Automatic valet parking system and automatic valet parking method

Abstract

When AVP (Access Control Program) is performed by a management device, the reduction in the accuracy of object recognition by surveillance cameras due to the control of vehicle headlight illumination is suppressed. [Solution] Automatic valet parking of vehicles is performed within a predetermined area where at least surveillance cameras and lighting devices are installed. A management device manages the surveillance cameras, lighting devices and automatic valet parking. A vehicle control device performs vehicle control for automatic valet parking. Vehicle control includes remote driving control of the vehicle's running gear, performed based on remote control commands received from the management device, and remote lighting control of the vehicle's headlights, performed based on remote control commands received from the management device during remote driving control.

Description

Technical Field

[0001] This disclosure relates to automated valet parking (AVP) of vehicles within a predetermined area such as a parking lot.

Background Art

[0002] Patent Document 1 discloses a device for assisting AVP of a vehicle. This assisting device is mounted on the vehicle. The vehicle performs automatic driving control for AVP within the parking lot. During the automatic driving control, the assisting device acquires the illuminance outside the vehicle. The assisting device also lights the vehicle's headlights to assist in automatic parking control when the illuminance outside the vehicle is below a predetermined threshold value.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Consider the case where AVP is performed based on a remote command from an external device of the vehicle. As an external device in this case, a management device that manages AVP within a predetermined area such as a parking lot is exemplified. The management device is related to AVP and also manages various devices installed within the predetermined area. The various devices include surveillance cameras and lighting devices. According to the management of the lighting device by the management device, the illuminance in dark places is ensured, and the accuracy of object recognition using the surveillance camera is guaranteed.

[0005] However, if the vehicle's headlights are controlled independently during AVP (Auditory Vehicle Protection) by the management device, the following problem can be anticipated. Specifically, during AVP by the management device, the vehicle moves within a designated area. Therefore, if the headlights are controlled independently by the vehicle, the illuminance within the designated area will fluctuate in conjunction with the vehicle's movement and the execution of the headlight control. Depending on the degree of this fluctuation, the accuracy of object recognition using surveillance cameras may decrease.

[0006] One of the purposes of this disclosure is to provide a technology that can suppress the decrease in the accuracy of object recognition by surveillance cameras that occurs when AVP is performed by a management device, due to the control of the vehicle's headlights. [Means for solving the problem]

[0007] The first aspect of this disclosure is an automated valet parking system. The system performs automatic valet parking of a vehicle within a predetermined area where at least a surveillance camera and lighting equipment are installed. The system comprises a management device and a control device. The management device manages the surveillance camera, the lighting equipment and the automatic valet parking. The control device is mounted on the vehicle. The control device performs vehicle control for the automatic valet parking. The vehicle control includes remote driving control of the vehicle's running gear, performed based on remote control commands received from the management device, and remote lighting control of the vehicle's headlights, performed based on remote control commands received from the management device during the remote driving control.

[0008] The second aspect of this disclosure is an automated valet parking method. The aforementioned method involves having a computer perform automated valet parking of vehicles within a predetermined area where at least surveillance cameras and lighting equipment are installed. The method includes the vehicle control device performing vehicle control for the automatic valet parking. The vehicle control includes remote driving control of the vehicle's running gear based on a remote control command received from the management device, and remote lighting control of the vehicle's headlights based on a remote control command received from the management device during the remote driving control. [Effects of the Invention]

[0009] According to the first or second perspective, the vehicle's headlights are remotely controlled while the vehicle's running gear is being remotely controlled. Both the remote driving control and the remote headlight control are performed based on remote control commands received from the management device. Therefore, when remote headlight control is performed, it is possible to suppress the illuminance fluctuations that may occur if the headlight control is performed at the vehicle's own discretion. Consequently, it is possible to suppress the decrease in the accuracy of object recognition using surveillance cameras. [Brief explanation of the drawing]

[0010] [Figure 1] This is a diagram showing an example configuration of an automated valet parking system. [Figure 2] This is a conceptual diagram illustrating the features of the embodiment. [Figure 3] This figure shows an example of setting the forward area of ​​a vehicle. [Figure 4] This flowchart is particularly relevant to the control of headlight illumination. [Figure 5] This flowchart is particularly relevant to the control of headlight illumination. [Modes for carrying out the invention]

[0011] Embodiments of this disclosure will be described below with reference to the drawings. In each drawing, the same or corresponding parts are denoted by the same reference numerals, and their descriptions are simplified or omitted.

