control device

Abstract

To provide a control device that enables the operation of a vehicle transport system in a parking lot where manual operation by a driver and automated operation of the vehicle transport system coexist, while ensuring safety. [Solution] The control device includes a processor configured to calculate the device's travel path when a vehicle transport device that automatically drives and transports vehicles changes the parking position of a vehicle within a parking lot, calculate the vehicle's travel path when a manually driven vehicle enters the parking lot, determine whether there is a risk of collision between the manually driven vehicle and the vehicle transport device if the manually driven vehicle deviates from the vehicle's travel path, and change the device's travel path if it is determined that there is a risk of collision.

Description

Technical Field

[0001] The present disclosure relates to a control device.

Background Art

[0002] Patent Document 1 discloses a vehicle conveyance system that can efficiently operate a charging space provided at a charging spot. In this technology, after the vehicle is parked in the storage space, the conveyance robot conveys the vehicle from the storage space to the parking space.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] If the vehicle can be directly parked in the parking space by manual driving by the driver, the labor of conveying the vehicle from the storage space to the parking space by the conveyance robot can be omitted. In this case, in the parking lot, since manual driving by the driver and automatic driving of the vehicle conveyance device are mixed, it is required to run the vehicle conveyance device so that safety can be ensured.

[0005] The present disclosure has been made in view of the above, and an object thereof is to provide a control device that can run a vehicle conveyance device so that safety can be ensured in a parking lot where manual driving by a driver and automatic driving of the vehicle conveyance device are mixed.

Means for Solving the Problems

[0007] The control device according to this disclosure, when the processor determines that there is a collision risk, temporarily stops the vehicle transport device, temporarily moves the vehicle transport device out of the way, or recalculates the device's travel path.

[0008] The control device according to this disclosure has a processor that modifies the travel path of the vehicle transport device so that the operation of the vehicle transport device is minimized.

[0009] The control device according to this disclosure has a processor that modifies the vehicle transport device's travel path so that the time it takes for the vehicle transport device to complete the transport of the vehicle is minimized.

[0010] The control device according to this disclosure has a processor that determines whether or not there is a collision risk based on the distance between the manually operated vehicle and the vehicle transport device, the direction of travel of the manually operated vehicle and the vehicle transport device, and the speed of the manually operated vehicle and the vehicle transport device. [Effects of the Invention]

[0011] According to this disclosure, it is possible to realize a control device that can operate a vehicle transport device in a parking lot where manual operation by a driver and automated operation of the vehicle transport device are mixed, while ensuring safety. [Brief explanation of the drawing]

[0012] [Figure 1]Figure 1 is a block diagram showing the configuration of a charging management system, including a control device. [Figure 2] Figure 2 is a schematic diagram showing the configuration of a parking lot equipped with charging stations managed by a control device. [Figure 3] Figure 3 is a flowchart illustrating the processes performed by the control device. [Figure 4] Figure 4 shows an example of the data managed by the inventory management server. [Figure 5] Figure 5 shows an example of the data managed by the charging management server. [Modes for carrying out the invention]

[0013] A control device according to the embodiments of this disclosure will be described with reference to the drawings. Note that the components in the following embodiments include those that are easily replaceable or substantially identical to those that are replaceable by a person skilled in the art.

[0014] (Embodiment) Figure 1 is a block diagram showing the configuration of a charging management system including a control device. As shown in Figure 1, the charging management system 100 comprises a control device 1, a storage management server 2, a charging management server 3, a terminal device 4, a vehicle transport device A1, and a vehicle transport device A2. The control device 1, storage management server 2, charging management server 3, terminal device 4, vehicle transport device A1, and vehicle transport device A2 are all equipped with communication functions and are configured to communicate with each other and exchange various information through a network N. This network N is composed of, for example, a public network such as an internet network or a mobile phone network.

