Automatic valet parking system

Abstract

To provide an automatic valet parking system capable of smooth operation by eliminating regions where general vehicles and pedestrians move in a mixed manner with autonomous vehicles between a boarding / disembarking area and a parking area.SOLUTION: The system allows an autonomous vehicle C to enter and exit the areas by automatically driving the unmanned autonomous vehicle C between a boarding / disembarking area Y and a parking area X in response to wireless instructions. The system includes a waiting area Z defined between the parking area X and the boarding / disembarking area Y with a section Z1 where a plurality of autonomous vehicles C wait and which prevents the intrusion of objects other than the autonomous vehicles C, an opening / closing mechanism 100 which isolates the waiting area Z from the boarding / disembarking area Y and allows only the entry and exit of the autonomous vehicles C, an intrusion detection device 400 which detects the intrusion of objects other than the autonomous vehicles C into the waiting area Z, and a control device which outputs control signals to the opening / closing mechanism 100, the autonomous vehicles C, and the parking area X based on a detection signal from the intrusion detection device 400.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an automated valet parking system. [Background technology]

[0002] 2. Description of the Related Art Conventionally, a parking system called valet parking has been known in facilities such as hotels and restaurants.

[0003] In this type of valet parking, the driver drives his or her vehicle and leaves it with a professional porter to park it, and when the driver goes out or returns home, the porter brings the vehicle to the entrance. However, there are plans to automate valet parking in preparation for the future spread of self-driving cars.

[0004] In other words, passengers will get out of the autonomous vehicle at a boarding and disembarking area set up near the entrance and exit of the parking area, and a control device wirelessly connected to the autonomous vehicle will automatically drive the autonomous vehicle to the parking area and enter the parking area, and also automatically drive the autonomous vehicle from the parking area to the boarding and disembarking area and exit the parking area.

[0005] Incidentally, for example, Patent Document 1 shows the general state of the art related to a parking system that allows an autonomous vehicle to enter and exit a parking area autonomously without the involvement of a human driver. [Prior art documents] [Patent documents]

[0006] [Patent Document 1] JP 2017-214800 A Summary of the Invention [Problem to be solved by the invention]

[0007] However, in the automated valet parking systems currently proposed, when an autonomous vehicle moves from a boarding / disembarking area to a parking area, or from a parking area to a boarding / disembarking area, there are times when there are areas where general vehicles and pedestrians move together with the autonomous vehicle, which may force the autonomous vehicle to stop suddenly, posing a risk of disrupting the smooth operation of the system, and there is still room for improvement.

[0008] The present invention has been made in consideration of the above-mentioned problems in the conventional technology, and aims to provide an automatic valet parking system that can be operated smoothly by eliminating areas where general vehicles and pedestrians move together with automatically driven vehicles between the boarding / disembarking area and the parking area. [Means for solving the problem]

[0009] The present invention provides a parking area where an autonomous vehicle that can travel autonomously without the involvement of a driver is parked, and a boarding and disembarking area where drivers get on and off the autonomous vehicle. Equipped with The automated vehicle is driven automatically between the boarding and disembarking area and the parking area by wireless instructions to enter and leave the parking area. Self An automatic valet parking system, Between the parking area and the boarding and disembarking area Equipped with an area where multiple self-driving cars can wait a waiting area defined and prevented from intrusion of objects other than the autonomous vehicle; An opening and closing mechanism that separates the waiting area from the boarding and disembarking area and allows only the entry and exit of autonomous vehicles and, an intrusion detection device that detects intrusion of an object other than the autonomous vehicle into the waiting area; a control device that outputs control signals to an opening / closing mechanism, an autonomous vehicle, and a parking area based on a detection signal from the intrusion detection device; Equipped with This relates to an automated valet parking system.

[0010] In the automated valet parking system, when the control device receives confirmation from an occupant that the vehicle is unoccupied when entering the parking lot and the intrusion detection device confirms that no object has entered the waiting area, the control device can output a control signal to open the opening and closing mechanism.

[0011] The automated valet parking system further includes an in-vehicle occupancy detection device that detects the presence or absence of an occupant in the automated driving vehicle, The control device can output control signals to the opening and closing mechanism, the autonomous vehicle, and the parking area, taking into account a detection signal from the in-vehicle occupancy detection device.

