MANAGEMENT SYSTEM AND AUTOMATIC PARKING SYSTEM

Abstract

An automated parking service system comprises: a vehicle (100) that is the target of an automated parking service in a parking lot, and an end device. The end device comprises at least one user end device (200) belonging to a user of the vehicle (100) and an infrastructure end device (500) installed in the parking lot. In response to a user request for the vehicle's (100) automated parking service, the vehicle (100) performs a first response, and the end device performs a second response.

Description

TECHNICAL AREA

[0001] The present disclosure relates to an automated valet parking service (AVP) for a vehicle in a parking lot. BACKGROUND

[0002] Patent literature 1 discloses an automatic parking service in a parking lot. A vehicle supporting the automatic parking service obtains route information from a parking system and drives autonomously along the obtained route. List of related prior art

[0003] Patent literature 1: German patent application Publication No. 102012222562 SUMMARY

[0004] This section considers automated parking in a parking lot. A user of the automated parking system can submit a request to the system. If the user cannot be sure whether the automated parking system receives the request, they may experience anxiety.

[0005] One aspect relates to an administrative system that manages an automatic parking service for a vehicle in a parking lot.

[0006] An end device comprises at least one user end device of a user of the vehicle and one infrastructure end device installed in the parking lot.

[0007] The management system comprises one or more processors. The one or more processors receive a request from the user device regarding the automatic parking service for the vehicle. In response to the request, the one or more processors instruct the vehicle to perform an initial action and instruct the user device to perform a second action.

[0008] A second aspect relates to an automated parking service system.

[0009] The automatic parking service system comprises: a vehicle that is a target of the automatic parking service in a parking lot; and an end device.

[0010] The terminal device comprises at least one user terminal device of a user of the vehicle and one infrastructure terminal device installed in the parking lot.

[0011] In response to a user request for the vehicle's automatic parking service, the vehicle performs a first response, and the terminal device performs a second response.

[0012] According to the present disclosure, the vehicle executes the first response in response to the user's request, and the terminal device executes the second response. If the user is looking at the vehicle, they can perceive the vehicle's first response. Even if the user is not looking at the vehicle, they are likely to perceive the terminal device's second response. This means that the user's certainty of recognizing the response is improved. The user who recognizes the response is able to ascertain that the automatic parking service system has received the request. This leads to greater ease of use for the user and increases their confidence in the automatic parking service system. BRIEF DESCRIPTION OF THE DRAWINGS Fig. Figure 1 is a conceptual diagram that provides an overview of an automatic parking service system (AVP system); Fig. Figure 2 is a conceptual diagram to explain an example of an automatic parking service; Fig. Figure 3 is a conceptual diagram to explain an example of a request from an AVP user and a response to it; Fig. Figure 4 is a conceptual diagram to explain an example of a first response performed by a vehicle and a second response performed by a terminal device; Fig. Figure 5 is a conceptual diagram to explain various examples of the connection between a first response performed by a vehicle and a second response performed by a terminal device; Fig. Figure 6 is a conceptual diagram to explain a first example of additional information; Fig. Figure 7 is a conceptual diagram to explain a second example of additional information; Fig. Figure 8 is a block diagram showing an example of a vehicle configuration; Fig. Figure 9 is a block diagram showing an example of a user terminal configuration; Fig. Figure 10 is a block diagram showing an example of a back-end system configuration; and Fig. Figure 11 is a block diagram showing an example of a parking system configuration. DETAILED DESCRIPTION

[0013] Exemplary embodiments of the present disclosure are described with reference to the accompanying drawings. In the following description, the automatic parking service may be referred to as "AVP". 1. AUTOMATIC PARKING SERVICE SYSTEM (AVP SYSTEM)

[0014] Fig. Figure 1 is a conceptual diagram providing an overview of an AVP system 10 according to the present embodiment. The AVP system 10 is a system for AVP in a parking lot. The AVP system 10 comprises a vehicle 100, a user terminal 200, a back-end system 300, and a parking system 400.

[0015] Vehicle 100 is a destination of the AVP (Automated Parking) in the parking lot. Vehicle 100 has an autonomous driving function, at least within the parking lot.

[0016] The user terminal 200 is an end device operated by a user of the AVP service, i.e., a user of the vehicle 100. Examples of the user terminal 200 include a smartphone and a PC.

[0017] The Back-End System 300 manages the AVP (Automated Parking) at one or more parking lots, the users of the AVP service, and similar information. The Parking System 400, which is an infrastructure system installed in a parking lot, manages the AVP at that parking lot. The Back-End System 300 and the Parking System 400 can be collectively referred to as the "Management System." The Management System manages the AVP at the parking lot.

[0018] Vehicle 100 and back-end system 300 can communicate with each other. For example, vehicle 100 and back-end system 300 communicate via a mobile communication service. In the parking lot, vehicle 100 and parking system 400 can communicate wirelessly. For example, vehicle 100 and parking system 400 can communicate via a wireless LAN. User device 200 and back-end system 300 can also communicate with each other. For example, user device 200 and back-end system 300 communicate via a mobile communication service. Furthermore, back-end system 300 and parking system 400 can communicate via wired or wireless connections.

