Parking management device and parking management method

Abstract

To provide a parking management device capable of automatically acquiring a safe travel route that avoids contact between a vehicle traveling in a parking lot and a user moving in the parking lot.SOLUTION: A parking management device 50 includes: a data acquisition unit 26 for acquiring user identification data for identifying a location of a user B moving in the parking lot; a movement route estimation unit 28 for estimating a movement route for the user B to move in the parking lot based on user-specific data acquired by the data acquisition unit 26; and a travel route determination unit 30 for determining a travel route of a vehicle 110 traveling within the parking lot so as to avoid the movement route estimated by the movement route estimation unit 28.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present disclosure relates to a parking management device, a vehicle, and a parking lot management method. [Background technology]

[0002] BACKGROUND ART A device for managing vehicles in a parking lot is known (for example, Patent Document 1). [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Laid-Open No. 2007-19865 Summary of the Invention [Problem to be solved by the invention]

[0004] 2. Description of the Related Art Conventionally, there has been a demand for ensuring the safety of users moving around within a parking lot. [Means for solving the problem]

[0005] A first aspect of the present disclosure is a parking management device that manages vehicles in a parking lot, and includes a data acquisition unit that acquires user identification data for identifying the location of a user moving within the parking lot, a movement route estimation unit that estimates a movement route that the user will take within the parking lot based on the user identification data acquired by the data acquisition unit, and a movement route determination unit that determines a movement route for a vehicle traveling within the parking lot so as to avoid the movement route estimated by the movement route estimation unit.

[0006] A second aspect of the present disclosure is a parking management device according to the first aspect, further comprising a transmitting unit that transmits the driving route determined by the driving route determination unit to the vehicle traveling, and the vehicle traveling either drives autonomously according to the received driving route or outputs navigation information that guides the driver along the received driving route.

[0007] A third aspect of the present disclosure is a parking management device described in the first or second aspect, wherein the data acquisition unit acquires, as user identification data, image data of the user taken by an infrastructure sensor installed in the parking lot or an exterior monitoring sensor installed in a vehicle in the parking lot, or acquires location information of a portable device held by the user from the portable device.

[0008] A fourth aspect of the present disclosure is a parking management device described in any one of the first to third aspects, wherein the parking lot is provided with facilities that can be used by users, and the travel route estimation unit estimates a travel route that the user will take to travel to the facilities based further on location information of the facilities.

[0009] A fifth aspect of the present disclosure is the parking management device according to the fourth aspect, wherein the parking lot is provided with a plurality of facilities, and the travel route estimation unit estimates a travel route from the user to the nearest facility. A sixth aspect of the present disclosure is the parking management device according to the fourth or fifth aspect, wherein the facility has an entrance / exit through which the user can enter and exit the parking lot.

[0010] A seventh aspect of the present disclosure is a parking management device according to any one of the first to sixth aspects, wherein the direction of travel in which a vehicle should travel within a parking lot is predetermined, and the travel route determination unit selects one reference route from among a plurality of reference routes predetermined according to the direction of travel that can avoid the travel route estimated by the travel route estimation unit, and determines the reference route as the travel route.

[0011] An eighth aspect of the present disclosure is a parking management device according to any one of the first to seventh aspects, wherein the travel route estimation unit estimates a travel route for each of a plurality of users, the travel route determination unit obtains a plurality of candidate travel routes, calculates the number of intersections between each of the obtained candidates and the plurality of travel routes estimated by the travel route estimation unit, and determines the candidate with the smallest calculated number as the travel route.

[0012] A ninth aspect of the present disclosure is a parking management device described in any one of the first to seventh aspects, further comprising a priority assignment unit that assigns a priority to a user according to the user's physical characteristics based on the user identification data acquired by the data acquisition unit, a travel route estimation unit that estimates a travel route for each of a plurality of users, and a driving route determination unit that obtains a plurality of candidate driving routes and determines, as the driving route, one candidate from the plurality of candidates that can avoid the travel route of the user that has been assigned the highest priority.

[0013] A tenth aspect of the present disclosure is a vehicle that drives autonomously according to a driving route determined by a driving route determination unit of a parking management device described in any one of the first to ninth aspects, or that outputs navigation information to guide the driver along the driving route.

[0014] An eleventh aspect of the present disclosure is a method for managing vehicles in a parking lot, in which a processor acquires user identification data for identifying the location of a user moving within the parking lot, estimates a route the user will take within the parking lot based on the acquired user identification data, and determines a route for the vehicle traveling within the parking lot so as to avoid the estimated route. [Effects of the Invention]

[0015] According to the present disclosure, it is possible to automatically obtain a safe driving route that can avoid contact between a vehicle traveling in a parking lot and a user moving within the parking lot, thereby improving the safety of the user. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a schematic diagram of a parking management system, a parking lot, and a vehicle according to an embodiment. [Figure 2] FIG. 2 is a block diagram of the parking management system shown in FIG. [Figure 3] FIG. 1 is a diagram showing vehicles in a parking lot and users moving around the parking lot. [Figure 4]FIG. 4 is a block diagram of the vehicle shown in FIG. 3. [Figure 5] 2 is a flowchart showing an example of an operation flow of the parking management system shown in FIG. [Figure 6] This shows a state in which a user reverses his / her direction of movement in the parking lot shown in FIG. [Figure 7] FIG. 1 is a diagram showing vehicles in a parking lot and users moving around the parking lot. [Figure 8] FIG. 1 is a diagram showing a vehicle in a parking lot and multiple users moving around the parking lot. [Figure 9] FIG. 10 is a block diagram showing other functions of the parking management system. [Figure 10] 10 is a flowchart showing an example of an operation flow of the parking management system shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments of the present disclosure will be described in detail with reference to the drawings. In the various embodiments described below, similar elements will be given the same reference numerals, and duplicate explanations will be omitted. First, a parking management system 10 according to one embodiment will be described with reference to FIGS. 1 and 2. The parking management system 10 is a system for managing vehicles 110 parked in a parking lot 100.

[0018] The parking management system 10 includes multiple infrastructure sensors 12, a communication device 14, and a parking management server 16. Each of the infrastructure sensors 12 has a camera, a laser scanner, or the like, and is installed in a parking lot 100. These infrastructure sensors 12 capture images of objects present in the parking lot 100, such as parking spaces 106 defined within the parking lot 100, users B moving within the parking lot 100, and vehicles 110 within the parking lot 100. Note that the multiple infrastructure sensors 12 may be installed at multiple locations within the parking lot 100 so that they can capture images of objects present at any position within the parking lot 100. The infrastructure sensors 12 supply image data IM1 of the captured objects to the parking management server 16.

