Automatic valet parking management device and automatic valet parking management method

Abstract

To provide a technique for determining a parking position and parking orientation of a transport vehicle in order that a cargo handling operation may be smoothly performed in the transport vehicle.SOLUTION: An automatic valley parking management device according to the present disclosure comprises one or more processors and one or more storage devices. The one or more storage devices store map information of a parking lot with a cargo handling location and location information of a cargo compartment door of the transport vehicle which performs at least one of cargo handling operations, such as loading and unloading of the cargo, at the cargo handling location. The one or more processors perform a parking placement process which determines a parking position and a parking orientation of the transport vehicle when the cargo handling operation of the transport vehicle is performed based on the map information and the location information before the transport vehicle begins the cargo handling operation.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to an apparatus and method for managing automated valet parking (AVP) in a parking lot having a loading and unloading area. [Background technology]

[0002] Patent Document 1 discloses a vehicle control device. In response to a request for a baggage delivery service that uses the trunk of a vehicle, the control device identifies a parking space in which the vehicle is parked and determines whether the trunk can be opened or closed in the parking space.

[0003] As disclosed in Patent Document 1, a technique is known in which a vehicle is controlled to automatically determine whether the trunk of the vehicle can be opened or closed, and then baggage is delivered. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2022-30265 [Patent Document 2] JP 2017-185954 A Summary of the Invention [Problem to be solved by the invention]

[0005] The control device disclosed in Patent Document 1 only determines whether the trunk can be opened or closed when the vehicle is in a parked position.

[0006] In the general vehicle described in Patent Document 1, luggage is generally loaded or unloaded at the rear of the vehicle. On the other hand, in transport vehicles such as trucks, luggage may be loaded or unloaded not only at the rear of the vehicle but also at the sides.

[0007] The present disclosure provides a technology for determining not only whether the trunk of a transport vehicle can be opened or closed, but also determining the parking position and parking orientation of the transport vehicle so that baggage can be smoothly handed over. [Means for solving the problem]

[0008] A first aspect of the present disclosure is an automatic valet parking management system. The automatic valet parking management device manages automatic valet parking performed in a parking lot having a loading and unloading area. The automated valet parking management device includes one or more processors and one or more storage devices. The one or more storage devices store map information of a parking lot having a loading area and position information of the door of a cargo compartment of a transport vehicle that performs at least one of the loading and unloading operations of loading and unloading cargo at the loading area. The one or more processors Before the transport vehicle is moved from the driver's drop-off location by automated valet parking Then, a parking arrangement process is performed to determine the parking position and parking orientation of the transport vehicle when loading and unloading work of the transport vehicle is performed based on the map information, the position information, and the position information.

[0009] A second aspect of the present disclosure is an automated valet parking management method. The automatic valet parking management method manages automatic valet parking performed in a parking lot having a loading and unloading area. The automated valet parking management method is A step of acquiring map information of a parking lot having a loading and unloading area and position information of a door of a luggage compartment of a transport vehicle which performs at least one of loading and unloading operations of luggage at the loading and unloading area; Before the transport vehicle is moved from the driver's drop-off location by automated valet parking determining a parking position and a parking orientation of the transport vehicle when a loading and unloading operation is performed based on the map information and the position information; Includes. Effect of the Invention

[0010] According to the present disclosure, in a transport vehicle capable of automatic valet parking, it is possible not only to determine whether the trunk can be opened or closed, but also to control the parking position and parking orientation of the transport vehicle, thereby enabling smooth delivery of luggage. [Brief description of the drawings]

[0011] [Figure 1] 1 shows a configuration diagram of an automatic valet parking management device in an embodiment of the present invention. [Diagram 2] 1 is a schematic diagram of a parking lot capable of automatic valet parking and equipped with a loading and unloading area in this embodiment. [Diagram 3] 4 shows a vehicle placement processing method according to the present embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] FIG. 1 shows a configuration diagram of an automatic valet parking management device 1.

[0013] The automated valet parking management device 1 is composed of one or more processors 2 (hereinafter referred to as processor 2) and one or more storage devices 3 (hereinafter referred to as storage device 3).

