Automatic valet parking system and automatic valet parking method

Abstract

This disclosure relates to an automated valet parking system and a method for automated valet parking. Before performing the parking process for a vehicle intended for automated valet parking, a registration process is performed on the vehicle. During the registration process, sensor information is obtained from a sensor that detects the tire pressure of the vehicle. Furthermore, during the registration process, if the sensor information indicates a sensor malfunction, sensor removal is presumed based on the vehicle's internal historical data. Additionally, during the registration process, if sensor removal is presumed, a determination is made based on the historical data of automated valet parking for the vehicle to determine whether relief conditions are met. Then, if the relief conditions are determined to be met, parking processing is permitted.

Description

Technical Field

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

[0002] Japanese Patent Application Publication No. 2021-84626 discloses technology related to AVP (Automated Parking Assist). In this prior art, an infrastructure check assisting in AVP is performed to determine whether sensors mounted on the vehicle that sent the parking request are functioning correctly, and a determination is made based on the results of this check to determine whether AVP can be performed on the vehicle. If the vehicle is not equipped with a specific sensor, it is determined that AVP cannot be performed. Even if the vehicle is equipped with a specific sensor, if the operation of that specific sensor does not meet the requirements of the parking facility, it is also determined that AVP cannot be performed on the vehicle. Summary of the Invention

[0003] According to the German Association of the Automotive Industry (VDA), one of the starting conditions for AVP (Automated Guided Vehicle) is that the tire pressure of the vehicle to be subjected to AVP must be appropriate. This is because low tire pressure increases the impact on the load radius and consequently, the impact on vehicle control related to AVP. Given this background, when implementing AVP, especially during parking maneuvers, it is preferable to obtain tire pressure information from the vehicle to be subjected to AVP and confirm that the tire pressure is appropriate.

[0004] The tire pressure of the vehicle to be subjected to AVP (Automated Valet Parking) can be obtained from the onboard tire pressure sensor. However, when the tire pressure sensor is removed during tire replacement, the sensor information may indicate a sensor malfunction. In this case, there is a possibility that the vehicle may be deemed unsuitable for AVP even though the actual tire pressure is appropriate. Therefore, it is desirable to develop technology to mitigate this adverse situation.

[0005] One object of this disclosure is to provide a technique for preventing the vehicle from entering a parking space when the sensor information of the air pressure sensor indicates that the sensor is abnormal because the air pressure sensor is removed due to tire replacement.

[0006] The first aspect of this disclosure is a system for automated valet parking of vehicles within a predetermined area. The system includes one or more storage devices and one or more processors. Historical information about automated valet parking is stored in the one or more storage devices. Before performing the parking process for the target vehicle, the one or more processors perform a check-in process for the target vehicle. The check-in process includes: obtaining sensor information from a sensor that detects the tire pressure of the target vehicle; if the sensor information indicates a sensor malfunction, obtaining internal historical information about the target vehicle; presuming sensor removal based on the internal historical information; if sensor removal is presumed, determining whether relief (mitigation) conditions are met based on the historical information about the target vehicle's automated valet parking; and if the relief conditions are met, allowing the parking process to proceed.

[0007] The second aspect of this disclosure is a method for enabling a computer to perform automated valet parking for vehicles within a predetermined area. The method includes: performing a registration process for the target vehicle before performing parking entry processing for the target vehicle for automated valet parking. The registration process includes: obtaining sensor information from a sensor that detects the tire pressure of the target vehicle; if the sensor information indicates a sensor malfunction, obtaining internal historical data information of the target vehicle; presuming sensor removal based on the internal historical data information; if sensor removal is presumed, determining whether relief conditions are met based on the historical data information regarding automated valet parking of the target vehicle; and if the relief conditions are determined to be met, allowing parking entry processing to proceed.

