Automatic ballet parking management system and automatic ballet parking management method

Abstract

To provide a technique for smoothly performing entering / leaving in automatic ballet parking.SOLUTION: An automatic ballet parking management system manages automatic ballet parking in a parking lot. The automatic ballet parking management system includes: a recognition sensor for recognizing a peripheral state of the parking lot; and one or a plurality of processors. The one or the plurality of processors execute: allocation processing for allocating a first target leaving frame to a leaving vehicle from the parking lot; monitoring processing for detecting an invasion / approach of an external vehicle to the first target leaving frame from an outside of the parking lot by using the recognition sensor after the allocation of the first target leaving frame; and countermeasure processing for allocating a second target leaving frame to the leaving vehicle when the invasion / approach is detected in the monitoring processing or decelerating / stopping the leaving vehicle during leaving to the first target leaving frame.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a technique for managing automated valet parking (AVP) in a parking lot. [Background technology]

[0002] Patent Document 1 discloses an automatic parking entry / exit system equipped with a parking entry / exit control server that manages and controls entry and exit. When a parking entry / exit request is received from a user using an automatic parking service to use one of a plurality of parking spaces, the parking entry / exit control server judges the congestion level of the parking space requested to be used during the parking entry / exit time period specified by the user. When the congestion level of the parking space requested to be used is high, the parking entry / exit control server suggests to the user the use of another parking space among the plurality of parking spaces that is less crowded than the parking space requested to be used.

[0003] Patent Documents 2 and 3 also disclose techniques related to automatic valet parking. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2023-032601 [Patent Document 2] JP 2020-049983 A [Patent Document 3] JP 2020-166719 A Summary of the Invention [Problem to be solved by the invention]

[0005] In automatic valet parking in a parking lot, if an external vehicle mistakenly enters a target exit slot from outside the parking lot after a target exit slot has been assigned to an exiting vehicle, smooth management of entry and exit in the automatic valet parking system will be hindered.

[0006] The present disclosure has been made in consideration of the above-mentioned problems, and aims to provide a technology that enables smoother entry and exit during automated valet parking. [Means for solving the problem]

[0007] The automatic valet parking management system according to the present disclosure manages automatic valet parking in a parking lot. The automatic valet parking management system includes a recognition sensor that recognizes the surrounding conditions of the parking lot, and one or more processors. The one or more processors are configured to execute an allocation process that allocates a first target exit slot to a vehicle leaving the parking lot, a monitoring process that detects an intrusion or approach of an external vehicle from outside the parking lot to the first target exit slot after the first target exit slot is allocated, and a countermeasure process that allocates a second target exit slot to the leaving vehicle or slows down or stops the leaving vehicle during exit to the first target exit slot when the intrusion or approach is detected by the monitoring process.

[0008] The automatic valet parking management method according to the present disclosure is executed by a computer and manages automatic valet parking in a parking lot. The automatic valet parking management method includes an allocation process for allocating a first target exit slot to a vehicle exiting the parking lot, a monitoring process for detecting an intrusion or approach of an external vehicle from outside the parking lot to the first target exit slot after the first target exit slot is allocated, using a recognition sensor that recognizes the surrounding conditions of the parking lot, and a countermeasure process for allocating a second target exit slot to the exiting vehicle or slowing down or stopping the exiting vehicle during exit to the first target exit slot when the intrusion or approach is detected by the monitoring process. Effect of the Invention

[0009] According to the present disclosure, after the first target exit slot is assigned to a vehicle exiting from a parking lot, the presence or absence of an external vehicle entering or approaching the first target exit slot from outside the parking lot is monitored. Then, when an external vehicle actually enters or approaches the first target exit slot, the above-mentioned countermeasure processing is executed. This allows for smoother entry and exit. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a conceptual diagram for explaining an overview of automatic valet parking according to an embodiment. [Diagram 2] 1 is a block diagram showing a configuration example of an automatic valet parking management system according to an embodiment. FIG. [Diagram 3] FIG. 2 is a diagram showing a specific example of a parking lot according to an embodiment of the present invention. [Figure 4] 10 is a flowchart showing processing related to a countermeasure processing according to a first example. [Diagram 5] 10 is a flowchart showing processing related to a countermeasure processing according to a second example. [Figure 6] 13 is a flowchart showing processing related to a countermeasure processing according to a third example. [Figure 7] 13 is a flowchart showing a process related to a countermeasure process according to a fourth example. [Figure 8] 13 is a flowchart showing a process related to a countermeasure process according to a fifth example. [Figure 9] 9 is a diagram for explaining a specific example of a predetermined position P shown in FIG. 8. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] 1. Overview of Automated Valet Parking FIG. 1 is a conceptual diagram for explaining an overview of automated valet parking (AVP) according to an embodiment.

[0012] Vehicle 10 is compatible with automatic valet parking in parking lot 1. Vehicle 10 can travel automatically at least within parking lot 1 without being driven by a driver. More specifically, vehicle 10 is equipped with a recognition sensor (e.g., a camera) for recognizing the surrounding situation. Vehicle 10 travels automatically within parking lot 1 while recognizing the surrounding situation using the recognition sensor. Note that vehicle 10 may be an autonomous vehicle that can travel automatically even outside parking lot 1.

[0013] The parking lot 1 includes a boarding / alighting area 2, an aisle 3, and a number of parking spaces 4. A vehicle 10 entering the parking lot 1 stops at a boarding / alighting area 2, where a user alights from the vehicle 10. Meanwhile, a vehicle 10 leaving the parking lot 1 stops at a boarding area 2, where a user alights from the vehicle 10. In other words, the boarding / alighting area 2 corresponds to an entrance area, and the boarding area 2 corresponds to an exit area. More specifically, the boarding / alighting area 2 includes one or more entrance areas and one or more exit areas. The entrance area 2 and the exit area 2 may be provided separately, or may be provided as one or more common areas that can be dynamically changed between an entrance area and an exit area. A specific example of the parking lot 1 including the boarding / alighting area 2 will be described later with reference to FIG. 3.