[0012] 1. Example of the overall system configuration An automated valet parking system (AVP system) is a system that automatically performs the parking operation of vehicles within a designated area such as a parking lot, factory, or facility premises. Figure 1 is a diagram showing an example configuration of an AVP system. Figure 1 depicts a parking lot PK as the 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, lighting devices, and sensors (e.g., cameras, radar, light meters) to monitor the parking lot PK.

[0013] Figure 1 also shows a server 10 that manages the AVP in the parking lot PK (hereinafter also referred to as the "parking lot server"). The parking lot server 10 performs various processes related to managing the operational rights of the vehicle VH required for the AVP in the parking lot PK. The parking lot server 10 also acquires various information from the sensors of the parking lot PK and performs various processes related to the execution of the AVP in the parking lot PK based on this information. The parking lot server 10 may be a combination of a server that performs various processes related to the execution of the AVP (local server) and a server that performs various processes related to the management of the AVP (cloud server).

[0014] 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.

[0015] 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, parking lot environment information, and vehicle management information.

[0016] Parking map information shows the map information of parking lot PK. Parking 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. Parking environment information is information about the environment within parking lot PK. Parking environment information includes environmental information acquired from various sensors installed within parking lot PK (e.g., camera images from cameras, object recognition information based on distance measurements from radar, illuminance information based on detection values ​​from illuminometers, etc.). 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] The communication I / F 13 is an interface for communicating with a device outside the parking lot server 10 to transmit and receive information. For example, the communication I / F 13 includes devices for connecting to surrounding devices via a wireless LAN, devices for connecting to a mobile communication network, devices for connecting to the Internet, and the like. The parking lot server 10 transmits and receives information to and from the vehicle VH (vehicle system 20) via the communication I / F 13. The parking lot server 10 also transmits and receives information to and from the integrated server 30 via the communication I / F 13.

[0018] Figure 1 further depicts the vehicle system 20. The vehicle system 20 is mounted on each of the vehicles VH as a system capable of executing AVP. The vehicle system 20 includes a control device 21, a communication I / F 22, and an in-vehicle device 23.

[0019] The control device 21 is communicably connected to the communication I / F 22 and the in-vehicle device 23. The control device 21 is a computer that performs information processing related to the control of the vehicle VH based on various types of information. The control device 21 includes at least one processor and at least one storage device. The configuration example of the processor of the control device 21 is the same as that of the processor 11. Also, the configuration example of the storage device of the control device 21 is the same as that of the storage device 12. The processor of the control device 21 cooperates with the storage device of the control device 21 to realize information processing related to the control of the vehicle VH.

[0020] For example, the control device 21 is composed of one or more ECUs (Electronic Control Units). In another example, the control device 21 is composed of a kit (e.g., 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 a control command (remote control command) CI-AVP for an AVP operation (e.g., parking operation, leaving operation, etc.) from the parking lot server 10, the control device 21 generates a control signal CS-AVP for the AVP operation. The control signal CS-AVP is transmitted to the in-vehicle device 23.

[0021] The communication I / F 22 is an interface for communicating with devices outside the vehicle VH to send and receive information. The vehicle VH sends and receives information with the parking lot server 10 via the communication I / F 22. The vehicle VH can also send and receive information with the user terminal 40 via the communication I / F 22.

[0022] The in-vehicle device 23 includes lighting devices (headlights, winkers, tail lamps, back lamps, etc.), in-vehicle lighting devices, horns, wipers, doors, door windows, mirrors, drive devices, braking devices, steering devices, HMIs (Human Machine Interfaces), etc. Each device of the in-vehicle device 23 includes an actuator that can be controlled by the control device 21. The in-vehicle device 23 acquires a control signal CS from the control device 21. By operating the actuator according to the control signal CS, the control device 21 controls the in-vehicle device 23. Also, the control of the vehicle VH is realized by the control of the in-vehicle device 23. The drive device, braking device, and steering device of the in-vehicle device 23 are referred to as the running device. By operating the actuator of the running device according to the control signal CS, the running control of the vehicle VH is realized.

