Automatic parking system and automatic parking method

Abstract

To provide a technique for avoiding interruption or stopping of a parking service by not functioning of an on-vehicle sensor.SOLUTION: A vehicle includes: an on-vehicle sensor for detecting a surrounding environment of a vehicle; an automatic driving part for executing automatic parking on the basis of a detection result of the on-vehicle sensor; a detection part for detecting dirt of the on-vehicle sensor or attachment of rain drops before automatic parking is started by the automatic driving part; and a notification part for outputting information encouraging removal of the dirt of the on-vehicle sensor or the rain drops in response to the detection of the dirt of the on-vehicle sensor or the attachment of the rain drops by the detection part.SELECTED DRAWING: Figure 4

Description

[Technical field]

[0001] The present disclosure relates to a vehicle, an automatic parking system, and an automatic parking method. [Background technology]

[0002] Patent Document 1 discloses a valet parking system that autonomously drives a vehicle to a parking spot and parks it there. The vehicle in this system performs automatic parking and other operations based on the detection results of an on-board sensor. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2018-160087 A Summary of the Invention [Problem to be solved by the invention]

[0004] However, for example, in rainy weather, raindrops may adhere to the on-board sensor, making it impossible to detect landmarks or obstacles in the parking lot using the on-board sensor. In other words, the system may not be able to continue the parking service in rainy weather, etc. The present disclosure provides a technology for avoiding the interruption or cancellation of the parking service due to the on-board sensor not functioning. [Means for solving the problem]

[0005] A vehicle according to an aspect of the present disclosure includes an on-board sensor, an automatic driving unit, a detection unit, and a notification unit. The on-board sensor detects the environment around the vehicle. The automatic driving unit executes automatic parking based on a detection result of the on-board sensor. The detection unit detects adhesion of dirt or raindrops to the on-board sensor before automatic parking is started by the automatic driving unit. The notification unit outputs information prompting the removal of the dirt or raindrops from the on-board sensor in response to the detection unit detecting adhesion of dirt or raindrops to the on-board sensor.

[0006] In this vehicle, dirt or raindrops on the on-board sensor are detected before automatic parking begins. Then, in response to the detection of dirt or raindrops on the on-board sensor, information is output that urges the removal of the dirt or raindrops from the on-board sensor. The output information is then notified to a user enjoying the parking service or a manager of the parking lot. In other words, the vehicle can urge the user or manager to wipe off the dirt or raindrops. In this way, the vehicle actively encourages the user or manager to use the on-board sensor, and as a result, interruption or cancellation of the parking service can be avoided.

[0007] In one embodiment, the notification unit may output information to an indoor device of the vehicle when dirt or raindrops are detected on the on-board sensor before the user gets off the vehicle, and may output information to at least one of the user's terminal, the vehicle's external device, and the parking lot manager's terminal when dirt or raindrops are detected on the on-board sensor after the user gets off the vehicle. In this case, the vehicle can notify the user inside the vehicle of the information via the indoor device, and notify the user outside the vehicle or the parking lot manager of the information via the external device or terminal.

[0008] In one embodiment, the notification unit may output information to a terminal of a parking lot manager when dirt or raindrops are detected on the on-board sensor when the vehicle leaves the parking lot. When the vehicle leaves the parking lot, the parking lot manager is likely to be closer to the vehicle than the user. The vehicle can encourage the parking lot manager, who can wipe off the dirt or raindrops, to continue using the on-board sensor when the vehicle leaves the parking lot.

[0009] In one embodiment, when the automatic driving unit detects dirt or raindrops on the on-board sensor during automatic parking of the vehicle, the automatic driving unit may move the vehicle to a parking position, and the notification unit may output information to at least one of the user's terminal, the vehicle's external device, and the parking lot manager's terminal. In this case, the vehicle can avoid interrupting or canceling the parking service while ensuring safety.

[0010] An automatic parking system according to another aspect of the present disclosure includes a vehicle and a server. The vehicle is capable of performing automatic parking. The server includes a server configured to be able to communicate with the vehicle. The vehicle includes an on-board sensor, an automatic driving unit, a detection unit, and a notification unit. The on-board sensor detects the environment around the vehicle. The automatic driving unit performs automatic parking based on the detection result of the on-board sensor in response to an entry / exit instruction from the server. The detection unit detects adhesion of dirt or raindrops to the on-board sensor before automatic parking is started by the automatic driving unit. The notification unit outputs information prompting the removal of the dirt or raindrops from the on-board sensor in response to the detection unit detecting adhesion of dirt or raindrops to the on-board sensor. This automatic parking system achieves the same effect as the above-mentioned vehicle.

