Automatic valet parking management system, automatic valet parking management method and program

Abstract

To provide an automatic parking management system, an automatic parking management method, and a program so as to continue an automatic parking service.SOLUTION: Infrastructure sensors (S1, S2, S3, S4) for detecting a preset range in a parking lot (1) are provided in the parking lot. A mobile body provided with a periphery detection sensor is used, and the mobile body is movable to a detectable position where the periphery detection sensor of the mobile body can detect a detection range by the infrastructure sensor. When it is determined that there is an abnormality in the infrastructure sensor, the mobile body is moved to the detectable position, thereby the detection range of the infrastructure sensor is detected by the periphery detection sensor.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention is Valley Parking management system, automatic Valley The present invention relates to a parking lot management method and program. [Background technology]

[0002] In an automatic parking system for self-driving vehicles, an infrastructure sensor capable of detecting the condition of the parking lot, such as a camera capable of photographing the inside of the parking lot, is installed, and an automatic parking system is known in which the driving route of vehicles entering and leaving the parking lot is calculated based on images taken by the camera (see, for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2020-35071 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, this automatic parking system has a problem in that if an abnormality occurs in the infrastructure sensor, it becomes difficult to calculate the driving route of vehicles entering and leaving the parking lot, and the automatic parking service must be stopped. [Means for solving the problem]

[0005] In order to solve such problems, the present invention provides a parking lot On the floor plan The system includes an infrastructure sensor for detecting a preset range, a mobile body having a perimeter detection sensor is used, and the mobile body is capable of moving to a detectable position where the perimeter detection sensor of the mobile body can detect a detection range of the infrastructure sensor; Furthermore, an abnormality detection unit that detects an abnormality in the infrastructure sensor; When an abnormality in the infrastructure sensor is detected, the vehicle is moved to the detection-enabled position and the detection range of the infrastructure sensor is detected by the surrounding detection sensor. Valley A parking management system is provided. Further, according to the present invention, On the floor plan Detecting an abnormality in an infrastructure sensor for detecting a preset range; a mobile body having a perimeter detection sensor is used, and the mobile body is capable of moving to a detectable position where the perimeter detection sensor of the mobile body can detect a detection range of the infrastructure sensor; When an abnormality in the infrastructure sensor is detected, the mobile object is moved to the above-mentioned detectable position, and the detection range of the infrastructure sensor is detected by the perimeter detection sensor. Valley A method for managing parking lots is provided. Furthermore, according to the present invention, On the floor plan The present invention provides an automatic vehicle equipped with an infrastructure sensor for detecting a preset range, a perimeter detection sensor, and a detection range detection system that can move to a detection position where the perimeter detection sensor of the mobile vehicle can detect the detection range of the infrastructure sensor. Valley A program for controlling a parking lot management system is provided, which causes a computer to function such that, when an abnormality in an infrastructure sensor is detected, the mobile object is moved to the above-mentioned detectable position and the surrounding detection sensor detects the detection range of the infrastructure sensor. Effect of the Invention

[0006] automatic Valley This will allow parking services to continue to be provided. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a plan view diagrammatically illustrating an example of an automated parking lot. [Diagram 2] FIG. 2 is a side view of the automated parking lot shown in FIG. [Diagram 3] FIG. 3 is a diagram illustrating the parking lot management server. [Figure 4] 4A and 4B are schematic diagrams of a vehicle and a drone, respectively. [Diagram 5] 5A and 5B are functional block diagrams of an embodiment of the present invention. [Figure 6] FIG. 6 is a flowchart for performing abnormality detection. [Figure 7] FIG. 7 is a flowchart for executing one embodiment of the abnormality handling process. [Figure 8] FIG. 8 is a flowchart for controlling vehicle operation. [Figure 9] FIG. 9 is a flowchart for executing another embodiment of the abnormality handling process. [Figure 10] FIG. 10 is a flowchart for performing flight control. [Figure 11] FIG. 11 is a flowchart for executing still another embodiment of the abnormality handling process. [Figure 12] FIG. 12 is a flowchart for controlling vehicle operation. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] FIG. 1 is a plan view that diagrammatically shows only a part of the automatic parking lot, and FIG. 2 is a side view of the automatic parking lot shown in FIG. 1. With reference to FIG. 1 and FIG. 2, 1 denotes a parking lot, 2 denotes a building of the automatic parking lot, 3 denotes a number of parking spaces, 4 denotes a boarding / disembarking area, 5 denotes an automatic driving vehicle stopped at the boarding / disembarking area 4, and 6, 7, and 8 denote automatic driving vehicles parked in parking spaces 3 in the parking lot 1. In this parking lot 1, an automatic parking service, that is, an auto valet parking service, is implemented in which an automatic driving vehicle 5 that has arrived at the boarding / disembarking area 4 is automatically driven to enter an empty parking space 3, and an automatic driving vehicle 6, 7, and 8 parked in the parking space 3 is automatically driven to exit the boarding / disembarking area 4. Meanwhile, in FIG. 1, 9 denotes an entry / exit management server that is arranged in a parking management facility and manages entry and exit. Note that this automatic parking lot can also park manually driven vehicles.