[0014] The passage 3 is an area in which the vehicle 10 travels. The parking space 4 is a space in which the vehicle 10 is parked. For example, the parking space 4 is separated by a dividing line. In addition, a plurality of markers 5 are arranged in the parking lot 1. The markers 5 are used to guide the vehicle 10 in the parking lot 1. For example, the vehicle 10 acquires an image of the surroundings using a camera, and recognizes the markers 5 based on the image. Then, the vehicle 10 performs a localization process (Localization) that estimates the position of the vehicle 10 in the parking lot 1 with high accuracy based on the recognition result of the markers 5. The vehicle 10 automatically travels in the parking lot 1 based on the vehicle position estimated by the localization process.

[0015] It should be noted that the parking lot 1 may be used not only by the vehicle 10 that supports automatic valet parking, but also by general vehicles other than the vehicle 10.

[0016] The automated valet parking management system 100 manages automated valet parking in a parking lot 1. The automated valet parking management system 100 is hereinafter referred to as the "AVP management system 100." The AVP management system 100 may include a local management device provided in the parking lot 1 and a management center that manages multiple parking lots 1.

[0017] The AVP management system 100 is capable of communicating with the vehicles 10 and manages the vehicles 10. For example, the AVP management system 100 grasps the position and status of each vehicle 10 in the parking lot 1. The AVP management system 100 assigns a parking slot 4 to the vehicle 10. The AVP management system 100 issues movement instructions (e.g., entry instructions, exit instructions) to the vehicles 10 in the parking lot 1. The AVP management system 100 may provide map information of the parking lot 1 to the vehicle 10. For example, the AVP management system 100 generates a target route for the vehicle 10 in the parking lot 1 and provides information on the target route to the vehicle 10. The AVP management system 100 may remotely operate the vehicle 10 in the parking lot 1.

[0018] The AVP management system 100 also manages information relating to users of the automated valet parking service. The AVP management system 100 is capable of communicating with a user terminal 200 operated by a user.

[0019] An example of a flow when a certain user X uses the automatic valet parking service will be described below. Membership information of the user X is registered in the AVP management system 100 in advance.

[0020] First, user X makes a reservation for automatic valet parking. For example, user X operates user terminal 200 to input information such as user X's ID information, desired parking lot 1, desired date of use, and desired time of use (scheduled entry time and scheduled exit time). User terminal 200 transmits reservation information including the input information to AVP management system 100. AVP management system 100 performs reservation processing based on the reservation information, and transmits a reservation completion notification to user terminal 200. In addition, AVP management system 100 transmits authentication information according to the reservation information to user terminal 200. User terminal 200 receives the authentication information and holds the received authentication information.

[0021] The entry (check-in) of the vehicle 10 into the parking lot 1 is as follows.

[0022] A vehicle 10 carrying user X arrives at and stops at the boarding / disembarking area 2 of the parking lot 1. At the boarding / disembarking area 2, user X (and other occupants, if any) disembarks from the vehicle 10. User X then requests entry of the vehicle 10 using authentication information held in the user terminal 200. In response to the entry request, the AVP management system 100 authenticates user X. Once authentication is complete, the authority to operate the vehicle 10 is transferred from user X to the AVP management system 100. The AVP management system 100 performs entry processing for the vehicle 10.

[0023] In the warehousing process, the AVP management system 100 communicates with the vehicle 10 and starts up the vehicle 10 (power ON).

[0024] Furthermore, the AVP management system 100 refers to the usage status of the parking lot 1 and allocates an available parking space 4 to the vehicle 10. Then, the AVP management system 100 communicates with the vehicle 10 and transmits an entry instruction to the vehicle 10. The entry instruction includes information on the allocated parking space 4 and map information of the parking lot 1. The AVP management system 100 may specify a target route from the boarding / disembarking area 2 to the allocated parking space 4. In this case, the entry instruction includes information on the specified target route.

[0025] In response to the entry instruction, the vehicle 10 starts vehicle driving control. Specifically, the vehicle 10 automatically drives along the passage 3 from the boarding / alighting area 2 to the assigned parking frame 4, and automatically parks in the assigned parking frame 4. At this time, the vehicle 10 may drive along a target route designated by the AVP management system 100. The AVP management system 100 may communicate with the vehicle 10 and remotely control the automatic driving of the vehicle 10.

[0026] When parking is complete, the vehicle 10 notifies the AVP management system 100 of the completion of parking. Alternatively, the AVP management system 100 may detect that parking of the vehicle 10 is complete using an infrastructure sensor 140 (see FIG. 2) installed in the parking lot 1. After parking is complete, the AVP management system 100 communicates with the vehicle 10 and stops the operation of the vehicle 10 (power OFF). The AVP management system 100 retains information on the parking space 4 of the vehicle 10 in association with the user X.

[0027] Vehicle 10 leaves parking lot 1 (checks out) as follows.

[0028] The user X uses the user terminal 200 to request the leaving of the vehicle 10. The leaving request includes information such as authentication information. In response to the leaving request, the AVP management system 100 authenticates the user X and performs the leaving process for the vehicle 10.

[0029] In the leaving process, the AVP management system 100 communicates with the vehicle 10 and starts up the vehicle 10 (power ON).

[0030] The AVP management system 100 also communicates with the vehicle 10 and transmits a departure instruction to the vehicle 10. The departure instruction includes the location of the boarding / alighting area 2 (target departure slot) and map information of the parking lot 1. The AVP management system 100 may specify a target route from the parking slot 4 to the boarding / alighting area 2. In this case, the departure instruction includes information on the specified target route.

