Automatic valet parking system and automatic valet parking method

Abstract

This invention provides automated valet parking technology that enables the vehicle to be returned to its starting point after the user's intention to enter or exit the parking space has been communicated to the parking equipment. [Solution] After receiving a first request from the vehicle's user terminal requesting the vehicle to enter or leave the parking lot, if a second request contradicting the first request is further received from the user terminal, it is determined whether the vehicle return condition is met. If it is determined that the return condition is met, a return command is sent to the vehicle's control device to return the vehicle to the starting point of the automated valet parking.

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 system for assisting AVP of vehicles performed in parking facilities. The parking facility has a boarding and alighting area where the vehicle is handed over between the user using AVP and the parking facility. Specifically, when the vehicle is stored, the vehicle is handed over from the user to the parking facility. When the vehicle is retrieved, the vehicle is handed over from the parking facility to the user. The assistance system adjusts the time required for the vehicle handover.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] When the vehicle is handed over from the user to the parking facility, the vehicle storage process by a computer (for example, the assistance system) is performed. In the storage process, according to the storage instruction from the computer, the vehicle performs a storage operation from the boarding and alighting area towards the parking space.

[0005] Here, the user hands over the vehicle to the parking facility based on their own intention to store it. Therefore, it is considered that there are almost no cases where the user intervenes in the storage process during the storage process. However, due to reasons such as forgetting something in the vehicle, a case where the user wishes to drive the vehicle back to the departure point after transmitting the intention to store it is assumed. However, it is difficult to comply with this wish after the storage operation has once started.

[0006] Such vehicle retrieval issues can also be anticipated during computer-based vehicle departure processing. For example, a user who has communicated their intention to leave the parking facility might remember an errand after communicating their intention to leave. In this case, the user might wish to have the vehicle returned to its starting point after communicating their intention to leave. However, once the departure process has begun, it becomes difficult to accommodate this request.

[0007] One objective of this disclosure is to provide AVP technology that enables the vehicle to be returned to its starting point after the user's intention to enter or exit has been communicated to the parking equipment. [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. The system comprises a management device, a vehicle control device, and a vehicle user terminal. The management device manages the automated valet parking. The control device and the user terminal communicate with the management device, respectively. The management device is configured such that, in the automatic valet parking process for the vehicle, after receiving a first request from the user terminal requesting the vehicle to enter or leave the parking area, if it receives a second request from the user terminal that contradicts the first request, it determines whether the vehicle return condition is met, and if it determines that the return condition is met, it transmits a return command to the control device to return the vehicle to the starting point of the automatic valet parking based on the second request.

[0009] A second aspect of this disclosure is a method for causing a computer to perform automated valet parking of a vehicle within a designated area. The method includes, after receiving a first request from the user terminal of the vehicle requesting the vehicle to enter or leave the parking area, determining whether the vehicle return condition is met if a second request contradicting the first request is further received from the user terminal, and, if it is determined that the return condition is met, transmitting a return command to the vehicle's control device to return the vehicle to the starting point of the automated valet parking based on the second request. [Effects of the Invention]

[0010] According to this disclosure, after receiving a first request from the vehicle's user terminal requesting the vehicle to enter or leave the parking lot, if a second request contradicting the first request is further received from the user terminal, it is determined whether the vehicle return condition is met. If it is determined that the return condition is met, a return command is sent to the vehicle's control device to return the vehicle to its starting point in the automated valet parking system. In other words, according to this disclosure, the determination of the return condition triggered by the receipt of the second request makes it possible to return the vehicle in accordance with the second request. This leads to improved user convenience. [Brief explanation of the drawing]

[0011] [Figure 1] This is a diagram showing an example configuration of an automated valet parking system. [Figure 2] This is a diagram showing an example of a vehicle system configuration. [Figure 3] This is a conceptual diagram illustrating the basic flow of AVP processing. [Figure 4] This is a conceptual diagram illustrating the characteristics of AVP processing. [Figure 5] This flowchart shows a first example of computer processing related to the pullback process. [Figure 6] This flowchart shows a second example of computer processing related to the pullback process. [Modes for carrying out the invention]

[0012] 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.

[0013] 1. Example of the overall system configuration The 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 the AVP system. Figure 1 depicts a parking lot PK as a designated area. The parking lot PK has a configuration that enables AVP to be executed. The configuration that enables AVP to be executed includes a boarding / alighting space PD, a waiting space WS, and a parking space PS.

