Parking lot management system, parking lot management method, and parking lot management program

Abstract

To provide a parking lot management system capable of managing a parking location of a towed vehicle or a vehicle not equipped with a location positioning system.SOLUTION: A parking lot management system includes: a parking space database that stores map information of a plurality of parking spaces where a vehicle or a towed vehicle towed by the vehicle can park on a map within a specific region; a monitoring unit that detects a moving vehicle moving in the parking spaces among targets moving in a monitoring area of the specific region, and transmits estimated position information including estimated position coordinates where the moving vehicle or the towed vehicle is estimated to have parked; and a parking space management unit that, based on the map information of the parking space database, determines that an empty parking space is an occupied parking space where the moving vehicle or the towed vehicle has parked when the estimated position information indicates the empty parking space, and updates the empty parking space in the map information of the parking space database to the occupied parking space.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present disclosure relates to a parking lot management system, a parking lot management method, and a parking lot management program. [Background technology]

[0002] At specific facilities such as distribution centers that serve as bases for the transportation and delivery of goods, vehicles such as trucks towing trailers loaded with goods enter the facility and park the trailers in a parking lot within the facility. The parked trailers are then transported from the parking lot to a warehouse or other location within the facility by a transport vehicle. In recent years, parking lot management systems that detect vacant spaces in the parking lot and guide vehicles to vacant spaces have been under consideration.

[0003] For example, Patent Document 1 discloses a parking lot management device that automatically determines a route to an available parking space in a parking lot for a vehicle with an automatic driving function and guides the vehicle to the available parking space using the automatic driving function. By using such a parking lot management device, it is possible to grasp available parking spaces. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Laid-Open No. 2011-54116 Summary of the Invention [Problem to be solved by the invention]

[0005] However, trailers being towed are usually not equipped with a positioning system such as a Global Positioning System (GPS), and not all vehicles towing trailers or other towed vehicles are equipped with autonomous driving functions or positioning systems. The parking space for the towed vehicle brought into a parking lot is usually decided by the driver of the towing vehicle, which makes it difficult to improve parking lot management.

[0006] The present disclosure aims to provide a parking lot management system that can manage the parking positions of towed vehicles or vehicles that are not equipped with a positioning system, as well as a parking lot management method and a parking lot management program. [Means for solving the problem]

[0007] The parking management system according to the present disclosure includes a parking space database storing map information of multiple parking spaces on a map within a specific area where a vehicle or a towed vehicle towed by a vehicle can park; a monitoring unit that detects moving vehicles moving into parking spaces among targets moving within a monitoring area of ​​the specific area and transmits estimated position information including estimated position coordinates where the moving vehicle or towed vehicle is estimated to be parked; and a parking space management unit that, based on the map information in the parking space database, determines that the estimated position information is an empty parking space as an occupied parking space where the moving vehicle or towed vehicle is parked, and updates the empty parking space in the map information of the parking space database to an occupied parking space.

[0008] Another parking management system according to the present disclosure includes a parking space database storing map information of multiple parking spaces on a map within a specific area where a vehicle or a towed vehicle towed by a vehicle can park; a monitoring unit that detects a towing vehicle moving into a parking space among targets moving within a monitoring area of ​​the specific area and transmits estimated position information including estimated position coordinates where the towed vehicle is estimated to have been towed by the towing vehicle; and a parking space management unit that, based on the map information in the parking space database, determines that the estimated position information is an occupied parking space as an empty parking space into which the towed vehicle has been towed, and updates the occupied parking space in the map information in the parking space database to an empty parking space.

[0009] The parking management method of the present disclosure includes the steps of storing map information of multiple parking spaces in which a vehicle or a towed vehicle towed by a vehicle can park on a map within a specific area of ​​a parking space database, detecting a moving vehicle moving into a parking space among targets moving within a monitoring area of ​​the specific area, estimating location information including the position coordinates where the moving vehicle or towed vehicle is parked, and, if the estimated location information is an empty parking space based on the map information of the parking space database, determining that it is an used parking space where the moving vehicle or towed vehicle is parked, and updating the empty parking space in the map information of the parking space database to an used parking space.

[0010] The parking management program of the present disclosure includes the steps of storing map information of multiple parking spaces in which a vehicle or a towed vehicle towed by a vehicle can park on a map within a specific area in a parking space database; detecting a moving vehicle moving into a parking space among objects moving within a monitoring area of ​​the specific area; estimating location information including the position coordinates where the moving vehicle or towed vehicle is parked; and, if the estimated location information is an empty parking space based on the map information in the parking space database, determining that it is an used parking space where the moving vehicle or towed vehicle is parked, and updating the empty parking space in the map information of the parking space database to an used parking space. [Effects of the Invention]

[0011] According to the present disclosure, the parking position of a vehicle or towed vehicle that is not equipped with a positioning system can be estimated to manage the availability of parking spaces. [Brief explanation of the drawings]

[0012] [Figure 1] 1 is a schematic block diagram showing a parking management system according to a first embodiment. [Figure 2] FIG. 2 is an explanatory diagram illustrating the functions of the parking management system according to the first embodiment. [Figure 3]FIG. 2 is an explanatory diagram illustrating the functions of the parking management system according to the first embodiment. [Figure 4] FIG. 10 is a schematic block diagram showing a parking management system according to a second embodiment. [Figure 5] FIG. 10 is an explanatory diagram illustrating the functions of a parking management system according to a second embodiment. [Figure 6] FIG. 10 is an explanatory diagram illustrating the functions of a parking management system according to a second embodiment. [Figure 7] FIG. 10 is an explanatory diagram illustrating the functions of a parking management system according to a second embodiment. [Figure 8] FIG. 10 is an explanatory diagram illustrating the functions of a parking management system according to a second embodiment. [Figure 9] FIG. 11 is a schematic block diagram showing a parking management system according to a third embodiment. [Figure 10] FIG. 10 is an explanatory diagram illustrating the functions of a parking management system according to a third embodiment. [Figure 11] FIG. 10 is an explanatory diagram illustrating the functions of a parking management system according to a third embodiment. [Figure 12] 10 is a flowchart showing a schematic flow of processing in a parking management system according to a fourth embodiment. [Figure 13] FIG. 10 is a schematic diagram showing the operation of the parking management system according to the fourth embodiment. [Figure 14] FIG. 10 is a schematic diagram showing the operation of the parking management system according to the fourth embodiment. [Figure 15] FIG. 10 is a schematic block diagram showing an example of a processing circuit that realizes each function of the parking management system according to the fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0013] The embodiments will be described with reference to the drawings, in which the same contents and corresponding parts are designated by the same reference numerals and detailed description thereof will be omitted.