[0031] In response to the departure instruction, the vehicle 10 starts vehicle driving control. Specifically, the vehicle 10 automatically drives along the passage 3 from the parking space 4 to the boarding / alighting area 2. At this time, the vehicle 10 may drive along a target route designated by the AVP management system 100. The AVP management system 100 may communicate with the vehicle 10 and remotely control the automatic driving of the vehicle 10.

[0032] The vehicle 10 arrives at the boarding / disembarking area 2 and stops. The operation authority of the vehicle 10 is transferred from the AVP management system 100 to the user X. The user X (and other passengers, if any) get into the vehicle 10. The vehicle 10 departs for the next destination.

[0033] 2. Example of AVP management system configuration 2 is a block diagram showing a configuration example of an AVP management system 100 according to an embodiment. The AVP management system 100 includes a communication device 110, one or more processors 120 (hereinafter simply referred to as processors 120), one or more storage devices 130 (hereinafter simply referred to as storage devices 130), and an infrastructure sensor 140.

[0034] The communication device 110 communicates with the vehicle 10 and the user terminal 200 .

[0035] The processor 120 executes various processes. For example, the processor 120 includes a CPU (Central Processing Unit). The processor 120 communicates with the vehicle 10 and the user terminal 200 via the communication device 110. The processor 120 also manages automatic valet parking in the parking lot 1. For example, the processor 120 allocates a parking space 4 to the vehicle 10. The processor 120 also instructs the vehicle 10 in the parking lot 1 to move. The processes executed by the processor 120 also include "allocation processing", "monitoring processing", and "countermeasure processing" described below.

[0036] The storage device 130 stores various types of information. The storage device 130 includes a volatile memory, a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), or any combination of these. The processor 120 reads various types of information from the storage device 130 and stores various types of information in the storage device 130.

[0037] The infrastructure sensor 140 is, for example, a camera, and recognizes the conditions of the parking lot 1 and its surroundings. The infrastructure sensor 140 includes, for example, one or more infrastructure sensors (not shown) that recognize the conditions inside the parking lot 1, and one or more infrastructure sensors 141 (see FIG. 3) that recognize the conditions around the parking lot 1. The latter one or more infrastructure sensors 141 correspond to an example of a "recognition sensor" according to the present disclosure.

[0038] The management program 150 is a computer program for managing the automatic valet parking. The processor 120 executes the management program 150 to realize various functions of the AVP management system 100 (processor 120). The management program 150 is stored in the storage device 130. The management program 150 may be recorded in a computer-readable recording medium.

[0039] Furthermore, the storage device 130 stores information such as parking lot map information 160, parking lot usage information 170, and vehicle management information 180. The parking lot map information 160 is map information of the parking lot 1. The parking lot map information 160 indicates the arrangement of each element in the parking lot 1, such as the boarding and disembarking areas 2, aisles 3, parking spaces 4, and markers 5. The parking lot usage information 170 indicates the usage status (vacancy status) of the parking spaces 4 and the boarding and disembarking areas 2 in the parking lot 1.

[0040] The vehicle management information 180 is information for managing the vehicle 10 that is the target of the automatic valet parking. For example, the vehicle management information 180 includes a vehicle ID, user information, entry / exit time information, and location information. The vehicle ID, user information, entry / exit time information, and location information are associated with each vehicle 10. The vehicle ID is identification information of the vehicle 10. The user information is information about the user who uses the vehicle 10. The entry / exit time information is information about the entry / exit time of the vehicle 10. For example, the entry / exit time information includes the scheduled entry time, the actual entry time, and the scheduled exit time. The location information indicates the location of the vehicle 10 in the parking lot 1. For example, the location information indicates the location or identification information of the parking space 4 assigned to the vehicle 10. When the vehicle 10 is traveling in the parking lot 1, the location information may indicate the traveling location of the vehicle 10. The current traveling location of the vehicle 10 is obtained by a localization process performed by the vehicle 10. The processor 120 communicates with the vehicle 10 and can obtain information about the current traveling location from the vehicle 10.

[0041] The AVP management system 100 may also include a display device 190. The display device 190 is configured to display various information to an external vehicle 10A proceeding from outside the parking lot 1 toward the boarding and disembarking area 2 to enter the parking lot. For example, the display device 190 is installed corresponding to each of the boarding and disembarking slots 6 to 8 as shown in FIG. 3. The various information includes a warning to the external vehicle (intruding vehicle) 10A (see step S116 or S208 described later).

[0042] 3. Measures to prevent vehicles from entering the target exit slot FIG. 3 is a diagram showing a specific example of a parking lot 1 according to an embodiment. The parking lot 1 includes a boarding / alighting area 2, an aisle 3, and a plurality of parking spaces 4. In the example shown in FIG. 3, the boarding / alighting area 2 includes three boarding / alighting spaces 6, 7, and 8 that can be used as exit spaces or exit spaces. For example, the boarding / alighting spaces 6, 7, and 8 are separated by demarcation lines. In the following description, a vehicle 10 exiting the parking lot 1 is referred to as an "exiting vehicle 10EX," and a vehicle 10 parked in a parking space 4 is referred to as a "parked vehicle 10P."

[0043] When the parked vehicle 10P leaves the parking lot, the parked vehicle 10P becomes an outgoing vehicle 10EX. When leaving the parking lot, the processor 120 executes an "allocation process" to allocate a first target outgoing slot S1 to the outgoing vehicle 10EX. The outgoing vehicle 10EX to which the first target outgoing slot S1 is allocated moves from the parking slot 4 to the first target outgoing slot S1.

[0044] 3 shows an outgoing vehicle 10EX moving from a parking slot 4 toward the boarding / alighting slot 6 assigned as the first target outgoing slot S1. Also shown in FIG. 3 is an external vehicle 10A attempting to enter the boarding / alighting slot 6 assigned as the first target outgoing slot S1 for the outgoing vehicle 10EX.