[0019] An example of the AVP service reservation process is as follows. It is assumed that user member information is pre-registered in back-end system 300. First, a user makes an AVP reservation. For example, the user operates user terminal 200 to enter their ID information, a desired parking space, a desired date of use, a desired time of use (i.e., a planned entry time and a planned exit time), and so on. User terminal 200 transmits the reservation request information, which includes the entered information, to back-end system 300. Back-end system 300 processes the reservation request based on the reservation request information and sends a notification of the reservation's completion to user terminal 200.In addition, the back-end system 300 provides reservation information to the parking system 400 of the reserved parking space.

[0020] Fig. Figure 2 is a conceptual diagram to explain an example of AVP in the parking lot.

[0021] Vehicle 100 detects the situation around it using a detection sensor (e.g., a camera) mounted on the vehicle. Vehicle 100 drives safely while detecting the surrounding situation.

[0022] A variety of markers M (landmarks) can be arranged in the parking lot. These markers M guide the vehicle 100 within the parking lot. For example, the vehicle 100 uses its camera to acquire an image of its surroundings and recognizes the marker M based on this image. Based on this marker M recognition, the vehicle 100 then performs a localization process that estimates its position within the parking lot with high accuracy. The vehicle 100 then automatically navigates the parking lot based on this estimated position.

[0023] One or more infrastructure cameras (CAMs) can be installed in the parking lot. The infrastructure camera (CAM) captures an image of the parking lot, providing a snapshot of its layout. The parking system 400 communicates with the infrastructure camera (CAM) to retrieve the image captured by the camera. The parking system 400 analyzes the image to detect the vehicle (100) shown in the picture. It also estimates the position of the vehicle (100) shown in the image. Furthermore, the parking system 400 manages the vehicle (100) within the parking lot based on its position. The parking system 400 can provide the vehicle (100) with its position information. The vehicle (100) can then automatically navigate the parking lot based on the position information provided by the parking system 400.

[0024] An example of an entry process (check-in) is as follows. Vehicle 100 stops at an entry area. In the entry area, the user exits vehicle 100 and requests entry via the user device 200 or similar. The management system (i.e., the back-end system 300 and / or the parking system 400) authenticates the user and vehicle 100. After authentication is complete, the user transfers authorization to operate vehicle 100 to the management system. The management system communicates with vehicle 100 and activates it. The parking system 400 also assigns vehicle 100 an available parking space. The assigned available parking space is a destination parking space, i.e., a destination for vehicle 100 at the time of entry. Furthermore, the parking system 400 establishes a route TP (a destination trajectory) from the entry area to the destination parking space.Parking system 400 sends an entry instruction to vehicle 100. The entry instruction includes information about the destination parking space and the driving route TP. In response to the entry instruction, vehicle 100 automatically drives to the destination parking space along driving route TP. That is, vehicle 100 automatically drives in such a way that it follows driving route TP based on its position. Vehicle 100 is then automatically parked in the destination parking space. After parking is complete, the management system instructs vehicle 100 to end the operation.

[0025] An example of an exit process (check-out) is as follows. The user requests an exit using user device 200 or similar. The management system communicates with vehicle 100 and activates it. At the time of exit, a designated exit area is the destination for vehicle 100. The parking system 400 establishes a route TP (a destination trajectory) from the parking space to the exit area of ​​the parking lot. The parking system 400 sends an exit instruction to vehicle 100. The exit instruction includes information about the designated exit area and the route TP. In response to the exit instruction, vehicle 100 automatically drives to the exit area along route TP. That is, vehicle 100 automatically drives to follow route TP based on its position. Vehicle 100 then automatically stops in the exit area.The authorization to operate vehicle 100 is transferred from the management system to the user. The user enters vehicle 100. Vehicle 100 begins its journey to its next destination. 2. RESPONSE TO USER REQUEST

[0026] An AVP user can issue a request regarding the AVP to the AVP system 10. In this case, if the user cannot know whether the AVP system 10 normally receives the request or not, the user may experience a feeling of concern. That is, if there is no response from the user to the request, the user may become worried. Considering the above, the AVP system 10, according to the present embodiment, is configured to perform a response (response) to the user's request regarding the AVP.

[0027] Fig. Figure 3 is a conceptual diagram to explain an example of the user's requirement for the AVP and the response to it.

[0028] For example, the user exits vehicle 100 in the entrance area and requests the start of the AVP (Automatic Vehicle Start) via user device 200 or similar. For instance, the user opens an AVP application on user device 200. An "AVP Start" button appears on the display of user device 200. When the user taps the "AVP Start" button, an AVP start request is transmitted from user device 200 to back-end system 300. Upon receiving the AVP start request, back-end system 300 communicates with vehicle 100 to check if a condition of vehicle 100 meets an AVP start condition. The AVP start condition includes, for example, that vehicle 100 is in a state where the ignition is off, a window is closed, a door is closed and locked, and so on.If the state of vehicle 100 does not meet the AVP start condition, back-end system 300 rejects the AVP start request. Conversely, if the state of vehicle 100 meets the AVP start condition, back-end system 300 accepts the AVP start request and proceeds with the AVP start.