[0014] Embodiment 1 Fig. 1 is a schematic block diagram showing a parking management system 1000 according to the first embodiment, and Figs. 2 and 3 are explanatory diagrams illustrating the function of the parking management system 1000 in a specific area 500. For example, a vehicle 60 such as a truck towing a towed vehicle 61 such as a trailer loaded with cargo enters a specific area 500 such as a distribution center, and the trailer loaded with cargo is parked in a parking lot within the distribution center. The trailer is then towed by the vehicle 60 and transported from the parking lot to a warehouse or the like provided within the distribution center. The parking lot is provided with a plurality of parking spaces 51 in which a vehicle 60 or a towed vehicle 61 towed by the vehicle 60 can be parked, and is usually designed so that one towed vehicle 61 can be placed in one parking space 51.

[0015] The parking management system 1000 includes a parking space database 110 that stores map information for multiple parking spaces 51 on a map within a specific area 500 where a vehicle 60 or a towed vehicle 61 towed by the vehicle 60 can park, a monitoring unit 210 that detects a moving vehicle 62 moving into a parking space 51 among targets moving within a monitoring area 220 of the specific area 500 and transmits estimated location information including estimated location coordinates where the moving vehicle 62 or towed vehicle 61 is estimated to be parked, and a parking space management unit 310 that, based on the map information in the parking space database 110, determines that the estimated location information is an empty parking space 52, it is an used parking space 53 where the moving vehicle 62 or towed vehicle 61 is parked, and updates the empty parking space 52 in the map information of the parking space database 110 to an used parking space 53.

[0016] The parking space database 110 stores a map of the specific area 500 and information on the parking spaces 51. The map can be created using, for example, satellite data, a GIS (Geographic Information System), or the like. A plurality of parking spaces 51 available for vehicles 60, towed vehicles 61, etc. are depicted on this map, and monitoring information monitored by a monitoring unit 210 of a monitoring device 200 such as a roadside unit is written thereon. The monitoring unit 210 acquires target information such as the type and position of targets within the monitoring area 220 using sensors such as an image recognition camera, millimeter-wave radar, LiDAR (Light Detection and Ranging), and ultrasonic waves, and detects, for example, a vehicle 60 towing a trailer as a moving vehicle 62, and calculates the position coordinates of the detected moving vehicle 62. For example, absolute coordinates calculated based on the position of the monitoring device 200 are used.

[0017] For example, by matching with pre-stored pattern data, the type of target, such as a vehicle 60 such as a truck, a towed vehicle 61 such as a trailer, a person, an obstacle, etc., is analyzed. The direction of the target is also analyzed to detect a moving vehicle 62 moving into the parking space 51. The coordinates of the position where the detected moving vehicle 62 has stopped are then calculated and used as estimated position information. The moving vehicle 62 may be tracked and the tracking information may be transmitted.

[0018] The parking space management unit 310 is located in a management device 300 installed in, for example, a facility 510 within a specific area 500. When a moving vehicle 62 is detected by the moving vehicle detection unit 211 of the monitoring unit 210 and estimated position information including estimated position coordinates is transmitted from the estimated position information transmission unit 212, the estimated position information is received by the estimated position information reception unit 311 of the parking space management unit 310. The parking space management unit 310 receives map information from the parking space database 110 via the map information reception unit 312 and verifies where the estimated position coordinates are located on the map. The determination unit 313 then determines whether the estimated position coordinates correspond to a vacant parking space 52 based on the map information. If the estimated position coordinates correspond to a vacant parking space 52, the determination unit 313 determines that the moving vehicle 62 or towed vehicle 61 has been parked in the vacant parking space 52. The update unit 314 then updates the vacant parking space 52 in the map information of the parking space database 110 to an used parking space 53. If it is not a vacant parking space 52, the monitoring unit 210 continues to monitor it as a moving vehicle 62.

[0019] In the example shown in FIG. 2 , when vehicle 60 and towed vehicle 61 towed by vehicle 60 enter monitoring area 220 within specific region 500, monitoring unit 210 recognizes the target as moving vehicle 62. Then, when moving vehicle 62 stops in vacant parking space 52 among parking spaces 51, its estimated position coordinates are transmitted to parking space management unit 310 as estimated position information. For example, parking space management unit 310 temporarily forms virtual vehicle 601 and virtual towed vehicle 611 based on the received target information and estimated position coordinates, and when it is determined that the vehicle has been parked in vacant parking space 52, it updates the vacant parking space 52 in parking space database 110 to an used parking space 53. At this time, virtual vehicle 601 and virtual towed vehicle 611 are registered in parking space database 110 as information on actual vehicle 60 and towed vehicle 61 towed by vehicle 60. When vehicle 60 moves away, leaving towed vehicle 61 behind, only towed vehicle 61 is parked in used parking space 53. The parking space management unit 310 may not create the virtual vehicle 601 and the virtual towed vehicle 611, and may check whether or not the vehicle has been parked in a vacant parking space 52 on the map in the parking space database 110 using only the estimated position coordinates.

[0020] In the example shown in FIG. 3, a vehicle 60 and a towed vehicle 61 that have entered the parking lot are recognized as moving vehicles 62 by the monitoring unit 210, but the estimated position coordinates transmitted from the estimated position information transmission unit 212 straddle two vacant parking spaces 52. In this case, the parking space management unit 310 determines the two vacant parking spaces 52 as used parking spaces 53 where the moving vehicle 62 or the towed vehicle 61 is parked, and updates the vacant parking space 52 in the map information in the parking space database 110 to a used parking space 53. The parking space management unit 310 may issue a monitoring command to the monitoring unit 210 to continue monitoring, or may subsequently correct and update the information using a confirmation means described later. This is because it is expected that the driver of the vehicle 60 will change his parking position to another vacant parking space 52 if parking, releasing the towed vehicle, or the like takes time.

[0021] Here, communication between the monitoring device 200 having the monitoring unit 210 and the management device 300 having the parking space management unit 310, and communication between the management device 300 and the parking space database 110, are performed via a communication path 90. The communication path 90 may be wireless or wired. The parking space database 110 may be located within the management device 300. Although an example in which the management device 300 is installed in the facility 510 has been described, it may also be remotely operated from a remote location. The parking space database 110 may be formed on a server, cloud, etc., so that it can be operated from anywhere.