[0012] In the automated valet parking system, when the automated valet parking system is entered, if the in-vehicle occupancy detection device confirms that no occupant is present in the automated driving vehicle and the intrusion detection device confirms that no object has entered the waiting area, the control device can output a control signal to open the opening and closing mechanism.

[0013] In the automated valet parking system, when an automated vehicle is leaving the parking lot, if the intrusion detection device confirms that no object has entered the waiting area while the automated vehicle is waiting in the waiting area, the control device can output a control signal to open the opening and closing mechanism.

[0014] In the automated valet parking system, when the intrusion detection device detects the intrusion of an object into the waiting area, the control device can output a control signal to stop all automated vehicles, and can also output an abnormality alarm to the parking area and a control signal to stop operation in the event of an abnormality. Effect of the Invention

[0015] The automated valet parking system of the present invention can achieve the excellent effect of enabling smooth operation by eliminating areas between the boarding / disembarking area and the parking area where general vehicles and pedestrians move together with automated driving vehicles. [Brief description of the drawings]

[0016] [Figure 1] 1 is a schematic configuration diagram showing an embodiment of an automated valet parking system according to the present invention. [Diagram 2] FIG. 1 is a schematic diagram showing an example in which a lifter is provided between a waiting area and a parking area in an embodiment of the automated valet parking system of the present invention. [Diagram 3] FIG. 2 is a perspective view showing an opening / closing mechanism in the embodiment of the automated valet parking system of the present invention. [Figure 4] FIG. 2 is a diagram showing an example of an in-vehicle occupancy detection device in the embodiment of the automatic valet parking system of the present invention. [Diagram 5]FIG. 11 is a diagram showing another example of an in-vehicle occupancy detection device in the embodiment of the automatic valet parking system of the present invention. [Figure 6] FIG. 2 is a control block diagram of an embodiment of the automated valet parking system of the present invention. [Figure 7] 5 is a flowchart for detecting an object intrusion into a waiting area in the embodiment of the automated valet parking system of the present invention. [Figure 8] 4 is a flowchart showing a process for parking in the embodiment of the automated valet parking system of the present invention. [Figure 9] 4 is a flowchart showing a process for leaving the automated valet parking system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of the present invention will be described with reference to the accompanying drawings.

[0018] 1 to 9 show an embodiment of an automatic valet parking system according to the present invention.

[0019] This embodiment is characterized in that a waiting area Z is defined between a parking area X and a boarding / disembarking area Y, where intrusion of objects other than the autonomous vehicle C is prevented. The parking area X is an area where an autonomous vehicle C that can travel autonomously without the involvement of an occupant is parked, and includes, for example, a flat parking lot, a self-propelled (multi-story) parking lot, and a mechanical parking lot. The boarding / disembarking area Y is an area where occupants get on and off the autonomous vehicle C.

[0020] Incidentally, FIG. 2 shows an example in which a lifter L is provided between the waiting area Z and the parking area X. When the parking area X is a self-driving (multi-story) parking lot, the lifter L transports the self-driving vehicle C to a floor reserved for self-driving vehicles C in order to avoid mixing of the self-driving vehicle C with general vehicles.

[0021] As shown in Figures 1 to 3, the waiting area Z has a section Z1 where multiple self-driving vehicles C wait and is surrounded by an intrusion prevention fence Z2, and at the boundary with the boarding and disembarking area Y, an opening and closing mechanism 100 is provided which isolates the boarding and disembarking area Y and allows only the entry and exit of the self-driving vehicles C.

[0022] 3, the opening / closing mechanism 100 may employ a door 101 that can slide left and right like a platform door at a station to open and close the entrance to the autonomous vehicle C. However, it goes without saying that the opening / closing mechanism 100 is not limited to this type of door 101, and various types of doors may be employed.

[0023] In addition, in this embodiment, an in-vehicle occupancy detection device 200 as shown in FIG. 4 or FIG. 5 is provided.

[0024] The in-vehicle occupancy detection device 200 shown in Fig. 4 is an in-vehicle installation type, and for example, a human presence sensor 201 using infrared rays, ultrasonic waves, or visible light attached to the ceiling of the autonomous vehicle C can be used as the in-vehicle occupancy detection device 200. Also, a pressure sensor 202 may be embedded in a seat of the autonomous vehicle C to form the in-vehicle occupancy detection device 200. A detection signal 200s from the human presence sensor 201 or pressure sensor 202 is received by a receiver 301 connected to a control device 300 (see Fig. 6) described later.