[0029] If the user cannot know whether the AVP system 10 is normally receiving the AVP start request or not, the user may experience anxiety. That is, if there is no response to the AVP start request after transmission, the user may develop a feeling of unease. If the vehicle's AVP 100 starts suddenly and without any response after transmission of the AVP start request, the user may be surprised by the sudden start of the AVP.

[0030] In light of this, upon receiving the AVP start request, back-end system 300 communicates with vehicle 100 and instructs vehicle 100 to execute a predetermined response. In other words, in response to the AVP start request, back-end system 300 communicates with vehicle 100 and instructs vehicle 100 to execute a predetermined response.

[0031] A response is defined by a combination of a device that performs the response, a pattern of operation by the device, and a duration of the operation. Examples of the device that performs the response include a light, an actuator, a horn, and the like. Examples of the light include a turn signal, a headlight, a brake light, a fog light, and the like. Examples of the actuator include a wiper actuator that operates a wiper, an actuator for automatically opening and closing a side mirror, and the like.

[0032] Examples of a visible response include a flashing light, the operation of a wiper, the opening and closing of a side mirror, and similar actions. Examples of an audible response include the horn and similar actions. For example, the light flashes in a predetermined pattern for a predetermined duration (e.g., a few seconds). Another example is the opening and closing of a side mirror in a predetermined pattern for a predetermined duration. As yet another example, the horn can sound in a predetermined pattern for a predetermined duration.

[0033] The response performed by vehicle 100 is referred to below as the "first response." In response to the user's AVP start request, back-end system 300 communicates with vehicle 100 and instructs it to perform the first response. More precisely, back-end system 300 transmits first response information RAX1, which instructs the first response, to vehicle 100. The first response information RAX1 can include the content (i.e., type, pattern, and duration) of the first response. Typically, the content of the first response is predetermined. Vehicle 100 receives the first response information RAX1 from back-end system 300. Vehicle 100 performs the first response according to the first response information RAX1. That is, vehicle 100 performs the first response in response to the user's AVP start request.This allows the user to recognize that the AVP System 10 normally receives the AVP start request. This provides the user with a sense of relief and increases their confidence in the AVP System 10.

[0034] The content of the initial response can be configured differently depending on whether the AVP start request is accepted or rejected. For example, the initial response if the AVP start request is accepted could be a flashing light, and the initial response if the AVP start request is rejected could be the activation of a wiper. Another example: The initial response is a flashing light, and the flashing pattern of the light can be different depending on whether the AVP start request is accepted or rejected.

[0035] It should be noted that the AVP start request and the initial response to the AVP start request described above are merely examples. The AVP requirement is not limited to the AVP start request. Furthermore, the instance that instructs vehicle 100 to perform the initial response is not limited to back-end system 300. Parking system 400 can also instruct vehicle 100 to perform the initial response.

[0036] In general terms, the management system (i.e., at least one of the back-end system 300 and the parking system 400) communicates with vehicle 100 in response to a user request regarding the AVP (Automated Parking Procedure) and instructs vehicle 100 to execute the initial response. More precisely, the management system transmits the initial response information RAX1, which instructs the first response, to vehicle 100. Vehicle 100 then executes the initial response according to this information. That is, vehicle 100 performs the initial response in response to the user's AVP request. This allows the user to recognize that the AVP system 10 normally receives the request. This provides the user with a sense of reassurance and increases their confidence in the AVP system 10. 3. CONNECTION BETWEEN VEHICLE AND END DEVICE

[0037] As described above, vehicle 100 executes the first response in reply to the user's request regarding the AVP. However, if the user is not looking at vehicle 100, they may not notice this initial response. Therefore, it is not only vehicle 100 that executes the first response, but a different terminal (e.g., user terminal 200) can also execute a second response. In other words, vehicle 100 and the terminal can be connected (cooperate) to perform the first and second responses, respectively.

[0038] Fig. Figure 4 is a conceptual diagram describing an example of the first response performed by the vehicle 100 and the second response performed by the terminal. The terminal is, for example, the user's user terminal 200. Alternatively, the terminal could be an infrastructure terminal 500 installed in the parking lot. The infrastructure terminal 500 is an AVP-dedicated terminal that includes the parking system 400. The infrastructure terminal 500 has the same functions as the user terminal 200. The terminal can include either the user terminal 200 or the infrastructure terminal 500. Examples of the second response performed by the terminal include flashing a light (e.g., a display), generating vibrations, emitting a sound, and similar actions.

[0039] For example, the user in the entrance area requests the start of the AVP (Automated Parking) using user device 200 or similar. The request to start the AVP is transmitted from user device 200 to the back-end system 300.