[0022] In this way, the parking management system 1000 comprises a parking space database 110 that stores map information of multiple parking spaces 51 on a map within a specific area 500 where a vehicle 60 or a towed vehicle 61 towed by the vehicle 60 can park, a monitoring unit 210 that detects a moving vehicle 62 moving into a parking space 51 among targets moving within a monitoring area 220 of the specific area 500 and transmits estimated position information including estimated position coordinates where the moving vehicle 62 or towed vehicle 61 is estimated to be parked, and a parking space management unit 310 that, based on the map information in the parking space database 110, determines that the estimated position information is an empty parking space 52, it is an used parking space 53 where the moving vehicle 62 or towed vehicle 61 is parked, and updates the empty parking space 52 in the map information in the parking space database 110 to an used parking space 53, thereby making it possible to estimate the parking position of a vehicle 60 or towed vehicle 61 that is not equipped with a positioning system and manage the availability of parking spaces 51. Furthermore, the map information in the parking space database 110 can be updated as needed without using satellite data, making it possible to inexpensively manage the parking spaces 51. Appropriate map information can also be provided to the towing vehicle 63 that moves to tow the towed vehicle 61.

[0023] Furthermore, if the estimated position coordinates transmitted from the monitoring unit 210 are within the vacant parking space 52, the virtual vehicle 601 and virtual towed vehicle 611 parked in the vacant parking space 52 are calculated based on the target information and estimated position information transmitted from the monitoring unit 210, and parking can be managed with high accuracy by estimating whether the virtual vehicle 601 and virtual towed vehicle 611 or the virtual towed vehicle 611 can be parked within the vacant parking space 52. Furthermore, if the estimated position coordinates straddle multiple vacant parking spaces 52, both of these spaces can be designated as used parking spaces 53, thereby preventing other vehicles 60 from using the space.

[0024] In addition, if the vehicle 60 that has completed the towing operation parks the towed vehicle 61 and then moves alone, only the towed vehicle 61 is left in the parking space 51. The monitoring unit 210 may monitor the state of the vehicle 60 after parking and transmit the state to the parking space management unit 310 as monitoring information.

[0025] Alternatively, an allowable position coordinate may be set in advance, such as when the head of the virtual vehicle 601 slightly protrudes from the parking space 51, and if the estimated position coordinate transmitted from the monitoring unit 210 is an allowable position coordinate, the estimated position information may be determined to be an empty parking space 52.

[0026] Furthermore, if estimated location information is not obtained from the monitoring unit 210 even after a predetermined monitoring time has elapsed, and if the obtained estimated location information cannot be determined to be a vacant parking space 52, error information may be transmitted from the monitoring unit 210 or the parking space management unit 310. When error information is transmitted, the monitoring device 200 may be remotely operated from the management device 300 to obtain monitoring information, or a worker or the like may visit the site to check the situation.

[0027] Embodiment 2 Fig. 4 is a schematic block diagram showing a parking management system 1000 according to the second embodiment, and Figs. 5 to 8 are explanatory diagrams explaining the functions of the parking management system 1000 in the specific area 500. The parking management system 1000 of the second embodiment differs from the first embodiment in that it includes an entering vehicle management unit 410 that acquires entry information of a vehicle 60 entering the specific area 500. Other aspects are the same as those of the first embodiment.

[0028] The parking management system 1000 includes an entering vehicle management unit 410 that acquires entry information of a vehicle 60 entering a specific area 500. Based on the entry information from the entering vehicle management unit 410, the monitoring unit 210 detects a moving vehicle 62 among the targets that is moving into a parking space 51, and calculates estimated position information indicating where the moving vehicle 62 or towed vehicle 61 is estimated to be parked.

[0029] 4 and 5, an entrance management device 400 that manages vehicles 60 entering a specific area 500 is provided at the entrance, and when an entrance reception unit 411 of an entrance management unit 410 of the entrance management device 400 accepts the entry of a vehicle 60, the entrance information transmission unit 412 transmits the entry information of the vehicle 60 to the monitoring unit 210. The transmitted entry information triggers the monitoring unit 210 to detect a moving vehicle 62 using a moving vehicle detection unit 211 and calculates estimated position information indicating where the moving vehicle 62 is estimated to be parked. The monitoring unit 210 can simply recognize the entering vehicle 60 as a target and detect it as a moving vehicle 62 when the entry information is transmitted, making it easy to detect the moving vehicle 62. Furthermore, the entering vehicle management unit 410 may measure the size, length, weight, etc. of the body of the entering vehicle 60. If there are parking spaces 51 of different sizes, it is possible to estimate the parking space 51 in which the moving vehicle 62 will be parked, making it easier to track the moving vehicle 62. Furthermore, the information on the entering vehicle 60 and the towed vehicle 61 makes it easier to form a virtual vehicle 601 and a virtual towed vehicle 611.

[0030] Furthermore, the parking space management unit 310 may store the count number of moving vehicles 62 moving into the parking space 51 from the entry information in the counting unit 316, and if the number of moving vehicles 62 detected by the monitoring unit 210 is less than the count number, determine that the moving vehicle 62 or towed vehicle 61 has been parked. This is because the entering vehicle 60 is counted, and once parking of the vehicle 60 is completed, it is no longer detected as a moving vehicle 62.

[0031] Here, the entering vehicle management unit 410 prohibits the entry of more vehicles 60 than the total number of parking spaces 51, and allows each vehicle 60 to park in any of the parking spaces 51. The entrance reception unit 411 of the entering vehicle management unit 410 may detect the entering vehicle 60 using a sensor such as a camera, or may accept the entry through an input operation by the driver of the vehicle 60, a receptionist at the specific area 500, or the like.

[0032] 6, if the number of moving vehicles 62 detected by the monitoring unit 210 is less than the counted number of entered vehicles 60, and if the monitoring unit 210 finishes detecting the moving vehicles 62, it can be estimated that the moving vehicles 62 have been parked in the parking space 51 closest to the position of the moving vehicles 62 detected before the end of the detection. If the estimated parking space 51 based on the map information in the parking space database 110 is an empty parking space 52, the parking space management unit 310 can determine that the parking space 51 is an used parking space 53 in which the moving vehicle 62 or towed vehicle 61 is parked, and can update the empty parking space 52 in the map information in the parking space database 110 to an used parking space 53. In this way, even if accurate estimated position information is not obtained from the monitoring unit 210, the used parking space 53 can be estimated with a high degree of probability.