[0008] According to this disclosure, when sensor information from the sensor detecting tire pressure of a vehicle subject to AVP indicates a sensor malfunction, it is determined whether the sensor has been removed based on the vehicle's internal historical data. Furthermore, if it is determined that the sensor has been removed, it is determined whether relief conditions are met based on the AVP historical data of the vehicle subject to AVP. Moreover, if the relief conditions are met, the vehicle subject to AVP is allowed to proceed with the vehicle's parking process. Therefore, it is possible to prevent a situation where the vehicle subject to AVP cannot begin parking process when the sensor information indicates a sensor malfunction due to sensor removal during tire replacement. Attached Figure Description

[0009] 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:

[0010] Figure 1 This is a diagram illustrating an example of the configuration of an automated valet parking system;

[0011] Figure 2 This is a diagram illustrating an example of the configuration of a vehicle system;

[0012] Figure 3 This is a sequence diagram showing the process flow related to automated valet parking; and

[0013] Figure 4 This is a flowchart illustrating a computer processing example that is particularly relevant to the features of the implementation method. Detailed Implementation

[0014] 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.

[0015] 1. Example of the overall system structure

[0016] AVP (Automated Parking) systems are systems that automatically park vehicles within designated areas such as parking lots, factories, and facilities. Figure 1 This is a diagram illustrating an example of the configuration of an AVP system. Figure 1 The diagram depicts a parking lot PK as a designated area. The parking lot PK has a structure capable of implementing AVP (Automated Guided Vehicle) functionality. The structure capable of implementing AVP includes the pick-up / drop-off area PD (parking / getting-out space) and parking spaces PS (parking spaces).

[0017] The pick-up / drop-off area (PD) is the space used for getting off and / or boarding a vehicle (VH). The parking space (PS) is the space used for parking vehicles (VH). Structures capable of performing AVP also include markers that assist vehicle (VH) movement within the parking lot (PK), and sensor classes (e.g., cameras, radar) that monitor vehicle (VH).

[0018] Figure 1 The document also describes a server (hereinafter referred to as a "parking server") 10 that manages the AVPs within the parking lot PK. The parking server 10 performs various processes related to the management of vehicle VH (vehicle access rights) required to complete AVP tasks (such as entry tasks, exit tasks, etc.) within the parking lot PK. The parking server 10 also obtains various information from the parking lot PK's sensor arrays and performs various processes related to completing AVP tasks based on this information. The parking server 10 can be a combination of a server performing various processes related to completing AVP tasks (a local server) and a server performing various processes related to AVP management (a cloud server).

[0019] A parking lot server 10 is typically a computer comprising at least one processor 11, at least one storage device 12, and a communication I / F (interface) 13. The processor 11 performs various processes. Examples of processors 11 include CPUs (Central Processing Units), GPUs (Graphics Processing Units), ASICs (Application Specific Integrated Circuits), and FPGAs (Field-Programmable Gate Arrays). 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 and stores various information in the storage device 12.

[0020] Examples of storage devices 12 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), and SSD (Solid State Drive). 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 pick-up / drop-off area PD and parking space PS within the parking lot PK. Vehicle management information includes vehicle ID, entry / exit history, and vehicle location history. Vehicle management information is managed per vehicle VH. Vehicle ID is the identification information of a vehicle VH. Entry / exit history is information related to the entry / exit history of a vehicle VH (e.g., reservation date and time, actual date and time, etc.). Entry / exit history is equivalent to the "automatic valet parking history information" of this disclosure. Vehicle location history represents information related to the historical location history of a vehicle VH within the parking lot PK.

[0021] The communication I / F13 is an interface used to communicate with external devices of the parking server 10 to send and receive information. For example, the communication I / F13 may consist of devices for connecting to surrounding devices via a wireless LAN, devices for connecting to a mobile communication network, devices for connecting to the Internet, etc. The parking server 10 sends and receives information with the vehicle VH (vehicle system 20) via the communication I / F13. The parking server 10 also sends and receives information with the control server 30 via the communication I / F13.

[0022] Figure 2 This is a diagram illustrating an example of the configuration 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 an information processing device 21, a sensor class 22, a communication I / F 23, and an onboard device 24.