[0011] An automatic parking method according to another aspect of the present disclosure includes a step of performing automatic parking based on a detection result of an on-board sensor, a step of detecting dirt or raindrops on the on-board sensor of the vehicle before starting automatic parking, and a step of outputting information to prompt the removal of the dirt or raindrops from the on-board sensor in response to the detection of the dirt or raindrops on the on-board sensor. This automatic parking method has the same effect as the above-mentioned vehicle. Effect of the Invention

[0012] According to the present disclosure, a technology is provided that avoids the interruption or cancellation of parking services due to in-vehicle sensors not functioning. [Brief description of the drawings]

[0013] [Figure 1] FIG. 1 is an explanatory diagram of an automatic valet parking system including an automatic parking system according to an embodiment. [Diagram 2] FIG. 1 is a plan view showing an example of a parking lot where automated valet parking is performed. [Diagram 3] A block diagram showing an example of the hardware configuration of a parking lot management server. [Figure 4] FIG. 1 is a block diagram showing an example of the configuration of an autonomous driving vehicle. [Diagram 5] 4 is a flowchart showing the operation of the automatic parking system. [Figure 6] 13 is a flowchart of pattern A. [Figure 7] 13 is a flowchart of pattern B. [Figure 8] 13 is a flowchart of pattern C. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0014] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0015] Fig. 1 is an explanatory diagram of an automated valet parking system including an automated parking system according to an embodiment. The automated parking system (AVPS) 100 shown in Fig. 1 is a system for performing automated valet parking in a parking lot.

[0016] Automatic valet parking is a service in which an unmanned autonomous vehicle 4, where a user (passenger) has exited at a drop-off point in a parking lot, travels along a target route according to instructions from the parking lot (automatic parking system 100) and automatically parks in a target parking space within the parking lot. The target parking space is a parking space that is set in advance as a parking position for the autonomous vehicle. The target route is the route within the parking lot along which the autonomous vehicle travels to reach the target parking space. The target route when leaving the parking lot is the route along which the autonomous vehicle travels to reach a boarding space, which will be described later.

[0017] In automated valet parking, a reservation for entry is made. An entry reservation is a reservation for entry into a parking lot where automated valet parking is performed. The entry reservation includes a scheduled entry time, reserved vehicle information, and reservation user information. The entry reservation may also include a scheduled exit time.

[0018] In automated valet parking, the automated parking system 100 is given vehicle operation authority for the automated vehicle 4. The process of giving the automated parking system 100 vehicle operation authority for the automated vehicle 4 is called check-in. Check-in may use an authentication code that can be requested by the user who made the entry reservation. The authentication code is a code used to verify that the user who made the entry reservation and the automated vehicle 4 that is the subject of the entry reservation are the same as the user and the automated vehicle 4 that will be automatically valet parked in the parking lot.

[0019] The process of completing the automatic valet parking by giving the automatic parking system 100 the vehicle operation authority is called check-out. At check-out, an authentication code for check-out may be requested and used.

[0020] Fig. 2 is a plan view showing an example of a parking lot where automatic valet parking is performed. Parking lot 50 for automatic valet parking shown in Fig. 2 includes a parking area 51, a drop-off area 52, and a pick-up area 53. A plurality of surveillance cameras 12a constituting parking lot sensor 11 are provided in parking lot 50.

[0021] The parking area 51 is an area where parking spaces (parking frames) 61 are formed in which autonomous vehicles 4 are parked by autonomous valet parking. A plurality of parking spaces 61 are formed lined up in one direction (for example, the vehicle width direction of the parked vehicle) as shown in FIG.

[0022] The drop-off area 52 is provided on the entrance side of the parking lot 50, and is a place where occupants, including the user, get off the autonomously driven vehicle 4 before entering the parking lot. A drop-off space 62 is formed in the drop-off area 52, where the autonomously driven vehicle 4 stops when the occupants get off. The drop-off area 52 is connected to the parking area 51 via an entrance gate 54.

[0023] An entrance track 52a is connected to the drop-off site 52, and an entrance gate 52b is provided between the drop-off site 52 and the entrance track 52a. The entrance track 52a is connected to a general road outside the parking lot 50, and is a track through which the autonomous vehicle 4 passes in order to enter the parking lot 50. The entrance gate 52b is a gate for preventing vehicles that do not perform automatic valet parking (e.g., general vehicles that do not have an autonomous driving function) from entering the drop-off site 52. For example, the entrance gate 52b may allow the vehicle to pass when the parking lot management server 1 recognizes the vehicle number of the license plate of a vehicle traveling on the entrance track 52a from an image captured by the monitoring camera 12a and confirms that the vehicle is the subject of a reservation to enter the parking lot 50.

[0024] The drop-off point 52 is connected to a facility entrance passage 52c through which a user who gets off the autonomous vehicle 4 can enter a facility such as a commercial facility. An automatic entrance door 52d is provided between the drop-off point 52 and the facility entrance passage 52c. The facility entrance passage 52c is a passage through which a user can enter the facility from the parking lot 50. A check-in reception machine may be provided in the facility entrance passage 52c. The user checks in at the check-in reception machine to start automated valet parking.

