Vehicle storage and retrieval support system

Abstract

To provide a vehicle storage and retrieval support system which offers improved convenience when using a system for automatically storing and retrieving a vehicle.SOLUTION: A vehicle storage and retrieval support system 1 is provided, comprising an autonomously-drivable vehicle 100 and a mobile terminal 200 with a user interface which is communicable with the vehicle 100. Upon receipt of a storage / retrieval request for the vehicle 100 from the mobile terminal 200, the vehicle 100 computes a recommended parking space when storing the vehicle or a recommended route to a user 2 when retrieving the vehicle on the basis of at least the location of the mobile terminal 200, the location of the vehicle 100, and parking lot usage history information of the user of the vehicle 100. Upon receipt of the recommended parking space or the recommended route from the vehicle 100, the mobile terminal 200 suggests storage at the recommended parking space or retrieval using the recommended route via the user interface.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a warehousing and delivery support system. [Background technology]

[0002] Patent Document 1 discloses a remote parking system that allows a vehicle to enter and leave a parking lot by remotely operating the vehicle from outside the vehicle. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-109616 Summary of the Invention [Problem to be solved by the invention]

[0004] When using a system that automatically processes vehicle entry and exit, users may find it inconvenient if they have to specify the destination (parking space) for the vehicle and the route to the user when exiting the system each time they use the system.

[0005] The present invention has been made in view of these problems, and aims to improve the convenience when using a system that automatically carries out vehicle entry and exit. [Means for solving the problem]

[0006] In order to solve the above problems, a storage / retrieval assistance system according to one aspect of the present invention includes an autonomously driven vehicle and a user interface, The vehicle is configured to, upon receiving a request for entering or leaving the vehicle from the mobile terminal, calculate a recommended parking space upon entry or a recommended route to the user upon exit based on at least the location of the mobile terminal, the location of the vehicle, and parking lot usage history information by the vehicle user. Upon receiving the recommended parking space or recommended route from the vehicle, the mobile terminal is configured to suggest, via a user interface, entry into the recommended parking space or exit using the recommended route. [Effects of the Invention]

[0007] According to these aspects of the present invention, it is possible to improve the convenience when using a system that automatically carries out vehicle entry and exit. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a schematic configuration diagram of a warehousing / retrieval support system according to an embodiment of the present invention. [Figure 2] 10 is a flowchart illustrating a warehousing process according to an embodiment of the present invention. [Figure 3] FIG. 10 is a diagram showing an example of a screen displayed on a user terminal when the user terminal receives a proposal signal. [Figure 4] 10 is a flowchart illustrating a shipping process according to an embodiment of the present invention. [Figure 5] FIG. 10 is a diagram showing an example of a screen displayed on the user terminal when the user terminal receives a route proposal signal. DETAILED DESCRIPTION OF THE INVENTION

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, like components are designated by like reference numerals.

[0010] FIG. 1 is a schematic diagram of a warehousing / retrieval support system 1 according to an embodiment of the present invention. The storage / retrieval support system 1 includes a vehicle 100 and a terminal 200 (hereinafter referred to as a "user terminal") owned by a user 2 who uses the vehicle 100.

[0011] The vehicle 100 includes a surroundings sensor 10, a vehicle sensor 20, an actuator 30, an exterior communication device 40, and a control device 50.

[0012] The surrounding sensor 10 is a sensor for generating surrounding data that represents the situation around the vehicle 100. In this embodiment, the surrounding sensor 10 includes one or more external cameras 11 for capturing images of the surroundings of the vehicle 100, and one or more distance measuring sensors 12 for measuring distances to targets such as other vehicles and pedestrians present around the vehicle 100.

[0013] The external camera 11 captures the surroundings of the vehicle 100 at a predetermined frame rate (for example, 10 [Hz] to 40 [Hz]) and generates a surrounding image showing the surroundings of the vehicle 100. Every time the external camera 11 generates a surrounding image, it transmits the generated surrounding image to the control device 50 as surrounding data.

[0014] The ranging sensor 12 irradiates a ranging area around the vehicle 100 with laser light, radio waves, ultrasonic waves, or the like, and receives reflected light of the irradiated laser light or reflected waves of the irradiated radio waves or ultrasonic waves. The ranging sensor 12 then measures the distance to various targets present within the ranging area based on the received reflected light or reflected waves. The ranging sensor 12 transmits ranging data, in which the distance to each target corresponds to coordinate information of each target, to the control device 50 as peripheral data. Examples of the ranging sensor 12 include a LiDAR (Light Detection and Ranging) that irradiates radar light and measures distance based on the reflected light, and a millimeter-wave radar sensor that irradiates radio waves and measures distance based on the reflected waves.

