Vehicle control system

Abstract

This improves the safety of automated driving for vehicles subject to automated valet parking based on control instructions from the management system. [Solution] The vehicle control system is installed in the vehicle subject to automatic valet parking. The vehicle control system comprises one or more sensors and one or more processors. One or more sensors recognize traffic rule markings within the parking area of ​​the parking lot. When the vehicle is driving through the parking area, one or more processors perform an instruction verification process based on the recognition results of the traffic rule markings using one or more sensors to determine whether the direction of vehicle travel included in the control instruction received by the vehicle from the automatic valet parking management system violates the traffic rule markings. If the direction of vehicle travel violates the traffic rule markings, the system stops the vehicle and sends a notification to the management system requesting confirmation of whether the control instruction is appropriate.

Description

Technical Field

[0001] The present disclosure relates to a vehicle control system mounted on a target vehicle for Automated Valet Parking (AVP).

Background Art

[0002] Patent Document 1 discloses a technology related to automated valet parking. The parking lot management system transmits a travel route to the vehicle. The vehicle automatically travels along the acquired travel route.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] If the instruction of the vehicle traveling direction from the management system of automated valet parking is inappropriate, it may hinder the safe travel of the vehicle.

[0005] The present disclosure has been made in view of the above problems, and an object thereof is to provide a vehicle control system that improves the safety of automatic driving of a target vehicle for automated valet parking based on a control instruction from a management system.

Means for Solving the Problems

[0006] The vehicle control system described herein is installed in a vehicle subject to automated valet parking. The vehicle control system comprises one or more sensors and one or more processors. One or more sensors recognize traffic rule markings within the parking area of ​​a parking lot. When the vehicle is driving through the parking area, one or more processors perform an instruction verification process based on the recognition results of the traffic rule markings using one or more sensors to determine whether the direction of vehicle travel included in the control instruction received by the vehicle from the automated valet parking management system violates the traffic rule markings. If the direction of vehicle travel violates the traffic rule markings, the system stops the vehicle and sends a notification to the management system requesting confirmation of whether the control instruction is appropriate. [Effects of the Invention]

[0007] According to this disclosure, sensors mounted on the target vehicle as it drives through the parking area are used to recognize actual traffic rule markings. Based on the results of this recognition, the vehicle determines whether the direction of travel included in the control instructions from the management system violates the traffic rule markings. If the direction of travel violates the traffic rule markings, the target vehicle stops temporarily, and the management system requests confirmation from the target vehicle whether its control instructions are appropriate. This prevents the target vehicle for automated valet parking from continuing to drive according to inappropriate control instructions, thereby improving the safety of the automated driving of the target vehicle based on control instructions from the management system. [Brief explanation of the drawing]

[0008] [Figure 1] This is a conceptual diagram illustrating the overview and configuration example of an automated valet parking system according to an embodiment. [Figure 2] This flowchart shows an example of the processing flow related to vehicle driving control in an automated valet parking system according to an embodiment. [Figure 3] This is a conceptual diagram illustrating the outline of the instruction verification process related to the first specific example. [Figure 4]This is a conceptual diagram illustrating the outline of the instruction verification process related to the second specific example. [Figure 5] This is a conceptual diagram illustrating the outline of the instruction verification process related to the third specific example. [Figure 6] This flowchart shows another example of the processing flow related to vehicle driving control in automated valet parking according to the embodiment. [Modes for carrying out the invention]

[0009] Embodiments of this disclosure will be described with reference to the attached drawings.

[0010] 1. Overview of the automated valet parking system Figure 1 is a conceptual diagram illustrating the overview and configuration example of an automated valet parking system 100 according to an embodiment. The automated valet parking system 100 includes a vehicle control system 10 mounted on a vehicle 1 and an automated valet parking management system 20 (hereinafter also simply referred to as the management system 20), and performs automated valet parking (AVP) of the vehicle 1 in a parking lot 2.