[0009] When a user using this automatic parking service parks his / her vehicle in parking lot 1, for example when his / her vehicle reaches boarding / alighting area 4, he / she transmits an entrance request together with a vehicle ID for identifying his / her vehicle to entrance / exit management server 9 from his / her mobile terminal via a communication network. When entrance / exit management server 9 receives the entrance request, it sets a driving route for the vehicle that enables the vehicle to reach an empty parking space 3 from boarding / alighting area 4 without coming into contact with other vehicles or pedestrians, and transmits this set driving route to the user's vehicle. When the user's vehicle receives the set driving route from boarding / alighting area 4 to an empty parking space 3, it is driven automatically along this set driving route.

[0010] On the other hand, the same is true when the user leaves the parking lot 1. For example, when the user arrives at the boarding / alighting area 4, the user transmits a request for leaving the parking lot 1 together with a vehicle ID for identifying the vehicle from the user's mobile terminal to the entry / exit management server 9 via a communication network. When the entry / exit management server 9 receives the request for leaving the parking lot, it sets a driving route for the vehicle that allows the vehicle to reach the boarding / alighting area 4 from the parked space 3 without coming into contact with other vehicles or pedestrians, and transmits this set driving route to the user's vehicle. When the user's vehicle receives the set driving route from the entry / exit management server 9, it is driven automatically along the set driving route from the parked space 3 to the boarding / alighting area 4.

[0011] Now, in an automated parking lot, usually, many infrastructure sensors are arranged to detect the parking status of a vehicle in the parking lot or to set a driving route for the vehicle. Fig. 1 and Fig. 2 show a part of an area in the automated parking lot, and in the example shown in Fig. 1 and Fig. 2, four infrastructure sensors S1, S2, S3, and S4 are installed to detect the state of this part of the area of ​​the automated parking lot. Although cameras or laser sensors can be used as the infrastructure sensors S1, S2, S3, and S4, the following description will be given taking an example of a case where cameras are used as the infrastructure sensors S1, S2, S3, and S4. That is, the description will be given taking an example of a case where the infrastructure sensors S1, S2, S3, and S4 are taking pictures of the inside of the parking lot 1.

[0012] Of these infrastructure sensors S2, S3, and S4, the infrastructure sensor S1 will now be described. As shown in Fig. 2, the infrastructure sensor S1 is installed at a position higher than the vehicle 6. Also, referring to Fig. 1, the detectable angle range of the infrastructure sensor S1 when viewed from above is indicated by Θ1, and the area surrounded by the hatched band in Fig. 1 is the detection range of the infrastructure sensor S1 when viewed from above. Note that Fig. 1 does not show the detectable angle ranges of the other infrastructure sensors S2, S3, and S4 and the detection ranges of the other infrastructure sensors S2, S3, and S4. Meanwhile, image signals captured by each of the infrastructure sensors S1, S2, S3, and S4 are transmitted to the warehouse entry / exit management server 9.

[0013] Fig. 3 shows the entry / exit management server 9 of Fig. 1. As shown in Fig. 3, an electronic control unit 10 is provided within this entry / exit management server 9. This electronic control unit 10 is made up of a digital computer, and includes a CPU (microprocessor) 12, a memory 13 consisting of ROM and RAM, and an input / output port 14, which are connected to each other by a bidirectional bus 11. As shown in Fig. 3, image signals captured by each of the infrastructure sensors S1, S2, S3, and S4 are input to the electronic control unit 10. Furthermore, map data of the parking lot 1 is stored in the memory 13 of the electronic control unit 10.