[0025] 5 is an exterior installation type, and for example, a monitoring sensor 203 using infrared rays, ultrasonic waves or visible light attached to the boarding / alighting area Y can be used as the interior occupancy detection device 200. A detection signal 200s from the monitoring sensor 203 is input to the control device 300 (see FIG. 6).

[0026] The in-vehicle occupancy detection device 200 is a device that checks whether any occupants (people) remain inside the autonomous vehicle C, and occupants include not only people but also animals such as pets.

[0027] Furthermore, in this embodiment, an intrusion detection device 400 is provided that detects the intrusion of an object other than the autonomous vehicle C into the waiting area Z. The intrusion detection device 400 is, for example, a video camera 401 that captures an image of the periphery of the opening / closing mechanism 100 of the waiting area Z, as shown in Figs. 1 and 2.

[0028] The detection signal 200s from the in-vehicle occupancy detection device 200 and the detection signal 400s from the intrusion detection device 400 are input to the control device 300 as shown in FIG. 6, and the control device 300 outputs control signals 100s, Cs, and Xs to the opening / closing mechanism 100, the autonomous vehicle C, and the parking area X based on the detection signals 200s, 400s from the in-vehicle occupancy detection device 200 and the intrusion detection device 400.

[0029] Next, the operation of the above embodiment will be described.

[0030] The intrusion detection device 400 constantly detects the intrusion of objects other than the autonomous vehicles C into the waiting area Z. As shown in FIG. 7, in step S701, if the intrusion detection device 400 confirms the intrusion of an object into the waiting area Z, in step S702, the control device 300 outputs a control signal Cs (see FIG. 6) to stop all autonomous vehicles C, and also outputs an abnormality warning to the parking area X, as well as a control signal Xs (see FIG. 6) to stop operation due to the occurrence of an abnormality.

[0031] When entering the parking lot, the driver performs a reservation operation for entering the parking lot using a terminal such as the driver's own personal mobile terminal or an operation terminal installed in the boarding and disembarking area Y of the automated valet parking (see step S801 in FIG. 8).

[0032] After completing the entry reservation operation, the driver stops autonomous vehicle C at boarding / disembarking area Y (see step S802 in FIG. 8) and disembarks (see step S803 in FIG. 8).

[0033] After getting off, the occupant performs the parking operation from the terminal (see step S804 in Figure 8), confirms that there are no people (including pets) inside the autonomous vehicle C, and enters this information from the terminal (see step S805 in Figure 8).

[0034] Upon receiving confirmation of the absence of a person from the occupant, the in-vehicle occupancy detection device 200 detects whether or not there is really a person (including a pet, etc.) inside the autonomous vehicle C (see step S806 in FIG. 8). In the case of the in-vehicle occupancy detection device 200 installed inside the vehicle shown in FIG. 4, a detection signal 200s from a human sensor 201 attached to the ceiling of the autonomous vehicle C or a pressure sensor 202 embedded in a seat of the autonomous vehicle C is received by a receiver 301 connected to a control device 300 (see FIG. 6). In the case of the in-vehicle occupancy detection device 200 installed outside the vehicle shown in FIG. 5, a detection signal 200s from a monitoring sensor 203 attached to the boarding / disembarking area Y is input to the control device 300.

[0035] If the in-vehicle occupancy detection device 200 determines that there is a person (including a pet) inside the autonomous vehicle C, the control device 300 displays a message on the terminal saying "Please check if there is anyone inside the vehicle" to prompt the occupant to check again if there is anyone inside the vehicle (see step S807 in Figure 8).

[0036] When the in-vehicle occupancy detection device 200 confirms that there is no person (including pets) inside the autonomous vehicle C and the intrusion detection device 400, which is constantly monitoring, confirms (see step S808 in FIG. 8) that no object has intruded into the waiting area Z, the control device 300 outputs a control signal 100s to open the opening / closing mechanism 100, and the opening / closing mechanism 100 is opened (see step S810 in FIG. 8). Note that, in step S808 in FIG. 8, if the intrusion detection device 400 confirms that an object has intruded into the waiting area Z, as in step S702 in FIG. 7, in step S809 in FIG. 8, the control device 300 outputs a control signal Cs (see FIG. 6) to stop all autonomous vehicles C, and outputs an abnormality warning and a control signal Xs (see FIG. 6) to stop operation due to the occurrence of an abnormality to the parking area X.