[0023] The control signal CS includes the control signal CS-AVP described above. By operating the actuator according to the control signal CS-AVP, vehicle control for AVP operation is realized. In particular, by operating the actuator of the aforementioned travel device according to the control signal CS-AVP, travel control (remote travel control) for AVP operation is realized.

[0024] Figure 1 also depicts a 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 performs various processes related to managing AVP reservations at the parking lot PK. 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. 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 memory device 32 include AVP reservation information, user information, and AVP vehicle information.

[0027] AVP reservation information is information about AVP reservations made by AVP users. AVP reservation information includes information such as the parking lot the AVP user wishes to use and entry / 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 having the vehicle system 20, the IP address of the vehicle system 20, and the AVP operation log by the vehicle system 20. AVP vehicle information also includes equipment information of the vehicle having the vehicle system 20. Equipment information is information about on-board equipment. An example of on-board equipment relevant to this disclosure is a headlight system.

[0028] 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.

[0029] 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 a terminal installed in the vehicle VH (e.g., an HMI) instead of operating the user terminal 40.

[0030] 2. AVP processing When executing AVP processing (parking operation), for example, the parking server 10 sends and receives information with the central server 30 to acquire control rights for the vehicle VH waiting in the drop-off / pick-up space PD. Once these control rights are transferred to the parking server 10, the parking server 10 (processor 11) can execute AVP on the vehicle VH. The vehicle system 20 generates a control signal CS-AVP according to the AVP operation (parking operation) control command CI-AVP received from the parking server 10, and controls the in-vehicle device 23. This enables vehicle control for the AVP operation (parking operation) from the drop-off / pick-up space PD to the parking space PS.

[0031] When performing AVP processing (departure processing), for example, the vehicle system 20 generates a control signal CS-AVP according to the AVP operation (departure operation) control command CI-AVP received from the parking server 10, and controls the in-vehicle device 23. This enables vehicle control for the AVP operation (departure operation) from the parking space PS to the boarding / alighting space PD. When the vehicle VH arrives at the boarding / alighting space PD, the parking server 10 sends and receives information with the central server 30 and returns the control authority for the vehicle VH. When this control authority is transferred to the central server 30, the execution of the AVP for the vehicle VH by the parking server 10 (processor 11) is completed.

[0032] 3. Features of the Embodiment 3-1. Headlight illumination control Figure 2 is a conceptual diagram illustrating the characteristics of the AVP processing according to the embodiment. Figure 2 shows the vehicle VH (hereinafter also referred to as "target vehicle TVH") that is the target of the AVP processing. The target vehicle TVH performs AVP operations based on the control command CI-AVP received from the parking server 10. The AVP operation includes the driving of the target vehicle TVH. The driving of the target vehicle TVH is realized by driving control performed by the vehicle system 20 (control device 21) installed on the target vehicle TVH.

[0033] During driving control by the vehicle system 20, the operation of the headlights of the target vehicle TVH is controlled by the vehicle system 20. This control of the headlight operation (headlight control) is a "normal headlight operation control" that is performed based on internal information (e.g., vehicle speed, steering angle) and external information (e.g., ambient light) of the target vehicle TVH detected by the vehicle's onboard sensors. Examples of normal headlight operation control include not only turning on the headlights but also performing operations according to a pre-set lighting mode (e.g., high beam illumination, swivel illumination, light intensity adjustment).

[0034] Incidentally, the parking lot PK is equipped with lighting devices LD (LD1 and LD2 in the example shown in Figure 2) to ensure the accuracy of object recognition by the camera CM. Therefore, the illumination range RLD (RLD1 and RLD2) of the lighting devices LD may overlap with the illumination range RHL of the target vehicle TVH's headlights. When the illumination range RLD overlaps with the illumination range RHL, the illuminance around the target vehicle TVH increases, and it is expected that the accuracy of recognizing the target vehicle TVH and surrounding objects using the camera image IMG will improve.