[0014] Now, the infrastructure sensors S1, S2, S3, and S4 may break down during use, or even if they do not break down, the camera lens may become dirty due to deterioration or other reasons, and the image captured by the camera may become unclear. In this way, if any of the infrastructure sensors S1, S2, S3, and S4 breaks down or the image becomes unclear or other abnormality occurs, it becomes difficult to set a vehicle driving route that allows the vehicle to reach the boarding / alighting area 4 from the parked space 3 without coming into contact with other vehicles or pedestrians, and as a result, a problem occurs in which the automatic parking service has to be stopped.

[0015] In the embodiment of the present invention, when an abnormality occurs in any of the infrastructure sensors S1, S2, S3, S4, a substitute detection object for the infrastructure sensor S1, S2, S3, S4 in which the abnormality occurs is prepared in advance, or a detection object to be used as the substitute detection object is determined in advance, and the substitute detection object detects the detection range of the infrastructure sensor S1, S2, S3, S4 in which the abnormality occurs, instead of the infrastructure sensor S1, S2, S3, S4 in which the abnormality occurs. In the embodiment of the present invention, a mobile object equipped with a perimeter detection sensor is used as such a substitute detection object. In this case, in the embodiment of the present invention, an autonomous vehicle or a drone is used as the mobile object.

[0016] Fig. 4A diagrammatically shows an example of an autonomous vehicle 20 used as a moving body. With reference to Fig. 4A, 21 denotes a vehicle drive section for applying drive force to drive wheels of the vehicle 20, 22 denotes a braking device for braking the vehicle 20, 23 denotes a steering device for steering the vehicle 20, and 24 denotes an electronic control unit mounted in the vehicle 20. As shown in Fig. 4A, the electronic control unit 24 is a digital computer, and includes a CPU (microprocessor) 26, a memory 27 consisting of ROM and RAM, and an input / output port 28, which are connected to each other by a bidirectional bus 25.

[0017] On the other hand, as shown in Fig. 4A, the vehicle 20 is provided with various sensors 30 necessary for the vehicle 20 to perform automatic driving, that is, sensors for detecting the state of the vehicle 20 and periphery detection sensors for detecting the periphery of the vehicle 20. In this case, an acceleration sensor, a speed sensor, and an azimuth sensor are used as sensors for detecting the state of the vehicle 20, and an on-board camera, a lidar (LIDAR), a radar, etc. for photographing the front, side, and rear of the vehicle 20 are used as periphery detection sensors for detecting the periphery of the vehicle 20. In this case, an anomaly response periphery detection sensor, for example, an anomaly response camera, is provided as one of the periphery detection sensors, and this anomaly response periphery detection sensor, for example, an anomaly response camera, is provided, for example, at a high position on the roof of the vehicle 20 so as to be able to detect the detection range of the infrastructure sensors S1, S2, S3, and S4 in which an abnormality has occurred.

[0018] The vehicle 20 is also provided with a GNSS (Global Navigation Satellite System) receiver 31, a map data storage device 32, a navigation device 33, and an operation unit 34 for performing various operations. The GNSS receiver 31 can detect the current position of the vehicle 20 (for example, the latitude and longitude of the vehicle 20) based on information obtained from a plurality of artificial satellites. Therefore, the current position of the vehicle 20 can be acquired by the GNSS receiver 31. For example, a GPS receiver is used as the GNSS receiver 31. Meanwhile, the map data storage device 32 stores map data and the like required for the vehicle 20 to perform automatic driving. These various sensors 30, the GNSS receiver 31, the map data storage device 32, the navigation device 33, and the operation unit 34 are connected to the electronic control unit 24. The vehicle 20 is also equipped with a communication device 35 for communicating with the entry / exit management server 9, and as shown in FIG. 3, the entry / exit management server 9 is provided with a communication device 15 for communicating with the vehicle 20.

[0019] 4A, the vehicle drive unit 21 is composed of an electric motor driven by a secondary battery or an electric motor driven by a fuel cell, and the drive wheels are driven and controlled by these electric motors in accordance with the output signal of the electronic control unit 24. In addition, braking control of the vehicle 20 is performed by a braking device 22 in accordance with the output signal of the electronic control unit 24, and steering control of the vehicle 20 is performed by a steering device 23 in accordance with the output signal of the electronic control unit 24.

