet parking system described in the first aspect of this disclosure, the management device may also be configured to: during the automated valet parking process, if it is determined that the return conditions are met, determine whether there are other vehicles on the return path from the vehicle's current location to the departure location. The management device may also be configured to: during the automated valet parking process, if it is determined that there are no other vehicles on the return path, generate the return command including information for reversing on the return path.

[0013] In the automated valet parking system described in the first aspect of this disclosure, the management device may also be configured to generate a return command that includes information for driving forward on the return path when it is determined that other vehicles are present on the return path.

[0014] In the automated valet parking system disclosed in the first aspect of this invention, the management device may, during the automated valet parking process, upon further receiving the second request from the user terminal, determine, before determining whether the return conditions are met, whether the vehicle's starting action from the departure point, initiated according to the first request, has already begun. The management device may also be configured to, during the automated valet parking process, send a cancellation command to the control device if it is determined that the starting action has not begun.

[0015] In the automated valet parking system described in the first aspect of this disclosure, the management device may also be configured to: in the automated valet parking process, if it is determined that the return conditions are met, calculate the predicted time for the vehicle to return to the departure point, and send it to the user terminal.

[0016] The second aspect of this disclosure is a method for enabling a computer to automatically park vehicles within a predetermined area.

[0017] The method includes: after receiving a first request from the user terminal of the vehicle requesting the vehicle to enter or leave the parking space, and upon receiving a second request from the user terminal that is contrary to the first request, determining whether the return conditions of the vehicle are met; if the return conditions are met, sending a return command to the control device of the vehicle based on the second request to cause the vehicle to return to the departure point in the automatic valet parking system.

[0018] According to this disclosure, after receiving a first request from the vehicle's user terminal requesting the vehicle to enter or leave the parking space, if a second request contrary to the first request is further received from the user terminal, it is determined whether the conditions for the vehicle to return are met. Furthermore, if the conditions for returning are met, a return command is sent to the vehicle's control device to return the vehicle to its starting point in the automated valet parking system. In other words, according to this disclosure, by determining the return condition triggered by the receipt of the second request, the return of the vehicle according to the second request becomes possible. This improves user convenience. Attached Figure Description

[0019] The features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described below with reference to the accompanying drawings, wherein like reference numerals denote like elements, and wherein:

[0020] Figure 1 This is a diagram illustrating the structure of an automated valet parking system.

[0021] Figure 2 This is a diagram illustrating an example of the structure of a vehicle system.

[0022] Figure 3 This is a conceptual diagram representing the basic process of AVP processing.

[0023] Figure 4 This is a conceptual diagram illustrating the characteristics of AVP processing.

[0024] Figure 5 This is a flowchart representing the first processing instance of the computer associated with the return processing.

[0025] Figure 6This is a flowchart representing the second processing instance of the computer associated with the return processing. Detailed Implementation

[0026] Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. Furthermore, in the various figures, the same or equivalent parts are labeled with the same reference numerals, and their descriptions are simplified or omitted.

[0027] 1. Example of the overall system structure

[0028] An AVP (Automatic Parking) system is a system that automatically parks vehicles within a predetermined area such as a parking lot, factory, or facility site. This disclosure can be applied to autonomous vehicles. Figure 1 This is a diagram illustrating an example of the structure of an AVP system. Figure 1 The text describes a parking lot PK as a designated area. The parking lot PK has a structure capable of implementing AVP (Available Vehicle Policy). The structure capable of implementing AVP includes the drop-off / entry space PD, the waiting space WS, and the parking space PS.

[0029] The vehicle entry / exit space (PD) is used for getting off and / or getting on vehicle VH. Vehicle VH can also be an autonomous vehicle. The waiting space (WS) is used for vehicle VH to temporarily wait before entering the vehicle entry / exit space (PD). The waiting space (WS) is, for example, located near the entrance of a parking lot (PK). The movement of vehicle VH from the waiting space (WS) to the vehicle entry / exit space (PD) is controlled by the driver of vehicle VH. The parking space (PS) is used for parking vehicle VH. Additionally, structures capable of performing AVP (Automated Vehicle Protection) include markers that assist in the movement of vehicle VH within the parking lot (PK) and sensors (e.g., cameras, radar) that monitor vehicle VH.