[0040] In response to the user's AVP start request, the back-end system 300 retrieves information about the content (i.e., type, pattern, duration) of the first and second responses. For example, the first response includes at least one of the following operations: flashing a vehicle light, activating a vehicle windshield wiper, opening and closing a vehicle side mirror, and honking the vehicle horn. The second response includes, for example, flashing a device light (e.g., a display), vibrating the device, and emitting a sound from the device. The first and second responses are interconnected. For example, the first and second responses can be predetermined and pre-mapped to each other.Alternatively, the back-end system 300 can determine the content of the first reaction and the second reaction and link the first reaction and the second reaction together.

[0041] The back-end system 300 communicates with the vehicle 100 and instructs the vehicle 100 to perform the first response. More precisely, the back-end system 300 transmits the first response information RAX1, which instructs the first response, to the vehicle 100. The first response information RAX1 can include the content (i.e., type, pattern, duration) of the first response. The vehicle 100 receives the first response information RAX1 from the back-end system 300. The vehicle 100 executes the first response according to the first response information RAX1. That is, the vehicle 100 performs the first response in response to the user's AVP start request.

[0042] Furthermore, the back-end system 300 communicates with the terminal (i.e., with at least one of the user terminal 200 and the infrastructure terminal 500) and instructs the terminal to execute the second response. More precisely, the back-end system 300 transmits second response information RAX2, which instructs the terminal to perform the second response. The second response information RAX2 can include the content (i.e., type, pattern, duration) of the second response. The terminal receives the second response information RAX2 from the back-end system 300. The terminal then performs the second response according to the second response information RAX2. That is, the terminal performs the second response in response to the user's AVP start request.

[0043] As described above, in response to the user's AVP start request, the back-end system 300 instructs the vehicle 100 to perform the first response and instructs the terminal to perform the second response. Consequently, the vehicle 100 performs the first response, and the terminal performs the second response in conjunction with the first. In other words, the vehicle 100 and the terminal are connected (cooperating) to perform the first and second responses, respectively.

[0044] Fig. Figure 5 is a conceptual diagram to describe various examples of the connection between the first reaction performed by the vehicle 100 and the second reaction performed by the terminal device.

[0045] In one example (A) in Fig. 5. The first and second reactions are performed synchronously. Here, "synchronization" does not necessarily mean perfect synchronization and may include errors due to communication delays or errors imperceptible to humans. The duration of the first reaction and the duration of the second reaction are set to be equal. The back-end system 300 transmits the first reaction information RAX1 and the second reaction information RAX2 simultaneously to the vehicle 100 and the terminal, respectively. As a result, the vehicle 100 executes the first reaction, and the terminal executes the second reaction synchronously with the first.

[0046] In examples (B) and (C) in Fig. 5. The duration of the first reaction and the duration of the second reaction partially overlap. The first reaction can begin before the second reaction or begin after the second reaction. The first reaction can end before the second reaction or after the second reaction. These cases are also included in the connection between the first and second reactions.

[0047] In one example (D) in Fig. 5. The duration of the first reaction and the duration of the second reaction do not overlap, but the first and second reactions are carried out sequentially within a short time interval (e.g., 10 seconds). This case is also included in the connection between the first and second reactions.

[0048] The nature of the first response and the nature of the second response can be identical. For example, the first response might involve the vehicle 100 flashing its lights, and the second response might involve the flashing of a light (e.g., a display) on the terminal device. Another example: the first response might involve the vehicle 100 honking its horn, and the second response might involve the terminal device emitting a sound. Such coordination between the nature of the first response and the nature of the second response enhances the sense of connection (a sense of cooperation) between the first response of the vehicle 100 and the second response of the terminal device.

[0049] As in an example (E) in Fig. As shown in Figure 5, the pattern of the first response and the pattern of the second response can correspond to each other. For example, the first response involves switching the vehicle's lights on and off in a predetermined pattern. The second response involves switching the device's lights on and off according to the same predetermined pattern, switching the device's vibration on and off according to the same predetermined pattern, and switching the device's sound output on and off according to the same predetermined pattern. Such coordination between the first response pattern and the second response pattern makes it possible to enhance a sense of connection (a sense of cooperation) between the first response of the vehicle and the second response of the device.

[0050] Both the type and the pattern can match between the first and second responses. For example, the first response involves switching the vehicle's lights on and off in a predetermined pattern. The second response involves switching the device's lights on and off according to the same predetermined pattern. Such coordination of both type and pattern between the first and second responses further enhances the sense of connection (the feeling of cooperation) between the vehicle's first response and the device's second response.

[0051] It should be noted that the AVP start request and the first and second responses to the AVP start request described above are merely examples. The AVP requirement is not limited to the AVP start request. Furthermore, the instance that issues the response instruction is not limited to back-end system 300. Parking system 400 can also issue the response instruction.

[0052] In general terms, the management system (i.e., at least one of the back-end system 300 and the parking system 400) responds to a user request regarding the AVP (Automatic Parking Procedure) by instructing vehicle 100 to perform a first response and the terminal device to perform the second response. In response to the user's AVP request, vehicle 100 performs the first response and the terminal device performs the second response. In other words, vehicle 100 performs the first response, and the terminal device performs the second response in conjunction with the first.

