Automatic valet parking system

Abstract

To avoid the occurrence of a problem when a vehicle receives a new travel path immediately after stopping the vehicle, when automatic valet parking of the vehicle is performed based on travel paths successively received from an external device. [Solution] The control device controls the vehicle for automatic valet parking based on a driving path intermittently received from a management device. The driving path includes a plurality of path points. Each of the plurality of path points includes information on the vehicle's target position. When the vehicle's driving state corresponds to a state immediately after stopping and the latest driving path is received from the management device, the vehicle control includes processing to determine whether to restart the vehicle based on the latest driving path. In the processing to determine whether to restart, restarting is prohibited if it is determined that the distance from the vehicle's stopping position to the target position included in the path end point of the latest driving path is less than a specified distance.

Description

[Technical Field]

[0001] This disclosure relates to automated valet parking (AVP) for vehicles within designated areas such as parking lots. [Background technology]

[0002] Patent Document 1 discloses a method for guiding vehicles in a parking lot. In this guidance method, an external device identifies a driving path for remotely controlling a vehicle to be guided and transmits it to the vehicle. In the guidance method, the external device also divides the identified driving path into sections and transmits them to the vehicle to be guided. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Patent No. 6756828 Summary of the Invention [Problem to be solved by the invention]

[0004] Although Patent Document 1 does not specifically mention it, identification information is conceivable as information included in a travel path. The identification information is information for distinguishing a travel path divided into partial sections from other travel paths.

[0005] When an external device transmits a travel path divided into sub-sections, the vehicle being guided will receive the travel path sequentially. In this case, the vehicle can identify the travel path being received sequentially based on the identification information. Even if the frequency of receiving the divided travel path is high and there is little difference between the information contained in these sub-sections, these travel paths can still be identified.

[0006] However, if a new driving path is received immediately after a vehicle being guided has stopped, to fine-tune its stopping position, the following problem arises. Specifically, in the case of fine-tuning the stopping position, there is almost no difference between the information contained in the section of the driving path received immediately before the new driving path and the information contained in the section of the driving path received this time. However, since the vehicle that receives the new driving path performs calculations based on the information contained in this driving path, the vehicle's internal state may hunt, or unnecessary actuator control may be performed.

[0007] One object of the present disclosure is to provide a technology that can avoid problems occurring when a vehicle receives a new driving path immediately after stopping, when automatic valet parking of the vehicle is performed based on a driving path sequentially received from an external device. [Means for solving the problem]

[0008] The first aspect of this disclosure is a system for automated valet parking of vehicles within a designated area, which has the following features: The system includes a management device and a control device. The management device manages the automated valet parking. The control device is mounted on the vehicle. The control device also controls the vehicle for the automated valet parking based on a driving path intermittently received from the management device. The aforementioned travel path includes a plurality of path points. Each of the plurality of path points includes information about the target position of the vehicle. The vehicle control includes a process to determine whether to restart the vehicle based on the latest driving path when the vehicle's driving state corresponds to the state immediately after stopping and the latest driving path is received from the management device. The process to determine whether to restart includes determining whether the distance from the vehicle's stopping position to the target position included in the end point of the latest driving path is less than or equal to a specified distance, and prohibiting the restart if it is determined that the distance is less than or equal to the specified distance, and allowing the restart if it is determined that it is not.

[0009] A second aspect of the present disclosure is a system for performing automatic valet parking of a vehicle within a predetermined area, and has the following features. The system includes a management device and a control device. The management device manages the automated valet parking. The control device is mounted on the vehicle. The control device also controls the vehicle for the automated valet parking based on a driving path intermittently received from the management device. The aforementioned travel path includes a plurality of path points. Each of the plurality of path points includes information about the target position of the vehicle. The vehicle control, when the vehicle's driving state corresponds to the state immediately after stopping, includes a process to determine whether to restart the vehicle based on the latest driving path when the latest driving path is received from the management device. The process to determine whether to restart includes determining whether each target position of a plurality of path points included in the latest driving path matches each target position of a plurality of path points included in a past driving path received from the management device before the latest driving path, and prohibiting the restart if it is determined that each target position of the latest driving path matches each target position of the past driving path, and allowing the restart if it is determined that they do not match. [Effects of the Invention]

