Vehicles, backend systems, and automated valet parking systems

Abstract

This technology enables mutual authentication between vehicles and parking systems in any parking lot. [Solution] Automatic valet parking of a vehicle in a designated parking lot is achieved by wireless communication between the vehicle and the parking system. The backend system that manages the vehicle is able to communicate with the vehicle. The parking system holds a first parking certificate, which is its own certificate and is necessary for mutual authentication between the vehicle and the parking system. The vehicle obtains a second parking certificate from the backend system via communication, which is linked to the first parking certificate and is necessary to verify the first parking certificate. The vehicle holds the second parking certificate obtained from the backend system. When the vehicle performs mutual authentication with the parking system to establish wireless communication, it receives the first parking certificate from the parking system and verifies the first parking certificate using the second parking certificate.

Description

Technical Field

[0001] The present disclosure relates to automated valet parking (AVP) of vehicles in a parking lot.

Background Art

[0002] Patent Document 1 discloses automated valet parking in a parking lot. A vehicle corresponding to automated valet parking acquires route information from a parking lot system and autonomously travels along the acquired route.

Prior Art Documents

Patent Documents

[0003] [[ID=X]]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In automated valet parking, wireless communication is performed between a vehicle and a parking lot system (infrastructure). When establishing wireless communication, it is desirable to perform mutual authentication between the vehicle and the parking lot system. However, it is difficult to pre-install a parking lot certificate for mutual authentication in all vehicles for an unspecified large number of existing parking lots. Even if a parking lot certificate for an existing parking lot is pre-installed in a vehicle, it cannot handle newly installed parking lots thereafter.

[0005] One object of the present disclosure is to provide a technology that enables mutual authentication between a vehicle and a parking lot system in any parking lot.

Means for Solving the Problems

[0006] A first aspect relates to a vehicle having an automated valet parking function. The target parking lot is a parking lot used by the vehicle. The parking system is configured to manage automated valet parking in the designated parking area. By communicating wirelessly between the vehicle and the parking system, automated valet parking of vehicles in the designated parking area is realized. The parking system holds its own certificate, the first parking certificate, which is necessary for mutual authentication between the vehicle and the parking system. The backend system that manages the vehicles is capable of communicating with the vehicles themselves. The vehicle is equipped with one or more processors. One or more processors obtain a second parking certificate, which is associated with the first parking certificate and necessary for verifying the first parking certificate, from the backend system via communication. One or more processors hold a second parking certificate obtained from the backend system. One or more processors, when performing mutual authentication with the parking system to establish wireless communication, receive a first parking certificate from the parking system and verify the first parking certificate using a second parking certificate.

[0007] The second aspect concerns a backend system that can communicate with vehicles equipped with an automated valet parking function. The target parking lots are those used by vehicles. The parking system is configured to manage automated valet parking in the designated parking area. By communicating wirelessly between the vehicle and the parking system, automated valet parking of vehicles in the designated parking area is realized. The parking system holds its own certificate, the first parking certificate, which is necessary for mutual authentication between the vehicle and the parking system. The backend system comprises one or more processors. One or more processors provide the vehicle, via communication, with a second parking certificate that is linked to and necessary for verifying the first parking certificate. When mutual authentication is performed between the vehicle and the parking system to establish wireless communication, the vehicle receives a first parking certificate from the parking system and verifies the first parking certificate using a second parking certificate.

[0008] The third point concerns automated valet parking systems. The automated valet parking system is Vehicles equipped with an automatic valet parking function, A backend system that manages vehicles and can communicate with them. It is equipped with. The target parking lots are those used by vehicles. The parking system is configured to manage automated valet parking in the designated parking area. By communicating wirelessly between the vehicle and the parking system, automated valet parking of vehicles in the designated parking area is realized. The parking system holds its own certificate, the first parking certificate, which is necessary for mutual authentication between the vehicle and the parking system. The backend system provides the vehicle with a second parking certificate via communication, which is linked to the first parking certificate and is necessary to verify the first parking certificate. The vehicle holds a second parking certificate obtained from the backend system. When a vehicle performs mutual authentication with the parking system to establish wireless communication, it receives a first parking certificate from the parking system and verifies the first parking certificate using a second parking certificate. [Effects of the Invention]

[0009] According to this disclosure, the parking certificate necessary for mutual authentication between the vehicle and the parking system is provided to the vehicle from the backend system. This makes it possible to achieve mutual authentication between the vehicle and the parking system in any parking lot. [Brief explanation of the drawing]

[0010] [Figure 1]It is a conceptual diagram showing an overview of an automated valet parking system (AVP system). [Figure 2] It is a conceptual diagram for explaining an example of automated valet parking. [Figure 3] It is a conceptual diagram for explaining mutual authentication between a vehicle and a parking lot system. [Figure 4] It is a conceptual diagram for explaining a comparative example. [Figure 5] It is a conceptual diagram for explaining a method of providing a second parking lot certificate to a vehicle. [Figure 6] It is a conceptual diagram for explaining an example of a storage area for a certificate in a vehicle. [Figure 7] It is a conceptual diagram for explaining an example of linkage with an AVP use reservation. [Figure 8] It is a conceptual diagram for explaining an example of linkage with vehicle activation (wake-up) in a parking lot. [Figure 9] It is a block diagram showing an example of the configuration of a vehicle. [Figure 10] It is a block diagram showing an example of the configuration of a backend system. [Figure 11] It is a block diagram showing an example of the configuration of a parking lot system. [Figure 12] It is a block diagram showing an example of the configuration of an AVP system. [Figure 13] It is a block diagram for explaining an example of processing in an AVP system. [Figure 14] It is a block diagram for explaining an example of processing in an AVP system. [Figure 15] It is a block diagram for explaining an example of processing in an AVP system. [Figure 16] It is a block diagram for explaining an example of processing in an AVP system. [Figure 17] It is a block diagram for explaining an example of processing in an AVP system. [Figure 18] It is a block diagram for explaining an example of processing in an AVP system. [Modes for carrying out the invention]

[0011] Embodiments of this disclosure will be described with reference to the attached drawings. In the following description, automated valet parking may be referred to as "AVP".

[0012] 1. Automatic Valet Parking System (AVP System) Figure 1 is a conceptual diagram showing an overview of the AVP system 10 according to this embodiment. The AVP system 10 is a system for AVP in a parking lot. The AVP system 10 includes a vehicle 100, a user terminal 200, a backend system 300, and a parking system 400.