[0025] The boarding area 53 is provided on the exit side of the parking lot 50, and is a place where a passenger boards an autonomous vehicle 4 that has left the parking lot. A boarding space 63 is formed in the boarding area 53, where the autonomous vehicle 4 waits for a passenger to board. The boarding area 53 is connected to the parking area 51 via an exit gate 55. A return gate 56 may be provided between the boarding area 53 and the parking area 51, for returning the autonomous vehicle 4 from the boarding area 53 to the parking area 51.

[0026] An exit runway 53a is connected to the boarding site 53. The exit runway 53a is a runway for an autonomous vehicle 4 that a user boards at the boarding site 53 to exit the parking lot 50. An exit gate may be provided between the boarding site 53 and the exit runway 53a.

[0027] The boarding area 53 is connected to a facility exit passage 53b through which a user passes when returning to the parking lot 50 from a facility such as a commercial facility. An automatic exit door 53c is provided between the boarding area 53 and the facility exit passage 53b. The facility exit passage 53b is a passage through which a user leaves the facility and enters the parking lot 50. A check-out reception machine may be disposed in the facility exit passage 53b. The user gets into the autonomous vehicle 4 and checks out at the check-out reception machine to leave the parking lot 50.

[0028] The disembarking area 52 and the boarding area 53 do not need to be provided separately, but may be provided as a single boarding and disembarking area.

[0029] Figure 2 shows an autonomous vehicle 4A parked in a disembarking space 62 at a disembarking area 52, an autonomous vehicle 4B driving through a parking lot 50, an autonomous vehicle 4C parked in a parking space 61 in a parking area 51, and an autonomous vehicle 4D parked in a boarding space 63 at a boarding area 53.

[0030] In the automatic parking system 100, for example, after an automatic vehicle 4 that has entered a parking lot 50 drops off an occupant in a drop-off space 62 (corresponding to automatic vehicle 4A), automatic valet parking is started by obtaining instruction authority for the automatic vehicle 4. The automatic parking system 100 drives the automatic vehicle 4 toward a target parking space in a parking area 51 (corresponding to automatic vehicle 4B), and parks the automatic vehicle 4 in the target parking space (corresponding to automatic vehicle 4C). In response to a pick-up request, the automatic parking system 100 drives the parked automatic vehicle 4 toward a boarding area 53, and waits in the boarding space 63 until the occupant arrives (corresponding to automatic vehicle 4D).

[0031] [Automatic parking system configuration] As shown in Fig. 1, the automatic parking system 100 includes a parking lot management server 1. The parking lot management server 1 is a server for managing parking lots. The parking lot management server 1 is connected to a parking lot sensor 11 provided in a parking lot 50, and is deployed in, for example, a parking lot management center Ps. The parking lot management server 1 is connected to a management terminal 5 for the parking lot manager, and communicates with the parking lot manager via the management terminal 5.

[0032] The parking lot management server 1 is communicatively connected to the vehicle management server 2. The vehicle management server 2 is a server for managing autonomously driven vehicles, and is located, for example, in a vehicle management center Cs. The automatic parking system 100 does not need to include all of the configuration of the vehicle management server 2, but only needs to include the configuration of the part related to the function of realizing automatic valet parking.

[0033] The parking lot management server 1 and the vehicle management server 2 are configured to be able to communicate with a user terminal (Userfrontend) 3 and an autonomously driven vehicle 4, respectively. The parking lot management server 1 and the vehicle management server 2 may be configured to be able to communicate with the user terminal 3 or the autonomously driven vehicle 4 via each other. The user terminal 3 is a mobile information terminal of the reserving user who has made a reservation for entry into the autonomous valet parking. The autonomously driven vehicle 4 is the autonomously driven vehicle for which the reserving user has made a reservation for entry into the autonomous valet parking.

[0034] The parking lot management server 1 is configured to be able to acquire information on the autonomously driven vehicle 4 and the user via the vehicle management server 2. The parking lot management server 1 is configured to be able to execute a series of processes for automated valet parking, such as verifying the user who made the parking reservation, checking in, requesting to start the vehicle engine, requesting to drive the vehicle, requesting to stop the vehicle, and checking out.

[0035] Fig. 3 is a block diagram showing an example of the hardware configuration of the parking lot management server 1. As shown in Fig. 3, the parking lot management server 1 is configured as a general computer including a processor 10a, a memory 10b, a storage 10c, a communication interface 10d, and an administrator interface 10e.

[0036] The processor 10a controls the parking lot management server 1 by running various operating systems. The processor 10a is an arithmetic unit such as a CPU (Central Processing Unit) including a control device, an arithmetic unit, a register, etc. The processor 10a controls the memory 10b, the storage 10c, the communication interface 10d, and the administrator interface 10e. The memory 10b is a recording medium such as a ROM (Read Only Memory) or a RAM (Random Access Memory). The storage 10c is a recording medium such as a HDD (Hard Disk Drive).