[0053] When the user looks at vehicle 100, they can perceive the first response of vehicle 100. Even if the user is not looking at vehicle 100, they can perceive the second response of the terminal. This means that the user's certainty of recognizing the response is improved. The user who recognizes the response is able to ascertain that the AVP system 10 has received the request. As a result, the user experiences a sense of relief and increased confidence in the AVP system 10. 4. Notification of additional information

[0054] The management system can inform the terminal about additional information. In this case, the second response information RAX2 includes this additional information. The second response performed by the terminal can include displaying the additional information on the terminal's screen. 4-1. First example

[0055] Fig. Figure 6 is a conceptual diagram that provides a first example of the additional information. Even if the vehicle 100 performs the initial response described in Section 2 or Section 3 above, the meaning of this initial response is not necessarily clear to the user. Therefore, the additional information in the first example includes information describing the meaning of the vehicle 100's initial response. The second response of the terminal device involves displaying the information describing the meaning of the vehicle 100's initial response on the terminal device's screen.

[0056] For example, in response to the user's AVP start request, back-end system 300 communicates with vehicle 100 to check if a state of vehicle 100 meets an AVP start condition. The AVP start condition includes, for example, that vehicle 100 is in a state where the ignition is off, a window is closed, a door is closed and locked, and so on. If the state of vehicle 100 meets the AVP start condition, back-end system 300 accepts the AVP start request and proceeds with initiating the AVP. In this case, the initial response is set to "accept the AVP start request," and the additional information is set to include details indicating that "the AVP start request is accepted."If, however, the state of vehicle 100 does not meet the condition for AVP start, the back-end system 300 rejects the AVP start request. In this case, the initial response is set to indicate that "the AVP start request is rejected," and the additional information is set to include information specifying "the reason for rejecting the AVP start request" or "an operation required to accept the AVP start request."

[0057] As described above, according to the first example, the second response of the terminal device includes displaying information on the terminal device's screen that describes the meaning of the vehicle's first response. This allows the user to accurately understand the meaning of the vehicle's first response. 4-2. Second example

[0058] Fig. Figure 7 is a conceptual diagram that presents a second example of the additional information. The additional information can include an animation depicting vehicle 100 performing the first response. In this case, the second response of the terminal device can include displaying the animation depicting vehicle 100 performing the first response on the terminal device's screen. Displaying such an animation on the terminal device enhances a sense of connection (a sense of collaboration) between vehicle 100 and the terminal device.

[0059] The additional information can include an animation depicting a connection between the vehicle 100 and the terminal device. In this case, the terminal device's second response involves displaying the animation depicting the connection between the vehicle 100 and the terminal device on its screen. Displaying such an animation on the terminal device reinforces a sense of connection (a feeling of collaboration) between the vehicle 100 and the terminal device.

[0060] A combination of the first and second examples described above is also possible. 5. COMBINATIONS

[0061] A combination of section 2 and section 4 described above is also possible. A combination of section 3 and section 4 described above is also possible. 6. CONFIGURATION EXAMPLE 6-1. Configuration example of a vehicle

[0062] Fig. Figure 8 is a block diagram showing a configuration example of the vehicle 100 according to the present embodiment. The vehicle 100 comprises a communication device 110, a sensor group 120, a drive unit 130, a light 140, an actuator 150, a horn 160, and a control unit 170.

[0063] Communication device 110 communicates with the outside world via a communication network. For example, communication device 110 communicates with back-end system 300. Furthermore, communication device 110 communicates with parking system 400 via a wireless LAN.

[0064] Sensor group 120 comprises a detection sensor, a vehicle condition sensor, and similar devices. The detection sensor is used to detect (detect) the situation around the vehicle 100. Examples of detection sensors include a camera, a Laser Imaging Detection and Ranging (LIDAR) system, radar, and similar devices. The vehicle condition sensor includes a speed sensor, an accelerometer, a yaw rate sensor, a steering angle sensor, and similar devices.

[0065] The driving device 130 comprises a steering device, a drive device, and a braking device. The steering device rotates wheels. The steering device includes, for example, an electric power steering system (EPS). The drive device is an energy source that generates a driving force. Examples of the drive device include an internal combustion engine, an electric motor, a wheel hub motor, and the like. The braking device generates a braking force.

[0066] Examples of light 140 include a turn signal, a headlight, a brake light, a fog light and similar items.

[0067] Examples of the Actuator 150 include a wiper actuator that operates a wiper, an actuator for automatically opening and closing a side mirror, and the like.

[0068] The horn 160 emits a sound.

[0069] The control unit 170 is a computer that controls the vehicle 100. The control unit 170 comprises one or more processors 171 (hereinafter referred to simply as processor 171) and one or more memory devices 172 (hereinafter referred to simply as memory device 172). The processor 171 performs a variety of processes. Examples of the processor 171 include a general-purpose processor, a special-purpose processor, a central processing unit (CPU), a graphics processing unit (GPU), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA), an integrated circuit, and / or a combination thereof. The processor 171 may also be referred to as a processing circuit. The memory device 172 stores a variety of information.Examples of storage devices include volatile memory, non-volatile memory, a hard disk drive (HDD), a solid-state drive (SSD), and the like.