[0019] The communication device 14 is capable of communicating data with external communication devices including a vehicle 110 in the parking lot 100 and a portable device 102 (smartphone, tablet terminal device, etc.) owned by user B. Specifically, the communication device 14 wirelessly transmits and receives data between the vehicle 110 and the external communication device such as the portable device 102 using a mobile communication network system such as 4G or 5G. Note that multiple communication devices 14 may be distributed and arranged within the parking lot 100 so as to be able to communicate with a vehicle 110 or portable device 102 located anywhere within the parking lot 100. Furthermore, the communication device 14 may communicate with the external communication device using any communication protocol.

[0020] The parking management server 16 controls the operations of the infrastructure sensors 12 and the communication device 14. Specifically, the parking management server 16 is a computer having a processor 18, a memory 20, and an I / O interface 22, as shown in Fig. 2. The processor 18 has a CPU or a GPU, etc., and is communicatively connected to the memory 20 and the I / O interface 22 via a bus 24. The processor 18 performs arithmetic processing to realize the parking management function described below.

[0021] The memory 20 has a RAM, a ROM, or the like, and temporarily or permanently stores various data used in the arithmetic processing executed by the processor 18 and various data generated during the arithmetic processing. The I / O interface 22 has, for example, an Ethernet (registered trademark) port, a USB port, or an HDMI (registered trademark) terminal, and communicates data with external devices such as the infrastructure sensor 12 and the communication device 14 via a wired or wireless connection.

[0022] The parking lot 100 is provided with various facilities 104 that can be used by user B. Examples of such facilities 104 include an entrance gate 104A to the parking lot 100 and an entrance / exit 104B to the parking lot 100, as shown in Fig. 3. User B can move around the parking lot 100 on foot or by using a transportation tool (skateboard, kick scooter, etc.) and enter or exit the parking lot 100 through the entrance / exit 104B.

[0023] Entrance / exit 104B may be connected to an entrance / exit to a commercial facility (such as a shopping mall) adjacent to parking lot 100. Vehicle 110 can enter parking lot 100 through entrance gate 104A and park in any of the parking spaces 106 defined within parking lot 100.

[0024] Next, the configuration of the vehicle 110 will be described with reference to Fig. 4. The vehicle 110 is, for example, a four-wheeled automobile, and includes a body 112, a drive mechanism 114, a steering mechanism 116, a braking mechanism 118, an in-vehicle communication device 120, an exterior monitoring sensor 122, a human-machine interface (HMI) 124, and an electronic control unit (ECU) 126.

[0025] The drive mechanism 114 has an engine or an electric motor, etc., and generates a driving force for running the vehicle 110 by driving and rotating wheels 128 that are rotatably mounted on the body 112. The steering mechanism 116 has a power steering device, etc., and automatically changes the running direction of the vehicle 110. The braking mechanism 118 has an electric brake device, etc., and automatically brakes the vehicle 110 by applying a braking force to the wheels 128.

[0026] The in-vehicle communication device 120 is capable of communicating with an external communication device such as the communication device 14 of the parking management system 10. The in-vehicle communication device 120 includes, for example, a GPS receiver 120A, an inter-vehicle communication device 120B, and a data communication module (DCM) 120C. The GPS receiver 120A receives GPS signals from GPS satellites.

[0027] The inter-vehicle communication device 120B can transmit and receive data to and from an in-vehicle communication device of another vehicle. The DCM 120C can transmit and receive data to and from an external communication device of the vehicle 110 (for example, the above-mentioned communication device 14, a communication device provided in a management server of an automobile company, a communication base station, etc.) using a mobile communication network system such as 4G or 5G.

[0028] The exterior monitoring sensor 122 has, for example, at least one of a camera and radar (LiDAR, laser scanner, etc.), and captures images of the environment surrounding the vehicle 110. The HMI 124 exchanges information with the driver C of the vehicle 110. The HMI 124 has, for example, an input device (switch, push button, rotary dial, touch panel, etc.) that accepts information input from the driver C, a display that displays various information as images, a speaker that outputs various information as sound, and a microphone that converts the voice of the driver C into an electrical signal.

[0029] The ECU 126 controls the operation of the vehicle 110. Specifically, the ECU 126 is a computer having a processor 130, a memory 132, and an I / O interface 134. The processor 130 has a CPU, a GPU, or the like, and is communicatively connected to the memory 132 and the I / O interface 134 via a bus 136.

[0030] The memory 132 has a RAM, a ROM, or the like, and temporarily or permanently stores various data used in the arithmetic processing executed by the processor 130 and various data generated during the arithmetic processing. The I / O interface 134 has, for example, a controller area network (CAN) port, an Ethernet (registered trademark) port, a USB port, an optical fiber connector, or an HDMI (registered trademark) terminal, and communicates data via wire or wirelessly with on-vehicle components such as the drive mechanism 114, the steering mechanism 116, the braking mechanism 118, the on-vehicle communication device 120, the exterior monitoring sensor 122, and the HMI 124.

[0031] In this embodiment, the driver C of each vehicle 110 registers in advance as a user of the parking lot 100 in order to use the parking lot 100. For example, the driver C operates the human-machine interface (HMI) of the vehicle 110 to access the parking management server 16 through the onboard communication device 120 of the vehicle 110, downloads the application α for registering as a user of the parking lot 100 from the parking management server 16, and installs it in the ECU 126 of the vehicle 110.

[0032] Then, driver C operates the HMI 124 of the vehicle 110 to launch app α, and through the user registration screen displayed on the display of the HMI 124, enters driver C's personal information PR (e.g., an ID number including name, address, telephone number, credit card number, etc.) and user information UF including vehicle registration number NM, etc., and uploads it to the parking management server 16 via the in-vehicle communication device 120.

[0033] The processor 18 of the parking management server 16 obtains the user information UF transmitted from the on-board communication device 120 of the vehicle 110 via the communication device 14, and also acquires the communication address AD1 (e.g., IP address) assigned to the on-board communication device 120. The processor 18 then creates a database DB in which the obtained user information UF (i.e., personal information PR and vehicle registration number NM) and address AD1 are stored in association with each other, and stores this in advance in the memory 20. In this way, before the parking lot 100 is used, the user information UF and addresses AD1 of multiple vehicles 110 are stored in the database DB.

[0034] Meanwhile, user B also similarly registers in advance as a user of the parking lot 100. Specifically, user B operates the portable device 102 to access the parking management server 16, downloads the above-mentioned application α from the parking management server 16, and installs it on the portable device 102. User B operates the portable device 102 to start application α, enters user B's personal information PR through the user registration screen displayed on the display of the portable device 102, and uploads it from the portable device 102 to the parking management server 16.

[0035] The processor 18 of the parking management server 16 obtains the personal information PR of user B through the communication device 14, and also obtains the communication address AD2 (e.g., IP address) assigned to the portable device 102. The processor 18 associates the obtained personal information PR and address AR2 with each other and stores them in the above-mentioned database DB.

[0036] 3, assume that a vehicle 110A that has completed the user registration described above is about to enter the parking lot 100 through the entrance gate 104A, while a user B is moving within the parking lot 100. The parking management system 10 according to this embodiment determines a driving route RR for the vehicle 110A to travel within the parking lot 100 in order to avoid contact between the vehicle 110A traveling within the parking lot 100 and the user B who is also traveling within the parking lot 100.