[0010] According to the first or second perspective, when the vehicle's running state corresponds to the state immediately after stopping, and the latest section path is received from the management device, a process is performed to determine whether to restart the vehicle based on the latest section path. Therefore, it is possible to avoid malfunctions caused by setting a speed plan based on the latest section path received immediately after the vehicle has stopped. [Brief explanation of the drawings]

[0011] [Figure 1] FIG. 1 is a diagram illustrating an example of the configuration of an automatic valet parking system. [Figure 2] FIG. 1 is a diagram illustrating an example of the configuration of a vehicle system. [Figure 3] This is a diagram illustrating an example of a travel path. [Figure 4] FIG. 10 is a diagram illustrating a problem that occurs immediately after stopping. [Figure 5] FIG. 10 is a diagram illustrating a problem that occurs immediately after stopping. [Figure 6] 10 is a flowchart illustrating an example of processing particularly related to the embodiment. [Figure 7] 10 is a flowchart illustrating an example of processing particularly related to the embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0012] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals, and the description thereof will be simplified or omitted.

[0013] 1. Example of the overall system configuration An AVP system is a system that automatically performs vehicle parking operations within a designated area such as a parking lot, factory, or facility premises. Figure 1 shows an example of the configuration of an AVP system. Figure 1 depicts a parking lot PK as a designated area. The parking lot PK has a configuration that enables AVP. The configuration that enables AVP includes an entry / exit space PD and a parking space PS. The entry / exit space PD is a space for getting out of and / or getting into a vehicle VH. The parking space PS is a space for parking the vehicle VH. The configuration that enables AVP also includes markers to assist in the movement of the vehicle VH within the parking lot PK, and sensors (e.g., cameras, radar) to monitor the vehicle VH.

[0014] Figure 1 also depicts a server 10 (hereinafter also referred to as the "parking server") that manages AVP in the parking lot PK. The parking server 10 has a configuration corresponding to the "management device" in this disclosure. The parking server 10 performs various processes related to the management of AVP reservations in the parking lot PK. The parking server 10 also performs various processes related to the management of vehicle VH operation rights required for AVP in the parking lot PK. Furthermore, the parking server 10 acquires various information from sensors in the parking lot PK and performs various processes related to the execution of AVP in the parking lot PK based on this information. The parking server 10 may be a combination of a server that performs various processes related to the execution of AVP (local server) and a server that performs various processes related to the management of AVP (cloud server).

[0015] The parking server 10 is typically a computer that includes at least one processor 11, at least one storage device 12, and a communication interface 13. The processor 11 performs various processes. Examples of processors 11 include CPUs (Central Processing Units), GPUs (Graphics Processing Units), ASICs (Application Specific Integrated Circuits), and FPGAs (Field-Programmable Gate Arrays). The processor 11 can also be called "circuitry" or "processing circuitry." "Circuitry" refers to hardware programmed to implement the described functions, or hardware that performs those functions. The processor 11 reads various information from the storage device 12 and stores various information in the storage device 12.

[0016] Examples of storage devices 12 include volatile memory, non-volatile memory, HDD (Hard Disk Drive), and SSD (Solid State Drive). Examples of various types of information stored in storage device 12 include parking lot map information, parking lot usage information, and vehicle management information. Parking lot map information shows the map information of parking lot PK. Parking lot usage information is information about the usage status (availability information) of the drop-off / pick-up spaces PD and parking spaces PS within parking lot PK. Vehicle management information includes information such as vehicle ID, entry / exit time, and vehicle location. Vehicle management information is managed for each vehicle VH. Vehicle ID is the identification information of vehicle VH. Entry / exit time is information about the entry and exit times of vehicle VH (e.g., reservation time, actual time, etc.). Vehicle location indicates information about the location of vehicle VH within parking lot PK.

