Automated parking service system

Abstract

Automated parking service system (100) configured to instruct an autonomous vehicle (2) in a parking lot (50) to move automatically along an aisle in the parking lot (50) and park in a desired parking space in the parking lot (50), wherein the automated parking service system (100) comprises a first vehicle position acquisition unit (11) configured to acquire a first vehicle position, which is a position of the autonomous vehicle (2) on a parking lot plan, based on a detection result from an onboard sensor (22) of the autonomous vehicle (2) and parking lot plan information containing object information in the parking lot (50), and a second vehicle position acquisition unit (12) configured to acquire a second vehicle position, which is a position of the autonomous vehicle (2) on the parking lot plan, based on a detection result from a facility sensor (4).which is installed in the parking space (50), and a position error determination unit (14) configured to determine, based on the first vehicle position and the second vehicle position, whether a position error exists in the first vehicle position of the autonomous vehicle (2), wherein the first vehicle position includes a first longitudinal position along an extension direction in which the aisle extends and a first lateral position along a lateral direction of the aisle, the second vehicle position includes a second longitudinal position along the extension direction and a second lateral position along the lateral direction of the aisle, the position error determination unit (14) configured to determine that the position error exists in a case where a difference between the first longitudinal position and the second longitudinal position is equal to or greater than a longitudinal threshold value, and / or in a case wherein which a difference between the first side position and the second side position is equal to or greater than a side threshold, and the longitudinal threshold is less than the side threshold, and wherein the parking plan information includes aisle width information with respect to an aisle width, the position error determination unit (14) for determining whether the position error is present is set up using a first side threshold than the side threshold when an aisle width along which the autonomous vehicle (2) is moving is equal to or greater than an aisle width threshold, and the first side threshold is greater than a second side threshold, which is used when the aisle width along which the autonomous vehicle (2) is moving is less than the aisle width threshold.

Description

BACKGROUND OF THE INVENTION Area of ​​the invention

[0001] The invention relates to automated parking service systems. Description of the related technique

[0002] Japanese unexamined patent application disclosure No. 2018-21777 (JP 2018-21777 A) is known as a technical document relating to an autonomous vehicle. This technical document describes how the vehicle's position, which is the position of a vehicle on a plan, is estimated using the position of a landmark, captured by a camera attached to the vehicle, relative to the vehicle, and positional information of the landmark on the plan. SUMMARY OF THE INVENTION

[0003] An automated parking service for autonomous vehicles typically uses the vehicle's position obtained via an onboard sensor attached to the autonomous vehicle. However, a problem can arise if the vehicle's position is inaccurate, for example, due to a fault in the onboard sensor.

[0004] A first embodiment of the invention is an automated parking service system that is designed to instruct an autonomous vehicle in a parking lot to move automatically along a corridor in the parking lot and park in a desired parking space in the parking lot.The automated parking service system comprises a first vehicle position acquisition unit, which is configured to acquire a first vehicle position, which is a position of the autonomous vehicle on a parking plan, based on a detection result from an onboard sensor of the autonomous vehicle and parking plan information containing object information in the parking lot; a second vehicle position acquisition unit, which is configured to acquire a second vehicle position, which is a position of the autonomous vehicle on the parking plan, based on a detection result from a facility sensor installed in the parking lot; and a position error determination unit, which is configured to determine whether a position error exists in the first vehicle position of the autonomous vehicle, based on the first vehicle position and the second vehicle position.The first vehicle position comprises a first longitudinal position along a direction of extension in which the aisle extends, and a first lateral position along a lateral direction of the aisle. The second vehicle position comprises a second longitudinal position along the direction of extension and a second lateral position along the lateral direction of the aisle. The position error determination unit is configured to determine that a position error exists when the difference between the first longitudinal position and the second longitudinal position is equal to or greater than a longitudinal threshold, and / or when the difference between the first lateral position and the second lateral position is equal to or greater than a lateral threshold. The longitudinal threshold is less than the lateral threshold.

[0005] According to the foregoing configuration, the position error determination unit is configured to determine that a position error is present if the difference between the first longitudinal position and the second longitudinal position is equal to or greater than the longitudinal threshold, and / or if the difference between the first lateral position and the second lateral position is equal to or greater than the lateral threshold. The longitudinal threshold, which is lower than the lateral threshold, is used to determine whether a position error is present. Whether a position error exists with respect to the vehicle position, based on the detection result of the autonomous vehicle's onboard sensor, can be suitably determined with respect to the direction in which the aisle extends.

[0006] In the first configuration, the parking plan information can include aisle width information regarding the width of the aisle; the position error determination unit can be configured to determine whether the position error exists by using a first side threshold value as the side threshold value when the width of the aisle along which the autonomous vehicle is moving is equal to or greater than an aisle width threshold; and the first side threshold value can be greater than a second side threshold value, which is used when the width of the aisle along which the autonomous vehicle is moving is less than the aisle width threshold.

[0007] With the above configuration, it can be determined, according to the aisle width, whether the positional error is present in the lateral position.

[0008] In the first configuration, the parking plan information can contain node position information for a multitude of nodes preset for a multitude of aisles, separated by predetermined intervals. The position error determination unit can be configured to determine whether a position error exists using a first longitudinal threshold. This threshold is applied when a node interval between nodes on the aisle along which the autonomous vehicle is moving is equal to or greater than a node interval threshold. The first longitudinal threshold can be greater than a second longitudinal threshold, which is used when the node interval is less than the node interval threshold.

[0009] With the above configuration, it is possible to determine, according to the node interval, whether the positional error is present in the longitudinal position.

[0010] In the initial configuration, the parking plan information can include node position information for a multitude of nodes pre-configured for a multitude of aisles, separated by predetermined intervals, and node identifier information regarding node types. The node identifier information can include a node type indicating that a node is close to a parking space. The position error determination unit can be configured to determine whether a position error exists by using a first longitudinal threshold, which is the threshold used when the node is close to the moving autonomous vehicle and thus close to the parking space. This first longitudinal threshold can be lower than a second longitudinal threshold, which is used when the node is not close to the parking space.

[0011] Whether the positional error is present in the longitudinal direction can be determined using the above configuration, specifically whether the node is located near the parking section.

[0012] A second embodiment of the invention is an automated parking service system that includes a control unit.The control unit is configured to: instruct an autonomous vehicle in a parking lot to move automatically along an aisle in the parking lot and park in a desired parking space in the parking lot; obtain a first vehicle position, which is the position of the autonomous vehicle on a parking lot map, based on a detection result from an onboard sensor of the autonomous vehicle and parking lot map information containing object information in the parking lot; obtain a second vehicle position, which is the position of the autonomous vehicle on the parking lot map, based on a detection result from a facility sensor installed in the parking lot; and determine whether there is a position error in the first vehicle position of the autonomous vehicle, based on the first vehicle position and the second vehicle position.The first vehicle position comprises a first longitudinal position along a direction of extension in which the gear extends, and a first lateral position along a lateral direction of the gear. The second vehicle position comprises a second longitudinal position along the direction of extension and a second lateral position along the lateral direction of the gear. The control device is configured to determine that a positional error is present in a case where the difference between the first longitudinal position and the second longitudinal position is equal to or greater than a longitudinal threshold, and / or in a case where the difference between the first lateral position and the second lateral position is equal to or greater than a lateral threshold. The longitudinal threshold is less than the lateral threshold.

[0013] In the second embodiment, the parking plan information can include aisle width information regarding the width of the aisle; the control device can be configured to determine whether the position error exists by using a first side threshold value as the side threshold value when the width of the aisle along which the autonomous vehicle is moving is equal to or greater than an aisle width threshold; and the first side threshold value can be greater than a second side threshold value, which is used when the width of the aisle along which the autonomous vehicle is moving is less than the aisle width threshold.

[0014] In the second embodiment, the parking plan information can contain node position information for a multitude of nodes preset for a multitude of aisles, separated by predetermined intervals. The control device can be configured to determine whether the position error exists by using a first longitudinal threshold. This threshold is applied when a node interval between adjacent nodes in the aisle along which the autonomous vehicle is moving is equal to or greater than a node interval threshold. A second longitudinal threshold is used when the node interval is less than the node interval threshold.

[0015] In the second embodiment, the parking plan information can include node position information for a multitude of nodes preset for a multitude of aisles, separated by predetermined intervals, and node identifier information regarding node types. The node identifier information can include a node type indicating that a node is near a parking space. To determine whether the position error exists, the control unit can be configured using a first longitudinal threshold. This first longitudinal threshold is used when the node is near the moving autonomous vehicle and close to the parking space. A second longitudinal threshold is used when the node is not near the parking space.

[0016] Whether the position error in the vehicle position is based on the detection result of the on-board sensor of the autonomous vehicle can be suitably determined according to the first and second embodiments of the invention with regard to the direction in which the passage extends. List of characters

[0017] The features, advantages and technical and commercial relevance of exemplary embodiments of the invention are described below with reference to the accompanying drawings, in which the same reference numerals denote the same components. Fig. Figure 1 shows a block diagram of an automated parking service system according to an exemplary embodiment. Fig. Figure 2 shows a top view illustrating an example of a parking lot for an automated parking service. Fig. Figure 3 shows a block diagram of an example of the hardware configuration of a parking lot control server, Fig. Figure 4 shows a flowchart of an example of a side threshold setting process. Fig. Figure 5 shows a flowchart of an example of a longitudinal threshold setting process. Fig. Figure 6 shows a flowchart of another example of the longitudinal threshold setting process. Fig. Figure 7 shows a flowchart of another example of the longitudinal threshold setting process, and Fig. Figure 8 shows a flowchart of an example of a position error determination process. DETAILED DESCRIPTION OF THE EXAMPLES OF EXECUTION

[0018] An embodiment of the invention will now be described with reference to the accompanying drawings.