[0037] The functions of the parking management system 10 will be described below with reference to Fig. 5. The flow shown in Fig. 5 starts when the processor 18 of the parking management server 16 receives an operation start command from an operator, a management server of the management company of the parking lot 100, or a computer program PG.

[0038] In step S1, processor 18 determines whether or not user B is moving within parking lot 100. Specifically, processor 18 determines whether or not user B is moving within parking lot 100 by analyzing image data IM1 continuously captured by infrastructure sensor 12. If processor 18 determines YES, it proceeds to step S2, and if it determines NO, it proceeds to step S9.

[0039] In step S2, processor 18 determines whether or not there is a vehicle 110 traveling in parking lot 100. As an example, processor 18 determines whether or not there is a vehicle 110 waiting at entrance gate 104A based on image data IM1 captured by infrastructure sensor 12 that has entrance gate 104A within its field of view.

[0040] 3, vehicle 110A is waiting at entrance gate 104A. In this case, vehicle 110A is captured in imaging data IM1 captured by infrastructure sensor 12, which has entrance gate 104A within its field of view. Therefore, processor 18 can detect that vehicle 110A is waiting at entrance gate 104A by analyzing this imaging data IM1.

[0041] If the processor 18 detects that the vehicle 110A is waiting at the entrance gate 104A, it determines YES and proceeds to step S3, but if it determines NO, it proceeds to step S9. When the processor 18 determines YES in this step S2, it determines the vehicle registration number NM printed on the license plate of the vehicle 110A from the image data IM1 of the vehicle 110A captured by the infrastructure sensor 12. 110A Read.

[0042] The processor 18 then reads the vehicle registration number NM 110A is compared with the vehicle registration numbers NM of the vehicles 110 stored in the database DB, thereby identifying the vehicle 110A stored in the database DB. As a result, the processor 18 can obtain the address AD1 of the in-vehicle communication device 120 mounted on the vehicle 110A from the database DB.

[0043] In step S3, the processor 18 calculates the position P of the user B who is moving in the parking lot 100. B As an example, the processor 18 acquires image data IM1 of the infrastructure sensor 12 capturing an image of the user B as the user identification data UD.

[0044] The processor 18 calculates the position P of the user B in the parking lot 100 based on the position information PI1 in the parking lot 100 of the infrastructure sensor 12 that captured the image data IM1 in which the user B is captured, the position where the user B is captured in the image data IM1, and the map data MP of the parking lot 100. B can be identified.

[0045] As another example, processor 18 acquires, as user identification data UD, image data IM2 of user B captured by exterior monitoring sensor 122 installed on vehicle 110 in parking lot 100. Here, as described above, processor 18 reads the vehicle registration number NM of vehicle 110 entering parking lot 100 from image data IM1 captured by infrastructure sensor 12, and identifies vehicle 110 by comparing the vehicle registration number NM with database DB.

[0046] The processor 18 obtains the address AD1 of the identified vehicle 110 from the database DB, and transmits a sensor activation command to the in-vehicle communication device 120 of the vehicle 110 to activate the vehicle exterior monitoring sensor 122 of the vehicle 110. The processor 130 of the vehicle 110 activates the vehicle exterior monitoring sensor 122 in response to the sensor activation command received through the in-vehicle communication device 120 (e.g., DCM 120C). As a result, an image of user B can be captured by the in-vehicle exterior monitoring sensor 122 of any vehicle 110 in the parking lot 100. The processor 130 transmits image data IM2 of the captured user B to the parking management server 16 through the in-vehicle communication device 120 (DCM 120C).

[0047] On the other hand, the processor 18 of the parking management server 16 identifies which parking space 106 in the parking lot 100 the vehicle 110 has parked in, based on the image data IM1 of the vehicle 110 captured by the infrastructure sensor 12 after the vehicle 110 has entered the parking lot 100. Alternatively, the processor 130 of each vehicle 110 that has entered the parking lot 100 may estimate its own vehicle position based on a GPS signal acquired through the GPS receiver 120A, and transmit information PI2 of the estimated own vehicle position to the parking management server 16 via the on-board communication device 120 (e.g., DCM 120C). Then, the processor 18 of the parking management server 16 may identify the parking space 106 in which the vehicle 110 has parked, based on the own vehicle position information PI2 of the vehicle 110 acquired through the communication device 14.

[0048] The processor 18 of the parking management server 16 determines the position P of the user B in the parking lot 100 based on the position information of the parking space 106 in which the vehicle 110 equipped with the vehicle exterior monitoring sensor 122 that captured the image data IM2 capturing the image of the user B is parked, the position where the user B is captured in the image data IM2, and the map data MP. B can be identified.

[0049] The processor 18 first determines the position P of the user B from the image data IM1 of the user B captured by the infrastructure sensor 12. B Then, the position P B In this case, the above-mentioned sensor activation command may be transmitted to the vehicle 110 parked in the parking space 106 near the position P B The vehicle exterior monitoring sensor 122 of the vehicle 110 parked nearby can be activated to capture an image of user B. Then, the processor 18 acquires, as user identification data UD, image data IM1 of user B captured by the infrastructure sensor 12 and image data IM2 of user B captured by the vehicle exterior monitoring sensor 122.

[0050] As yet another example, the processor 18 acquires, as user identification data UD, position information PI3 of the portable device 102 held by user B from the portable device 102. Specifically, the portable device 102 acquires coordinates of a map application β such as Google Maps (registered trademark) and transmits the coordinates as position information PI3 to the parking management server 16. The processor 18 of the parking management server 16 acquires the position information PI3 through the communication device 14 and calculates the position P of user B within the parking lot 100 based on the position information PI3 and the map data MP. B can be identified.

[0051] In this way, in step S3, the processor 18 determines the position P B The processor 18 then starts an operation to acquire user identification data UD (specifically, imaging data IM1, imaging data IM2, or position information PI3) for identifying the user. Therefore, the processor 18 functions as a data acquisition unit 26 (FIG. 2) that acquires the user identification data UD.

[0052] After the start of step S3, the processor 18 continuously (e.g., periodically) acquires the user identification data UD. The processor 18 may collect at least two (e.g., all) of the imaging data IM1, imaging data IM2, and position information PI3 as the user identification data UD.

[0053] In step S4, processor 18 estimates a travel route MR along which user B will travel within parking lot 100, based on the most recently acquired user identification data UD. Here, user B traveling within parking lot 100 is likely to move toward entrance / exit 104B. In this embodiment, processor 18 estimates a travel route MR of user B moving toward entrance / exit 104B.

[0054] Specifically, each time the processor 18 acquires the user identification data UD (i.e., the image data IM1, the image data IM2, or the position information PI3), the processor 18 calculates the position P of the user B in the parking lot 100 based on the user identification data UD. B Then, processor 18 determines the most recently determined first position P B_n and the first position P B_n The second position P identified immediately before B_n-1 Based on this, the moving direction MD of user B is estimated.