[0037] When the opening / closing mechanism 100 is opened, the autonomous vehicle C automatically enters the waiting area Z and parks in an empty section Z1 (see step S811 in Figure 8), and the opening / closing mechanism 100 is closed upon instruction from the control device 300 (see step S812 in Figure 8).

[0038] Incidentally, even while the autonomous vehicle C is waiting to enter the waiting area Z (see step S813 in FIG. 8), the intrusion detection device 400 continues to monitor the autonomous vehicle C at all times (see step S814 in FIG. 8).

[0039] When a vehicle departure command is output from the control device 300 (see step S815 in Figure 8), the autonomous vehicle C moves to the parking area X (see step S816 in Figure 8), and is parked in the designated position (see step S817 in Figure 8), completing the entry.

[0040] On the other hand, when leaving the parking lot, the driver performs a departure reservation operation using a terminal such as the driver's own personal mobile terminal or an operation terminal installed in the boarding and disembarking area Y of the automated valet parking (see step S901 in FIG. 9).

[0041] In response to the driver's departure reservation operation, the control device 300 outputs a vehicle start command to the corresponding autonomous vehicle C (see step S902 in Figure 9), and the autonomous vehicle C moves from its parking position in parking area X to waiting area Z (see step S903 in Figure 9), and parks in an available section Z1 in waiting area Z and waits (see step S904 in Figure 9).

[0042] Incidentally, even while the autonomous vehicle C is waiting to leave waiting area Z, constant monitoring is performed by the intrusion detection device 400 (see step S905 in Fig. 9). If the intrusion detection device 400 confirms that an object has entered waiting area Z, then, similar to step S702 in Fig. 7 and step S809 in Fig. 8, in step S906 in Fig. 9, the control device 300 outputs a control signal Cs (see Fig. 6) to stop all autonomous vehicles C, and also outputs an abnormality warning and a control signal Xs (see Fig. 6) to stop operation due to the occurrence of an abnormality to the parking area X.

[0043] When the driver of the autonomous vehicle C performs a parking exit operation from the terminal while the autonomous vehicle C is waiting to leave the waiting area Z (see step S907 in FIG. 9), if the intrusion detection device 400, which is constantly monitoring, confirms (see step S908 in FIG. 9) that no object has entered the waiting area Z, the control device 300 outputs a control signal 100s to open the opening / closing mechanism 100, and the opening / closing mechanism 100 is opened (see step S909 in FIG. 9). Note that, if the intrusion detection device 400 confirms that an object has entered the waiting area Z in step S908 in FIG. 9, the control device 300 outputs a control signal Cs (see FIG. 6) to stop all autonomous vehicles C, and also outputs an abnormality warning and a control signal Xs (see FIG. 6) to stop operation due to the occurrence of an abnormality to the parking area X.

[0044] When the opening / closing mechanism 100 is opened, the autonomous vehicle C automatically enters the boarding / disembarking area Y and stops there (see step S910 in FIG. 9), and the opening / closing mechanism 100 is closed in response to an instruction from the control device 300 (see step S911 in FIG. 9).

[0045] After this, the occupant gets into the autonomous vehicle C which has entered and is parked in the boarding / disembarking area Y (see step S912 in FIG. 9), and the departure is completed.

[0046] As a result, unlike the automated valet parking systems currently proposed, when autonomous vehicle C moves from boarding / alighting area Y to parking area X, or from parking area X to boarding / alighting area Y, there will be no areas in which general vehicles and pedestrians move together with autonomous vehicle C. This means that autonomous vehicle C will not be forced to stop suddenly, and there is no need to worry about the smooth operation of the system being disrupted.

[0047] In this way, the area between the boarding / disembarking area Y and the parking area X where general vehicles and pedestrians move together with the autonomous vehicle C is eliminated, enabling smooth operation.

[0048] In the case of this embodiment, when the autonomous vehicle C enters the parking lot, if the in-vehicle occupancy detection device 200 confirms that no autonomous vehicle C is present and the intrusion detection device 400 confirms that no object has entered the waiting area Z, the control device 300 outputs a control signal 100s for opening the opening / closing mechanism 100. With this configuration, only the autonomous vehicle C is present in the waiting area Z, which prevents contact between the autonomous vehicle C and people or objects and allows the autonomous vehicle C to smoothly enter the parking lot.

