Mechanical parking facilities

Abstract

To provide a mechanical parking facility capable of improving safety by preventing an occupant from being left behind in a parked vehicle.SOLUTION: A mechanical parking facility is provided with a storage unit for storing a vehicle V, an operation device 20 including a transport device 21 for transporting the vehicle V to the storage unit when it is stopped at a predetermined parking position, signal acquisition means 9 for acquiring an in-vehicle manned signal emitted from the vehicle V stopped at the parking position, where the vehicle V is capable of detecting a person inside the vehicle and is configured to emit an in-vehicle manned signal if a person is detected inside the vehicle when the vehicle V gets into a predetermined state after stopping. a determination unit 82 for determining whether the operation of the operation device 20 is permitted or not, and a device control unit 81 for controlling the operation of the operation device 20 by reflecting the determination result of the determination unit 82. The determination unit 82 does not permit the operation of the operation device 20 when the signal acquisition means 9 acquires the in-vehicle manned signal after the vehicle V stops at the parking position.SELECTED DRAWING: Figure 2

Description

[Technical Field]

[0001] The present invention relates to a mechanical parking facility. [Background technology]

[0002] A mechanical parking facility typically includes multiple storage areas and a transport device that transports an incoming vehicle parked at a designated parking location to the designated storage area. In such a mechanical parking facility, safety may be threatened if the driver leaves a passenger, such as a small child, inside the vehicle when the incoming vehicle is parked in the storage area.

[0003] Patent Document 1 describes an in-vehicle safety confirmation device that is mounted on a vehicle. This in-vehicle safety confirmation device includes a person detection means for detecting a person inside the vehicle. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2018-172926 Summary of the Invention [Problem to be solved by the invention]

[0005] As described above, in a mechanical parking facility, safety may be threatened if an incoming vehicle is parked in a parking area while the driver leaves an occupant, such as a small child, inside the vehicle.

[0006] The present invention has been made to solve the above-mentioned problems, and aims to provide a mechanical parking facility that can prevent occupants from being left inside entering vehicles and increase safety. [Means for solving the problem]

[0007] In order to achieve the above-mentioned object, a mechanical parking facility according to one embodiment of the present invention comprises an operating device including a storage unit for storing vehicles and a transport device for transporting the vehicle parked at a predetermined parking position to the storage unit; a signal acquisition means for acquiring the in-vehicle presence signal emitted from the vehicle parked at the parking position when the vehicle is capable of detecting a person inside the vehicle and is configured to emit a in-vehicle presence signal when a person is detected inside the vehicle when the vehicle reaches a predetermined state after being parked; a judgment unit for determining whether to permit or disallow operation of the operating device; and a device control unit for controlling the operation of the operating device by reflecting the judgment result of the judgment unit, wherein the judgment unit is configured to disallow operation of the operating device when the signal acquisition means acquires the in-vehicle presence signal after the vehicle has stopped at the parking position.

[0008] According to this configuration, the judgment unit does not allow the operation of the operating device if the signal acquisition means acquires a signal indicating that someone is present inside the vehicle after the vehicle has stopped at the stopping position, and in this case the device control unit does not allow the operating device to operate, thereby preventing occupants such as young children from being left inside the entering vehicle and increasing safety.

[0009] After determining that the operation of the operating device is not permitted, the determination unit may maintain the state in which the operation of the operating device is not permitted until information indicating that the vehicle is unoccupied is acquired.

[0010] The vehicle may further include a vehicle discrimination means for discriminating whether the vehicle is a vehicle that emits the in-vehicle occupancy signal, and the judgment unit may be configured to allow the operation of the operating device if the vehicle discrimination means discriminates that the vehicle is a vehicle that emits the in-vehicle occupancy signal and the signal acquisition means does not acquire the in-vehicle occupancy signal within a predetermined time after the vehicle stops at the stopping position.