[0055] Meanwhile, processor 18 acquires position information PI4 of entrance / exit 104B from map data MP within parking lot 100. Then, processor 18 estimates a travel route MR along which user B will travel to entrance / exit 104B based on the estimated travel direction MD, map data MP within parking lot 100, and position information PI4 of entrance / exit 104B. An example of such estimated travel route MR is shown by a dashed line in FIG. 3.

[0056] 3, the processor 18 estimates a travel route MR that will enable user B to reach the entrance / exit 104B in the shortest distance when moving in the travel direction MD. In this manner, in this embodiment, the processor 18 functions as a travel route estimation unit 28 (FIG. 2) that estimates the travel route MR based on the user identification data UD.

[0057] In step S5, the processor 18 determines a travel route RR of the vehicle 110A traveling in the parking lot 100 so as to avoid the movement route MR estimated in the most recent step S4. Specifically, the processor 18 first identifies an empty parking space 106 among the parking spaces 106 in the parking lot 100.

[0058] For example, the processor 18 can identify a vacant parking space 106 based on the image data IM1 captured by the infrastructure sensor 12. Note that the infrastructure sensor 12 may have, in addition to the camera or radar, a vehicle detection sensor (e.g., an infrared sensor) capable of detecting a vehicle 110 parked in each parking space 106. In this case, the processor 18 may identify a vacant parking space 106 based on the detection data of the vehicle detection sensor.

[0059] Processor 18 acquires position information PI5 of the identified vacant parking space 106 and acquires position information PI6 of entrance gate 104A from map data MP within parking lot 100. Processor 18 then determines a travel route RR from entrance gate 104A to the vacant parking space 106 based on the travel route MR estimated in the most recent step S4, the position information PI5 and PI6, and the map data MP.

[0060] An example of the travel route RR determined in this manner is shown by a solid line in Figure 3. As shown in Figure 3, the processor 18 determines the travel route RR from the entrance gate 104A to the vacant parking space 106A so as not to intersect with the movement route MR estimated in step S4. In this manner, in this embodiment, the processor 18 functions as a travel route determination unit 30 (Figure 2) that determines the travel route RR. Note that, when there are multiple vacant parking spaces 106, the processor 18 may determine the travel route RR from the entrance / exit 104B (or entrance gate 104A) to the nearest vacant parking space 106.

[0061] In step S6, the processor 18 transmits the travel route RR determined in the most recent step S5 to the vehicle 110A. Specifically, the processor 18 refers to the address AD1 of the vehicle 110A acquired when the determination in step S2 is YES, and transmits information on the travel route RR determined in the most recent step S5 to the on-board communication device 120 of the vehicle 110A via the communication device 14. In this way, in the present embodiment, the processor 18 functions as the transmission unit 32 (FIG. 2) that transmits the determined travel route RR to the vehicle 110A traveling in the parking lot 100.

[0062] Meanwhile, the processor 130 of the vehicle 110A receives information about the travel route RR transmitted from the communication device 14 through the in-vehicle communication device 120 (DCM 120C). As an example, the vehicle 110A travels autonomously within the parking lot 100 according to the received travel route RR. Specifically, the processor 130 automatically controls the drive mechanism 114, steering mechanism 116, and braking mechanism 118 of the vehicle 110A according to the travel route RR, and automatically drives the vehicle 110A to travel autonomously along the travel route RR.

[0063] As another example, the processor 130 outputs navigation information NV that guides the driver C along the received travel route RR. Specifically, the processor 130 generates the navigation information NV that guides the driver C along the travel route RR as image data or audio data, and outputs it to the display or speaker of the HMI 124.

[0064] The driver C of the vehicle 110A can recognize the direction in which the vehicle 110A should be driven from the image of the navigation information NV displayed on the display of the HMI 124 (for example, an image showing the direction of travel of the vehicle 110A with signs such as arrows, or an image of the driving route RR shown in the map data MP within the parking lot 100), or from the navigation information NV output as audio from the speaker of the HMI 124.

[0065] In step S7, processor 18 determines whether user B, who is moving within parking lot 100, has deviated from the travel route MR estimated in the most recent step S4. For example, if the travel direction MD of user B has reversed, processor 18 determines that user B has deviated from the travel route MR (i.e., YES).

[0066] Alternatively, the processor 18 may calculate the position P B and the travel route MR is equal to or greater than a predetermined threshold. If processor 18 determines YES, it returns to step S4, and if it determines NO, it proceeds to step S8. Thus, processor 18 executes steps S4 to S6 again every time it determines YES in step S7.

[0067] For example, as shown in Fig. 6, if the determination in step S7 is YES because the movement direction MD of user B has reversed, the processor 18 re-estimates the movement route MR shown in Fig. 6 in step S4. Then, in step S5, the processor 18 re-determines a travel route RR toward the vacant parking slot 106B so as to avoid the re-estimated movement route MR as shown in Fig. 6, and again transmits the travel route RR to the vehicle 110A in step S6.

[0068] In step S8, processor 18 determines whether user B has reached the desired facility 104 (specifically, entrance / exit 104B). For example, processor 18 can determine whether user B has reached entrance / exit 104B based on user identification data UD (i.e., imaging data IM1, imaging data IM2, or location information PI3). If processor 18 determines YES, it proceeds to step S9, and if it determines NO, it returns to step S7.

[0069] In step S9, processor 18 determines whether or not an operation termination command (e.g., a shutdown command) has been received from the operator, the management server of the management company of parking lot 100, or the computer program PG. If processor 18 determines YES, it terminates the flow shown in Fig. 5, but if it determines NO, it returns to step S1.

[0070] As described above, in this embodiment, the processor 18 functions as the data acquisition unit 26, the travel route estimation unit 28, the travel route determination unit 30, and the transmission unit 32 to provide the vehicle 110 with a travel route RR that avoids the travel route MR of user B, thereby managing the vehicle 110 in the parking lot 100. Therefore, the data acquisition unit 26, the travel route estimation unit 28, the travel route determination unit 30, and the transmission unit 32 constitute a parking management device 50 (FIG. 2) that manages the vehicle 110 in the parking lot 100.

[0071] In this parking management device 50, the data acquisition unit 26 acquires user identification data UD to identify the location of user B moving within the parking lot 100 (step S3), and the movement route estimation unit 28 estimates the movement route MR that user B will take within the parking lot 100 based on the user identification data UD acquired by the data acquisition unit 26 (step S4).

[0072] Then, the travel route determination unit 30 determines a travel route RR for the vehicle 110A traveling within the parking lot 100 so as to avoid the travel route MR estimated by the travel route estimation unit 28 (step S5). With this configuration, it is possible to automatically provide a safe travel route RR that can avoid contact between the vehicle 110A traveling within the parking lot 100 and the user B traveling within the parking lot 100. As a result, the safety of the user B can be improved.