[0015] Figure 2 is a schematic diagram showing the configuration of a parking lot equipped with charging spots managed by a control device. As shown in Figure 2, the parking lot P1 managed by the control device 1 includes a parking space P2 which is a vehicle parking space, and a charging space P3 which can charge vehicles by charging spots CS1 or CS2.

[0016] Vehicle transfer devices A1 and A2 travel automatically along the device travel route transmitted by the control device 1 to transfer the vehicle. The vehicle transfer devices A1 and A2 may be configured, for example, by two devices that lift and transfer the front and rear wheels of the vehicle respectively, but the configuration is not particularly limited. Also, the number of vehicle transfer devices is not limited to two, and may be one, or three or more.

[0017] At the entrance of the parking lot P1, an entrance gate G1 is provided to restrict the entry of vehicles into the parking lot P1, for example, by a gate bar or the like. At the exit of the parking lot P1, an exit gate G2 is provided to restrict the exit of vehicles from the parking lot P1, for example, by a gate bar or the like. The entrance gate G1 and the exit gate G2 manage the entry and exit of vehicles to and from the parking lot P1 under the control of the control device 1.

[0018] Also, a plurality of detection units 20 are arranged in the parking lot P1. The detection unit 20 is, for example, a camera or a lidar (Laser Imaging Detection And Ranging), and detects the position of the vehicle in the parking lot P1.

[0019] Vehicles V1 to V4 are manually driven vehicles that can be manually driven by a driver, but may include autonomous vehicles. Also, vehicles V1 to V4 are electric vehicles equipped with a battery that can be charged by charging spots CS1 or CS2.

[0020] The control device 1 charges the vehicle parked in the parking lot P1 by moving it from the parking space P2 to the charging space P3 by the vehicle transfer devices A1 and A2. Also, the control device 1 moves the vehicle that has finished charging from the charging space P3 to the parking space P2 by the vehicle transfer devices A1 and A2. As a result, the control device 1 can efficiently charge the vehicle in the parking lot P1 equipped with the charging spots CS1 and CS2.

[0021] The control device 1 is realized by a processor such as a CPU (Central Processing Unit) and a memory (main storage unit) such as a RAM (Random Access Memory) and a ROM (Read Only Memory).

[0022] As shown in FIG. 1, the control device 1 includes an acquisition unit 11, a route calculation unit 12, a determination unit 13, a control unit 14, and a storage unit 15.

[0023] The acquisition unit 11 acquires inventory management data from the inventory management server 2. The acquisition unit 11 also acquires charge management data from the charge management server 3. The acquisition unit 11 also acquires various data from the detection unit 20.

[0024] The route calculation unit 12 calculates the device travel route when the vehicle transfer devices A1 and A2 change the parking position of the vehicle in the parking lot P1. Specifically, the route calculation unit 12 calculates the device travel route when the vehicle transfer devices A1 and A2 move the vehicle from the parking space P2 to the charging space P3, or when the vehicle transfer devices A1 and A2 move the vehicle from the charging space P3 to the parking space P2.

[0025] In addition, when a manually operated vehicle enters the parking lot P1, the route calculation unit 12 calculates the vehicle travel route for the manually operated vehicle to travel from the entrance of the parking lot P1 to the designated parking position. When the determination unit 13 determines that there is a collision risk, the route calculation unit 12 changes the device travel route of the vehicle transfer device with the collision risk. Specifically, the route calculation unit 12 changes the device travel route of the vehicle transfer device by temporarily stopping the vehicle transfer device, temporarily retreating the vehicle transfer device, or recalculating the device travel route of the vehicle transfer device. At this time, it is preferable that the route calculation unit 12 changes the device travel route of the vehicle transfer device so that the operation of this vehicle transfer device is minimized.

[0026] The determination unit 13 determines whether there is a risk of collision between the manually operated vehicle and the vehicle transport devices A1 and A2 if the manually operated vehicle deviates from the vehicle travel path. Specifically, the determination unit 13 determines whether there is a risk of collision based on the distance between the deviated manually operated vehicle and the vehicle transport device, the direction of travel of the deviated manually operated vehicle and the vehicle transport device, and the speed of the deviated manually operated vehicle and the vehicle transport device.