[0011] Vehicle 1 is configured to run AVP in parking lot 2. In other words, Vehicle 1 is a vehicle subject to AVP. Vehicle 1 can drive automatically without user operation, at least within parking lot 2. More specifically, the automatic driving of Vehicle 1 within parking lot 2 is controlled according to control instructions INS (remote instructions) from a management system 20 that utilizes infrastructure sensors 24. Vehicle 1 may also be an autonomous vehicle capable of driving automatically outside of parking lot 2.

[0012] Parking area 2 includes a boarding / alighting area 3 and a parking area 4. When vehicle 1 enters parking area 2, it stops at a designated stopping position (boarding / alighting space) in boarding / alighting area 3, where the user alights from vehicle 1. Conversely, when vehicle 1 exits parking area 2, it stops in boarding / alighting area 3, where the user boards vehicle 1. Parking area 4 includes a passageway 5 and multiple parking spaces 6. Passageway 5 is the area through which vehicle 1 travels. Parking spaces 6 are the spaces in which vehicle 1 parks.

[0013] The management system 20 manages the AVP of vehicle 1 in parking lot 2. The management system 20 may include, for example, a local management device installed in parking lot 2 and at least one of a management server in the cloud. Below is an example of the flow when a user X uses the AVP service. Each user's membership information is pre-registered in the management system 20.

[0014] User X makes an AVP reservation by operating a user terminal 30 (e.g., a smartphone). The management system 20 processes the reservation based on the reservation information transmitted from the user terminal 30. When vehicle 1, carrying user X, arrives at the boarding / alighting area 3 of parking lot 2, vehicle 1 stops in a boarding / alighting space, and user X (and any other passengers, if any) get out of vehicle 1. In order to start the automated driving of vehicle 1 based on the control instruction INS from the management system 20 in the AVP (hereinafter simply referred to as "AVP driving"), the management system 20 performs a handover process to transfer the control authority of vehicle 1 from user X to the management system 20. The handover process includes, for example, a process to establish wireless communication between the management system 20 and vehicle 1 (vehicle control system 10), and a process to identify vehicle 1 as the target vehicle for this AVP.

[0015] Once the handover process is complete and the control authority for vehicle 1 is transferred from user X to management system 20, management system 20 performs parking processing for vehicle 1. During parking processing, management system 20 communicates with vehicle 1 and sends a control instruction INS requesting the vehicle 1's driving system 13 to be activated. Vehicle 1 automatically activates its driving system 13 in accordance with the received control instruction INS. Management system 20 also refers to the usage status of parking lot 2, assigns an available parking space 6 to vehicle 1, and then generates a target route TP for vehicle 1 from the boarding / alighting area 3 to the assigned parking space 6. Finally, management system 20 communicates with vehicle 1 and sends a control instruction INS requesting vehicle 1 to perform AVP driving along the generated target route TP toward parking space 6.

[0016] As described above, the target route TP information is included in the control instruction INS. The management system 20 generates the target route TP based, for example, on map information of parking area 4 and information of parking area 4 recognized by the infrastructure sensor 24. The generated target route TP includes information on the direction of travel of vehicle 1 (vehicle direction of travel D). In addition, for example, the target route TP includes information on the maximum vehicle speed of vehicle 1, and the vehicle control system 10 drives vehicle 1 along the target route TP while controlling the speed of vehicle 1 within a range that does not exceed the maximum speed. Furthermore, as mentioned above, the target route TP is not generated on the vehicle 1 side.

[0017] Vehicle 1 performs AVP driving towards its assigned parking space 6 according to the target route TP received from the management system 20, and automatically parks in the assigned parking space 6 (parking complete). After vehicle 1 has finished parking, vehicle 1 automatically shuts off the power to the driving system 13 according to the control instruction INS from the management system 20.