[0019] Fig. Figure 1 shows a block diagram of an automated valid parking system (AVPS) 100 according to an exemplary embodiment. The in Fig. 1 shown automated parking service system 100 is a system for an automated parking service for an autonomous vehicle 2 in a parking lot.

[0020] An automated parking service is a service where, after a user (occupant) has parked the autonomous vehicle, the autonomous vehicle automatically parks the vehicle. 2 The now driverless autonomous vehicle left a drop-off area in the parking lot. 2 The vehicle moves along a desired route according to instructions from the parking lot and automatically parks in a designated parking space. The designated parking space is a space that serves as the parking position for the autonomous vehicle. 2 It is preset. The desired route is a route within the parking lot, along which the autonomous vehicle will proceed. 2 moved to reach the desired parking space. To pick up the autonomous vehicle. 2 The desired route is a route along which the autonomous vehicle can travel.2 moved to reach a recording location described below.

[0021] The parking lot can be exclusively reserved for an automated parking service, or it can be a parking lot for both automated parking services and general vehicles not intended for automated parking. A portion of a general parking lot can be designated as an area exclusively for an automated parking service. In this example, a parking lot exclusively reserved for an automated parking service is described.

[0022] Fig. Figure 2 shows a top view illustrating an example of a parking lot for an automated parking service. Fig. 2 shows a parking space 50 for an automated parking service, a parking area 51 , a settling area 52 and a recording area 53The parking lot 50 includes the parking area 51 , the settling area 52 and the recording area 53 The settling area 52 and the recording area 53 They do not have to be separate areas and can be a single drop-off and pick-up area.

[0023] The parking area 51 is a place with parking spaces (parking bays) 61 , where the autonomous vehicle 2 parks using the automated parking service. For example, in Fig. As shown in section 2, the numerous parking spaces are located 61 parked side-by-side in one direction (the sideways direction of parked vehicles). The drop-off area 52 is a place where the occupants, including the user, are in the autonomous vehicle 2 Exit for the automated parking service. The drop-off area 52 It is located near the entrance / exit of the parking lot. 50and designates drop-off points 62 on, where the autonomous vehicle 2 stops when the occupants exit the autonomous vehicle 2 exit.

[0024] The recording area 53 is a place where the occupants of the autonomous vehicle 2 Record. The record area 53 It is located near the entrance / exit of the parking lot. 50 and indicates recording places 63 on, where the autonomous vehicle 2 waits until the occupants are in the autonomous vehicle 2 get in.

[0025] After the autonomous vehicle 2 , which is in the parking lot 50 has entered, the occupants in the drop-off area 62 has been dispatched, the automated parking service system will be activated. 100 for example, the authority to give instructions to the autonomous vehicle 2Given the information, it starts the automated parking service. The automated parking service system 100 the autonomous vehicle 2 to move to a desired parking space in the parking lot 51 and to park in the desired parking space. Upon responding to a parking request, the automated parking service system provides instructions. 100 the parked autonomous vehicle 2 to move to the recording area 53 and waiting in the recording area 63 until the occupants arrive.

[0026] If the autonomous vehicle 2 through the automated parking service to the desired parking space in the parking lot 51 moves, and when the autonomous vehicle 2 through the automated parking service to the recording area 53 The automated parking service system is determined by the movement. 100 , whether a positional error of the autonomous vehicle 2is available, based on the recording result of a device attached to the autonomous vehicle 2 attached on-board sensor and the detection result of a vehicle in the parking lot 50 installed parking sensor (facility sensor) 4 .

[0027] Configuration of the automated parking service system Next, the configuration of the automated parking service system will be described. 100 described with reference to the drawings. As in Fig. As shown in Figure 1, the automated parking service system is included. 100 a parking control server 1 The parking control server 1 is a server for controlling the parking lot.

[0028] The parking control server 1 is set up to use the autonomous vehicle 2 and a user frontend 3 to be able to communicate. The autonomous vehicle 2 and the user frontend 3The parking lot control server will be described in more detail later. 1 The parking lot control server can be installed in the parking lot itself, or it can be installed in a facility located away from the parking lot. 1 It can be formed from a large number of computers located in different places.

[0029] The parking control server 1 is equipped with the parking sensor 4 and a parking plan database 5 connected. The parking sensor 4 is a parking facility sensor (infrastructure sensor) that is located in the parking lot 50 is installed to improve the situation in the parking lot 50 to detect the parking sensor 4 It includes a vacancy sensor to detect whether there is a parked vehicle in each parking space (whether each parking space is occupied or free).

[0030] The vacancy sensor can be installed at any parking space, or on the ceiling, etc. of the parking lot. 50 It must be installed so that a single vacancy sensor can monitor a large number of parking spaces. The configuration of the vacancy sensor is not particularly restricted, and it can have a known configuration. The vacancy sensor can be a pressure sensor, a radar sensor using radio waves, a sonar sensor, or a camera. The vacancy sensor sends detection information about a parked vehicle in the parking space to the parking control server. 1 .

[0031] The parking sensor 4 Can a surveillance camera be used to detect the autonomous vehicle? 2 included, which is located on a walkway in the parking lot 50 The camera is moving. The surveillance camera is mounted on the ceiling or a wall of the parking lot. 50It is installed and captures an image of the moving autonomous vehicle. 2 The surveillance camera sends the captured image to the parking lot control server. 1 .

[0032] The parking sensor 4 includes a vehicle position detection sensor for obtaining the position of the autonomous vehicle 2 on a parking plan. The vehicle position detection sensor contains a camera and / or a radar sensor. The camera is an imaging device that takes an image of the autonomous vehicle. 2 in the parking lot 50 recorded. For example, a large number of cameras are mounted on the ceiling or walls of the parking lot. 50 installed so that the position of the autonomous vehicle 2 in the parking lot 50 can be obtained, and the cameras capture an image of the moving autonomous vehicle. 2The surveillance camera described above can be used for this purpose. The camera sends the captured image to the parking lot control server. 1 The radar sensor is a detection device that enables the autonomous vehicle to 2 The radar sensor detects the autonomous vehicle using radio waves (e.g., millimeter waves) or light. The radar sensor, for example, contains a millimeter-wave radar. The radar sensor detects the autonomous vehicle. 2 by sending radio waves or light to a walkway in the parking lot 50 and receiving the radio waves or light emitted by the autonomous vehicle 2 The radar sensor will be reflected. It sends information about the detected autonomous vehicle. 2 to the parking control server 1 The radar sensor may include Light Detection and Ranging (LIDAR).

[0033] The parking plan database 5This is a database that stores parking plan information (or parking map information). The parking plan information includes location information for parking spaces, drop-off points, pick-up points, and information about driving aisles within the parking lot. Furthermore, the parking plan information includes node location information for a multitude of nodes pre-configured for various aisles within the parking lot, as well as location information for driving boundaries used by autonomous vehicles. 2 are used, and position information (object information) of landmarks (features) that are used for position detection or position perception by the autonomous vehicle. 2 be used.

[0034] Here, the driving boundaries refer to objects that define the area in which the autonomous vehicle can operate.2 It can move through autonomous driving. The driving boundaries can be positions on objects located in the parking lot. 50 are fixed in place. The boundaries (for example, a curb, a white line, etc.) between a lane for the autonomous vehicle 2 and a sidewalk can also be used as traffic barriers. For example, a predetermined position (such as a corner point) can be marked on the surface of a pillar in the parking lot. 50 and / or a predetermined position on a wall surface in the parking lot 50 and / or a position where a post is placed, and / or a position where a warning cone is placed, and / or a position where a marker button is placed, etc., are used as driving boundaries. The reference point is an object that serves as a reference for a relative position used to perceive the position of the autonomous vehicle. 2in the parking lot 50 is used. A landmark in the parking lot can serve as a point of reference. 50 A fixed object can be used. For example, a pillar in the parking lot can be used. 50 and / or a wall in the parking lot 50 and / or a post and / or a warning cone and / or a marker button can be used as a point of reference.

[0035] The parking lot plan information contains the node position information regarding the nodes that serve the aisles in the parking lot. 50 are preset so that they are separated by predetermined intervals. In Fig. 2 are for the aisles in the parking lot 50 Preset nodes are shown by white circles. In the example of Fig. Two imaginary lines are defined that run along the aisles in the parking lot. 50extend as shown by long dash-short dash lines, and the nodes are set on the imaginary lines so that the node positions are separated by the predetermined intervals.

[0036] For straight sections of the corridors, for example, a pair of nodes is set at the endpoints (the start point and the endpoint) of each straight section. These nodes are used for the autonomous vehicle. 2 Used for automatic driving in the straight section. Additional nodes can be set in the section between the endpoints of the straight section of the gear.

[0037] In the case where the entrances to the parking spaces 61 Opposite the section between the endpoints of the straight section of the aisle, there is a node in front of each parking space. 61 set up, and an additional node is set up on a frame line that leads to the entrance of each parking space. 61This corresponds to the following: These nodes are used for the automated parking service system. 100 to send information about the driving restrictions and the landmark(s) around the parking space 61 to the autonomous vehicle 2 used when the autonomous vehicle 2 automatically in the parking space 61 parks. Additional nodes can be added around each parking space. 61 be set up.

[0038] For curved sections of the gears, each curved section is defined by nodes at the endpoints (the endpoints on the curved section side) of the adjacent straight sections, with the curved section lying between them. For example, a pair of nodes representing the endpoints of the curved section of the gear (the nodes corresponding to the start and end points of the curve) can be the nodes at the endpoints of the adjacent straight sections described above. For the curved section of the gear, the imaginary line can be defined as a curved line connecting these nodes. These nodes are used for the autonomous vehicle. 2 used for automatic driving in the curved section. An additional node (or nodes) may be set in the section between the nodes at the endpoints of the adjacent straight sections (hereinafter simply referred to as "in the curved section").