[0030] In addition, Figure 1 The document describes a server (hereinafter referred to as "parking server") 10 that manages AVPs in a parking lot PK. The parking server 10 performs various processes related to the management of AVP reservations in the parking lot PK. Additionally, the parking server 10 performs various processes related to the management of vehicle VH operating permissions required by the AVPs in the parking lot PK. Furthermore, the parking server 10 obtains various information from the sensor classes of the parking lot PK, and based on this information, performs various processes related to the execution of AVPs in the parking lot PK. The parking server 10 can also be a combination of a server performing various processes related to AVP execution (local server) and a server performing various processes related to AVP management (cloud server).

[0031] Typically, a parking server 10 is a computer including at least one processor 11, at least one storage device 12, and a communication I / F (interface) 13. The processor 11 performs various processes. Examples of processors 11 include a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an Application Specific Integrated Circuit (ASIC), and a Field-Programmable Gate Array (FPGA). The processor 11 can also be referred to as a "circuit" or "processing circuitry." A "circuit" is hardware programmed to implement a specified function or hardware that performs a function. The processor 11 reads various information from the storage device 12 and also stores various information in the storage device 12.

[0032] Examples of storage devices 12 include volatile memory, non-volatile memory, hard disk drives (HDDs), and solid-state drives (SSDs). Examples of information stored in storage device 12 include parking lot map information, parking lot utilization information, and vehicle management information. Parking lot map information represents the map information of the parking lot PK. Parking lot utilization information relates to the utilization status (vacancy information) of the drop-off / pick-up spaces PDs 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 by vehicle VH. Vehicle ID is the identification information of a vehicle VH. Entry / exit time is information related to the entry / exit time of a vehicle VH (e.g., reservation time, actual time, etc.). Vehicle location represents information related to the location of a vehicle VH within the parking lot PK.

[0033] The communication I / F13 is an interface used to communicate with devices outside 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 server 30 via the communication I / F13.

[0034] Figure 2 This is a diagram illustrating a structural example of vehicle system 20. Figure 2 In the example shown, vehicle system 20 is installed in each vehicle VH as a system capable of performing AVP. Figure 2 In the example shown, the vehicle system 20 includes a control device 21, a sensor class 22, a communication I / F 23, and an onboard device 24.

[0035] The control unit 21 is communicatively connected to the sensor class 22, communication I / F 23, and vehicle-mounted device 24. The control unit 21 is a computer that processes information related to vehicle VH control based on various data. The control unit 21 includes at least one processor 25 and at least one storage device 26. The structure of the processor 25 is as follows... Figure 1 The processor 11 shown has the same structure. Additionally, the storage device 26 has the same structure. Figure 1 The structure of the storage device 12 shown is the same. The processor 25 and the storage device 26 cooperate to realize the information processing involved in the control of vehicle VH.

[0036] For example, control unit 21 may consist of one or more Electronic Control Units (ECUs). 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 an AVP action (e.g., parking entry, parking exit, etc.) command INS from parking server 10, control unit 21 generates a control signal CON for the AVP action. Control signal CON is transmitted to onboard unit 24.

[0037] Sensor class 22 detects information about the vehicle's surrounding environment and driving status (VH). Examples of sensor class 22 include cameras, radar, lidar (LiDAR), wheel speed sensors, inertial measurement units (IMU), and global navigation satellite system (GNSS) sensors.

[0038] Communication I / F23 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 lot server 10 via Communication I / F23. In addition, the vehicle VH can also send and receive information with the user terminal 40 via Communication I / F23.