[0035] However, for example, suppose the headlights are turned on by normal lighting control when they are off. In this case, the illumination range RLD may overlap with the illumination range RHL, potentially causing a change in the illuminance around the target vehicle TVH. In another example, suppose the lighting mode is switched when the headlights are on by normal lighting control. In this case, the overlapping range of illumination range RLD and illumination range RHL may change, potentially causing a change in the illuminance around the target vehicle TVH.

[0036] If the illumination around the target vehicle TVH fluctuates, the accuracy of object recognition using the camera image IMG may decrease depending on the degree of the illumination fluctuation. Therefore, in the AVP processing according to this embodiment, intervention by the parking server 10 in the control of headlight illumination is permitted. For the sake of explanation, the headlight illumination control performed by the intervention of the parking server 10 will be referred to as "remote illumination control," and the normal illumination control described above will be referred to as "local illumination control."

[0037] 3-2. Remote lighting control Remote lighting control is performed based on a control command (remote control command) CI-HL for the operation of turning on the headlights. The control command CI-HL is included in the control command CI-AVP transmitted from the parking server 10. Upon receiving the control command CI-HL, ​​the vehicle system 20 (control device 21) of the target vehicle TVH generates a control signal CS-HL for the operation of turning on the headlights. The control signal CS-HL is transmitted to the headlights of the target vehicle TVH.

[0038] 3-2-1. First example of remote lighting control Control command CI-HL includes, for example, a command to prohibit the execution of local lighting control (execution prohibition command). When an execution prohibition command is received, the illumination of the headlights of the target vehicle TVH based on internal information (e.g., vehicle speed, steering angle) and external information (e.g., ambient light), as well as lighting operations performed according to the lighting mode, are prohibited.

[0039] The execution prohibition command is generated, for example, based on the illuminance IL-FA of the forward area FA of the target vehicle TVH. The forward area FA is set based on the position of the target vehicle TVH included in the vehicle management information stored in the storage device 12. Figure 3 shows an example of the setting of the forward area FA. Figure 3 shows the driving path PT of the target vehicle TVH. Here, the driving path PT is a set of path points that the target vehicle TVH should pass through from its current location to its destination. The driving path PT is generated sequentially, for example, based on the parking environment information stored in the storage device 12. The forward area FA1 includes at least a portion of the driving path PT.

[0040] Figure 3 also shows the illumination ranges RHL,RHL of the left and right headlights of the target vehicle TVH. In the example shown in Figure 3, the forward region FA1 is a fixed rectangular area (for example, 5-15m vertically and 1-3m horizontally) extending in front of the target vehicle TVH from the area where the illumination ranges RHL,RHL overlap. However, the shape of the forward region FA is not limited to this, and it may also be a fan-shaped region like the forward region FA2. The forward region FA2, like the forward region FA1, is set to include at least the driving path PT.

[0041] The illuminance IL-FA is calculated using illuminometers around the front area FA of the target vehicle TVH. In the example shown in Figure 2, illuminometers IM1, IM2, and IM3 are installed on the floor in front of the target vehicle TVH. The detected values ​​ILM from each of these illuminometers are transmitted to the parking server 10. The parking server 10 calculates the illuminance distribution within the front area FA using, for example, the position of the front area FA, the positions of the illuminometers IM1, IM2, and IM3, and the detected values ​​ILM. The parking server 10 also calculates an evaluation value ILev-FA from the illuminance distribution to evaluate the illuminance of the front area FA and compares it with a predetermined illuminance ILth. If the evaluation value ILev-FA exceeds the predetermined illuminance ILth, the parking server 10 generates a control command CI-HL, ​​which includes an execution prohibition command, and transmits it to the target vehicle TVH. Examples of evaluation values ​​ILev-FA include the maximum illuminance, minimum illuminance, and average illuminance within the illuminance distribution.

[0042] The execution prohibition command may also prohibit the execution of a part of the local lighting control. For example, the execution prohibition command may prohibit lighting operations performed according to the lighting mode (e.g., high beam illumination, swivel illumination, light intensity adjustment). In this case, however, the illumination of the headlights of the target vehicle TVH by local lighting control will be permitted.

[0043] 3-2-2. Second example of remote lighting control An execution prohibition command may be generated based on the object recognition likelihood LH-FA using a camera image IMG (IMG-FA) that includes the forward region FA. When object recognition is performed using a camera image, an object is detected from the camera image, and recognition information is assigned to the detected object. At this time, the recognition information includes information indicating the likelihood of detecting the detected object (i.e., recognition likelihood). The second example is performed using this likelihood information.