[0070] A vehicle control program 180 is a computer program for controlling the vehicle 100. The functions of the control device 170 can be implemented through cooperation between the processor 171, which executes the vehicle control program 180, and the storage device 172. The vehicle control program 180 is stored in the storage device 172. Alternatively, the vehicle control program 180 can be recorded on a non-transient, computer-readable recording medium.

[0071] The control unit 170 performs vehicle driving control to control the driving of the vehicle 100. The vehicle driving control includes steering control, acceleration control, and deceleration control. The control unit 170 performs the vehicle driving control by controlling the driving device 130 (i.e., the steering device, the drive device, and the braking device).

[0072] The control unit 170 communicates with the back-end system 300 and the parking system 400 via the communication unit 110.

[0073] The control unit 170 acquires driving environment information 190, which specifies a driving environment for the vehicle 100. The driving environment information 190 is stored in the storage unit 172. The driving environment information 190 includes, for example, environmental situation information, vehicle status information, map information, position information, and the like.

[0074] The environmental situation information indicates the result of the detection by the detection sensor. This information can include object information about an object detected by the sensor. Examples of objects in the vicinity of vehicle 100 include an obstacle, a white line, a marker M, and the like. Examples of obstacles include a wall, a pillar, another vehicle, and the like. The object information specifies the relative position and speed of the object with respect to vehicle 100.

[0075] The vehicle condition information indicates the vehicle's condition as detected by the vehicle condition sensor. Examples of vehicle condition include speed, acceleration, yaw rate, steering angle, and the like.

[0076] The map information is map information of the parking lot in which vehicle 100 is driving. The map information specifies the layout of roads within the parking lot. Furthermore, the map information specifies the layout of stationary obstacles (e.g., walls and pillars) within the parking lot. The map information also specifies the layout of the markings M within the parking lot. The map information is provided, for example, by the parking system 400, which manages the parking lot. The control unit 170 obtains the map information from the parking system 400 via the communication unit 110.

[0077] The position information indicates the current position of vehicle 100 in the parking lot. For example, the control unit 170 obtains the position information with high accuracy by performing a localization process. More precisely, the control unit 170 calculates a rough position of vehicle 100 in the parking lot based on information about the vehicle's state (especially the steering angle and speed). Furthermore, the control unit 170 uses its detection sensor to detect the markers M around vehicle 100. The control unit 170 also obtains the arrangement information of the markers M around vehicle 100 from the map data. The control unit 170 corrects the position of vehicle 100 by comparing the result of the marker M detection with the arrangement of the markers M.Accordingly, the position information is obtained with high accuracy.

[0078] Alternatively, the position information of vehicle 100 can be estimated by the parking system 400 based on the image captured by the infrastructure camera CAM. In this case, the control unit 170 can obtain the position information from the parking system 400 via the communication unit 110.

[0079] The control unit 170 obtains information about the driving route TP in the parking lot. For example, the driving route TP is determined by the parking system 400, and the control unit 170 obtains the driving route TP information from the parking system 400 via the communication unit 110. As another example, the control unit 170 can determine the driving route TP based on map information and position information. Then, the control unit 170 executes the vehicle driving control based on the position information, so that the vehicle 100 travels along the driving route TP.

[0080] The control unit 170 obtains the initial response information RAX1 from the back-end system 300 or the parking system 400 via the communication unit 110. The initial response information RAX1 can specify the content of the initial response. For example, the initial response includes at least one of the following operations: flashing the lights 140, activating the windshield wipers, opening and closing the side mirror, and honking the horn 160. The control unit 170 executes the initial response according to the initial response information RAX1. 6-2. Example of configuring a user terminal device

[0081] Fig. Figure 9 is a block diagram illustrating a configuration example of the user terminal 200 according to the present embodiment. The user terminal 200 comprises a communication device 210, an input device 220, a display device 230, a light 240, a vibration device 250, a loudspeaker 260, and a control device 270.

[0082] The communication device 210 communicates with the outside world via a communication network. For example, the communication device 210 communicates with the back-end system 300.

[0083] Examples of input devices for the 220 include a touch panel, a button, a microphone, and the like.

[0084] Examples of display device 230 include a touch panel, a display, and similar devices. Display device 230 and input device 220 may refer to the same touch panel.

[0085] Examples of light 240 include a touch panel, a display, and the like. Light 240 can be the same as display device 230.

[0086] The vibration device 250 sets the user terminal 200 into vibration.

[0087] The speaker 260 emits a sound.

[0088] The control device 270 is a computer that controls the user terminal device 200. The control device 270 comprises one or more processors 271 (hereinafter referred to simply as processor 271) and one or more storage devices 272 (hereinafter referred to simply as storage device 272). The processor 271 performs a variety of processes. Examples of the processor 271 include a general-purpose processor, a special-purpose processor, a CPU, a graphics processor, an ASIC, an FPGA, an integrated circuit, and / or combinations thereof. The processor 271 may also be referred to as a processing circuit. The storage device 272 stores a variety of information. Examples of the storage device 272 include volatile memory, non-volatile memory, an HDD, an SSD, and the like.