[0017] Communication I / F13 is an interface for communicating with external devices of the parking server 10 to send and receive information. For example, communication I / F13 consists of devices for connecting to surrounding devices via wireless LAN, devices for connecting to a mobile communication network, and devices for connecting to the internet. The parking server 10 sends and receives information with the vehicle VH (vehicle system 20) via communication I / F13. The parking server 10 also sends and receives information with the central server 30 via communication I / F13.

[0018] Figure 2 shows an example configuration of the vehicle system 20. In the example shown in Figure 2, the vehicle system 20 is installed in each of the vehicles VH as a system capable of running AVP. In the example shown in Figure 2, the vehicle system 20 includes a control device 21, sensors 22, a communication interface 23, and an on-board device 24.

[0019] The control device 21 is communicatively connected to the sensors 22, the communication I / F 23, and the in-vehicle device 24. The control device 21 is a computer that performs information processing related to the control of the vehicle VH based on various information. The control device 21 includes at least one processor 25 and at least one storage device 26. An example configuration of the processor 25 is the same as that of the processor 11 shown in FIG. 1. Furthermore, an example configuration of the storage device 26 is the same as that of the storage device 12 shown in FIG. 1. The processor 25 cooperates with the storage device 26 to realize information processing related to the control of the vehicle VH.

[0020] For example, the control device 21 is configured with one or more ECUs (Electronic Control Units). In another example, the control device 21 is configured with a kit (e.g., an AVP kit) for functions provided by the parking lot server 10. The control device 21 generates and outputs a control signal for the vehicle VH through information processing. When the vehicle VH receives an instruction INS for an AVP operation (e.g., an entry operation, an exit operation, etc.) from the parking lot server 10, the control device 21 generates a control signal CON for the AVP operation. The control signal CON is transmitted to the in-vehicle device 24.

[0021] The sensors 22 detect information about the surrounding environment and driving conditions of the vehicle VH. Examples of sensors 22 include cameras, radar, LiDAR, wheel speed sensors, IMU (Inertial Measurement Unit), and GNSS (Global Navigation Satellite System) sensors.

[0022] Communication I / F23 is an interface for communicating with external devices of the vehicle VH to send and receive information. The vehicle VH sends and receives information with the parking server 10 via communication I / F23. The vehicle VH can also send and receive information with the user terminal 40 via communication I / F23.

[0023] The on-board device 24 includes lighting equipment, interior lighting equipment, horn, turn signals, wipers, doors, door windows, mirrors, drive system, braking system, steering system, HMI (Human Machine Interface), etc. Each device of the on-board device 24 includes an actuator 27 that can be controlled by the control device 21. The on-board device 24 receives control signals from the control device 21. The on-board device 24 is controlled by the control device 21 when the actuator 27 operates according to the control signals. Furthermore, the control of the on-board device 24 realizes the control of the vehicle's vehicle height (VH). The vehicle control for AVP operation is realized when the actuator 27 operates according to the control signal CON for AVP operation.

[0024] Returning to Figure 1, let's continue the explanation of the overall configuration example. Figure 1 also depicts the central server 30. The central server 30 is a server (cloud server) that manages the entire AVP service. The central server 30 manages users who use the AVP service (hereinafter also referred to as "AVP users") and vehicles that have the vehicle system 20 (i.e., vehicle VHs). AVP user management includes authentication of AVP users and management of AVP reservations made by AVP users. Vehicle VH management includes management of vehicle information for vehicle VHs, management of operation rights for vehicle VHs, and management of AVP operation logs for vehicle VHs.

[0025] The central server 30 is typically a computer including at least one processor 31, at least one storage device 32, and a communication interface 33. The configuration example of the processor 31 is the same as that of the processor 11. Similarly, the configuration example of the storage device 32 is the same as that of the storage device 12.