[0037] The communication interface 10d is a communication device for wireless communication via a network. A network device, a network controller, a network card, etc. can be used for the communication interface 10d. The parking lot management server 1 communicates with the autonomous vehicle 4 and the user terminal 3 using the communication interface 10d. The administrator interface 10e is an input / output unit of the parking lot management server 1 for the administrator of the parking lot management server 1, etc. The administrator interface 10e includes an output device such as a display and a speaker, and an input device such as a touch panel. The vehicle management server 2, the user terminal 3, and the management terminal 5 can also have the same hardware configuration as the parking lot management server 1 described above. The parking lot management server 1 may be configured with the same hardware as the vehicle management server 2. The user terminal 3 and the management terminal 5 may be a smartphone, or a tablet or notebook type mobile information terminal.

[0038] [Autonomous vehicles] FIG. 4 is a block diagram showing an example of the configuration of an autonomous vehicle 4. As shown in FIG. 4, the autonomous vehicle 4 includes an in-vehicle device 40. The in-vehicle device 40 is, as an example, an autonomous driving system. The in-vehicle device 40 has an autonomous driving ECU 41. The autonomous driving ECU 41 is an electronic control unit having a CPU, a ROM, a RAM, and the like. In the autonomous driving ECU 41, for example, a program recorded in the ROM is loaded into the RAM, and the program loaded into the RAM is executed by the CPU, thereby realizing various functions. The autonomous driving ECU 41 may be composed of multiple electronic units.

[0039] The autonomous driving ECU 41 is connected to a communication unit 42, an external sensor 43 (an example of an in-vehicle sensor), an internal sensor 44, a seat belt sensor 45, a door sensor 46, an actuator 47, an HMI 48, and a verification ECU 49.

[0040] The communication unit 42 is a communication device that controls wireless communication with the outside of the autonomously driving vehicle 4. The communication unit 42 transmits and receives various information through communication with the parking lot management server 1. For example, the communication unit 42 transmits vehicle information to the parking lot management server 1 and obtains information necessary for automated valet parking (for example, information on landmarks along the target route) from the parking lot management server 1. The communication unit 42 can be configured to be able to communicate with each of the vehicle management server 2, the user terminal 3, and the management terminal 5.

[0041] The external sensor 43 is an on-board sensor that detects the external environment of the autonomously driven vehicle 4. The external sensor 43 includes at least a camera. The camera is an imaging device that captures an image of the external environment of the autonomously driven vehicle 4. The camera is provided, for example, on the back side of the windshield of the autonomously driven vehicle 4, and captures an image in front of the vehicle. The camera transmits imaging information related to the external environment of the autonomously driven vehicle 4 to the autonomous driving ECU 41. The camera may be a monocular camera or a stereo camera. A plurality of cameras may be provided, and may capture images of the left and right sides and rear of the autonomously driven vehicle 4 in addition to the front.

[0042] The external sensor 43 may include a radar sensor. The radar sensor is a detection device that detects objects around the autonomous vehicle 4 by using radio waves (e.g., millimeter waves) or light. The radar sensor includes, for example, a millimeter wave radar or a LIDAR (Light Detection and Ranging). The radar sensor detects objects by transmitting radio waves or light to the periphery of the autonomous vehicle 4 and receiving the radio waves or light reflected by the object. The radar sensor transmits information about the detected object to the autonomous driving ECU 41. The external sensor 43 may also include a sonar sensor that detects sounds outside the autonomous vehicle 4.

[0043] The internal sensor 44 is an in-vehicle sensor that detects the traveling state of the autonomous vehicle 4. The internal sensor 44 includes a vehicle speed sensor, an acceleration sensor, and a yaw rate sensor. The seat belt sensor 45 is provided for each seat of the autonomous vehicle 4 and is a sensor that detects whether the occupant is fastening the seat belt. The door sensor 46 is a sensor that detects whether the door of the autonomous vehicle 4 is open or closed.

[0044] The actuator 47 is a device used to control the autonomous vehicle 4. The actuator 47 includes at least a drive actuator, a brake actuator, and a steering actuator. The drive actuator controls the amount of air supplied to the engine (throttle opening) in response to a control signal from the autonomous driving ECU 41, thereby controlling the driving force of the autonomous vehicle 4. When the autonomous vehicle 4 is a hybrid vehicle, in addition to the amount of air supplied to the engine, a control signal from the autonomous driving ECU 41 is input to a motor serving as a power source to control the driving force. When the autonomous vehicle 4 is an electric vehicle, a control signal from the autonomous driving ECU 41 is input to a motor serving as a power source to control the driving force. The motor serving as a power source in these cases constitutes the actuator 47.

[0045] The brake actuator controls a brake system in response to a control signal from the autonomous driving ECU 41, and controls the braking force applied to the wheels of the autonomous driving vehicle 4. For example, a hydraulic brake system can be used as the brake system. The steering actuator controls the drive of an assist motor that controls the steering torque of the electric power steering system in response to a control signal from the autonomous driving ECU 41. In this way, the steering actuator controls the steering torque of the autonomous driving vehicle 4.

[0046] The HMI 48 is an interface for inputting and outputting information between the reserving user who is in the autonomous vehicle 4 and the in-vehicle device 40. The HMI 48 includes, for example, an output unit such as a display and a speaker, and an input unit such as a touch panel and buttons.