[0039] The parking plan information also includes node identification information regarding node types. Node identification information refers to the information provided for each node to identify it by its node type. The node types themselves represent the types of positions of the nodes within the parking area. 50 The node types include, for example, a first node type, a second node type, and a third node type. The first node type refers to the nodes located near the parking sections, the second node type refers to the nodes located in the curved section, and the third node type refers to the nodes located in the straight section.

[0040] The predetermined intervals between the node positions are not necessarily consistent throughout the entire parking lot. 50The same values ​​are preset according to the node's position. For example, the interval between nodes located near parking sections (distance) is... L1 in Fig. 2) shorter than the interval between the nodes located in the curved or straight section that is not near the parking spaces. The interval between the nodes located in the curved section can be shorter than the interval between the nodes located in the straight section. The interval between the nodes located in the curved section with a radius of curvature greater than a predetermined threshold can be equal to the interval between the nodes located in the straight section. The intervals between the nodes located in the straight section (distance L2 in Fig. 2) The nodes can be essentially the same in the straight section. The interval between nodes located near the boundary with the curved section can be shorter than the interval between nodes not located near the boundary with the curved section. The nodes located near the parking sections can be any nodes located near the parking sections and can be in either a curved or a straight section. With respect to the node's position, the curved section means a curved section not located near the parking sections, and the linear section means a straight section not located near the parking sections. The curved section can include a section where the direction of travel changes at an intersection.

[0041] The parking plan information includes aisle width information regarding the widths of the aisles in the parking lot. 50The aisle widths vary throughout the parking lot. 50 not necessarily the same and are according to the positions of the driving boundaries in the parking lot 50 Preset. The aisle width can, for example, be the distance on a road surface between a pair of lane dividers in a direction perpendicular to the imaginary line extending essentially along the center of the aisle. The aisle width information is preset according to the lane divider positions, which are determined by the parking lot layout. 50 are placed. Fig. 2 illustrates a corridor width W1 and aisle width W2 . For the aisle width W1 A pair of pillars located next to the parking spaces serves this purpose. 61 They are located as driving barriers. The pillars are opposite each other, with a passageway between them. For the passageway width W2A wall and a pillar, facing each other across a passageway (which is a straight section between them), serve as traffic barriers. In this example, the passageway width is... W1 regarding a reverse and forward maneuver of the autonomous vehicle 2 , which is in front of the parking space 61 possibly carried out, larger than the aisle width W2 The aisle width in the curved section can be greater than the aisle width in the straight section.

[0042] Now the hardware configuration of the parking control server will be configured. 1 described. Fig. Figure 3 shows a block diagram of an example of the hardware configuration of the parking lot control server. 1 As in Fig. Shown in section 3 is the parking control server. 1 as a general-purpose computer with one processor 40 , a storage 41 , a storage device 42 a communication interface 43and a user interface 44 (or an administrator interface) 44 ) configured.

[0043] The processor 40 processes various operating systems to control the parking control server. 1 The processor 40 A processor is a computing unit, such as a central processing unit (CPU), with a control unit, a computing unit, a register, etc. 40 generally controls the memory 41 , the storage device 42 , the communication interface 43 and the user interface 44 The storage 41 is a recording medium, such as read-only memory (ROM) or random access memory (RAM). The storage device 42 is a recording medium, such as a hard disk drive (HDD).

[0044] The communication interface 43is a communication device for wireless communication over a network. The communication interface 43 It could be a network device, a network control device, a network card, etc. The parking lot control server 1 communicates with the autonomous vehicle 2 and the user frontend 3 using the communication interface 43 The user interface 44 is an input / output unit of the parking lot control server 1 for an administrator, etc., of the parking control server 1 The user interface 44 It includes an output device, such as a display or a speaker, and an input device, such as an interactive control panel.

[0045] Next, the functional configuration of the parking control server will be described. 1 described. As in Fig. As shown in Figure 1, the parking control server contains1 a vehicle information acquisition unit (first vehicle position acquisition unit) 11 , a vehicle condition perception unit (second vehicle position acquisition unit) 12 , a position error calculation unit 13 , a position error determination unit 14 and a vehicle instruction unit 15 .

[0046] The vehicle information acquisition unit 11 obtains vehicle information from the autonomous vehicle 2 for an automated parking service through communication with the autonomous vehicle 2 The vehicle information includes identification information for the autonomous vehicle. 2 and initial vehicle position information of the autonomous vehicle 2 in the parking lot. The initial vehicle position information is information about a first vehicle position obtained by a vehicle position sensing unit. 33of the autonomous vehicle 2 based on the measurement result of an external sensor 22 of the autonomous vehicle 2 is detected or perceived. The first vehicle position is the position of the autonomous vehicle. 2 on the parking plan. The identification information can be any information that the individual autonomous vehicle 2 can be identified. The identification information can be an identification (ID) number, a vehicle number, an automated parking service reservation number, etc.

[0047] The vehicle information can determine the model of the autonomous vehicle. 2The vehicle information may include identification information such as the vehicle identification number. It may also include drop-off reservation information, such as a reserved drop-off time, or a scheduled pick-up time. Furthermore, it may include vehicle body information, such as the turning radius, overall length, and width of the autonomous vehicle. 2 , or can information regarding an autonomous driving function of the autonomous vehicle 2 Included. The information regarding the autonomous driving function may include version information for autonomous driving.

[0048] The vehicle information can provide the perception results of the autonomous vehicle's driving condition. 2and the external environment. The perception of the driving condition and the external environment will be described later. The vehicle information may include information about the available driving range or the remaining fuel of the autonomous vehicle. 2 contain.

[0049] The vehicle information acquisition unit 11 continuously obtains vehicle information from the autonomous vehicle during the automated parking service. 2 The vehicle information acquisition unit 11 Can vehicle information be continuously transmitted from a specific autonomous vehicle? 2 procure a vehicle that drives automatically according to instructions during an automated parking service. If an autonomous vehicle 2 , which is from the autonomous vehicle 2 The vehicle information acquisition unit can drive automatically according to instructions, which is different. 11the vehicle information from the other autonomous vehicle 2 continuously procure. Is the autonomous vehicle 2 When parked, the vehicle information acquisition unit can 11 The acquisition of vehicle information can be stopped, or the vehicle information can be acquired periodically.

[0050] The vehicle condition perception unit 12 procures a second vehicle position based on the recording result of the vehicle in the parking lot 50 installed parking sensor 4 The second vehicle position is the position of the autonomous vehicle. 2 on the parking plan. The vehicle condition perception unit. 12 procures the second vehicle position of the autonomous vehicle 2 based on the parking plan based on the recording result of the vehicle position detection sensor, which is the parking sensor 4The second vehicle position can be obtained using the parking facility sensor, regardless of whether the external sensor is present. 22 of the autonomous vehicle 2 Whether it is working normally or not. In this disclosure, the second vehicle position is therefore used as a reference for calculating an error (position error) of the first vehicle position (described below), which is determined using the external sensor. 22 of the autonomous vehicle 2 is recorded.

[0051] The first vehicle position comprises a first longitudinal position in the direction the aisle extends and a first lateral position in the lateral direction of the aisle. The first longitudinal position could, for example, be a component of the first vehicle position in the direction the imaginary line (long dash - short dash) extends along the aisles in the parking lot. 50 in Fig. 2 extends. The first side position can, for example, be a component of the first vehicle position in the direction perpendicular to the imaginary line that extends essentially along the center of the aisle.

[0052] The second vehicle position includes a second longitudinal position in the direction the aisle extends and a second lateral position in the lateral direction of the aisle. The second longitudinal position could, for example, be a component of the second vehicle position in the direction the imaginary line extends along the aisles in the parking lot. 50 in Fig. 2 extends. The second side position can, for example, be a component of the second vehicle position in the direction perpendicular to the imaginary line that extends essentially along the center of the aisle.

[0053] The vehicle condition perception unit 12 can determine the state of the autonomous vehicle 2during the automated parking service based on the information provided by the vehicle information acquisition unit 11 Acquired vehicle information and / or perceive the state of the autonomous vehicle. 2 contains the vehicle positions of a large number of autonomous vehicles 2 , which drive automatically.

[0054] The position error calculation unit 13 calculates a positional error between the vehicle information acquisition unit 11 procured first vehicle position and the one determined by the vehicle condition perception unit 12 The second vehicle position was obtained. The position error means a deviation in the vehicle position of the autonomous vehicle. 2 The deviation is used to determine a positional error of the autonomous vehicle. 2used. The position error includes a longitudinal position error in the direction in which the aisle extends and a lateral position error in the side direction of the aisle. The position error calculation unit 13 It calculates the longitudinal position error and the lateral position error based on the recorded first and second vehicle positions. The longitudinal position error is the difference between the first and second longitudinal positions in the direction in which the gear travels, and the lateral position error is the difference between the first and second lateral positions in the lateral direction of the gear.

[0055] The position error determination unit 14 Based on the first and second vehicle positions, it is determined whether a position error exists. A position error means a mistake in perceiving the vehicle position of the autonomous vehicle. 2 regarding the measurement result of the external sensor 22based on the initial vehicle position. The position error can be caused, for example, by a fault in the external sensor. 22 itself, a detection error due to the fact that the external sensor 22 is physically blocked by a foreign object, etc., a detection error due to a landmark being physically covered by dirt, etc., a communication error from the external sensor 22 to an autonomous driving ECU 20 , etc. may be caused.

[0056] The position error determination unit 14 It sets a threshold value to determine whether a positional error exists. The threshold value includes a longitudinal threshold, used for longitudinal positional errors, and a lateral threshold, used for lateral positional errors.