[0014] The boarding / alighting space PD is a space for alighting from and / or boarding a vehicle VH. The waiting space WS is a space for the vehicle VH to temporarily wait before entering the boarding / alighting space PD. The waiting space WS is provided, for example, near the entrance of the parking lot PK. The movement of the vehicle VH from the waiting space WS to the boarding / alighting space PD is performed by the driver of the vehicle VH. The parking space PS is a space for parking the vehicle VH. Configurations capable of running AVP also include 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.

[0015] Figure 1 also shows a server 10 that manages 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 AVP reservations in the parking lot PK. The parking lot server 10 also performs various processes related to managing the operation rights of the vehicle VH required for AVP in the parking lot PK. Furthermore, the parking lot server 10 acquires various information from the sensors in the parking lot PK and performs various processes related to executing 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 AVP execution (local server) and a server that performs various processes related to AVP management (cloud server).

[0016] The parking lot server 10 is typically a computer including at least one processor 11, at least one storage device 12, and a communication I / F (interface) 13. The processor 11 executes various processes. Examples of the processor 11 include a CPU (Central Processing Unit), a GPU (Graphics Processing Unit), an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), etc. The processor 11 can also be referred to as "circuitry" or "processing circuitry". "Circuitry" is hardware programmed to realize the described functions or hardware that executes functions. The processor 11 reads various information from the storage device 12 and stores various information in the storage device 12.

[0017] Examples of the storage device 12 include a volatile memory, a non-volatile memory, an HDD (Hard Disk Drive), an SSD (Solid State Drive), etc. Examples of the various information stored in the storage device 12 include parking lot map information, parking lot usage information, vehicle management information, etc. The parking lot map information indicates the map information of the parking lot PK. The parking lot usage information is information regarding the usage status (vacancy information) of the boarding and alighting spaces PD and the parking spaces PS within the parking lot PK. The vehicle management information includes information such as vehicle ID, entry and exit times, and vehicle position. The vehicle management information is managed for each vehicle VH. The vehicle ID is the identification information of the vehicle VH. The entry and exit times are information regarding the entry and exit times of the vehicle VH (e.g., reservation time, actual performance time, etc.). The vehicle position indicates information regarding the position of the vehicle VH within the parking lot PK.

[0018] The communication I / F 13 is an interface for communicating with devices outside the parking lot server 10 to transmit and receive information. For example, the communication I / F 13 is composed of 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.

[0019] FIG. 2 is a diagram showing a configuration example of the vehicle system 20. In the example shown in FIG. 2, the vehicle system 20 is mounted on each of the vehicles VH as a system capable of executing AVP. In the example shown in FIG. 2, the vehicle system 20 includes a control device 21, sensors 22, a communication I / F 23, and an in-vehicle device 24.

[0020] The control device 21 is communicably 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. The configuration example of the processor 25 is the same as that of the processor 11 shown in FIG. 1. Also, the configuration example 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.

[0021] 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., 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 by information processing. When the vehicle VH receives a command INS for an AVP operation (e.g., a parking operation, a leaving 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.

[0022] 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.

[0023] 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.

[0024] 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.

[0025] 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. Together with the parking server 10, the central server 30 corresponds to the "management device" in this disclosure. 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). A vehicle VH driver is an example of an AVP user. AVP user management includes authentication of AVP users and management of AVP reservations by AVP users. Vehicle VH management includes management of vehicle information of vehicle VHs, management of operation rights of vehicle VHs, and management of AVP operation logs of vehicle VHs.

[0026] 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.

[0027] 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.

[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 user terminal 40 corresponds to the "user terminal" in this disclosure. 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 the AVP service. The user terminal 40 is also used as appropriate when using AVP in a 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.

[0030] 2. AVP processing Figure 3 is a conceptual diagram showing the basic flow of AVP processing. The upper part of Figure 3 shows the flow of the vehicle entry process as part of AVP processing. The user US shown in the upper part of Figure 3 is assumed to be the driver of the vehicle VH (hereinafter also referred to as "target vehicle TVH") that is the target of AVP processing, and is also an AVP user. User US operates the user terminal 40 to send a vehicle entry request REQ-Cin for the target vehicle TVH to the central server 30. The transmission of the vehicle entry request REQ-Cin may be performed in the boarding / alighting space PD, or in a location away from the boarding / alighting space PD (for example, the waiting space WS). The vehicle entry request REQ-Cin may also be performed inside or outside the target vehicle TVH.