[0045] As shown in the scene in FIG. 3, if an external vehicle 10A mistakenly enters the first target exit slot S1 from outside the parking lot 1 after the first target exit slot S1 is assigned to the exiting vehicle 10EX, the exiting of the exiting vehicle 10EX is hindered. Furthermore, the hindering of the exiting of the exiting vehicle 10EX may lead to the hindering of the exiting of other exiting vehicles 10EX, or the hindering of the entry of other vehicles 10 that are attempting to enter the parking lot 1 correctly. In this way, the presence of the external vehicle 10A entering the first target exit slot S1 hinders the smooth management of entry and exit in the automatic valet parking. In addition, the external vehicle 10A that is expected to enter or approach in this way is, for example, a vehicle 10 that is scheduled to enter the parking lot 1 to use the automatic valet parking.

[0046] In order to enable smoother entry and exit during automated valet parking, the processing executed by processor 120 according to this embodiment includes the following "monitoring processing" and "countermeasure processing."

[0047] The monitoring process is a process of detecting the intrusion or approach of an external vehicle 10A from outside the parking lot 1 to the first target outgoing slot S1 after the allocation of the first target outgoing slot S1 using the infrastructure sensor 141. More specifically, the period "after the allocation of the first target outgoing slot S1" during which the monitoring of the first target outgoing slot S1 by the monitoring process is performed includes not only the time when the outgoing vehicle 10EX is moving toward the first target outgoing slot S1 based on an instruction from the processor 120 (see FIG. 3), but also the period before the outgoing vehicle 10EX starts moving based on the instruction. The infrastructure sensor 141 is installed at a location where the boarding and alighting slots 6 to 8 of the boarding and alighting area 2 can be monitored.

[0048] The countermeasure processing is a process in which, when the monitoring processing detects the intrusion or approach of an external vehicle 10A, a second target output slot S2 is assigned to the outgoing vehicle 10EX, or the outgoing vehicle 10EX that is being output to the first target output slot S1 is slowed down or stopped.

[0049] Hereinafter, first to fifth examples of countermeasure processing according to the present embodiment will be described.

[0050] 3-1. First Example 4 is a flowchart showing a process related to the countermeasure process according to the first example. The processor 120 starts the process of this flowchart when starting to leave the parked vehicle 10P in response to a request for leaving from the user X who operates the user terminal 200, for example.

[0051] In step S100, the processor 120 executes an "allocation process" for allocating a first target leaving slot S1 to the leaving vehicle 10EX. In the allocation process, the processor 120 determines the first target leaving slot S1 based on the parking lot usage information 170, for example.

[0052] Next, in step S102, the processor 120 instructs the departing vehicle 10EX to leave the first target leaving slot S1.

[0053] Next, in step S104, the processor 120 uses the infrastructure sensor 141 to determine whether or not the external vehicle 10A has entered or approached the first target exit slot S1 from outside the parking lot 1 (monitoring process). Specifically, when the processor 120 detects that the external vehicle 10A has entered the first target exit slot S1 using the infrastructure sensor 141, the processor 120 determines that the external vehicle 10A has entered the first target exit slot S1. Also, in the monitoring process, the processor 120 uses the infrastructure sensor 141 to detect the distance D of the external vehicle 10A to the first target exit slot S1. When the processor 120 detects that the distance D has become less than a predetermined threshold value TH, the processor 120 determines that the external vehicle 10A has approached the first target exit slot S1. In addition, detecting the approach of the external vehicle 10A to the first target exit slot S1 in this manner corresponds to predicting the entry of the external vehicle 10A into the first target exit slot S1.

[0054] If neither the intrusion nor the approach of the external vehicle 10A has been detected (step S104; No), the process proceeds to step S106. In step S106, the processor 120 determines whether the leaving of the leaving vehicle 10EX has been completed, for example, using the infrastructure sensor 141. As a result, if the leaving has not been completed (step S106; No), the process returns to step S104. On the other hand, if the leaving has been completed (step S106; Yes), the process of this flowchart ends.

[0055] On the other hand, when the intrusion or approach of the external vehicle 10A is detected (step S104; Yes), the process proceeds to step S108. In step S108, the processor 120 determines whether or not a second target outgoing slot S2 different from the first target outgoing slot S1 can be assigned to the outgoing vehicle 10EX. In other words, the processor 120 determines whether or not the outgoing route of the outgoing vehicle 10EX can be changed (rerouted). For example, if there is a vacancy in any of the other boarding and alighting slots 6 to 8 that are not assigned to the first target outgoing slot S1, the processor 120 determines that rerouting is possible. In addition, the determination that rerouting is possible may include the absence of an obstacle in the route from the current position of the outgoing vehicle 10EX to any of the other vacant boarding and alighting slots 6 to 8.

[0056] If rerouting is possible (step S108; Yes), the process proceeds to step S110. In step S110, the processor 120 assigns one of the other available boarding and alighting slots 6 to 8 to the departing vehicle 10EX as a second target leaving slot S2. Next, in step S112, the processor 120 instructs the departing vehicle 10EX to leave the vehicle 10EX to the second target leaving slot S2.

[0057] On the other hand, if rerouting is not possible (step S108; No), i.e., if the second target leaving slot S2 cannot be assigned to the leaving vehicle 10EX, the process proceeds to step S114. For example, a case where rerouting is not possible is when none of the other boarding / alighting slots 6-8 are available, or when there are other available boarding / alighting slots 6-8 but there is an obstacle in the route. In step S114, the processor 120 instructs the leaving vehicle 10EX to stop traveling. Note that if rerouting is not possible (step S108; No), the processor 120 may slow down the leaving vehicle 10EX instead of stopping it, as in the processing of step S200 described below.

[0058] In step S116 following step S114, the processor 120 executes at least one of a warning and an instruction to the external vehicle (intruding vehicle) 10A.