[0015] The vehicle sensor 20 is a sensor for generating vehicle data that indicates the state of the vehicle 100. In this embodiment, the vehicle sensor 20 includes, for example, a speed sensor 21 that generates speed data that indicates the traveling speed of the vehicle 100, and a positioning sensor 22 that generates current position data, such as latitude and longitude, that indicates the current position of the vehicle 100. The vehicle sensor 20 transmits each acquired data to the control device 50 as vehicle data.

[0016] The actuator 30 is a device used for driving control of the vehicle 100. In this embodiment, the actuator 30 includes an acceleration actuator 31 (for example, at least one of an engine and a motor) that controls acceleration of the vehicle 100, a brake actuator 32 (for example, a hydraulic actuator) that controls braking of the vehicle 100, and a steering actuator 33 (for example, a steering motor) that controls steering of the vehicle 100.

[0017] The external vehicle communication device 40 is an in-vehicle terminal with wireless communication capabilities, and is configured to be able to communicate with the user terminal 200 and a parking lot information providing device 300 that is installed at the entrance of a parking lot or the like. The parking lot information providing device 300 transmits real-time information about the parking lot to a vehicle 100 near the entrance of the parking lot. In this case, the parking lot information providing device 300 may be configured to detect a vehicle 100 entering the parking lot using infrared rays or the like, and transmit the real-time information about the parking lot to the detected vehicle 100.

[0018] The real-time information includes, for example, map information within the parking lot, available parking spaces in the parking lot, and characteristic information about the available parking spaces (hereinafter referred to as "parking space characteristic information"). Parking space characteristic information is information added to each parking space according to its characteristics. Examples of parking space characteristic information include information about facilities installed near the parking space, such as building entrances and elevator halls. Examples of parking space characteristic information include information about facilities installed in the parking space itself, such as charging stations. Examples of parking space characteristic information include information about the parking space number assigned to each parking space. If a parking space is a privately contracted parking space or a parking space reserved for the elderly or disabled, such information can also be added as parking space characteristic information.

[0019] The control device 50 is an ECU (Electronic Control Unit) including a communication unit 51, a storage unit 52, and a processing unit 53.

[0020] The communication unit 51 includes an interface circuit for connecting the control device 50 to the in-vehicle network 101. The communication unit 51 supplies various data received from the sensors 10, 20, the external communication device 40, etc. to the processing unit 53. The communication unit 51 also outputs various signals output from the processing unit 53 to the actuator 30, the external communication device 40, etc.

[0021] The storage unit 52 has a storage medium such as a hard disk drive (HDD), a solid disk drive (SSD), or a semiconductor memory, and stores various computer programs and data used for processing by the processing unit 53.

[0022] The storage unit 52 stores, for example, map information. The storage unit 52 also stores, for example, usage history information of parking lots that the vehicle 100 has used in the past. The usage history information of the parking lots includes, for example, parking lot information (e.g., location information) for identifying the parking lot, location information of the parking space where the vehicle was parked, characteristic information of the parking space (which may be characteristic information that can be estimated from the location information), usage time period information of the parking lot (date, time, day of the week, etc.), map information of the parking lot created when the vehicle was traveling in the parking lot, and route information when the vehicle was traveling in the parking lot (route information from the entrance to the parking space to the exit). In this embodiment, the processing unit 53, and therefore the control device 50, creates a bird's-eye view image of the vehicle 100 based on surrounding images captured by the external camera 11 while the vehicle 100 was traveling in the parking lot, and stores the bird's-eye view image in the storage unit 52 as map information.

[0023] The processing unit 53 has one or more central processing units (CPUs) and their peripheral circuits, and executes various computer programs stored in the storage unit 52. The processing unit 53 is, for example, a processor. The processing unit 53 may further have other arithmetic circuits such as a logic operation unit, a numerical operation unit, or a graphics processing unit.

[0024] The user terminal 200 is a mobile terminal having a user interface (e.g., a touch panel display), a wireless communication function, and a positioning function, such as a smartphone or tablet computer owned by a user 2 who uses the vehicle 100. The user 2 operates the user terminal 200 from outside the vehicle 100 to start an entry / exit support app, and performs predetermined operations on the entry / exit support app, thereby automatically entering and leaving the vehicle 100.

[0025] Hereinafter, the warehousing / retrieval process by the warehousing / retrieval support system 1 will be described with reference to FIGS.

[0026] FIG. 2 is a flowchart illustrating the warehousing process according to this embodiment.