[0047] The automatic driving ECU 41 includes an automatic driving unit 41a, a detection unit 41b, and a notification unit 41c.

[0048] The autonomous driving unit 41a recognizes the external environment of the autonomous vehicle 4 based on the detection results of the external sensor 43 (images captured by a camera or object information detected by a radar sensor). The external environment includes the relative positions of surrounding objects with respect to the autonomous vehicle 4. The external environment may include the relative speed and movement direction of surrounding objects with respect to the autonomous vehicle 4. The autonomous driving unit 41a recognizes objects such as other vehicles and pillars in a parking lot by pattern matching or the like. The autonomous driving unit 41a may also recognize gates of a parking lot, walls of the parking lot, poles, safety cones, and the like. The autonomous driving unit 41a may also recognize driving boundaries in a parking lot by white line recognition.

[0049] The automatic driving unit 41a recognizes the traveling state of the automatic driving vehicle 4 based on the detection result of the internal sensor 44. The traveling state includes the vehicle speed of the automatic driving vehicle 4, the acceleration of the automatic driving vehicle 4, and the yaw rate of the automatic driving vehicle 4. Specifically, the automatic driving unit 41a recognizes the vehicle speed of the automatic driving vehicle 4 based on vehicle speed information from a vehicle speed sensor. The automatic driving unit 41a recognizes the acceleration of the automatic driving vehicle 4 based on vehicle speed information from an acceleration sensor. The automatic driving unit 41a recognizes the orientation of the automatic driving vehicle 4 based on yaw rate information from a yaw rate sensor.

[0050] The automatic driving unit 41a recognizes the position of the automatic driving vehicle 4 within the parking lot based on the parking lot map information acquired from the parking lot management server 1 via the communication unit 42 and the external environment recognized by the automatic driving unit 41a.

[0051] The automatic driving unit 41a recognizes the position of the automatic driving vehicle 4 in the parking lot based on the position information of the landmarks in the parking lot included in the parking lot map information and the relative positions of the landmarks with respect to the automatic driving vehicle 4 recognized by the automatic driving unit 41a. The landmarks may be objects fixed to the parking lot. For example, at least one of the pillars, walls of the parking lot, poles, safety cones, etc. may be used as the landmarks.

[0052] The automatic driving unit 41a provides vehicle information to the parking lot management server 1 through the communication unit 42. The automatic driving unit 41a determines whether the parking lot management server 1 is in a start condition. To the department The automatic driving unit 41a provides the parking lot management server 1 with vehicle information for determining whether the conditions for starting the automatic valet parking are satisfied in the automatic driving unit 41a. The automatic driving unit 41a provides the parking lot management server 1 with vehicle information including fail information related to a vehicle abnormality and stop information indicating that the engine of the automatic driving vehicle 4 is stopped.

[0053] The automatic driving unit 41a may provide the parking lot management server 1 with information that the interior of the automatic driving vehicle 4 is unoccupied, based on the detection result of the seat belt sensor 45. The automatic driving unit 41a may also provide the parking lot management server 1 with information that all doors of the automatic driving vehicle 4 are locked, based on the detection result of the door sensor 46. The automatic driving unit 41a may provide the parking lot management server 1 with vehicle body information such as the model of the automatic driving vehicle 4, the vehicle length, the vehicle width, and the turning radius.

[0054] The automatic driving unit 41a performs automatic driving of the automatic driving vehicle 4 based on the entrance / exit instruction of the parking lot management server 1. In automatic driving, the automatic driving unit 4 automatically drives the automatic driving vehicle 4 along the target route instructed by the parking lot management server 1. The automatic driving unit 41a generates a trajectory of the automatic driving vehicle 4 based on, for example, the target route, the position of the automatic driving vehicle 4, the external environment of the automatic driving vehicle 4, and the driving state of the automatic driving vehicle 4. The trajectory corresponds to a driving plan for automatic driving. The trajectory includes a path along which the vehicle travels in automatic driving and a vehicle speed plan in automatic driving. The automatic driving unit 41a can also start the engine of the automatic driving vehicle 4 when the engine is stopped, and can also stop the engine of the automatic driving vehicle 4 when the engine is running.

[0055] The detection unit 41b detects dirt or raindrops on the external sensor 43 before automatic parking is started by the automatic driving unit 41a. For example, the detection unit 41b acquires the field of view (a recognizable area) of the external sensor 43 in advance and stores it as a reference field of view in a storage device or the like. The detection unit 41b observes the field of view of the external sensor 43 and compares the observed field of view with the reference field of view to detect the adhesion of dirt or raindrops to the external sensor 43. For example, when the observed field of view is equal to or smaller than a predetermined percentage of the reference field of view, the detection unit 41b determines that dirt or raindrops are attached to the external sensor 43. The detection unit 41b may detect the adhesion of dirt or raindrops to the external sensor 43 based on an image acquired by a sensor (for example, a surveillance camera 12a) provided outside the vehicle.

