Automatic valet parking system

Abstract

Provided is a technology related to an automated valet parking (AVP) system for an AVP in a prescribed area in which various services are provided, which enables smooth use of the AVP. The AVP system includes one or more processors and a storage device. The storage device stores a reservation database that manages reservation information of the AVP for each user. The reservation information includes information related to a service provided based on the AVP. The one or more processors are configured to: acquire reservation information of a target user from the reservation database; determine whether a rearview mirror is required to be closed in the service provided in the reservation information of the target user; and change control of an open / close state of a rearview mirror of a target vehicle in the AVP involved in the reservation information of the target user, according to a result of the determination.

Description

Technical Field

[0001] This invention relates to an automated valet parking system for use in designated areas. Background Technology

[0002] Patent Document 1 discloses a technology related to automated valet parking (AVP). The vehicle obtains route information from the parking lot and drives autonomously along the obtained route. Patent Document 2 discloses a technology related to a vehicle control system capable of instructing the vehicle's automated parking control from a remote operating terminal. This vehicle control system will abort automated parking control even without receiving a stop command from the remote operating terminal when it detects a forced stop action, including opening a vehicle door and opening or closing a rearview mirror.

[0003] Patent Document 1: German Patent Application Publication No. 102012222562

[0004] Patent Document 2: Japanese Patent Application Publication No. 2022-074653 Summary of the Invention

[0005] In recent years, AVP has been considered not only for vehicle parking but also for various scenarios involving the provision of services. For example, it is being considered for applying AVP to the return of vehicles, including those for car washes or charging, in car rental businesses, or to the transportation of completed vehicles, including those undergoing inspection processes, in factories.

[0006] In AVP (Automated Guided Vehicle) systems, it is typically required to record the detection information from the onboard sensors during control operations to enable verification in case of malfunctions. In particular, the sensors located in the rearview mirrors are among the onboard sensors. Therefore, it is generally desirable to keep the rearview mirrors in the open position when implementing AVP.

[0007] However, some AVP-based services require the rearview mirror to be turned off. Therefore, if the rearview mirror is always turned on in AVP, the service may not be properly received. As a result, this could hinder the smooth operation of AVP.

[0008] One object of the present invention is to provide a technology that enables the smooth application of AVP when providing various services through AVP.

[0009] One aspect of the present invention relates to an automated valet parking (AVP) system for use in a designated area. The automated valet parking system includes one or more processors and a storage device. The storage device stores a reservation database that manages reservation information for each AVP. The reservation information includes information related to the service provided based on the AVP. The one or more processors are configured to: retrieve the reservation information of a target user from the reservation database; determine whether the service provided in the target user's reservation information requires the rearview mirror to be closed; and control the opening / closing state of the rearview mirror of the target vehicle in the AVP involved in the target user's reservation information based on the determination result.

[0010] Invention Effects

[0011] According to the present invention, it is determined whether the service reservation information of the target user requires the rearview mirror to be closed. Then, based on the determination result, the control of the opening and closing state of the target vehicle's rearview mirror in the AVP is changed. Thus, the rearview mirror can be set to an appropriate opening and closing state for providing the service. As a result, the AVP can be used smoothly. Attached Figure Description

[0012] Figure 1 This is a conceptual diagram illustrating the overall implementation of the AVP (Automated Valet Parking) system in this embodiment.

[0013] Figure 2 This is a conceptual diagram illustrating the outline of the technical features of the automated valet parking system involved in this embodiment.

[0014] Figure 3 This diagram illustrates an example of the hardware structure of the automated valet parking system according to this embodiment.

[0015] Figure 4 This is a flowchart illustrating the processing flow performed by the management system associated with the technical features of the automated valet parking system involved in this embodiment.

[0016] Figure 5 This is a flowchart illustrating the additional processing performed by the management system associated with the technical features of the automated valet parking system involved in this embodiment.