[0020] On the other hand, FIG. 4B illustrates an example of a drone 40 used as a moving object. Referring to FIG. 4B, the drone 40 is equipped with a control device 41 for flying based on commands from the warehouse management server 9. The control device 41 is equipped with an electronic control unit, a GNSS receiving device, a map data storage device, a navigation device, and a communication device similar to the electronic control unit 24, the GNSS receiving device 31, the map data storage device 32, the navigation device 33, and the communication device 35 shown in FIG. 4A, respectively. The control device 41 is also equipped with a drive device for driving a plurality of propellers, and furthermore, the control device 41 is equipped with various sensors necessary for the drone 40 to fly automatically, that is, a sensor for detecting the state of the drone 40 and a surrounding detection sensor for detecting the surroundings of the drone 40.

[0021] As sensors for detecting the state of the drone 40, an acceleration sensor, a speed sensor, and an azimuth sensor are used, similar to the autonomous vehicle 20 shown in FIG. 4A, and as a perimeter detection sensor for detecting the perimeter of the drone 40, a camera, a lidar, a radar, etc., which photographs the perimeter direction, upper side, and lower side of the drone 40 are used. In this case, as one of the perimeter detection sensors, an abnormality response perimeter detection sensor, for example, an abnormality response camera, is installed on the underside of the drone 40 as shown by the reference numeral 42 so as to detect the detection range of the infrastructure sensors S1, S2, S3, and S4 in which an abnormality has occurred. As shown by the dashed line in FIG. 1, the autonomous vehicle 20 used as a mobile body or the drone 40 used as a mobile body is placed at a waiting position outside the parking lot 1, or is placed at a waiting position within the parking lot 1.

[0022] Now, whether or not an abnormality has occurred in the infrastructure sensors S1, S2, S3, S4 can be determined, for example, by whether or not the output current of the infrastructure sensors S1, S2, S3, S4 has dropped below a threshold value, and such abnormality detection of the infrastructure sensors S1, S2, S3, S4 is performed by an abnormality detection unit provided in each of the infrastructure sensors S1, S2, S3, S4, or an abnormality detection unit provided in the entry / exit management server 9. When an abnormality is detected by the abnormality detection unit provided in each of the infrastructure sensors S1, S2, S3, S4, the parking management server 9 is notified that an abnormality has occurred in the corresponding infrastructure sensor S1, S2, S3, S4. Thus, in this embodiment of the present invention, the occurrence of an abnormality in the infrastructure sensors S1, S2, S3, S4 is constantly monitored by the parking management server 9.

[0023] Next, an overview of the automatic parking lot management according to the present invention will be described by taking as an example a case where an abnormality occurs in the infrastructure sensor S1. When an abnormality occurs in the infrastructure sensor S1, it becomes difficult to detect the detection range by the infrastructure sensor S1, that is, the range surrounded by the hatched portion in FIG. 1. In this case, in order to detect the detection range by the infrastructure sensor S1 by the periphery detection sensor of the moving body, for example, the anomaly response periphery detection sensor of the autonomous vehicle 20, for example, the anomaly response camera, or the anomaly response periphery detection sensor of the drone 40, for example, the anomaly response camera, the autonomous vehicle 20 or the drone 40 is moved to a position where the anomaly response periphery detection sensor of the autonomous vehicle 20 or the drone 40, for example, the anomaly response camera, can detect the detection range by the infrastructure sensor S1.

[0024] To explain this in a specific example, when an abnormality occurs in the infrastructure sensor S1, for example, the autonomous vehicle 20 is moved to the position indicated by the reference symbol 20a in FIG. and others In FIG. 1, the angle range detectable by the anomaly response periphery detection sensor, for example, an anomaly response camera, of the moving autonomous vehicle 20a is indicated by Θs. Therefore, from FIG. 1, it can be seen that the detection range by the infrastructure sensor S1 can be detected by the anomaly response periphery detection sensor, for example, an anomaly response camera, of the moving autonomous vehicle 20a. On the other hand, when the drone 40 is used, the drone 40 is made to fly to the vicinity of the infrastructure sensor S1 and then hover near the infrastructure sensor S1. In this case, the drone 40 is made to hover near the infrastructure sensor S1 so that the anomaly response periphery detection sensor, for example, an anomaly response camera, of the drone 40 can continue to detect the detection range by the infrastructure sensor S1.