[0026] Examples of the various types of information stored in the storage device 32 include AVP reservation information, user information, and AVP vehicle information. AVP reservation information is information related to AVP reservations made by AVP users. AVP reservation information includes information such as the parking lot the AVP user wishes to use and the entry and exit times. User information includes information such as the AVP user's user ID and the vehicle ID of the vehicle used by the AVP user. User information is managed for each AVP user. AVP vehicle information includes information such as the vehicle ID of the vehicle equipped with the vehicle system 20, the IP address of the vehicle system 20, and the AVP operation log by the vehicle system 20.

[0027] Communication I / F33 is an interface for communicating with external devices of the central server 30 to send and receive information. For example, communication I / F33 consists of devices for connecting to surrounding devices via wireless LAN, devices for connecting to a mobile communication network, and devices for connecting to the internet. The central server 30 sends and receives information with the parking server 10 via communication I / F33. The central server 30 also sends and receives information with the user terminal 40 via communication I / F33.

[0028] The user terminal 40 is a device carried by the AVP user (e.g., a smartphone). The AVP user sends and receives information with the vehicle VH (vehicle system 20) by operating the user terminal 40. The AVP user also sends and receives information with the central server 30 by operating the user terminal 40. The user terminal 40 is used by the AVP user for registering to use and reserving AVP services. The user terminal 40 is also used as appropriate when using AVP in the parking lot PK. Alternatively, information regarding AVP may be sent and received by operating the in-vehicle device 24 (e.g., HMI) shown in Figure 2 instead of operating the user terminal 40.

[0029] 2. Driving path and driving plan When executing AVP (entry), for example, the parking lot server 10 transmits and receives information to and from the central server 30 to obtain the authority to operate the vehicle VH waiting in the loading / unloading space PD. This operation authority is transferred to the parking lot server 10, allowing the parking lot server 10 (processor 11) to execute the AVP of the vehicle VH. The vehicle system 20 (processor 25) generates a control signal CON in accordance with the instruction INS for the AVP operation (entry operation) received from the parking lot server 10, and controls the in-vehicle device 24 to perform vehicle control for the AVP operation (entry operation).

[0030] When performing AVP (leaving), for example, the vehicle system 20 (processor 25) generates a control signal CON according to an instruction INS for the AVP operation (leaving operation) received from the parking lot server 10, generates the control signal CON, and controls the in-vehicle device 24 to perform vehicle control for the AVP operation (leaving operation). When the vehicle VH arrives at the boarding / alighting space PD, the parking lot server 10 transmits and receives information to and from the central server 30 and returns the operation authority for the vehicle VH. When this operation authority is transferred to the central server 30, the execution of the AVP for the vehicle VH by the parking lot server 10 (processor 11) ends.

[0031] The instruction INS for AVP operation includes information on the travel path PT. The travel path PT is a set of path points PP in the parking lot PK that the vehicle VH must pass through from its current location to its destination. The instruction INS is generated sequentially based on information on the surrounding environment and travel conditions of the vehicle VH obtained from sensors in the parking lot PK. Information obtained from sensors 22 of the vehicle VH may also be used to generate the instruction INS. The generated instruction INS is sequentially transmitted from the parking lot server 10 to the vehicle VH. The instruction INS transmitted at each timing includes information on the travel path PT in the traveling direction of the vehicle VH.

[0032] Figure 3 illustrates an example of a travel path PT. In Figure 3, the travel path PT is depicted in front of the vehicle VH. The travel path PT includes section path PT-ID1, section path PT-ID2, and section path PT-ID3. Section paths PT-ID1, PT-ID2, and PT-ID3 are each included in the instruction INS that the vehicle VH (vehicle system 20) receives sequentially during AVP operation, and are identified by a unique ID assigned to each section path PT-IDk (k≧1).

[0033] A section path PT-IDk includes a path point PP (hereinafter also referred to as "path endpoint PPf") that indicates the endpoint of section path PT-IDk. In the example shown in Figure 3, section path PT-ID1 includes path endpoint PPf and path points PPf-1, PPf-2, PPf-3, and PPf-4 that precede this path endpoint PPf. Path point PPf-4 can also be considered as path point PP indicating the starting point of section path PT-ID1. The configuration of path point PP for section paths PT-ID2 and PT-ID3 is basically the same as the configuration of path point PP for section path PT-ID1.