[0011] The vehicle may further include an unmanned input operation unit that allows a user of the vehicle to input information indicating that the vehicle is unmanned, and the determination unit may permit operation of the operating device after the information indicating that the vehicle is unmanned is input from the unmanned input operation unit. The unmanned input operation unit may be a safety confirmation input operation unit that inputs information indicating that there is no problem as a result of a safety check including the fact that the vehicle is unmanned.

[0012] The vehicle may further include a memory unit that pre-stores user vehicle information that associates a user's authentication information with vehicle discrimination information that indicates whether the vehicle used by the user is a vehicle that emits an in-vehicle occupancy signal, and an authentication means that compares the authentication information obtained from the user before the vehicle enters the stopping position with the user's authentication information stored in the memory unit, and the vehicle discrimination means may be configured to refer to the user vehicle information and determine whether the vehicle is a vehicle that emits the in-vehicle occupancy signal based on the vehicle discrimination information that is associated with the authentication information obtained from the user before the vehicle enters the stopping position.

[0013] The vehicle discrimination means may be configured to recognize the vehicle registration number of the vehicle from an image captured by a camera that photographs the license plate of the vehicle parked at the parking position, and to determine whether the vehicle is a vehicle that emits an on-board presence signal by comparing the recognized vehicle registration number with vehicle registration numbers registered in a vehicle database as vehicles that emit an on-board presence signal.

[0014] The on-board presence signal may include at least one of a signal generated by flashing lights of the vehicle and a signal generated by sounding a horn or a buzzer of the vehicle.

[0015] The signal acquisition means may be configured to acquire the unmanned vehicle signal emitted from the vehicle when the vehicle is capable of detecting a person inside the vehicle and is configured to emit an unmanned vehicle signal when no person is detected inside the vehicle when the driver gets off and the vehicle is in a predetermined state, and the determination unit may be configured to allow the operation of the operating device when the signal acquisition means acquires the unmanned vehicle signal after the vehicle has stopped at the stopping position or when an input indicating that the vehicle is unmanned is received from the unmanned input operation unit.

[0016] In addition, a mechanical parking facility according to another aspect of the present invention includes an operating device including a storage unit for storing vehicles and a transport device for transporting the vehicle parked at a predetermined parking position to the storage unit; when the vehicle is capable of detecting a person inside the vehicle and is configured to emit an unmanned vehicle signal when no person is detected inside the vehicle after the driver has exited the vehicle and the vehicle is in a predetermined state, a signal acquisition means for acquiring the unmanned vehicle signal emitted from the vehicle; a judgment unit for determining whether to permit or disallow operation of the operating device; a device control unit for controlling the operation of the operating device by reflecting the judgment result of the judgment unit; and an unmanned input operation unit for a user of the vehicle to input that the vehicle is unmanned, wherein the judgment unit may permit operation of the operating device if the signal acquisition means acquires the unmanned vehicle signal or if an input that the vehicle is unmanned is received from the unmanned input operation unit within a predetermined time after the vehicle has stopped at the parking position, and may disallow operation of the operating device if the unmanned vehicle signal is not received and no input that the vehicle is unmanned is received from the unmanned input operation unit.

[0017] According to this configuration, the determination unit does not permit the operation of the operating device if the signal acquisition means does not acquire an unmanned vehicle signal and no information indicating that the vehicle is unmanned is input from the unmanned input operation unit within a predetermined time after the vehicle has stopped at the parking position, and in this case the device control unit does not cause the operating device to operate, thereby preventing occupants such as young children from being left inside the entering vehicle and improving safety. Also, if the unmanned vehicle signal cannot be acquired even though the vehicle is unmanned due to an abnormality in the vehicle or the signal acquisition means, the user can check the interior of the vehicle and then input information indicating that the vehicle is unmanned from the unmanned input operation unit to permit operation.

[0018] The in-vehicle unmanned signal may include at least one of a signal generated by flashing lights of the vehicle and a signal generated by sounding a horn or a buzzer of the vehicle.