[0023] The information processing device 21 is communicatively connected to the sensor class 22, the communication I / F 23, and the vehicle-mounted device 24. The information processing device 21 is a computer that performs information processing related to vehicle VH control based on various types of information. The information processing device 21 includes at least one processor 25 and at least one storage device 26. An example configuration of the processor 25 is similar to... Figure 1 The configuration example of processor 11 shown is the same. Furthermore, the configuration example of storage device 26 is the same as... Figure 1 The configuration of the storage device 12 shown is the same. The processor 25 and the storage device 26 cooperate to realize information processing related to the control of vehicle VH.

[0024] As information specific to this disclosure, the various information stored in storage device 26 includes the vehicle's internal historical record information HS-VH (VH). The internal historical record information HS-VH contains error (abnormality, malfunction) information regarding the vehicle's main equipment, auxiliary equipment, and various sensors. Error information includes, for example, error codes, the date and time of the error, the distance traveled, and the conditions under which the error occurred. Error information from various sensors includes error information from sensors installed in the main equipment, auxiliary equipment, etc., and error information from sensor class 22.

[0025] For example, the information processing unit 21 may consist of one or more electronic control units (ECUs). In another example, the information processing unit 21 may consist of a suite of equipment (e.g., an AVP kit) for functions provided by the parking server 10. The information processing unit 21 generates and outputs control signals for the vehicle's vehicle head (VH) through information processing. When the vehicle's VH receives an AVP task instruction INS from the parking server 10, the information processing unit 21 generates a control signal CON for the AVP task. The control signal CON is then transmitted to the on-board unit 24.

[0026] Sensor class 22 detects information about the surrounding environment and driving status of the vehicle VH. Examples of sensor class 22 include cameras, radar, LiDAR (Light Detection and Ranging), wheel speed sensors, IMU (Inertial Measurement Unit), and GNSS (Global Navigation Satellite System) sensors. A pressure sensor, particularly relevant to this disclosure, is included in sensor class 22. For example, a pressure sensor detects the tire pressure of each tire of the vehicle VH. The pressure sensor is, for example, a device integrated with the tire's air valve, detecting tire pressure and temperature and transmitting this information to the outside in real time. The destination for transmitting the pressure and other detection information (sensor information) includes information processing device 21.

[0027] 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 server 10 via Communication I / F23. The vehicle VH can also send and receive information with the user terminal 40 via Communication I / F23.

[0028] The vehicle-mounted device 24 includes lighting devices, interior lighting devices, a horn, windshield wipers, doors, windows, rearview mirrors, a drive system, a braking system, a steering system, and an HMI (Human Machine Interface). Each component of the vehicle-mounted device 24 includes an actuator 27 that can be controlled by the information processing unit 21. The vehicle-mounted device 24 receives control signals from the information processing unit 21. The information processing unit 21 controls the vehicle-mounted device 24 by having the actuators 27 operate according to the control signals. Furthermore, the vehicle's vehicle-mounted drive (VH) is controlled through the control of the vehicle-mounted device 24. Vehicle control for the AVP (Automatic Vehicle Performance) task is achieved by having the actuators 27 operate according to the control signal CON for the AVP task.

[0029] return Figure 1 Let's continue with the explanation of the overall composition example. Figure 1 The document also describes a control server 30. Control server 30 is the server (cloud server) that manages the entire AVP service. Control server 30 may have some or all of the functions of parking server 10. Control 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, vehicle VH AVP action log management, etc.

[0030] The overall server 30 is typically a computer including at least one processor 31, at least one storage device 32, and communication I / F 33. Processor 31 and processor 11 of the parking server 10 are examples of "one or more processors" in this disclosure. Storage device 32 and storage device 12 of the parking server 10 are examples of "one or more storage devices" in this disclosure. 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.

[0031] 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 includes information such as the parking lot the AVP user wishes to use and their entry / exit times. User information includes the AVP user's user ID and the vehicle ID of the vehicle used by the AVP user. User information is managed for each AVP user. AVP vehicle information includes the vehicle ID of the vehicle with vehicle system 20, the IP address of vehicle system 20, and the AVP action log of vehicle system 20.