[0017] Figure 6 It is a flowchart representing the processing flow performed by the management system involved in the variant example. Detailed Implementation

[0018] Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. Furthermore, in the drawings, identical or equivalent parts are labeled with the same symbols, and their descriptions are simplified or omitted.

[0019] 1. Automated Valet Parking System

[0020] The automated valet parking system described in this embodiment implements AVP in a designated area where various services are provided. Figure 1 This is a conceptual diagram illustrating the overall AVP implemented by the automated valet parking system according to this embodiment. The automated valet parking system according to this embodiment consists of a management system 100, sensors 101 disposed in area 10, and a vehicle control system 102 provided by vehicle 1.

[0021] Area 10 includes at least one area for providing services to vehicle 1. If vehicle 1 enters any area, the service corresponding to the area entered is provided to vehicle 1. Examples of services include vehicle inspection, car wash, charging, refueling, parts replacement, and replenishment of coolant or washer fluid. Figure 1 In the example shown, area 10 includes a first area Z10 for providing vehicle inspection services, a second area Z20 for providing car wash services, and a third area Z30 for providing charging services. Area 10 could be, for example, a parking lot for a car rental business, a parking lot for a commercial facility, an airport site, a factory site, etc.

[0022] When the AVP according to this embodiment receives a start request from user 2, it identifies the target vehicle 1-A from the vehicles 1 parked at drop-off location 11, and moves the target vehicle 1-A to parking area 12 and parks it in the parking space. In this embodiment, user 2 can be an employee of a car rental business or a factory worker, in addition to a regular user. Furthermore, the method for identifying the target vehicle 1-A can employ a known preferred technique. Furthermore, the AVP according to this embodiment provides services to the target vehicle 1-A when implementing AVP, based on user 2's AVP reservation information. Therefore, user 2's AVP reservation information includes information related to the service provided based on AVP. For example, if the service provided in the reservation information is "car wash," the AVP according to this embodiment moves the target vehicle 1-A towards parking area 12 after it enters the second area Z20.

[0023] The AVP involved in this embodiment can be implemented in multiple regions 10. In particular, the services provided in each region 10 can be different. Therefore, the AVP reservation information of user 2 can include information on the region of use in multiple regions 10.

[0024] The management system 100 manages the AVPs in area 10. The management system 100 is connected to sensors 101 via a communication network. Sensors 101 detect the position or status of each vehicle 1 within area 10. Sensors 101 may be, for example, cameras, radar, light detection and ranging (LiDAR), etc. The management system 100 manages information about each vehicle 1 within area 10 based on the detection information acquired using sensors 101.

[0025] Furthermore, the management system 100 is connected to the user terminal 200 of user 2 via a communication network. The user terminal 200 is, for example, a computer device (e.g., smartphone, tablet, wearable device, personal computer) with a specific application related to AVP installed. Also, for example, the user terminal 200 may be a dedicated device for AVP. User 2 makes AVP reservations by operating the user terminal 200. Reservation information related to the reservation is sent to the management system 100. The management system 100 stores a reservation database D10 that manages AVP reservation information for each user 2. For example, as... Figure 1 As shown, the reservation database D10 identifies each user 2 by user ID, thereby managing the reservation information of each user 2. In this embodiment, the reservation information of the AVP includes the area to be used, the date and time of use, and information on the services provided. The services provided can be those that user 2 can choose when making an AVP reservation (e.g., choosing whether to perform a car wash or charging in a commercial facility), or they can be those that are required in the AVP in area 10 (e.g., performing a vehicle inspection in a factory).

[0026] The management system 100 designates the user 2 who recently implemented AVP as object user 2-A and retrieves the reservation information of object user 2-A from the reservation database D10. Object user 2-A is, for example, a user 2 within a certain time period from the current moment using the date and time, or a user 2 within a certain range from region 10 using the current location.

[0027] When User 2 wants to implement AVP, he stops vehicle 1 at drop-off point 11 and gets off vehicle 1. Then, User 2 operates user terminal 200 to make an AVP start request.