[0025] On the other hand, the autonomous vehicles 6, 7, and 8 shown in FIG. 1 have the same functions as the autonomous vehicle 20 shown in FIG. 4A, and therefore the autonomous vehicles 6, 7, and 8 parked in a parking lot can also be used as a moving body. In this case, the autonomous vehicles 6, 7, and 8 are moved to the position indicated by the reference symbol 20a in FIG. 1. Also, in this case, if a certain autonomous vehicle is parked at the location indicated by the reference symbol 20a in FIG. 1, the parked autonomous vehicle can also be used as a moving body. In either case, the autonomous vehicles 6, 7, and 8 can be used as a moving body only when the detection range of the infrastructure sensor S1 can be detected by the surrounding detection sensor of the autonomous vehicles 6, 7, and 8. On the other hand, in the embodiment according to the present invention, when the autonomous vehicles 6, 7, and 8 parked in a parking lot are used as a moving body, a reward is given to the owner of the autonomous vehicles 6, 7, and 8.

[0026] In this embodiment of the present invention, as shown in the functional configuration diagram of Fig. 5A or the functional configuration diagram of Fig. 5B, a mobile body equipped with infrastructure sensors S1, S2, S3, and S4 for detecting a preset range in the parking lot 1 is used, and the mobile body is movable to a detectable position where the periphery detection sensor of the mobile body can detect the detection range of the infrastructure sensors S1, S2, S3, and S4, and further includes an abnormality detection unit that detects abnormalities in the infrastructure sensors S1, S2, S3, and S4, and an alternative detection execution unit that moves the mobile body to the above-mentioned detectable position and causes the periphery detection sensor to detect the detection range of the infrastructure sensors S1, S2, S3, and S4 when an abnormality in the infrastructure sensors S1, S2, S3, and S4 is detected. In this case, in the example shown in Fig. 5A, the electronic control unit 10 of the entry / exit management server 9 constitutes the abnormality detection unit and the alternative detection execution unit, and in the example shown in Fig. 5B, the electronic control unit 10 of the entry / exit management server 9 constitutes the alternative detection execution unit.

[0027] In addition, in an embodiment of the present invention, an automatic parking lot management method is provided in which an abnormality is detected in infrastructure sensors S1, S2, S3, and S4 for detecting a predetermined range within a parking lot 1, a mobile body equipped with a perimeter detection sensor is used, and this mobile body is movable to a detectable position where the perimeter detection sensor of the mobile body can detect the detection range by the infrastructure sensors S1, S2, S3, and S4, and when an abnormality is detected in the infrastructure sensors S1, S2, S3, and S4, the mobile body is moved to the above-mentioned detectable position and the detection range by the infrastructure sensors S1, S2, S3, and S4 is detected by the perimeter detection sensor.

[0028] Furthermore, in an embodiment of the present invention, a mobile body equipped with infrastructure sensors S1, S2, S3, and S4 for detecting a predetermined range within parking lot 1 and a perimeter detection sensor is used, and the mobile body is capable of moving to a detectable position where the perimeter detection sensor of the mobile body can detect the detection range by the infrastructure sensors S1, S2, S3, and S4.A program for controlling an automatic parking lot management system is provided, and when an abnormality is detected in the infrastructure sensors S1, S2, S3, and S4, the program causes a computer to move the mobile body to the above-mentioned detectable position and have the perimeter detection sensor detect the detection range by the infrastructure sensors S1, S2, S3, and S4.

[0029] Fig. 6 shows an abnormality detection routine for detecting abnormalities in the infrastructure sensors S1, S2, S3, and S4. In the example shown in Fig. 5A, this abnormality detection routine is repeatedly executed in the electronic control unit 10 of the inventory management server 9, and in the example shown in Fig. 5B, this abnormality detection routine is repeatedly executed in each of the infrastructure sensors S1, S2, S3, and S40. 6, first, in step 50, abnormality detection is performed on the infrastructure sensors S1, S2, S3, and S4. Next, in step 51, it is determined whether or not an abnormality has occurred in any of the infrastructure sensors S1, S2, S3, and S4. If it is determined that an abnormality has occurred in any of the infrastructure sensors S1, S2, S3, and S4, the process proceeds to step 52, where a command to execute an abnormality response process is issued. In the example shown in FIG. 5B, when the command to execute an abnormality response process is issued, the command to execute an abnormality response process is notified to the inventory management server 9.

[0030] In an embodiment according to the present invention, when a command to execute this anomaly response processing is issued, an anomaly response processing routine is executed in the electronic control unit 10 of the warehouse entry / exit management server 9. Figures 7 and 8 show the anomaly response processing routine when an autonomous vehicle 20 is used as the moving body, Figures 9 and 10 show the anomaly response processing routine when a drone 40 is used as the moving body, and Figures 11 and 12 show the anomaly response processing routine when a parked autonomous vehicle 6, 7, 8 is used as the moving body.