[0027] In step S1, when the entry / exit assistance app is launched, the user terminal 200 transmits an entry request signal or an exit request signal to the vehicle 100 based on the current position of the user terminal 200 and the current position of the vehicle 100. Specifically, when the user 2 and the vehicle 100 are adjacent to each other, the user terminal 200 transmits an entry request signal, and when the user 2 and the vehicle 100 are not adjacent to each other (when they are separated by a predetermined distance or more), the user terminal 200 transmits an exit request signal. While the vehicle 100 is traveling, the user terminal 200 communicates with the vehicle 100 via the exterior communication device 40 to periodically acquire current position data of the vehicle 100.

[0028] 2 is a flowchart for explaining the warehousing process, the following will explain an example in which a warehousing request signal is transmitted in step S1. An example in which a warehousing request signal is transmitted will be described later with reference to FIG.

[0029] In step S2, when the control device 50 of the vehicle 100 receives the entry request signal via the external communication device 40, it identifies a parking lot in which to park the vehicle based on map information, current position data acquired by the positioning sensor 22, and surrounding images acquired by the external camera 11.

[0030] In step S3, the control device 50 of the vehicle 100 determines whether or not it has been able to acquire real-time information about the specific parking lot from the parking lot information providing device 300 of the parking lot (specific parking lot) identified in step S2. If the control device 50 has acquired real-time information about the specific parking lot, it proceeds to processing in step S4. On the other hand, if the control device 50 has not acquired real-time information about the specific parking lot, it proceeds to processing in step S5.

[0031] In step S4, the control device 50 of the vehicle 100 selects a parking space that meets the preferences of user 2 from among the available parking spaces as a recommended parking space based on real-time information about the specific parking lot and user 2's parking lot usage history information.

[0032] As described above, the real-time information includes available parking spaces in the parking lot and the parking space characteristic information for those available parking spaces. User 2's parking usage history information includes the time periods during which User 2 previously used the parking lot and the parking space characteristic information for the parking space where User 2 parked his or her vehicle. Based on User 2's usage history information, the control device 50 first acquires the parking space characteristic information for each parking space where User 2 previously parked during the current time period. Next, based on the real-time information, the control device 50 determines whether there is an available parking space in the parking lot with the most frequently acquired parking space characteristic information. If there is an available parking space with the most frequently acquired parking space characteristic information, the control device 50 selects that available parking space as a recommended parking space. If there is no available parking space with the most frequently acquired parking space characteristic information, the control device 50 determines whether there is an available parking space with the next most frequently acquired parking space characteristic information. This process is repeated until an available parking space is found.

[0033] This is because, for example, if the parking space characteristic information for each parking space where User 2 has previously parked during the current time period includes information such as "near the building entrance / exit," "near the elevator hall entrance / exit," and "has a charging station," and the parking space characteristic information "near the elevator hall entrance / exit" is obtained most frequently, this means that User 2 has most often parked in parking spaces "near the elevator hall entrance / exit" in the past. Therefore, it can be inferred that parking spaces "near the elevator hall entrance / exit" are User 2's preferred parking spaces.

[0034] In addition, if the parking lot usage history information includes usage history information of a specific parking lot, only the usage history information of the specific parking lot may be used in this step.

[0035] In step S5, the control device 50 of the vehicle 100 determines whether the user 2 has used the specific parking lot in the past, i.e., whether there is usage history information for the specific parking lot. If the control device 50 determines that the user 2 has used the specific parking lot in the past and there is usage history information for the specific parking lot, the control device 50 proceeds to processing in step S6. On the other hand, if the user has not used the specific parking lot in the past, the control device 50 proceeds to processing in step S7.

[0036] In step S6, the control device 50 of the vehicle 100 selects a parking space that meets the preferences of the user 2 as a recommended parking space based on the usage history information of the specific parking lot and the usage history information of the parking lot of the user 2.

[0037] As mentioned above, the parking lot usage history information includes map information of the parking lot that was created when the user previously drove through the parking lot. Therefore, the control device 50 first acquires parking space characteristic information for each parking space where user 2 has previously parked during the current time period, based on user 2's usage history information. Next, the control device 50 references the map information for the specific parking lot to determine whether there is a parking space with the parking space characteristic information most frequently acquired among the parking spaces. If such a parking space is found, the control device 50 selects the vacant parking space as the recommended parking space. If there is no parking space with the parking space characteristic information most frequently acquired, the control device 50 determines whether there is a parking space with the parking space characteristic information most frequently acquired, and repeats this process until such a parking space is found.

[0038] In this case, it is currently unknown whether the recommended parking space is an available parking space, and if the recommended parking space is not an available parking space when vehicle 100 reaches it, a search for a nearby available parking space will be performed.