[0031] Upon receiving the parking request REQ-Cin, the central server 30 (processor 31) sends the parking request REQ-Cin, along with the corresponding AVP reservation information, user information, and AVP vehicle information, to the parking server 10. Based on this information, the parking server 10 (processor 11) identifies the user US's vehicle VH (i.e., the target vehicle TVH) and performs the parking process for this vehicle VH.

[0032] When executing the vehicle entry process, the parking server 10 obtains operational authority for the target vehicle TVH from the central server 30. Once this operational authority is transferred to the parking server 10, the parking server 10 can execute the vehicle entry process for the target vehicle TVH. The parking server 10 generates a command (entry command) INS-Cin for the vehicle entry operation of the target vehicle TVH and sends it to the vehicle system 20. The entry command INS-Cin contains information about the entry path PT-LD from the boarding / alighting space PD to the parking space PS. The entry path PT-LD is composed of, for example, multiple path points. Each of the multiple path points contains at least information about the target position of the target vehicle TVH.

[0033] The vehicle system 20 (processor 25) generates a control signal CON for the target vehicle TVH to travel along the entry path PT-LD and controls the actuators 27. For example, the vehicle system 20 sets a driving plan to follow the entry path PT-LD based on the information contained in each path point and information on the surrounding environment and driving state of the target vehicle TVH. Then, the vehicle system 20 calculates the deviations (e.g., speed deviation, lateral position deviation, yaw angle deviation) between the set driving plan and the target vehicle TVH, generates control target values ​​(e.g., target acceleration, target steering angle) that reduce these deviations, and transmits the control signal CON to the actuators 27 (e.g., drive actuator, braking actuator, and steering actuator). This enables vehicle control for the entry operation from the boarding / alighting space PD to the parking space PS.

[0034] The lower part of Figure 3 shows the flow of the vehicle departure process as an AVP process. The flow of the vehicle departure process is basically the same as that of the vehicle arrival process. That is, the user US sends a vehicle departure request REQ-Cout for the vehicle VH to the central server 30 using the user terminal 40. The transmission of the vehicle departure request REQ-Cout may be done at the boarding / alighting space PD, or at a location away from the boarding / alighting space PD (a location away from the parking lot PK).

[0035] Upon receiving a parking exit request (REQ-Cout), the central server 30 sends the parking server 10 the parking exit request (REQ-Cout), along with the corresponding AVP reservation information, user information, and AVP vehicle information. Based on this information, the parking server 10 identifies the user US's vehicle VH (i.e., the target vehicle TVH) and performs the parking exit process for this vehicle VH.

[0036] The parking server 10 generates an exit command (exit command) INS-Cout for the target vehicle TVH to exit the parking lot and transmits it to the vehicle system 20. The exit command INS-Cout contains information about the exit path PT-ULD from the parking space PS to the boarding / alighting space PD. An example of the configuration of the exit path PT-ULD is the same as that of the entry path PT-LD. That is, the exit path PT-ULD is composed of, for example, multiple path points. Each of the multiple path points contains at least information about the target position of the target vehicle TVH.

[0037] The vehicle system 20 generates a control signal CON for the target vehicle TVH to travel along the exit path PT-ULD and controls the actuator 27. The control example of actuator 27 based on the control signal CON is the same as that during the entry process. This enables vehicle control for the exit operation from the parking space PS to the drop-off / pick-up space PD. When the target vehicle TVH arrives at the drop-off / pick-up space PD, the parking server 10 sends and receives information with the control server 30 and returns the control rights for the target vehicle TVH. When these control rights are transferred to the control server 30, the AVP of the target vehicle TVH by the parking server 10 ends.

[0038] 3. Characteristics of AVP processing 3-1. Inbound Processing Figure 4 is a conceptual diagram illustrating the characteristics of the AVP process. The upper part of Figure 4 shows the state after the vehicle TVH has started entering the parking area following the execution of the parking process shown in the upper part of Figure 3. Once the parking process is executed, the vehicle TVH starts moving away from the boarding / alighting space PD.