[0057] In the present disclosure, the longitudinal threshold is lower than the lateral threshold. The autonomous vehicle 2 , which is located in the parking lot 50 moved, can in the parking lot 50 Compared to typical roads, etc., you might, for example, more frequently encounter a sharply curved section (such as a curve connecting straight sections that intersect at approximately 90°). If the external sensor 22 of the autonomous vehicle 2 The initial vehicle position contains a large positional error in the direction in which the gear extends when the autonomous vehicle 2 When such a curve is encountered, there is a large positional error in the direction of travel of the autonomous vehicle. 2(Direction along an extension of the straight section) for example, in the straight section immediately before the curved section. Consequently, it is more likely that the autonomous vehicle 2 in the curve section in the direction of travel of the autonomous vehicle 2 before coming into contact with an exterior wall. If the parking lot 50 Since it is a multi-story parking garage, there is also a large positional error in the direction of travel of the autonomous vehicle. 2 (Direction along an extension of the straight section) in the straight section immediately before a ramp. Consequently, it is more likely that the autonomous vehicle 2 on the ramp in the direction of travel of the autonomous vehicle 2 ahead comes into contact with an outer wall when the autonomous vehicle 2moved along the ramp connecting the floors. To reduce the possibility of such contact between the autonomous vehicle and the vehicle. 2 and the wall, etc., the longitudinal threshold is made smaller than the lateral threshold. This increases sensitivity to positional errors for the longitudinal position and thus amplifies the longitudinal positional error when locating the autonomous vehicle. 2 can be detected early.

[0058] If the width of the aisle along which the autonomous vehicle travels 2 If the movement is equal to or greater than a lane width threshold, the position error determination unit can 14Determine whether a positional error exists by using a larger lateral threshold than when the width of the aisle along which the autonomous vehicle is moving is less than the aisle width threshold. The aisle width threshold is a threshold for changing the lateral threshold according to the width of the aisle along which the autonomous vehicle is moving. 2 moved. The position error determination unit 14 For example, it determines whether the width of the aisle along which the autonomous vehicle can travel 2 moved, equal to or greater than the aisle width threshold. If the position error determination unit 14 determined that the width of the aisle along which the autonomous vehicle travels 2 The unit of position error determination is determined when the movement is equal to or greater than the aisle width threshold. 14The side threshold is set to a side threshold ThLT1. If the position error determination unit 14 determined that the width of the aisle along which the autonomous vehicle travels 2 The unit of position error determination is defined as the unit of measurement if the movement is neither equal to nor greater than the aisle width threshold. 14 set the side threshold to a side threshold ThLT2.

[0059] The lateral threshold value ThLT1 is greater than the lateral threshold value ThLT2. The aisle width corresponds to the distance between the driving boundaries, which are oriented in the lateral direction of the autonomous vehicle. 2 on both sides. If the aisle width is small, the distance between the autonomous vehicle tends to be 2and the driving limits accordingly, to be small. The side threshold ThLT2 is therefore made smaller than the side threshold ThLT1. The sensitivity to a positional error for the lateral position is thus increased, and the possibility of contact with the driving limits can be reduced.

[0060] If the node interval between adjacent nodes on the corridor along which the autonomous vehicle travels 2 If the value is moved, equal to or greater than a node interval threshold, the position error determination unit can be used. 14 Determine whether a positional error exists by using a larger longitudinal threshold than when the node interval is smaller than the node interval threshold. The node interval threshold is a threshold for changing the longitudinal threshold according to the node interval between adjacent nodes on the aisle along which the autonomous vehicle is traveling. 2moves. For example, the position error determination unit determines 14 , whether the node interval between adjacent nodes on the corridor along which the autonomous vehicle travels 2 moved, equal to or greater than the node interval threshold. If the position error determination unit 14 determined that the node interval between adjacent nodes on the corridor along which the autonomous vehicle travels 2 The unit of position error determination is determined when the value is equal to or greater than the node threshold. 14 The longitudinal threshold is set to a longitudinal threshold ThLN1. If the position error determination unit 14 determined that the node interval between adjacent nodes on the corridor along which the autonomous vehicle travels 2 The unit of position error determination is defined as the unit of measurement if the value is neither equal to nor greater than the node interval threshold. 14the longitudinal threshold is set to a longitudinal threshold ThLN2.

[0061] The longitudinal threshold ThLN1 is greater than the longitudinal threshold ThLN2. The size of the node interval typically corresponds to the distance in the vehicle's direction of travel with which the parking control server... 1 the autonomous vehicle 2 can control it. If the node interval is small, the distance between autonomous vehicles tends to be small. 2 The longitudinal threshold ThLN2, which is moving close together, is therefore made larger than the longitudinal threshold ThLN1. This increases the sensitivity to positional errors for the longitudinal position, making it less likely that the autonomous vehicles will 2 come into contact with each other. The node interval is not the interval in the direction along the imaginary line in Fig. 2 limited, and can be a concentric distance from the position of the node near the autonomous vehicle 2 be.

[0062] If the nodes are near the moving autonomous vehicle 2 of the first node type (if the moving autonomous vehicle 2 (located near the parking sections), represents the position error determination unit 14 The longitudinal threshold is set to a longitudinal threshold ThLN3. If the nodes are close to the moving autonomous vehicle. 2 of the second node type (if the moving autonomous vehicle 2 (located in the curve section), represents the position error determination unit 14 The longitudinal threshold is set to a longitudinal threshold ThLN4. If the nodes are close to the moving autonomous vehicle. 2 of the third node type (if the moving autonomous vehicle 2(located in the straight section), represents the position error determination unit 14 set the longitudinal threshold to a longitudinal threshold ThLN5.

[0063] The longitudinal threshold ThLN3 is lower than the longitudinal threshold ThLN4. The distance between the autonomous vehicle 2 and the driving boundaries, such as a pillar, in the longitudinal direction of the autonomous vehicle 2 The distance may be smaller near the parking sections than in the curved and straight sections due to the possibility that the autonomous vehicle 2 The autonomous vehicle performs a reverse and forward maneuver in a desired parking space as described above. It is therefore important to detect any deviation in the longitudinal position of the autonomous vehicle. 2to reduce the longitudinal position error. The longitudinal threshold ThLN3 is therefore made smaller than the longitudinal threshold ThLN4. This increases the sensitivity to position errors for the longitudinal position and thus reduces the longitudinal position error when locating the autonomous vehicle. 2 can be detected early.

[0064] The longitudinal threshold ThLN4 is lower than the longitudinal threshold ThLN5. Unlike in the straight section, in the curved section an outer wall can be located in the longitudinal direction of the autonomous vehicle. 2 (direction tangential to the curve section). Furthermore, an approaching autonomous vehicle may be present in the curve section. 2 It may be present. Therefore, it is important to detect any deviation in the longitudinal position of the autonomous vehicle. 2to reduce the longitudinal threshold ThLN4. Therefore, the longitudinal threshold ThLN5 is made lower than the longitudinal threshold ThLN4. This increases the sensitivity to positional errors in the longitudinal position and reduces the possibility of contact with the travel limits.

[0065] In the event that another autonomous vehicle 2 in the longitudinal direction of the autonomous vehicle 2 The distance to the other autonomous vehicle is available. 2 Essentially constant when the relative vehicle speed is low, however the distance to the other autonomous vehicle can change. 2 increase if the vehicle speed relative to the other autonomous vehicle 2 is equal to or higher than a certain speed. Therefore, it is important to detect a deviation in the longitudinal position of the autonomous vehicle. 2 to reduce. If another autonomous vehicle 2is present, either in front of or behind the autonomous vehicle 2 If the vehicle is moving, and the relative vehicle speed to the other autonomous vehicle is equal to or greater than a predetermined relative vehicle speed threshold, the position error determination unit can 14 Determine whether a positional error exists using a longitudinal threshold ThLN6. The longitudinal threshold ThLN6 is lower than a longitudinal threshold ThLN7, which is used when the relative vehicle speed to the other autonomous vehicle is determined. 2 is less than the relative vehicle speed threshold. The relative vehicle speed to the other autonomous vehicle. 2 This can be a relative vehicle speed, which is positive if the distance to the other autonomous vehicle is increasing. 2reduced. The relative vehicle speed threshold is a threshold of relative vehicle speed for switching the longitudinal threshold according to the vehicle speed relative to the other autonomous vehicle. 2 , which is in front of or behind the autonomous vehicle 2 moved.

[0066] The position error determination unit 14 determines whether the nodes are near the moving autonomous vehicle 2 of the first node type, to determine whether the moving autonomous vehicle 2 located near the parking sections. However, the position error determination unit may 14 determine whether the distance along a desired route from the node that the moving autonomous vehicle is 2the nearest node to a desired parking space, where the value is equal to or less than a predetermined threshold. Alternatively, the position error determination unit can be used. 14 determine whether the linear distance from the node that is moving the autonomous vehicle 2 is closest to the node of the desired parking space, is equal to or less than a predetermined threshold (whether the node of the desired parking space is in a circle around the node that is closest to the moving autonomous vehicle) 2 nearest, with a radius of the predetermined threshold).

[0067] The position error determination unit 14determines that a position error exists if the difference between the first and second longitudinal positions (longitudinal position error) is equal to or greater than the longitudinal threshold, or if the difference between the first and second lateral positions (lateral position error) is equal to or greater than the lateral threshold.

[0068] The position error determination unit 14 For example, it determines whether the longitudinal position error is equal to or greater than the longitudinal threshold value. The position error determination unit 14 Determines whether the page position error is equal to or greater than the page threshold. If the position error determination unit 14 determines that the longitudinal position error is equal to or greater than the longitudinal threshold, or if the position error determination unit 14Determines that the side position error is equal to or greater than the side threshold; determines the position error determination unit. 14 that a positional error exists. If the positional error determination unit 14 determines that the longitudinal position error is neither equal to nor greater than the longitudinal threshold, and determines that the lateral position error is neither equal to nor greater than the lateral threshold, determines the position error determination unit. 14 that there is no positional error.