[0033] 7, if the number of detected moving vehicles 62 is less than the counted number, and if the detection of the moving vehicles 62 by the monitoring unit 210 is interrupted at the edge of the monitoring area 220, the parking space management unit 310 may determine that the moving vehicles 62 have moved outside the monitoring range of the monitoring unit 210 and may subtract the counted number. Parking management within the monitoring area 220 may then be continued with the subtracted counted number.

[0034] In this way, the monitoring unit 210 is provided with an entering vehicle management unit 410 that acquires entry information when a vehicle 60 enters the specific area 500, and detects a moving vehicle 62 among moving targets moving into a parking space 51 based on the entry information from the entering vehicle management unit 410, and calculates estimated position information at which the moving vehicle 62 or towed vehicle 61 is estimated to be parked. This makes it easy to detect the moving vehicle 62 because it is sufficient to recognize the moving vehicle 60 as a target and detect it as a moving vehicle 62 at the time the entry information is transmitted. This makes it easy to track the moving vehicle 62. In addition, the number of moving vehicles 62 moving into the parking space 51 is counted from the entry information and stored, and the fact that the number of moving vehicles 62 detected by the monitoring unit 210 is less than the counted number can be used as a means for determining whether the moving vehicle 62 or towed vehicle 61 has been parked. Furthermore, if the number of detected moving vehicles 62 is less than the number to be counted, the position where the moving vehicle 62 or towed vehicle 61 is parked can be estimated from the position of the moving vehicle 62 at which the monitoring unit 210 has finished detecting the moving vehicle 62. Furthermore, if the number of detected moving vehicles 62 is less than the counted number and the detection of the moving vehicle 62 by the monitoring unit 210 is interrupted at the edge of the monitoring area, it can be determined that the moving vehicle 62 has moved outside the monitoring range of the monitoring unit 210, and the number of moving vehicles 62 within the monitoring area 220 can be managed by subtracting the counted number.

[0035] Although an example in which the counting unit 316 is provided in the parking space management unit 310 has been described, the number of vehicles 60 may be managed by the entering vehicle management unit 410 and transmitted to the parking space management unit 310 . The entering vehicle management unit 410 may be provided in the entrance management device 400 or the management device 300, or may be provided in either one. It may also be provided in either one, and data may be exchanged between the two, and managed collectively by either one.

[0036] When the moving vehicle 62 moves out of the monitoring area 220, a second monitoring device may be provided in an adjacent area and monitoring may be continued by switching the monitoring unit 210. The parking space management unit 310 may continue to acquire monitoring information from both the first monitoring device 200 and the second monitoring device without switching the monitoring unit 210 to the adjacent second monitoring device.

[0037] Also, when the towing vehicle 63 tows the towed vehicle 61 and moves it to a warehouse or the like, it is assumed that an empty parking space 52 has been created, and the number of counted vehicles may be subtracted, and parking management within the monitoring area 220 may continue.

[0038] When the vehicle 60 has completed the towing operation and moved, leaving only the towed vehicle 61 in the parking space 51, a towing vehicle 63 waiting in the specific area 500 tows the towed vehicle 61 and moves it to a warehouse or the like, as shown in FIG. 8 . For example, if a movement command is issued from the movement command unit 315 of the management device 300 to the movement command receiving unit 631 of the towing vehicle 63, the monitoring unit 210 simultaneously receives the movement command signal, recognizes the target as the towing vehicle 63, and detects the moving vehicle 62. The monitoring unit 210 then transmits estimated position information, including the estimated position coordinates of the used parking space 53 toward which the moving vehicle 62 is heading, to the parking space management unit 310. Based on the map information in the parking space database 110, if the estimated position information is the used parking space 53, the parking space management unit 310 determines that the towed vehicle 61 is the vacant parking space 52 to which the towing vehicle 63 moved the towed vehicle 61, and updates the used parking space in the map information of the parking space database 110 to the vacant parking space 52.

[0039] In other words, the system is equipped with a parking space database 110 that stores map information for multiple parking spaces 51 on a map within a specific area 500 where a vehicle 60 or a towed vehicle 61 towed by the vehicle 60 can park, a monitoring unit that detects a towing vehicle 63 moving toward a parking space 51 among targets moving within the monitoring area of ​​the specific area 500 and transmits estimated location information including estimated location coordinates where the towed vehicle 61 is estimated to have been towed by the towing vehicle 63, and a parking space management unit that, based on the map information in the parking space database 110, determines that the estimated location information is an occupied parking space 53, and that it is an empty parking space 52 into which the towed vehicle 61 has been towed, and updates the occupied parking space 53 in the map information in the parking space database 110 to an empty parking space 52, thereby making it possible to manage the parking space 51 when an empty parking space 52 is created when the towed vehicle 61 is towed by the towing vehicle 63.

[0040] Embodiment 3 Fig. 9 is a schematic block diagram showing a parking management system 1000 according to the third embodiment, and Figs. 10 and 11 are explanatory diagrams explaining the function of the parking management system 1000 in a specific area 500. The parking management system 1000 of the third embodiment differs from the first or second embodiment in that it corrects and updates map information based on measurement information acquired from an autonomously driven vehicle 64. Other aspects are the same as those of the first or second embodiment.

[0041] The parking management system 1000 includes a parking space database 110 that stores map information for multiple parking spaces 51 on a map within a specific area 500 where a vehicle 60 or a towed vehicle 61 towed by the vehicle 60 can park, a monitoring unit 210 that detects a moving vehicle 62 moving into a parking space 51 among targets moving within a monitoring area 220 of the specific area 500 and transmits estimated location information including estimated location coordinates where the moving vehicle 62 or towed vehicle 61 is estimated to be parked, and a parking space management unit 310 that, based on the map information in the parking space database 110, determines that the estimated location information is an empty parking space 52, it is an used parking space 53 where the moving vehicle 62 or towed vehicle 61 is parked, and updates the empty parking space 52 in the map information of the parking space database 110 to an used parking space 53. The parking space management unit 310 then determines whether a moving vehicle 62 or a towed vehicle 61 is parked in the used parking space 53 based on measurement information obtained from an autonomous vehicle 64 that is automatically driving within a specific area 500 where the surroundings of the vehicle can be monitored and measured, and if a moving vehicle 62 or a towed vehicle 61 is parked, it confirms and updates the map information in the parking space database 110, and if a moving vehicle 62 or a towed vehicle 61 is not parked, it corrects and updates the map information in the parking space database 110.

