Automated valet parking system, response method and program in case of problem in automated valet parking system

Abstract

This disclosure relates to an automated valet parking system, and methods and procedures for handling problems that occur in the automated valet parking system. When a problem occurs in the automated valet parking system, the processing circuitry interrupts the automated valet parking, notifies the user of the affected vehicle of the problem, sets a delay time based on the severity of the problem, waits for user feedback until the delay time has elapsed, and then terminates the automated valet parking after the delay time has elapsed.

Description

Technical Field

[0001] This disclosure relates to an automated valet parking (AVP) system, methods and procedures for handling problems that occur in the automated valet parking system (program product). Background Technology

[0002] German Patent Application Publication No. 102012222562 discloses an automated valet parking system in which a vehicle, having obtained path information from the parking lot side, drives itself from its starting position to its destination without human intervention. Summary of the Invention

[0003] Typically, in the event of a problem with a vehicle, an automated valet parking system will notify the user of the problem and await their response after suspending automated valet parking for that vehicle. The system will resolve the issue according to the user's instructions, but if no user instruction is received after a certain period, the system will terminate the suspended automated valet parking. Invariably determining this certain period could cause inconvenience for users or parking lot operators.

[0004] One embodiment of this disclosure relates to an automated valet parking system that provides automated valet parking to a target vehicle, and includes a processing circuit. The processing circuit is configured to, in the event of a problem with automated valet parking, interrupt automated valet parking, notify the user of the target vehicle of the problem, set a grace period based on the severity of the problem, wait for instructions from the user until the grace period has elapsed, and then terminate automated valet parking after the grace period has elapsed.

[0005] One embodiment of this disclosure relates to a method for handling problems in an automated valet parking system that provides automated valet parking to a target vehicle, comprising: in the event of a problem with automated valet parking, causing a computer to perform: interrupting automated valet parking; notifying the user of the target vehicle of the occurrence of the problem; setting a delay time based on the severity of the problem; waiting for instructions from the user until the delay time has elapsed; and terminating automated valet parking after the delay time has elapsed.

[0006] According to this disclosure, in the event of a problem with automated valet parking, a delay time is set according to the severity of the problem, thereby enabling both the user and the parking lot operator to respond to the problem smoothly. Attached Figure Description

[0007] Hereinafter, the features, advantages, and technical and industrial significance of exemplary embodiments of the present invention will be described with reference to the accompanying drawings, in which the same reference numerals denote the same elements, and wherein:

[0008] Figure 1This is a diagram showing the structure of an automated valet parking system;

[0009] Figure 2 It is a diagram representing the information flow within an automated valet parking system;

[0010] Figure 3 It is a graph that shows the relationship between the severity of the problem, the time of delay, and the options;

[0011] Figure 4 This is a diagram showing an example of a user terminal display; and

[0012] Figure 5 It is a flowchart representing the processing flow performed by an infrastructure computer. Detailed Implementation

[0013] 1. Structure of an automated valet parking system

[0014] Figure 1 This describes the structure of the automated valet parking system 2 according to this embodiment. The automated valet parking system 2 includes a computer 10 for managing and controlling the automated valet parking of the vehicle 20.

[0015] The infrastructure computer 10 can be a physical server, a cloud server, or a combination of both. The infrastructure computer 10 is connected to multiple infrastructure sensors 30 installed within the parking lot. The infrastructure sensors 30 are sensors that acquire information related to various states of the automated valet parking system 2, including operational, communication, and security states. The infrastructure sensors 30 include surveillance cameras positioned along the road traveled by the vehicle 20. The infrastructure computer 10 acquires sensing information for automated valet parking in real time from the infrastructure sensors 30, including the surveillance cameras, and performs processing related to automated valet parking based on this sensing information.

[0016] The infrastructure computer 10 includes a processing circuit 11, a storage circuit 12, and a communication circuit 13. The processing circuit 11 is configured to perform processing related to automated valet parking. Sensing information from the infrastructure sensors 30 is processed by the processing circuit 11. The processing circuit 11 includes one or more processors such as a CPU, FPGA, or ASIC. The storage circuit 12 is configured to store programs and associated data related to automated valet parking. The storage circuit 12 includes one or more main memories and may also include one or more auxiliary memories. The communication circuit 13 is configured to communicate with external devices. The communication circuit 13 includes a wireless communication module for wireless communication and a wired communication module for wired communication. The processing circuit 11 is communicatively connected to the storage circuit 12 and the communication circuit 13.

[0017] Vehicle 20 possesses the necessary functions for automated valet parking, including automatic driving capabilities, and is the target vehicle for automated valet parking. The automatic driving of vehicle 20 within the parking lot is controlled by infrastructure computer 10. Wireless communication using a wireless LAN occurs between the communication circuit 13 of infrastructure computer 10 and the vehicle control device 21 mounted on vehicle 20. The automatic driving of vehicle 20 can also be controlled through cooperation between infrastructure computer 10 and vehicle control device 21. Vehicle 20 can also be an autonomous vehicle capable of driving independently outside the parking lot.