[0069] The vehicle instruction unit 15 granted to the autonomous vehicle 2 The vehicle instruction unit, which operates the automated parking service, provides instructions. 15 defines a desired route to a desired parking space for the autonomous vehicle. 2 ready when the autonomous vehicle 2The automated parking service is activated. The procedure for determining the desired parking space is not particularly restrictive. The autonomous vehicles 2 Parking spaces can be assigned from the exit side in the order of entry into the parking lot, or they can be assigned from the exit side in the order of the planned pick-up time, starting with the earliest. The user can specify a desired parking space. The vehicle guidance unit 15 It does not necessarily have to be the entire desired route from the current position of the autonomous vehicle. 2 It can deliver the vehicle to the desired parking space all at once, and can deliver part of the desired route at once. The vehicle instruction unit 15 specifies a desired route to the recording location. 63 ready when the user activates the autonomous vehicle 2 picks up or collects.

[0070] The vehicle instruction unit 15 calculates the desired route from the position of the autonomous vehicle 2 to the desired parking space based on the vehicle position of the autonomous vehicle 2 , which moves automatically according to instructions. The vehicle position is determined by the vehicle information acquisition unit. 11 Procured position. For example, the vehicle instruction unit calculates 15 The shortest driving distance route to the desired parking space along the aisle in the parking lot is the desired route. The vehicle guidance unit 15 can a new desired route for the autonomous vehicle 2 Calculate. The new desired route intersects a desired route for another autonomous vehicle. 2 No. The vehicle instruction unit 15 The vehicle guidance unit can determine the desired parking space based on the desired route. 15The vehicle guidance unit can provide an upper vehicle speed limit in the parking lot along with the desired route. 15 It can provide an upper acceleration limit. The upper vehicle speed limit and the upper acceleration limit are predetermined.

[0071] The vehicle instruction unit 15 granted according to the condition of another autonomous vehicle 2 , which is controlled by the vehicle state perception unit 12 The system perceives a stop instruction and a drive instruction. The stop instruction is an instruction to stop the autonomous vehicle. 2 The driving instruction is an instruction to move (start) the stopped autonomous vehicle. 2 The vehicle instruction unit 15 can be an instruction to slow down or speed up the autonomous vehicle 2 issue. The vehicle instruction unit 15The autonomous vehicle controls 2 , so that the autonomous vehicle 2 according to the state of the other autonomous vehicle 2 stops and moves. The vehicle instruction unit 15 instigates the autonomous vehicle 2 thus to move to the desired parking space while approaching the other autonomous vehicle 2 is avoided.

[0072] If the position error determination unit 14 If a position error is determined, the vehicle instruction unit can 15 the autonomous vehicle 2 Issue a stop instruction. If the position error determination unit 14 If a position error is determined, the vehicle instruction unit can 15 the autonomous vehicle 2 Issue a slowdown instruction. If the position error determination unit 14Determined that there is no positional error, the vehicle instruction unit can 15 the autonomous vehicle 2 Give a driving instruction. If the position error determination unit 14 Determined that there is no positional error, the vehicle instruction unit can 15 the autonomous vehicle 2 issue an acceleration instruction.

[0073] In the case where a LIDAR is used as a parking sensor 4 at a predetermined position in the parking lot 50 Once installed, the vehicle instruction unit can 15 the autonomous vehicle 2 instruct to move to a position near the installation position of the LIDAR when the position error determination unit 14 Determines that a positional error exists. In this case, the result of the localization by the vehicle position sensing unit can be... 33 of the autonomous vehicle 2by correcting the measurement result of the external sensor 22 (Orientation point position information) that caused the position error can be corrected using the acquisition result of the LIDAR, which acts as a parking sensor. 4 It serves as the result of the localization by the vehicle position detection unit. 33 of the autonomous vehicle 2 This can also be corrected by using position information about the autonomous vehicle that was captured by the vacancy sensor. 2 be sent, which is located near the parking space 61 is located, with the recording results for each parking space (parking niche) 61 The intended vacancy sensors will be used.

[0074] Next, the autonomous vehicle will be developed. 2 and the user frontend 3 described. The autonomous vehicle 2 and the user frontend 3 communicate with the parking control server1 The automated parking service system 100 According to the present embodiment, the autonomous vehicle 2 and the user frontend 3 not included.

[0075] As in Fig. Shown in 1, the autonomous vehicle includes 2 for example, the autonomous driving ECU 20 The autonomous driving ECU 20 It is an electronic control unit with a CPU, ROM, RAM, etc. The autonomous driving ECU 20 It implements various functions, for example by loading a program recorded in ROM into RAM and causing the CPU to execute the program loaded into RAM. The autonomous driving ECU 20 can be composed of a large number of electronic units.

[0076] The autonomous driving ECU 20 is equipped with a communication unit 21 , the external sensor (onboard sensor) 22, an internal sensor23 and an actuator 24 tied together.

[0077] The communication unit 21 is a communication device that enables wireless communication with the outside of the autonomous vehicle. 2 controls the communication unit 21 It sends and receives various types of information by communicating with the parking control server. 1 The communication unit 21 For example, it sends vehicle information to the parking control server. 1 and obtains information required for the automated parking service (for example, information about a landmark located along the desired route) from the parking control server 1 The communication unit 21 It also communicates with the user frontend 3 , which is related to the autonomous vehicle 2 is associated.

[0078] The outdoor sensor 22is an onboard sensor that monitors the external environment of the autonomous vehicle 2 detected. The outdoor sensor 22 It contains at least one onboard camera. The onboard camera is an imaging device that captures an image of the autonomous vehicle's external surroundings. 2 captured. The onboard camera is, for example, located on the back of the autonomous vehicle's windshield. 2 It attaches and captures an image of an area in front of the autonomous vehicle. 2 The onboard camera transmits the captured image information regarding the autonomous vehicle's external environment. 2 to the autonomous driving ECU 20 The onboard camera can be either a monocular or a stereo camera. A variety of onboard cameras can be used to capture images of the areas on both sides of the autonomous vehicle. 2 and behind the autonomous vehicle 2in addition to the area in front of the autonomous vehicle 2 appropriate.

[0079] The outdoor sensor 22 It may include an onboard radar sensor. The onboard radar sensor detects an object by transmitting radio waves or light to the area around the autonomous vehicle. 2 and receiving the radio waves or light reflected by the object. The onboard radar sensor includes, for example, a millimeter-wave radar or a LiDAR. The onboard radar sensor transmits the detected object information to the autonomous driving ECU. 20 The outdoor sensor 22 may contain a sonar sensor that detects sound outside the autonomous vehicle 2 recorded.

[0080] The indoor sensor 23 is an onboard sensor that monitors the driving status of the autonomous vehicle 2 detected by the indoor sensor 23It contains a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The vehicle speed sensor is a detection device that measures the speed of the autonomous vehicle. 2 The vehicle speed sensor can be a wheel speed sensor located on the wheels of the autonomous vehicle. 2 , drive shafts that rotate with the wheels, or similar components. The wheel speed sensor detects the rotational speed of each wheel. The vehicle speed sensor sends the detected vehicle speed information (wheel speed information) to the autonomous driving ECU. 20 .

[0081] The acceleration sensor is a detection device that measures the acceleration of the autonomous vehicle. 2 The acceleration sensor, for example, includes a longitudinal acceleration sensor that measures the acceleration in the longitudinal direction of the autonomous vehicle. 2The acceleration sensor can include a lateral acceleration sensor, which measures the lateral acceleration of the autonomous vehicle. 2 Detected. The acceleration sensor sends acceleration information from the autonomous vehicle. 2 for example, the autonomous driving ECU 20 The yaw rate sensor is a detection device that measures the yaw rate (rotational angular velocity) around the vertical axis of the autonomous vehicle's center of gravity. 2 The yaw rate sensor can be, for example, a gyroscope. The yaw rate sensor transmits the detected yaw rate information from the autonomous vehicle. 2 to the autonomous driving ECU 20 .

[0082] The actuator 24 is a device used to control the autonomous vehicle 2 is used. The actuator 24It contains at least one drive actuator, one brake actuator, and one steering actuator. The drive actuator controls the air supply to an internal combustion engine (throttle valve opening) according to a control signal from the autonomous driving ECU. 20 to control the drive power of the autonomous vehicle 2 If the autonomous vehicle 2 In a hybrid vehicle, the control signal is provided by the autonomous driving ECU. 20 attached to an electric motor, which is a power source to provide the driving force of the autonomous vehicle 2 in addition to controlling the air supply to the internal combustion engine. If the autonomous vehicle 2 If it is an electric vehicle, the control signal is provided by the autonomous driving ECU. 20 attached to an electric motor, which is a power source to provide the driving force of the autonomous vehicle 2 to control. In these cases, the electric motor, which is a power source, forms the actuator. 24.

[0083] The brake actuator controls a braking system according to a control signal from the autonomous driving ECU. 20 to control the braking force with which the wheels of the autonomous vehicle 2 The braking system can, for example, be a hydraulic braking system. The steering actuator controls an auxiliary motor of a power steering system according to a control signal from the autonomous driving ECU. 20 The auxiliary motor is a motor that controls the steering torque. The steering actuator thus controls the steering torque of the autonomous vehicle. 2 .

[0084] Next, an example of the functional configuration of the autonomous driving ECU will be shown. 20 described. The autonomous driving ECU 20 includes an external environment perception unit 31 , a driving condition perception unit 32 , the vehicle position perception unit 33 , a vehicle information delivery unit34 and a vehicle control unit 35 .

[0085] The outdoor environment perception unit 31 takes in the external environment of the autonomous vehicle 2 based on the detection result of the external sensor 22 (the image captured by the onboard camera or the object information detected by the onboard radar sensor). The external environment contains the position of an object that is around the autonomous vehicle. 2 is located relative to the autonomous vehicle 2 The external environment can affect the speed of the object moving around the autonomous vehicle. 2 is located relative to the autonomous vehicle 2 and include the direction in which the object is moving relative to the autonomous vehicle 2 moves. The external environment perception unit 31It perceives objects, such as other vehicles and pillars in the parking lot, through pattern recognition, etc. The outdoor environment perception unit 31 It can detect parking lot barriers, parking lot walls, posts, warning cones, etc. The outdoor environment perception unit 31 can also perceive the driving limits in the parking lot by perceiving white lines.