[0056] The notification unit 41c outputs wiping information that prompts the user to remove the dirt or raindrops from the external sensor 43 in response to the detection by the detection unit 41b of dirt or raindrops on the external sensor 43. The wiping information includes, for example, information that identifies the target external sensor 43, error information, warning information, and information that clearly indicates a wiping operation. The notification unit 41c outputs the wiping information to, for example, the HMI 48, which is an in-vehicle device, or the user terminal 3 and management terminal 5, which are mobile terminals, in order to notify a person who may be near the autonomous vehicle 4. The output wiping information is notified to a user (user and / or administrator) in the form of audio, video, or the like via the HMI 48, the user terminal 3, and the management terminal 5.

[0057] When dirt or raindrops are detected on the external sensor 43 before the user gets off the autonomous vehicle 4, the notification unit 41c outputs wiping information to the indoor device of the autonomous vehicle 4. This allows the autonomous vehicle 4 to ask the user inside the vehicle to wipe it off. When dirt or raindrops are detected on the external sensor 43 after the user gets off the autonomous vehicle 4, the notification unit 41c may output wiping information to at least one of the user terminal 3 and the management terminal 5. This allows the autonomous vehicle 4 to ask the user outside the vehicle to wipe it off. The autonomous vehicle 4 may be equipped with an external device that notifies information to the outside of the vehicle. In this case, the autonomous vehicle 4 may output the wiping information to the external device of the autonomous vehicle 4.

[0058] When dirt or raindrops are detected on the external sensor 43 during the leaving operation of the autonomously driven vehicle 4, the notification unit 41c may output wiping information to the management terminal 5. This enables the autonomously driven vehicle 4 to request wiping from the manager who is more likely to be near the vehicle than the user when leaving the vehicle.

[0059] When dirt or raindrops are detected on the external sensor 43 during automatic parking of the autonomous vehicle 4, the autonomous driving unit 41a may evacuate the autonomous vehicle 4 to a withdrawal position. When the field of view of the external sensor 43 is narrow, there is a risk that automatic parking cannot be continued, so the autonomous vehicle 4 is temporarily evacuated to a safe withdrawal position. The withdrawal position is set in advance within the parking lot 50. At this time, the notification unit 41c may output wiping information to at least one of the user terminal 3, the external device of the autonomous vehicle 4, and the management terminal 5.

[0060] The autonomously driven vehicle 4 is not limited to the above-described configuration as long as it is capable of realizing autonomous valet parking.

[0061] [Automatic parking system processing (automatic parking method)] Fig. 5 is a flowchart showing the operation of the automatic parking system. The flowchart shown in Fig. 5 starts when an automatic driving vehicle 4 to which a service is to be provided is specified.

[0062] 5, first, as a determination process (step S10), the parking lot management server 1 determines whether the autonomous vehicle 4 is a target for entry or return based on the reservation details for the autonomous vehicle 4. If it is determined that the autonomous vehicle 4 is a target for entry or return (step S10: YES), it is determined that the scene is one in which the autonomous vehicle 4 notifies of an object adhering to the sensor when entering or returning the autonomous vehicle 4, and it is determined that the autonomous vehicle 4 will be processed using pattern A (step S12).

[0063] If it is determined that the autonomous vehicle 4 is not a target for entry or return (step S10: NO), the parking lot management server 1 performs a determination process (step S14) to determine whether the autonomous vehicle 4 is a target for leaving or being called, based on the reservation details for the autonomous vehicle 4. If it is determined that the autonomous vehicle 4 is a target for leaving or being called (step S14: YES), it is determined that the scene is one in which the autonomous vehicle 4 will report an object adhering to the sensor when leaving or being called, and it is determined that the autonomous vehicle 4 will be processed using pattern B (step S16).

[0064] If it is determined that the autonomous vehicle 4 is not a target for leaving or being called (step S14: NO), the scene is determined to be one in which the autonomous vehicle 4 should report an object adhering to the sensor during autonomous driving, and it is determined that the scene will be processed using pattern C (step S16). When steps S12, S16, and S18 are completed, the flowchart shown in FIG. 5 ends.

[0065] (Pattern A: When entering or returning) Fig. 6 is a flowchart of pattern A. The flowchart shown in Fig. 6 starts at the timing when it is decided to process autonomously driven vehicle 4 according to pattern A in the flowchart shown in Fig. 5.

[0066] 6, the autonomous vehicle 4 acquires the current vehicle position as a position information acquisition process (step S20). The autonomous vehicle 4 acquires the position information via a GPS receiver or communication. As an arrival determination process (step S22), the autonomous vehicle 4 determines whether or not the autonomous vehicle 4 has arrived at an AVP service area based on the current vehicle position and map information of the area where the automated valet parking service is provided (AVP service area) or the like.