[0044] The camera image IMG-FA includes images of objects within the forward region FA and objects surrounding the forward region FA. The camera image IMG-FA may also include an image of the target vehicle TVH. The parking server 10 obtains the recognition likelihood LH-FA included in the recognition information of the objects detected in the camera image IMG-FA and compares it with a predetermined likelihood LHth. If the recognition likelihood LH-FA is lower than the predetermined likelihood LHth, the parking server 10 generates a control command CI-HL, ​​which includes an execution prohibition command, and transmits it to the target vehicle TVH. The recognition likelihood LH-FA may be for a single object detected in the camera image IMG-FA, or it may be the average value of multiple objects.

[0045] 3-2-3. A third example of remote lighting control The control command CI-HL may include information prompting the target vehicle TVH to actively turn on its headlights. An example of an active turning action is adjusting the headlight intensity. If the target vehicle TVH's headlight intensity can be adjusted, the parking server 10 calculates a target headlight intensity such that the illuminance IL-FA is less than or equal to a predetermined illuminance ILth. The target intensity can be calculated, for example, by applying the difference between the illuminance IL-FA and the predetermined illuminance ILth to the relationship between intensity and illuminance (luminous intensity (candela) = illuminance (lux) squared by the distance from the headlight position to the reference position in the forward area FA). The reference position here may be the center of the forward area FA, the position furthest from the target vehicle TVH, or the closest position. The third example can also be performed in combination with the first or second example described above.

[0046] When a control command CI-HL including the target luminous intensity is received from the parking server 10, the control device 21 of the target vehicle TVH adjusts the luminous intensity of the headlights based on the target luminous intensity and the current luminous intensity.

[0047] 4. Computer Processing Examples Figures 4 and 5 are flowcharts particularly relevant to the control of headlight illumination. The processing routine shown in Figure 4 is repeatedly executed at predetermined intervals by, for example, the parking server 10 (processor 11). The processing routine shown in Figure 5 is repeatedly executed at predetermined intervals by, for example, the control device 21 (processor) of the target vehicle TVH.

[0048] In the routine shown in Figure 4, various types of information are first acquired in step S11. Examples of such information include parking lot map information, parking lot usage information, parking lot environment information, and vehicle management information stored in the storage device 12. Information received from the central server 30 is also included in the various types of information.

[0049] Following the processing in step S11, the processing in step S12 is performed. In the processing in step S12, it is determined whether or not there is a vehicle VH (i.e., target vehicle TVH) undergoing driving control for AVP operation. The determination in step S12 is made based on, for example, vehicle management information (vehicle position information) and parking environment information (recognition information of vehicle VH using camera images) obtained in the processing of step S11. If the determination result in step S12 is negative, the process ends.

[0050] If the result of step S12 is positive, the process in step S13 is performed. In the process in step S13, it is determined whether or not the intervention conditions are met. The intervention conditions are set as follows, for example, corresponding to the first to third examples of remote lighting control described above. (1) The evaluated value ILev-FA exceeds the specified illuminance ILth (First example) (2) The recognition likelihood LH-FA is less than the predetermined likelihood LHth (second example) (3) The headlights of the target vehicle TVH are adjustable in brightness, and the target brightness of the headlights is zero or greater. If the result of step S13 is negative, the process ends.

[0051] If the result of step S13 is positive, the process in step S14 is performed. In the process in step S14, a control command CI-AVP is generated, which includes a control command CI-HL corresponding to the intervention conditions met in step S13, and is transmitted to the target vehicle TVH. An example of a control command CI-HL corresponding to the intervention conditions met in step S13 is as follows: (1) Command to prohibit the execution of local lighting control (first example) (2) Command to prohibit the execution of local lighting control (second example) (3) An execution command for remote lighting control, including the target luminous intensity of the headlights (third example)

[0052] In the routine shown in Figure 5, first, in step S21, various information is acquired. Examples of this information include the control command CI-AVP received by the target vehicle TVH from the parking server 10. The control command CI-AVP includes the information of the driving path PT described in Figure 3. The information also includes internal and external information of the target vehicle TVH detected by the vehicle's onboard sensors.