[0073] Furthermore, in the parking management device 50, the transmission unit 32 transmits the travel route RR determined by the travel route determination unit 30 to the vehicle 110A (step S6). Then, as an example, the vehicle 110A autonomously drives itself within the parking lot 100 according to the received travel route RR. With this configuration, the vehicle 110A can smoothly drive itself to the parking stall 106A (or 106B) while reliably avoiding contact with user B moving within the parking lot 100. As another example, the vehicle 110A outputs navigation information NV that guides the driver C along the received travel route RR. With this configuration, the driver C of the vehicle 110A can easily recognize a safe travel route RR that allows him or her to avoid contact with user B.

[0074] In the parking management device 50, the data acquisition unit 26 acquires, as the user identification data UD, image data IM1 of user B captured by the infrastructure sensor 12 installed in the parking lot 100, image data IM2 of user B captured by the vehicle exterior monitoring sensor 122 installed in the vehicle 110 in the parking lot 100, or position information PI3 of the portable device 102 carried by user B. According to this configuration, the position P of user B in the parking lot 100 B can be identified with high accuracy, and thus the travel route MR of user B can be estimated with high accuracy.

[0075] Furthermore, in the parking management device 50, the travel route estimation unit 28 estimates the travel route MR along which user B will travel to facility 104 (specifically, entrance / exit 104B) provided in the parking lot 100, based on the position information PI4 of the facility 104. With this configuration, the travel route MR along which user B is likely to travel can be estimated with high accuracy, thereby more effectively improving the safety of user B.

[0076] Next, another example of step S5 will be described with reference to Figures 5 and 7. Here, within the parking lot 100, a travel direction DR (for example, one-way or no entry) in which the vehicle 110A that has entered should travel may be predefined. In this embodiment, a plurality of reference routes RFn (n = 1, 2, 3, ...) along which the vehicle 110A can travel from the entrance gate 104A to each parking space 106 are predefined according to the travel direction DR defined within the parking lot 100.

[0077] For example, as shown in Fig. 7, a total of three reference routes RF1, RF2, and RF3 are determined in advance according to the travel direction DR from the entrance gate 104A to the vacant parking space 106A. Information on these reference routes RF1, RF2, and RF3 may be stored in advance in the memory 20. Note that in Fig. 7, for ease of understanding, the reference routes RF1, RF2, and RF3 are shown by solid lines that are spaced apart from each other over the entire section, but it should be understood that the actual reference routes RF1, RF2, and RF3 may overlap in at least some sections.

[0078] In this embodiment, in step S5, the processor 18 functions as the travel route determination unit 30, and after identifying the vacant parking space 106A as described above, reads out the reference routes RF1, RF2, and RF3 from the memory 20. The processor 18 then determines the intersection P between each of the read reference routes RF1, RF2, and RF3 and the travel route MR estimated in the most recent step S4. In the example shown in FIG. 7, the reference route RF1 intersects with the travel route MR at intersection P1, and the reference route RF2 intersects with the travel route MR at intersection P2. On the other hand, the reference route RF3 does not intersect with the travel route MR.

[0079] In this case, the processor 18 selects the reference route RF3 from among the multiple reference routes RF1, RF2, and RF3 as a reference route RFn that can avoid the movement route MR. Then, the processor 18 determines the selected reference route RF3 as the travel route RR of the vehicle 110A.

[0080] As described above, in this embodiment, the travel route determination unit 30 selects one reference route RF3 that can avoid the travel route MR estimated by the travel route estimation unit 28 from among a plurality of reference routes RF1, RF2, and RF3 that are predetermined according to the traveling direction DR, and determines this as the travel route RR. With this configuration, it is possible to automatically determine a travel route RR that can avoid the travel route MR while following the traveling direction DR defined within the parking lot 100.

[0081] Next, another example of steps S4 and S5 will be described with reference to Figures 5 and 8. In this embodiment, as shown in Figure 8, a plurality of entrances 104B and 104C are provided in the parking lot 100 as the facility 104. Furthermore, a plurality of users B1, B2, B3, and B4 are moving within the parking lot 100.

[0082] In this embodiment, in step S4, the processor 18 functions as a travel route estimation unit 28 and estimates travel routes MR1, MR2, MR3 and MR4 for each of multiple users B1, B2, B3 and B4 within the parking lot 100 based on the most recently acquired user identification data UD.

[0083] Specifically, the processor 18 determines the position P of the user B1 in the parking lot 100 based on the image data IM1 or IM2 of the user B1, which is acquired as the user identification data UD after the start of step S1, or the position information PI3 of the portable device 102 held by the user B1. B1 Then, processor 18 determines the most recently determined first position P B1_n and the first position P B1_n The second position P identified immediately before B1_n-1 Based on this, the moving direction MD1 of the user B1 is estimated.

[0084] Meanwhile, the processor 18 acquires position information PI4 of the entrance / exit 104B and position information PI4 of the entrance / exit 104C from the map data MP of the parking lot 100. Here, in this embodiment, the processor 18 estimates a travel route MR1 from the user B1 to the nearest entrance / exit 104B.

[0085] In the example shown in Fig. 8, of the multiple entrances 104B and 104C, the entrance 104B is closest to users B1 and B2. Therefore, based on the estimated movement direction MD1, map data MP, and position information PI4 of the entrances 104B and 104C, processor 18 estimates a movement route MR1 along which user B1 will move to the nearest entrance 104B, as shown in Fig. 8.

[0086] Similarly, the processor 18 determines the position P of the user B2 in the parking lot 100 based on the image data IM1 or IM2 of the user B2 or the position information PI3 of the portable device 102 carried by the user B2. B2 Then, processor 18 determines the most recently determined first position PB2_n and the first position P B2_n The second position P identified immediately before B2_n-1 Then, based on the movement direction MD2, the map data MP, and the position information PI4 of the entrances 104B and 104C, the processor 18 estimates a movement route MR2 along which the user B2 will move to the nearest entrance 104B.

[0087] On the other hand, for users B3 and B4, the closest of the entrances 104B and 104C is the entrance 104C. Therefore, the processor 18 estimates a travel route MR3 along which user B3 moves to the entrance 104C and a travel route MR4 along which user B4 moves to the entrance 104C, respectively, in the same manner as for users B1 and B2.

[0088] In step S5, the processor 18 functions as the travel route determination unit 30 and determines a travel route RR for the vehicle 110A traveling within the parking lot 100 so as to avoid the movement routes MR1, MR2, MR3, and MR4 estimated in the most recent step S4. Specifically, the processor 18 first identifies a plurality of vacant parking spaces 106A, 106B, and 106C from among the parking spaces 106 within the parking lot 100, as shown in FIG.

[0089] In the example shown in Figure 8, for ease of understanding, three parking spaces 106A, 106B, and 106C are identified as vacant parking spaces 106, but any vacant parking space 106 other than parking spaces 106A, 106B, and 106C may be identified, or all vacant parking spaces 106 may be identified.