[0039] The vehicle-mounted device 24 includes lighting devices, interior lighting devices, a horn, a turn indicator, windshield wipers, doors, windows, rearview mirrors, a drive system, a braking system, a steering system, and a human-machine interface (HMI). Each component of the vehicle-mounted device 24 includes an actuator 27 that can be controlled by the control device 21. The vehicle-mounted device 24 receives control signals from the control device 21. The actuators 27 operate according to the control signals, thus controlling the vehicle-mounted device 24 as implemented by the control device 21. Furthermore, the vehicle's vehicle dynamics (VH) are controlled through the control of the vehicle-mounted device 24. The actuators 27 operate according to the control signal CON for AVP (Automatic Vehicle Power) operation, thus achieving vehicle control for AVP operation.

[0040] return Figure 1 Let's continue with an example of the overall structure. Additionally, in... Figure 1 The document describes a comprehensive server 30. The comprehensive server 30 is a server (cloud server) that manages the AVP service as a whole. Together with the parking lot server 10, the comprehensive server 30 constitutes the "management device" of this disclosure. The comprehensive 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. A driver of a vehicle VH is an example of an AVP user. AVP user management includes AVP user authentication, AVP user reservation management, etc. Vehicle VH management includes vehicle VH information management, vehicle VH operation permission management, and vehicle VH AVP action log management, etc.

[0041] Typically, the integrated server 30 is a computer including at least one processor 31, at least one storage device 32, and communication I / F 33. The configuration of processor 31 is the same as that of processor 11. Furthermore, the configuration of storage device 32 is the same as that of storage device 12.

[0042] The various information stored in storage device 32 may include AVP reservation information, user information, AVP vehicle information, etc. AVP reservation information relates to AVP users' reservations for AVP services. This information includes details 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 information such as AVP action logs based on vehicle system 20.

[0043] The communication I / F33 is an interface used to communicate with external devices of the integrated 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 integrated server 30 sends and receives information with the parking lot server 10 via the communication I / F33. Additionally, the integrated server 30 sends and receives information with the user terminal 40 via the communication I / F33.

[0044] User terminal 40 is a terminal (e.g., a smartphone) carried by the AVP user. User terminal 40 is equivalent to the "user terminal" of this disclosure. The AVP user sends and receives information with the vehicle VH (vehicle system 20) through the operation of user terminal 40. Additionally, the AVP user sends and receives information with the integrated server 30 through the operation of user terminal 40. User terminal 40 is used for AVP user registration and reservation for AVP services. Furthermore, user terminal 40 is appropriately used during AVP operations in parking lot PK. Alternatively, operations can be performed in place of user terminal 40 via... Figure 2 The operation of the on-board device 24 (e.g., HMI) shown is to transmit and receive information related to AVP.

[0045] 2. AVP processing

[0046] Figure 3 This is a conceptual diagram representing the basic process of AVP processing. Figure 3 The upper part is a diagram showing the inbound process as an AVP process. Figure 3 The user US shown at the top is the driver of the vehicle VH (hereinafter referred to as "the target vehicle TVH") being processed by AVP, and is also an AVP user. User US operates user terminal 40 to send a vehicle entry request REQ-Cin to the integrated server 30. The entry request REQ-Cin can be sent either in the boarding / alighting space PD or in a location after leaving the boarding / alighting space PD (e.g., waiting space WS). In addition, the entry request REQ-Cin can be sent either inside or outside the target vehicle TVH.

[0047] Upon receiving the entry request REQ-Cin, the integrated server 30 (processor 31) will send the corresponding AVP reservation information, user information, and AVP vehicle information to the parking lot server 10, in addition to the entry request REQ-Cin. Based on this information, the parking lot server 10 (processor 11) determines the vehicle VH (i.e., the target vehicle TVH) of the user US and performs entry processing for that vehicle VH.

[0048] During the vehicle entry process, the parking server 10 obtains operation permissions for the target vehicle TVH from the integrated server 30. These permissions are transferred to the parking server 10, enabling it to perform the vehicle entry process for the TVH. The parking server 10 generates an entry instruction (entry instruction) INS-Cin for the vehicle TVH and sends it to the vehicle system 20. The entry instruction INS-Cin includes information about the entry path PT-LD from the drop-off / get-out space PD to the parking space PS. The entry path PT-LD, for example, consists of multiple waypoints. Each waypoint includes at least information about the target location of the vehicle TVH.

