Vehicle control system

Abstract

The present application aims to improve the safety of automatic driving of a target vehicle for automatic valet parking based on a control instruction from a management system. A vehicle control system is mounted on a target vehicle for automatic valet parking. The vehicle control system has one or more sensors and one or more processors. The one or more sensors identify traffic rule markings within a parking area of a parking lot. When the target vehicle is driving within the parking area, the one or more processors perform the following instruction verification process: based on the identification result of the traffic rule markings using the one or more sensors, determine whether the vehicle travel direction included in the control instruction received by the target vehicle from the management system for automatic valet parking violates the traffic rule markings, in the case where the vehicle travel direction violates the traffic rule markings, temporarily stop the target vehicle, and send a notification to the management system requesting confirmation of whether the control instruction is appropriate.

Description

Technical Field

[0001] This invention relates to a vehicle control system for a target vehicle equipped with Automated Valet Parking (AVP). Background Technology

[0002] Patent document 1 discloses a technology related to automated valet parking. The parking management system sends a movement path to the vehicle. The vehicle then drives automatically along the acquired movement path.

[0003] Patent Document 1: German Patent Application Publication No. 102012222562 Summary of the Invention

[0004] Inappropriate vehicle direction instructions from the automated valet parking management system may impede the safe operation of the vehicle.

[0005] The present invention was made in view of the above-mentioned problems, and its object is to provide a vehicle control system that improves the safety of the automatic driving of a target vehicle for automatic valet parking based on control instructions from a management system.

[0006] The vehicle control system involved in this invention is installed on a target vehicle in an automated valet parking system. The vehicle control system includes one or more sensors and one or more processors. One or more sensors identify traffic rule signs within the parking area of ​​the parking lot. When the target vehicle is driving within the parking area, one or more processors perform the following instruction verification process: based on the identification results of the traffic rule signs using one or more sensors, it determines whether the vehicle's direction of travel, contained in the control instruction received by the target vehicle from the automated valet parking management system, violates the traffic rule signs. If the vehicle's direction of travel violates the traffic rule signs, the target vehicle is temporarily stopped, and a notification requesting confirmation of the appropriateness of the control instruction is sent to the management system.

[0007] Invention Effects

[0008] According to the present invention, sensors mounted on a target vehicle traveling within a parking area are used to identify actual traffic rule signs. Based on the identification results, it is determined at the vehicle side whether the vehicle's direction of travel, as included in the control instructions from the management system, violates traffic rule signs. Furthermore, if the vehicle's direction of travel violates traffic rule signs, the target vehicle temporarily stops, and the management system is requested by the target vehicle to confirm whether its control instructions are appropriate. Thus, it is possible to prevent the target vehicle in automated valet parking from continuing to travel according to inappropriate control instructions, thereby improving the safety of automated driving of the target vehicle based on control instructions from the management system. Attached Figure Description

[0009] Figure 1 This is a conceptual diagram illustrating the outline and structural example of the automated valet parking system involved in the implementation method.

[0010] Figure 2 This is a flowchart illustrating an example of the processing flow related to vehicle driving control in automated valet parking as described in the implementation method.

[0011] Figure 3 This is a conceptual diagram used to illustrate the outline of the instruction verification process involved in the first specific example.

[0012] Figure 4 This is a conceptual diagram used to illustrate the outline of the instruction verification process involved in the second specific example.

[0013] Figure 5 This is a conceptual diagram used to illustrate the outline of the instruction verification process involved in the third specific example.

[0014] Figure 6 This is a flowchart illustrating another example of the processing flow related to vehicle driving control in automated valet parking as described in the implementation method. Detailed Implementation

[0015] The embodiments of the present invention will be described with reference to the accompanying drawings.

[0016] 1. Overview of Automated Valet Parking Systems

[0017] Figure 1 This is a conceptual diagram illustrating the outline and structural example of the automated valet parking system 100 according to the embodiments. The automated valet parking system 100 includes a vehicle control system 10 and an automated valet parking management system 20 (hereinafter also simply referred to as management system 20) mounted on the vehicle 1, which performs automated valet parking (AVP) of the vehicle 1 in the parking lot 2.