[0028] If the management system 100 receives an AVP start request from the target user 2-A, it begins communication with the target vehicle 1-A and implements AVP for the target vehicle 1-A based on the reservation information of the target user 2-A. More specifically, the management system 100 sends AVP instruction information to the target vehicle 1-A based on management data related to each vehicle 1 or each area within area 10. The vehicle control system 102 of the target vehicle 1-A controls the driving device or on-board equipment of the target vehicle 1-A according to the received instruction information. In particular, in this embodiment, the instruction information includes information indicating the open / closed state of the rearview mirror. Thus, AVP based on the automated valet parking system according to this embodiment is implemented.

[0029] 2 Summary

[0030] Next, a summary of the technical features of the automated valet parking system according to this embodiment will be described. In AVP, it is generally required to record the detection information acquired by the onboard sensors during control in order to perform verification in case of malfunctions, etc. In particular, one of the onboard sensors is the sensor (e.g., camera, sonar, radar) on the rearview mirror. Generally, it is envisioned that the sensor on the rearview mirror acquires detection information when the rearview mirror is open. Therefore, when implementing AVP, it is basically desirable to set the rearview mirror to the open state.

[0031] On the other hand, as described above, in the automated valet parking system according to this embodiment, when implementing AVP, a certain service is sometimes provided in area 10. Depending on the service provided based on AVP, it is sometimes required that the rearview mirror be closed. For example, when the service provided is "car wash", it is required that the rearview mirror be closed. Furthermore, for example, when there is a possibility of interference with the charging equipment or charging robot during charging in the third area Z30 of area 10, it is required that the rearview mirror be closed when the service provided is "charging". Thus, if the rearview mirror is always kept open when providing a certain service in area 10 during AVP implementation, the service may not be properly received. As a result, it may hinder the smooth operation of AVP.

[0032] Therefore, to address the aforementioned issues, the automated valet parking system of this embodiment is configured as follows: It determines whether the service requested in the reservation information of user 2-A requires the rearview mirror to be closed. Then, the automated valet parking system of this embodiment is configured as follows: Based on the determination result, it changes the control of the open / closed state of the rearview mirror in the AVP related to the reservation information of user 2-A.

[0033] Figure 2This is a conceptual diagram illustrating the outline of the technical features of the automated valet parking system according to this embodiment. The management system 100 identifies a target user 2-A and obtains the reservation information of target user 2-A from the reservation database D10. Furthermore, the management system 100 executes a rearview mirror opening / closing determination process P10. In the rearview mirror opening / closing determination process P10, the management system 100 determines whether the service provided in the reservation information of target user 2-A requires the rearview mirror to be closed. Then, based on the determination result based on the rearview mirror opening / closing determination process P10, the management system 100 executes a rearview mirror control process P20 to control the rearview mirrors of target vehicle 1-A.

[0034] exist Figure 2 In step (A), given that the service offered by user 2-A in their reservation information is "car wash," the management system 100 determines that the rearview mirror needs to be turned off during the service provision. At this time, in the rearview mirror control processing P20, the management system 100 sets the rearview mirror of user 1-A to the off state when AVP (Automatic View Protection) begins. Furthermore, the management system 100 sets the rearview mirror of user 1-A to the on state when the service (car wash) is completed. That is, after the service is completed, it can acquire detection information based on the sensors located on the rearview mirror.

[0035] exist Figure 2 In (B), if the service provided in the reservation information of target user 2-A is "none", the management system 100 determines that the rearview mirror does not need to be turned off when providing services. At this time, in the rearview mirror control processing P20, the management system 100 sets the rearview mirror of target vehicle 1-A to the open state when AVP starts.

[0036] As explained above, according to the automated valet parking system of this embodiment, it is determined whether the service reservation information of the target user 2-A requires the rearview mirror to be closed. Then, based on the determination result, the control of the opening and closing state of the rearview mirror of the target vehicle 1-A in the AVP is changed. Thus, the rearview mirror can be set to an appropriate opening and closing state for providing the service. As a result, the AVP can be used smoothly. Furthermore, Figure 2 The judgment result shown is an example. The judgment in the rearview mirror opening / closing judgment process P10 can be appropriately set according to the environment applicable to this embodiment.