[0086] The driving condition perception unit 32 takes the driving state of the autonomous vehicle 2 based on the detection result of the internal sensor 23 True. The driving state includes the vehicle speed of the autonomous vehicle. 2 , the acceleration of the autonomous vehicle 2 and the yaw rate of the autonomous vehicle 2 In particular, the driving condition perception unit 32 the vehicle speed of the autonomous vehicle 2based on vehicle speed information from the vehicle speed sensor. The driving condition perception unit 32 takes the acceleration of the autonomous vehicle 2 based on vehicle speed information from the acceleration sensor. The driving condition perception unit 32 takes the orientation of the autonomous vehicle 2 based on the yaw rate information from the yaw rate sensor.

[0087] The vehicle position perception unit 33 procures the first vehicle position, which is the position of the autonomous vehicle. 2 The parking plan is based on the recording result of the external sensor. 22 of the autonomous vehicle 2 and the parking plan information, which includes the position information of the landmarks in the parking lot 50 Included. The vehicle position perception unit. 33obtains the first vehicle position by estimating the vehicle position, which is the position of the autonomous vehicle. 2 on the parking lot map (localization).

[0088] Here, localization means estimating the vehicle position of the autonomous vehicle. 2 on the parking lot map using the position information of the landmarks on the parking lot map. The vehicle position detection unit. 33 Detects a landmark whose position is predetermined on the parking plan, using the external sensor. 22 through a known method and uses the reference point for localization. The vehicle position perception unit 33 For example, it obtains the initial vehicle position by perceiving the position of the reference point relative to the autonomous vehicle. 2 based on the external environment perception unit 31perceived external environment and the position information of the landmark, which is transmitted via the communication unit 21 from the parking control server 1 be procured.

[0089] The vehicle position perception unit 33 can determine the position of the autonomous vehicle 2 through an approximate calculation based on the measurement result of the indoor sensor. 23 Perceive. The vehicle position perception unit. 33 can determine the position of the autonomous vehicle 2 by communicating with a signal station installed in the parking lot.

[0090] The vehicle information delivery unit 34 The vehicle information is transmitted via the communication unit. 21 for the parking lot control server 1 Ready. The vehicle information delivery unit. 34For example, it provides the vehicle information for the parking control server. 1 ready to provide information about the position of the autonomous vehicle 2 Included in or on the parking lot. The position of the autonomous vehicle. 2 is provided by the vehicle position sensing unit 33 perceived at regular time intervals.

[0091] The vehicle control unit 35 leads to autonomous driving of the autonomous vehicle 2 through. During autonomous driving, the autonomous vehicle moves 2 automatically along a desired route determined by the parking control server 1 is provided. The vehicle control unit 35 generates a trajectory of the autonomous vehicle 2 for example, based on the desired route, the position of the autonomous vehicle 2 , the external environment of the autonomous vehicle 2and the driving state of the autonomous vehicle 2 The trajectory corresponds to a roadmap for autonomous driving. It includes a path along which the vehicle travels during autonomous driving and a vehicle speed plan for autonomous driving.

[0092] The path is a route along the desired path that the vehicle will follow during autonomous driving. The path could, for example, include data about the steering angle of the autonomous vehicle. 2 The steering angle changes according to the positions along the desired route (steering angle plan). The positions along the desired route are, for example, preset longitudinal positions set at predetermined intervals (e.g., every meter) in the direction of travel. The steering angle plan displays data about the desired steering angles associated with each preset longitudinal position.

[0093] For example, the vehicle control unit generates 35 a trajectory, so that the autonomous vehicle 2 moved along the center of the aisle in the parking lot along the desired route. In the case of the parking lot control server 1 The vehicle control unit has provided the upper vehicle speed limit. 35 A trajectory with a vehicle speed plan that does not exceed the upper vehicle speed limit. The vehicle control unit 35 can generate a trajectory using the parking plan information obtained through communication with the parking control server 1 be procured.

[0094] The vehicle control unit 35 stops the autonomous vehicle 2 in response to a stop instruction from the parking control server 1 The vehicle control unit 35 moves the stopped autonomous vehicle2 in response to a driving instruction from the parking control server 1 The vehicle control unit 35 For example, it performs longitudinal and lateral vehicle control to control the autonomous vehicle 2 to cause it to move automatically along the path. Although the above is an example of the autonomous vehicle's configuration. 2 As described, the autonomous vehicle 2 not limited to the above configuration, as long as an automated parking service can be implemented.

[0095] The user frontend 3 is a user's mobile information terminal that interacts with the autonomous vehicle 2 is linked. The user frontend 3 is in the autonomous vehicle 2 for example, as the end device of the owner of the autonomous vehicle 2 registered. The user frontend 3can be a user's terminal device who is in the autonomous vehicle 2 as temporary owner of the autonomous vehicle 2 rents, or is registered as an authorized person who has the authority from the owner of the autonomous vehicle 2 was transferred to the autonomous vehicle 2 To issue instructions. The user frontend 3 For example, it consists of a computer with a processor such as a CPU, a memory such as a ROM or RAM, and a user interface with an interactive control panel that also serves as a display, etc.

[0096] The user frontend 3 assigns a function to send a drop-off request and a pick-up request to the parking control server 1 The user can submit a drop-off request and a pick-up request for an automated parking service by using the user interface. 3send. For example, the user grants the authority to give instructions to the autonomous vehicle. 2 the parking control server 1 by modifying the user frontend 3 operated to process the drop-off request after stopping and exiting the autonomous vehicle 2 at the drop-off point 62 in the settling area 52 the parking lot 50 to complete.

[0097] When responding to a recording request from the user, this is done in the parking space. 61 parked autonomous vehicles 2 via the parking control server 1 to the recording location 63 in the recording area 53 moves. The autonomous vehicle 2 waits at the recording station 63 on the user. For example, the parking control server terminates. 1 the authority to give instructions to the autonomous vehicle 2, when the autonomous vehicle 2 the recording space 63 reached and stops there. The parking control server 1 can the authority to give instructions to the autonomous vehicle 2 cancel if the user cancels the autonomous vehicle 2 instructs the user to open its door(s) or to start the vehicle. The autonomous vehicle 2 can the authority to give instructions to the autonomous vehicle 2 cancel. Operating the autonomous vehicle 2 Responding to drop and pick-up requests is not limited to the operation described above. The same applies to the parking control server. 1 . Operation of the automated parking service system

[0098] Next, the operation of the automated parking service system will be implemented. 100 described with reference to the drawings. Fig. Figure 4 shows a flowchart of an example of a side threshold setting process. The side threshold setting process of Fig. Step 4 is performed after the automated parking service has started, for example when the autonomous vehicle 2 , which is connected to the parking control server 1 can communicate when arriving at the parking lot.

[0099] As in Fig. Figure 4 shows the position error determination unit. 14 of the parking control server 1 in S01, whether the width of the aisle along which the autonomous vehicle travels 2 moved, equal to or greater than the aisle width threshold.

[0100] If the position error determination unit 14 of the parking control server 1 determined that the width of the aisle along which the autonomous vehicle travels 2If the movement is equal to or greater than the aisle width threshold (S01: YES), the routine proceeds to S02. If the position error determination unit 14 of the parking control server 1 determined that the width of the aisle along which the autonomous vehicle travels 2 If the movement is neither equal to nor greater than the aisle width threshold (S01: NO), the routine goes to S03.

[0101] In S02 sets the position error determination unit 14 of the parking control server 1 The side threshold is set to the side threshold ThLT1. The side threshold ThLT1 is greater than the side threshold ThLT2, to which the side threshold is set when the width of the aisle along which the autonomous vehicle travels is greater than the side threshold ThLT2. 2 moved, smaller than the aisle width threshold. In S03 represents the position error determination unit 14 of the parking control server 1the side threshold on the side threshold ThLT2. The current process of Fig. 4 will then be terminated. The parking control server 1 leads the process of Fig. 4 repeated, for example at a predetermined time after the process of Fig. 4.

[0102] Fig. Figure 5 shows a flowchart of an example of a longitudinal threshold setting process. The longitudinal threshold setting process of Fig. Step 5 is performed after the automated parking service is started, for example when the autonomous vehicle 2 , which is connected to the parking control server 1 can communicate when arriving at the parking lot.

[0103] As in Fig. Figure 5 shows the position error determination unit. 14 of the parking control server 1 in S11, whether the node interval between adjacent nodes on the corridor along which the autonomous vehicle travels2 moved, equal to or greater than the node interval threshold.

[0104] If the position error determination unit 14 of the parking control server 1 determined that the node interval between adjacent nodes on the corridor along which the autonomous vehicle travels 2 If the node interval threshold is equal to or greater than the node interval threshold (S11: YES), the routine proceeds to S12. If the position error determination unit 14 of the parking control server 1 determined that the node interval between adjacent nodes on the corridor along which the autonomous vehicle travels 2 If the value is neither equal to nor greater than the node interval threshold (S11: NO), the routine goes to S13.

[0105] In S12 represents the position error determination unit 14 of the parking control server 1The longitudinal threshold is set to the longitudinal threshold ThLN1. The longitudinal threshold ThLN1 is greater than the longitudinal threshold ThLN2, to which the longitudinal threshold is set, when the node interval between adjacent nodes on the corridor along which the autonomous vehicle travels. 2 moved, smaller than the node interval threshold. In S13 represents the position error determination unit 14 of the parking control server 1 the longitudinal threshold is set to the longitudinal threshold ThLN2. The current process of Fig. 5 is then finished. The parking control server 1 leads the process of Fig. 5 repeated, for example at a predetermined time after the process of Fig. 5.