[0042] 9 and 10 , for example, an autonomous vehicle 64 that receives an image capture command for estimated position coordinates from the parking space management unit 310 of the management device 300 automatically travels to the estimated position coordinates while detecting its own vehicle position using the vehicle position detection unit 643, and captures images of the area around its own vehicle using, for example, the image capture unit 641. This image capture information and its own vehicle position are transmitted from the data transmission unit 644 of the autonomous vehicle 64 to the data reception unit 317 of the parking space management unit 310. Based on this image capture information, the parking space management unit 310 confirms and determines whether a moving vehicle 62 or a towed vehicle 61 is parked in the used parking space 53 determined by the determination unit 313. If a moving vehicle 62 or a towed vehicle 61 is parked, the correction / update unit 318 confirms and updates the map information in the parking space database 110. If a moving vehicle 62 or a towed vehicle 61 is not parked, the correction / update unit 318 corrects and updates the map information in the parking space database 110 from the used parking space 53 to an empty parking space 52.

[0043] The imaging command to the autonomously driven vehicle 64 may be sent not only by the parking space management unit 310 but also by another command unit of the management device 300 or the monitoring unit 210. The autonomously driven vehicle 64 may patrol the specific area 500 by autonomous driving and transmit position information, imaging information, etc. as appropriate. The autonomously driven vehicle 64 may obtain entry information of the vehicle 60 from the entering vehicle management unit 410 and track the moving vehicle 62 in parallel with the monitoring unit 210. Furthermore, the autonomously driven vehicle 64 may use an information processing unit (not shown) to calculate the absolute coordinates of the position of the towed vehicle 61 detected based on the absolute coordinates of the vehicle itself obtained by the vehicle position detection unit 643. The absolute coordinates of the imaging area 642 may also be transmitted.

[0044] The vehicle position detection unit 643 detects where the vehicle is located within a specific area 500, such as a distribution center, and may acquire the vehicle position by installing a GNSS (Global Navigation Satellite System) sensor, or by dead reckoning. The information processing unit may be implemented in a form that is integrated with or inseparable from other components within the autonomous vehicle 64, or may be implemented in a form that is removable or separable.

[0045] The measurement information for monitoring and measuring the surroundings of the autonomous vehicle 64 has been explained using the example of the imaging unit 641 composed of an imaging camera, etc., but the means for monitoring and measuring the surroundings may also be a sensor such as a millimeter wave radar or LiDAR, and the position of a target within the detection range may be obtained as target information.

[0046] Furthermore, if the moving vehicle 62 detected by the monitoring unit 210 described in the first embodiment is interrupted at the edge of the monitoring area, the autonomously driven vehicle 64 may receive a notification from the monitoring unit 210 or the parking space management unit 310 and go to the location where monitoring was interrupted, for example, as shown in FIG. 11 , to monitor and measure the surrounding area. For example, if the monitoring unit 210 measures that the moving vehicle 62 or the towed vehicle 61 is parked in a parking space 51 located outside the monitoring area 220, the monitoring unit 210 transmits the monitoring measurement results, such as the parking position, to the parking space management unit 310. If the parking position received from the autonomously driven vehicle 64 is an empty parking space 52 based on the map information in the parking space database 110, the parking space management unit 310 determines that the parking position is an occupied parking space 53 in which the moving vehicle 62 or the towed vehicle 61 is parked, and can update the empty parking space 52 in the map information of the parking space database 110 to an occupied parking space 53.

[0047] If the monitoring unit 210 is no longer able to monitor the moving vehicle 62 due to other vehicles or obstacles, the automatically driven vehicle 64 may be moved to a location where monitoring is no longer possible. The specific area 500 may be set so that the autonomous vehicle 64 periodically patrols the area.

[0048] In this way, based on measurement information acquired from an autonomously driven vehicle 64 automatically traveling within a specific area 500 where the surroundings of the vehicle can be monitored and measured, it is determined whether a moving vehicle 62 or towed vehicle 61 is parked in the determined available parking space 53, and if a moving vehicle 62 or towed vehicle 61 is parked, the map information in the parking space database 110 is confirmed and updated, and if a moving vehicle 62 or towed vehicle 61 is not parked, the map information in the parking space database 110 is corrected and updated, thereby correcting the estimated parking position of the vehicle 60 or towed vehicle 61 and accurately managing the availability of the parking space 51. Appropriate map information can then be provided to the towing vehicle 63 moving to tow the towed vehicle 61.

[0049] Furthermore, if the detection of the moving vehicle 62 by the monitoring unit 210 is interrupted at the edge of the monitoring area of ​​the monitoring unit 210, the autonomously driven vehicle 64, which automatically travels within a specific area 500 where the surroundings of the vehicle can be monitored and measured, is moved to the edge of the monitoring area to monitor and measure the moving vehicle 62, and estimated position information including the estimated position coordinates where the moving vehicle 62 or towed vehicle 61 is estimated to be parked based on the monitoring measurement is obtained, and if the estimated position information is an empty parking space 52 based on the map information of the parking space database 110, it is determined to be an used parking space 53 where the moving vehicle 62 or towed vehicle 61 is parked, and the empty parking space 52 in the map information of the parking space database 110 is updated to an used parking space 53, so that the map information of the parking space database 110 can be updated even if the moving vehicle 62 moves outside the monitoring area 220.

[0050] In a large site such as a distribution center, it is costly to install multiple monitoring devices 200 to monitor the entire area without omissions, but even if there are areas that cannot be monitored, the parking space 51 can be managed inexpensively by using an autonomous vehicle 64 to assist in monitoring. Furthermore, if the monitoring unit 210 is unable to monitor the moving vehicle 62 en route, the automatically driven vehicle 64 can assist in monitoring, thereby updating the map information in the parking space database 110. By having the autonomous vehicle 64 periodically patrol the specific area 500, the frequency of updating and correcting the map information in the parking space database 110 can be increased.

[0051] Embodiment 4 The following describes the operation of the parking management system 1000. Fig. 12 is a flowchart showing an outline of the processing flow of the parking management system 1000 according to the fourth embodiment. First, map information of multiple parking spaces 51 in which a vehicle 60 or a towed vehicle 61 towed by the vehicle 60 can park is stored on a map within a specific area 500 in the parking space database 110 (step S101). Then, among targets moving within the monitoring area 220 of the specific area 500, a moving vehicle 62 moving toward a parking space 51 is detected (step S102). Then, location information including the location coordinates where the moving vehicle 62 or towed vehicle 61 is parked is estimated (step S103). Next, based on the map information in the parking space database 110, if the estimated location coordinates are an empty parking space 52 (YES in step S104), it is determined to be an occupied parking space 53 where the moving vehicle 62 or towed vehicle 61 is parked (step S105). Then, the empty parking space 52 in the map information in the parking space database 110 is updated to an occupied parking space 53 (step S106). If the estimated location coordinates are not a vacant parking space 52 based on the map information in the parking space database 110 (NO in step S104), the process returns to step S102 and continues to detect moving vehicles 62 moving within the monitoring area 220 of the specific region 500.