[0037] The automated valet parking system according to this embodiment can be configured as follows: when the rearview mirror of the target vehicle 1-A is in an open state, the distance between the rearview mirror of the target vehicle 1-A and surrounding obstacles is further acquired during the execution of AVP. For example, the management system 100 uses detection information from sensor 101 or detection information from the vehicle-mounted sensors of the target vehicle 1-A to acquire the distance between the rearview mirror and surrounding obstacles. Examples of surrounding obstacles include other vehicles, pillars, walls, fallen objects, etc. Then, the automated valet parking system can be configured as follows: when the acquired distance is shorter than a predetermined first distance, the rearview mirror of the target vehicle 1-A is closed. The first distance can be experimentally set to an optimal value according to the environment applicable to this embodiment. With this configuration, interference between the rearview mirror and obstacles during AVP can be suppressed.

[0038] 3 Hardware Structure

[0039] Figure 3 This diagram illustrates an example of the hardware structure of the automated valet parking system 3 according to this embodiment. Sensor 101 is communicatively connected to management system 100. Management system 100 is connected to communication network 300 and communicates with user terminal 200 and vehicle control system 102. Management system 100 generates instruction information for driving management of vehicle 1 and sends the generated instruction information to vehicle control system 102.

[0040] The management system 100 includes one or more processors 110 (hereinafter referred to as processor 110), one or more storage devices 120 (hereinafter referred to as storage devices 120), and a communication interface 130.

[0041] Processor 110 performs various processes. Processor 110 may be composed of, for example, a general-purpose processor, a purpose-specific processor, a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), an integrated circuit, conventional circuits, and one or more combinations thereof. Processor 110 may also be referred to as processing circuitry. Processing circuitry is hardware programmed to implement the functions of management system 100 or hardware that executes the functions of management system 100.

[0042] Storage device 120 stores, for example, various information required for the execution of processing by processor 110. Storage device 120 may be composed of recording media such as Random Access Memory (RAM), Read Only Memory (ROM), Solid State Drive (SSD), or Hard Disk Drive (HDD). Storage device 120 stores a computer program 121 executable by processor 110 and a reservation database D10. Computer program 121 consists of multiple instruction codes describing the processing that causes processor 110 to execute. Computer program 121 is recorded on a computer-readable recording medium. The functions of management system 100 are realized through the cooperation of processor 110 executing computer program 121 and storage device 120. For example, the execution of rearview mirror opening / closing decision processing P10 or rearview mirror control processing P20 is realized.

[0043] Communication interface 130 is connected to communication network 300 and is used to communicate with external devices of management system 100. Communication interface 130 may be composed of, for example, the Internet, mobile communication network, LAN, etc. Management system 100 sends and receives information with user terminal 200 or vehicle control system 102 via communication interface 130.

[0044] The vehicle control system 102 is a system for controlling the vehicle 1. Specifically, when the vehicle control system 102 receives instruction information from the management system 100, it controls the driving mechanism or on-board equipment (e.g., rearview mirrors, lights, etc.) of the vehicle 1 based on the received instruction information. The vehicle control system 102 may consist, for example, a communication device connected to the communication network 300 and transmitting and receiving information, on-board sensors that detect the driving environment of the vehicle 1, a control device that controls the vehicle 1 based on various information, a driving mechanism that provides driving functions (e.g., driving, braking, steering) for the vehicle 1, and various on-board equipment. The control device may be, for example, an electronic control unit (ECU). The control device may also be a combination of multiple ECUs. Alternatively, the control device may be a suite (AVP suite) for functions provided by the management system 100.