[0049] The vehicle system 20 (processor 25) generates a control signal CON for the target vehicle TVH to travel along the parking path PT-LD, and controls the actuator 27. For example, the vehicle system 20 sets a travel plan for following the parking path PT-LD based on information contained in each waypoint and information on the surrounding environment and driving status of the target vehicle TVH. Furthermore, the vehicle system 20 calculates the deviation between the set travel plan and the target vehicle TVH (e.g., speed deviation, lateral position deviation, yaw angle deviation), generates a control target value (e.g., target acceleration, target rudder angle) that reduces the deviation, and sends the control signal CON to the actuator 27 (e.g., drive actuator, brake actuator, and steering actuator). Thus, vehicle control is performed for the parking maneuver from the boarding / alighting space PD to the parking space PS.

[0050] Figure 3 The lower part is a diagram illustrating the outbound processing flow as an AVP (Automated Guided Vehicle) process. The outbound processing flow is essentially the same as the inbound processing flow. That is, user US uses user terminal 40 to send an outbound request REQ-Cout for vehicle VH to the integrated server 30. The outbound request REQ-Cout can be sent either in the vehicle boarding / alighting space PD (Parking Zone PD) or at the location after leaving the vehicle boarding / alighting space PD (the location after leaving the parking lot PK).

[0051] Upon receiving the outbound request REQ-Cout, the integrated server 30 will send the corresponding AVP reservation information, user information, and AVP vehicle information to the parking lot server 10, in addition to the outbound request REQ-Cout. Based on this information, the parking lot server 10 will determine the vehicle VH (i.e., the target vehicle TVH) for user US and perform outbound processing for that vehicle VH.

[0052] The parking garage server 10 generates an outbound instruction (outbound instruction) INS-Cout for the vehicle TVH and sends it to the vehicle system 20. The outbound instruction INS-Cout includes information about the outbound path PT-ULD from the parking space PS to the drop-off / pick-up space PD. The structure of the outbound path PT-ULD is the same as that of the inbound path PT-LD. That is, the outbound path PT-ULD consists of, for example, multiple waypoints. Each waypoint includes at least information about the target location of the vehicle TVH.

[0053] Vehicle system 20 generates a control signal CON for the target vehicle TVH to travel along the exit path PT-ULD, and controls actuator 27. The control example for actuator 27 based on control signal CON is the same as the control example during the entry process. Thus, vehicle control is performed for the exit action from parking space PS to drop-off space PD. After the target vehicle TVH arrives at drop-off space PD, parking server 10 and integrated server 30 exchange information, and the operation permission of the target vehicle TVH is returned. This operation permission is transferred to integrated server 30, and the AVP of the target vehicle TVH implemented by parking server 10 ends.

[0054] 3. Characteristics of AVP processing

[0055] 3-1. Inbound Processing

[0056] Figure 4 This is a conceptual diagram illustrating the characteristics of AVP processing. Figure 4 The upper part shows the accompanying Figure 3 The upper part shows the state after the object vehicle TVH's entry action begins, which is initiated by the execution of the entry process. When the entry process is executed, the object vehicle TVH starts moving and leaves the loading / unloading space PD.

[0057] User US leaves the loading / unloading space PD before the inbound process begins, or leaves the loading / unloading space PD after the inbound process begins. However, suppose that for some reason user US wants to cancel the inbound request REQ-Cin.

[0058] For example, consider user US remembering that there is an item left inside vehicle TVH. In this case, user US would likely try to catch up with vehicle TVH to retrieve the item. However, the operational permissions for vehicle TVH have been transferred to parking server 10. Therefore, user US cannot stop the parking entry operation of vehicle TVH. Furthermore, for the secure completion of AVP, there are also situations where characters are prohibited from entering parking PK areas other than the drop-off / pick-up space PD. Therefore, once the parking entry operation begins, it is difficult to cancel the parking entry request REQ-Cin.