[0018] Vehicle 1 is configured to perform AVP (Automated Driver Assistance) within parking lot 2. That is, vehicle 1 is the target vehicle for AVP. Vehicle 1 can drive automatically, at least within parking lot 2, without relying on user driving operations. More specifically, the automatic driving of vehicle 1 within parking lot 2 is controlled by control instructions (INS) from the management system 20 utilizing infrastructure sensors 24. Alternatively, vehicle 1 can also be an autonomous driving vehicle capable of driving automatically even outside parking lot 2.

[0019] Parking lot 2 includes a drop-off / boarding area 3 and a parking area 4. Vehicles 1 entering parking lot 2 stop at a designated stop position (drop-off / boarding frame) in drop-off / boarding area 3, where users disembark. Conversely, vehicles 1 exiting parking lot 2 stop in drop-off / boarding area 3, where users board. Parking area 4 includes a driveway 5 and multiple parking frames 6. Driveway 5 is the area where vehicles 1 travel. Parking frames 6 are the spaces where vehicles 1 park.

[0020] The management system 20 manages the AVP (Automated Guided Vehicle) for vehicles 1 in parking lot 2. The management system 20 may include, for example, at least one of a local management device located in parking lot 2 and a management server in the cloud. The following describes an example of the process when a user X utilizes the AVP service. Each user's membership information is pre-registered in the management system 20.

[0021] User X, for example, uses user terminal 30 (e.g., a smartphone) to make an AVP reservation. Management system 20 processes the reservation based on the reservation information sent from user terminal 30. If vehicle 1 carrying user X arrives at the drop-off / pick-up area 3 of parking lot 2, vehicle 1 stops at the drop-off / pick-up frame, and user X (and any other passengers) disembarks from vehicle 1. In order to initiate the automatic driving of vehicle 1 based on the control instruction INS from management system 20 in AVP (hereinafter referred to as "AVP driving"), management system 20 performs a handover process to transfer the operating authority of vehicle 1 from user X to management system 20. The handover process includes, for example, processing for establishing wireless communication between management system 20 and vehicle 1 (vehicle control system 10) and processing for identifying vehicle 1 as the target vehicle for this AVP.

[0022] Upon completion of the handover process and transfer of vehicle 1's operational authority from user X to management system 20, management system 20 performs the vehicle 1-related entry processing. During this process, management system 20 communicates with vehicle 1 and sends a control instruction INS requesting the activation of vehicle 1's driving system 13. Vehicle 1 automatically activates its driving system 13 according to the received control instruction INS. Furthermore, after allocating an empty parking space 6 to vehicle 1 based on the utilization status of parking lot 2, management system 20 generates a target path TP for vehicle 1 from passenger drop-off area 3 to the allocated parking space 6. Then, management system 20 communicates with vehicle 1 and sends a control instruction INS requesting AVP (Automated Guided Vehicle) movement towards parking space 6 according to the generated target path TP.

[0023] As described above, the target path TP information is included in the control instruction INS. The target path TP is generated based on the management system 20, for example, according to map information of parking area 4 and information about parking area 4 identified by infrastructure sensor 24. The generated target path TP includes information about the vehicle 1's direction of travel (vehicle direction of travel D). Furthermore, for example, the target path TP includes information about the vehicle 1's maximum speed limit, and the vehicle control system 10 controls the vehicle 1's speed within this maximum speed limit while ensuring the vehicle 1 travels along the target path TP. Additionally, as described above, the target path TP is not generated on the vehicle 1 side.

[0024] Vehicle 1 follows the target path TP received from the management system 20, moves towards its assigned parking space 6 using AVP (Automatic Vehicle Assist), and automatically parks in the assigned parking space 6 (completing parking). After vehicle 1 completes parking, vehicle 1 automatically shuts off the power to the driving system 13 according to the control instruction INS from the management system 20.