[0027] The control unit 14 controls the entire control device 1.

[0028] The storage unit 15 stores the inventory management data and charging management data acquired by the acquisition unit 11. The storage unit 15 also stores the device travel route and vehicle travel route calculated by the route calculation unit 12. The storage unit 15 is implemented using ROM, RAM, SSD (Solid State Drive), HDD (Hard Disk Drive), etc.

[0029] Vehicle entry management server 2 is a server that manages vehicles entering and exiting parking lot P1.

[0030] Charging management server 3 is a server that manages vehicles being charged at charging spots CS1 and CS2.

[0031] Terminal device 4 is a smartphone or similar device carried by the driver of a manually operated vehicle. In response to the driver's input, terminal device 4 outputs information such as the planned time of entry into parking lot P1, the desired time of exit, and the desired charge level to the entry management server 2.

[0032] Next, the control method by the control device 1 will be explained. Figure 3 is a flowchart showing the process executed by the control device.

[0033] As shown in Figure 3, the acquisition unit 11 acquires parking management data from the parking management server 2 (step S1). Figure 4 is a diagram showing an example of the data managed by the parking management server. As shown in Figure 4, the parking management server 2 manages the entry of vehicles into parking lot P1 by managing data such as the reservation number, the name of the reserved vehicle, the scheduled entry time set at the time of reservation, the current entry status, the actual entry time of the vehicle, the parking position in parking space P2, the desired exit time set at the time of reservation, and the desired charge amount set at the time of reservation. The acquisition unit 11 then acquires parking management data from the data managed by the parking management server 2, including at least the scheduled entry time and the parking position.

[0034] Based on the parking management data, the control device 1 opens the entrance gate G1 and allows the vehicle to enter parking lot P1 when it arrives at the entrance gate G1 within a predetermined time before or after the scheduled parking time. The control device 1 then calculates the vehicle's travel route from the entrance gate G1 of parking lot P1 to the designated parking position (the parking position in the parking management data).

[0035] Furthermore, the acquisition unit 11 acquires charging management data from the charging management server 3 (step S2). Figure 5 is a diagram showing an example of data managed by the charging management server. As shown in Figure 5, the charging management server 3 manages charging by charging spots CS1 and CS2 by managing data such as the charging order which represents the order in which charging is performed, the start time when charging begins, and the scheduled end time when charging ends. The acquisition unit 11 then acquires charging management data from the data managed by the charging management server 3, including at least the charging start time and the scheduled end time.

[0036] Next, the route calculation unit 12 identifies the vehicle moving from parking space P2 to charging space P3, or from charging space P3 to parking space P2, based on the entry management data and charging management data (step S3). Specifically, the route calculation unit 12 identifies the next vehicle to move based on the disclosure time and scheduled completion time of the charging management data.

[0037] Furthermore, the route calculation unit 12 identifies the vehicle transport device that will move the identified vehicle (step S4). Based on the operating status of vehicle transport devices A1 and A2, the route calculation unit 12 determines whether vehicle transport device A1 or vehicle transport device A2 will move the identified vehicle.

[0038] Subsequently, the route calculation unit 12 confirms the vehicle's travel path while it is being manually driven (step S5).

[0039] Then, the route calculation unit 12 calculates the travel route of the vehicle transport device that moves the vehicle (step S6).

[0040] Furthermore, the control device 1 transmits the vehicle transport device's travel path to the vehicle transport device (step S7).

[0041] Following steps S1 to S7 described above, each vehicle transport device travels along the device travel path transmitted by the control device 1. Similarly, each vehicle being operated manually travels along the vehicle travel path instructed by the control device 1. The control device 1 instructs each vehicle along its travel path, for example, by projecting arrows or the like onto the floor of the parking lot P1 using projection lights installed on the ceiling of the parking lot P1. Alternatively, the control device 1 may instruct each vehicle along its travel path via voice from speakers installed in the parking lot P1. Furthermore, the control device 1 may transmit the vehicle travel path to a terminal device 4, for example, to instruct each vehicle along its travel path.