[0059] To eliminate this undesirable situation, in the warehousing process involved in the implementation method, after receiving the warehousing request REQ-Cin, it is possible to accept a request that is the opposite of the warehousing request REQ-Cin. Figure 4 The example shown illustrates a return request REQ-PB as the opposite of the inbound request REQ-Cin. Furthermore, the inbound request REQ-Cin is an example of the "first request" of this disclosure, and the return request REQ-PB is an example of the "second request." The return request REQ-PB can be either a cancellation request for the inbound request REQ-Cin or a outbound request REQ-Cout.

[0060] The return request REQ-PB is sent from the user terminal 40 to the integrated server 30. Upon receiving the return request REQ-PB, the integrated server 30, in addition to the REQ-PB itself, also sends the corresponding user information, AVP vehicle information, etc., to the parking lot server 10. Based on this information, the parking lot server 10 determines the vehicle VH (i.e., the target vehicle TVH) of the user US and performs the return process for that vehicle VH.

[0061] When performing the return processing of the target vehicle TVH, the parking server 10 determines whether the return conditions (hereinafter also referred to as "PB conditions") are met. As PB conditions, conditions i and ii can be exemplified as follows.

[0062] i is the time Tr required for the target vehicle TVH to travel along the return path PT-PB from the current location of the target vehicle TVH to the starting point (i.e., the location of the boarding / alighting space PD), which is less than or equal to the specified time Ta.

[0063] ii. The distance Dr from the departure point (i.e., the location of the boarding / alighting space PD) to the location of the user terminal 40 is less than or equal to the specified distance Da.

[0064] The specified time Ta is, for example, the allowable return time of a vehicle TVH based on the structure of the parking lot PK (e.g., the number of passageways directly connected to the pick-up / drop-off space PD, the shape of the passageway, and the width of the passageway). The specified time Ta can also be adjusted based on information such as the total number of other vehicles VH waiting in the waiting space WS, and the total number of other vehicles VH performing AVP (Available Vehicle Shift) actions in the passageways directly connected to the pick-up / drop-off space PD. The specified distance Da is, for example, the distance a person can travel within a specified time Ta.

[0065] If conditions i and ii are both met, the parking server 10 determines that the PB condition is met and executes the return process. During the return process, the parking server 10 generates a return instruction (return instruction) INS-PB for the target vehicle TVH and sends it to the vehicle system 20. The return instruction INS-PB includes information about the return path PT-PB. The structure of the return path PT-PB is the same as that of the entry path PT-LD. That is, the return path PT-PB consists of, for example, multiple waypoints. Each waypoint includes at least information about the target location of the target vehicle TVH.

[0066] As a return path PT-PB, examples include PT-PB1 for reversing and PT-PB2 for moving forward. The target vehicle TVH, which started from the loading / unloading space PD during the entry process, moves forward. Therefore, compared to PT-PB2, path PT-PB1 is more likely to shorten the return processing time from the current position of the target vehicle TVH back to the starting point (i.e., the position of the loading / unloading space PD).

[0067] Therefore, when setting the return path PT-PB under condition i above, it can also be determined whether condition iii is satisfied. Alternatively, if condition iii is satisfied, path PT-PB1 can be set as the return path PT-PB, and if condition iii is not satisfied, path PT-PB2 can be set as the return path PT-PB.

[0068] iii. No other vehicles VH are present on the return route PT-PB.

[0069] As "other vehicles VH" under condition iii, examples include vehicle VH (subsequent vehicles) that perform the entry action following the entry action of the target vehicle TVH, and vehicle VH during the AVP action, etc.

[0070] 3-2. Outbound Processing

[0071] Figure 4 The lower part shows the accompanying Figure 3 The lower part shows the state after the execution of the outbound process, which begins the outbound action of the target vehicle TVH. When the outbound process is executed, the target vehicle TVH starts moving and leaves the parking space PS.