[0089] A terminal control program 280 is a computer program for controlling the user terminal device 200. The terminal control program 280 comprises an AVP application. The functions of the control device 270 can be implemented through cooperation between the processor 271, which executes the terminal control program 280, and the storage device 272. The terminal control program 280 is stored in the storage device 272. Alternatively, the terminal control program 280 can be recorded on a non-transient, computer-readable recording medium.

[0090] The user can enter the AVP request via input device 220. A request information (REQ) specifies the request entered by the user. Input device 220 and display device 230 are configured, for example, via a touch panel. In the parking area, the user opens the AVP application. An "AVP Start" button is displayed on the touch panel. When the user taps the "AVP Start" button, the request information (REQ) is generated, which contains the AVP start request. The control device 270 transmits the request information (REQ) to the management system via the communication device 210.

[0091] Furthermore, the control unit 270 obtains the second response information RAX2 from the back-end system 300 or the parking system 400 via the communication unit 210. The second response information RAX2 can specify the content of the second response. For example, the second response includes at least one of the following operations: flashing the light 240, activating the vibration device 250 to vibrate the user terminal 200, and outputting a sound through the loudspeaker 260. The control unit 270 executes the second response according to the second response information RAX2.

[0092] The second response information, RAX2, can include the additional information described in section 4 above. In this case, the control unit 270 displays the additional information on the display unit 230.

[0093] It should be noted that the infrastructure terminal 500 also has a configuration that corresponds to that of the user terminal 200. 6-3. Configuration example of a back-end system

[0094] Fig. Figure 10 is a block diagram showing a configuration example for the back-end system 300 according to the present embodiment. The back-end system 300 comprises a communication device 310, one or more processors 320 (hereinafter simply referred to as processor 320), and one or more storage devices 330 (hereinafter simply referred to as storage device 330).

[0095] The communication device 310 communicates with each vehicle 100. Furthermore, the communication device 310 communicates with each user's user terminal 200. Additionally, the communication device 310 communicates with the parking system 400 of each parking lot. Finally, the communication device 310 can communicate with the infrastructure terminal 500 via the parking system 400.

[0096] The Processor 320 executes a variety of processes. Examples of Processor 320 include a general-purpose processor, a special-purpose processor, a CPU, a graphics processor, an ASIC, an FPGA, an integrated circuit, and / or combinations thereof. The Processor 320 can also be referred to as a processing circuit. The Memory Device 330 stores a variety of information. Examples of Memory Device 330 include volatile memory, non-volatile memory, a hard disk, an SSD, and the like.

[0097] Management program 340 is a computer program for managing the AVP (Automated Parking) in the parking lot. The functions of the back-end system 300 can be implemented through cooperation between the processor 320, which executes management program 340, and the storage device 330. Management program 340 is stored in the storage device 330. Management program 340 can be recorded on a non-transient, computer-readable recording medium.

[0098] The storage device 330 stores management information 350. The management information 350 can include user information and reservation information for each user. The management information 350 can also include facility information and reservation information for each parking space. When the processor 320 receives the reservation request information from the user, the processor 102 can perform a reservation process based on the management information 350.

[0099] The processor 320 receives the request information REQ from the user terminal 200 via the communication device 310. The request information REQ is stored in the storage device 330.

[0100] In response to the request information REQ, the processor 320 obtains the first response information RAX1 and the second response information RAX2. The first response information RAX1 instructs the vehicle 100 to perform the first response. The first response information RAX1 may include the content of the first response. The second response information RAX2 instructs the terminal device (i.e., at least one of the user terminal device 200 and infrastructure terminal device 500) to perform the second response. The second response information RAX2 may include the content of the second response. The second response information RAX2 may include the additional information described in Section 4 above. The processor 320 transmits the first response information RAX1 to the vehicle 100 and transmits the second response information RAX2 to the terminal device via the communication device 310. 6-4. Configuration example for a parking system

[0101] Fig. Figure 11 is a block diagram showing an embodiment of the parking system 400 according to the present embodiment. The parking system 400 comprises a communication device 410, one or more processors 420 (hereinafter simply referred to as processor 420) and one or more memory devices 430 (hereinafter simply referred to as memory device 430).

[0102] The communication device 410 communicates with each vehicle 100. In addition, the communication device 410 communicates with the back-end system 300. Furthermore, the communication device 410 can communicate with the infrastructure camera CAM installed in the parking lot.

[0103] The 420 processor executes a variety of processes. Examples of the 420 processor include a general-purpose processor, a special-purpose processor, a CPU, a graphics processor, an ASIC, an FPGA, an integrated circuit, and / or combinations thereof. The 420 processor can also be referred to as a processing circuit. The 430 storage device stores a variety of information. Examples of the 430 storage device include volatile memory, non-volatile memory, a hard disk drive, an SSD, and the like.