[0042] In the example shown in Figure 2, when vehicle V3 enters parking lot P1, control device 1 calculates the vehicle travel path VR1 for vehicle V3 from the entrance of parking lot P1 to the designated parking spot. Similarly, when vehicle V4 enters parking lot P1, control device 1 calculates the vehicle travel path VR3 for vehicle V4 from the entrance of parking lot P1 to the designated parking spot. Control device 1 also identifies the vehicle transport device that moves vehicle V1 as vehicle transport device A1 and calculates the device travel path AR1 for vehicle transport device A1 when moving vehicle V1 from parking space P2 to charging space P3. Vehicle V2 is being charged at charging spot CS1.

[0043] Returning to Figure 3, the determination unit 13 determines whether the vehicle, which is being driven manually, has deviated from its vehicle travel path (step S8).

[0044] If the determination unit 13 determines that the vehicle being driven manually has not deviated from its driving path (step S8: No), the series of processes is terminated.

[0045] On the other hand, if the determination unit 13 determines that a vehicle being driven manually has deviated from its driving path (step S8: Yes), the acquisition unit 11 acquires the data detected by the detection unit 20 and obtains the position, direction of travel, and speed of the deviating vehicle from this data (step S9). If the determination unit 13 determines that a vehicle being driven manually has deviated from its driving path, the control device 1 may notify the deviating vehicle of the deviation by an audio message or warning sound.

[0046] Then, the determination unit 13 determines whether or not there is a risk of collision between the manually operated vehicle that has deviated from the vehicle travel path and the vehicle transport device (step S10). Based on the distance between the vehicle and the vehicle transport device, the direction of travel of the vehicle and the vehicle transport device, and the speed of the vehicle and the vehicle transport device, the determination unit 13 uses an algorithm stored in the storage unit 15 in advance to determine whether or not there is a risk of collision.

[0047] If the determination unit 13 determines that there is no risk of collision (step S10: No), the series of processes is terminated.

[0048] On the other hand, if the determination unit 13 determines that there is a risk of collision (step S10: Yes), the determination unit 13 determines whether or not the collision can be avoided by temporarily stopping the vehicle transport device (step S11).

[0049] If the determination unit 13 determines that a collision can be avoided by temporarily stopping the vehicle transport device (step S11: Yes), the route calculation unit 12 sends a temporary stop instruction to the vehicle transport device (step S12).

[0050] On the other hand, if the determination unit 13 determines that collision avoidance is impossible by temporarily stopping the vehicle transport device (step S11: No), the determination unit 13 determines whether collision avoidance is possible by temporarily retracting the vehicle transport device (step S13).

[0051] If the determination unit 13 determines that a collision can be avoided by temporarily moving the vehicle transport device (step S13: Yes), the route calculation unit 12 sends an instruction to the vehicle transport device to temporarily move (step S14).

[0052] On the other hand, if the determination unit 13 determines that collision avoidance is impossible by temporarily moving the vehicle transport device (step S13: No), the process returns to step S6, and the route calculation unit 12 recalculates the device travel route of the vehicle transport device.

[0053] Subsequently, the determination unit 13 determines whether or not it has confirmed the passage of a vehicle (step S15).

[0054] If the determination unit 13 determines that it has confirmed the passage of a vehicle (step S15: Yes), the series of processes ends.

[0055] On the other hand, if the determination unit 13 determines that it cannot confirm the passage of a vehicle even after a predetermined time has elapsed (step S15: No), it returns to step S9, acquires the vehicle's position, direction of travel, and speed again, and determines the collision risk.