[0031] First, referring to FIG. 7 and FIG. 8 showing an anomaly response processing routine when the autonomous vehicle 20 is used as a moving body, first, in step 60, an infrastructure sensor having an abnormality is identified among the infrastructure sensors S1, S2, S3, and S4 based on the abnormality detection result in the abnormality detection routine of FIG. 6. Next, in step 61, the detection range of the infrastructure sensor having an abnormality is identified. In this case, for example, if the infrastructure sensor having an abnormality is the infrastructure sensor S1, in step 61, the detection range of the infrastructure sensor S1 on the planar map of the parking lot 1 as shown in FIG. 1 is identified based on the map data of the parking lot 1 stored in the memory 43. Next, in step 62, the position of the autonomous vehicle 20 where the detection range of the infrastructure sensor S1 can be detected by the anomaly response surrounding detection sensor of the autonomous vehicle 20, for example, an anomaly response camera, is set as a movement destination based on the map data of the parking lot 1 stored in the memory 43.

[0032] Next, in step 63, a driving route from the waiting position of the autonomous vehicle 20 to the set travel destination is set based on the map data of the parking lot 1 stored in memory 43. Next, in step 64, a driving trajectory and driving speed of the autonomous vehicle 20 that does not come into contact with other vehicles or pedestrians are determined on a planar map of the parking lot 1 that is updated based on the detection signals of the normal infrastructure sensors S2, S3, and S4. Next, in step 65, an autonomous driving execution command is issued for the autonomous vehicle 20, and then in step 66, the set travel destination, driving route, driving trajectory, driving speed, and autonomous driving execution command are transmitted from the entry / exit management server 9 to the autonomous vehicle 20.

[0033] When an automatic driving execution command is transmitted from the warehouse entry / exit management server 9 to the automatic driving vehicle 20, automatic driving control of the automatic driving vehicle 20 is started. Fig. 8 shows a vehicle driving control routine for performing the automatic driving control of the automatic driving vehicle 20. This routine is repeatedly executed by the electronic control unit 24 mounted on the vehicle 20.

[0034] Referring to FIG. 8, first, in step 70, the destination set in the storage / return management server 9 is acquired, then, in step 71, the travel route set in the storage / return management server 9 is acquired, and in step 72, the travel track and travel speed set in the storage / return management server 9 are acquired. Next, in step 73, travel control of the autonomous vehicle 20 is performed along the set travel track based on the detection results of surrounding detection sensors such as a camera, a lidar, and a radar that capture images of the area ahead of the autonomous vehicle 20, so as not to come into contact with other vehicles or pedestrians. Next, in step 74, it is determined whether the autonomous vehicle 20 has reached the destination. When it is determined that the autonomous vehicle 20 has not reached the destination, the process returns to step 73, and the autonomous driving of the autonomous vehicle 20 continues. On the other hand, when it is determined in step 74 that the autonomous vehicle 20 has reached its destination, the process proceeds to step 75, in which image signals captured by an abnormality response surrounding detection sensor of the autonomous vehicle 20, for example, an abnormality response camera, continue to be transmitted to the inventory management server 9.

[0035] When an image signal captured by the autonomous vehicle 20's anomaly response surrounding detection sensor, for example, an anomaly response camera, is transmitted to the entry / exit management server 9, the entry / exit management server 9 performs an entry / exit service for the autonomous vehicle based on the image signal captured by the autonomous vehicle 20's anomaly response surrounding detection sensor, for example, an anomaly response camera, and the image signals captured by normal infrastructure sensors S2, S3, and S4.

[0036] Next, referring to FIG. 9 and FIG. 10 showing an anomaly response processing routine when the drone 40 is used as a moving body, first, in step 80, an infrastructure sensor having an abnormality is identified among the infrastructure sensors S1, S2, S3, and S4 based on the abnormality detection result in the abnormality detection routine of FIG. 6. Next, in step 81, the detection range of the infrastructure sensor having an abnormality is identified. In this case, for example, if the infrastructure sensor having an abnormality is the infrastructure sensor S1, in step 81, the detection range of the infrastructure sensor S1 on the planar map of the parking lot 1 as shown in FIG. 1 is identified based on the map data of the parking lot 1 stored in the memory 43. Next, in step 82, the position of the drone 40 where the detection range of the infrastructure sensor S1 can be detected by the anomaly response periphery detection sensor of the drone 40, for example, an anomaly response camera, is set as a movement target location based on the map data of the parking lot 1 stored in the memory 43.