[0025] When vehicle 1 exits parking lot 2, management system 20 responds to the exit request from user X via user terminal 30 and performs exit processing related to vehicle 1. During exit processing, after activating vehicle 1's driving system 13, management system 20 generates a target path TP for vehicle 1 from its parking frame 6 to the passenger drop-off area 3. Then, similar to the entry process, management system 20 communicates with vehicle 1 and sends a control instruction INS requesting AVP (Automated Guided Vehicle) driving according to the generated target path TP to vehicle 1. Vehicle 1 performs AVP driving towards its assigned passenger drop-off frame according to the received target path TP. After vehicle 1 arrives at passenger drop-off area 3, management system 20 performs a handover process to transfer the operating authority of vehicle 1 from management system 20 to user X (return). After the handover process is complete, user X (and any other passengers) board vehicle 1. Vehicle 1 departs for its next destination and exits parking lot 2 (exit complete). Other scenarios where vehicle 1 performs AVP driving within parking area 4 according to the control instruction INS from management system 20 include when the parking frame used by vehicle 1 is changed.

[0026] 2. System Structure Example

[0027] As described above, the automated valet parking system 100 includes a vehicle control system 10 and an automated valet parking management system 20.

[0028] 2-1. Vehicle Control System

[0029] The vehicle control system 10 is mounted on the vehicle 1 and includes a control device 11, a sensor group 12 and a driving system 13.

[0030] The control device 11 controls the vehicle 1 according to various control instructions INS from the management system 20. The control device 11 includes a communication I / F 14, one or more processors 15 (hereinafter referred to as processor 15) and one or more storage devices 16 (hereinafter referred to as storage devices 16).

[0031] Communication I / F14 communicates with the management system 20 and the user terminal 30 via a communication network. Processor 15 performs various processes. Examples of processor 15 include general-purpose processors, special-purpose processors, central processing units (CPUs), graphics processing units (GPUs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), integrated circuits, conventional circuits, and / or combinations thereof. Processor 15 can also be referred to as a circuitry or processing circuitry. Storage device 16 stores various information. Examples of storage device 16 include volatile memory, non-volatile memory, hard disk drives (HDDs), solid-state drives (SSDs), etc. The functions of control device 11 can be realized through the cooperation of processor 15 executing computer programs and storage device 16. The computer program is stored in storage device 16. Alternatively, the computer program can be recorded on a computer-readable recording medium or provided via a network.

[0032] Sensor group 12 includes identification sensors, vehicle status sensors, and position sensors. The identification sensors identify (detect) the surrounding environment of vehicle 1. Examples of identification sensors include camera 17, Laser Imaging Detection and Ranging (LIDAR), and radar. Camera 17 captures images of the surroundings of vehicle 1. The vehicle status sensors detect the status of vehicle 1. Examples of vehicle status sensors include speed sensors, acceleration sensors, yaw rate sensors, and rudder angle sensors. The position sensors detect the position and orientation of vehicle 1. Examples of position sensors include Global Navigation Satellite System (GNSS) sensors.

[0033] The driving system 13 includes a steering mechanism, a drive mechanism, and a braking mechanism. The steering mechanism steers the wheels of the vehicle 1. The drive mechanism is a power source that generates driving force for the vehicle 1, and may include at least one of an electric motor and an internal combustion engine. The braking mechanism generates braking force.

[0034] 2-2. Automated Valet Parking Management System

[0035] The management system 20 includes a communication interface (communication I / F) 21, one or more processors 22 (hereinafter referred to as processor 22), one or more storage devices 23 (hereinafter referred to as storage devices 23), and one or more infrastructure sensors 24 (hereinafter referred to as infrastructure sensors 24).