[0032] The communication I / F33 is an interface used to communicate with external devices of the control 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 control server 30 sends and receives information with the parking server 10 via the communication I / F33. The control server 30 also sends and receives information with the user terminal 40 via the communication I / F33.

[0033] User terminal 40 is, for example, a terminal carried by an AVP user (e.g., a tablet computer or smartphone). User terminal 40 can also be a communication terminal mounted in a vehicle's VH (e.g., an in-vehicle HMI). User terminal 40 is an example of the "user terminal" disclosed herein. User terminal 40 includes at least one processor, at least one storage device, and communication I / F. The configuration of the processor in user terminal 40 is the same as that of processor 11. Furthermore, the configuration of the storage device in user terminal 40 is the same as that of storage device 12. User terminal 40 also includes a display for outputting various information.

[0034] AVP users send and receive information with the vehicle VH (vehicle system 20) through the operation of user terminal 40. AVP users also send and receive information with the control server 30 through the operation of user terminal 40. User terminal 40 is used by AVP users to register and reserve AVP services. User terminal 40 is also appropriately used for AVP operations within the parking lot PK. Furthermore, it can also replace the operation of user terminal 40 by... Figure 2 The operation of the on-board device 24 (e.g., HMI) shown is used to transmit and receive information related to AVP.

[0035] 2. Examples of AVP-related processing

[0036] Figure 3 It is a timing diagram representing the process flow related to AVP. Figure 3 The text shows that in Figure 1 and Figure 2 The parking lot server 10, vehicle system 20, control server 30 and user terminal 40 are described in the text.

[0037] 2-1. Example of processing related to appointments

[0038] exist Figure 3 In the example shown, first, the process S11 is performed. In the S11 process, an AVP service reservation is made. The reservation is made by sending AVP reservation information and user information from the user terminal 40 to the administration server 30. Examples of AVP reservation information and user information are described above.

[0039] Following S11, processing proceeds to S12. In S12, the reservation process for the AVP service is performed. The control server 30, which receives information from the user terminal 40, executes the reservation process. During the reservation process, for example, reservation completion information is sent to the user terminal 40 that sent the AVP reservation information and user information. Examples of the reservation completion information include the AVP service reservation ID, the scheduled date and time for the AVP service, and the parking space PK information of the reserved user.

[0040] Additionally, during the reservation process, the parking lot server 10 managing the parking lot PK is determined based on the parking lot ID of the reservation target included in the AVP reservation information. Then, the reservation date and time for the AVP service, the vehicle ID of the vehicle VH of the reservation target, etc., contained in the AVP reservation information, are sent to the determined parking lot server 10. Alternatively, the IP address of the vehicle system 20 can be determined based on the vehicle ID of the reservation target's vehicle VH included in the AVP reservation information, and then this determined IP address can be sent to the parking lot server 10 along with the vehicle ID.

[0041] Processing steps S11 and S12 are related to the reservation of AVP service usage. Processing steps S21 to S27 and S31 to S36 are related to the actual usage of AVP service. In addition, processing steps S21 to S26 are related to the entry of the reserved vehicle VH into the warehouse.

[0042] 2-2. Examples of processing related to warehousing

[0043] In the S21 process, a registration request is made for the vehicle VH of the reservation recipient. The registration request includes, for example, the reservation completion information mentioned above. The registration request is sent from the user terminal 40 to the control server 30. The registration request is sent, for example, by the AVP user operating the user terminal 40 after disembarking from the vehicle VH in the pick-up / drop-off area PD. A handover instruction is also sent when the registration request is sent. Handover refers to transferring the operation rights of the vehicle VH from the AVP user to the parking lot server 10.

[0044] In the S22 process, a registration notification is sent. For example, the registration notification is sent from the parking server 10 to the control server 30 when the parking server 10 identifies a vehicle VH of a reservation holder entering the pick-up / drop-off area PD. Furthermore, the S22 process sometimes precedes the S21 process. That is, the control server 30 sometimes receives the registration notification from the parking server 10 before receiving the registration request from the user terminal 40.