[0090] Then, based on the position information PI5 of the identified vacant parking space 106A, the position information PI6 of the entrance gate 104A, and the map data MP, the processor 18 determines a candidate CD1 for the driving route RR from the entrance gate 104A to the parking space 106A. Similarly, the processor 18 determines a candidate CD2 for the driving route RR from the entrance gate 104A to the parking space 106B, and a candidate CD3 for the driving route RR from the entrance gate 104A to the parking space 106C.

[0091] Processor 18 then determines intersections P between each of the determined candidates CD1, CD2, and CD3 and the multiple travel routes MR1, MR2, MR3, and MR4 estimated in the most recent step S4. In the example shown in Fig. 8, candidate CD1 intersects with travel route MR3 of user B3 at intersection P3, and intersects with travel route MR4 of user B4 at intersection P4. In this case, processor 18 calculates the number v1 of intersections P3 and P4 between candidate CD1 and multiple travel routes MRn (n = 1, 2, 3, 4) as v1 = 2.

[0092] Furthermore, candidate CD2 intersects with travel route MR1 of user B1 at intersection P1, and intersects with travel route MR2 of user B2 at intersection P2. Therefore, processor 18 calculates the number of intersections P1 and P2 between candidate CD2 and multiple travel routes MRn, v2, as v2 = 2. On the other hand, candidate CD3 intersects with travel route MR1 of user B1 at intersection P1'. Therefore, processor 18 calculates the number of intersections P1' between candidate CD3 and multiple travel routes MRn, v3 = 1.

[0093] That is, in the example shown in Fig. 8, of the multiple candidates CD1, CD2, and CD3 found, the candidate CD3 (∵ v3 = 1) has the smallest number of intersections P with the travel route MRn. In step S5, the processor 18 determines the candidate CD3 with the smallest number of intersections P, v, as the travel route RR of the vehicle 110A. In this way, the processor 18 functions as the travel route determination unit 30, and determines the candidate CD3 from among the candidates CD1, CD2, and CD3 that can avoid the multiple travel routes MRn to the greatest extent possible as the travel route RR.

[0094] After step S5, in step S6, processor 18 transmits the travel route RR to vehicle 110A, and in step S7, processor 18 determines whether each of users B1, B2, B3, and B4 has deviated from travel route MRn. In step S7, processor 18 determines YES if at least one of users B1, B2, B3, and B4 has deviated from travel route MRn. In addition, in step S8, processor 18 determines whether all users B1, B2, B3, and B4 have reached facility 104 (i.e., entrances 104B and 104C).

[0095] As described above, in this embodiment, the travel route estimation unit 28 estimates travel routes MR1, MR2, MR3, and MR4 from users B1, B2, B3, and B4 to the nearest facility 104 (specifically, entrance / exit 104B or 104C) (step S4). This configuration can minimize the distance that users B1, B2, B3, and B4 travel to their desired facility 104, thereby improving convenience for users B1, B2, B3, and B4.

[0096] In this embodiment, the travel route estimation unit 28 estimates travel routes MR1, MR2, MR3, and MR4 for each of multiple users B1, B2, B3, and B4 (step S4). The travel route determination unit 30 then determines multiple candidates CD1, CD2, and CD3 for the travel route RR, and calculates the numbers v1, v2, and v3 of intersections P1, P1', P2, P3, and P4 between each of the determined candidates CD1, CD2, and CD3 and the travel routes MR1, MR2, MR3, and MR4 estimated by the travel route estimation unit 28.

[0097] Then, the travel route determination unit 30 determines one candidate CD3 that minimizes the calculated numbers v1, v2, and v3 as the travel route RR. With this configuration, when multiple users B1, B2, B3, and B4 are moving within the parking lot 100, the possibility of the users B1, B2, B3, and B4 coming into contact with the vehicle 110A can be minimized.

[0098] In this embodiment, when the processor 18 determines the candidate CD3 as the travel route RR in step S5, the processor 18 may transmit the information on the travel route RR to the vehicle 110A together with driving control information CI for the vehicle 110A in step S6. The driving control information CI is information for controlling the driving of the vehicle 110A so as to shift the time t1 at which the vehicle 110A traveling along the travel route RR reaches the intersection P1′ from the time t2 at which the user B1 reaches the intersection P1′. The driving control information CI may include, for example, information for decelerating (e.g., stopping) or accelerating the vehicle 110A before reaching the intersection P1′ while the vehicle 110A is traveling along the travel route RR.

[0099] Then, when the vehicle 110A is driving autonomously within the parking lot 100 according to the driving route RR transmitted in step S6, the processor 130 of the vehicle 110A may automatically control the drive mechanism 114 or the braking mechanism 118 to slow down or accelerate the vehicle 110A just before the intersection P1' according to the driving control information CI attached to the driving route RR.

[0100] Alternatively, the processor 130 of the vehicle 110A may output navigation information NV' that guides the driver C on the driving control information CI (i.e., the timing to decelerate or accelerate the vehicle 110A) through the HMI 124. This configuration ensures that the vehicle 110A traveling along the travel route RR can avoid contact with the user B1.

[0101] Next, other functions of the parking management system 10 will be described with reference to Figures 9 and 10. In this embodiment, the processor 18 of the parking management server 16 executes the flow shown in Figure 10. In the flow shown in Figure 10, the same processes as those in the flow of Figure 5 are assigned the same step numbers, and duplicated explanations will be omitted.

[0102] After step S3, in step S11, processor 18 assigns a priority OR to user B according to the physical characteristics of user B based on the user identification data UD. Here, if user B is, for example, a child, an elderly person, or a physically disabled person, he or she must avoid contact with vehicle 110A as a priority. Whether user B is a child, an elderly person, a physically disabled person, or other person who should be protected can be determined based on user B's physical characteristics (height, build, body movement, etc.).

[0103] Therefore, in this embodiment, the processor 18 assigns a higher priority OR to the user B who should be given priority in avoiding contact with the vehicle 110A, depending on the physical characteristics of the user B. Step S11 will be described below with reference to Fig. 8. Here, in this embodiment, it is assumed that, of the multiple users B1, B2, B3, and B4 shown in Fig. 8, the user B1 is the preferentially protected person.

[0104] After starting step S1, processor 18 collects image data IM1 and IM2 of users B1, B2, B3, and B4 as user identification data UD, and analyzes the image data IM1 and IM2 to determine whether users B1, B2, B3, and B4 are priority protected persons.

[0105] For example, the processor 18 may determine whether users B1, B2, B3, and B4 shown in the imaging data IM1 or IM2 collected by the processor 18 are priority protected persons by using a machine learning model LM (or an artificial intelligence: AI algorithm) that shows a correlation between imaging data IM of an arbitrary person and whether the physical characteristics of the person shown in the imaging data IM correspond to a priority protected person.