[0039] User US will leave the loading / unloading space PD before the loading / unloading process begins, or after the loading / unloading process begins. However, it is anticipated that User US may wish to cancel the loading / unloading request REQ-Cin for any reason.

[0040] For example, consider a scenario where user US remembers that they left something behind inside vehicle TVH. In this case, user US is expected to chase after vehicle TVH to retrieve the item. However, the control rights for vehicle TVH have been transferred to parking server 10. Therefore, it is difficult for user US to stop vehicle TVH from entering the parking lot. Furthermore, for the safe execution of AVP, entry of people into the parking lot PK area, excluding the drop-off / pick-up space PD, may be prohibited. Consequently, it is difficult to cancel the parking request REQ-Cin once the parking process has begun.

[0041] To resolve such problems, the receiving process according to the embodiment allows for the acceptance of a request that is contrary to the receiving request REQ-Cin after the receiving request REQ-Cin has been received. In the example shown in Figure 4, a return request REQ-PB is shown as a request that is contrary to the receiving request REQ-Cin. Note that the receiving request REQ-Cin is an example of the "first request" in this disclosure, and the return request REQ-PB is an example of the "second request". The return request REQ-PB may be a cancellation request for the receiving request REQ-Cin, or it may be an outbound request REQ-Cout.

[0042] A vehicle retrieval request (REQ-PB) is sent from the user terminal 40 to the central server 30. Upon receiving the vehicle retrieval request (REQ-PB), the central server 30 sends the vehicle retrieval request (REQ-PB) along with user information, AVP vehicle information, etc., corresponding to the vehicle retrieval request (REQ-PB) to the parking server 10. Based on this information, the parking server 10 identifies the user US's vehicle VH (i.e., the target vehicle TVH) and performs the vehicle retrieval process for this vehicle VH.

[0043] When executing the return process for the target vehicle TVH, the parking server 10 determines whether the return conditions (hereinafter also referred to as "PB conditions") are met. Examples of PB conditions include the following conditions (i) and (ii). (i) The time Tr required for the target vehicle TVH to travel along the return path PT-PB from its current location to the starting point (i.e., the location of the boarding / alighting space PD) is less than or equal to the specified time Ta. (ii) The distance Dr from the starting point (i.e., the location of the boarding / alighting space PD) to the location of the user terminal 40 is less than or equal to the specified distance Da.

[0044] The specified time Ta is the acceptable time for the target vehicle TVH to be pulled back, based on, for example, the configuration of the parking lot PK (e.g., the number of passages directly connected to the boarding / alighting spaces PD, the shape of these passages, and the width of these passages). The specified time Ta may be adjusted based on information such as the total number of other vehicles VH waiting in the waiting space WS and the total number of other vehicles VH performing AVP operations in the passages directly connected to the boarding / alighting spaces PD. The specified distance Da is, for example, the distance a person can travel on foot during the specified time Ta.

[0045] If both conditions (i) and (ii) are met, the parking server 10 determines that the PB conditions are met and executes the return process. In the return process, the parking server 10 generates a command (return command) INS-PB for the return operation of the target vehicle TVH and transmits it to the vehicle system 20. The return command INS-PB contains information about the return path PT-PB. An example of the configuration of the return path PT-PB is the same as that of the entry path PT-LD. That is, the return path PT-PB is composed of, for example, multiple path points. Each of the multiple path points contains at least information about the target position of the target vehicle TVH.

[0046] Examples of return paths PT-PB include PT-PB1 for reverse travel and PT-PB2 for forward travel. When the vehicle TVH departs from the boarding / alighting space PD during the parking process, it is traveling forward. Therefore, to return the vehicle TVH from its current position to the starting point (i.e., the position of the boarding / alighting space PD), path PT-PB1 is more likely to reduce the time required for the return process than path PT-PB2.

[0047] Therefore, when setting the return path PT-PB under the above condition (i), it is also possible to determine whether the following condition (iii) is met. Furthermore, if the following condition (iii) is met, the return path PT-PB1 may be set, and if not, the return path PT-PB2 may be set. (iii) No other vehicle VH exists on the return path PT-PB. Examples of "other vehicles VH" in condition (iii) include vehicles VH that perform a parking maneuver immediately after the target vehicle TVH (following vehicle), and vehicles VH that are performing an AVP operation.