[0059] The warning to the external vehicle 10A here indicates, for example, that "the first target leaving slot S1 is a location used for leaving another vehicle 10 (leaving vehicle 10EX)." The warning is given, for example, using a display device 190 corresponding to any one of the boarding and alighting slots 6 to 8 corresponding to the first target leaving slot S1. Alternatively, if the AVP management system 100 is in a state in which it can communicate with the external vehicle 10A, the warning may be given using a user terminal carried by the user of the external vehicle 10A or a display device mounted on the external vehicle 10A together with or instead of the display device 190. The warning may be given accompanied by at least one of sound and voice.

[0060] The instruction to the external vehicle 10A is given on the condition that the external vehicle 10A is a vehicle compatible with automatic valet parking in the parking lot 1. The instruction includes a request to the external vehicle 10A to make early preparations so that the external vehicle 10A can promptly start automatic driving in automatic valet parking. The preparations correspond, for example, to not turning off the power of the external vehicle 10A after entering the first target exit slot S1. The instruction also includes a request to the external vehicle 10A, which is in a preparation state capable of automatic driving, to enter the parking slot 4 in the parking lot 1. Note that in step S116, only one of the warning and the instruction may be executed. In addition, according to the above instruction, the external vehicle 10A is allowed to enter before the exiting vehicle 10EX, which contributes to smooth entry and exit management in the parking lot 1 as a whole.

[0061] In step S118 following step S116, the processor 120 determines whether or not the intrusion or approach made by the external vehicle 10A has been resolved, for example, by using the infrastructure sensor 141. For example, when the external vehicle 10A moves away from the first target leaving slot S1 in response to the above warning, or when the external vehicle 10A enters the parking lot in accordance with the above instruction, the intrusion or approach is resolved.

[0062] If the intrusion or approach has not been resolved (step S118; No), the processor 120 repeatedly executes the process of step S118, that is, makes the leaving vehicle 10EX wait in a stopped state.

[0063] On the other hand, when the intrusion or approach is resolved (step S118; Yes), that is, when the first target leaving slot S1 becomes available, the process proceeds to step S120. In step S120, the processor 120 again instructs the leaving vehicle 10EX to leave the first target leaving slot S1.

[0064] According to the first example described above, after the first target outgoing slot S1 is assigned to the outgoing vehicle 10EX, the presence or absence of the intrusion or approach of the external vehicle 10A into the first target outgoing slot S1 is monitored (monitoring process). Then, if the intrusion or approach of the external vehicle 10A actually occurs, the second target outgoing slot S2, which is different from the first target outgoing slot S1, is assigned to the outgoing vehicle 10EX (countermeasure process). This allows for smoother entry and exit.

[0065] More specifically, according to the first example, by performing the above-mentioned monitoring, it becomes possible to quickly recognize the intrusion or approach of the external vehicle 10A into the first target outgoing slot S1, compared to a case where the monitoring is not performed. As a result, it becomes possible to quickly start considering whether the allocation of the second target outgoing slot S2 (i.e., rerouting) is possible. As a result, it becomes possible to quickly allocate the second target outgoing slot S2. Also, when rerouting is not possible, it becomes possible to quickly take the next best measure (for example, stopping the outgoing vehicle 10EX). Also, by performing the allocation of the second target outgoing slot S2 as a countermeasure process, it is possible to effectively suppress a decrease in the operating rate of the automatic valet parking service by the AVP management system 100 due to the presence of the external vehicle 10A.

[0066] Furthermore, if the first target outgoing slot S1 is unavailable due to the presence of the external vehicle 10A, and the outgoing vehicle 10EX proceeds close to the boarding / alighting area 2 including the first target outgoing slot S1 and then stops without understanding that fact, the presence of the stopped outgoing vehicle 10EX may easily interfere with the entry and exit of other vehicles 10. In contrast, according to the first example, if the second target outgoing slot S2 cannot be allocated, the processor 120 promptly stops the outgoing vehicle 10EX. This increases the likelihood that the stopped outgoing vehicle 10EX will not interfere with the entry and exit of other vehicles 10.

[0067] According to the first example, when the second target outgoing slot S2 can be allocated, the outgoing vehicle 10EX is made to leave the vehicle toward the second target outgoing slot S2 with a higher priority than stopping the outgoing vehicle 10EX (steps S108 to S114). This makes it possible to more effectively prevent a decrease in the operating rate caused by the presence of the external vehicle 10A.

[0068] 3-2. Second Example 5 is a flowchart showing the process related to the countermeasure process according to the second example. The process of this flowchart differs from the process of the flowchart shown in FIG.

[0069] 5, when the intrusion or approach of the external vehicle 10A into the first target leaving slot S1 is detected (step S104; Yes), the process proceeds to step S200. In step S200, the processor 120 instructs the leaving vehicle 10EX to decelerate.

[0070] Next, in step S202, the processor 120 executes a warning to the external vehicle 10A. The warning here is executed in the same manner as the warning in step S116. Next, in step S204, the processor 120 determines whether or not the intrusion or approach of the external vehicle 10A has been resolved. As a result, when the intrusion or approach has been resolved by the warning (step S204; Yes), the processor 120 instructs the leaving vehicle 10EX to cancel deceleration in step S206.

[0071] On the other hand, if the intrusion or approach is not resolved by the warning alone (step S204; No), the processor 120 executes a process of instructing the leaving vehicle 10EX to stop traveling (step S114) and processes associated therewith (steps S208, S118, and S120). The process related to the instruction to the external vehicle 10A in step S208 is the same as the process related to the instruction in step S116.

[0072] According to the second example described above, when the intrusion or approach of the external vehicle 10A is detected by the above-mentioned monitoring process, the processor 120 decelerates the outgoing vehicle 10EX during outgoing to the first target outgoing slot S1 (countermeasure process). As a result, compared to an example in which the outgoing vehicle 10EX advances close to the boarding / alighting area 2 and it is found that the first target outgoing slot S1 cannot be used due to the presence of the external vehicle 10A, it is possible to quickly decelerate the outgoing vehicle 10EX and quickly start countermeasures such as a warning (step S202). This can lead to early resolution of the intrusion or approach of the external vehicle 10A. Even if the intrusion or approach is not resolved, it is possible to quickly start the next best countermeasure. In this way, the second example also enables smoother entry and exit.