[0052] The parking management system 1000 is composed of a parking space database 110, a monitoring unit 210, and a parking space management unit 310. For example, as shown in FIG. 13 , the parking space management unit 310 is provided in a management device 300 that manages information on a specific area 500, and the parking space management unit 310 stores multiple parking spaces 51 in which a vehicle 60 or a towed vehicle 61 can park on a map within the specific area 500 in the map information stored in the parking space database 110. The monitoring unit 210 issues a monitoring command to the monitoring unit 210 in the monitoring device 200 to detect a moving vehicle 62 moving into a parking space 51 among targets moving within a monitoring area 220 of the specific area 500. The monitoring unit 210 detects the moving vehicle 62, estimates location information including the coordinates of the location where the moving vehicle 62 or towed vehicle 61 is parked, and transmits the monitoring information to the parking space management unit 310. The parking space management unit 310 may be responsible for estimating absolute coordinates and other calculations. The parking space management unit 310 receives map information from the parking space database 110, and if the estimated location based on the monitoring information is an empty parking space 52 on the map, it determines that the space is an occupied parking space 53 in which a moving vehicle 62 or towed vehicle 61 is parked. The unit then updates the empty parking space 52 on the map to an occupied parking space 53 and stores it in the parking space database 110.

[0053] 14, for example, the entrance information of the entering vehicle management unit 410 provided in the entrance management device 400 is used as a trigger to cause the monitoring unit 210 of the monitoring device 200 to detect a moving vehicle 62, perform coordinate conversion, and send the monitoring information to the parking space management unit 310 of the management device 300. The parking space management unit 310 obtains map information from the parking space database 110 and entrance information from the entering vehicle management unit 410, and determines the parking space 51 by comparing the number of entered vehicles 60 with the number of vacant parking spaces 52 and occupied parking spaces 53. The map information is then updated and stored in the parking space database 110.

[0054] Furthermore, as described in the third embodiment, when the parking management system 1000 is composed of the parking space database 110, the monitoring unit 210, the parking space management unit 310, and the autonomous vehicle 64, for example, the parking space management unit 310 causes the autonomous vehicle 64 to check the parking space 51, and if there is an error in the judgment, corrects and updates the map information and stores it in the parking space database 110.

[0055] The devices constituting the parking management system 1000 and the method of exchanging data are not limited to the above examples. Each device equipped with the functions of the parking management system 1000 is equipped with a communication I / F (interface) 91, a processor 92, and a memory 93, as shown in Fig. 15, for example. The processor 92 may be, for example, a CPU (Central Processing Unit). The memory 93 transmits and receives data to and from the processor 92 and stores the data. Monitoring information from the monitoring unit 210, entry information from the entering vehicle management unit 410, measurement information from the autonomously driven vehicle 64, and the like are acquired via the communication I / F 91 of each device. Each process, such as calculating the estimated position coordinates of the moving vehicle 62 and determining the parking space 51, is executed by the processor 92. Reference data, calculation formulas, and the like are stored in the memory 93.

[0056] The processor 92 and memory 93 may be one shared unit or multiple units may be provided. The processor 92 may also include, for example, a logic circuit using an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), or various signal processing circuits. Multiple processors 92 of the same type or different types may be provided, so that each process is shared and executed by multiple arithmetic processing devices.

[0057] The multiple memories 93 may include, for example, a RAM (Random Access Memory) configured to allow data to be read and written from the processor 92, a ROM (Read Only Memory) configured to allow data to be read from the processor 92, a hard disk (HDD), etc.

[0058] Each function of the parking management system 1000 is realized by the processor 92 executing software or programs stored in the memory 93 and working in cooperation with the hardware. The data to be set may be stored in the memory 93 as part of the software or program, or may be input by the user. A non-transitory recording medium 95 on which the parking management program 94 is recorded may be distributed and installed in the parking management system 1000 (memory 93).

[0059] The entrance management device 400 includes an input interface and an information processing device. The information processing device is, for example, a general computer, an ECU (Electronic Control Unit), etc. The entrance management device 400 may be implemented as an integrated part of the monitoring device 200 such as a roadside unit, or as an inseparable part, or may be implemented as a detachable part or as a detachable part. If the parking space database 110 is in the management device 300, the communication I / F 91 may not be provided.

[0060] In this way, map information of multiple parking spaces 51 in which a vehicle 60 or a towed vehicle 61 towed by a vehicle 60 can park is stored on a map within a specific area 500 in the parking space database 110, a moving vehicle 62 moving toward a parking space 51 among targets moving within the monitoring area 220 of the specific area 500 is detected, location information including the position coordinates where the moving vehicle 62 or towed vehicle 61 is parked is estimated, and if the estimated location information is an empty parking space 52 based on the map information in the parking space database 110, it is determined to be an used parking space 53 where the moving vehicle 62 or towed vehicle 61 is parked, and the empty parking space 52 in the map information in the parking space database 110 is updated to an used parking space 53, thereby making it possible to estimate the parking position of a vehicle 60 or towed vehicle 61 that is not equipped with a positioning system and manage the availability of parking spaces 51.

[0061] In the first to fourth embodiments, examples have been described in which the monitoring unit 210 performs monitoring upon receiving monitoring commands, entry information, etc., but the monitoring unit 210 may also constantly monitor the monitoring area 220 and transmit monitoring information of the moving vehicle 62 in real time. Furthermore, in the first to fourth embodiments, a delivery center has been described as an example of the specific area 500, but the specific area 500 may be applied to a valet parking facility that manages vehicles 60 entering the specific area 500, or the like.

[0062] <Summary of various aspects of the present application> Various aspects of the present application will be summarized below as appendices. (Appendix 1) a parking space database storing map information of a plurality of parking spaces on a map within a specific area where a vehicle or a towed vehicle towed by the vehicle can park; a monitoring unit that detects a moving vehicle moving into the parking space among targets moving within a monitoring area of ​​the specific region, and transmits estimated position information including estimated position coordinates of the location where the moving vehicle or the towed vehicle is estimated to be parked; a parking space management unit that, when the estimated position information indicates a vacant parking space based on the map information of the parking space database, determines that the parking space is an occupied parking space in which the moving vehicle or the towed vehicle is parked, and updates the vacant parking space in the map information of the parking space database to the occupied parking space; A parking management system comprising:

[0063] (Appendix 2) The parking management system described in Appendix 1, wherein, when the estimated position coordinates are within a vacant parking space, the parking space management unit calculates the virtual vehicle and virtual towed vehicle parked in the vacant parking space based on the target information and the estimated position coordinates transmitted from the monitoring unit, and estimates whether the virtual vehicle and the virtual towed vehicle or the virtual towed vehicle can be parked in the vacant parking space.