[0048] 3-2. Outbound Processing The lower part of Figure 4 shows the state after the vehicle TVH has started to exit the parking space following the execution of the exit process shown in the lower part of Figure 3. Once the exit process is executed, the vehicle TVH starts moving and leaves the parking space PS.

[0049] User US may arrive at the drop-off / pick-up space PD before the start of the drop-off process, or after the start of the drop-off process. However, it is conceivable that User US may wish to cancel the drop-off request REQ-Cin for any reason.

[0050] For example, consider a scenario where user US remembers an errand other than vehicle departure. In this case, user US is expected to leave the drop-off / pick-up space PD to complete their errand. It is also expected that user US would want the vehicle departure process to be postponed until their errand is completed.

[0051] Therefore, in the outbound processing according to the embodiment, after receiving the outbound request REQ-Cout, it is possible to accept a request that is contrary to the outbound request REQ-Cout. In the example shown in Figure 4, a return request REQ-PB is shown as a request that is contrary to the outbound request REQ-Cout. Note that the outbound request REQ-Cout is an example of the "first request" in this disclosure, and the return request REQ-PB is an example of the "second request". The return request REQ-PB may be a cancellation request for the outbound request REQ-Cout, or it may be an inbound request REQ-Cin.

[0052] The basic flow of the recall process for the target vehicle TVH based on the recall request REQ-PB is the same for both vehicle entry and departure. However, in the recall process at departure, only condition (iv) corresponding to condition (i) above is checked, and condition (ii) above is not checked. (iv) The time Tr required for the target vehicle TVH to travel along the return path PT-PB from its current location to the starting point (i.e., the location of the parking space PS) is less than or equal to the specified time Tb.

[0053] The specified time Tb is an acceptable time for the vehicle TVH to be pulled back, based, for example, on the configuration of the parking lot PK (e.g., the number of passages directly leading to the parking spaces PS, the shape of these passages, and the width of these passages). The specified time Tb may be adjusted based on information such as the total number of other vehicles VH operating in the passages directly leading to the parking spaces PS.

[0054] If condition (iv) is met, the parking server 10 determines that the PB condition is met and executes the return process. In the return process, the parking server 10 generates a return command INS-PB and sends it to the vehicle system 20. The return command INS-PB contains information about the return path PT-PB. An example of the configuration of the return path PT-PB is the same as that of the exit path PT-ULD.

[0055] The fact that the return path PT-PB at the time of departure includes a path PT-PB1 for reverse travel and a path PT-PB2 for forward travel is the same as the return process at the time of entry. Furthermore, the fact that it is possible to determine whether the above condition (iii) is met when setting the return path PT-PB in the above condition (iv), and that if the above condition (iii) is met, path PT-PB1 may be set, and otherwise path PT-PB2 may be set as the return path PT-PB is the same as the return process at the time of entry.

[0056] 4. Computer Processing Examples 4-1. First Processing Example Figure 5 is a flowchart showing a first example of computer processing related to the return process. The routine shown in Figure 5 is executed by the parking server 10 (processor 11) shown in Figure 1. The routine shown in Figure 5 is started, for example, when the target vehicle TVH is recognized in the boarding / alighting space PD.

[0057] In the example shown in Figure 5, step S11 determines whether or not a parking request REQ-Cin for the target vehicle TVH has been received. As already explained, the parking request REQ-Cin is sent from the user terminal 40 to the parking server 10 via the central server 30. The central server 30 also sends AVP reservation information, user information, AVP vehicle information, etc., corresponding to the parking request REQ-Cin to the parking server 10. In step S11, based on this information, it is determined whether or not the parking request REQ-Cin is for the target vehicle TVH.

[0058] If it is determined in step S11 that no parking request REQ-Cin has been received, or if it is determined that the parking request REQ-Cin is not for the target vehicle TVH, the process ends. On the other hand, if it is determined that the parking request REQ-Cin is for the target vehicle TVH, the process in step S12 is performed. In the process in step S12, a parking command INS-Cin is generated and sent to the vehicle system 20 of the target vehicle TVH. Note that during the process in step S12, the operational authority for the target vehicle TVH is transferred from the central server 30 to the parking server 10.