[0013] Vehicle 100 is subject to and compliant with AVP in parking lots. Vehicle 100 has the capability to drive autonomously, at least in a parking lot.

[0014] The user terminal 200 is a terminal operated by a user of the AVP service, i.e., a user of the vehicle 100. Examples of user terminals 200 include smartphones and PCs.

[0015] The backend system 300 manages AVPs, AVP service users, AVP-eligible vehicles 100, etc., in one or more parking lots. The parking lot system 400 is an infrastructure system installed in a parking lot and manages the AVPs in that parking lot. The backend system 300 and the parking lot system 400 can also be collectively called the "management system." The management system manages the AVPs in the parking lots.

[0016] Vehicle 100 and backend system 300 can communicate with each other. For example, vehicle 100 and backend system 300 can communicate with each other using a mobile communication service. In a parking lot, vehicle 100 and parking system 400 can communicate wirelessly with each other. For example, vehicle 100 and parking system 400 can communicate wirelessly with each other using a Wi-Fi network. Furthermore, user terminal 200 and backend system 300 can communicate with each other. For example, user terminal 200 and backend system 300 can communicate with each other using a mobile communication service. In addition, backend system 300 and parking system 400 can communicate with each other via wired or wireless connections.

[0017] An example of the AVP service reservation process is as follows: Assume that the user's membership information is pre-registered in the backend system 300. First, the user makes an AVP reservation. For example, the user operates the user terminal 200 to input their user ID information, desired parking lot, desired date of use, desired time of use (scheduled entry time and scheduled exit time), etc. The user terminal 200 sends reservation request information, including the entered information, to the backend system 300. The backend system 300 processes the reservation based on the reservation request information and sends a reservation completion notification to the user terminal 200. The backend system 300 also provides the reservation information to the parking system 400 of the reserved parking lot.

[0018] Figure 2 is a conceptual diagram illustrating an example of AVP in a parking lot.

[0019] Vehicle 100 recognizes its surroundings using recognition sensors (e.g., cameras) mounted on it. Vehicle 100 drives safely while recognizing its surroundings. Multiple markers M (landmarks) may be placed within the parking lot. Markers M are used to guide vehicle 100 within the parking lot. For example, vehicle 100 acquires images of its surroundings using its camera and recognizes markers M based on the images. Then, based on the recognition results of markers M, vehicle 100 performs localization to estimate its position in the parking lot with high accuracy. Based on the estimated vehicle position, vehicle 100 drives automatically within the parking lot.

[0020] One or more infrastructure cameras (CAMs) may be installed in the parking lot. The infrastructure camera (CAM) photographs the parking lot and acquires images showing the conditions of the parking lot. The parking lot system 400 communicates with the infrastructure camera (CAM) and acquires the images taken by the infrastructure camera (CAM). The parking lot system 400 detects vehicles (100) that are shown in the images by analyzing the images. The parking lot system 400 also estimates the position of the vehicles (100) shown in the images. Furthermore, the parking lot system 400 manages each vehicle (100) in the parking lot based on its position. The parking lot system 400 may provide the vehicle (100) with its position information. The vehicle (100) may automatically drive within the parking lot based on the position information provided by the parking lot system 400.

[0021] An example of the parking process (check-in) is as follows: Vehicle 100 stops in the parking area. In the parking area, the user gets out of vehicle 100 and requests to park using a user terminal 200 or the like. The management system (at least one of the backend system 300 and the parking system 400) authenticates the user and vehicle 100. Once authentication is complete, the control of vehicle 100 is transferred from the user to the management system. The management system also communicates with vehicle 100 and starts it up. The parking system 400 then assigns an available parking space to vehicle 100. The assigned available parking space becomes the target parking space, or destination, for vehicle 100 at the time of parking. Furthermore, the parking system 400 sets a driving route TP (target trajectory) from the parking area to the target parking space in the parking lot. The parking system 400 sends a parking instruction to vehicle 100. The parking instruction includes information on the target parking space and the driving route TP. In response to the parking instruction, vehicle 100 automatically drives to the target parking space according to the driving path TP. In other words, vehicle 100 automatically drives to follow the driving path TP based on its position. Then, vehicle 100 automatically parks in the target parking space. After parking is complete, the management system instructs vehicle 100 to stop its operation.

[0022] An example of the checkout process is as follows: The user requests checkout using a user terminal 200 or the like. The management system communicates with vehicle 100 and starts vehicle 100. When checking out, the designated checkout area becomes the destination for vehicle 100. The parking system 400 sets the driving route TP (target trajectory) from the parking space in the parking lot to the checkout area. The parking system 400 sends a checkout instruction to vehicle 100. The checkout instruction includes information on the designated checkout area and driving route TP. In response to the checkout instruction, vehicle 100 automatically drives to the checkout area according to the driving route TP. In other words, vehicle 100 automatically drives to follow the driving route TP based on its position. Then, vehicle 100 automatically stops at the checkout area. Operational authority for vehicle 100 is transferred from the management system to the user. The user gets into vehicle 100. Vehicle 100 starts moving towards the next destination.

[0023] 2. Mutual authentication between vehicles and parking systems 2-1. Overview In automated valet parking, wireless communication is conducted between the vehicle 100 and the parking system 400. It is desirable that mutual authentication be performed between the vehicle 100 and the parking system 400 when establishing wireless communication.

[0024] Figure 3 is a conceptual diagram illustrating mutual authentication between vehicle 100 and parking system 400. In the example shown in Figure 3, the target parking lot used by vehicle 100 is parking lot A. Parking system 400A is installed in parking lot A and manages the AVP in parking lot A. AVP for vehicle 100 in parking lot A is realized by wireless communication between vehicle 100 and parking system 400A. Mutual authentication is performed between vehicle 100 and parking system 400A to establish this wireless communication. Various certificates such as the following are required for mutual authentication between vehicle 100 and parking system 400A.

[0025] Vehicle 100 holds its own certificate, "Vehicle Certificate V1 (First Vehicle Certificate)." Vehicle Certificate V1 is equivalent to a client certificate that proves the identity of Vehicle 100. On the other hand, parking system 400A holds its own certificate, "Parking Certificate PA1 (First Parking Certificate)." Parking Certificate PA1 is equivalent to a server certificate that proves the identity of parking system 400A.