[0037] Next, in step 83, a flight route from the waiting position of the drone 40 to the set movement destination is set based on the map data of the parking lot 1 stored in the memory 43. Next, in step 84, a flight execution command for the drone 40 is issued, and then, in step 85, the set movement destination, driving route, and flight execution command are transmitted from the entry / exit management server 9 to the drone 40.

[0038] When a flight execution command is sent from the warehouse management server 9 to the drone 40, automatic flight control of the drone 40 is started. Fig. 10 shows a flight control routine for performing the automatic flight control of the drone 40. This routine is repeatedly executed by the electronic control unit of the control device 41 mounted on the drone 40.

[0039] Referring to FIG. 10, first, in step 90, the destination of the movement set in the storage / return management server 9 is acquired, and then, in step 91, the flight route set in the storage / return management server 9 is acquired. Next, in step 92, flight control of the drone 40 is performed along the set flight route based on the detection results of a surrounding detection sensor such as a camera, a lidar (LIDAR), or a radar that captures the surrounding direction, upper, and lower direction of the drone 40 so as not to come into contact with other vehicles or structures. Next, in step 93, it is determined whether the drone 40 has reached the destination of the movement. If it is determined that the drone 40 has not reached the destination of the movement, the process returns to step 92, and the automatic flight of the drone 40 continues. On the other hand, if it is determined in step 93 that the drone 40 has reached the destination of the movement, the process proceeds to step 94, and hovering control is performed to hold the drone 40 at the destination of the movement. Next, in step 95, an image signal captured by an anomaly response surrounding detection sensor of the drone 40, for example, an anomaly response camera, continues to be transmitted to the storage / return management server 9.

[0040] When an image signal captured by the drone 40's anomaly response peripheral detection sensor, for example, an anomaly response camera, is transmitted to the entry / exit management server 9, the entry / exit management server 9 performs entry / exit services for the autonomous vehicle based on the image signal captured by the drone 40's anomaly response peripheral detection sensor, for example, an anomaly response camera, and the image signals captured by normal infrastructure sensors S2, S3, and S4.

[0041] Next, referring to FIG. 11 and FIG. 12 which show an anomaly response processing routine when parked autonomous vehicles 6, 7, and 8 are used as moving bodies, first, in step 100, an infrastructure sensor having an abnormality is identified among the infrastructure sensors S1, S2, S3, and S4 based on the abnormality detection result in the abnormality detection routine of FIG. 6. Next, in step 101, the detection range of the infrastructure sensor having an abnormality is identified. In this case, for example, if the infrastructure sensor having an abnormality is infrastructure sensor S1, in step 101, the detection range of infrastructure sensor S1 on the planar map of parking lot 1 as shown in FIG. 1 is identified based on the map data of parking lot 1 stored in memory 43. Next, in step 102, the position of the autonomous vehicle where the detection range of infrastructure sensor S1 can be detected by the periphery detection sensor of the autonomous vehicle is set as the movement destination based on the map data of parking lot 1 stored in memory 43.

[0042] Next, in step 103, among the parked autonomous vehicles 6, 7, 8, an autonomous vehicle capable of detecting the detection range by the infrastructure sensor S1 using a periphery detection sensor, for example, a camera, of the autonomous vehicles 6, 7, 8, i.e., an autonomous vehicle that can be used to detect the detection range by the infrastructure sensor S1, is searched for. Next, in step 104, among the parked autonomous vehicles 6, 7, 8 that can be used to detect the detection range by the infrastructure sensor S1, an autonomous vehicle that can most appropriately capture the detection range by the infrastructure sensor S1 using a periphery detection sensor, for example, a camera, is determined as the vehicle to be used, i.e., the vehicle to be used. Once the vehicle to be used has been determined, the process proceeds to step 105.

[0043] In step 105, a driving route from the parking position of the vehicle to the set destination is set based on the map data of the parking lot 1 stored in memory 43. Next, in step 106, a driving track and driving speed of the vehicle to be used that does not come into contact with other vehicles or pedestrians are determined on the planar map of the parking lot 1 that is updated based on the detection signals of the normal infrastructure sensors S2, S3, and S4. Next, in step 107, an automatic driving execution command is issued for the vehicle to be used, and then, in step 108, the set destination, driving route, driving track, driving speed, and automatic driving execution command are transmitted from the entry / exit management server 9 to the vehicle to be used.