[0036] Communication I / F21 communicates with vehicle 1 (vehicle control system 10) and user terminal 30 via a communication network. The structure of processor 22 is the same as that of processor 15 described above. Furthermore, the structure of storage device 23 is the same as that of storage device 16 described above. Various information stored in storage device 23 includes information about parking lot 2 (e.g., map information of parking lot 2). The functions of management system 20 can also be realized through the cooperation of processor 22 executing computer programs and storage device 23. This computer program is stored in storage device 23. Alternatively, the computer program can be recorded on a computer-readable recording medium or provided via a network.

[0037] 3. Vehicle driving control in AVP

[0038] As described above, the management system 20 periodically generates control instructions INS (driving instructions) for the automatic driving (AVP driving) of vehicle 1 within the parking area 4. The management system 20 then sends the generated control instructions INS to vehicle 1. Vehicle 1 (control unit 11 of the vehicle control system 10) controls the driving system 13 to automatically drive (vehicle driving control C) according to the target path TP contained in the control instructions INS periodically sent from the management system 20.

[0039] If the vehicle direction of travel D indicated in the control instructions INS from the automated valet parking management system 20 is inappropriate, it may impede the safe driving of vehicle 1 in the AVP.

[0040] Therefore, in this embodiment, the control device 11 (processor 15) of vehicle 1 uses one or more sensors mounted on vehicle 1 (hereinafter also simply referred to as "on-board sensors") to identify traffic rule signs R within parking area 4. For example, camera 17 is equivalent to this on-board sensor. Then, when vehicle 1 is driving in parking area 4, control device 11 performs "instruction verification processing". In instruction verification processing, based on the identification result of traffic rule signs R using on-board sensors, control device 11 determines whether the vehicle travel direction D contained in the control instruction INS received by vehicle 1 from management system 20 violates traffic rule sign R. As a result, if the vehicle travel direction D violates traffic rule sign R, control device 11 temporarily stops vehicle 1 and sends a notification N requesting confirmation of whether the control instruction INS is appropriate to management system 20. In other words, vehicle 1 notifies management system 20 of the abnormality of vehicle travel direction D.

[0041] Traffic rule signs R, which are identified as targets based on vehicle-mounted sensors (e.g., camera 17), are, for example, equivalent to road signs such as "No Entry" (e.g., described later). Figure 3 (e.g., road sign R1). In another example, as a traffic rule sign R, it is equivalent to a road surface marking (e.g., described later). Figure 4 (e.g., road marking R2). In yet another example, as a traffic rule sign R, it is equivalent to a sign or road marking indicating the parking orientation of vehicle 1 in the parking box (e.g., described later). Figure 5 (e.g., road marking R3). In another example, as a traffic rule sign R, it is equivalent to a temporary display (e.g., using a signboard to display no entry or no parking cones).

[0042] 3-1. Processing Flow

[0043] Figure 2 This is a flowchart illustrating an example of the processing flow related to vehicle driving control C in the AVP according to the embodiment. The processing in this flowchart is performed when vehicle 1 is driving in AVP mode.

[0044] In step S100, the control device 11 (processor 15) determines whether it has received a control instruction INS from the management system 20. As described above, when the vehicle 1 is performing AVP driving, the control instruction INS is periodically sent from the management system 20 to the vehicle 1.

[0045] Upon receiving a control instruction INS from the management system 20 (step S100: Yes), the control device 11 uses onboard sensors (e.g., camera 17) to identify traffic rule signs R around the vehicle 1. Next, in step S104, the control device 11 performs an instruction verification process. That is, based on the result of identifying the traffic rule sign R (step S102), the control device 11 determines whether the vehicle's direction of travel D1 contained in the control instruction INS (confirmed in step S100 or S116 described later) violates the traffic rule sign R. Specific examples of the identification result of the traffic rule sign R and the instruction verification process will be explained in section 3-1-1.

[0046] If the vehicle direction of travel D contained in the control instruction INS does not violate the traffic rule sign R (step S104: No), the process proceeds to step S106. In step S106, the control device 11 executes (continues) vehicle driving control C according to the received control instruction INS. Then, this process is repeated. Figure 2 The processing shown.