[0026] Furthermore, vehicle 100 holds a "Parking Certificate PA2 (Second Parking Certificate)" necessary to verify the parking certificate PA1 presented by the parking system 400A. Parking certificate PA2 is an intermediate or root certificate and is linked to parking certificate PA1. For example, parking certificate PA2 is an intermediate certificate linked to parking certificate PA1. On the other hand, parking system 400A holds a "Vehicle Certificate V2 (Second Vehicle Certificate)" necessary to verify the vehicle certificate V1 presented by vehicle 100. Vehicle certificate V2 is an intermediate or root certificate and is linked to vehicle certificate V1. For example, vehicle certificate V2 is an intermediate certificate linked to vehicle certificate V1.

[0027] Mutual authentication between vehicle 100 and parking system 400A is performed as follows: Vehicle 100 presents vehicle certificate V1 (first vehicle certificate) to parking system 400A. Parking system 400A receives vehicle certificate V1 from vehicle 100 and verifies vehicle certificate V1 using vehicle certificate V2 (second vehicle certificate). Meanwhile, parking system 400A presents parking certificate PA1 (first parking certificate) to vehicle 100. Vehicle 100 receives parking certificate PA1 (first parking certificate) from parking system 400A and verifies parking certificate PA1 (first parking certificate) using parking certificate PA2 (second parking certificate). In this way, mutual authentication between vehicle 100 and parking system 400A is achieved, and wireless communication between vehicle 100 and parking system 400A is established.

[0028] Thus, in order to achieve mutual authentication between vehicle 100 and parking system 400A, vehicle 100 needs to possess both its own vehicle certificate V1 and a parking certificate PA2 related to parking system 400A. The vehicle certificate V1 is, for example, pre-installed on vehicle 100 at the time of shipment. On the other hand, how vehicle 100 obtains the parking certificate PA2 is a matter that requires further consideration.

[0029] Figure 4 is a conceptual diagram illustrating a comparative example. Parking system 400A in parking lot A holds its own certificate, parking certificate PA1 (first parking certificate). Parking system 400B in parking lot B holds its own certificate, parking certificate PB1 (first parking certificate). Parking system 400C in parking lot C holds its own certificate, parking certificate PC1 (first parking certificate). In the comparative example, when vehicle 100 is shipped, parking certificate PA2 (second parking certificate) for parking system 400A is pre-installed on vehicle 100. In this case, mutual authentication between vehicle 100 and parking system 400A in parking lot A is possible. However, mutual authentication between vehicle 100 and parking system 400B in parking lot B is not possible. Similarly, mutual authentication between vehicle 100 and parking system 400C in parking lot C is not possible.

[0030] In order to achieve mutual authentication between vehicle 100 and parking system 400B, vehicle 100 needs to possess a parking certificate PB2 (second parking certificate) linked to parking certificate PB1. Similarly, in order to achieve mutual authentication between vehicle 100 and parking system 400C, vehicle 100 needs to possess a parking certificate PC2 (second parking certificate) linked to parking certificate PC1. However, it is difficult to pre-install a second parking certificate on vehicle 100 for all of the numerous parking lots that exist. Even if a second parking certificate for an existing parking lot were pre-installed on vehicle 100, it would not be able to handle newly installed parking lots.

[0031] Figure 5 is a conceptual diagram illustrating the method for providing (distributing) the second parking certificate according to this embodiment to a vehicle. In this embodiment, a backend system 300 that manages the vehicle 100 is used. The vehicle 100 and the backend system 300 can communicate with each other. The certificates (intermediate certificate, root certificate) necessary for mutual authentication between the vehicle 100 and the backend system 300 are, for example, pre-installed on the vehicle 100 at the time of shipment. The target parking lots used by the vehicle 100 may vary, but the backend system 300 is uniquely determined. Therefore, even if certificates related to the backend system 300 are pre-installed on the vehicle 100, no particular problems arise.

[0032] The backend system 300 can obtain a parking certificate PX2 (second parking certificate) for any parking lot X (e.g., X = A, B, C) related to the parking lot system 400X. The parking certificate PX2 (second parking certificate) is linked to the parking certificate PX1 (first parking certificate) held by the parking lot system 400X and is provided by the parking lot system 400X. The backend system 300 obtains the parking certificate PX2 from the parking lot system 400X via communication. Furthermore, the backend system 300 provides (distributes) the parking certificate PX2 to the vehicle 100 via communication.

[0033] Vehicle 100 obtains a parking certificate PX2 from the backend system 300 via communication. Vehicle 100 holds the parking certificate PX2 obtained from the backend system 300. Mutual authentication is performed between vehicle 100 and the parking system 400X in the target parking lot X in order to establish wireless communication between vehicle 100 and the parking system 400X. During this mutual authentication, vehicle 100 receives a parking certificate PX1 (first parking certificate) from the parking system 400X. Then, vehicle 100 verifies parking certificate PX1 (first parking certificate) using the parking certificate PX2 (second parking certificate) that it holds. In this way, mutual authentication is achieved between vehicle 100 and the parking system 400X, and wireless communication is established between vehicle 100 and the parking system 400X.

[0034] According to this embodiment, it is not necessary to pre-install the parking certificate PX2 for the target parking lot X on the vehicle 100. The parking certificate PX2 does not need to be pre-installed on the vehicle 100. Instead, the parking certificate PX2 necessary for mutual authentication between the vehicle 100 and the parking system 400X of the target parking lot X is provided to the vehicle 100 from the backend system 300. This makes it possible to achieve mutual authentication between the vehicle 100 and the parking system 400X in any parking lot X. It is also possible to support parking lots X that are newly installed after the vehicle 100 has been shipped.

[0035] 2-2. Storage area for certificates in vehicles Figure 6 is a conceptual diagram illustrating an example of a certificate storage area in vehicle 100. Vehicle 100 is equipped with a control device 150 that controls vehicle 100. The control device 150 is equipped with a secure area MEM-S, which is a highly secure memory area. The vehicle certificate V1 (first vehicle certificate) and the parking certificate PX2 (second parking certificate) are stored in this secure area MEM-S.

[0036] The vehicle certificate V1 (first vehicle certificate) and the parking certificate PX2 (second parking certificate) may be stored in separate locations. For example, the secure area MEM-S includes the first memory MEM-S1 and the second memory MEM-S2. The vehicle certificate V1 (first vehicle certificate) is stored in the first memory MEM-S1, while the parking certificate PX2 (second parking certificate) is stored in the second memory MEM-S2.