[0019] Furthermore, a mechanical parking facility according to another aspect of the present invention includes a storage unit for storing a vehicle, an operating device including a transport device for transporting the vehicle parked at a predetermined parking position to the storage unit, a determination unit for determining whether to permit or prohibit the operation of the operating device, a device control unit for controlling the operation of the operating device by reflecting the determination result of the determination unit, an entrance / exit area having the parking position, an entrance / exit area human detection means for detecting a person in the entrance / exit area, a communication device for communicating with the vehicle capable of detecting a person inside the vehicle, and a user of the vehicle when the vehicle is unoccupied. and an unmanned input operation unit that inputs a signal indicating that there is no one inside the vehicle, and the determination unit permits operation of the operating device when the communication device sends an inquiry signal to the vehicle that has entered the entry / exit area to inquire about the detection result of a person inside the vehicle and receives a vehicle unmanned signal from the vehicle in response, or when the unmanned input operation unit inputs that there is no one inside the vehicle and no person is detected by the entry / exit area person detection means, and prohibits operation of the operating device in other cases.

[0020] According to this configuration, the judgment unit allows the operation of the operating device when the communication device sends an inquiry signal to a vehicle entering the entry / exit area to inquire about the detection result of people inside the vehicle, and in response receives an unmanned vehicle signal from the vehicle indicating that the vehicle is unmanned, or when input that the vehicle is unmanned is received from the unmanned input operation unit and no people are detected by the entry / exit area people detection means, and in other cases the operation of the operating device is not allowed, and the device control unit does not allow the operating device to operate, thereby preventing occupants such as young children from being left inside the entering vehicle and increasing safety.

[0021] The communication device may transmit the inquiry signal to the vehicle parked at the parking position.

[0022] The vehicle may further include a door opening / closing detection means for detecting the opening / closing of the door of the vehicle parked at the parking position, and the determination unit may be configured to allow the operation of the operating device if the vehicle is parked at the parking position and before the door opening / closing detection means detects that the door of the vehicle is open, the determination unit obtains information from the vehicle indicating that there is no one inside the vehicle.

[0023] The determination unit may be configured to allow the operation of the operating device when the vehicle is an autonomously driven vehicle capable of autonomous driving and has obtained information from the vehicle indicating that there is no one inside the vehicle before the vehicle stops at the stopping position.

[0024] The vehicle may further include an entry / exit area having the stopping position, and the operating device may include a door opening / closing device that opens and closes an entrance / exit door provided at the entrance / exit of the entry / exit area, and the device control unit may be configured to control the door opening / closing device to close the entrance / exit door when the determination unit has permitted operation of the operating device when the vehicle stops at the stopping position by autonomous driving with the entrance / exit door open, and when information is obtained from the vehicle indicating that no people are present around the vehicle.

[0025] The vehicle may further include an entry / exit area having the stopping position, and an entry / exit area human detection means for detecting people within the entry / exit area, wherein the operating device includes a door opening / closing device for opening and closing an entrance / exit door provided at the entrance / exit of the entry / exit area, and the device control unit may be configured to control the door opening / closing device to close the entrance / exit door when the operation of the operating device is permitted by the judgment unit when the vehicle stops at the stopping position by autonomous driving with the entrance / exit door open, and when no people are detected by the entry / exit area human detection means.

[0026] The vehicle may further include a notification unit that notifies the driver that an occupant has been left behind in the vehicle when the determination unit determines that the operation of the operation device is not permitted. [Effects of the Invention]

[0027] The present invention has the above-described configuration and has the effect of providing a mechanical parking facility that can prevent occupants from being left inside an entering vehicle and increase safety. [Brief explanation of the drawings]