[0072] User US arrives at the loading / unloading space PD before or after the outbound process begins. However, suppose that for some reason, user US wants to cancel the outbound request REQ-Cout.

[0073] For example, consider user US who remembers they have something to do besides outbound processing. In this case, it's anticipated that user US will leave the loading / unloading area PD to handle this matter. Furthermore, it's anticipated that user US will want to postpone the outbound processing until the matter is resolved.

[0074] Therefore, in the outbound processing involved in the implementation method, after receiving the outbound request REQ-Cout, it is possible to accept a request that is the opposite of the outbound request REQ-Cout. Figure 4 The example shown illustrates a return request REQ-PB as the opposite of the outbound request REQ-Cout. Furthermore, the outbound request REQ-Cout is an example of the "first request" of this disclosure, and the return request REQ-PB is an example of the "second request." The return request REQ-PB can be either a cancellation request for the outbound request REQ-Cout or an inbound request REQ-Cin.

[0075] The basic process for handling vehicle TVH returns based on the REQ-PB is the same when the vehicle enters the warehouse and when it leaves the warehouse. However, in the return process when leaving the warehouse, only condition iv, which is equivalent to condition i above, is checked, and condition ii above is not checked.

[0076] iv. The time Tr required for the target vehicle TVH to travel along the return path PT-PB from the current location of the target vehicle TVH to the starting point (i.e., the location of the parking space PS) is less than or equal to the specified time Tb.

[0077] The specified time Tb is, for example, the allowable return time of the target vehicle TVH based on the structure of the parking lot PK (e.g., the number of passages directly connected to the parking space PS, the shape of the passage, and the width of the passage). The specified time Tb can also be adjusted based on information such as the total number of other vehicles VH performing AVP (Automatic Vehicle Operation) in the passages directly connected to the parking space PS.

[0078] If condition iv is met, the parking lot server 10 determines that condition PB is met and executes the return process. During the return process, the parking lot server 10 generates a return instruction INS-PB and sends it to the vehicle system 20. The return instruction INS-PB includes information about the return path PT-PB. The structure of the return path PT-PB is the same as the structure of the exit path PT-ULD.

[0079] The return route PT-PB for leaving the warehouse includes a reverse route PT-PB1 and a forward route PT-PB2, which is the same as the return route for entering the warehouse. Alternatively, when setting the return route PT-PB in condition iv above, it can be determined whether condition iii is met. If condition iii is met, route PT-PB1 can be set as the return route PT-PB; if condition iii is not met, route PT-PB2 can be set as the return route PT-PB, which is the same as the return route for entering the warehouse.

[0080] 4. Computer Processing Example

[0081] 4-1. Case 1

[0082] Figure 5 This is a flowchart representing the first processing instance of the computer associated with the return 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 begins, for example, when the target vehicle TVH is identified in the vehicle entry / exit space PD.

[0083] exist Figure 5 In the example shown, in step S11, it is determined whether an entry request REQ-Cin for the target vehicle TVH has been received. As already explained, the entry request REQ-Cin is sent from the user terminal 40 to the parking server 10 via the integrated server 30. Additionally, the integrated server 30 sends the AVP reservation information, user information, AVP vehicle information, etc., corresponding to the entry request REQ-Cin to the parking server 10. In step S11, based on this information, it is determined whether the entry request REQ-Cin is a request for the target vehicle TVH.

[0084] If, in step S11, it is determined that no entry request REQ-Cin has been received, or if the entry request REQ-Cin is not a request for the target vehicle TVH, the process ends. On the other hand, if it is determined that the entry request REQ-Cin is a request for the target vehicle TVH, step S12 is performed. In step S12, an entry instruction INS-Cin is generated and sent to the vehicle system 20 of the target vehicle TVH. Furthermore, during step S12, the operation permissions for the target vehicle TVH are transferred from the integrated server 30 to the parking lot server 10.