[0018] Infrastructure computer 10 is connected to user terminal 40 via the Internet through a mobile network. Bidirectional communication occurs between communication circuitry 13 of infrastructure computer 10 and user terminal 40. User terminal 40 is typically a smartphone. User terminal 40 includes a touch panel display 41 as an input / output interface.

[0019] 2. Processing performed by the automated valet parking system

[0020] Figure 2 This is a diagram representing the information flow within the automated valet parking system 2. This diagram is used to explain the processes performed by the automated valet parking system 2.

[0021] The vehicle 20 sends vehicle status information 101, acquired by various sensors mounted on the vehicle 20, to the infrastructure computer 10. The vehicle status information 101 includes various warning messages such as engine warning, hydraulic warning, PCS warning, EPS warning, ABS warning, air pressure warning, door not properly closed warning, SOC warning, and fuel level warning. Additionally, the vehicle status information 101 includes obstacle information acquired by external cameras and information obtained through monitoring by internal cameras.

[0022] The infrastructure sensor 30 sends system status information 102, acquired by the infrastructure sensor 30, to the infrastructure computer 10. The system status information 102 includes, for example, information related to malfunctions of communication devices, malfunctions of cameras, and intrusions by pedestrians into the travel path.

[0023] In the infrastructure computer 10, vehicle status information 101 and system status information 102 are processed by processing circuit 11. Based on the vehicle status information 101 and system status information 102, processing circuit 11 detects the occurrence of problems that continue to obstruct the automated valet parking system. What constitutes a "problem" is predefined, and the severity is determined based on the nature of the problem. Problems affecting only vehicle 20 are considered low-severity problems. Conversely, problems affecting the entire automated valet parking system 2 are considered high-severity problems. Therefore, if it is possible to ensure that a following vehicle can bypass the malfunctioning vehicle's path, the malfunction is detected as a relatively low-severity problem. However, even with the same vehicle malfunction, if a following vehicle cannot find an alternative route, the malfunction is detected as a relatively high-severity problem.

[0024] In the event of a problem in vehicle 20, processing circuit 11 sends a control instruction 106 to vehicle 20, interrupting the provision of automatic valet parking to vehicle 20. In the event of interrupted automatic valet parking, processing circuit 11 sends a message (notification message) 103 to the user of vehicle 20 where automatic valet parking has been interrupted, notifying them of the problem. Furthermore, along with the sending of message 103, processing circuit 11 prompts the user with options 104 for handling the problem.

[0025] Message 103 sent from infrastructure computer 10 to user is displayed on touch panel display 41 of user terminal 40. Additionally, options 104 prompted by infrastructure computer 10 are also displayed on touch panel display 41. Infrastructure computer 10 sets the length of the delay time for waiting for user instructions based on the severity of the problem. If the delay time has elapsed before receiving user instructions, control instruction 106 is sent again to vehicle 20 where the problem occurred, and the automatic valet parking service for vehicle 20 is switched from "interrupted" to "suspended".

[0026] When a user selects an option displayed on the touch panel display 41, the selection result is sent as an instruction 105 from the user to the infrastructure computer 10 and input to the processing circuit 11. If the instruction 105 from the user's selection result is input to the processing circuit 11 before a delay time has elapsed, the processing circuit 11 performs processing according to the indicated selection result.

[0027] Figure 3This is a graph showing the relationship between the severity of a problem, the delay time, and the options. For problems with low severity, the delay time is longer, but as the severity increases, the delay time shortens. For specific examples, the severity of problems increases in the following order: in-vehicle malfunction, vehicle breakdown, vehicle breakdown with an alternative route, vehicle breakdown without an alternative route, and parking lot malfunction. In this case, the longest delay time is set for in-vehicle malfunction, and the shortest delay time is set for parking lot malfunction. The storage circuit 12 of the infrastructure computer 10 stores a table that associates the delay time with the problem content. The processing circuit 11 of the infrastructure computer 10 refers to this table to set the length of the delay time.

[0028] The higher the severity of the problem, the fewer options are presented from the infrastructure computer 10 to the user terminal 40. In other words, the higher the severity of the problem, the shorter the delay and the fewer options available to the user. For example, in the case of the lowest severity, there are three options: prompting the user to confirm the situation via camera recording, prompting the user to handle the situation on-site, and prompting the user to hand it over to staff. If the severity of the problem increases, the options become two: prompting the user to handle the situation on-site and prompting the user to hand it over to staff. If the severity of the problem increases further, the options become only one: prompting the user to transfer authority to an administrator. Furthermore, in the case of the highest severity, the automated valet parking is immediately suspended, and the user terminal 40 is only notified that the automated valet parking has been suspended.