[0106] The longitudinal threshold can be set as in Fig. 6 will be shown and set. Fig. Figure 6 shows a flowchart of another example of the longitudinal threshold setting process. The longitudinal threshold setting process of Fig. Step 6 is performed after the automated parking service has started, for example when the autonomous vehicle 2 , which is connected to the parking control server 1 can communicate when arriving at the parking lot.

[0107] As in Fig. Figure 6 shows the position error determination unit. 14 of the parking control server 1 In S21, whether the node identifier is the first node type (whether the node is located close to the parking sections). If the position error determination unit 14 of the parking control server 1 If the node identifier is determined to be the first node type (S21: YES), the routine proceeds to S22. S22 represents the position error determination unit 14 of the parking control server 1The longitudinal threshold is set to the longitudinal threshold ThLN3. The longitudinal threshold ThLN3 is lower than the longitudinal threshold ThLN4 or ThLN5, to which the longitudinal threshold is set when the nodes are close to the moving autonomous vehicle. 2 each are of the second or third node type. The current process of Fig. 6 is then finished. The parking control server 1 leads the process of Fig. 6 repeated, for example a predetermined time after the process of Fig. 6.

[0108] If the position error determination unit 14 of the parking control server 1 On the other hand, if it is determined that the node identifier is not the first node type (S21: NO), the routine proceeds to S23. S23 determines the position error determination unit 14 of the parking control server 1, whether the node identifier is the second node type (whether the node is located in the curve section). If the position error determination unit 14 of the parking control server 1 If the node identifier is determined to be the second node type (S23: YES), the routine proceeds to S24. S24 represents the position error determination unit 14 of the parking control server 1 The longitudinal threshold is set to the longitudinal threshold ThLN4. The longitudinal threshold ThLN4 is lower than the longitudinal threshold ThLN5, to which the longitudinal threshold is set when the nodes are close to the moving autonomous vehicle. 2 are of the third node type. The current process of Fig. 6 is then finished. The parking control server 1 leads the process of Fig. 6 is repeated, for example, a predetermined time after the process has finished. Fig. 6.

[0109] If the position error determination unit 14 of the parking control server 1 On the other hand, if it is determined that the node identifier is not the second node type (S23: NO), the routine proceeds to S25. S25 represents the position error determination unit 14 of the parking control server 1 The longitudinal threshold is set to the longitudinal threshold ThLN5. The longitudinal threshold ThLN5 is the longitudinal threshold to which the longitudinal threshold is set when the nodes are close to the moving autonomous vehicle. 2 are of the third node type. The current process of Fig. 6 is then finished. The parking control server 1 leads the process of Fig. 6 repeated, for example a predetermined time after the process of Fig. 6.

[0110] Alternatively, the longitudinal threshold can be set as in Fig. 7 will be shown and set. Fig. Figure 7 is a flowchart of another example of the longitudinal threshold setting process. The longitudinal threshold setting process of Fig. 7 is performed, for example, when another autonomous vehicle 2 , which is in front of or behind the autonomous vehicle 2 moved, is present after the start of the automated parking service.

[0111] As in Fig. Figure 7 shows the position error determination unit. 14 of the parking control server 1 in S31, whether the vehicle speed of the autonomous vehicle 2 relative to the other autonomous vehicle 2 is equal to or greater than the predetermined relative vehicle speed threshold.

[0112] If the position error determination unit 14 of the parking control server 1 determines the vehicle speed of the autonomous vehicle 2relative to the other autonomous vehicle 2 If the position error determination unit is equal to or greater than the predetermined relative vehicle speed threshold (S31: YES), the routine proceeds to S32. 14 of the parking control server 1 determines the vehicle speed of the autonomous vehicle 2 relative to the other autonomous vehicle 2 If the relative vehicle speed threshold is neither equal to nor greater than the predetermined relative vehicle speed threshold (S31: NO), the routine proceeds to S33.

[0113] In S32 represents the position error determination unit 14 of the parking control server 1 The longitudinal threshold is set to the longitudinal threshold ThLN6. The longitudinal threshold ThLN6 is lower than the longitudinal threshold ThLN7, to which the longitudinal threshold is set when the vehicle speed of the autonomous vehicle is... 2relative to the other autonomous vehicle 2 is smaller than the predetermined relative vehicle speed threshold. In S33 represents the position error determination unit 14 of the parking control server 1 the longitudinal threshold is set to the longitudinal threshold ThLN7. The current process of Fig. 7 is then finished. The parking control server 1 leads the process of Fig. 7 repeats if there is another autonomous vehicle 2 there is one that is in front of or behind the autonomous vehicle 2 moved, for example at a predetermined time after the process of Fig. 7.

[0114] Fig. Figure 8 shows a flowchart of an example of a position error determination process. The position error determination process is carried out after the automated parking service starts, for example, when the autonomous vehicle 2, which is connected to the parking control server 1 can communicate when arriving at the parking lot. As in Fig. As shown in Figure 8, the vehicle information acquisition unit procures 11 of the parking control server 1 the first vehicle position of the autonomous vehicle 2 The first vehicle position is determined by the vehicle position sensing unit. 33 of the autonomous vehicle 2 based on the detection result of the external sensor 22 of the autonomous vehicle 2 perceived, which moves automatically according to instructions. In S42 procures the vehicle condition perception unit 12 of the parking control server 1 the second vehicle position, which is the position of the autonomous vehicle 2 on the parking lot plan, based on the recording result of the parking lot 50 installed parking sensor 4 .

[0115] In S43calculates the position error calculation unit 13 of the parking control server 1 The positional error between the first and second vehicle positions obtained. The positional error calculation unit. 13 For example, it calculates the longitudinal position error, which is the difference between the first and second longitudinal positions in the direction in which the gear extends, and the lateral position error, which is the difference between the first and second lateral positions in the lateral direction of the gear, based on the obtained first and second vehicle positions.

[0116] In S44 determines the position error determination unit 14 of the parking control server 1 , whether the difference between the first and second longitudinal positions (the longitudinal position error) is equal to or greater than the longitudinal threshold, which is less than the lateral threshold.

[0117] If the position error determination unit 14 of the parking control server 1 If it is determined that the longitudinal position error is neither equal to nor greater than the longitudinal threshold (S44: NO), the routine proceeds to S45. S45 determines the position error determination unit 14 of the parking control server 1 , whether the difference between the first and second page positions (the page position error) is equal to or greater than the page threshold. If the position error determination unit 14 of the parking control server 1 If it is determined that the page position error is neither equal to nor greater than the page threshold (S45: NO), the routine proceeds to S46. S46 determines the position error determination unit 14 of the parking control server 1 that there is no positioning error. The current process of Fig. 8 is then finished. The parking control server 1 leads the process of Fig. 8 repeated, for example at a predetermined time after the process of Fig. 8.

[0118] If the position error determination unit 14 of the parking control server 1 on the other hand, it determines that the longitudinal position error is equal to or greater than the longitudinal threshold (S44: YES), or if the position error determination unit 14 of the parking control server 1 If it is determined that the page position error is equal to or greater than the page threshold (S45: YES), the routine proceeds to S47. S47 determines the position error determination unit 14 of the parking control server 1 that a positioning error exists. The current process of Fig. 8 is then finished. The parking control server 1 leads the process of Fig. 8 repeated, for example a predetermined time after the process of Fig. 8.

[0119] According to the automated parking service system 100 In the embodiment described above, a positional error is determined to exist if the difference between the first and second longitudinal positions is equal to or greater than the longitudinal threshold value, or if the difference between the first and second lateral positions is equal to or greater than the lateral threshold value. The longitudinal threshold value (any value from ThLN1 to ThLN5), which is less than the lateral threshold value (ThLT1 or ThLT2), is used to determine whether a positional error exists. Therefore, it can be suitably determined, with respect to the direction in which the gear extends, whether a positional error exists in the first vehicle position.

[0120] According to the automated parking service system 100The parking plan information includes aisle width information. If the width of the aisle along which the autonomous vehicle travels... 2 The unit of position error determination is determined by the movement of the aisle width threshold, which is equal to or greater than the aisle width threshold. 14 , whether a position error exists by using the side threshold ThLT1, which is greater than the side threshold ThLT2, which is used when the width of the aisle along which the autonomous vehicle is traveling 2 The movement is smaller than the aisle width threshold. Therefore, it can be suitable to determine, based on the aisle width, whether a lateral positional error exists.

[0121] According to the automated parking service system 100The parking plan information includes node position information for the nodes pre-defined for the aisle, so that they are separated by predetermined intervals. If the node interval between adjacent nodes on the aisle along which the autonomous vehicle travels 2 The unit of position error determination is determined by whether the node interval threshold is equal to or greater than the moving node interval threshold. 14 Whether a positional error exists is determined by using the longitudinal threshold ThLN1, which is greater than the longitudinal threshold ThLN2, used when the node interval is smaller than the node interval threshold. Therefore, based on the node interval, it can be determined whether a longitudinal positional error exists.

[0122] According to the automated parking service system 100The parking plan information also includes node position information for the nodes pre-set for the aisles, ensuring they are separated by predetermined intervals, and node identifier information for the node types. The node identifier information specifies the node type, indicating that the node is located near the parking sections. If the nodes are near the moving autonomous vehicle... 2 The position error determination unit is determined by the fact that the parking sections are located near the parking areas. 14 Whether a positional error exists is determined by using the longitudinal threshold ThLN3, which is smaller than the longitudinal thresholds ThLN4 and ThLN5 used when the node is not near the parking sections. Therefore, whether a positional error exists in the longitudinal position can be determined accordingly, based on whether the node is near the parking sections.

[0123] Although the embodiment of the invention has been described above, the invention is not limited to this embodiment. The invention can be implemented in various modified or improved ways based on the knowledge of those skilled in the art, in addition to the embodiment described above.