[0106] This machine learning model LM can be generated, for example, by repeatedly providing the image data IM and determination data indicating whether the physical characteristics of a person depicted in the image data IM correspond to a priority protected person to a machine learning device as a learning data set (e.g., supervised learning). Note that the processor 18 may be configured to execute the functions of the machine learning device and generate the machine learning model LM. The generated machine learning model LM may be stored in advance in the memory 20.

[0107] The processor 18 sequentially inputs the imaging data IM1 and IM2 collected after the start of step S1 to the machine learning model LM. The machine learning model LM outputs determination result data indicating whether or not the users B1, B2, B3, and B4 shown in the imaging data IM1 and IM2 are priority protected persons, based on the input imaging data IM1 and IM2.

[0108] Processor 18 can determine whether users B1, B2, B3, and B4 are priority protected persons from the determination result data output by machine learning model LM. As a result, processor 18 determines that users B2, B3, and B4 are not priority protected persons, while determining that user B1 is priority protected.

[0109] Then, in step S11, processor 18 assigns the highest priority OR1 to user B1 determined to be a priority protected person and monitors him / her as a priority protected person. Thus, in this embodiment, processor 18 functions as a priority assignment unit 34 (FIG. 9) that assigns priority OR1 to user B1 according to the physical characteristics of user B1 based on the user identification data UD.

[0110] After step S11, in step S4, the processor 18 functions as a travel route estimation unit 28 and estimates travel routes MR1, MR2, MR3 and MR4 of each of multiple users B1, B2, B3 and B4, similar to the embodiment described above with reference to Figure 8.

[0111] Next, in step S5, the processor 18 functions as the travel route determination unit 30 and determines multiple candidates CD1, CD2, and CD3 for the travel route RR, similar to the embodiment described above with reference to Fig. 8. Then, the processor 18 determines, from among the determined candidates CD1, CD2, and CD3, one candidate CD that can avoid the travel route MR1 of user B1, which was assigned the highest priority OR1 in step S11, as the travel route RR of the vehicle 110A.

[0112] 8, candidates CD2 and CD3 intersect with travel route MR1 of user B1 at intersections P1 and P2 and intersection P1', respectively, while candidate CD1 does not intersect with travel route MR1. Therefore, in this case, processor 18 determines candidate CD1 as the travel route RR of vehicle 110A.

[0113] As described above, in this embodiment, the processor 18 functions as the data acquisition unit 26, the travel route estimation unit 28, the travel route determination unit 30, the transmission unit 32, and the priority assignment unit 34 to provide the vehicle 110 with a travel route RR that avoids the travel route MR1 of user B1, thereby managing the vehicle 110 in the parking lot 100. Therefore, the data acquisition unit 26, the travel route estimation unit 28, the travel route determination unit 30, the transmission unit 32, and the priority assignment unit 34 constitute a parking management device 60 (FIG. 9) that manages the vehicle 110 in the parking lot 100.

[0114] In this parking management device 60, the priority assignment unit 34 assigns a priority OR to user B according to the physical characteristics of user B based on the user identification data UD (specifically, the image data IM1, IM2) acquired by the data acquisition unit 26. Then, the travel route determination unit 30 determines, as the travel route RR, one candidate CD1 that can avoid the movement route MR1 of user B1, which has been assigned the highest priority OR, from among the multiple candidates CD1, CD2, and CD3 obtained. With this configuration, user B1, who should be protected with priority, can be reliably prevented from coming into contact with vehicle 110A, thereby improving the safety of user B1, who is the protected person with priority.

[0115] In step S11, the processor 18 may function as the priority assigning unit 34 and assign different priorities OR to children, elderly people, physically disabled people, and able-bodied adults. For example, the first (i.e., highest) priority OR1 may be assigned to physically disabled people, the second priority OR2 may be assigned to children, the third priority OR3 may be assigned to elderly people, and the fourth priority OR4 may be assigned to able-bodied adults.

[0116] In addition, there may be a case where there are multiple users B (i.e., priority protected persons) assigned the highest priority OR1, and the travel route MR of the user B intersects with any of the determined multiple candidates CD. In this case, in step S5, the processor 18 may calculate the number v of intersections P between each candidate CD and the travel routes MR of the multiple users B assigned the priority OR1, as in the embodiment described above with reference to Figure 8, and determine the one candidate CD with the smallest calculated number v as the travel route RR.

[0117] There may also be a case where there are multiple candidates CD that do not intersect with the travel route MR of user B that has been assigned the highest priority OR1. In this case, in step S5, processor 18 may calculate the number of intersections P between each candidate CD that does not intersect with the travel route MR of user B that has been assigned the priority OR1 and the travel route MR of user B that has been assigned the second or lower priority OR (or no priority OR), and determine the one candidate CD with the smallest calculated number v as the travel route RR.

[0118] In step S11 described above, the processor 18 assigns priority OR to user B based on the image data IM1 and IM2 acquired as the user identification data UD. However, the processor 18 may assign priority OR to users B1, B2, B3, and B4 based on the location information PI3 of the portable device 102 owned by each of users B1, B2, B3, and B4 acquired as the user identification data UD. For example, elderly people and physically disabled people are considered to move slowly. Therefore, the processor 18 may determine whether users B1, B2, B3, and B4 are priority protected persons based on the location information PI3.

[0119] In the above embodiment, multiple guidance devices GD may be provided in the parking lot 100 to guide the user B (B1, B2, B3, B4) along the travel route MR estimated by the processor 18 in step S4. The guidance devices GD may have a display device (digital signage, etc.), a speaker, etc., and may be installed on the wall of a building in the parking lot 100 or on a roadway. The guidance devices GD may display the travel route MR estimated by the processor 18 as an image using signs such as arrows, or may guide the user B by voice. This allows the user B to easily recognize the route to the desired facility 104 (entrances / exits 104B, 104C).

[0120] 5 or 10. In this case, the processor 18 may display the travel route RR determined in step S5 on the guidance device GD. In this case, the transmission unit 32 may be omitted from the parking management device 50 or 60.

[0121] Furthermore, in the above-described embodiment, the processor 18 may send a lighting command to the vehicle 110 parked near the travel route MR estimated in step S4 to activate the lighting devices (headlamps, fog lamps, turn signals, etc.) of the vehicle 110. As described above, the processor 18 identifies which parking space 106 in the parking lot 100 the vehicle 110 is parked in, and therefore can identify the vehicle 110 parked in the parking space 106 near the travel route MR estimated in step S4.

[0122] The processor 18 obtains from the database DB the address AD1 of each vehicle 110 identified as parked near the travel route MR, and transmits a lighting switch-on command to the in-vehicle communication device 120 of the vehicle 110. In response to the lighting switch-on command, the processor 130 of the vehicle 110 turns on the lighting devices provided on the body 112 of the vehicle 110. With this configuration, the lighting devices can brightly illuminate the area near the travel route MR within the parking lot 100, further improving the safety of the user B.