[0039] In step S7, the control device 50 of the vehicle 100 transmits to the user terminal 200 a proposal signal for proposing a recommended parking space to the user 2.

[0040] In step S8, the control device 50 of the vehicle 100 transmits a suggestion not possible signal to the user terminal 200 to inform the user 2 that a recommended parking space cannot be suggested because the location of the parking space in the parking lot is unknown.

[0041] In step S9, when the user terminal 200 receives a proposal signal or a proposal not possible signal, it displays information corresponding to the received signal to the user 2 via the user interface. For example, when the user terminal 200 receives a proposal signal, it displays a simple map of the parking lot, the current position of the vehicle 100, a recommended parking space, and characteristic information of the recommended parking space, as shown in FIG. 3 (in the example shown in FIG. 3, an elevator hall is displayed to indicate that the parking space is near the entrance / exit of the elevator hall), and displays a start button (hereinafter referred to as the "first parking start button") for confirming whether to start parking in the recommended parking space. Furthermore, for example, when the user terminal 200 receives a proposal not possible signal, it displays to the user 2 via the user interface a message informing that it cannot propose a recommended parking space, and a start button (hereinafter referred to as the "second parking start button") for confirming whether to start parking in the vacant parking space as soon as the vacant parking space is found.

[0042] In step S10, when the first or second entry start button is pressed, the user terminal 200 transmits an entry instruction signal to the vehicle 100.

[0043] In step S11, when the control device 50 of the vehicle 100 receives the entry instruction signal, it controls the actuator 30 to automatically control the driving of the vehicle 100, and if the first entry start button has been pressed, moves the vehicle to a recommended parking space and parks it there, while if the second entry start button has been pressed, moves the vehicle to the nearest vacant parking space and parks it there. The search for the nearest vacant parking space can be performed based on, for example, an image of the surroundings captured by the external camera 11.

[0044] FIG. 4 is a flowchart illustrating details of the shipping process according to this embodiment.

[0045] In step S21, the user terminal 200 transmits a departure request signal to the vehicle 100.

[0046] In step S22, when the control device 50 of the vehicle 100 receives the exit request signal via the external communication device 40, it identifies the parking lot where the vehicle is parked based on the map information, the current position data acquired by the positioning sensor 22, and the surrounding image acquired by the external camera 11.

[0047] In step S23, the control device 50 of the vehicle 100 determines whether or not it has been able to acquire real-time information about the specific parking lot from the parking lot information providing device 300 of the parking lot (specific parking lot) identified in step S22. If the control device 50 has acquired real-time information about the specific parking lot, it proceeds to processing in step S24. On the other hand, if the control device 50 has not acquired real-time information about the specific parking lot, it proceeds to processing in step S25.

[0048] In step S24, the control device 50 of the vehicle 100 selects a recommended route to user 2 that suits user 2's preferences based on the real-time information of the specific parking lot and the usage history information (route information) of the specific parking lot. Specifically, the control device 50 identifies the routes used by user 2 in the past based on the usage history information (route information) of the specific parking lot for user 2. Then, based on the real-time information of the specific parking lot, the control device 50 calculates the route that is currently the least crowded among the used routes, i.e., the route that currently takes the shortest time to reach user 2, and selects that route as the recommended route. Note that if there is no usage history information (route information) of the specific parking lot, the control device 50 selects the route that currently takes the shortest time to reach user 2 as the recommended route.

[0049] In step S25, the control device 50 of the vehicle 100 determines whether the user 2 has used the specific parking lot in the past, i.e., whether there is usage history information for the specific parking lot. If there is usage history information for the specific parking lot, the control device 50 proceeds to processing in step S26. On the other hand, if the user has not used the specific parking lot in the past, the control device 50 proceeds to processing in step S27.

[0050] In step S26, the control device 50 of the vehicle 100 selects a recommended route to the user 2 that suits the preferences of the user 2 based on the usage history information of the specific parking lot. Specifically, the control device 50 selects the route that the user 2 has used most frequently among the routes that the user 2 has used in the past as the recommended route.

[0051] In step S27, the control device 50 of the vehicle 100 transmits a route proposal signal to the user terminal 200 to propose a recommended route to the user 2.

[0052] In step S28, the control device 50 of the vehicle 100 transmits a route proposal impossible signal to the user terminal 200 to inform the user 2 that a recommended route cannot be proposed because the details of the parking lot are unknown.