[0029] Figure 4 This diagram illustrates an example of the display on the touch panel display 41 of the user terminal 40. As shown in Example 1, the touch panel display 41 displays the message that automatic valet parking has been interrupted, and displays a number of option buttons corresponding to the severity of the problem, as well as an "OK" button for confirming the selection result. Descriptions are omitted in Example 1, but specific responses are displayed in the option buttons (Response 1), (Response 2), and (Response 3). Furthermore, the delay time set by the infrastructure computer 10 is displayed on the touch panel display 41 as the remaining time until a response is received.

[0030] Example 2 is an example of the touch panel display 41 displaying the situation where the problem is of the highest severity. In this case, the touch panel display 41 displays the intention to abort automatic valet parking and displays a confirmation button to notify the infrastructure computer 10 that the user has confirmed the intention.

[0031] Figure 5This is a flowchart illustrating the processing flow performed by the infrastructure computer 10. This flowchart also illustrates the methods for handling problems that occur in the automated valet parking system according to this embodiment. The program stored in the storage circuit 12 of the infrastructure computer 10 includes multiple instructions for causing the processing circuit 11 to execute the methods shown in this flowchart.

[0032] This flowchart begins after a problem occurs in the automated valet parking process. First, in S01, processing circuit 11 interrupts the currently executing automated valet parking for vehicle 20. After the execution of the processing in S01, processing circuit 11 executes the processing in S02.

[0033] In S02, the processing circuit 11 notifies the user who has registered the vehicle 20 in the parking lot of the occurrence of the problem and prompts the user for possible solutions. The association between the user's terminal 40 and the vehicle 20 is completed when the user registers to use the parking lot. After the execution of the processing in S02, the processing circuit 11 executes the processing in S03.

[0034] In S03, the processing circuit 11 sets a delay time for waiting for instructions from the user based on the severity of the problem. After the processing in S03 is completed, the processing circuit 11 performs the determination in S04.

[0035] In step S04, processing circuit 11 determines whether there is an instruction from the user. If no instruction from the user is received, processing circuit 11 proceeds to step S05. In step S05, processing circuit 11 determines whether a delay time has elapsed. Processing circuit 11 repeats steps S04 and S05 until an instruction from the user is received or until the delay time has elapsed.

[0036] If an instruction from the user is received before the delay time has elapsed, in S07, the processing circuit 11 performs processing according to the instruction from the user. If no instruction from the user is received and the delay time has elapsed, in S06, the processing circuit 11 suspends the currently interrupted automatic valet parking for the vehicle 20.

[0037] 3. The effectiveness of automated valet parking systems

[0038] As described above, when a problem occurs in automated valet parking, the infrastructure computer 10 interrupts automated valet parking for vehicle 20 and notifies the user of the problem. Simultaneously, it sets the length of the delay time for waiting for user instructions regarding the problem, based on the severity of the problem. Specifically, in cases of high severity, the delay time is shortened to the time until automated valet parking is suspended; in cases of low severity, the delay time is extended to wait for user instructions as long as possible. In this way, by setting the delay time according to the severity of the problem when a problem occurs in automated valet parking, both the user and the parking lot operator can smoothly respond to the problem.

Claims

1. An automated valet parking system, characterized in that, It includes a processing circuit, wherein the processing circuit is configured as follows: In the event of a problem with the automated valet parking service The automated valet parking service is interrupted. The user of the vehicle in question will be notified of the occurrence of the problem. The length of the delay time is set according to the severity of the problem. Wait for instructions from the user until the delay time has elapsed. The automated valet parking will be terminated after the aforementioned delay period.

2. The automated valet parking system according to claim 1, characterized in that, The severity level varies depending on the content of each problem. The processing circuit is configured to set the length of the delay time by referring to a table that associates the delay time with the content of the problem.

3. The automated valet parking system according to claim 1, characterized in that, The processing circuit is configured as follows: The user is prompted with a number of options corresponding to the severity of the problem. The option selected by the user is received as the instruction.

4. A method for handling problems in an automated valet parking system, wherein the automated valet parking system provides automated valet parking to the target vehicle, characterized in that, In the event of a problem with the automated valet parking service The aforementioned response method causes the computer to execute: The automated valet parking service is interrupted. Notify the users of the affected vehicles of the occurrence of the problem; The length of the delay time is set according to the severity of the problem. Wait for instructions from the user until the delay time has elapsed; The automated valet parking will be terminated after the aforementioned delay period.

5. A program, characterized in that, It includes multiple instructions for causing the computer to execute a method for responding to problems in the automated valet parking system of claim 4.

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