[0018] When the vehicle 1 exits the parking lot 2, in response to the exit request from the user X who operates the user terminal 30, the management system 20 performs an exit process for the vehicle 1. In the exit process, after starting the driving system 13 of the vehicle 1, the management system 20 generates a target route TP of the vehicle 1 from the parking frame 6 of the vehicle 1 to the boarding and alighting area 3. Then, similar to the case of entry, the management system 20 communicates with the vehicle 1 and transmits a control instruction INS to the vehicle 1 requesting it to perform AVP driving along the generated target route TP. The vehicle 1 performs AVP driving toward the boarding and alighting frame assigned to itself according to the received target route TP. After the vehicle 1 arrives at the boarding and alighting area 3, the management system 20 performs a handover process for transferring (returning) the operation authority of the vehicle 1 from the management system 20 to the user X himself. When the handover process is completed, the user X (and other passengers if any) gets on the vehicle 1. The vehicle 1 departs toward the next destination and exits the parking lot 2 (exit completed). Another scene where the vehicle 1 performs AVP driving within the parking area 4 according to the control instruction INS from the management system 20 is, for example, when the parking frame used by the vehicle 1 is changed.

[0019] 2. System configuration example As described above, the automated valet parking system 100 includes a vehicle control system 10 and an automated valet parking management system 20.

[0020] 2-1. Vehicle control system The vehicle control system 10 is mounted on the vehicle 1 and includes a control device 11, sensors 12, and a driving system 13.

[0021] The control device 11 controls the vehicle 1 according to various control instructions INS from the management system 20. The control device 11 includes a communication I / F 14, one or more processors 15 (hereinafter simply referred to as the processor 15), and one or more storage devices 16 (hereinafter simply referred to as the storage device 16).

[0022] The communication interface 14 communicates with the management system 20 and the user terminal 30 via a communication network. The processor 15 performs various processes. Examples of the processor 15 include general-purpose processors, application-specific processors, CPUs (Central Processing Units), GPUs (Graphics Processing Units), ASICs (Application Specific Integrated Circuits), FPGAs (Field-Programmable Gate Arrays), integrated circuits, conventional circuits, and / or combinations thereof. The processor 15 can also be called circuitry or processing circuitry. The storage device 16 stores various information. Examples of storage devices 16 include volatile memory, non-volatile memory, HDDs (Hard Disk Drives), SSDs (Solid State Drives), etc. The functions of the control device 11 may be realized through the cooperation of the processor 15, which executes the computer program, and the storage device 16. The computer program is stored in the storage device 16. Alternatively, the computer program may be recorded on a computer-readable recording medium or provided via a network.

[0023] The sensors 12 include recognition sensors, vehicle status sensors, position sensors, etc. The recognition sensors recognize (detect) the conditions around vehicle 1. Examples of recognition sensors include cameras 17, LIDAR (Laser Imaging Detection and Ranging), radar, etc. Camera 17 captures images of the area around vehicle 1. Vehicle status sensors detect the condition of vehicle 1. Examples of vehicle status sensors include speed sensors, acceleration sensors, yaw rate sensors, steering angle sensors, etc. Position sensors detect the position and orientation of vehicle 1. An example of a position sensor is a GNSS (Global Navigation Satellite System) sensor.

[0024] The driving system 13 includes a steering device, a drive device, and a braking device. The steering device steers the wheels of the vehicle 1. The drive device is a power source that generates the driving force of the vehicle 1 and includes, for example, at least one of an electric motor and an internal combustion engine. The braking device generates braking force.

[0025] 2-2. Automated Valet Parking Management System The management system 20 includes a communication interface (communication I / F) 21, one or more processors 22 (hereinafter simply referred to as processor 22), one or more storage devices 23 (hereinafter simply referred to as storage devices 23), and one or more infrastructure sensors 24 (hereinafter simply referred to as infrastructure sensors 24).