[0037] Vehicle certificate V1 (first vehicle certificate) is used for a long period of time. Therefore, vehicle certificate V1 (first vehicle certificate) may be stored in a memory area with a particularly high security level. On the other hand, the update frequency of parking certificate PX2 (second parking certificate) is assumed to be higher than that of vehicle certificate V1 (first vehicle certificate). Therefore, parking certificate PX2 (second parking certificate) may be stored in a memory area that is relatively easy to access. From the above perspective, the security level of the first memory MEM-S1 may be higher than that of the second memory MEM-S2. Conversely, the security level of the second memory MEM-S2 may be lower than that of the first memory MEM-S1.

[0038] 2-3. Example of integration with AVP usage reservation Figure 7 is a conceptual diagram illustrating an example of integration with AVP usage reservations. In the example shown in Figure 7, the backend system 300 provides a parking certificate PX2 to the vehicle 100 in conjunction with the AVP usage reservation at the target parking lot X. The vehicle 100 obtains the parking certificate PX2 from the backend system 300 in conjunction with the AVP usage reservation at the target parking lot X.

[0039] More specifically, the user of vehicle 100 operates the user terminal 200 to reserve the use of AVP at the target parking lot X. The backend system 300 accepts the AVP usage reservation for vehicle 100 at the target parking lot X. The backend system 300, which manages vehicle 100, holds vehicle certificates V1 (first vehicle certificate) and V2 (second vehicle certificate) for vehicle 100. In response to the AVP usage reservation, the backend system 300 provides the vehicle certificate V2 (second vehicle certificate) for vehicle 100 (target vehicle) to the parking system 400X of the target parking lot X via communication.

[0040] The parking system 400X of the target parking lot X receives a vehicle certificate V2 (second vehicle certificate) for vehicle 100 (target vehicle) from the backend system 300 via communication. The parking system 400X holds the received vehicle certificate V2. The held vehicle certificate V2 (second vehicle certificate) is used for mutual authentication (see Figures 3 and 5). The parking system 400X also creates a parking certificate PX2 (second parking certificate). The parking system 400X provides the parking certificate PX2 (second parking certificate) to the backend system 300 via communication.

[0041] The backend system 300 receives the parking certificate PX2 (second parking certificate) from the parking system 400X via communication. The backend system 300 provides the parking certificate PX2 (second parking certificate) relating to the parking system 400X to the vehicle 100 (target vehicle) via communication.

[0042] Vehicle 100 receives a parking certificate PX2 (second parking certificate) related to the parking system 400X from the backend system 300 via communication. Vehicle 100 holds the received parking certificate PX2 (second parking certificate). For example, the parking certificate PX2 (second parking certificate) is stored in the vehicle 100's second memory MEM-S2 (see Figure 6). The held parking certificate PX2 (second parking certificate) is used for mutual authentication (see Figures 3 and 5).

[0043] 2-4. Example of linkage with vehicle startup (wake-up) Figure 8 is a conceptual diagram illustrating an example of synchronization with the ignition (wake-up) of vehicle 100 in target parking lot X. In the example shown in Figure 8, the backend system 300 provides vehicle 100 with a parking certificate PX2 in conjunction with the ignition of vehicle 100 in target parking lot X. Vehicle 100 obtains the parking certificate PX2 from the backend system 300 in conjunction with its ignition in target parking lot X.

[0044] More specifically, after vehicle 100 arrives at the target parking lot X, the user exits vehicle 100 and requests AVP activation. The backend system 300 sends a wake-up request to vehicle 100 (the target vehicle) via communication. In response to the wake-up request, the AVP function of vehicle 100 is activated. Furthermore, the backend system 300 provides vehicle 100 with connection information regarding the parking system 400X and a parking certificate PX2 (second parking certificate) via communication. The connection information includes the SSID of the parking system 400X, etc.

[0045] Vehicle 100 receives connection information regarding the parking system 400X and a parking certificate PX2 (second parking certificate) from the backend system 300 via communication. Vehicle 100 holds the received connection information and parking certificate PX2 (second parking certificate). For example, the parking certificate PX2 (second parking certificate) is stored in the vehicle 100's second memory MEM-S2 (see Figure 6).

[0046] Vehicle 100 requests a communication connection from the parking system 400X of the target parking lot X based on the connection information (SSID). Vehicle 100 and the parking system 400X perform mutual authentication using certificates (see Figures 3 and 5). Wireless communication is then established between vehicle 100 and the parking system 400X.

[0047] Furthermore, the timing at which the backend system 300 obtains connection information and parking certificate PX2 (second parking certificate) from the parking system 400X is arbitrary. For example, as shown in Figure 7, the backend system 300 may obtain the parking certificate PX2 (second parking certificate) from the parking system 400X when an AVP reservation is made. As another example, the backend system 300 may obtain the parking certificate PX2 (second parking certificate) from the parking system 400X in conjunction with the wake-up of the vehicle 100. Alternatively, the backend system 300 may obtain connection information from the parking system 400X in conjunction with the wake-up of the vehicle 100.

[0048] 2-5. Retention period of the second parking permit There are various possible durations for which vehicle 100 can retain parking certificate PX2 (second parking certificate).

[0049] In the first example, vehicle 100 deletes parking certificate PX2 (second parking certificate) after vehicle 100 has finished using the target parking lot X.

[0050] In the second example, vehicle 100 will continue to hold parking certificate PX2 (second parking certificate) until its expiration date. In this example, vehicle 100 may skip the process of obtaining a new parking certificate PX2 until the expiration date of the parking certificate PX2 it already holds.

[0051] In the third example, vehicle 100 changes the retention period of the parking certificate PX2 (second parking certificate) depending on the frequency of use of the target parking lot X. For example, a user may frequently use a particular target parking lot X. An example of a frequently used target parking lot X is the parking lot of one's own apartment building. Also, if the user is a rental car company, they may frequently use rental car parking lots. The more frequently the target parking lot X is used, the longer the retention period for the parking certificate PX2 (second parking certificate) is set to be. Vehicle 100 may skip the process of acquiring a new parking certificate PX2 until the retention period of the parking certificate PX2 it already holds has expired.

[0052] 3. Example of vehicle configuration Figure 9 is a block diagram showing an example configuration of a vehicle 100 according to this embodiment. The vehicle 100 includes a communication device 110, a sensor group 120, a running device 130, a body device 140, and a control device 150.

[0053] The communication device 110 includes an antenna and a transmitting / receiving circuit.

[0054] The sensor group 120 includes recognition sensors, vehicle condition sensors, etc. Recognition sensors are used to recognize (detect) the surrounding conditions of the vehicle 100. Examples of recognition sensors include cameras, LiDAR (Laser Imaging Detection and Ranging), radar, etc. Vehicle condition sensors include speed sensors, acceleration sensors, yaw rate sensors, steering angle sensors, etc.