[0085] Following step S12, step S13 is performed. In step S13, it is determined whether a return request REQ-PB for the target vehicle TVH has been received. Similar to the entry request REQ-Cin, the return request REQ-PB is sent from the user terminal 40 to the parking server 10 via the integrated server 30. Additionally, the integrated server 30 sends user information, AVP vehicle information, etc., corresponding to the return request REQ-PB to the parking server 10. In step S13, based on this information, it is determined whether the return request REQ-PB is a request for the target vehicle TVH.

[0086] If, in step S13, it is determined that a return request REQ-PB has not been received, or if the return request REQ-PB is not a request for the target vehicle TVH, then step S14 is executed. In step S14, it is determined whether the entry action of the target vehicle TVH has been completed. The progress of the entry action is monitored, for example, based on the entry path PT-LD and the current location of the target vehicle TVH. If it is determined that the entry action of the target vehicle TVH has not been completed, the process returns to step S12.

[0087] If, in step S13, it is determined that a return request REQ-PB for the target vehicle TVH has been received, the process in step S15 is performed. In step S15, it is determined whether the PB condition is met. Examples of the PB condition are conditions i and ii described above. As already described, it is also possible to determine whether condition iii is met during the determination of condition i. If it is determined that the PB condition is not met, the process ends. Alternatively, before the process ends, the integrated server 30 may send information to the user terminal 40 indicating that a return request REQ-PB cannot be performed and providing the reason (e.g., condition i is not met).

[0088] If the PB condition is satisfied in step S15, then step S16 is performed. In step S16, the predicted time Tp for the target vehicle TVH to return to its departure point (i.e., the location of the boarding / alighting space PD) is calculated and sent to the user terminal 40 via the integrated server 30. The predicted time Tp is the required time Tr calculated in step S15 under the PB condition (condition i). The predicted time Tp can also be time information calculated based on the current time and the required time Tr.

[0089] Following step S16, the process proceeds to step S17. In step S17, a drive-back command INS-PB is generated and sent to the vehicle system 20 of the target vehicle TVH.

[0090] Following step S17, the process proceeds to step S18. In step S18, it is determined whether the return trip of the target vehicle TVH has been completed. The progress of the return trip is assessed, for example, based on the return path PT-PB and the current position of the target vehicle TVH. If it is determined that the return trip of the target vehicle TVH has not been completed, the process returns to step S17.

[0091] If it is determined in step S18 that the return operation of the target vehicle TVH has been completed, then step S19 is performed. Additionally, if it is determined in step S14 that the entry operation of the target vehicle TVH has been completed, step S19 is also performed. In step S19, information indicating that the AVP operation (entry operation or return operation) has been completed is sent to the user terminal 40 via the integrated server 30.

[0092] 4-2. Case 2

[0093] Figure 6 This is a flowchart representing the second processing instance of the computer associated with the return processing. For example, by... Figure 1 The parking lot server 10 (processor 11) shown executes... Figure 6 The example shown is used to replace Figure 5 The example shown.

[0094] Figure 6 The processing of steps S21 to S24 shown is... Figure 5 The processes shown in steps S11 to S14 are the same. Additionally, Figure 6 The processing of steps S27 and S28 shown is similar to... Figure 5 The processes shown in steps S15 and S17 are the same.

[0095] exist Figure 6 In the example shown, if a return request REQ-PB for the target vehicle TVH is received in step S23, the process in step S25 is performed. In step S25, it is determined whether the starting action of the target vehicle TVH has already begun. This is determined based on the progress of the target vehicle TVH's entry into the parking area, to determine whether the starting action has begun.

[0096] If, in step S25, it is determined that the process occurs before the start of the target vehicle TVH's starting action, then step S26 is performed. In step S26, a cancellation instruction (cancellation instruction) INS-CC is generated and sent to the target vehicle TVH's vehicle system 20. This cancels the execution of the target vehicle TVH's parking process, preventing the parking action, including the starting action, from beginning. Conversely, if it is determined that the process occurs after the start of the target vehicle TVH's starting action, then step S27 is performed.