[0073] 3-3.Third Example Fig. 6 is a flowchart showing the process related to the countermeasure process according to the third example. The process of this flowchart differs from the process of the flowcharts shown in Figs. 4 and 5 in the following points.

[0074] 6, when the intrusion or approach of the external vehicle 10A into the first target leaving slot S1 is detected (step S104; Yes), the process proceeds to step S114, and the processor 120 instructs the leaving vehicle 10EX to stop traveling. After that, the processor 120 executes the processes of steps S208, S118, and S120. Note that instead of the process of step S208, the process of step S116 (including issuing a warning to the external vehicle 10A) may be executed.

[0075] According to the above-mentioned third example, when the intrusion or approach of the external vehicle 10A is detected by the above-mentioned monitoring process, the processor 120 stops the outgoing vehicle 10EX that is being handed over to the first target outgoing slot S1 (countermeasure process). This allows the outgoing vehicle 10EX to be stopped quickly, compared to an example in which the outgoing vehicle 10EX does not have a monitoring process and it is found that the first target outgoing slot S1 cannot be used due to the presence of the external vehicle 10A after it has advanced close to the boarding / alighting area 2. This increases the possibility that the stopped outgoing vehicle 10EX will not interfere with the entry and exit of other vehicles 10. In this way, the third example also enables smoother entry and exit. In addition, since the outgoing vehicle 10EX can be stopped early, countermeasures such as an instruction to the external vehicle 10A (step S208) can also be started quickly. This can lead to early resolution of the intrusion or approach of the external vehicle 10A.

[0076] 3-4. Fourth Example 7 is a flowchart showing the process related to the countermeasure process according to the fourth example. The process of this flowchart differs from the process of the flowcharts shown in FIGS.

[0077] In FIG. 7, after step S102, the process proceeds to step S300. In step S300, the processor 120 determines whether or not the external vehicle 10A is detected and the distance D has become shorter than a predetermined first threshold value TH1. As already described, the distance D is the distance of the external vehicle 10A from the first target leaving slot S1. As a result, if the external vehicle 10A is not detected or the distance D is equal to or greater than the first threshold value TH1 (step S300; No), the process proceeds to step S106.

[0078] On the other hand, when the distance D of the detected external vehicle 10A becomes shorter than the first threshold value TH1 (step S300; Yes), that is, when the external vehicle 10A approaches the first target leaving slot S1, the process proceeds to step S108. As a result, when rerouting is possible, leaving to the second target leaving slot S2 is executed (steps S110 and S112).

[0079] Also, in FIG. 7, if rerouting is not possible (step S108; No), the process proceeds to step S302. In step S302, the processor 120 determines whether the distance D has become shorter than a predetermined second threshold TH2. The second threshold TH2 is set to be smaller than the first threshold TH1. If the distance D is equal to or greater than the second threshold TH2 (step S302; No), the process returns to step S108. That is, execution of rerouting is attempted again.

[0080] On the other hand, if the distance D becomes shorter than the second threshold value TH2 (step S302; Yes), that is, if the degree of approach of the external vehicle 10A to the first target leaving slot S1 increases, the processor 120 instructs the leaving vehicle 10EX to decelerate (step S200). Next, the processor 120 executes processes associated with the deceleration instruction (steps S202, S204, and S206). Then, if the intrusion or approach cannot be resolved by the warning alone (step S204; No), the process proceeds to step S304.

[0081] In step S304, the processor 120 determines whether the distance D is shorter than a predetermined third threshold TH3. The third threshold TH3 is set to be smaller than the second threshold TH2. If the distance D is equal to or greater than the third threshold TH3 (step S304; No), the process returns to step S204.

[0082] On the other hand, when the distance D becomes shorter than the third threshold value TH3 (step S304; Yes), that is, when the degree of approach of the external vehicle 10A to the first target leaving slot S1 becomes even higher, the processor 120 instructs the leaving vehicle 10EX, which is decelerating, to stop traveling (step S114). After that, the processor 120 executes processes associated with stopping traveling (steps S208, S118, and S120). Note that the condition that the distance D becomes shorter than the third threshold value TH3 is also satisfied when the external vehicle 10A enters the first target leaving slot S1 (i.e., when the distance D becomes zero).

[0083] In the above-mentioned fourth example, similarly to the first to third examples, smoother entry and exit can be achieved by executing the monitoring process and the corrective action process.

[0084] Moreover, according to the fourth example, when the distance D becomes shorter than the first threshold value TH1, if the second target leaving slot S2 can be allocated, the second target leaving slot S2 is allocated to the leaving vehicle 10EX. Then, when the external vehicle 10A approaches the first target leaving slot S1 further without being able to be allocated the second target leaving slot S2 (distance D<second threshold value TH2), the leaving vehicle 10EX is decelerated. This allows appropriate measures to be taken depending on the degree of approach of the external vehicle 10A to the first target leaving slot S1. Furthermore, by giving priority to the allocation of the second target leaving slot S2 over deceleration, it is possible to effectively suppress a decrease in the operating rate caused by the presence of the external vehicle 10A.

[0085] According to the fourth example, when the departing vehicle 10EX is decelerating, in response to the external vehicle 10A approaching further to the first target departing slot S1 (distance D<third threshold value TH3), the departing vehicle 10EX is stopped. This also makes it possible to take appropriate measures according to the degree of approach of the external vehicle 10A to the first target departing slot S1.

[0086] 3-5. Fifth Example 8 is a flowchart showing the process related to the countermeasure process according to the fifth example. The process of this flowchart differs from the process of the flowchart shown in FIG.