[0067] When it is determined that the autonomous vehicle 4 has arrived at the AVP service area (step S22: YES), the autonomous vehicle 4 determines whether or not there is any adhesion such as dirt or raindrops on the external sensor 43 as an adhesion determination (step S24). When it is determined that there is adhesion (step S26: YES), the autonomous vehicle 4 issues an alert to the user inside the vehicle as an alert process (step S28). As an example, the autonomous vehicle 4 causes the in-vehicle device (e.g., the HMI 48) to display or output a voice message requesting the user to wipe off the dirt or raindrops on the external sensor 43. The autonomous vehicle 4 may transmit the above-mentioned message to the user terminal 3 and cause the user terminal 3 to display or output the voice message.

[0068] Next, the autonomous vehicle 4 determines whether the ignition is OFF (engine is stopped) and the doors are locked as a determination process (step S30). If it is not determined that the ignition is OFF (engine is stopped) and the doors are locked (step S30: NO), the autonomous vehicle 4 continues the notification process (step S28) assuming that the vehicle is not in a state where service can be started (wiping is not completed). If it is determined that the ignition is OFF (engine is stopped) and the doors are locked (step S30: YES), the autonomous vehicle 4 transitions to a re-determination process (step S32) assuming that the vehicle is in a state where service can be started (wiping is completed).

[0069] As a re-determination process (step S32), the autonomously driven vehicle 4 determines whether or not there is still dirt, raindrops, or other attachments on the external sensor 43. If it is determined that there is still attachment (step S32: YES), the autonomously driven vehicle 4 issues an alert to the parking lot management center Ps as a notification process (step S34). As one example, the autonomously driven vehicle 4 outputs wiping information to the parking lot management server 1. As a notification process (step S36), the parking lot management server 1 notifies the user of the wiping information.

[0070] When it is determined that there is no adhesion (step S26: NO, step S32: NO) and when the notification process (step S36) ends, the flowchart shown in Fig. 6 ends. In this way, autonomous vehicle 4 can actively encourage the user to wipe off dirt, raindrops, and the like before going through the AVP service.

[0071] (Pattern B: When leaving or being called) Fig. 7 is a flowchart of pattern B. The flowchart shown in Fig. 7 starts at the timing when it is decided to process automatically-driven vehicle 4 according to pattern B in the flowchart shown in Fig. 5.

[0072] 7, the autonomous vehicle 4 turns on the ignition as a vehicle start process (step S40). Next, the autonomous vehicle 4 determines whether or not there is dirt, raindrops, or other attachments on the external sensor 43 as an attachment determination (step S42). If it is determined that there is attachment (step S44: YES), the autonomous vehicle 4 issues a notification to the parking lot management center Ps as a notification process (step S46).

[0073] Next, the autonomously driven vehicle 4 stops the vehicle and turns off the ignition (step S48). Then, the parking lot management server 1 notifies the parking lot manager of the wiping information as a notification process (step S50).

[0074] When it is determined that there is no adhesion (step S46: NO) and when the notification process (step S50) ends, the flowchart shown in Fig. 7 ends. In this way, autonomous vehicle 4 can actively encourage the parking lot manager to wipe off dirt, raindrops, and the like before going through the AVP service.

[0075] (Pattern C: Automatic driving) Fig. 8 is a flowchart of pattern C. The flowchart shown in Fig. 8 starts at the timing when it is decided to process autonomously driven vehicle 4 according to pattern C in the flowchart shown in Fig. 5.

[0076] 8, the autonomously driven vehicle 4 executes the same sequence as pattern B as vehicle start (step S60). Then, the autonomously driven vehicle 4 starts autonomous driving (step S62). The autonomously driven vehicle 4 determines whether or not there is any adhesion such as dirt or raindrops on the external sensor 43 as an adhesion determination (step S64). If it is determined that there is adhesion (step S66: YES), the autonomously driven vehicle 4 issues a notification to the parking lot management center Ps as a notification process (step S68).

[0077] Next, the autonomous vehicle 4 stops, sets the gear shift to P, notifies the parking lot management center Ps of a system abnormality, and turns off the ignition (step S70). Then, the parking lot management server 1 notifies the parking lot manager of the wiping information as a notification process (step S72).

[0078] Next, as an avoidance process (step S74), the parking lot management server 1 identifies following vehicles that will be affected by the stopped autonomous vehicle 4, adjusts the driving route, and instructs the following vehicles. Furthermore, the parking lot management server 1 evacuates the autonomous vehicle 4 to a safe place. At this time, the parking lot manager can also remove any attachments from the external sensor 43 of the autonomous vehicle 4.

[0079] Next, the parking lot management server 1 determines whether or not the automatic valet parking service for the automatically driven vehicle 4 can be resumed as a determination process (step S76). The parking lot management server 1 inquires of the automatically driven vehicle 4 whether or not the attachment on the external sensor 43 has been removed, and acquires the result. The parking lot management server 1 may confirm the removal of the attachment from the imaging result of the surveillance camera 12a. If it is determined that the automatic valet parking service can be resumed (step S76: YES), the parking lot management server 1 instructs the automatically driven vehicle 4 to resume (step S78).