[0028] [Figure 1] FIG. 1 is a schematic plan view showing an example of an entrance / exit area of ​​a mechanical parking facility according to this embodiment. [Figure 2] FIG. 2 is a block diagram showing an outline of the mechanical parking facility and vehicles shown in FIG. [Figure 3] FIG. 3 is a flowchart showing an outline of the procedure for parking a manually operated vehicle in the mechanical parking facility shown in FIG. [Figure 4] FIG. 4 is a flowchart showing an outline of the procedure for parking an autonomously driven vehicle in the mechanical parking facility shown in FIG. DETAILED DESCRIPTION OF THE INVENTION

[0029] Preferred embodiments of the present invention will be described below with reference to the drawings. In the following, identical or corresponding elements will be designated by the same reference numerals throughout the drawings, and redundant explanations will be omitted. Furthermore, the drawings are schematic illustrations of the respective components for ease of understanding, and the shapes, dimensional ratios, etc. may not be accurately depicted.

[0030] (Embodiment) Fig. 1 is a schematic plan view of an example of a parking area of ​​a mechanical parking facility according to the present embodiment, and Fig. 2 is a block diagram showing an outline of the mechanical parking facility and vehicles shown in Fig. 1.

[0031] For convenience, the following description will be given assuming that the directions as viewed from the vehicle V when the vehicle V moves forward and enters the loading / unloading area 3 are front, rear, left, and right. Note that, although an elevator-type parking facility is exemplified as the mechanical parking facility 1 here, it is not limited to the elevator type, and may also be a vertical circulation type, horizontal multi-level type, box-type circulation type, flat reciprocating type, or other parking device.

[0032] This mechanical parking facility 1 includes a parking tower 2 having multiple storage sections in which pallets 6 are stored. Here, the first floor of the parking tower 2 is a loading / unloading area 3, with an entrance / exit 4 for the loading / unloading area 3 provided on the front side. The entrance / exit 4 is provided with an entrance / exit door 5 that slides up and down to open and close, and a door opening / closing device 22 ( FIG. 2 ) that opens and closes the entrance / exit door 5. The second and higher floors of the parking tower 2 are provided with multiple storage sections for storing vehicles V mounted on pallets 6. A conveying device 21 ( FIG. 2 ) is provided to convey the pallets 6 between each storage section and a predetermined position in the loading / unloading area 3 (the position of the pallets 6 shown in FIG. 1 ). A well-known elevator-type parking facility can be used for this conveying device 21, and details thereof will be omitted. A control panel 7 for operating the mechanical parking facility 1 is provided near the entrance / exit 4 on the exterior of the parking tower 2. Here, an example is shown in which a control device 8 is built into the control panel 7.

[0033] In addition, in the loading / unloading area 3, well-known object detection sensors 11 to 14 such as photoelectric sensors and LIDAR are provided on the front, rear, left and right sides of the pallet 6 to detect objects such as people within the loading / unloading area 3. In addition, a well-known object detection sensor 16 is provided to detect a vehicle V on the pallet 6, and a well-known object detection sensor 15 is also provided at the entrance / exit 4. In addition, a surveillance camera that takes pictures inside the loading / unloading area 3 may be provided.

[0034] 1 and 2, the mechanical parking facility 1 has an operation panel 7, a control device 8, a signal acquisition means 9, a communication device 10, a transport device 21 that transports the pallet 6, a door opening / closing device 22 that opens and closes the entrance / exit door 5, and object detection sensors 11 to 16. The operation panel 7 is equipped with a touch panel display, an IC card reader, a speaker, etc. The touch panel display functions as a display unit (display) and an operation unit (touch panel).

[0035] The control device 8 receives signals acquired by the signal acquisition means 9, output signals from the object detection sensors 11-16, and signals from the operation panel 7, and outputs necessary signals to the operation panel 7. The control device 8 also functions as a device control unit 81 that controls the operation of the transport device 21 and the door opening / closing device 22, which are the operating devices 20, and also functions as a determination unit 82 and vehicle discrimination means 83, etc. The control device 8 has an arithmetic processing unit such as a CPU, and a storage unit including ROM, RAM, etc. that stores control programs executed by the CPU and various data, etc., and the CPU executes the control program to control the entire mechanical parking facility 1. The control device 8 may be configured as a single control device that performs centralized control, or may be configured as multiple control devices that cooperate with each other to perform distributed control.