[0087] In Fig. 8, after step S102, the process proceeds to step S400. In step S400, the processor 120 detects the external vehicle 10A and determines whether the distance D is shorter than a predetermined fourth threshold value TH4. The fourth threshold value TH4 may be the same as the first threshold value TH1 or the second threshold value TH2 (see Fig. 7), for example.

[0088] When the detected distance D of the external vehicle 10A becomes shorter than the fourth threshold value TH4 (step S400; Yes), the processor 120 instructs the leaving vehicle 10EX to decelerate (step S200). Next, the processor 120 executes processes associated with the deceleration instruction (steps S202, S204, and S206).

[0089] Also, in FIG. 8, if the intrusion or approach is not resolved by the warning alone (step S204; No), the process proceeds to step S402. In step S402, the processor 120 determines whether the distance D has become shorter than a predetermined fifth threshold TH5. The fifth threshold TH5 is set to be smaller than the fourth threshold TH4. The fifth threshold TH5 may be the same as the third threshold TH3 (see FIG. 7), for example. If the distance D is equal to or greater than the fifth threshold TH5 (step S402; No), the process returns to step S204.

[0090] On the other hand, when the distance D becomes shorter than the fifth threshold value TH5 (step S402; Yes), that is, when the degree of approach of the external vehicle 10A to the first target leaving slot S1 becomes high, the processor 120 instructs the leaving vehicle 10EX to stop traveling (step S114). Next, the processor 120 executes a process related to the instruction to the external vehicle 10A (step S208). In FIG. 8, after step S208, the process proceeds to step S404.

[0091] In step S404, the processor 120 determines whether or not a predetermined time T has elapsed. This predetermined time T corresponds to the elapsed time from when the departing vehicle 10EX is stopped by the process of step S114.

[0092] If the predetermined time T has not yet elapsed (step S404; No), the process proceeds to step S406. In step S406, the processor 120 uses, for example, the infrastructure sensor 141 to determine whether or not a vacancy has occurred in any of the boarding / alighting slots 6 to 8 (including the first target leaving slot S1) that can be used as the target leaving slot.

[0093] If no vacancy occurs in any of the boarding / alighting slots 6 to 8 (step S406; No), the process returns to step S404. On the other hand, if a vacancy occurs in any of the boarding / alighting slots 6 to 8 (step S406; Yes), the process proceeds to step S408. In step S408, the processor 120 determines the exit slot where the vacancy occurs (any of the boarding / alighting slots 6 to 8) as the target exit slot (first target exit slot S1 or second target exit slot S2). Next, in step S410, the processor 120 instructs the departing vehicle 10EX to exit to the target exit slot.

[0094] On the other hand, if the predetermined time T has elapsed without the target leaving slot being determined (step S404; Yes), that is, if the first target leaving slot S1 or the second target leaving slot S2 cannot be assigned to the leaving vehicle 10EX before the predetermined time T has elapsed, the process proceeds to step S412. In step S412, the processor 120 instructs the leaving vehicle 10EX to move to a predetermined position P (see FIG. 9 described later). Thereafter, if a vacancy occurs in any of the boarding and alighting slots 6 to 8 (step S414; Yes), the processes of steps S408 and S410 described above are executed.

[0095] Fig. 9 is a diagram for explaining a specific example of the predetermined position P shown in Fig. 8. The predetermined position P is, for example, the exit start position P1 of the leaving vehicle 10EX. The exit start position P1 is the position of the parking space 4 where the leaving vehicle 10EX was parked.

[0096] Furthermore, the predetermined position P may be a position P2 that does not interfere with the passage of other vehicles 10 entering and leaving the parking lot, as compared to the current stopping position P0 of the departing vehicle 10EX. The position P2 is determined in advance, for example, taking into consideration the shape of the parking lot 1 that is the target of the automatic valet parking, and is stored in the storage device 130 as parking lot map information 160. The current stopping position P0 is the position of the departing vehicle 10EX that is stopped based on the driving stop instruction in step S114 in FIG. 8.

[0097] Further, the predetermined position P may be a position P3 that is closer to one or more candidate outgoing frames than the current stop position P0. In an example shown in FIG. 9, the "one or more candidate outgoing frames" referred to here correspond to the boarding and alighting frames 6 to 8 that can be determined as the first target outgoing frame S1 or the second target outgoing frame S2. Similar to the position P2, the position P3 is also determined in advance in consideration of, for example, the shape of the parking lot 1 that is the target of the automatic valet parking, and is stored in the storage device 130 as the parking lot map information 160.

[0098] The predetermined position P may be the position P4 of the standby frame. The standby frame is provided in advance separately from the parking frame 4, and the position P4 is stored in the storage device 130 as the parking lot map information 160. Alternatively, the predetermined position P may be the position P5 of the vacant parking frame 4.

[0099] Also, according to the fifth example described above, by executing the monitoring process and the countermeasure process, smoother incoming and outgoing can be achieved as in the first to fourth examples.

[0100] Further, according to the fifth example, when the distance D becomes shorter than the fourth threshold value TH4, the deceleration of the outgoing vehicle 10EX is executed. Then, when the distance D becomes shorter than the fifth threshold value TH5 (<TH4), the outgoing vehicle 10EX is stopped. Thereby, appropriate countermeasures can be taken according to the degree of approach of the external vehicle 10A to the first target outgoing frame S1.

[0101] Also, according to the fifth example, if the first target outgoing frame S1 or the second target outgoing frame S2 cannot be assigned to the outgoing vehicle 10EX until a predetermined time T elapses after the outgoing vehicle 10EX is stopped, the processor 120 moves the outgoing vehicle 10EX to the predetermined position P. Thereby, the following effects can be obtained according to each predetermined position P.