[0014] The processor 2 executes various processes, and includes, for example, a CPU (Central Processing Unit).

[0015] The processor 2 acquires images captured by a camera 5 installed in the parking lot and grasps the vehicle status in the parking lot. The processor 2 also performs a vehicle arrangement process that uses the images captured by the camera 5 and information stored in the storage device 3 to determine the parking position and parking orientation of the transport vehicle 4.

[0016] The storage device 3 stores various information necessary for processing by the processor 2. Examples of the storage device 3 include a volatile memory, a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), etc. The processor 2 reads out various information from the storage device 3 and also stores various information in the storage device 3.

[0017] The memory device 3 stores map information 31 of the parking lot managed by the automatic valet parking management device 1, location information 32 of the cargo compartment door of the transport vehicle 4 performing the loading and unloading work, specification information 33 regarding the specifications of the cargo compartment of the transport vehicle 4, attribute information 34 regarding the attributes of the cargo loaded or to be loaded on the transport vehicle 4, and loading and unloading work status information 35 regarding the status of the loading and unloading work at the loading and unloading location.

[0018] The automatic valet parking management device 1 is capable of communicating with the delivery vehicle 4. In this embodiment, the automatic valet parking management device 1 instructs the parking position and parking orientation of the delivery vehicle 4 so that the loading and unloading of luggage can be performed smoothly.

[0019] The transport vehicle 4 is a vehicle that transports luggage, such as a truck. In particular, in a large truck, the loading platform can be opened and closed at the side or rear of the vehicle when loading and unloading luggage. The luggage loaded on the transport vehicle 4 may be transported using a machine such as a forklift. When the luggage is transported using a machine, the transport vehicle 4 may have a door on the side that can be opened and closed.

[0020] Furthermore, the transport vehicle 4 may be a vehicle that can be manually driven by a driver, or may be a vehicle that can be automatically driven. However, the transport vehicle 4 is configured to be capable of automatic valet parking. In automatic valet parking, the transport vehicle 4 receives instructions from the automatic valet parking management device 1, automatically drives within the parking lot, and parks at the instructed location.

[0021] The camera 5 is, for example, an infrastructure camera installed in a parking lot. The camera 5 captures images inside the parking lot and transmits the captured images to the automatic valet parking management device 1. The automatic valet parking management device 1 acquires the current position of the transport vehicle 4 based on the images received from the camera 5. The automatic valet parking management device 1 acquires loading and unloading operation status information 35 based on the images received from the camera 5.

[0022] FIG. 2 is a schematic diagram of a parking lot in this embodiment where automatic valet parking is possible and which includes a loading and unloading area 7. In FIG.

[0023] First, the process of the automatic valet parking management system when cargo loaded on the transport vehicle 4 is carried into the loading and unloading area 7 will be described.

[0024] After the driver gets off from the transport vehicle 4 at the driver's drop-off location 6, the automatic valet parking management device 1 starts communication with the transport vehicle 4. While communicating with the automatic valet parking management device 1, the transport vehicle 4 performs vehicle control according to instructions from the automatic valet parking management device 1.

[0025] The automated valet parking management device 1 determines the parking position of the transport vehicle 4 so that a working space 8 is secured between the transport vehicle 4 and a loading and unloading area 7. Specifically, the following process is performed by the processor 2. The processor 2 calls up map information 31 from the storage device 3. Furthermore, the processor 2 acquires position information 32, specification information 33, and attribute information 34 from the transport vehicle 4 in communication with the storage device 3. After that, the processor 2 determines the parking position and parking orientation of the transport vehicle 4 based on each of the called information.