[0045] Upon receiving the handover instruction and registration notification from both parties, the central server 30 executes process S23. In process S23, a handover process is performed. During this process, the operational permissions of the vehicle VH (hereinafter also referred to as "Reservation Object TVH-RS") are transferred from the central server 30 to the parking server 10. After the handover process is executed, the operational permissions are transferred to the parking server 10 until the return process described later is performed. Through this temporary transfer of operational permissions, the parking server 10 can complete the AVP (Automated Guided Vehicle) task.

[0046] Following the processing in S23, processing in S24 is performed. In S24, registration processing is conducted. During registration, the parking lot server 10, which has operating permissions for the reservation target TVH-RS, communicates with the vehicle system 20 of the reservation target TVH-RS. The parking lot server 10 performs tasks such as powering on the vehicle system 20 and confirming the communication status with the vehicle system 20. Confirming the communication status includes, for example, verifying via a surveillance camera, that the lights on the reservation target TVH-RS respond to the illumination indicator. During registration, various information required for data entry processing, such as time synchronization and obtaining the model information of the reservation target TVH-RS, is also acquired.

[0047] Following the processing in S24, processing in S25 is performed. In S25, the parking entry process is conducted. The parking entry process is used to complete the parking entry task and is performed by the parking server 10, which has the operation permissions for the reservation object TVH-RS (that is, the object of the parking entry task). In the parking entry process, for example, the travel path of the vehicle VH (hereinafter also referred to as "parking object TVH-LD") of the parking entry task object is set. The travel path is the set of path points that the parking object TVH-LD should pass through from its current location to its destination (e.g., from the pick-up / drop-off area PD to the parking space PS). The travel path is generated sequentially, for example, based on parking map information stored in the storage device 12.

[0048] During the entry process, the parking lot server 10 also sends an entry task instruction INS to the vehicle system 20 of the entry object TVH-LD. The instruction INS contains at least information about the driving route. Based on the instruction INS received from the parking lot server 10, the vehicle system 20 (information processing device 21) of the entry object TVH-LD generates a control signal CON for the entry task and controls the on-board unit 24 of the entry object TVH-LD.

[0049] Once the inbound object TVH-LD arrives at its destination, process S26 is performed. In process S26, a completion report for the inbound task is generated. The completion report is generated as follows: The parking lot server 10, having confirmed that the inbound object TVH-LD has arrived at its destination, notifies the control server 30 of the completion of the inbound task. Upon receiving the completion notification, the control server 30 sends a completion report for the inbound task to the user terminal 40 that sent the registration request. In another example, the control server 30, having confirmed that the inbound object TVH-LD has arrived at its destination based on the inbound status, sends a completion report for the inbound task to the user terminal 40 that sent the registration request.

[0050] 3. Features of the Implementation Method

[0051] As described above, when implementing the warehousing process, it is preferable to obtain tire pressure information from the target vehicle (AVP) and confirm that the tire pressure is appropriate. Therefore, in this embodiment, during the registration process, based on various information obtained from the target vehicle (TVH-RS) (tire pressure detection information), it is confirmed that the tire pressure of the target vehicle (TVH-RS) is appropriate.

[0052] However, if the tire pressure sensor is removed from the scheduled TVH-RS during tire replacement, there is a possibility that the sensor information might indicate an abnormality, leading to the tire pressure being deemed inappropriate. If this happens, the tire pressure will not be able to proceed with the TVH-RS's inbound processing, even if the actual tire pressure is correct. On the other hand, it is undesirable to process a tire into the TVH-RS with inappropriate tire pressure.