[0055] The running gear 130 includes a steering gear, a drive gear, and a braking gear. The steering gear steers the wheels. For example, the steering gear includes an electric power steering (EPS) system. The drive gear is a power source that generates driving force. Examples of drive gears include an engine, an electric motor, an in-wheel motor, etc. The braking gear generates braking force.

[0056] The body equipment 140 includes lights, doors, door mirrors, etc. Examples of lights include turn signals, headlights, brake lights, fog lights, etc.

[0057] The control device 150 is a computer that controls the vehicle 100. The control device 150 includes one or more processors 151 (hereinafter simply referred to as processor 151) and one or more storage devices 152 (hereinafter simply referred to as storage devices 152). The processor 151 performs various processes. Examples of processors 151 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, and / or combinations thereof. The processor 151 can also be called processing circuitry. The storage devices 152 store various information. Examples of storage devices 152 include volatile memory, non-volatile memory, HDDs (Hard Disk Drives), SSDs (Solid State Drives), etc.

[0058] The vehicle control program 160 is a computer program for controlling the vehicle 100. The functions of the control device 150 may be realized through the cooperation of a processor 151 that executes the vehicle control program 160 and a storage device 152. The vehicle control program 160 is stored in the storage device 152. Alternatively, the vehicle control program 160 may be recorded on a computer-readable recording medium.

[0059] The control device 150 communicates with the backend system 300 and the parking system 400 via the communication device 110.

[0060] The control device 150 performs vehicle driving control to control the movement of the vehicle 100. Vehicle driving control includes steering control, acceleration control, and deceleration control. The control device 150 performs vehicle driving control by controlling the driving equipment 130 (steering equipment, drive equipment, braking equipment).

[0061] Furthermore, the control device 150 controls the body device 140. For example, the control device 150 controls the lights to turn ON / OFF.

[0062] Furthermore, the control device 150 acquires driving environment information 170 that indicates the driving environment of the vehicle 100. The driving environment information 170 is stored in the storage device 152. For example, the driving environment information 170 includes surrounding condition information, vehicle status information, map information, location information, etc.

[0063] The surrounding environment information indicates the recognition results from the recognition sensor. The surrounding environment information may include object information about objects recognized by the recognition sensor. Examples of objects around vehicle 100 include obstacles, white lines, marker M, etc. Examples of obstacles include walls, pillars, other vehicles, etc. The object information indicates the relative position and relative velocity of the object with respect to vehicle 100.

[0064] Vehicle status information indicates the vehicle status detected by vehicle status sensors. Examples of vehicle status include speed, acceleration, yaw rate, steering angle, etc.

[0065] The map information is map information of the parking lot in which vehicle 100 travels. The map information shows the layout of roads within the parking lot. The map information also shows the layout of stationary obstacles (e.g., walls, pillars) within the parking lot. Furthermore, the map information shows the layout of markers M within the parking lot. For example, the map information is provided by the parking lot system 400 that manages the parking lot. The control device 150 acquires the map information from the parking lot system 400.

[0066] The location information indicates the current position of vehicle 100 in the parking lot. For example, the control device 150 acquires highly accurate location information through localization. Specifically, the control device 150 calculates the approximate position of vehicle 100 in the parking lot based on vehicle status information (steering angle and speed). The control device 150 also recognizes markers M around vehicle 100 using a recognition sensor. Furthermore, the control device 150 acquires information on the placement of markers M around vehicle 100 from map information. The control device 150 corrects the position of vehicle 100 by matching the recognition results of markers M with their placement. This results in highly accurate location information.

[0067] Alternatively, the location information of the vehicle 100 may be estimated by the parking system 400 based on images captured by the infrastructure camera CAM. In this case, the control device 150 may obtain the location information from the parking system 400.

[0068] Furthermore, the control device 150 acquires information on the driving route TP in the parking lot. For example, the driving route TP is determined by the parking system 400, and the control device 150 acquires the driving route TP information from the parking system 400. In another example, the control device 150 may determine the driving route TP based on map information and location information. Then, based on the location information, the control device 150 performs vehicle driving control so that the vehicle 100 drives according to the driving route TP.

[0069] The storage device 152 is further configured to store certificates 180 necessary for mutual authentication. Certificates 180 include a vehicle certificate V1 (first vehicle certificate) and a parking certificate PX2 (second parking certificate). For example, the storage device 152 includes secure first memory MEM-S1 and second memory MEM-S2 (see Figure 6). The first memory MEM-S1 stores the vehicle certificate V1 (first vehicle certificate). The second memory MEM-S2 stores the parking certificate PX2 (second parking certificate). The security level of the first memory MEM-S1 may be higher than the security level of the second memory MEM-S2.

[0070] Vehicle certificate V1 (first vehicle certificate) is stored (pre-installed) in the storage device 152 when the vehicle 100 is shipped. The control device 150 also receives parking certificate PX2 (second parking certificate) from the backend system 300 via the communication device 110 and stores the received parking certificate PX2 (second parking certificate) in the storage device 152.

[0071] When mutual authentication is performed between the target parking lot X and the parking system 400X, the control device 150 transmits the vehicle certificate V1 (first vehicle certificate) to the parking system 400X via the communication device 110. The control device 150 also receives the parking certificate PX1 (first parking certificate) from the parking system 400X via the communication device 110. The control device 150 verifies the parking certificate PX1 (first parking certificate) using the parking certificate PX2 (second parking certificate).

[0072] 4. Example of a backend system configuration Figure 10 is a block diagram showing an example configuration of the backend system 300 according to this embodiment. The backend system 300 includes a communication device 310, one or more processors 320 (hereinafter simply referred to as processor 320), and one or more storage devices 330 (hereinafter simply referred to as storage devices 330).

[0073] The communication device 310 communicates with each vehicle 100. It also communicates with each user's user terminal 200. Furthermore, the communication device 310 communicates with the parking system 400 of each parking lot.

[0074] The processor 320 performs various processes. Examples of the processor 320 include general-purpose processors, application-specific processors, CPUs, GPUs, ASICs, FPGAs, integrated circuits, and / or combinations thereof. The processor 320 can also be called processing circuitry. The storage device 330 stores various information. Examples of storage devices 330 include volatile memory, non-volatile memory, HDDs, SSDs, etc.

[0075] The management program 340 is a computer program for managing the AVP in the parking lot. The functions of the backend system 300 may be realized through the cooperation of the processor 320, which executes the management program 340, and the storage device 330. The management program 340 is stored in the storage device 330. The management program 340 may be recorded on a computer-readable recording medium.