[0097] That is, if step S26 is performed, the PB condition in step S27 is not checked, and the entry process is canceled. Thus, according to the second processing example, vehicle VH can be left at the departure point without checking the PB condition. This reduces the processing load on the parking lot server 10.

[0098] Furthermore, although not stated in Figure 6 But it is also possible Figure 6 The processing in step S27 and the processing in step S28 are performed in conjunction with each other. Figure 5 The process described in step S16 is equivalent to this. Alternatively, it can continue... Figure 6 The processing of step S24 (if determined to be "yes") and the processing of step S28 are shown below. Figure 5 The processes described in steps S18 and S19 are equivalent to the processing.

[0099] 4-3. Example of handling during outbound shipment

[0100] use Figure 5 and Figure 6 The first and second processing examples described above are processing examples associated with the return processing upon receipt. The first and second processing examples can also be applied to the return processing upon dispatch. When the first and second processing examples are applied to the return processing upon dispatch, in... Figure 5 and Figure 6 In the description, "inbound processing" is replaced with "outbound processing", "getting on / off space PD" is replaced with "parking space PS", "inbound request REQ-Cin" is replaced with "outbound request REQ-Cout", and "conditions i and ii" are replaced with "condition iv". This illustrates a computer processing example associated with the return processing during outbound operations.

Claims

1. An automated valet parking system, configured to automatically park vehicles within a predetermined area, characterized in that, have: A management device configured to manage the automated valet parking vehicle; The vehicle control device is configured to communicate with the management device; and The user terminal of the vehicle is configured to communicate with the management device. The management device is configured as follows: In the automatic valet parking process of the vehicle, After receiving a first request from the user terminal requesting the vehicle to enter or leave the warehouse, and upon receiving a second request from the user terminal that is contrary to the first request, it is determined whether the conditions for the vehicle to return are met. If the return conditions are determined to be met, a return command is sent to the control device to return the vehicle to its starting point in the vehicle's automated valet parking.

2. The automated valet parking system according to claim 1, characterized in that, The return conditions include that the time required for the vehicle to travel along the return path from the vehicle's current location to the departure location is less than a specified time.

3. The automated valet parking system according to claim 2, characterized in that, In the case where the first request is a request for the vehicle to enter the parking space, the return condition also includes that the distance from the departure point to the location of the user terminal is less than a specified distance.

4. The automated valet parking system according to claim 1, characterized in that, The management device is configured as follows: In the automated valet parking process, If the conditions for returning to the starting point are met, it is determined whether there are other vehicles on the return route from the vehicle's current location to the starting point. If it is determined that there are no other vehicles on the return path, a return command is generated that includes information for reversing on the return path.

5. The automated valet parking system according to claim 4, The management device is configured to generate a return command that includes information for traveling forward on the return path if it is determined that other vehicles are present on the return path.

6. The automated valet parking system according to claim 1, characterized in that, The management device is configured as follows: In the automated valet parking process, If the second request is received from the user terminal, before determining whether the return conditions are met, it is determined whether the vehicle's start-up action from the departure point, initiated according to the first request, has already begun. If it is determined that the starting action has not started, a cancellation command for the execution of the automatic valet parking is sent to the control device.

7. The automated valet parking system according to any one of claims 1 to 6, characterized in that, The management device is configured to: in the automatic valet parking process, if it is determined that the return conditions are met, calculate the predicted time for the vehicle to return to the departure point, and send it to the user terminal.

8. An automatic valet parking method, comprising enabling a computer to automatically park vehicles within a predetermined area, characterized in that, include: After receiving a first request from the user terminal of the vehicle requesting the vehicle to enter or leave the warehouse, and then receiving a second request from the user terminal that is contrary to the first request, it is determined whether the conditions for the vehicle to return are met. If the return conditions are determined to be met, a return command is sent to the vehicle's control device to return the vehicle to its starting point in the vehicle's automated valet parking system.

Images