[0026] In detail, the processor 2 combines the map information 31 and the position information 32 to determine the parking position and orientation such that the loading and unloading place 7 is in the opening and closing direction of the door of the transport vehicle 4. Furthermore, the processor 2 may combine the map information 31, the position information 32, and the specification information 33 to determine the parking position and parking orientation of the transport vehicle 4 such that the loading and unloading place 7 is in the opening and closing direction of the door of the transport vehicle 4 and the door of the transport vehicle 4 does not interfere with the loading and unloading place. Furthermore, the processor 2 may combine the map information 31, the position information 32, and the attribute information 34 to determine the parking position and parking orientation of the transport vehicle 4 such that the loading and unloading place 7 is in the opening and closing direction of the door of the transport vehicle 4 and the loading and unloading of the luggage to be loaded into the transport vehicle 4 is performed smoothly.

[0027] Thereafter, the processor 2 determines the working space 8 based on the determined parking position and parking orientation of the delivery vehicle 4. Next, the processor 2 instructs the delivery vehicle 4 of the determined parking position and parking orientation.

[0028] Finally, the processor 2 determines the route along which the transport vehicle 4 will move from the current position of the transport vehicle 4, i.e., the driver's drop-off location 6, to the parking position determined by the processor 2, based on the image captured by the camera 5, the map information 31, and the loading and unloading operation status information 35 acquired based on the image. The determined route is transmitted from the automatic valet parking management device 1 to the transport vehicle 4. The transport vehicle 4 performs control based on the received parking position, parking orientation, and route.

[0029] The loading and unloading work performed after the transport vehicle 4 is parked may be performed using a machine such as a forklift. The details of the loading and unloading work are stored in advance as attribute information 34 in the storage device 3. In detail, the processor 2 determines the equipment required for the loading and unloading work and the method of transporting the cargo according to the attributes of the cargo, and stores the determined equipment and the method of transporting the cargo in the storage device 3 as part of the attribute information 34.

[0030] After the loading operation of the baggage loaded in the transport vehicle 4 is completed, the automated valet parking management device 1 instructs the transport vehicle 4 to move to a waiting area 9. The waiting area 9 is a place where the transport vehicle 4 with an empty luggage compartment waits until it next departs from the parking lot.

[0031] Next, the process of the automatic valet parking management system 1 when the transport vehicle 4 is loaded with luggage and carried out from the loading and unloading area 7 will be described.

[0032] The automatic valet parking management device 1 starts communication with the delivery vehicle 4 waiting at the waiting area 9, and instructs the delivery vehicle 4 to park at a location where the luggage will be removed from the loading and unloading area 7. As described above, the automatic valet parking management device 1 instructs the delivery vehicle 4 to be parked so that a working space 8 is provided between the delivery vehicle 4 and the loading and unloading area 7. In this embodiment, the automatic valet parking management device 1 instructs the delivery vehicle 4 to be parked so that a working space 8 is provided behind the delivery vehicle 4.

[0033] The automated valet parking management device 1 determines the parking position of the transport vehicle 4 so that a working space 8 is secured between the transport vehicle 4 and a loading and unloading area 7. Specifically, the following process is performed by the processor 2. The processor 2 calls up map information 31 from the storage device 3. Furthermore, the processor 2 acquires position information 32, specification information 33, and attribute information 34 from the transport vehicle 4 in communication with the storage device 3. After that, the processor 2 determines the parking position and parking orientation of the transport vehicle 4 based on each of the called information.

[0034] In detail, the processor 2 combines the map information 31 and the position information 32 to determine the parking position and orientation such that the loading and unloading place 7 is in the opening and closing direction of the door of the transport vehicle 4. Furthermore, the processor 2 may combine the map information 31, the position information 32, and the specification information 33 to determine the parking position and parking orientation of the transport vehicle 4 such that the loading and unloading place 7 is in the opening and closing direction of the door of the transport vehicle 4 and the door of the transport vehicle 4 does not interfere with the loading and unloading place. Furthermore, the processor 2 may combine the map information 31, the position information 32, and the attribute information 34 to determine the parking position and parking orientation of the transport vehicle 4 such that the loading and unloading place 7 is in the opening and closing direction of the door of the transport vehicle 4 and the unloading of the luggage loaded on the transport vehicle 4 is performed smoothly.