[0026] The communication interface 21 communicates with the vehicle 1 (vehicle control system 10) and the user terminal 30 via a communication network. The configuration example of the processor 22 is the same as that of the processor 15 described above. The configuration example of the storage device 23 is the same as that of the storage device 16 described above. The various information stored in the storage device 23 includes information about the parking lot 2 (e.g., map information of parking lot 2). The functions of the management system 20 may be realized through the cooperation of the processor 22, which executes the computer program, and the storage device 23. The computer program is stored in the storage device 23. Alternatively, the computer program may be recorded on a computer-readable recording medium or provided via a network.

[0027] 3. Vehicle Driving Control in AVP As described above, the management system 20 periodically generates control instructions INS (driving instructions) for the automated driving (AVP driving) of vehicle 1 within the parking area 4. The management system 20 then transmits the generated control instructions INS to vehicle 1. Vehicle 1 (control device 11 of vehicle control system 10) controls the driving system 13 to perform automated driving according to the target route TP included in the control instructions INS transmitted periodically from the management system 20 (vehicle driving control C).

[0028] If the vehicle direction D instruction included in the control instruction INS from the automated valet parking management system 20 is inappropriate, it may impair the safe operation of vehicle 1 in the AVP.

[0029] In this embodiment, the control device 11 (processor 15) of the vehicle 1 recognizes the traffic rule display R within the parking area 4 using one or more sensors mounted on the vehicle 1 (hereinafter also simply referred to as "on-board sensors"). For example, the camera 17 corresponds to the on-board sensor. When the vehicle 1 is driving through the parking area 4, the control device 11 performs an "instruction verification process". In the instruction verification process, the control device 11 determines, based on the recognition result of the traffic rule display R using the on-board sensors, whether the vehicle direction of travel D included in the control instruction INS received by the vehicle 1 from the management system 20 violates the traffic rule display R. If the vehicle direction of travel D violates the traffic rule display R as a result, the control device 11 stops the vehicle 1 and sends a notification N to the management system 20 requesting confirmation of whether the control instruction INS is appropriate. In other words, the vehicle 1 notifies the management system 20 of an abnormality in the vehicle direction of travel D.

[0030] Examples of traffic rule displays R that are recognized by the on-board sensor (e.g., camera 17) include road signs such as "No Entry" (e.g., road sign R1 in Figure 3 described later). In other examples, road markings (e.g., road marking R2 in Figure 4 described later) are considered as traffic rule displays R. In yet another example, signs or road markings that specify the direction in which vehicle 1 should be parked in a parking space (e.g., road marking R3 in Figure 5 described later) are considered as traffic rule displays R. In yet another example, temporary displays (e.g., signs using traffic cones to indicate "No Entry" or "No Parking") are considered as traffic rule displays R.

[0031] 3-1. Processing Flow Figure 2 is a flowchart showing an example of the processing flow related to vehicle driving control C in the AVP according to the embodiment. The processing in this flowchart is executed when vehicle 1 is driving using AVP.

[0032] In step S100, the control device 11 (processor 15) determines whether or not it has received a control instruction INS from the management system 20. As described above, when vehicle 1 is performing AVP driving, the control instruction INS is periodically transmitted from the management system 20 to vehicle 1.

[0033] When a control instruction INS is received from the management system 20 (step S100; Yes), the control device 11 uses an on-board sensor (e.g., camera 17) to recognize the traffic rule indication R around the vehicle 1. Then, in step S104, the control device 11 performs instruction verification processing. That is, based on the result of recognizing the traffic rule indication R (step S102), the control device 11 determines whether the vehicle direction of travel D1 included in the control instruction INS (the control instruction INS confirmed to have been received in step S100 or S116 described later) violates the traffic rule indication R. Specific examples of the recognition result of the traffic rule indication R and specific examples of the instruction verification processing are described in Section 3-1-1.

[0034] If the vehicle direction of travel D included in the control instruction INS does not violate the traffic rule indication R (step S104; No), the process proceeds to step S106. In step S106, the control device 11 executes (continues) the vehicle driving control C according to the received control instruction INS. Subsequently, the process shown in Figure 2 is repeatedly executed.