[0034] Each path point PP included in the section path PT-IDk contains, for example, position information, steering angle information, maximum speed information, and curvature information. The position information indicates the target position of the vehicle VH and is represented in the 2D coordinate system (x,y) of the parking lot PK. The steering angle information indicates the target steering angle of the vehicle VH at path point PP. The maximum speed information indicates the maximum allowable speed of the vehicle VH at path point PP. The curvature information indicates the curvature of the section path PT-IDk.

[0035] The vehicle system 20 sets a driving plan for following the section path PT-IDk based on information included in each path point PP of the section path PT-IDk and information on the surrounding environment and driving conditions of the vehicle VH. The set driving plan includes a speed plan and a steering angle plan. The vehicle system 20 also controls the vehicle in accordance with the set driving plan. Specifically, the vehicle system 20 calculates the deviation (e.g., speed deviation, lateral position deviation, yaw angle deviation) between the vehicle VH and the driving plan, generates control target values ​​(e.g., target acceleration, target steering angle) that reduce the deviation, and transmits a control signal CON to the actuators 27 (e.g., drive actuator, braking actuator, and steering actuator). This causes the AVP operation along the driving path PT to be performed.

[0036] 3. Challenges immediately following the shutdown The travel plan is set based on the latest section path held by the vehicle system 20. For example, consider a case where section path PT-IDk is received from the parking lot server 10 during AVP operation based on a travel plan that follows section path PT-IDk-1. In this case, the vehicle system 20 takes into consideration information about the surrounding environment and travel conditions of the vehicle VH, sets a travel plan for following section path PT-IDk, which is the latest section path, and performs vehicle control for AVP operation.

[0037] The problem here occurs when the traveling state of the vehicle VH corresponds to a state immediately after stopping. Figures 4 and 5 are diagrams explaining the issue immediately after stopping. Figure 4 shows an example of a speed plan V / PT-IDk that follows the section path PT-IDk. The section path PT-IDk is the latest section path at the current time. The section path PT-IDk is, for example, a section path when the target position (x, y) indicated by the path end point PPf corresponds to the final destination of the vehicle VH. In another example, the section path PT-IDk is a section path when the target position (x, y) indicated by the path end point PPf corresponds to a temporary stop position due to the approach of a moving object to the vehicle VH.

[0038] Consider a case where, as a result of vehicle control based on the speed plan V / PT-IDk that follows the section path PT-IDk, the stopping position of the vehicle VH does not match the target position (x, y) of the path end point PPf of the section path PT-IDk. In this case, fine adjustment of the stopping position is performed. Specifically, the vehicle system 20 receives an instruction INS including the section path PT-IDk+1 from the parking lot server 10 and sets a speed plan V / PT-IDk+1 that follows the section path PT-IDk+1, which is the latest section path. The speed plan V / PT-IDk+1 shown in FIG. 5 is an example of a speed plan that follows the section path PT-IDk+1.

[0039] However, as can be understood from the reason for fine adjustment of the stop position, the target position (x, y) indicated by the path end point PPf of section path PT-IDk+1 will be the same position as that indicated by the path end point PPf of section path PT-IDk. When fine adjustment of the stop position is performed, there is a possibility that the target position (x, y) indicated by the path point PP (for example, path point PPf-1 or PPf-2) before the path end point PPf will be almost the same between section path PT-IDk+1 and section path PT-IDk.

[0040] However, since the travel plan is set based on the latest section path, the travel plan is set when the vehicle system 20 receives the latest section path from the parking lot server 10. If the vehicle system 20 sets the speed plan V / PT-IDk+1 based on the section path PT-IDk+1, which is the latest section path, hunting may occur in the internal state of the vehicle VH, or unnecessary actuator control may be performed.