[0045] 4. Processing flow

[0046] Figure 4 This is a flowchart illustrating the processing flow performed by the management system 100 (more specifically, the processor 110) associated with the technical features of the automated valet parking system 3 according to this embodiment. Figure 4 The processing flow shown, for example, begins when the management system 100 identifies object user 2-A.

[0047] In step S110, the management system 100 retrieves the reservation information of user 2-A from the reservation database D10. For example, the management system 100 retrieves the reservation information of user 2-A by referencing the reservation database D10 using user ID of user 2-A.

[0048] Next, in step S120, the management system 100 executes the rearview mirror opening / closing judgment process P10 to determine whether the service provided in the reservation information of the target user 2-A requires the rearview mirror to be closed.

[0049] Next, in step S130, the management system 100 waits for a start request from object user 2-A. If the management system 100 receives a start request from object user 2-A (step S130; yes), the process proceeds to step S140.

[0050] In step S140, the management system 100 refers to the judgment result in step S120. If the judgment result indicates that it is not required to turn off the rearview mirror during service provision (step S140; no), the management system 100 generates an instruction message to set the rearview mirror of the target vehicle 1-A to the open state at the start of AVP (step S150).

[0051] On the other hand, if the determination result indicates that the rearview mirror needs to be turned off during service provision (step S140; Yes), the management system 100 generates an instruction to turn off the rearview mirror of the target vehicle 1-A at the start of AVP (step S160). After step S160, the management system 100 determines whether the service provision is complete when implementing AVP (step S170). When the service provision is complete (step S170; Yes), the management system 100 generates an instruction to turn on the rearview mirror of the target vehicle 1-A (step S180).

[0052] As described above, the automatic valet parking system 3 according to this embodiment can be configured as follows: when the rearview mirror of the target vehicle 1-A is set to the open state, during the period when the distance between the rearview mirror of the target vehicle 1-A and the surrounding obstacles is shorter than a predetermined first distance, the rearview mirror of the target vehicle 1-A is set to the closed state. Figure 5 It is a flowchart representing the processing flow performed by the system 100 (more specifically, processor 110) to implement the structure. Figure 5 The processing flow shown is repeatedly executed at a specified processing cycle if the judgment result of the rearview mirror opening / closing judgment process P10 indicates that closing the rearview mirror is not required.

[0053] In step S210, the management system 100 obtains the distance between the rearview mirror of the target vehicle 1-A and surrounding obstacles.

[0054] Next, in step S220, the management system 100 determines whether the distance between the rearview mirror of the target vehicle 1-A and the surrounding obstacles is shorter than a first distance. If the distance between the rearview mirror of the target vehicle 1-A and the surrounding obstacles is shorter than the first distance (step S220; Yes), the management system 100 generates an instruction to turn off the rearview mirror of the target vehicle 1-A (step S230). On the other hand, if the distance between the rearview mirror of the target vehicle 1-A and the surrounding obstacles is greater than the first distance (step S220; No), the management system 100 generates an instruction to turn on the rearview mirror of the target vehicle 1-A (step S240).

[0055] 5. Variations

[0056] The automated valet parking system 3 described in this embodiment can be modified as follows. In the following description, parts that are repeated above are appropriately omitted.

[0057] In the above embodiment, if the determination result of the rearview mirror opening / closing determination process P10 indicates that closing the rearview mirror is not required during service provision, the rearview mirror of the target vehicle 1-A is set to the open state when AVP is started. On the other hand, considering situations such as routinely implementing AVP in a specific area 10, the user 2, having a thorough understanding of the environment of area 10, would prefer the rearview mirror to be closed. For example, situations such as: longitudinal parking in parking area 12 of area 10, where the rearview mirror easily interferes with parking; parking garages with limited parking spaces; or parking area 12 of area 10 being always crowded and the rearview mirror easily interfering with parking, etc. In such cases, it is desirable to reflect the user 2's wishes.