[0080] Next, the parking lot management server 1 determines whether or not leaving is complete as a determination process (step S80). If it is determined that leaving is complete (step S80: YES), the autonomously driven vehicle 4 determines whether or not there is adhesion, such as dirt or raindrops, on the external sensor 43 as an adhesion determination (step S82). If it is determined that there is adhesion (step S82: YES), the autonomously driven vehicle 4 issues an alert to the parking lot management center Ps as a notification process (step S84). The parking lot management server 1 notifies the user of the wiping information as a notification process (step S86).

[0081] If it is determined that the automated valet parking service cannot be resumed (step S76: No), if it is determined that there is no attachment (step S82: No), or if the notification process (step S86) ends, the flowchart shown in Fig. 8 ends. In this way, the automated vehicle 4 can actively encourage the user or the parking lot manager to wipe off dirt, raindrops, and the like, even while the AVP service is being provided (while the automated vehicle 4 is traveling).

[0082] [Summary of the embodiment] In the autonomous vehicle 4, before the automatic parking is started, dirt or raindrops on the external sensor 43 are detected. Then, in response to the detection of dirt or raindrops on the external sensor 43, information is output that prompts the removal of the dirt or raindrops from the external sensor 43. As a result, the output information is notified to a user who enjoys the parking service or a manager of the parking lot 50. That is, the autonomous vehicle 4 can prompt the user or manager to wipe off the dirt or raindrops. In this way, the autonomous vehicle 4 actively encourages the user or manager to use the external sensor 43, and as a result, the interruption or suspension of the parking service can be avoided.

[0083] Although the exemplary embodiments have been described above, various omissions, substitutions, and modifications may be made without being limited to the exemplary embodiments described above. For example, the autonomous vehicle 4 may be configured to output information that prompts the driver to remove dirt or raindrops from the on-board sensor when the autonomous vehicle 4 is parked independently without communicating with the parking lot management server 1. [Explanation of symbols]

[0084] 1...parking lot management server, 2...vehicle management server, 3...user terminal, 4...self-driving vehicle, 11...parking lot sensor, 41a...self-driving unit, 41b...detection unit, 41c...alert unit.

Claims

1. An automatic parking system that provides an automatic valet parking service in a parking lot, comprising: a vehicle capable of performing automatic parking; and a server configured to be able to communicate with the vehicle, The vehicle is An on-board sensor for detecting an environment surrounding the vehicle; an automatic driving unit that executes the automatic parking based on the detection result of the in-vehicle sensor in response to a parking entry / exit instruction from the server; A detection unit that detects dirt or raindrops on the in-vehicle sensor before the automatic parking is started by the automatic driving unit; a notification unit that outputs information to prompt the user to remove the dirt or raindrops from the vehicle-mounted sensor in response to the detection unit detecting the adhesion of dirt or raindrops to the vehicle-mounted sensor; having The automatic driving unit determines whether the vehicle has arrived at an area where the automatic valet parking service is provided, and determines whether the vehicle is in a state where the automatic valet parking service can be started; The detection unit detects dirt or raindrops on the in-vehicle sensor in response to a determination that the vehicle has arrived at the area, The notification unit is outputting the information to an indoor device of the vehicle while dirt or raindrops are detected on the in-vehicle sensor and the vehicle is not in a state in which the service can be started; When dirt or raindrops are detected on the in-vehicle sensor after it is determined that the vehicle is in a state in which the service can be started, at least one of the following is executed before the start of the automated valet parking service: outputting the information to an external device of the vehicle; outputting the information to a terminal of a user of the vehicle via the server; and outputting the information to a terminal of a parking lot manager via the server. Automatic parking system.

2. The automatic parking system according to claim 1 , wherein the notification unit outputs the information to a terminal of the parking lot manager when dirt or raindrops are detected on the on-board sensor during the vehicle's exit operation.

3. When dirt or raindrops are detected on the in-vehicle sensor during automatic parking of the vehicle, the automatic driving unit causes the vehicle to move to a move-out position; The automatic parking system according to claim 1 , wherein the notification unit outputs the information to at least one of the user's terminal, an external device of the vehicle, and the parking lot manager's terminal.

4. 1. An automated parking method for providing an automated valet parking service in a vehicle parking lot, comprising: determining whether the vehicle has arrived at an area where the automated valet parking service is provided; detecting dirt or raindrops on an in-vehicle sensor of the vehicle in response to the vehicle being determined to have arrived at the area; determining whether the vehicle is in a state in which the automated valet parking service can be started; outputting information to an indoor device of the vehicle to prompt the user to remove the dirt or raindrops from the vehicle-mounted sensor while the dirt or raindrops on the vehicle-mounted sensor is detected and the vehicle is not in a state in which the service can be started; When dirt or raindrops are detected on the on-board sensor after it is determined that the vehicle is in a state in which the service can be started, at least one of the steps of outputting the information to an external device of the vehicle before starting the automated valet parking service, outputting the information to a terminal of a user of the vehicle via a server configured to be able to communicate with the vehicle, and outputting the information to a terminal of a parking lot manager; Executing automatic parking based on a detection result of the on-board sensor; Including, Automatic parking method.

Images