[0041] 4. Restart determination process 4-1. Processing by vehicle systems Therefore, in this embodiment, when the vehicle system 20 receives the latest section path while the vehicle VH is in a state immediately after stopping, it performs a process to determine whether to restart the vehicle VH based on the latest section path. Figure 6 is a flowchart showing an example of processing particularly relevant to this embodiment. The processing routine shown in Figure 6 is repeatedly executed at predetermined intervals by the vehicle system 20 (processor 25) while the vehicle VH is stopped.

[0042] In the processing routine shown in Figure 6, information is first acquired (step S11). Examples of information acquired in step S11 include the instruction INS transmitted from the parking server 10, and information on the surrounding environment and driving status of the vehicle VH acquired from the sensors 22. In step S11, information on the current position of the vehicle VH (i.e., the stopping position) is also acquired. The current position of the vehicle VH is acquired, for example, by the vehicle VH position estimation process (localization process) performed by the parking server 10 or the vehicle system 20.

[0043] Following the processing in step S11, it is determined whether the instruction INS contains the latest interval path (step S12). The processing in step S12 is performed based on the unique ID of the interval path contained in the instruction INS. If the result of the determination in step S12 is negative, the processing routine terminates.

[0044] If the result of step S12 is positive, it is determined whether the remaining distance DS from the current position of the vehicle VH to the target position (x,y) indicated by the path endpoint PPf included in the latest section path is less than or equal to the specified distance THd (step S13). The remaining distance DS is calculated based on the information of the latest section path identified in the processing of step S12 and the current position of the vehicle VH obtained in the processing of step S11. The specified distance THd (e.g., 1-5m) compared with the remaining distance DS is set in advance.

[0045] In another processing example of step S13, it is determined whether the level of match between the information contained in the latest section path and the information contained in a past section path received from the parking lot server 10 before this latest section path (i.e., the section path received one time before receiving the latest section path) is equal to or higher than the specified level THLv.

[0046] As described above, each path point PP included in the section path PT-IDk includes position information, steering angle information, maximum speed information, and curvature information. In another processing example of step S13, the position information of the latest section path and the previous section path are compared. The comparison of the position information is performed for two path points PP based on the path end point PPf. Specifically, the target position (x, y) indicated by the path end point PPf of the latest section path is compared with that indicated by the path end point PPf of the previous section path, and the target position (x, y) indicated by the path point PPf-i (i≧1) of the latest section path is compared with that indicated by the path end point PPf of the previous section path.

[0047] In another example of processing in step S13, in addition to comparing the position information of the latest section path and the previous section path, a comparison of the steering angle information of the latest section path and the previous section path may also be performed. The comparison of the steering angle information can be performed, for example, when the matching level of the position information of the latest section path and the previous section path is a specified level THLv. The concept of comparing the steering angle information is the same as that of comparing the position information.

[0048] In another example of the process of step S13, if the matching level between the information included in the latest section path and the information included in the past section path is equal to or higher than a specified level THLv, it is determined that the information of these section paths matches. Otherwise, it is determined that the information of these section paths does not match.

[0049] If the determination result in step S13 is negative, the vehicle VH is permitted to restart. In this case, a travel plan is set based on the latest section path (step S14). The processing of step S14 is performed, for example, based on the latest section path (e.g., section path PT-IDk+1) acquired in step S11, the current position of the vehicle VH, and the travel speed (=0) of the vehicle VH. Then, vehicle control is executed based on the set latest travel plan (speed plan V / PT-IDk+1) (step S15).

[0050] If the determination result of step S13 is positive, the vehicle VH is prohibited from restarting (step S16). Also, a request to stop transmission of new travel paths is sent to the parking lot server 10 (step S17). By performing the processing of step S17, the parking lot server 10 stops transmitting new section paths to the vehicle system 20, and therefore the vehicle system 20 stops setting a travel plan.