[0123] In the above-described step S4, the processor 18 estimates the travel route MR (MR1, MR2, MR3, MR4) along which the user B (B1, B2, B3, B4) travels to the entrance / exit 104B or 104B. However, in step S4, the processor 18 may estimate the travel route MR along which the user B travels from the entrance / exit 104B or 104B to the vehicle 110B owned by the user B.

[0124] Specifically, since user B and vehicle 110B have been registered in advance as described above, processor 18 can identify user B and vehicle 110B of user B. For example, in the example shown in Fig. 3, when user B returns to vehicle 110B from entrance / exit 104B, he operates a parking fee settlement device installed in parking lot 100 (or a commercial facility) to settle the parking fee.

[0125] At this time, user B inputs his / her personal information PR (for example, an ID number such as a credit card number) into the parking fee settlement device. Processor 18 acquires the personal information PR input into the parking fee settlement device and compares it with database DB to identify user B's vehicle 110B, thereby identifying the parking space 106 in which vehicle 110B is parked. In step S1, processor 18 determines YES when it acquires user B's personal information PR from the parking fee settlement device, and in step S4, estimates a travel route MR to vehicle 110B based on the user identification data UD.

[0126] In the above-described step S5, the processor 18 determines the travel route RR along which the vehicle 110A travels from the entrance gate 104A to the parking space 106. However, in step S5, the processor 18 may determine the travel route RR from the parking space 106 where the vehicle 110A is parked to the exit gate (not shown).

[0127] 3, it is assumed that vehicle 110A parked in parking space 106A travels to the exit gate. In this case, in step S2, processor 18 may detect whether vehicle 110A has started moving based on image data IM of vehicle 110A parked in parking space 106A captured by infrastructure sensor 12, and may determine YES when the start of movement is detected.

[0128] Then, in step S5, processor 18 may determine a driving route RR from parking space 106A to the exit gate based on user B's movement direction MD estimated in the most recent step S4, position information PI5 of parking space 106A, position information PI7 of the exit gate, and map data MP, so as to avoid user B's movement route MR estimated in the most recent step S4.

[0129] In the above-described embodiment, a toilet 104D, an elevator 104E, an escalator 104F, or the like may be provided as the facility 104 available to user B (B1, B2, B3, B4). Then, in step S4, processor 18 may estimate a travel route MR (MR1, MR2, MR3, MR4) to the toilet 104D, elevator 104E, or escalator 104F based on the position information of the toilet 104D, elevator 104E, or escalator 104F.

[0130] 5 or 10 in accordance with a computer program PG pre-stored in the memory 20. The functions of the parking management device 50 or 60 (i.e., the data acquisition unit 26, the travel route estimation unit 28, the travel route determination unit 30, the transmission unit 32, and the priority assignment unit 34) executed by the processor 18 may be functional modules realized by the computer program PG. While the present disclosure has been described above through embodiments, the above-described embodiments do not limit the invention according to the claims. [Explanation of symbols]

[0131] 10 Parking Management System 12 Infrastructure Sensors 14 Communication Device 16 Parking Management Server 18,130 processors 26 Data Acquisition Section 28 Travel route estimation unit 30 Driving route determination unit 32 Transmitter 34 Priority Assignment Section 50,60 Parking management device 100 Parking 102 Portable Device 104 Equipment 104B,104C entrance / exit 110, 110A, 110B vehicles

Claims

1. A parking management device that manages vehicles in a parking lot, a data acquisition unit that acquires user identification data for identifying the location of a user moving within the parking lot; a movement route estimation unit that estimates a movement route that each of the plurality of users will take within the parking lot based on the user identification data acquired by the data acquisition unit; a travel route determination unit that determines a travel route of the vehicle traveling within the parking lot so as to avoid the travel route estimated by the travel route estimation unit, The travel route determination unit obtaining a plurality of candidates for the driving route; calculating the number of intersections between each of the determined plurality of candidates and the plurality of travel routes estimated by the travel route estimation unit; The parking management device determines the one candidate with the smallest calculated number as the driving route.

2. a transmitting unit that transmits the travel route determined by the travel route determination unit to the traveling vehicle, The traveling vehicle is The vehicle travels autonomously according to the received route, or The parking management device according to claim 1 , further comprising: outputting navigation information for guiding a driver along the received driving route.

3. The data acquisition unit acquires, as the user identification data, An infrastructure sensor installed in the parking lot or an exterior monitoring sensor installed in a vehicle in the parking lot acquires image data of the user, or The parking management device according to claim 1 , wherein location information of a portable device carried by the user is acquired from the portable device.

4. The parking lot is provided with facilities that can be used by the user, The parking management device according to claim 1 , wherein the travel route estimation unit estimates the travel route of the user traveling to the facility based further on location information of the facility.

5. The parking lot is provided with a plurality of the facilities, The parking management device according to claim 4 , wherein the travel route estimation unit estimates the travel route from the user to the nearest facility.

6. The parking management device according to claim 4 , wherein the facility has an entrance / exit through which the user can enter and exit the parking lot.

7. A direction in which the vehicle should travel within the parking lot is specified in advance, 2. The parking management device according to claim 1, wherein the travel route determination unit selects one reference route that can avoid the travel route estimated by the travel route estimation unit from among a plurality of reference routes that are predetermined according to the traveling direction, and determines the reference route as the travel route.

8. A parking management device that manages vehicles in a parking lot, a data acquisition unit that acquires user identification data for identifying the location of a user moving within the parking lot; a movement route estimation unit that estimates a movement route that each of the plurality of users will take within the parking lot based on the user identification data acquired by the data acquisition unit; a travel route determination unit that determines a travel route of the vehicle traveling within the parking lot so as to avoid the travel route estimated by the travel route estimation unit; a priority assignment unit that assigns a priority to the user according to the physical characteristics of the user based on the user identification data acquired by the data acquisition unit, The travel route determination unit obtaining a plurality of candidates for the driving route; A parking management device determines, as the driving route, one of the multiple candidates obtained that can avoid the user's travel route assigned the highest priority.

9. 1. A method for managing vehicles in a parking lot, comprising: The processor: acquiring user identification data for identifying the location of a user moving within the parking lot; Based on the acquired user identification data, a movement route of each of the plurality of users within the parking lot is estimated; determining a travel route for the vehicle traveling within the parking lot so as to avoid the estimated travel route; obtaining a plurality of candidates for the driving route; Calculating the number of intersections between each of the determined plurality of candidates and the estimated plurality of travel routes; determining the one candidate with the smallest calculated number as the travel route.

10. 1. A method for managing vehicles in a parking lot, comprising: The processor: acquiring user identification data for identifying the location of a user moving within the parking lot; Based on the acquired user identification data, the travel route of each of the plurality of users within the parking lot is estimated, and a priority is assigned to each user according to their physical characteristics; determining a travel route for the vehicle traveling within the parking lot so as to avoid the estimated travel route; obtaining a plurality of candidates for the driving route; Among the plurality of candidates thus obtained, one candidate that can avoid the travel route of the user to which the highest priority has been assigned is determined as the travel route.

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