[0053] The process in step S21 is followed by the process in step S22. In the process in step S22, it is determined whether or not the target vehicle TVH is undergoing driving control for AVP operation. The determination in step S22 is made, for example, based on the output information of the control signal CS-AVP generated based on the control command CI-AVP. The determination in step S22 may also be made based on the vehicle speed information of the target vehicle TVH.

[0054] If the result of step S22 is positive, the process in step S23 is performed. In the process in step S23, it is determined whether or not the control command CI-HL is included in the information obtained in step S21. As already explained, the control command CI-HL is included in the control command CI-AVP transmitted from the parking server 10.

[0055] If the result of step S23 is positive, the process in step S24 is performed. In the process in step S24, remote lighting control is performed. The content of the remote lighting control corresponds to the control command CI-HL acquired in step S21. An example of this control command CI-HL is as described in the explanation of step S14 in Figure 4.

[0056] If the result of step S23 is negative, the process in step S25 is performed. In the process in step S25, local lighting control is performed. In local lighting control, the operation of the headlights of the target vehicle TVH is controlled based on the internal and external information of the target vehicle TVH acquired in step S21. [Explanation of symbols]

[0057] 10...Parking server, 11,31...Processor, 12,32...Storage device, 13,22,33...Communication interface, 20...Vehicle system, 23...In-vehicle device, 30...Main server, 40...User terminal, CM...Camera, CI,CI-AVP,CI-HL...Control command, CS,CS-AVP,CS-LD1,CS-LD2...Control signal, FA1,FA2...Forward area, IM1,IM2,IM3...Illuminance meter, LD1,LD2...Lighting device, PK...Parking lot, PT...Driving path, PD...Entry / exit space, PS...Parking space, VH...Vehicle, RHL,RLD1,RLD2...Illumination range, TVH...Target vehicle

Claims

1. A system for automated valet parking of vehicles within a designated area where at least surveillance cameras and lighting equipment are installed, The aforementioned surveillance camera, the aforementioned lighting device, and the management device for managing the automatic valet parking, A control device mounted on the aforementioned vehicle and performing vehicle control for the aforementioned automatic valet parking, Equipped with, The vehicle control includes remote driving control of the vehicle's running gear, performed based on a remote control command received from the management device, and remote lighting control of the vehicle's headlights, performed based on a remote control command received from the management device during the remote driving control. An automated valet parking system characterized by the following features.

2. The system according to claim 1, The lighting control further includes local lighting control of the headlights, which is performed based on detection information from a sensor mounted on the vehicle. The remote control command includes a command to prohibit the execution of the local lighting control, The aforementioned control device During the remote driving control described above, the illuminance of the area in front of the vehicle is calculated, If the illuminance in the forward area exceeds a predetermined illuminance, the execution prohibition command is transmitted to the control device. An automated valet parking system characterized by the following features.

3. The system according to claim 1, The lighting control further includes local lighting control of the headlights based on detection information from a sensor mounted on the vehicle, The remote control command includes a command to prohibit the execution of the local lighting control, The aforementioned control device If the likelihood of recognizing an object using a camera image from the surveillance camera, which includes the area in front of the vehicle acquired during the remote driving control, falls below a predetermined likelihood, the execution prohibition command is transmitted to the control device. An automated valet parking system characterized by the following features.

4. A system according to any one of claims 1 to 3, The aforementioned control device During the remote driving control described above, the illuminance of the area in front of the vehicle is calculated, The target luminous intensity of the headlight is calculated so that the illuminance in the forward region is less than or equal to a predetermined illuminance. The remote control command, including the target luminous intensity, is transmitted to the control device. An automated valet parking system characterized by the following features.

5. A method for having a computer perform automatic valet parking of a vehicle within a designated area where at least surveillance cameras and lighting equipment are installed, The vehicle control device includes performing vehicle control for the automatic valet parking, The vehicle control includes remote driving control of the vehicle's running gear, performed based on remote control commands received from the surveillance camera, the lighting device, and the management device that manages the automatic valet parking; and remote lighting control of the vehicle's headlights, performed based on remote control commands received from the management device during the remote driving control. An automated valet parking method characterized by the following features.

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