[0056] In the example shown in Figure 2, the vehicle transport device A1 moves vehicle V1 from parking space P2 to charging space P3 along the device travel path AR1. At this time, vehicle V3 deviates from the vehicle travel path VR1 and travels along the vehicle travel path VR2. The determination unit 13 then determines that vehicle V3, which is being manually driven, has deviated from the vehicle travel path VR1. The determination unit 13 then determines whether there is a risk of collision between vehicle V3 and the vehicle transport device A1. If the determination unit 13 determines that there is a risk of collision, the path calculation unit 12 changes the device travel path of the vehicle transport device A1 by temporarily stopping the vehicle transport device A1, temporarily moving the vehicle transport device A1 out of the way, or recalculating the device travel path of the vehicle transport device A1.

[0057] According to the embodiment described above, if a collision risk is detected, the vehicle transport device's travel path can be changed, thereby ensuring safety in a parking lot where manual driving by a driver and automated driving by the vehicle transport device are mixed.

[0058] In this embodiment, an example was described in which the route calculation unit 12 changes the travel path of the vehicle transport device so that the operation of the vehicle transport device is minimized. If the determination unit 13 determines that there is a risk of collision, the route calculation unit 12 changes the travel path of the vehicle transport device A1 in the following order: temporarily stop the vehicle transport device, temporarily move the vehicle transport device out of the way, and recalculate the travel path of the device. As a result, the operation of the vehicle transport device is minimized.

[0059] Furthermore, the route calculation unit 12 may change the vehicle transport device's travel path so that the time it takes for the vehicle transport device to complete transporting the vehicle is minimized. In this case, the route calculation unit 12 selects the action that minimizes the time it takes for the vehicle transport device to complete transporting the vehicle from among temporarily stopping the vehicle transport device, temporarily moving the vehicle transport device, and recalculating the device's travel path.

[0060] Further effects and modifications can be readily derived by those skilled in the art. Therefore, broader aspects of the present invention are not limited to the specific details and representative embodiments expressed and described above. Accordingly, various modifications are possible without departing from the spirit or scope of the overall concept of the invention as defined by the appended claims and their equivalents. [Explanation of Symbols]

[0061] 1. Control device 2. Inventory Management Server 3. Charging management server 4 Terminal devices 11 Acquisition Department 12 Route Calculation Unit 13 Judgment section 14 Control Unit 15 Storage section 20 Detection unit 100 Charging Management System A1, A2 Vehicle transport equipment G1 Entrance Gate G2 Exit Gate P1 Parking P2 Parking Space P3 Charging Space AR1 Equipment Travel Route VR1, VR2, VR3 Vehicle Driving Routes CS1, CS2 charging spots V1, V2, V3, V4 vehicles

Claims

1. When a vehicle transport system that operates autonomously to transport vehicles changes the parking position of a vehicle within a parking lot, the system calculates the travel path of the system. When a manually operated vehicle driven by a driver enters the aforementioned parking lot, the vehicle's travel path from the entrance of the parking lot to the designated parking spot is calculated. If the manually operated vehicle deviates from the vehicle travel path, it is determined whether there is a risk of collision between the manually operated vehicle and the vehicle transport device. A control device comprising a processor configured to change the device's travel path when it determines that there is a collision risk.

2. The control device according to claim 1, wherein the processor determines that there is a risk of collision, it temporarily stops the vehicle transport device, temporarily moves the vehicle transport device out of the way, or recalculates the device's travel path.

3. The control device according to claim 1, wherein the processor changes the travel path of the vehicle transport device so as to minimize the operation of the vehicle transport device.

4. The control device according to claim 1, wherein the processor changes the vehicle transport device's travel path so that the time it takes for the vehicle transport device to complete the transport of the vehicle is minimized.

5. The control device according to claim 1, wherein the processor determines whether or not there is a collision risk based on the distance between the manually operated vehicle and the vehicle transport device, the direction of travel of the manually operated vehicle and the vehicle transport device, and the speed of the manually operated vehicle and the vehicle transport device.

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