[0049] Furthermore, when autonomous vehicle C is waiting in waiting area Z at the time of leaving the parking lot, if the intrusion detection device 400 confirms that no object has entered waiting area Z, the control device 300 outputs a control signal to open the opening / closing mechanism 100. With this configuration, autonomous vehicle C exiting from waiting area Z to boarding / disembarking area Y can be prevented from coming into contact with objects, and leaving the parking lot can be smoothly carried out.

[0050] Furthermore, when the intrusion detection device 400 confirms that an object has intruded into waiting area Z, the control device 300 outputs a control signal to stop all autonomous vehicles C, and also outputs an abnormality warning and a control signal to stop operation in response to the occurrence of the abnormality to the parking area X. With this configuration, it is possible to prevent autonomous vehicles C from coming into contact with an object that has intruded into waiting area Z, and to notify an automated valet parking attendant of the abnormality so that a response can be made.

[0051] Furthermore, the waiting area Z includes a section Z1 where a plurality of autonomous vehicles C wait. Such a configuration is effective in reducing the formation of a queue of autonomous vehicles C waiting to enter the boarding / disembarking area Y.

[0052] Incidentally, the automated valet parking system of the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the spirit and scope of the present invention. [Explanation of symbols]

[0053] 100 Opening and closing mechanism 100s Control Signal 101 Door 200 Vehicle occupancy detection device 200s detection signal 201 Human Sensor 202 Pressure Sensor 203 Monitoring Sensor 300 Control device 301 Receiver 400 Intrusion detection device 400s detection signal 401 Video Camera C. Self-driving cars Cs control signal L Lifter X Parking Area Xs Control signal Y Boarding and alighting area Z Waiting Area Z1 Section Z2 Intrusion prevention fence

Claims

1. An automated valet parking system that includes a parking area where an automated vehicle that can travel autonomously without the involvement of a driver is parked, and a boarding / disembarking area where drivers get on and off the automated vehicle, and that drives the automated vehicle between the boarding / disembarking area and the parking area in an unmanned manner by wireless instructions to enter and exit the parking area, a waiting area between the parking area and the boarding / disembarking area, the waiting area being defined by including a section in which a plurality of autonomous vehicles are waiting, and in which intrusion of objects other than the autonomous vehicles is prevented; an opening / closing mechanism that isolates the waiting area from the boarding / disembarking area and allows only the entry and exit of autonomous vehicles; an intrusion detection device that detects intrusion of an object other than the autonomous vehicle into the waiting area; a control device that outputs control signals to an opening / closing mechanism, an autonomous vehicle, and a parking area based on a detection signal from the intrusion detection device; An automated valet parking system with

2. 2. The automated valet parking system according to claim 1, wherein the control device outputs a control signal to open the opening / closing mechanism when the control device receives confirmation from an occupant that the vehicle is unoccupied and when the intrusion detection device confirms that no object has intruded into the waiting area upon entry into the parking lot.

3. A vehicle presence detection device for detecting the presence or absence of an occupant in the autonomous vehicle, The automatic valet parking system according to claim 1 , wherein the control device outputs control signals to the opening / closing mechanism, the automatic driving vehicle, and the parking area, taking into account a detection signal from the in-vehicle occupancy detection device.

4. The automatic valet parking system according to claim 3, wherein the control device outputs a control signal to open an opening / closing mechanism when the in-vehicle occupancy detection device confirms that the autonomously driven vehicle is unoccupied and the intrusion detection device confirms that no object has entered the waiting area, at the time of entry.

5. The automatic valet parking system according to any one of claims 1 to 4, wherein the control device outputs a control signal to open an opening and closing mechanism when the intrusion detection device confirms that no object has entered the waiting area while the autonomous vehicle is waiting in the waiting area at the time of leaving the parking lot.

6. The automatic valet parking system according to any one of claims 1 to 5, wherein when the intrusion detection device confirms the intrusion of an object into the waiting area, the control device outputs a control signal to stop all automatically-operated vehicles, and also outputs an abnormality alarm to the parking area and a control signal to stop operation in the event of an abnormality.

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