[0102] That is, first, when the predetermined position P is the exit start position P1, the position P2 that is unlikely to be an obstacle, the position P4 of the waiting frame, or the position P5 of an empty parking frame, as exemplified in FIG. 9, the following effects can be obtained. That is, if the exit vehicle 10EX is stopped for a long time at the unintended current stop position P0 due to the presence of the external vehicle 10A, it may hinder the smooth entry and exit of other vehicles 10 depending on the current stop position P0 and the congestion situation in the parking lot 1. In contrast, according to the positions P1, P2, P4, or P5, the exit vehicle 10EX can be moved to a more suitable location in terms of smooth entry and exit management of the parking lot 1 as a whole, including other vehicles 10. In addition, according to the exit start position P1, position P4, or position P5, it is possible to more reliably prevent the passage of other vehicles 10 from being hindered compared to the position P2. In addition, according to the position P4, a space that is not used as a parking frame 4 is required, but compared to the exit start position P1 and position P5, it has the advantage of not hindering the entry of other vehicles 10. Furthermore, when the position P5 is closer to the target delivery slot (S1 or S2) than the delivery start position P1, selecting the position P5 instead of the delivery start position P1 is preferable for the user X because the delivery time after restarting is shortened.

[0103] On the other hand, when the predetermined position P is the position P3 illustrated in Fig. 9 (a position closer to the candidate exit slot than the current stop position P0), the following effect is obtained. That is, when it becomes possible to resume the exit of the departing vehicle 10EX, the departing vehicle 10EX can be allowed to exit the warehouse more quickly than in the example in which the exit start position P1 is used as the predetermined position P. In addition, the position P3 may be determined to be a position that is closer to the candidate exit slot than the current stop position P0, and that does not interfere with the passage of other vehicles 10 compared to the current stop position P0.

[0104] 8, when the distance D becomes shorter than the fifth threshold value TH5 (step S402; Yes), the process related to rerouting (steps S108 to S112) may be executed instead of the process related to stopping the leaving vehicle 10EX (steps S114 and S208). If rerouting is not possible (step S108; No), the process may proceed to the process related to stopping (steps S114 and S208).

[0105] Furthermore, the processes of steps S404 to S414 in FIG. 8 may be executed instead of the processes of steps S118 and S120 in the process of the flowchart of FIG. [Explanation of symbols]

[0106] 1 Parking lot, 2 Boarding / disembarking area, 4 Parking space, 6-8 Boarding / disembarking space, 10 Vehicle, 10A External vehicle (entering vehicle), 10EX Exiting vehicle, 10P Parked vehicle, 100 Automatic valet parking (AVP) management system, 110 Communication device, 120 Processor, 130 Storage device, 140, 141 Infrastructure sensor, 150 Management program, 160 Parking lot map information, 170 Parking lot usage information, 180 Vehicle management information, 190 Display device, 200 User terminal

Claims

1. An automatic valet parking management system for managing automatic valet parking in a parking lot, A recognition sensor that recognizes the surrounding conditions of the parking lot; one or more processors; Equipped with The one or more processors: an allocation process for allocating a first target exit frame to a vehicle exiting the parking lot; a monitoring process for detecting an intrusion or approach of an external vehicle into the first target exit slot from outside the parking lot using the recognition sensor after the first target exit slot is allocated; a countermeasure process of allocating a second target outgoing slot to the outgoing vehicle, or slowing down or stopping the outgoing vehicle during outgoing to the first target outgoing slot, when the intrusion or the approach is detected by the monitoring process; It is configured to run The present invention relates to an automatic valet parking management system.

2. In the countermeasure processing, the one or more processors determining whether the second target outgoing slot can be allocated to the outgoing vehicle; When the second target outgoing slot can be allocated, the outgoing vehicle is caused to leave the depot toward the second target outgoing slot with a higher priority than the outgoing vehicle being slowed down or stopped. The automated valet parking management system according to claim 1 .

3. In the countermeasure processing, when the second target departing frame cannot be allocated, the one or more processors stop the departing vehicle. The automated valet parking management system according to claim 2 .

4. In the countermeasure processing, the one or more processors In response to a distance of the external vehicle from the first target departure slot becoming shorter than a first threshold value, if the second target departure slot can be assigned, the second target departure slot is assigned to the outgoing vehicle; In response to the distance becoming shorter than a second threshold value that is smaller than the first threshold value without being able to allocate the second target outgoing frame, the outgoing vehicle is decelerated. The automated valet parking management system according to claim 1 .

5. In the countermeasure processing, the one or more processors stop the departing vehicle in response to the distance becoming shorter than a third threshold value that is smaller than the second threshold value. The automated valet parking management system according to claim 4 .

6. In the countermeasure processing, the one or more processors decelerating the departing vehicle in response to a distance of the external vehicle from the first target departure frame becoming shorter than a fourth threshold value; When the distance becomes shorter than a fifth threshold value which is smaller than the fourth threshold value, the leaving vehicle is stopped. The automated valet parking management system according to claim 1 .

7. In the countermeasure processing, if the first or second target outgoing slot cannot be assigned to the outgoing vehicle until a predetermined time has elapsed since the outgoing vehicle was stopped, the one or more processors move the outgoing vehicle to a departure start position of the outgoing vehicle, a position that does not obstruct the passage of other vehicles compared to the current stopping position of the outgoing vehicle, a position that is closer to one or more outgoing slot candidates compared to the current stopping position of the outgoing vehicle, a waiting slot, or a vacant parking slot. The automated valet parking management system according to claim 1 .

8. 1. An automatic valet parking management method executed by a computer for managing automatic valet parking in a parking lot, comprising: an allocation process for allocating a first target exit frame to a vehicle exiting the parking lot; A monitoring process for detecting an intrusion or approach of an external vehicle into the first target exit slot from outside the parking lot using a recognition sensor that recognizes the surrounding situation of the parking lot after the first target exit slot is allocated; a countermeasure process of allocating a second target outgoing slot to the outgoing vehicle, or slowing down or stopping the outgoing vehicle during outgoing to the first target outgoing slot, when the intrusion or the approach is detected by the monitoring process; Includes An automated valet parking management method comprising:

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