[0035] On the other hand, if the vehicle's direction of travel D is contrary to the traffic rule indication R (step S104; Yes), the process proceeds to step S108. In step S108, the control device 11 causes vehicle 1 to temporarily stop. That is, the control device 11 immediately decelerates and stops vehicle 1, and holds vehicle 1 in a stopped state.

[0036] In step S110, following step S108, the control device 11 sends a notification N to the management system 20 requesting confirmation of whether the control instruction INS (the control instruction INS confirmed to have been received in step S100 or S116) is appropriate. In other words, the control device 11 queries the management system 20 about whether the control instruction INS is appropriate. Upon receiving the notification N, the management system 20 generates a response RS (response) to the notification N (request) and sends it to the vehicle 1.

[0037] In step S112, following step S110, the control device 11 determines whether or not it has received a response RS from the management system 20. If a response RS is received (step S112; Yes), the process proceeds to step S114. In step S114, the control device 11 determines whether or not the received response RS indicates that the control instruction INS that caused the notification N is not appropriate (i.e., the vehicle's direction of travel D is contrary to the traffic rule indication R).

[0038] If a response RS indicating that the control instruction INS is appropriate is received (step S114; No), the process proceeds to step S106. In other words, the control device 11 restarts the AVP driving of vehicle 1 in accordance with the control instruction INS. To add to this, the automatic valet parking system 100 is a system in which the management system 20 is the main driver of the AVP driving of vehicle 1. Therefore, upon receiving a response RS from the management system 20 indicating that the control instruction INS is appropriate, the control device 11 restarts the AVP driving of vehicle 1.

[0039] On the other hand, if a response RS is received indicating that the control instruction INS is not appropriate (step S114; Yes), the process proceeds to step S116. In step S116, the control device 11 determines whether the received response RS (more specifically, the new control instruction INS included in the response RS) involves a correction of the vehicle's direction of travel D (step S116).

[0040] If the response RS involves a correction of the vehicle's direction of travel D (step S116; Yes), the process proceeds to step S104. That is, the control device 11 performs instruction verification processing on the new control instruction INS that includes the corrected vehicle's direction of travel D. If the control device 11 determines that the corrected vehicle's direction of travel D does not violate the traffic rule indication R (step S104; No), the control device 11 resumes AVP driving of vehicle 1 according to the new control instruction INS. Thus, in the example of the processing flow shown in Figure 2, the control device 11, having sent notification N to the management system 20, resumes AVP driving on the vehicle 1 side after confirming that the vehicle's direction of travel D corrected by the management system 20 does not violate the traffic rule indication R.

[0041] On the other hand, if the response RS does not involve a correction of the vehicle's direction of travel D (step S116; No), in other words, if the response RS includes a new control instruction INS that cancels the AVP driving of vehicle 1, the process proceeds to step S118. In step S118, the control device 11 cancels the AVP driving of vehicle 1 in accordance with the cancel-driving instruction. In this case, vehicle 1 waits, for example, for the arrival of an attendant. Once step S118 is executed, the process shown in Figure 2 is completed.

[0042] 3-1-1. Instruction Verification Process The following is a specific example of the instruction verification process (see step S104).

[0043] 3-1-1-1. First Specific Example Figure 3 is a conceptual diagram illustrating the outline of the instruction verification process related to the first specific example. In Figure 3, vehicle 1 receives the target route TP1 while driving with AVP. The target route TP1 is intended to cause vehicle 1 to turn right on the passage 5 within the parking area 4. Meanwhile, vehicle 1 recognizes road sign R1 using camera 17 (on-board sensor). In other words, in the first specific example, road sign R1 installed in parking area 4 corresponds to traffic rule indication R. Road sign R1 indicates that entry by vehicle 1 is prohibited in the direction of vehicle travel D1 specified by the target route TP1.