[0036] The vehicle V is equipped with a vehicle control device 51 constituted by an ECU or the like, an in-vehicle occupant detection means 52, a signal output means 53, and a communication device 54. The in-vehicle occupant detection means 52 may be constituted by, for example, a millimeter wave radar, an infrared sensor, an ultrasonic sensor, or the like, or may use a method of recognizing camera images, as long as it can detect occupants inside the vehicle.

[0037] When the driver gets out of the vehicle V and the vehicle is in a predetermined state (here, the driver's seat switch is OFF and the doors are locked, but it may also be a state where the driver's seat switch is OFF and all doors remain closed for a predetermined time), the vehicle control device 51 activates the vehicle interior person detection means 52. Then, when the vehicle interior person detection means 52 is activated and a person is detected inside the vehicle, the vehicle control device 51 causes the signal output means 53 to output an interior person signal, which is a signal indicating the presence of a person inside the vehicle.

[0038] The signal output means 53 is, for example, lights (hazard lights, headlights, back lights, etc.) that the vehicle V has, and the flashing signal of the lights is the on-board presence signal. In this case, the signal acquisition means 9 of the mechanical parking facility 1 is composed of a photodetector or the like that can detect the flashing signal from the vehicle V parked on the pallet 6 in the entry / exit area 3, and is arranged in the entry / exit area 3.

[0039] The signal output means 53 may also be a horn or buzzer provided in the vehicle V, in which case the sounding of the horn or buzzer serves as the on-board occupancy signal. Here, the signal output means 53 may be configured to output a sound having a predetermined intermittent pattern as the on-board occupancy signal, or may be configured to output a sound exceeding a predetermined volume as the on-board occupancy signal. In this case, the signal acquisition means 9 of the mechanical parking facility 1 is composed of a sound collection device or the like capable of detecting sounds output as the above-mentioned in-vehicle presence signal from a vehicle V parked at a predetermined parking position on a pallet 6 in the entry / exit area 3, and is placed in the entry / exit area 3.

[0040] 3 is a flowchart showing an outline of the procedure for parking a manually driven vehicle in the mechanical parking facility 1. In this example, the vehicle V is a manually driven vehicle that is driven and operated by a driver.

[0041] Furthermore, each user of the mechanical parking facility 1 is a contractor who has signed a contract in advance to use the mechanical parking facility 1. For example, each contractor is loaned a dedicated IC card that stores the contractor's authentication information. The storage unit of the control device 8 stores the authentication information of multiple contractors (users) in advance.

[0042] The driver, who is the user, stops the vehicle V in front of the entrance / exit 4 and performs the first authentication operation by touching the IC card to the IC card reader on the operation panel 7 (step S1).

[0043] When the first authentication operation is performed, the control device 8 compares the authentication information entered thereby with the authentication information of the contractor stored in the storage unit. Then, after authenticating that the user who performed the first authentication operation is the contractor, and confirming that there are no vehicles to be stored that are linked to the user, the control device 8 determines that entry is requested and controls the transport device 21 to transport the empty pallet 6 from the storage unit to the loading / unloading area 3 (step S2). Then, when the empty pallet 6 arrives at the loading / unloading area 3, the control device 8 controls the door opening / closing device 22 to open the entrance / exit door 5 (step S3).

[0044] When the entrance door 5 is opened, the user brings the vehicle V into the storage area 3. That is, the user drives the vehicle V into a predetermined parking position on the pallet 6 in the storage area 3, stops the vehicle, stops the engine (engine, motor, etc.), gets out of the vehicle, and locks the door (step S4). Then, the user exits the storage area 3 through the entrance 4 (step S5).