[0051] 4-2. Processing by the parking lot server The purpose of the process for determining whether to restart the vehicle VH described in Figure 6 is to avoid setting a travel plan based on a new section path for the purpose of fine-tuning the stopping position. A process having the same purpose as this process can also be performed in the parking lot server 10. Figure 7 is a flowchart showing a processing example particularly related to the embodiment. The processing routine shown in Figure 7 is repeatedly executed at a predetermined interval by the parking lot server 10 (processor 11) while the vehicle VH is stopped.

[0052] 7, first, information is acquired (step S21). Examples of the information acquired in the processing of step S21 include information on the surrounding environment and driving conditions of the vehicle VH acquired from sensors in the parking lot PK or sensors 22 of the vehicle VH. In the processing of step S21, information on the current position of the vehicle VH (i.e., the stopping position) is also acquired. The current position of the vehicle VH is acquired, for example, by a position estimation process (localization process) of the vehicle VH.

[0053] Following the processing of step S21, it is determined whether or not the section path to be transmitted is included in the vehicle VH (step S22). If the determination result of step S22 is negative, the processing routine ends.

[0054] If the determination result in step S22 is positive, it is determined whether the remaining distance DS from the current position of the vehicle VH to the target position (x, y) indicated by the path end point PPf included in the section path to be transmitted to the vehicle VH is equal to or less than a specified distance THd (step S23). The specified distance THd used in the processing of step S23 is the same threshold as the specified distance THd used in the processing of step S13 in FIG.

[0055] Another processing example of step S13 described in Fig. 6 can also be applied to step S23. That is, in another processing example of step S23, it is determined whether the matching level between the information included in the section path to be transmitted to vehicle VH and the information included in the past section path that has been transmitted to vehicle VH before this section path to be transmitted (i.e., the section path that was generated one time before the generation of the section path to be transmitted to vehicle VH and transmitted to vehicle V) is equal to or higher than a specified level THLv.

[0056] In another example of step S23, if the matching level between the information included in the section path to be transmitted to the vehicle VH and the information included in the past section path is equal to or higher than a specified level THLv, it is determined that the information of these section paths matches. Otherwise, it is determined that the information of these section paths does not match.

[0057] If the determination result of step S23 is negative, the transmission of the section path scheduled for transmission is permitted (step S24). If the determination result of step S23 is positive, the transmission of the section path scheduled for transmission is prohibited (step S25). Note that the processing of step S24 or S25 can also be performed based on the determination result of another processing example of step S23 described above.

[0058] In another processing example of steps S24 and S25, a transmission period of the section path from the parking lot server 10 to the vehicle VH is set. The transmission period of the section path is set to a basic period (for example, approximately 100-500 ms). In another processing example of step S24, this transmission period is maintained at the basic period. On the other hand, in another processing example of step S25, this transmission period is changed to a period longer than the basic period (for example, 500-800 ms). By lengthening the transmission period in this way, it is possible to reduce the frequency of malfunctions caused by setting a speed plan based on a new section path for the purpose of fine-tuning the stopping position.

[0059] 5.Effects According to the embodiment described above, when the vehicle system 20 receives the latest section path in a case where the vehicle VH is in a state immediately after stopping, a restart determination process is performed in the vehicle system 20. Alternatively, a process having the same intention as this process is performed in the parking lot server 10. Therefore, it is possible to avoid problems caused by setting a speed plan based on a new section path for the purpose of fine-tuning the stopping position. [Explanation of symbols]

[0060] 10...Parking lot server, 11, 25, 31...Processor, 12, 26, 32...Storage device, 13, 23, 33...Communication interface, 20...Vehicle system, 24...In-vehicle device, 27...Actuator, 30...Control server, 40...User terminal, DS...Remaining distance, PK...Parking lot, PD...Pick-up / drop-off space, PS...Parking space, PT...Driving path, VH...Vehicle, PPf, PPf-1, PPf-2, PPf-3, PPf-4, PPf-i...Path point, PT-ID1, PT-ID2, PT-ID3, PT-IDk, PT-IDk+1...Section path, V / PT, V / PT-IDk, V / PT-IDk+1...Speed ​​plan