[0059] Following the processing in step S12, the processing in step S13 is performed. In the processing in step S13, it is determined whether or not a return request REQ-PB for the target vehicle TVH has been received. Similar to the entry request REQ-Cin, the return request REQ-PB is sent from the user terminal 40 to the parking server 10 via the central server 30. In addition, user information, AVP vehicle information, etc. corresponding to the return request REQ-PB are sent from the central server 30 to the parking server 10. In the processing in step S13, it is determined whether or not the return request REQ-PB is for the target vehicle TVH based on this information.

[0060] If it is determined in step S13 that a return request REQ-PB has not been received, or if it is determined that the return request REQ-PB is not for the target vehicle TVH, then the process in step S14 is performed. In the process in step S14, it is determined whether or not the parking operation of the target vehicle TVH has been completed. The progress of the parking operation is determined, for example, based on the parking path PT-LD and the current position of the target vehicle TVH. If it is determined that the parking operation of the target vehicle TVH has not been completed, the process returns to step S12.

[0061] If it is determined in step S13 that a return request REQ-PB for the target vehicle TVH has been received, the process in step S15 is performed. In the process in step S15, it is determined whether or not the PB conditions are met. Examples of PB conditions are conditions (i) and (ii) above. As previously mentioned, when determining condition (i), it is also possible to determine whether or not condition (iii) is met. If it is determined that the PB conditions are not met, the process ends. Before the end of the process, information indicating that a return in accordance with the return request REQ-PB could not be performed, and information indicating the reason (for example, that condition (i) was not met) may be sent to the user terminal 40 via the central server 30.

[0062] If it is determined in step S15 that the PB condition is met, the process in step S16 is performed. In the process in step S16, the predicted time Tp for the target vehicle TVH to return to the departure point (i.e., the location of the boarding / alighting space PD) is calculated and sent to the user terminal 40 via the central server 30. The predicted time Tp is the required time Tr calculated in the PB condition (condition (i)) of step S15. The predicted time Tp may also be time information calculated based on the current time and the required time Tr.

[0063] Following the processing in step S16, the processing in step S17 is performed. In the processing of step S17, a pull-back command INS-PB is generated and sent to the vehicle system 20 of the target vehicle TVH.

[0064] Following the processing in step S17, the processing in step S18 is performed. In the processing in step S18, it is determined whether or not the return operation of the target vehicle TVH has been completed. The progress of the return operation is determined, for example, based on the return path PT-PB and the current position of the target vehicle TVH. If it is determined that the return operation of the target vehicle TVH has not been completed, the process returns to step S17.

[0065] If it is determined in step S18 that the return operation of the target vehicle TVH has been completed, the process in step S19 is performed. The process in step S19 is also performed if it is determined in step S14 that the entry operation of the target vehicle TVH has been completed. In the process in step S19, information indicating that the AVP operation (entry operation or return operation) has been completed is sent to the user terminal 40 via the central server 30.

[0066] 4-2. Second Processing Example Figure 6 is a flowchart showing a second example of computer processing related to the pull-back process. The routine shown in Figure 6 is executed, for example, by the parking server 10 (processor 11) shown in Figure 1 instead of the routine shown in Figure 5.

[0067] The processes in steps S21 to S24 shown in Figure 6 are the same as the processes in steps S11 to S14 shown in Figure 5. Also, the processes in steps S27 and S28 shown in Figure 6 are the same as the processes in steps S15 and S17 shown in Figure 5.

[0068] In the example shown in Figure 6, if it is determined in step S23 that a return request REQ-PB has been received for the target vehicle TVH, the process in step S25 is performed. In the process in step S25, it is determined whether or not the target vehicle TVH has not yet started its departure operation. Whether or not the departure operation has not yet started is determined based on the progress of the target vehicle TVH's parking operation.

[0069] If it is determined in step S25 that the start operation of the target vehicle TVH has not yet begun, the process in step S26 is performed. In the process in step S26, a command to cancel the execution of the parking process (cancellation command) INS-CC is generated and sent to the vehicle system 20 of the target vehicle TVH. As a result, the execution of the parking process of the target vehicle TVH is canceled, and the parking operation of the target vehicle TVH, including the start operation, is not started. On the other hand, if it is determined that the start operation of the target vehicle TVH has already begun, the process in step S27 is performed.

[0070] In other words, if the process in step S26 is performed, the execution of the parking process is canceled without determining the PB condition in step S27. Thus, according to the second processing example, it is possible to leave the vehicle VH at the departure point without determining the PB condition. This leads to a reduction in the processing load of the parking server 10.