[0076] The processor 320 communicates with the vehicle 100, the user terminal 200, and the parking system 400 via the communication device 310.

[0077] The storage device 330 stores management information 350. The management information 350 may include user information and reservation information for each user. The management information 350 may also include facility information and reservation status information for each parking lot. When the processor 320 receives reservation request information from a user, it may perform reservation processing based on the management information 350.

[0078] The storage device 330 is further configured to store certificates 360. For example, certificates 360 include vehicle certificate V1 (first vehicle certificate), vehicle certificate V2 (second vehicle certificate), and parking certificate PX2 (second parking certificate). The processor 320 transmits vehicle certificate V2 (second vehicle certificate) to the parking system 400X via the communication device 310. The processor 320 also receives parking certificate PX2 (second parking certificate) from the parking system 400X via the communication device 310. Furthermore, the processor 320 transmits parking certificate PX2 (second parking certificate) to the vehicle 100 via the communication device 310.

[0079] 5. Example of a parking system configuration Figure 11 is a block diagram showing an example configuration of a parking system 400 according to this embodiment. The parking system 400 includes a communication device 410, one or more processors 420 (hereinafter simply referred to as processor 420), and one or more storage devices 430 (hereinafter simply referred to as storage devices 430).

[0080] The communication device 410 communicates with each vehicle 100. The communication device 410 also communicates with the backend system 300. Furthermore, the communication device 410 may communicate with the infrastructure camera CAM installed in the parking lot.

[0081] The processor 420 performs various processes. Examples of the processor 420 include general-purpose processors, application-specific processors, CPUs, GPUs, ASICs, FPGAs, integrated circuits, and / or combinations thereof. The processor 420 can also be called processing circuitry. The storage device 430 stores various information. Examples of storage devices 430 include volatile memory, non-volatile memory, HDDs, SSDs, etc.

[0082] The management program 440 is a computer program for managing the parking lot. The functions of the parking system 400 may be realized through the cooperation of the processor 420 that executes the management program 440 and the storage device 430. The management program 440 is stored in the storage device 430. The management program 440 may be recorded on a computer-readable recording medium.

[0083] The processor 420 communicates with the vehicle 100 and the backend system 300 via the communication device 410. The processor 420 may also communicate with the user terminal 200 via the communication device 410 and the backend system 300.

[0084] Furthermore, the storage device 430 stores management information 450 for managing the parking lot. The management information 450 includes map information of the parking lot. The processor 420 may provide the map information to the vehicle 100 via the communication device 410. The management information 450 also indicates the usage status (availability) of parking spaces within the parking lot. Based on the management information 450, the processor 420 can assign an available parking space (destination) to the vehicle 100.

[0085] The management information 450 may include vehicle management information. The vehicle management information includes location information for each vehicle 100 in the parking lot. The processor 420 may communicate with each vehicle 100 via the communication device 410 and collect location information from each vehicle 100. Alternatively, the processor 420 may acquire images taken by infrastructure cameras CAM installed in the parking lot and estimate the location of each vehicle 100 based on those images. The vehicle management information may include a travel route TP assigned to each vehicle 100. The processor 420 can determine the travel route TP assigned to each vehicle 100 based on the location information, destination, and map information of the vehicle 100. The processor 420 may provide the travel route TP information to the vehicle 100 via the communication device 410.

[0086] The storage device 430 is further configured to store certificates 460. For example, certificates 460 include parking certificate PX1 (first parking certificate), parking certificate PX2 (second parking certificate), and vehicle certificate V2 (second vehicle certificate). The processor 420 receives vehicle certificate V2 (second vehicle certificate) from the backend system 300 via the communication device 410. The processor 420 also transmits parking certificate PX2 (second parking certificate) to the backend system 300 via the communication device 410.

[0087] During mutual authentication with vehicle 100, processor 420 transmits parking certificate PX1 (first parking certificate) to vehicle 100 via communication device 410. Processor 420 also receives vehicle certificate V1 (first vehicle certificate) from vehicle 100 via communication device 410. Processor 420 verifies vehicle certificate V1 (first vehicle certificate) using vehicle certificate V2 (second vehicle certificate).

[0088] 6. Example of processing in the AVP system Figure 12 is a block diagram showing an example configuration of the AVP system 10. The AVP system 10 includes a vehicle 100, a user terminal 200, a backend system 300, and a parking system 400.

[0089] Vehicle 100 is equipped with a power supply, actuators (corresponding to the running gear 130 in Figure 9), body equipment (e.g., lights, doors, mirrors), etc. Furthermore, vehicle 100 is equipped with a communication ECU (Electronic Control Unit), ADAS-ECU, running ECU, and power supply / body ECU. These ECUs are included in the control device 150 (see Figure 9) described above.

[0090] The communication ECU controls communication with the backend system 300 and the parking system 400 (cellular communication control, wireless LAN communication control). The communication ECU is also called a DCM (Data Communication Module). The communication ECU may hold certificates for mutual authentication. The communication ECU may have a secure area MEM-S as shown in Figure 6. The communication ECU may have a first memory MEM-S1 and a second memory MEM-S2 as shown in Figure 6. The first memory MEM-S1 stores the first vehicle certificate V1. The second memory MEM-S2 stores the second parking certificate PX2.

[0091] The ADAS-ECU controls autonomous driving in AVP. The ADAS-ECU manages the state of vehicle 100 during AVP. The ADAS-ECU has a planner function. The ADAS-ECU calculates the control variables.

[0092] The driving ECU controls the movement of vehicle 100. Specifically, the driving ECU controls the operation of actuators according to the control values ​​calculated by the ADAS-ECU. The driving ECU includes a motion manager.

[0093] The power supply / body ECU controls the power supply and manages the power supply status. Furthermore, the power supply / body ECU controls body components such as lights, doors, and mirrors. Manage the status of the body device.

[0094] The communication ECU and ADAS-ECU are connected, for example, by Ethernet (registered trademark). Other ECUs are connected, for example, by CAN (Controller Area Network).

[0095] The backend system 300 includes a user backend and a vehicle backend. The user backend and the vehicle backend can communicate with each other and share information.

[0096] The user backend communicates with user terminal 200. The user backend performs user authentication. Furthermore, the user backend maintains an AVP reservation database and manages AVP reservations.