Claims

1. A system for automatically parking a vehicle within a predetermined area, a management device that manages the automated valet parking; a control device mounted on the vehicle and performing vehicle control for the automatic valet parking based on a driving path intermittently received from the management device; the travel path includes a plurality of path points; each of the plurality of path points includes information of a target position of the vehicle; the vehicle control includes, when the vehicle is in a state immediately after stopping and a latest travel path is received from the management device, a process of determining whether to restart the vehicle based on the latest travel path; The process of determining whether to restart the journey is determining whether or not a distance from a stop position of the vehicle to the target position included in a path end point of the latest travel path is equal to or less than a specified distance; prohibiting the restart when it is determined that the distance is equal to or less than the specified distance, and permitting the restart when it is determined that the distance is not equal to or less than the specified distance. An automated valet parking system.

2. A system for automatically parking a vehicle within a predetermined area, a management device that manages the automated valet parking; a control device mounted on the vehicle and performing vehicle control for the automatic valet parking based on a driving path intermittently received from the management device; the travel path includes a plurality of path points; each of the plurality of path points includes information of a target position of the vehicle; the vehicle control includes, when the vehicle is in a state immediately after stopping and a latest travel path is received from the management device, a process of determining whether to restart the vehicle based on the latest travel path; The process of determining whether to restart the journey is determining whether or not each target position of a plurality of path points included in the latest travel path coincides with each target position of a plurality of path points included in a past travel path received from the management device before the latest travel path; prohibiting the restart when it is determined that each target position of the latest travel path matches each target position of the past travel path, and permitting the restart when it is determined that this does not occur. An automated valet parking system.

3. 3. The system according to claim 1 or 2, When the control device prohibits the restart, the control device further performs a process of transmitting a request to the management device to stop transmission of the travel path. An automated valet parking system.

4. 3. The system according to claim 1 or 2, The management device performs a process of determining transmission of a travel path to be transmitted to the vehicle, The process of determining transmission of the travel path to be transmitted, determining whether or not a distance from a stop position of the vehicle to the target position included in a path end point of the travel path to be transmitted is equal to or less than a specified distance; prohibiting transmission of the travel path to be transmitted when it is determined that the distance is equal to or less than the specified distance, and permitting transmission of the travel path to be transmitted when it is determined that the distance is not equal to or less than the specified distance. An automated valet parking system.

5. 3. The system according to claim 1 or 2, The management device performs a process of determining transmission of a travel path to be transmitted to the vehicle, The process of determining transmission of the travel path to be transmitted, determining whether each target position of a plurality of path points included in the travel path to be transmitted coincides with each target position of a travel path that has been transmitted to the vehicle prior to the travel path to be transmitted; prohibiting transmission of the travel path to be transmitted when it is determined that each target position of the travel path to be transmitted matches each target position of the travel path that has already been transmitted, and permitting transmission of the travel path to be transmitted when it is determined that this does not occur. An automated valet parking system.

6. 3. The system according to claim 1 or 2, The management device performs a process of setting a transmission period of the travel path to be transmitted to the vehicle, The process of setting the transmission period determining whether or not a distance from a stopping position of the vehicle to the target position included in a path end point of the travel path to be transmitted is equal to or less than a specified distance; changing the transmission period to a period longer than the basic period when it is determined that the distance is equal to or shorter than the specified distance, and maintaining the transmission period at the basic period when it is determined that the distance is not equal to or shorter than the specified distance. An automated valet parking system.

7. 3. The system according to claim 1 or 2, The management device performs a process of setting a transmission period of the travel path to be transmitted to the vehicle, The process of setting the transmission period determining whether each target position of a plurality of path points included in the travel path to be transmitted coincides with each target position of a travel path that has been transmitted to the vehicle prior to the travel path to be transmitted; changing the transmission period to a period longer than a basic period when it is determined that each target position of the travel path to be transmitted matches each target position of the travel path that has already been transmitted, and maintaining the transmission period at the basic period when it is determined that this is not the case. An automated valet parking system.

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