[0035] Thereafter, the processor 2 determines the working space 8 based on the determined parking position and parking orientation of the transport vehicle 4. Next, the processor 2 instructs the transport vehicle 4 of the determined parking position and parking orientation.

[0036] Finally, the processor 2 determines the route along which the transport vehicle 4 will move from the current position of the transport vehicle 4, i.e., the waiting place 9 to the parking position determined by the processor 2, based on the image captured by the camera 5, the map information 31, and the loading and unloading operation status information 35 acquired based on the image. The determined route is transmitted from the automatic valet parking management device 1 to the transport vehicle 4. The transport vehicle 4 performs control based on the received parking position, parking orientation, and route.

[0037] The automated valet parking management device 1 instructs the transport vehicle 4, which has finished unloading the luggage, to move to the driver's boarding location 10. The transport vehicle 4 receives the instruction and moves from the loading and unloading location 7 to the driver's boarding location 10.

[0038] The automated valet parking management device 1 ends communication with the transport vehicle 4 after the transport vehicle 4 arrives at the driver's boarding location 10. After communication with the automated valet parking management device 1 ends, the transport vehicle 4 ends automatic control and switches to control by the driver.

[0039] As described above, the automated valet parking management device 1 is capable of performing vehicle dispatch processing for the transport vehicles 4 and issuing instructions to the transport vehicles 4 so that loading and unloading operations can be completed smoothly.

[0040] FIG. 3 shows a vehicle placement processing method in this embodiment.

[0041] First, in step S100, communication is started with the transport vehicle 4 to which the instruction is to be transmitted. The process proceeds to step S200.

[0042] Next, in step S200, the map information 31 is called from the storage device 3. The process proceeds to step S300.

[0043] Next, in step S300, communication is performed with the transport vehicle 4 to acquire the position information 32, the specification information 33, and the attribute information 34 from the transport vehicle 4. Each piece of acquired information is stored in the storage device 3. The process proceeds to step S400.

[0044] Next, in step S400, images captured by cameras 5 installed in the parking lot and loading / unloading operation status information 35 are acquired from the images. The process proceeds to step S500.

[0045] Next, in step S500, a vacant space in the parking lot is confirmed based on the video and the map information 31. Specifically, a space is confirmed where the transport vehicle 4 that started communication in step S100 can be parked. The process proceeds to step S600.

[0046] Next, in step S600, a parking position of the transport vehicle 4 is determined based on each piece of information. Specifically, the parking position of the transport vehicle 4 is determined based on at least the map information 31 and the position information 32. The specification information 33 and the attribute information 34 may be used to determine the parking position of the transport vehicle 4.

[0047] For example, when the parking position and parking orientation of the transport vehicle 4 are determined based on the map information 31 and the position information 32, a place where the transport vehicle 4 can be parked is obtained from the map information 31, and the position of the door of the luggage compartment of the transport vehicle 4 (e.g., side, rear) is obtained from the position information 32, so that the parking position and parking orientation of the transport vehicle 4 are determined so that the loading and unloading location 7 is close to the position of the door of the luggage compartment of the transport vehicle 4. The position information 32 may include information specifying the door to be opened or closed. In this case, the parking position and parking orientation of the transport vehicle 4 may be determined based on the position of the specified door.

[0048] For example, when determining the parking position and parking orientation of the transport vehicle 4 based on map information 31, position information 32, and specification information 33, the location where the transport vehicle 4 can be parked is obtained from the map information 31, the position of the cargo compartment of the transport vehicle 4 is obtained from the position information 32, and the opening and closing type of the door of the cargo compartment of the transport vehicle 4 (e.g., sliding type, double-leaf type, wing type, etc.) is obtained from the specification information 33, so that the loading and unloading location 7 and the door of the cargo compartment of the transport vehicle 4 are positioned close to each other and the parking position and orientation of the transport vehicle 4 are determined so that the door and the loading and unloading location 7 do not interfere with each other.