[0058] Therefore, in the modified example, the reservation information is configured to include setting information related to the open / closed state of the rearview mirror in AVP. The setting of the open / closed state of the rearview mirror can be configured to be performed each time user 2 makes an AVP reservation, or it can be managed for each user 2. Alternatively, the setting of the open / closed state of the rearview mirror can be managed for a combination of user 2 and the area of ​​use. Then, in the modified example, if the determination result of the rearview mirror open / closed determination process P10 indicates that closing the rearview mirror is not required during service provision, the automated valet parking system 3 sets the rearview mirror of the target vehicle 1-A to the open / closed state according to the setting information in the reservation information of the target user 2-A when AVP begins. That is, if the setting information indicates that the rearview mirror is set to the open state, the rearview mirror of the target vehicle 1-A is set to the open state when AVP begins; if the setting information indicates that the rearview mirror is set to the closed state, the rearview mirror of the target vehicle 1-A is set to the closed state when AVP begins. Therefore, it can reflect the wishes of user 2 who fully understands the environment of region 10, and can make more successful use of AVP.

[0059] Figure 6 It is a flowchart representing the processing flow performed by the management system 100 (more specifically, processor 110) involved in the variant example. Figure 6 The processing flow shown, for example, begins when the management system 100 identifies object user 2-A.

[0060] and Figure 4 Compared to the processing flow shown, Figure 6 The processing flow shown differs when the determination result indicates that closing the rearview mirror is not required during service provision (step S140; No). In this case, the management system 100 refers to the setting information in the reservation information of the target user 2-A (step S191). Then, at the start of AVP, the management system 100 sets the rearview mirror of the target vehicle 1-A to the open / closed state according to the setting information (step S192).

[0061] Symbol Explanation

[0062] 1-Vehicle, 1-A-Target vehicle, 2-User, 2-A-Target user, 3-Automatic valet parking system, 10-Area, 11-Drop-off location, 12-Parking area, 100-Management system, 110-Processor, 120-Storage device, 101-Sensor, 102-Vehicle control system, 200-User terminal.

Claims

1. An automated valet parking system for use in a designated area, characterized in that it comprises: One or more processors; and Storage device, which stores a reservation database that manages reservation information for the automated valet parking for each user. The reservation information includes information related to the service provided based on the automated valet parking. The one or more processors are configured as follows: Retrieve the reservation information of the target user from the reservation database; Determine whether the service provision in the reservation information of the target user requires turning off the rearview mirror; and Based on the judgment result, the control of changing the opening and closing state of the rearview mirror of the target vehicle in the automatic valet parking involved in the reservation information of the target user is changed.

2. The automated valet parking system according to claim 1, characterized in that, The one or more processors are configured as follows: If the determination result indicates that the rearview mirror needs to be turned off during the service provision, the rearview mirror of the target vehicle will be set to the off state when the automatic valet parking begins; and If the determination result indicates that the rearview mirror is not required to be turned off during the service provision, the rearview mirror of the target vehicle will be set to the open state when the automatic valet parking is started.

3. The automated valet parking system according to claim 2, characterized in that, The one or more processors are configured as follows: If the determination result indicates that the rearview mirror is required to be turned off during the service provision, the rearview mirror of the target vehicle will be turned on when the service provision is completed.

4. The automated valet parking system according to claim 1, characterized in that, The reservation information includes settings related to the open / closed state of the rearview mirror in the automated valet parking vehicle. The one or more processors are configured as follows: If the determination result indicates that the rearview mirror needs to be turned off during the service provision, the rearview mirror of the target vehicle will be set to the off state when the automatic valet parking begins; and If the judgment result indicates that the rearview mirror is not required to be turned off during the service, the rearview mirror of the target vehicle is set to open / closed state according to the setting information in the reservation information of the target user when the automatic valet parking is started.

5. The automated valet parking system according to any one of claims 1 to 4, characterized in that, The one or more processors are further configured as follows: During the execution of the automated valet parking, the distance between the rearview mirror of the target vehicle and surrounding obstacles is acquired; and During the period when the distance is shorter than the first distance, the rearview mirror of the target vehicle is set to a closed state.

Images