[0053] Therefore, in the registration process of the implementation method, if the tire pressure detection information of each tire of the reservation target TVH-RS indicates a sensor malfunction, the removal of the tire pressure sensor is presumed by referring to the internal historical record information HS-VH of the reservation target TVH-RS. Furthermore, if the removal of the tire pressure sensor is presumed, the inbound and outbound historical records of the reservation target TVH-RS are referenced to determine whether the relief conditions for this inbound processing are met. Then, if the relief conditions are determined to be met, the execution of this inbound processing is permitted.

[0054] As described above, the internal historical record information HS-VH contains error (abnormality, malfunction) information about various sensors related to the vehicle's VH. Therefore, in the case of tire pressure sensor removal due to tire replacement, error information about the tire pressure sensor is generated and recorded in storage device 26. Thus, by referring to the internal historical record information HS-VH, it is possible to infer the removal of the tire pressure sensor based on the error information. Furthermore, if information related to tire replacement is recorded in storage device 26, it is also possible to infer the removal of the tire pressure sensor based on that information.

[0055] As a remedy, it can be exemplified that the inbound processing of the TVH-RS is permitted for a predetermined number of times (e.g., several times) retrospectively from the current registration processing of the TVH-RS. Another example of a remedy is that the inbound processing of the TVH-RS is permitted for a predetermined period (e.g., several hours to several weeks) retrospectively from the current registration processing of the TVH-RS. If such a remedy exists, then in the case where the tire pressure detection information indicates a sensor malfunction due to the removal of the tire pressure sensor, the inbound processing of the TVH-RS can proceed.

[0056] Figure 4 This is a flowchart illustrating a computer processing example that is particularly relevant to the features of the implementation method. Figure 4 The routine shown is from Figure 1 The parking lot server 10 (processor 11) shown is executing. Figure 4 The routine shown begins, for example, as part of the registration process performed by the parking lot server 10.

[0057] exist Figure 4 In the example shown, firstly, in the S31 process, the tire pressure detection information of each tire of vehicle VH (reservation target TVH-RS) is obtained. The tire pressure detection information of each tire includes various information required for the vehicle VH (reservation target TVH-RS) to enter the warehouse, and is obtained from the vehicle system 20 of vehicle VH (reservation target TVH-RS).

[0058] Following the processing in S31, processing in S32 is performed. In S32, it is determined whether the air pressure detection information obtained in S31 indicates a sensor malfunction. If the determination result in S32 is negative, processing proceeds to S33. If the determination result in S32 is positive, processing proceeds to S34.

[0059] In process S33, based on the tire pressure detection information obtained in S31, it is determined whether there is an abnormality in tire pressure. This determination is performed for each tire. Whether there is an abnormality in tire pressure is determined, for example, by comparing the tire pressure with a specified value. The specified value mentioned here can be exemplified as the lower limit of an appropriate range of tire pressure set according to the vehicle model. If the tire pressure is lower than the lower limit of the appropriate range, it is determined that there is an abnormality in tire pressure. If the determination result of S33 is negative, the process proceeds to process S37. If the determination result of S33 is positive, the process proceeds to process S38.

[0060] In the S34 process, the internal historical record information HS-VH of the vehicle VH (reservation target TVH-RS) is obtained. The tire pressure detection information of each tire is included in the various information required for the vehicle VH (reservation target TVH-RS) entry processing and is obtained from the vehicle system 20 of the vehicle VH (reservation target TVH-RS).

[0061] Following the process in S34, the process in S35 proceeds. In S35, based on the internal historical record information HS-VH obtained in S34, it is determined whether the tire pressure sensor has been removed. Specifically, it is determined whether the internal historical record information HS-VH contains error information related to the tire pressure sensor. If error information is present in the internal historical record information HS-VH, it indicates the possibility that the tire pressure sensor was removed during tire replacement. Therefore, in step S35, the presence or absence of this error information is used to presume that the tire pressure sensor has been removed. If the determination result in S35 is affirmative, the process proceeds to S36. If the determination result in S35 is negative, the process proceeds to S38.