[0044] As described above, in the first specific example, the control instruction INS requests that vehicle 1 enter a location where road sign R1, recognized using camera 17 (e.g., front camera), prohibits vehicle 1 from entering. In this case, during the instruction verification process, the control device 11 determines that the vehicle's direction of travel D1 included in the control instruction INS violates the traffic rule indication R (road sign R1).

[0045] 3-1-1-2. Second specific example Figure 4 is a conceptual diagram illustrating the outline of the instruction verification process related to the second specific example. Vehicle 1 shown in Figure 4 receives the target route TP2 while driving with AVP. Similar to target route TP1, target route TP2 is also intended to cause vehicle 1 to turn right on the passage 5 within parking area 4. Meanwhile, vehicle 1 recognizes the road marking R2 using camera 17 (on-board sensor). In other words, in the second specific example, the road marking R2 displayed in parking area 4 corresponds to the traffic rule indication R. The road marking R2 indicates the direction of vehicle travel that each vehicle should follow within parking area 4, and this direction of vehicle travel is opposite to the direction of vehicle travel D2 specified by target route TP2.

[0046] As described above, in the second specific example, the control instruction INS requires vehicle 1 to enter in the opposite direction to the direction of vehicle travel indicated by the road marking R2 recognized using camera 17 (e.g., front camera). In this case, during the instruction verification process, the control device 11 determines that the direction of vehicle travel D2 included in the control instruction INS is contrary to the traffic rule indication R (road marking R2).

[0047] 3-1-1-3. Third specific example Figure 5 is a conceptual diagram illustrating the outline of the instruction verification process related to the third specific example. In Figure 5, vehicle 1 receives the target route TP3 while driving in AVP mode. The target route TP3 is for parking vehicle 1 facing backward into parking space 6. Meanwhile, vehicle 1 recognizes the road marking R3 using camera 17 (onboard sensor). In other words, in the third specific example, the road marking R3 displayed in parking area 4 (parking space 6) corresponds to the traffic rule indication R. The road marking R3 is for specifying the direction of parking vehicle 1 in parking space 6 (e.g., forward), and this "direction of parking" is opposite to the direction of vehicle travel D3 specified by the target route TP3. In the third specific example, the traffic rule indication R for indicating the "direction of parking" may be a sign installed near parking space 6 instead of the road marking R3.

[0048] As described above, in the third specific example, the control instruction INS requires vehicle 1 to enter the parking space 6 in the opposite direction to the direction indicated by the road marking R3 recognized using camera 17 (e.g., rear camera). In this case, during the instruction verification process, the control device 11 determines that the vehicle's direction of travel D3 included in the control instruction INS is contrary to the traffic rule indication R (e.g., road marking R3).

[0049] 3-2. Other examples of processing flows Figure 6 is a flowchart showing another example of the processing flow related to vehicle driving control C in the AVP according to the embodiment. This flowchart differs from the processing shown in Figure 2 in that if the response RS from the management system 20 involves a correction of the vehicle direction of travel D (step S116; Yes), the process proceeds to step S106 instead of step S104.

[0050] Specifically, in Figure 6, when the control device 11 receives a new control instruction INS from the management system 20 that received notification N, which involves a correction of the vehicle's direction of travel D, the control device 11 resumes AVP driving of vehicle 1 according to the new control instruction INS without going through an instruction verification process targeting the corrected vehicle's direction of travel D (step S106). Thus, according to the process shown in Figure 6, the process of "determining whether the corrected vehicle's direction of travel D violates the traffic rule display R" is omitted.

[0051] 4. Effects As described above, according to the vehicle control system 10 of this embodiment, the actual traffic rule display R is recognized using a sensor (e.g., camera 17) mounted on the vehicle 1 traveling in the parking area 4. Based on the result of this recognition, the vehicle 1 determines whether the vehicle direction of travel D included in the control instruction INS from the management system 20 violates the traffic rule display R. If the vehicle direction of travel D violates the traffic rule display R, the vehicle 1 stops temporarily, and the management system 20 requests the vehicle 1 to confirm whether its control instruction INS is appropriate. This prevents the vehicle 1 from continuing AVP driving in accordance with an inappropriate control instruction INS, thereby improving the safety of the vehicle 1's automated driving based on the control instruction INS from the management system 20.