[0064] (Appendix 3) The parking management system described in Appendix 1 or Appendix 2, wherein, when the estimated position information spans multiple vacant parking spaces, the parking space management unit determines the multiple vacant parking spaces as used parking spaces where the moving vehicle or the towed vehicle is parked, and updates the vacant parking spaces in the map information of the parking space database to the used parking spaces.

[0065] (Appendix 4) an entering vehicle management unit that acquires entry information of the vehicle entering the specific area; 4. A parking management system as described in any one of appendices 1 to 3, wherein the monitoring unit detects a moving vehicle among the moving objects moving into the parking space based on the entry information of the entering vehicle management unit, and calculates the estimated position information at which the moving vehicle or the towed vehicle is estimated to be parked.

[0066] (Appendix 5) The parking space management system described in Appendix 4, wherein the parking space management unit stores a counted number of moving vehicles moving into the parking space from the entry information, and determines that the moving vehicle or the towed vehicle has been parked if the number of moving vehicles detected by the monitoring unit is less than the counted number.

[0067] (Appendix 6) The parking management system described in Appendix 5, wherein when the number of detected moving vehicles is less than the counted number and detection of the moving vehicles by the monitoring unit has ended, the parking space management unit estimates that the moving vehicle has been parked in the parking space closest to the position of the moving vehicle detected before detection ended, and when the parking space estimated based on the map information in the parking space database is the vacant parking space, it determines that the parking space is the used parking space in which the moving vehicle or the towed vehicle is parked, and updates the vacant parking space in the map information in the parking space database to the used parking space.

[0068] (Appendix 7) The parking space management unit A parking management system as described in Appendix 5 or Appendix 6, wherein if the number of detected moving vehicles is less than the counted number and the detection of the moving vehicle by the monitoring unit is interrupted at the edge of the monitoring area, the parking management system determines that the moving vehicle has moved outside the monitoring range of the monitoring unit and subtracts the counted number.

[0069] (Appendix 8) a parking space database storing map information of a plurality of parking spaces on a map within a specific area where a vehicle or a towed vehicle towed by the vehicle can park; a monitoring unit that detects a towing vehicle moving into the parking space among targets moving within a monitoring area of ​​the specific region, and transmits estimated position information including estimated position coordinates of the towed vehicle being towed by the towing vehicle; a parking space management unit that, when the estimated position information indicates an occupied parking space based on the map information of the parking space database, determines that the towed vehicle is towed into an empty parking space, and updates the occupied parking space in the map information of the parking space database to the empty parking space; A parking management system comprising:

[0070] (Appendix 9) 9. A parking management system as set forth in any one of Supplementary Note 1 to Supplementary Note 8, wherein the parking space management unit determines whether a moving vehicle or the towed vehicle is parked in the used parking space based on measurement information obtained from an autonomous vehicle that automatically drives within the specific area where it can monitor and measure the area around its own vehicle, and if the moving vehicle or the towed vehicle is parked, it confirms and updates the map information in the parking space database, and if the moving vehicle or the towed vehicle is not parked, it corrects and updates the map information in the parking space database.

[0071] (Appendix 10) 10. The parking management system according to any one of Supplementary Note 1 to Supplementary Note 9, wherein, when detection of a moving vehicle by the monitoring unit is interrupted at the edge of a monitoring area of ​​the monitoring unit, the parking space management unit moves an autonomously driven vehicle that automatically drives within the specific area where it can monitor and measure the periphery of its own vehicle to the edge of the monitoring area to monitor and measure the moving vehicle, obtains estimated position information including estimated position coordinates where the moving vehicle or the towed vehicle is estimated to be parked based on the monitoring measurements, and, if the estimated position information is an empty parking space based on the map information of the parking space database, determines that the parking space is an occupied parking space where the moving vehicle or the towed vehicle is parked, and updates the empty parking space in the map information of the parking space database to the occupied parking space.

[0072] (Appendix 11) 11. A parking management system as described in any one of appendices 1 to 10, wherein the vehicle is a truck or tractor towing a trailer loaded with cargo, and the parking space is a space where the vehicle or trailer is parked until the cargo is unloaded from the trailer.

[0073] (Appendix 12) Storing map information of a plurality of parking spaces in which a vehicle or a towed vehicle towed by the vehicle can park on a map within a specific area of ​​the parking space database; detecting a moving vehicle moving into the parking space among targets moving within a monitoring area of ​​the specific region; estimating location information including coordinates of a location where the moving vehicle or the towed vehicle is parked; If the estimated location information is a vacant parking space based on the map information of the parking space database, determining that the estimated location information is a used parking space where the moving vehicle or the towed vehicle is parked, and updating the vacant parking space in the map information of the parking space database to the used parking space. A parking management method comprising:

[0074] (Appendix 13) Storing map information of a plurality of parking spaces in which a vehicle or a towed vehicle towed by the vehicle can park on a map within a specific area in a parking space database; detecting a moving vehicle moving into the parking space among targets moving within a monitoring area of ​​the specific region; estimating location information including coordinates of a location where the moving vehicle or the towed vehicle is parked; If the estimated location information is a vacant parking space based on the map information of the parking space database, determining that the estimated location information is a used parking space where the moving vehicle or the towed vehicle is parked, and updating the vacant parking space in the map information of the parking space database to the used parking space. A parking management program comprising:

[0075] Although various exemplary embodiments are described in this disclosure, the various features, aspects, and functions described in one or more embodiments are not limited to the application of a particular embodiment, but may be applied to the embodiments alone or in various combinations. Therefore, countless variations not illustrated are contemplated within the scope of the technology disclosed in this specification. For example, this includes cases where at least one component is modified, added, or omitted, and even cases where at least one component is extracted and combined with components of another embodiment. [Explanation of symbols]