[0062] In the process of S36, it is determined whether the relief conditions are met. As described above, a relief condition can be exemplified by the fact that the vehicle VH (reservation target TVH-RS) has been allowed to enter the warehouse for a predetermined number of times or a predetermined period since the current registration process of the vehicle VH (reservation target TVH-RS). In determining the relief conditions, the entry and exit history of the vehicle VH (reservation target TVH-RS) stored in the storage device 12 is used. Specifically, in the process of S36, based on the date and time of the current registration process, the entry and exit history is traced back for a predetermined number of times or a predetermined period to determine whether the relief conditions are met. If the determination result of S36 is affirmative, the process proceeds to the process of S37. If the determination result of S63 is negative, the process proceeds to the process of S38.

[0063] In the S37 process, the entry processing of vehicle VH (reservation object TVH-RS) is allowed. On the other hand, in the S38 process, the entry processing of vehicle VH (reservation object TVH-RS) is not allowed.

[0064] Following processing in S37 or S38, processing in S39 is performed. In S39, the entry and exit history of vehicle VH (reservation target TVH-RS) is updated. For example, if processing in S37 is performed after processing in S33 (i.e., if entry processing is allowed), the entry performance information for vehicle VH (reservation target TVH-RS) is updated. If processing in S36 is performed after processing in S37, information on the cumulative number of times relief conditions have been applied can also be added to the entry performance information. If processing in S38 is performed (i.e., if entry processing is not allowed), the entry performance information for vehicle VH (reservation target TVH-RS) is also updated. In this case, for example, information indicating the reason for not allowing entry processing (abnormal tire pressure) is included in the entry performance information.

[0065] Furthermore, in the above-described embodiment, the acquisition of internal historical record information HS-VH is performed during the registration process. However, the acquisition of internal historical record information HS-VH can also be performed during the appointment processing stage prior to registration. In this case, the determination of relief conditions during registration can be performed efficiently. However, as in Figure 3 As explained, reservation processing occurs between the control server 30 and the user terminal 40. Therefore, when internal historical record information HS-VH is obtained during reservation processing, the internal historical record information HS-VH will be sent to the parking server 10 via the user terminal 40 and the control server 30.

Claims

1. An automated valet parking system, characterized in that, it enables automated valet parking of vehicles within a predetermined area. have: One or more storage devices store historical information of the automated valet parking service; and One or more processors perform a registration process for the target vehicle before executing the vehicle entry process for the automated valet parking service. The registration process includes: Sensor information is obtained from the sensor that detects the tire pressure of the vehicle in question; When the sensor information indicates a sensor malfunction, the internal historical data of the target vehicle is obtained; Based on the internal historical record information, it is presumed that the sensor was removed; If the sensor is presumed to have been removed, a determination is made, based on historical information regarding the automated valet parking of the target vehicle, as to whether the relief conditions are met; and If the relief conditions are determined to be met, the inbound process is permitted.

2. The automated valet parking system according to claim 1, characterized in that, The relief conditions include: the execution of the inbound processing for the target vehicle is permitted for a predetermined number of times or a predetermined period of time, retrospectively from the execution of the registration processing of the target vehicle.

3. The automated valet parking system according to claim 1 or 2, characterized in that, The one or more processors obtain the internal historical record information from the target vehicle when performing the registration process.

4. The automated valet parking system according to claim 1 or 2, characterized in that, When performing the reservation process for automated valet parking of the target vehicle, the one or more processors obtain the internal historical record information from the user terminal of the target vehicle.

5. An automatic valet parking method, characterized in that a computer performs automatic valet parking of vehicles within a predetermined area, wherein... The method includes: registering the target vehicle before performing the vehicle entry processing for the automated valet parking service. The registration process includes: Sensor information is obtained from the sensor that detects the tire pressure of the vehicle in question; When the sensor information indicates a sensor malfunction, the internal historical data of the target vehicle is obtained; Based on the internal historical record information, it is presumed that the sensor was removed; If the sensor is presumed to have been removed, a determination is made, based on historical information regarding the automated valet parking of the target vehicle, as to whether the relief conditions are met; and If the relief conditions are determined to be met, the inbound process is permitted.

Images