[0044] When an automatic driving execution command is sent from the entry / exit management server 9 to the vehicle to be used, automatic driving control of the vehicle to be used is started. Fig. 12 shows a vehicle driving control routine for performing the automatic driving control of the vehicle to be used, and this routine is repeatedly executed by an electronic control unit mounted on the vehicle to be used.

[0045] Referring to FIG. 12, first, in step 110, the destination of the movement set in the entry / exit management server 9 is acquired, then, in step 111, the travel route set in the entry / exit management server 9 is acquired, and in step 112, the travel track and travel speed set in the entry / exit management server 9 are acquired. Next, in step 113, the travel control of the vehicle to be used is performed along the set travel track based on the detection result of a surrounding detection sensor such as a camera, a lidar (LIDAR), or a radar that captures the front of the vehicle to be used, so as not to come into contact with other vehicles or pedestrians. Next, in step 114, it is determined whether the vehicle to be used has reached the destination of the movement. If it is determined that the vehicle to be used has not reached the destination of the movement, the process returns to step 113, and the automatic driving of the vehicle to be used is continued. On the other hand, if it is determined in step 114 that the vehicle to be used has reached the destination of the movement, the process proceeds to step 115, and an image signal captured by the surrounding detection sensor of the vehicle to be used, for example, a camera, is continuously transmitted to the entry / exit management server 9. Next, in step 116, a reward is given to the owner of the vehicle. This reward may take various forms, such as points or a discount on parking fees.

[0046] When the image signal captured by the surrounding detection sensor of the vehicle being used is transmitted to the entry / exit management server 9, the entry / exit management server 9 performs the entry / exit service for the autonomous vehicle based on the image signal captured by the surrounding detection sensor of the vehicle being used and the image signals captured by the normal infrastructure sensors S2, S3, and S4. [Explanation of symbols]

[0047] 1 Parking lot 2 Automated parking building 3 Parking Space 4. Boarding and alighting points 5,6,7,8,20 Self-driving vehicles 9. Inventory management server S1, S2, S3, S4 infrastructure sensors

Claims

1. The parking lot has an infrastructure sensor for detecting a preset range on a floor plan of the parking lot, a mobile body having a perimeter detection sensor is used, and the mobile body is movable to a detectable position where the perimeter detection sensor of the mobile body can detect a detection range of the infrastructure sensor; Furthermore, an abnormality detection unit that detects an abnormality in the infrastructure sensor; An automatic valet parking management system having an alternative detection execution unit that, when an abnormality in an infrastructure sensor is detected, moves the mobile body to the detectable position and causes the surrounding detection sensor to detect the detection range of the infrastructure sensor.

2. The automated valet parking management system according to claim 1, wherein the moving object is an autonomous vehicle equipped with the surrounding detection sensor.

3. An automatic valet parking management system as described in claim 1, wherein the moving object is a drone equipped with the surrounding detection sensor.

4. An automatic valet parking management system as described in claim 1, comprising an entry / exit management server that manages the entry and exit of vehicles from the parking lot, and an electronic control unit of the entry / exit management server constitutes the abnormality detection unit and the alternative detection execution unit.

5. An automatic valet parking management system as described in claim 1, wherein the abnormality detection unit is provided in the infrastructure sensor.

6. Detecting an abnormality in an infrastructure sensor for detecting a preset range on a floor plan of a parking lot; a mobile body having a perimeter detection sensor is used, and the mobile body is movable to a detectable position where the perimeter detection sensor of the mobile body can detect a detection range of the infrastructure sensor; An automatic valet parking management method, in which, when an abnormality in an infrastructure sensor is detected, the mobile object is moved to the detectable position and the detection range of the infrastructure sensor is detected by the perimeter detection sensor.

7. A program for controlling an automatic valet parking management system which is equipped with an infrastructure sensor for detecting a predetermined range on a floor plan of a parking lot, and which uses a mobile body equipped with a perimeter detection sensor, and which is capable of moving to a detectable position where the perimeter detection sensor of the mobile body can detect the detection range by the infrastructure sensor, and which causes a computer to move the mobile body to the detectable position and have the perimeter detection sensor detect the detection range by the infrastructure sensor when an abnormality is detected in the infrastructure sensor.

Images