[0097] The vehicle backend communicates with vehicle 100. For example, the vehicle backend communicates with vehicle 100 via a cellular network. The vehicle backend may verify the integrity of the communication interface between vehicle 100 and the vehicle backend. The vehicle backend may issue vehicle certificates. The vehicle backend may manage the power control authority of vehicle 100. The vehicle backend may store AVP vehicle information and AVP driving logs transmitted from vehicle 100. do.

[0098] The parking system 400 includes an RVO (Remote Vehicle Operation) unit installed in the parking lot. The RVO uses infrastructure cameras installed in the parking lot to perform vehicle recognition, localization, obstacle detection, etc. The RVO may also have a planner function. The RVO communicates with the vehicle 100 via a Wireless LAN.

[0099] The parking system 400 may further include a cloud system (OB). The RVO and the cloud system can communicate with each other and share information. The cloud system may manage parking reservations. The cloud system may manage driving control rights for vehicle 100. The cloud system may manage parking information.

[0100] Figures 13 to 18 are block diagrams illustrating an example of processing in the AVP system 10. Initially, communication is not established between the vehicle 100 and the parking system 400 of the target parking lot. On the other hand, the backend system 300 can communicate with the vehicle 100, the user terminal 200, and the parking system 400.

[0101] Figure 13 shows the booking and check-in stages.

[0102] [1] The user of vehicle 100 operates the user terminal 200 to reserve the use of the AVP at the target parking lot. The user terminal 200 sends the reservation request to the backend system 300 (user backend). The backend system 300 (user backend) accepts the reservation. The backend system 300 also provides the reservation information to the parking lot system 400. The parking lot system 400 manages the AVP for the user's vehicle 100 at the target parking lot.

[0103] [2] The vehicle 100 (target vehicle) driven by the user arrives at the entrance area of ​​the target parking lot. The parking system 400 recognizes that the vehicle 100 has arrived at the entrance area using infrastructure cameras. The user gets out of the vehicle 100 and requests to start AVP. The parking system 400 notifies the backend system 300 of the user's check-in.

[0104] [3] The user performs a handover operation using the user terminal 200 to transfer control of the vehicle 100. The user terminal 200 sends a handover request to the backend system 300. The backend system 300 notifies the parking system 400 of the handover.

[0105] Figure 14 shows the vehicle startup phase.

[0106] [4] The backend system 300 (vehicle backend) sends a wake-up request to the vehicle 100 (target vehicle). The communication ECU of the vehicle 100 receives the wake-up request from the backend system 300. Note that the communication ECU and the power / body ECU remain in standby mode even when the vehicle 100 is powered off.

[0107] [5] In response to the wake-up request, the communication ECU sends a start command to the power / body ECU. The power / body ECU turns on the power to the vehicle 100. As a result, the ADAS-ECU, the driving ECU, etc. start up.

[0108] [6] The power supply / body ECU transmits power status (startup complete) information to the ADAS-ECU.

[0109] [7] The ADAS-ECU transmits vehicle status information, including power status, to the communication ECU. The communication ECU transmits the vehicle status information to the backend system 300 (vehicle backend). The backend system 300 (vehicle backend) transmits the vehicle status information to the parking system 400.

[0110] Figure 15 shows the communication connection stages.

[0111] [8] The parking system 400 transmits connection information for the target parking lot to the backend system 300 (vehicle backend). The connection information includes the SSID of the parking system 400. Furthermore, the parking system 400 transmits a second parking certificate for mutual authentication to the backend system 300 (vehicle backend). The backend system 300 (vehicle backend) transmits the connection information and the second parking certificate to the vehicle 100. The communication ECU of the vehicle 100 receives the connection information and the second parking certificate. The communication ECU stores the second parking certificate in the secure area MEM-S (second memory MEM-S2).

[0112] [9] The communication ECU of vehicle 100 requests a communication connection from the parking system 400 of the target parking lot based on the connection information (SSID). The communication ECU of vehicle 100 and the RVO of the parking system 400 perform mutual authentication based on certificates. Mutual authentication is as described in Section 2 above. After mutual authentication, communication is established between the communication ECU of vehicle 100 and the RVO of the parking system 400. As a result, communication is established between the ADAS-ECU of vehicle 100 and the RVO of the parking system 400. In addition, vehicle 100 and the parking system 400 monitor each other's communication status.

[0113] Figure 16 shows the vehicle identification stage.

[0114]

[10] The parking system 400 (RVO) instructs the vehicle 100 to perform a predetermined action. The action is defined by a combination of a device that performs the action and the operating pattern of that device. Examples of visible actions include turning on or flashing lights, flashing turn signals, operating wipers, opening and closing doors, opening and closing windows, opening and closing door mirrors, opening and closing the hood, etc. Examples of audible actions include sounding the horn, starting the engine, etc. For example, the headlights or turn signals flash in a predetermined pattern for a predetermined period (e.g., a few seconds). Another example is that the door mirrors open and close in a predetermined pattern for a predetermined period. Yet another example is that the horn sounds in a predetermined pattern for a predetermined period. The predetermined pattern of actions may be performed repeatedly over time. The parking system 400 (RVO) transmits an action instruction to the vehicle 100 instructing it to perform a predetermined action. The predetermined action is, for example, flashing the turn signals. The ADAS-ECU of the vehicle 100 receives the action instruction via the communication ECU.

[0115]

[11] Action instructions transmitted from the parking system 400 to the vehicle 100 may include seed information. Seed information is necessary for checksum verification of the time synchronization request described later. The ADAS-ECU of the vehicle 100 extracts the seed information from the action instructions received from the parking system 400. Furthermore, the ADAS-ECU transmits the seed information to the communication ECU. The communication ECU holds the seed information.

[0116] In response to the action instruction

[12] , the ADAS-ECU of vehicle 100 instructs the power / body ECU to perform a predetermined action. The power / body ECU controls the body equipment to perform the predetermined action according to the action instruction. For example, the power / body ECU flashes the turn signals. The parking system 400 recognizes the vehicle that performs the predetermined action using an infrastructure camera CAM or the like. The parking system 400 then identifies the vehicle that performed the predetermined action as vehicle 100 (target vehicle). The parking system 400 also localizes vehicle 100 (target vehicle).

[0117]

[13] The power supply / body ECU transmits information indicating the status of the body device to the ADAD-ECU.

[0118] Figure 17 shows the time synchronization stage.