[0047] On the other hand, if the vehicle's direction of travel D violates traffic rule sign R (step S104: Yes), the process proceeds to step S108. In step S108, the control device 11 temporarily stops the vehicle 1. That is, the control device 11 immediately decelerates and stops the vehicle 1, and keeps the vehicle 1 in a stopped state.

[0048] In step S110, following step S108, control device 11 sends a notification N requesting confirmation of whether the control instruction INS (received in step S100 or S116) is appropriate to management system 20. That is, control device 11 queries management system 20 to determine whether the control instruction INS is appropriate. Upon receiving notification N, management system 20 generates a response RS to notification N (request) and sends it to vehicle 1.

[0049] In step S112 following step S110, the control device 11 determines whether a response RS has been received from the management system 20. If a response RS has been received (step S112: yes), the process proceeds to step S114. In step S114, the control device 11 determines whether the received response RS indicates that the control instruction INS that is the cause of notification N is inappropriate (i.e., the vehicle's direction of travel D violates traffic rule sign R).

[0050] Upon receiving a response RS indicating that the control instruction INS is appropriate (step S114: No), the process proceeds to step S106. That is, the control device 11 resumes AVP operation of the vehicle 1 according to the control instruction INS. To further clarify, the automatic valet parking system 100 is a system in which the management system 20 acts as the main body to enable the vehicle 1 to perform AVP operation. Therefore, when the control device 11 receives a response RS from the management system 20 indicating that the control instruction INS is appropriate, it resumes AVP operation of the vehicle 1.

[0051] On the other hand, if a response RS indicating that the control instruction INS is inappropriate is received (step S114: Yes), the process proceeds to step S116. In step S116, the control device 11 determines whether the received response RS (more specifically, the new control instruction INS contained in the response RS) is accompanied by a correction of the vehicle's travel direction D (step S116).

[0052] If the RS corresponds to a correction of the vehicle's direction of travel D (step S116: Yes), the process proceeds to step S104. That is, the control device 11 performs an instruction verification process targeting the new control instruction INS accompanying the corrected vehicle direction of travel D. As a result, if it is determined that the corrected vehicle direction of travel D does not violate traffic rule sign R (step S104: No), the control device 11 resumes the AVP (Automatic Vehicle Position) of vehicle 1 according to the new control instruction INS. Thus, in Figure 2 In the example of the processing flow shown, after the control device 11, which sent a notification N to the management system 20, confirms on the vehicle 1 side that the vehicle's direction of travel D, as corrected according to the management system 20, does not violate the traffic rule sign R, it resumes AVP driving.

[0053] On the other hand, if the response RS does not involve a correction of the vehicle's travel direction D (step S116: No), in other words, if the response RS includes a travel stop instruction that stops the AVP travel of vehicle 1 as a new control instruction INS, the process proceeds to step S118. In step S118, the control device 11 stops the AVP travel of vehicle 1 according to the travel stop instruction. Alternatively, in this case, vehicle 1 waits for, for example, for the arrival of a staff member. If step S118 is executed, the process ends. Figure 2 The processing shown.

[0054] 3-1-1. Instruction Verification Processing

[0055] The following is a specific example of the instruction verification process (refer to step S104).

[0056] 3-1-1-1. First specific example

[0057] Figure 3This is a conceptual diagram used to illustrate the outline of the instruction verification process involved in the first specific example. Figure 3 The vehicle 1 shown receives a target path TP1 while traveling in AVP mode. The target path TP1 is used to guide vehicle 1 to turn right on lane 5 within parking area 4. On the other hand, vehicle 1 uses camera 17 (onboard sensor) to identify road sign R1. That is, in the first specific example, the road sign R1 located in parking area 4 is equivalent to traffic rule sign R. Road sign R1 indicates that entry of vehicle 1 in the vehicle travel direction D1 determined by the target path TP1 is prohibited.