[0045] Next, the user confirms that there is no one in the loading / unloading area 3 and presses the safety confirmation button provided on the operation panel 7 (step S6). Next, the user performs the second authentication operation (step S7). Similar to the first authentication operation, the second authentication operation is an operation in which the user touches an IC card to the IC card reader on the operation panel 7.

[0046] After the user presses the safety confirmation button, if there is no detection by the object detection sensors 11-15, the control device 8 compares the authentication information input by the second authentication operation with the authentication information input by the previous first authentication operation, and if these pieces of authentication information match, it controls the door opening / closing device 22 to close the entrance door 5 (step S8). Note that if the object detection sensors 11-15 detect a person or object after the user presses the safety confirmation button but before the entrance door 5 is closed, the entrance door 5 cannot be closed unless the user performs a safety check again and presses the safety confirmation button.

[0047] Next, after the entrance door 5 is completely closed, the control device 8 controls the transport device 21 to transport the pallet 6 on which the vehicle V is mounted to a predetermined storage area (step S9). The above is the normal procedure for the warehousing process. The procedure for the warehousing process is generally the same as the procedure for the warehousing process, although there are differences between warehousing and warehousing.

[0048] In the above, an example of using an IC card for the first authentication operation and the second authentication operation is given, but this is not limited to this, and various well-known methods can be used, such as authentication using a PIN number, biometric authentication using a fingerprint, or authentication using a smartphone.

[0049] In step S4 of the above-mentioned warehousing process, when the driver's seat switch is in the OFF state and the doors of the vehicle V are locked, the vehicle interior occupancy detection means 52 is activated, and when a person is detected inside the vehicle, an interior occupancy signal is output from the signal output means 53. In this case, the control device 8 acquires the interior occupancy signal (interior occupancy information) from the signal acquisition means 9 (step S11).

[0050] In the control device 8, the device control unit 81 controls the operation of the operating device 20 (the conveying device 21 and the door opening / closing device 22). After the vehicle V stops at the stopping position of the pallet 6, the determination unit 82 determines whether to permit or prohibit the operation of the operating device 20 under the control of the device control unit 81. Specifically, after the vehicle V stops at the stopping position of the pallet 6 and detects the driver getting out of the vehicle, if the signal acquisition means 9 does not acquire an in-vehicle manned signal within a predetermined time, the determination unit 82 permits the operation of the operating device 20, and if the signal acquisition means 9 acquires an in-vehicle manned signal within the predetermined time, the determination unit 82 prohibits the operation of the operating device 20. Here, the driver getting out of the vehicle may be detected from the output of the object detection sensors 11 and 12 that can detect the opening and closing of the doors of the vehicle V, or may be recognized from an image of a surveillance camera that captures the inside of the loading / unloading area 3. In addition, if the vehicle V is an autonomous vehicle that has entered the warehouse unmanned as described below, the timing of the above-mentioned specified time may start immediately after the vehicle V stops at the stopping position of the pallet 6, without detecting that the driver has disembarked.

[0051] The device control unit 81 controls the operation of the operating device 20 by reflecting the determination result of the determination unit 82. That is, when the determination unit 82 permits the operation of the operating device 20, the device control unit 81 closes the entrance door 5 by the door opening / closing device 22 (step S8) and transports the pallet 6 to the storage unit by the transport device 21 (step S9) after steps S5, S6, and S7 have been performed, but when the determination unit 82 does not permit the operation of the operating device 20, the device control unit 81 does not allow the entrance door 5 to be closed (step S8) and the pallet 6 to be transported to the storage unit (step S9).

[0052] This makes it possible to prevent passengers such as small children from being left behind inside the vehicle V, thereby improving safety. If the determination unit 82 determines that the request is not permitted, a notification unit such as a speaker provided on the operation panel 7 may be configured to notify the passenger that an occupant has been left behind inside the vehicle.