[0052] Furthermore, in this embodiment, if the management system 20 that received the notification N receives a new control instruction INS that includes a correction to the vehicle's direction of travel D, an instruction verification process may be performed on the new control instruction INS. If the instruction verification process determines that the corrected vehicle's direction of travel D does not violate the traffic rule display R, the AVP driving of vehicle 1 may be resumed in accordance with the new control instruction INS. This method allows vehicle 1 to continue AVP driving in accordance with the new control instruction INS while further improving the safety of the vehicle's automated driving by confirming whether the corrected vehicle's direction of travel D is appropriate before resuming driving.

[0053] Furthermore, in this embodiment, if the management system 20 receives a new control instruction INS from the management system 20 that has received the notification N, which includes a correction to the vehicle's direction of travel D, the AVP driving of vehicle 1 may be resumed according to the new control instruction INS without going through an instruction verification process targeting the corrected vehicle's direction of travel D. The new control instruction INS is transmitted to vehicle 1 by the management system 20 after confirming that its original control instruction INS was appropriate in response to the notification N from vehicle 1. Therefore, this method allows for a swift resumption of AVP driving after the transmission of notification N, while taking into consideration the improvement of the safety of the vehicle's automatic driving through the cooperation between the vehicle control system 10 and the management system 20 based on the notification N and response RS.

[0054] Furthermore, in this embodiment, if the management system 20 receives a response RS from the management system 20 that received the notification N, indicating that the control instruction INS that caused the notification N is appropriate, the AVP driving of vehicle 1 may be resumed in accordance with the control instruction INS. This allows the AVP driving to be quickly resumed in the automatic valet parking system 100, in which the management system 20 is the main operator causing vehicle 1 to perform AVP driving, upon receiving a response RS from the management system 20 indicating that the control instruction INS is appropriate. [Explanation of Symbols]

[0055] 1 vehicle, 10 vehicle control systems, 11 control devices, 12 sensors, 13 driving systems, 20 automated valet parking management systems, 100 automated valet parking systems

Claims

1. A vehicle control system installed in a vehicle subject to automatic valet parking, One or more sensors that recognize traffic rule signs within the parking area of ​​a parking lot, One or more processors, Equipped with, When the vehicle in question is driving in the parking area, the one or more processors will: Based on the recognition result of the traffic rule display using the one or more sensors, an instruction verification process is performed to determine whether the vehicle direction of travel included in the control instruction received by the target vehicle from the automatic valet parking management system violates the traffic rule display. If the vehicle's direction of travel violates the traffic rule indication, the system will stop the vehicle and send a notification to the management system requesting confirmation of whether the control instruction is appropriate. Vehicle control system.

2. A vehicle control system according to claim 1, The one or more processors described above are: When the management system that received the notification receives a new control instruction involving a correction of the vehicle's direction of travel, the instruction verification process is executed with respect to the new control instruction. If the instruction verification process determines that the corrected vehicle direction does not violate the traffic rule display, the vehicle will resume driving in accordance with the new control instruction. Vehicle control system.

3. A vehicle control system according to claim 1, If the management system that received the notification receives a new control instruction involving a correction of the vehicle's direction of travel, the one or more processors will restart the vehicle's movement in accordance with the new control instruction without going through the instruction verification process targeting the corrected vehicle's direction of travel. Vehicle control system.

4. A vehicle control system according to any one of claims 1 to 3, If the management system that received the notification receives a response indicating that the control instruction that caused the notification is appropriate, the one or more processors will restart the target vehicle in accordance with the control instruction that caused the notification. Vehicle control system.

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