[0053] In step S29, when the user terminal 200 receives a route proposal signal or a route proposal impossible signal, it displays information corresponding to the received signal to the user 2 via the user interface. For example, when the user terminal 200 receives a route proposal signal, it displays a simple map of the parking lot, the current position of the vehicle 100, the recommended route, and the current position of the user 2, as shown in FIG. 5, and displays a start button (hereinafter referred to as the "first exit start button") for confirming whether to leave the parking lot by driving along the recommended route. Also, for example, when the user terminal 200 receives a route proposal impossible signal, it displays a message informing the user 2 that it cannot propose a recommended route, and a start button (hereinafter referred to as the "second exit start button") for confirming whether to leave the parking lot by driving along the recommended route.

[0054] In step S30, when the first or second leaving-station start button is pressed, the user terminal 200 transmits a leaving-station instruction signal to the vehicle 100.

[0055] In step S31, when the control device 50 of the vehicle 100 receives the departure instruction signal, it controls the actuator 30 to automatically control the driving of the vehicle 100, and if the first departure start button has been pressed, it will head to the user 2 via the recommended route, and if the second departure start button has been pressed, it will appropriately select a drivable route and head to the user 2 as the situation unfolds.

[0056] The parking entry / exit assistance system 1 according to the present embodiment described above includes an autonomously driving vehicle 100, and a user terminal (mobile terminal) 200 that has a user interface and is capable of communicating with the vehicle 100. Upon receiving a request for entry or exit of the vehicle 100 from the user terminal 200, the vehicle 100 is configured to calculate a recommended parking space at the time of entry or a recommended route to the user 2 at the time of exit, based on at least the location of the user terminal 200, the location of the vehicle 100, and parking lot usage history information by the user 2 of the vehicle 100. Upon receiving the recommended parking space or the recommended route from the vehicle 100, the user terminal 200 is configured to suggest, via the user interface, entry into the recommended parking space or exit using the recommended route.

[0057] As described above, according to this embodiment, when a request for entry or exit of the vehicle 100 is made by the user 2 via the user terminal 200, a recommended parking space can be proposed at the time of entry, and a recommended route for exit can be proposed at the time of exit. In other words, when the entry and exit of the vehicle 100 are performed automatically, it is possible to eliminate the need to specify the entry destination (parking space) and the route for exit. This improves the convenience of using the system for entering and exiting the vehicle 100.

[0058] Furthermore, according to this embodiment, when the vehicle 100 is able to acquire real-time information including map information within the parking lot and information regarding currently available parking spaces in the parking lot, the vehicle 100 is configured to further take the real-time information into consideration to calculate a recommended parking space when entering the parking lot or a recommended route when leaving the parking lot.

[0059] In this way, by taking into consideration real-time information about the parking lot, it is possible to more accurately propose a recommended parking space when entering a parking lot or a recommended route when leaving a parking lot that is suited to the preferences of user 2.

[0060] Furthermore, according to this embodiment, when the vehicle 100 receives an instruction to enter a recommended parking space or an instruction to leave using a recommended route from the user terminal 200, the vehicle 100 is configured to enter the recommended parking space or leave using the recommended route by autonomous driving.

[0061] Although the embodiments of the present invention have been described above, the above embodiments merely illustrate some of the application examples of the present invention, and it is not intended that the technical scope of the present invention be limited to the specific configurations of the above embodiments.

[0062] In addition, in the above embodiment, the computer program executed in the control device 50 may be provided in a form recorded on a computer-readable portable recording medium such as a semiconductor memory, a magnetic recording medium, or an optical recording medium. [Explanation of symbols]

[0063] 100 vehicles 200 user terminals (mobile terminals)

Claims

1. An autonomously driven vehicle; a mobile terminal having a user interface and capable of communicating with the vehicle; A warehousing and delivery support system comprising: the vehicle is configured to, upon receiving a request for entering or leaving the vehicle from the mobile terminal, calculate a recommended parking space at the time of entry or a recommended route to the user at the time of exit based on at least the location of the mobile terminal, the location of the vehicle, and parking lot usage history information by the user of the vehicle; the mobile terminal is configured to, upon receiving the recommended parking space or the recommended route from the vehicle, suggest, via the user interface, entry into the recommended parking space or exit using the recommended route; Warehouse entry / exit support system.

2. When the vehicle is able to acquire real-time information including map information within the parking lot and information regarding currently available parking spaces in the parking lot, the vehicle is configured to calculate the recommended parking space upon entry or the recommended route upon exiting the parking lot, further taking the real-time information into consideration. The storage and retrieval support system according to claim 1.

3. The vehicle is configured to, upon receiving from the mobile terminal an instruction to enter the recommended parking space or an instruction to leave using the recommended route, enter the recommended parking space or leave using the recommended route by autonomous driving.

3. The warehousing and shipping support system according to claim 1 or 2.

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