[0124] The parking control server 1 It doesn't necessarily have to be directly connected to the autonomous vehicle. 2 can communicate, and can communicate with the autonomous vehicle via another server, etc. 2 communicate. The parking control server 1 can with the autonomous vehicle 2 for example, via a control server of the manufacturer of the autonomous vehicle. 2 or communicate with a Mobility as a Service (MaaS) operations server.

[0125] The first node type, indicating that the node is near the parking spaces; the second node type, indicating that the node is in the curve; and the third node type, indicating that the node is neither near the parking spaces nor in the curve, are shown as node types. However, one or two of these three node types may be omitted, or other node types may be included. Alternatively, the parking plan information does not necessarily have to include node identification information regarding the node types.

[0126] In the above embodiment, the position information of the driving limits and the position information of the orientation points are pre-associated with the nodes and stored as node information in the parking plan database. 5stored. However, such node information does not necessarily have to be stored in the parking plan database. 5 The position information of the driving limits and the position information of the landmarks, which are previously associated with the nodes, can be obtained as node information from a provider that is independent of the parking plan database. 5 differentiates (for example, a planning data production company, etc.), and this node information can be used.

[0127] In the above embodiment, the longitudinal threshold is set by one of the longitudinal threshold setting processes of the Fig. 5 to Fig. 7. However, the longitudinal threshold can be set by a combination of at least two of the longitudinal threshold setting processes of the Fig. 5 to Fig. 7 can be set. In this case, for example, the longitudinal threshold setting process of Fig. 6 longitudinal threshold set by the longitudinal threshold setting process of Fig. 5. This needs to be corrected if the nodes are near the moving autonomous vehicle. 2 are of the same type (i.e., the type determined by the S21 and S22 processes of Fig. (of the type specified in 6), the longitudinal threshold can in this case be corrected to a more suitable longitudinal threshold according to the relationship between the node interval and the node interval threshold, which is given in S11 of Fig. 5 is determined. Similarly, for example, the longitudinal threshold setting process of Fig. 6 longitudinal threshold set by the longitudinal threshold setting process of Fig. 7. This will be corrected if the nodes are near the moving autonomous vehicle. 2 of the same type (i.e., that determined by the processes of S21 and S22 of Fig. 6 specific type), the longitudinal threshold in this case can be corrected to a more suitable longitudinal threshold according to the relationship between the relative speed and the relative speed threshold, which is given in S31 of Fig. 7 is determined.

[0128] The longitudinal threshold does not necessarily have to be set according to the aisle width, the node type, and the relative speed. In the above embodiment, the lateral threshold is set by the lateral threshold setting process of Fig. 4. However, the lateral threshold value does not necessarily have to be set according to the aisle width. In short, according to the present disclosure, the longitudinal threshold value only needs to be smaller than the lateral threshold value in any case.

[0129] In the above embodiment, the position error determination unit determines 14A positional error exists if either of the following two conditions is met: the condition that the difference between the first and second longitudinal positions is equal to or greater than the longitudinal threshold, and the condition that the difference between the first and second lateral positions is equal to or greater than the lateral threshold. However, the positional error determination unit 14 Determine that a positional error exists when both conditions are met. That is, the positional error determination unit. 14 can determine that a positional error exists if the difference between the first and second longitudinal positions is equal to or greater than the longitudinal threshold, and / or if the difference between the first and second lateral positions is equal to or greater than the lateral threshold.

[0130] According to one design, an automated parking service system 100designed to obtain a first vehicle position and a second vehicle position, and to determine whether there is a position error in the first vehicle position of an autonomous vehicle. 2 The first vehicle position contains a first longitudinal position and a first lateral position, the second vehicle position contains a second longitudinal position and a second lateral position, and a longitudinal threshold value is smaller than a lateral threshold value. The automated parking service system 100 is set up to determine that the positional error is present in a case where the difference between the first longitudinal position and the second longitudinal position is equal to or greater than the longitudinal threshold, and / or in a case where the difference between the first lateral position and the second lateral position is equal to or greater than the lateral threshold. QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] JP 2018021777 A

[0002]

Claims

[1] An automated parking service system (100) configured to instruct an autonomous vehicle (2) in a parking lot (50) to automatically move along an aisle in the parking lot (50) and park in a desired parking space in the parking lot (50), the automated parking service system (100) comprising a first vehicle position acquisition unit (11) configured to acquire a first vehicle position, which is a position of the autonomous vehicle (2) on a parking space map, based on a detection result of an on-board sensor (22) of the autonomous vehicle (2) and parking space map information containing object information in the parking space (50), a second vehicle position acquisition unit (12) configured to acquire a second vehicle position, which is a position of the autonomous vehicle (2) on the parking space map, based on a detection result of a facility sensor (4) installed in the parking space (50), and a position error determination unit (14) configured to determine, based on the first vehicle position and the second vehicle position, whether a position error is present in the first vehicle position of the autonomous vehicle (2), wherein the first vehicle position includes a first longitudinal position along an extension direction in which the aisle extends and a first lateral position along a lateral direction of the aisle, the second vehicle position includes a second longitudinal position along the extension direction and a second lateral position along the lateral direction of the aisle, the position error determination unit (14) is configured to determine that the position error exists in a case where a difference between the first longitudinal position and the second longitudinal position is equal to or greater than a longitudinal threshold value, and / or a case where a difference between the first lateral position and the second lateral position is equal to or greater than a lateral threshold value, and the longitudinal threshold is smaller than the lateral threshold. [2] Automated parking service system (100) according to claim 1, wherein the parking plan information contains aisle width information regarding the width of the aisle, the position error determination unit (14) is configured to determine whether the position error is present using a first lateral threshold value as the lateral threshold value when a width of the aisle along which the autonomous vehicle (2) is moving is equal to or greater than an aisle width threshold value, and the first side threshold is greater than a second side threshold which is used when the width of the aisle along which the autonomous vehicle (2) is moving is smaller than the aisle width threshold. [3] Automated parking service system (100) according to claim 1 or 2, wherein the parking plan information includes node position information regarding a plurality of nodes preset for a plurality of the aisles so that they are separated by predetermined intervals, the position error determination unit (14) is configured to determine whether the position error is present using a first longitudinal threshold value as the longitudinal threshold value when a node interval between the nodes on the aisle along which the autonomous vehicle (2) is moving is equal to or greater than a node interval threshold value, and the first longitudinal threshold is greater than a second longitudinal threshold that is used when the node interval is less than the node interval threshold. [4] Automated parking service system (100) according to claim 1 or 2, wherein the parking plan information includes node position information regarding a plurality of nodes preset for a plurality of the aisles so as to be separated by predetermined intervals, and node identifier information regarding types of the nodes, the node identifier information contains a node type indicating that a node is located near a parking section, the position error determination unit (14) is configured to determine whether the position error is present using a first longitudinal threshold value as the longitudinal threshold value when the node near the moving autonomous vehicle (2) is near the parking section, and the first longitudinal threshold is smaller than a second longitudinal threshold used when the node is not close to the parking section. [5] Automated parking service system (100) with a control device (40) which is arranged to Instructing an autonomous vehicle (2) in a parking lot (50) to automatically move along an aisle in the parking lot (50) and park in a desired parking space in the parking lot (50), Obtaining a first vehicle position, which is a position of the autonomous vehicle (2) on a parking space map, based on a detection result of an on-board sensor (22) of the autonomous vehicle (2) and parking space map information containing object information in the parking space (50), Obtaining a second vehicle position, which is a position of the autonomous vehicle (2) on the parking space plan, based on a detection result of a facility sensor (4) installed in the parking space (50), and Determining whether a position error is present in the first vehicle position of the autonomous vehicle (2) based on the first vehicle position and the second vehicle position, wherein the first vehicle position includes a first longitudinal position along an extension direction in which the aisle extends and a first lateral position along a lateral direction of the aisle, the second vehicle position includes a second longitudinal position along the extension direction and a second lateral position along the lateral direction of the aisle, the control device (40) is arranged to determine that the position error is present in a case where a difference between the first longitudinal position and the second longitudinal position is equal to or greater than a longitudinal threshold value, and / or a case where a difference between the first lateral position and the second lateral position is equal to or greater than a lateral threshold value, and the longitudinal threshold is smaller than the lateral threshold. [6] Automated parking service system (100) according to claim 5, wherein the parking plan information contains aisle width information regarding the width of the aisle, the control device (40) is arranged to determine whether the position error is present by using a first lateral threshold value as the lateral threshold value when the width of the aisle along which the autonomous vehicle (2) is moving is equal to or greater than an aisle width threshold value, and the first side threshold is greater than a second side threshold which is used when the width of the aisle along which the autonomous vehicle (2) is moving is smaller than the aisle width threshold. [7] Automated parking service system (100) according to claim 5 or 6, wherein the parking plan information includes node position information regarding a plurality of nodes preset for a plurality of the aisles so that they are separated at predetermined intervals, the control device (40) is arranged to determine whether the position error is present using a first longitudinal threshold value as the longitudinal threshold value when a node interval between the nodes on the aisle along which the autonomous vehicle (2) is moving is equal to or greater than a node interval threshold value, and the first longitudinal threshold is greater than a second longitudinal threshold that is used when the node interval is less than the node interval threshold. [8] Automated parking service system (100) according to claim 5 or 6, wherein the parking plan information includes node position information regarding a plurality of nodes preset for a plurality of the aisles so as to be separated at predetermined intervals, and node identifier information regarding types of the nodes, the node identifier information contains a node type indicating that a node is located near a parking section, the control device (40) is arranged to determine whether the position error is present by using a first longitudinal threshold value as the longitudinal threshold value when the node near the moving autonomous vehicle (2) is near the parking section, and the first longitudinal threshold is smaller than a second longitudinal threshold used when the node is not close to the parking section.

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