[0104] An administration program 440 is a computer program for managing the parking lot. The functions of the parking system 400 can be implemented through cooperation between the processor 420, which executes the administration program 440, and the storage device 430. The administration program 440 is stored in the storage device 430. The administration program 440 can be recorded on a non-transient, computer-readable recording medium.

[0105] The processor 420 communicates with the vehicle 100 and the back-end system 300 via the communication device 410.

[0106] The storage device 430 stores management information 450 for managing the parking lot. This management information 450 includes the parking lot's map information. The processor 420 can provide this map information to the vehicle 100 via the communication device 410. Furthermore, the management information 450 indicates the occupancy status (vacancy status) of the parking spaces in the parking lot. Based on this management information 450, the processor 420 can assign an available parking space (destination) to the vehicle 100.

[0107] The administrative information 450 can also include vehicle management information. This vehicle management information includes the position information of each vehicle 100 in the parking area. The processor 420 can communicate with each vehicle 100 via the communication device 410 and collect the position information from each vehicle 100. Alternatively, the processor 420 can obtain the image captured by the infrastructure camera CAM installed in the parking area and estimate the position of each vehicle 100 based on the image. The vehicle management information can also include the route TP assigned to each vehicle 100. The processor 420 can determine the route TP assigned to each vehicle 100 based on the vehicle 100's position information 174, the destination, and map information.The processor 420 can provide the information about the route TP to the vehicle 100 via the communication device 410.

[0108] The processor 420 can receive the request information REQ from the user terminal 200 via the back-end system 300 and the communication device 410. The request information REQ is stored in the storage device 430.

[0109] In response to the request information REQ, the processor 420 obtains the first response information RAX1 and the second response information RAX2. The first response information RAX1 instructs the vehicle 100 to perform the first response. The first response information RAX1 may include the content of the first response. The second response information RAX2 instructs the terminal device (i.e., at least one of the user terminal device 200 and the infrastructure terminal device 500) to perform the second response. The second response information RAX2 may include the content of the second response. The second response information RAX2 may include the additional information described in Section 4 above. The processor 420 transmits the first response information RAX1 to the vehicle 100 via the communication device 410.Furthermore, the processor 420 transmits the second response information RAX2 via the communication device 410 and the back-end system 300 to the user device 200. The processor 420 can transmit the second response information RAX2 to the infrastructure terminal 500. 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] DE 102012222562

[0003]

Claims

Management system (300; 400) that manages an automatic parking service of a vehicle (100) in a parking lot, wherein the management system (300; 400) comprises one or more processors (320; 420), wherein an terminal device includes at least one user terminal device (200) of a user of the vehicle (100) and an infrastructure terminal device (500) installed in the parking lot, the one or more processors (320; 420) being configured to: receive a request regarding the automatic parking service of the vehicle (100) from the user terminal device (200); and in response to the request, instruct the vehicle (100) to perform a first response and instruct the terminal device to perform a second response. Management system (300; 400) according to claim 1, wherein the first response comprises at least one of a flashing of a light (140) of the vehicle (100), an actuation of a windshield wiper of the vehicle (100), an opening and closing of a side mirror of the vehicle (100) and a horn of the vehicle (100), and the second response comprises at least one of a flashing of a light (240) of the terminal, a vibration of the terminal and an emission of a sound from the terminal. Management system (300; 400) according to claim 1, wherein the first reaction comprises a flashing of a light (140) of the vehicle (100), and the second reaction comprises a flashing of a light (240) of the terminal device. Management system (300; 400) according to claim 1, wherein the first response comprises switching on and off a light (140) of the vehicle (100) in a predetermined pattern, and the second response comprises at least one of switching on and off a light (240) of the terminal in the predetermined pattern, switching on and off the vibration of the terminal in the predetermined pattern and switching on and off a sound output from the terminal in the predetermined pattern. Management system (300; 400) according to claim 1, wherein the first response comprises switching on and off a light (140) of the vehicle (100) in a predetermined pattern, and the second response comprises switching on and off a light (240) of the terminal device in the predetermined pattern. Management system (300; 400) according to claim 1, wherein the second reaction comprises displaying an animation depicting the vehicle (100) performing the first reaction on a screen of the terminal device. Management system (300; 400) according to claim 1, wherein the second response comprises displaying an animation representing a connection between the vehicle (100) and the terminal on a screen of the terminal. Management system (300; 400) according to one of claims 1 to 7, wherein the second response comprises displaying information describing the meaning of the first response of the vehicle (100) on a screen of the terminal device. Management system (300; 400) according to one of claims 1 to 7, wherein the request is a request to start the automatic parking service of the vehicle (100). Automated parking service system (10), comprising: a vehicle (100) that is the target of an automated parking service in a parking lot; an terminal device comprising at least one user terminal device (200) of a user of the vehicle (100) and an infrastructure terminal device (500) installed in the parking lot, wherein, in response to a request for the automated parking service of the vehicle (100) from the user, the vehicle (100) performs a first response and the terminal device performs a second response.

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