[0071] Although not shown in Figure 6, the process corresponding to step S16 described in Figure 5 may be performed between the processes of step S27 and step S28 shown in Figure 6. Also, the processes corresponding to steps S18 and S19 described in Figure 5 may be performed immediately after the processes of step S24 (if the determination is YES) and step S28 shown in Figure 6.

[0072] 4-3. Example of processing upon shipment The first and second processing examples described in Figures 5 and 6 relate to the return process upon vehicle entry. The first and second processing examples can also be applied to the return process upon vehicle exit. When applying the first and second processing examples to the return process upon vehicle exit, in the explanation of Figures 5 and 6, replace "entry process" with "exit process," "boarding / alighting space PD" with "parking space PS," "entry request REQ-Cin" with "exit request REQ-Cout," and "conditions (i) and (ii)" with "condition (iv)." This will explain the computer processing examples related to the return process upon vehicle exit. [Explanation of Symbols]

[0073] 10…Parking server, 11,31…Processor, 12,32…Storage device, 13,22,33…Communication interface, 20…Vehicle system, 23…Driving gear, 30…Main server, 40…User terminal, PK…Parking lot, PD…Pick-up / drop-off space, PS…Parking space, US…User, VH…Vehicle, WS…Waiting space, TVH…Target vehicle, INS-Cin…Entry command, INS-Cout…Exit command, INS-PB…Return command, INS-CC…Cancellation command, PT-LD…Entry path, PT-ULD…Exit path, PT-PB, PT-PB1, PT-PB2…Return path, REQ-Cin…Entry request, REQ-Cout…Exit request, REQ-PB…Return request

Claims

1. A system for automated valet parking of vehicles within a designated area, A management device for managing the aforementioned automated valet parking, A control device of the vehicle that communicates with the management device, The vehicle's user terminal communicates with the management device, The management device, in the process of automatic valet parking of the vehicle, After receiving a first request from the user terminal requesting the vehicle to enter or leave the premises, if a second request contradicting the first request is further received from the user terminal, it is determined whether the conditions for the vehicle to be returned are met. If it is determined that the aforementioned return condition is met, the control device is sent a return command to return the vehicle to the starting point of the automatic valet parking. An automated valet parking system characterized by the following features.

2. The system according to claim 1, The return condition includes the requirement that the time required for the vehicle to travel the return path from its current location to the starting point is less than or equal to a specified time. An automated valet parking system characterized by the following features.

3. The system according to claim 2, If the first request is a request to park the vehicle, the return condition further includes that the distance from the departure point to the location of the user terminal is less than or equal to a specified distance. An automated valet parking system characterized by including the following.

4. The system according to claim 1, The management device, in the automatic valet parking process, If it is determined that the aforementioned return condition is met, it is determined whether or not there are other vehicles on the return path from the vehicle's current location to the departure point. If it is determined that no other vehicle is present on the return path, the return command is generated, which includes information for driving the return path in reverse. An automated valet parking system characterized by the following features.

5. The system according to claim 4, If it is determined that another vehicle is on the return path, the return command is generated, which includes information for traveling forward on the return path. An automated valet parking system characterized by the following features.

6. The system according to claim 1, The management device, in the automatic valet parking process, If the second request is received from the user terminal, before determining whether the return condition is met, it is determined whether the vehicle's departure operation from the starting point, which is performed in response to the first request, has started. If it is determined that the aforementioned starting operation has not been initiated, a command to cancel the execution of the automatic valet parking is transmitted to the control device. An automated valet parking system characterized by the following features.

7. A system according to any one of claims 1 to 6, The management device, in the automatic valet parking process, If it is determined that the return condition is met, the estimated time required for the vehicle to return to the starting point is calculated and transmitted to the user terminal. An automated valet parking system characterized by the following features.

8. A method for having a computer perform automatic valet parking of a vehicle within a designated area, After receiving a first request from the user terminal of the vehicle requesting the vehicle to enter or leave the depot, if a second request contradicting the first request is further received from the user terminal, it is determined whether the conditions for the vehicle to be returned are met. If it is determined that the aforementioned return condition is met, a return command is transmitted to the vehicle's control device to return the vehicle to the starting point in the automatic valet parking of the vehicle. An automated valet parking method characterized by including the following.

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