[0058] As described above, in the first specific example, the control instruction INS requests that vehicle 1 enter a location where road sign R1, which is recognized by camera 17 (e.g., a front camera), prohibits vehicle 1 from entering. In this case, during the instruction verification process, the control device 11 determines that the vehicle travel direction D1 contained in the control instruction INS violates traffic rule sign R (road sign R1).

[0059] 3-1-1-2. Second specific example

[0060] Figure 4 This is a conceptual diagram used to illustrate the outline of the instruction verification process involved in the second specific example. Figure 4 The vehicle 1 shown receives the target path TP2 while traveling in AVP mode. Similar to the target path TP1, the target path TP2 is also a path for vehicle 1 to turn right on lane 5 within parking area 4. On the other hand, vehicle 1 uses camera 17 (onboard sensor) to identify road marking R2. That is, in the second specific example, the road marking R2 displayed in parking area 4 is equivalent to traffic rule sign R. Road marking R2 indicates the direction of travel that each vehicle should follow within parking area 4, which is opposite to the direction of travel D2 determined by the target path TP2.

[0061] As described above, in the second specific example, the control instruction INS requests that vehicle 1 enter in the opposite direction to the vehicle travel direction indicated by road sign R2, which is recognized by camera 17 (e.g., a front camera). In this case, during the instruction verification process, the control device 11 determines that the vehicle travel direction D2 contained in the control instruction INS violates traffic rule sign R (road sign R2).

[0062] 3-1-1-3. The third specific example

[0063] Figure 5 This is a conceptual diagram used to illustrate the outline of the instruction verification process involved in the third specific example. Figure 5The vehicle 1 shown receives a target path TP3 while in AVP mode. The target path TP3 is used to park the vehicle 1 rearward relative to the parking frame 6. On the other hand, the vehicle 1 uses camera 17 (onboard sensor) to identify road marking R3. That is, in the third specific example, the road marking R3 displayed in the parking area 4 (parking frame 6) is equivalent to traffic rule sign R. The road marking R3 is used to indicate the parking orientation (e.g., forward) of the vehicle 1 in the parking frame 6, which is opposite to the vehicle travel direction D3 determined by the target path TP3. Furthermore, in the third specific example, the traffic rule sign R used to indicate the "parking orientation" could be, for example, a sign located near the parking frame 6, rather than the road marking R3.

[0064] As described above, in the third specific example, the control instruction INS requires vehicle 1 to enter parking frame 6 in the opposite direction to the direction indicated by road sign R3 identified by camera 17 (e.g., rear camera). In this case, during the instruction verification process, control device 11 determines that the vehicle travel direction D3 contained in the control instruction INS violates traffic rule sign R (e.g., road sign R3).

[0065] 3-2. Another example of the processing flow

[0066] Figure 6 This is a flowchart illustrating another example of the processing flow related to vehicle driving control C in the AVP according to the implementation method. In this flowchart, the processing proceeds to step S106 instead of step S104 when the response RS from the management system 20 is accompanied by a correction of the vehicle's travel direction D (step S116: Yes). Figure 2 The processing shown is different.

[0067] Specifically, in Figure 6 In the case where the management system 20, which receives notification N, receives a new control instruction INS that accompanies a correction of the vehicle's travel direction D, the control device 11 resumes the AVP driving of the vehicle 1 according to the new control instruction INS without performing instruction verification processing targeting the corrected vehicle travel direction D (step S106). Thus, according to Figure 6 The process shown omits the step of "determining on vehicle 1 whether the corrected vehicle direction of travel D violates traffic rule sign R".

[0068] 4. Effects

[0069] As explained above, the vehicle control system 10 according to this embodiment uses sensors (e.g., camera 17) mounted on the vehicle 1 traveling in the parking area 4 to identify the actual traffic rule sign R. Based on the identification result, the system determines on the vehicle 1 side whether the vehicle travel direction D included in the control instruction INS from the management system 20 violates the traffic rule sign R. Then, if the vehicle travel direction D violates the traffic rule sign R, the vehicle 1 temporarily stops, and the management system 20 requests confirmation from the vehicle 1 whether its control instruction INS is appropriate. This prevents the vehicle 1 from continuing to drive in AVP according to inappropriate control instruction INS, thus improving the safety of the automatic driving of the vehicle 1 based on the control instruction INS from the management system 20.