[0119]

[14] The parking system 400 (RVO) sends a time synchronization request to the vehicle 100. The communication ECU of the vehicle 100 receives the time synchronization request sent from the parking system 400. The communication ECU verifies the time synchronization request received from the parking system 400 in order to verify the reliability of the communication between the parking system 400 and the vehicle 100. More specifically, the communication ECU verifies the time synchronization request using a known error detection method. For example, a known cyclic redundancy check (CRC) is used for error detection. For convenience, this verification of the time synchronization request through error detection is called "checksum verification". As described above, the communication ECU already holds the seed information necessary for checksum verification. The communication ECU uses this seed information to perform checksum verification on the time synchronization request. If an error in the time synchronization request is detected as a result of the checksum verification, the communication ECU notifies the parking system 400 of this. Furthermore, the communication ECU processes the time synchronization request and generates a time synchronization response. The time synchronization response includes the vehicle clock value as a vehicle timestamp. The communication ECU then sends the time synchronization response back to the parking system 400. By having the communication ECU, rather than the ADAS-ECU, perform checksum verification and send the time synchronization response, the time from when the vehicle 100 receives the time synchronization request until it sends back the time synchronization response can be reduced.

[0120]

[15] The ADAS-ECU of vehicle 100 transmits information indicating the type and status of vehicle 100 to the parking system 400 via the communication ECU.

[0121] Figure 18 shows the AVP execution phase.

[0122]

[16] The parking system 400 (RVO) transmits an AVP instruction to the vehicle 100. The ADAS-ECU of the vehicle 100 receives the AVP instruction via the communication ECU. In response to the AVP instruction, the ADAS-ECU generates a driving plan and calculates the control quantities required to implement the driving plan.

[0123]

[17] The ADAS-ECU transmits a driving control instruction, including the calculated control amount, to the driving ECU. The driving ECU controls the actuators according to the driving control instruction. As a result, the vehicle 100 automatically drives toward its destination.

[0124]

[18] The driving ECU notifies the ADAS-ECU of information about the vehicle's driving status.

[0125]

[19] The ADAS-ECU transmits vehicle status information, including the vehicle driving status, to the parking system 400 (RVO) via the communication ECU.

[0126]

[20] The parking system 400 transmits system status information, including vehicle status, to the backend system 300. The backend system 300 (user backend) transmits system status information to the user terminal 200. [Explanation of Symbols]

[0127] 10. Automatic Valet Parking (AVP) System 100 vehicles 200 user terminals 300 backend systems 400 Parking System V1 Vehicle Certificate (First Vehicle Certificate) V2 Vehicle Certificate (Second Vehicle Certificate) PX1 Parking Certificate (Parking Certificate No. 1) PX2 Parking Certificate (Second Parking Certificate)

Claims

1. A vehicle equipped with an automatic valet parking function, The parking lot in question is the parking lot used by the aforementioned vehicle. The parking system is configured to manage automated valet parking in the aforementioned parking lot. By performing wireless communication between the vehicle and the parking system, the automatic valet parking of the vehicle in the target parking lot is realized. The parking system holds its own certificate, which is a first parking certificate necessary for mutual authentication between the vehicle and the parking system. The backend system that manages the vehicle is capable of communicating with the vehicle. The vehicle is equipped with one or more processors, The one or more processors described above are: A second parking certificate, which is linked to the first parking certificate and necessary for verifying the first parking certificate, is obtained from the backend system via communication. The system holds the second parking certificate obtained from the backend system, When performing the mutual authentication with the parking system in order to establish the aforementioned wireless communication, the first parking certificate is received from the parking system, and the first parking certificate is verified using the second parking certificate. It is configured in such a way vehicle.

2. A vehicle according to claim 1, The aforementioned second parking certificate is not pre-installed in the vehicle. vehicle.

3. A vehicle according to claim 1, The one or more processors further include: The system is configured to obtain the second parking certificate from the backend system in conjunction with the reservation of the automated valet parking at the target parking lot, or with the activation of the vehicle at the target parking lot. vehicle.

4. A vehicle according to claim 1, The aforementioned second parking certificate is an intermediate certificate. vehicle.

5. A vehicle according to claim 1, The one or more processors further include: The system is configured to delete the second parking certificate after the vehicle has finished using the designated parking lot. vehicle.

6. A vehicle according to claim 1, The one or more processors further include: The system is configured to change the period for which the second parking certificate is kept in use, depending on the frequency with which the vehicle uses the target parking lot. vehicle.

7. A vehicle according to any one of claims 1 to 6, The one or more processors further include: The vehicle certificate, which holds the first vehicle certificate necessary for the mutual authentication between the vehicle and the parking system, When performing the mutual authentication with the parking system, the first vehicle certificate is presented to the parking system. It is configured in such a way vehicle.

8. The vehicle according to claim 7, A first memory configured to store the first vehicle certificate, A second memory configured to store the second parking certificate and It also has vehicle.

9. A vehicle according to claim 8, The security level of the first memory is higher than the security level of the second memory. vehicle.

10. A backend system capable of communicating with a vehicle equipped with an automatic valet parking function, The parking lot in question is the parking lot used by the aforementioned vehicle. The parking system is configured to manage automated valet parking in the aforementioned parking lot. By performing wireless communication between the vehicle and the parking system, the automatic valet parking of the vehicle in the target parking lot is realized. The parking system holds its own certificate, which is a first parking certificate necessary for mutual authentication between the vehicle and the parking system. The aforementioned backend system comprises one or more processors, The one or more processors provide the vehicle, via communication, with a second parking certificate that is linked to the first parking certificate and necessary for verifying the first parking certificate. When performing the mutual authentication between the vehicle and the parking system in order to establish the aforementioned wireless communication, the vehicle receives the first parking certificate from the parking system and verifies the first parking certificate using the second parking certificate. Backend system.

11. Vehicles equipped with an automatic valet parking function, A backend system that manages the aforementioned vehicle and can communicate with the aforementioned vehicle Equipped with, The parking lot in question is the parking lot used by the aforementioned vehicle. The parking system is configured to manage automated valet parking in the aforementioned parking lot. By performing wireless communication between the vehicle and the parking system, the automatic valet parking of the vehicle in the target parking lot is realized. The parking system holds its own certificate, which is a first parking certificate necessary for mutual authentication between the vehicle and the parking system. The backend system provides the vehicle, via communication, with a second parking certificate, which is linked to the first parking certificate and necessary for verifying the first parking certificate. The vehicle holds the second parking certificate obtained from the backend system, When the vehicle performs the mutual authentication with the parking system in order to establish the wireless communication, it receives the first parking certificate from the parking system and verifies the first parking certificate using the second parking certificate. Automatic valet parking system.

Images