[0076] 51 Parking space, 52 Vacant parking space, 53 Used parking space, 60 Vehicle, 61 Towed vehicle, 62 Moving vehicle, 63 Towing vehicle, 90 Communication path, 110 Parking space database, 200 Monitoring device, 210 Monitoring unit, 211 Moving vehicle detection unit, 212 Estimated position information transmission unit, 220 Monitoring area, 300 Management device, 310 Parking space management unit, 311 Estimated position information reception unit, 312 Map information reception unit, 313 Determination unit, 314 Update unit, 315 Movement command unit, 316 Counting unit, 317 Data reception unit, 318 Correction / update unit, 400 Entrance management device, 410 Entering vehicle management unit, 411 Entrance reception unit, 412 Entrance information transmission unit, 500 Specific area, 510 Facility, 601 Virtual vehicle, 611 Virtual towed vehicle, 631 Movement command receiving unit, 1000 Parking management system

Claims

1. a parking space database storing map information of a plurality of parking spaces on a map within a specific area where a vehicle or a towed vehicle towed by the vehicle can park; a monitoring unit that detects a moving vehicle moving into the parking space among targets moving within a monitoring area of ​​the specific region, and transmits estimated position information including estimated position coordinates where the moving vehicle or the towed vehicle is estimated to be parked; a parking space management unit that, when the estimated position information indicates a vacant parking space based on the map information of the parking space database, determines that the parking space is an occupied parking space in which the moving vehicle or the towed vehicle is parked, and updates the vacant parking space in the map information of the parking space database to the occupied parking space; A parking management system comprising:

2. 2. The parking management system according to claim 1, wherein, when the estimated position coordinates are within the vacant parking space, the parking space management unit calculates the virtual vehicle and the virtual towed vehicle parked in the vacant parking space based on the target information and the estimated position coordinates transmitted from the monitoring unit, and estimates whether the virtual vehicle and the virtual towed vehicle or the virtual towed vehicle can be parked in the vacant parking space.

3. 3. The parking management system according to claim 1, wherein when the estimated position information spans multiple vacant parking spaces, the parking space management unit determines the multiple vacant parking spaces as used parking spaces where the moving vehicle or the towed vehicle is parked, and updates the vacant parking spaces in the map information of the parking space database to the used parking spaces.

4. an entering vehicle management unit that acquires entry information of the vehicle entering the specific area; 2. The parking management system according to claim 1, wherein the monitoring unit detects the moving vehicle among the moving objects moving into the parking space based on the entry information of the entry vehicle management unit, and calculates the estimated position information indicating where the moving vehicle or the towed vehicle is estimated to be parked.

5. 5. The parking management system according to claim 4, wherein the parking space management unit stores a count of the number of moving vehicles moving into the parking space from the entry information, and if the number of moving vehicles detected by the monitoring unit is less than the counted number, determines that the moving vehicle or the towed vehicle has been parked.

6. The parking space management unit When the number of detected moving vehicles is less than the count number, if the detection of the moving vehicle by the monitoring unit is terminated, it is assumed that the moving vehicle has been parked in the parking space that is closest to the position of the moving vehicle detected before the termination.

6. The parking management system according to claim 5, wherein, when the parking space estimated based on the map information of the parking space database is the vacant parking space, the parking space is determined to be the used parking space in which the moving vehicle or the towed vehicle is parked, and the vacant parking space in the map information of the parking space database is updated to the used parking space.

7. The parking space management unit 6. A parking management system as described in claim 5, wherein if the number of detected moving vehicles is less than the counted number and the detection of the moving vehicle by the monitoring unit is interrupted at the edge of the monitoring area, the moving vehicle is determined to have moved outside the monitoring range of the monitoring unit, and the counted number is subtracted.

8. a parking space database storing map information of a plurality of parking spaces on a map within a specific area where a vehicle or a towed vehicle towed by the vehicle can park; a monitoring unit that detects a towing vehicle moving into the parking space among targets moving within a monitoring area of ​​the specific region, and transmits estimated position information including estimated position coordinates of the towed vehicle being towed by the towing vehicle; a parking space management unit that, when the estimated position information indicates an occupied parking space based on the map information of the parking space database, determines that the towed vehicle is towed into an empty parking space, and updates the occupied parking space in the map information of the parking space database to the empty parking space; A parking management system comprising:

9. The parking space management unit 5. A parking management system as described in claim 1 or claim 4, which determines whether the moving vehicle or the towed vehicle is parked in the used parking space based on measurement information obtained from an autonomous vehicle that automatically drives within the specific area where it can monitor and measure the area around its own vehicle, and if the moving vehicle or the towed vehicle is parked, it confirms and updates the map information in the parking space database, and if the moving vehicle or the towed vehicle is not parked, it corrects and updates the map information in the parking space database.

10. The parking space management unit When the detection of the moving vehicle by the monitoring unit is interrupted at the edge of the monitoring area of ​​the monitoring unit, an autonomously driven vehicle that automatically travels within the specific area in which the surroundings of the vehicle can be monitored and measured is moved to the edge of the monitoring area to monitor and measure the moving vehicle, and estimated position information including estimated position coordinates of the moving vehicle or the towed vehicle that is estimated to be parked based on the monitoring and measurement is acquired; 5. A parking management system as described in claim 1 or claim 4, wherein, based on the map information of the parking space database, if the estimated location information indicates an empty parking space, the parking space is determined to be an occupied parking space in which the moving vehicle or the towed vehicle is parked, and the empty parking space in the map information of the parking space database is updated to the occupied parking space.

11. 9. A parking management system according to claim 1, wherein the vehicle is a truck or tractor towing a trailer loaded with cargo, and the parking space is a space where the vehicle or trailer is parked until the cargo is unloaded from the trailer.

12. Storing map information of a plurality of parking spaces in which a vehicle or a towed vehicle towed by the vehicle can park on a map within a specific area of ​​the parking space database; detecting a moving vehicle moving into the parking space among targets moving within a monitoring area of ​​the specific region; estimating location information including coordinates of a location where the moving vehicle or the towed vehicle is parked; If the estimated location information is a vacant parking space based on the map information of the parking space database, determining that the estimated location information is a used parking space where the moving vehicle or the towed vehicle is parked, and updating the vacant parking space in the map information of the parking space database to the used parking space. A parking management method comprising:

13. Storing map information of a plurality of parking spaces in which a vehicle or a towed vehicle towed by the vehicle can park on a map within a specific area in a parking space database; detecting a moving vehicle moving into the parking space among targets moving within a monitoring area of ​​the specific region; estimating location information including coordinates of a location where the moving vehicle or the towed vehicle is parked; If the estimated location information is a vacant parking space based on the map information of the parking space database, determining that the estimated location information is a used parking space where the moving vehicle or the towed vehicle is parked, and updating the vacant parking space in the map information of the parking space database to the used parking space. A parking management program comprising:

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