[0070] Furthermore, in this embodiment, when a new control instruction INS is received from the management system 20 that received the aforementioned notification N, along with a correction to the vehicle's direction of travel D, an instruction verification process can be performed targeting the new control instruction INS. Then, if the instruction verification process determines that the corrected vehicle direction of travel D does not violate traffic rule sign R, the vehicle 1 can resume AVP driving according to the new control instruction INS. By confirming the appropriateness of the corrected vehicle direction of travel D on the vehicle 1 side before resuming driving using this method, the safety of the vehicle 1's automatic driving can be further improved, and AVP driving can continue according to the new control instruction INS.

[0071] Furthermore, in this embodiment, when a new control instruction INS is received from the management system 20, which has received the aforementioned notification N, along with a correction to the vehicle's travel direction D, the AVP driving of vehicle 1 can be resumed according to the new control instruction INS without undergoing instruction verification processing targeting the corrected vehicle travel direction D. The new control instruction INS is sent to vehicle 1 after the management system 20 confirms whether its initial control instruction INS is appropriate based on the notification N from vehicle 1. Therefore, according to this method, through the cooperation between the vehicle control system 10 and the management system 20 via the aforementioned notification N and the response RS, it is possible to both improve the safety of vehicle 1's automatic driving and quickly resume AVP driving after the transmission of notification N.

[0072] Furthermore, in this embodiment, upon receiving an appropriate response RS from the management system 20 indicating the reason for the notification N, the AVP operation of vehicle 1 can be resumed according to the control instruction INS. Thus, in the automatic valet parking system 100 where the management system 20 is the main entity enabling vehicle 1 to perform AVP operation, AVP operation can be quickly resumed upon receiving an appropriate response RS from the management system 20 indicating the appropriate control instruction INS.

[0073] Symbol Explanation

[0074] 1-Vehicle, 10-Vehicle control system, 11-Control device, 12-Sensor group, 13-Driving system, 20-Automatic valet parking management system, 100-Automatic valet parking system.

Claims

1. A vehicle control system, mounted on a target vehicle for automated valet parking, characterized in that, have: One or more sensors that identify traffic rule signs within the parking area of ​​a parking lot; and One or more processors, When the target vehicle is driving within the parking area, the one or more processors execute the following instruction verification process: Based on the recognition results of the traffic rule sign using one or more sensors, it is determined whether the vehicle's direction of travel, contained in the control instruction received by the target vehicle from the automated valet parking management system, violates the traffic rule sign. If the vehicle's direction of travel violates the traffic rule sign, the target vehicle is temporarily stopped, and a notification requesting confirmation of whether the control instruction is appropriate is sent to the management system.

2. The vehicle control system according to claim 1, characterized in that, When one or more processors receive a new control instruction accompanying a correction of the vehicle's direction of travel from the management system that has already received the notification, they perform the instruction verification process targeting the new control instruction. If, during the instruction verification process, it is determined that the corrected vehicle direction of travel does not violate the traffic rule sign, the target vehicle's travel is resumed according to the new control instruction.

3. The vehicle control system according to claim 1, characterized in that, If a new control instruction is received from the management system that has received the notification, accompanied by a correction of the vehicle's direction of travel, one or more processors may resume the driving of the target vehicle according to the new control instruction without performing the instruction verification process with the corrected vehicle direction of travel as the target.

4. The vehicle control system according to any one of claims 1 to 3, characterized in that, If the response from the management system that has received the notification is an appropriate response to the control instruction indicating the reason for the notification, one or more processors resume driving of the target vehicle in accordance with the control instruction indicating the reason for the notification.

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