[0049] For example, when determining the parking position and parking orientation of the transport vehicle 4 based on map information 31, position information 32, and attribute information 34, the location where the transport vehicle 4 can be parked is obtained from the map information 31, the location of the cargo compartment of the transport vehicle 4 is obtained from the position information 32, and the attributes of the cargo that is loaded or will be loaded in the cargo compartment of the transport vehicle 4 are obtained from the attribute information 34, and the parking position and parking orientation of the transport vehicle 4 are determined so that the loading and unloading location 7 and the opening and closing position of the door of the cargo compartment of the transport vehicle 4 are close to each other and a working space 8 according to the attributes of the cargo is secured.

[0050] In either case, in step S600, processing then proceeds to step S700.

[0051] Next, in step S700, the work space 8 is determined based on the determined parking position and parking orientation of the delivery vehicle 4. The process proceeds to step S800.

[0052] Next, in step S800, the route of the transport vehicle 4 is determined based on the image captured by the camera 5, the map information 31, and the loading / unloading operation status information 35. Specifically, the image is checked to see where there are no other vehicles, the loading / unloading operation status information 35 is checked to see where other vehicles are parked and the work space 8, and the route of the transport vehicle 4 is determined by combining this with the map information 31. The process proceeds to step S900.

[0053] Finally, in step S900, the determined parking position, parking orientation, working space 8, and route of the transport vehicle 4 are transmitted to the transport vehicle 4.

[0054] The vehicle arrangement processing method described above makes it possible to determine not only whether the trunk of the transport vehicle can be opened or closed, but also to determine the parking position and parking orientation of the transport vehicle so that baggage can be delivered smoothly. [Explanation of symbols]

[0055] 1 Automatic valet parking management device, 2 Processor, 3 Storage device, 4 Transport vehicle, 5 Camera, 6 Drop-off location, 7 Loading location, 8 Work space, 9 Waiting location, 10 Boarding location, 31 Map information, 32 Position information, 33 Specification information, 34 Attribute information, 35 Loading work status information

Claims

1. An automatic valet parking management device for managing automatic valet parking performed in a parking lot having a loading and unloading area, one or more processors; one or more storage devices; Equipped with The one or more storage devices include: Map information of parking lots with loading and unloading areas, Position information of a door of a cargo compartment of a transport vehicle that performs at least one of loading and unloading operations of cargo at the loading and unloading location; is stored, the one or more processors perform a vehicle arrangement process to determine a parking position and a parking orientation of the transport vehicle when the loading and unloading operation is performed based on the map information and the position information before the transport vehicle moves from a drop-off location of the driver of the transport vehicle by automatic valet parking. An automatic valet parking management device characterized by:

2. The one or more storage devices further store specification information of the luggage compartment excluding the position information, The one or more processors determine the parking position and the parking orientation based on the map information, the position information, and the specification information in the vehicle placement process.

2. The automated valet parking management system according to claim 1 .

3. The one or more storage devices further store attribute information of the cargo handled in the cargo handling operation by the transport vehicle, The one or more processors determine the parking position and the parking orientation based on the map information, the position information, and the attribute information in the vehicle placement process.

2. The automatic valet parking management system according to claim 1 .

4. The one or more storage devices further store loading / unloading operation status information acquired from a camera in the parking lot and indicating the status of all loading / unloading operations at the loading / unloading location, The one or more processors determine a route for the transport vehicle to travel based on the loading / unloading operation status information.

2. The automatic valet parking management system according to claim 1 .

5. The loading and unloading work is the work of carrying out luggage from the loading and unloading location to the transport vehicle.

5. The automatic valet parking management device according to claim 1, wherein the automatic valet parking management device is a vehicle parking management device.

6. An automatic valet parking management method for managing automatic valet parking performed in a parking lot having a loading and unloading area, comprising: A step of acquiring map information of a parking lot having a loading area and position information of a door of a luggage compartment of a transport vehicle which performs at least one of loading and unloading operations of luggage at the loading and unloading area; determining a parking position and a parking orientation of the transport vehicle when the loading and unloading operation is performed based on the map information and the position information before the transport vehicle moves from a drop-off location of the driver of the transport vehicle by automatic valet parking; 13. An automated valet parking management method comprising:

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