[0053] In this way, when the determination unit 82 determines that operation is not permitted, the driver may check the interior of the vehicle, get any occupants who have been left behind, and then press an unmanned vehicle confirmation button provided on the operation panel 7, whereupon the determination unit 82 may permit operation of the operating device 20. In this case, when the unmanned vehicle confirmation button is pressed, the determination unit 82 obtains information that the vehicle is unmanned, and cancels the unauthorised state to enter an authorized state, but maintains the unauthorised state until the unmanned vehicle confirmation button is pressed.

[0054] Furthermore, not all users' vehicles V are necessarily equipped with remaining-in-vehicle detection output means (in-vehicle occupant detection means 52 and signal output means 53). Therefore, the control device 8 has a vehicle discrimination means 83. The vehicle discrimination means 83 determines whether the entering vehicle V is equipped with a remaining-in-vehicle detection output means. In this example, determining whether the vehicle V is equipped with a remaining-in-vehicle detection output means determines whether the vehicle V is a vehicle that emits an in-vehicle occupant signal when it detects a person inside the vehicle.

[0055] <First example of vehicle discrimination means> In this first example, user vehicle information is stored in the storage unit of the control device 8. The user vehicle information is information that associates the contractor's authentication information with vehicle discrimination information that indicates whether the contractor's vehicle is equipped with a remaining vehicle detection output means.

[0056] The control device 8 functions as an authentication means, and when the first authentication operation is performed in the aforementioned step S1, it compares the authentication information entered thereby with the authentication information of the contractor included in the user vehicle information, and if it authenticates that the user who performed the first authentication operation is a contractor, it determines whether the vehicle V is a vehicle equipped with a remaining-behind detection output means based on the vehicle discrimination information of the contractor (function of the vehicle discrimination means 83).

[0057] <Second example of vehicle discrimination means> In this second example, a camera is provided near the entrance / exit 4 to photograph the license plate of vehicle V parked outside the entrance / exit 4. The control device 8 also has a vehicle database that stores information relating the vehicle registration numbers of multiple vehicles, including the contractor's vehicle, to vehicle discrimination information indicating whether or not a vehicle with the same vehicle registration number is equipped with a remaining vehicle detection output means.

[0058] The vehicle discrimination means 83 acquires the image captured by the camera and performs character recognition processing to recognize the vehicle registration number of the vehicle V from the image captured by the camera. Then, by referring to the vehicle database, the means 83 discriminates whether or not the vehicle V is a vehicle equipped with a remaining vehicle detection output means based on the vehicle discrimination information associated with the recognized vehicle registration number of the vehicle V.

[0059] The vehicle database may be provided in an external server (for example, a server of an external automobile registration information provider) rather than in the control device 8. When the vehicle database is provided in the external server, the control device 8 transmits the automobile registration number of the vehicle V from the communication device 10 to the external server via an external communication network such as the Internet, and the external server transmits vehicle discrimination information associated with the automobile registration number, which is then received by the communication device 10.

[0060] <Third example of vehicle discrimination means> In this third example, a predetermined parking sticker with vehicle identification information indicating whether the vehicle is equipped with a remaining vehicle detection output means is affixed to a predetermined position on the contractor's vehicle. A camera is installed in the entrance / exit area 3 to photograph the parking sticker.

[0061] The vehicle discrimination means 83 recognizes the vehicle discrimination information attached to the parking sticker from the image of the parking sticker of the vehicle V photographed by the camera, thereby discriminating whether the vehicle V is a vehicle equipped with a remaining vehicle detection output means.

[0062] <Fourth example of vehicle discrimination means> In this fourth example, a predetermined parking sticker with vehicle identification information, which is information that identifies the contractor's vehicle, is affixed to a predetermined position on the contractor's vehicle. A camera is installed in the entrance / exit area 3 to photograph the parking sticker. The vehicle identification information is, for example, a number arbitrarily assigned to each contractor's vehicle. In this case, the memory unit of the control device 8 stores vehicle discrimination information associated with the vehicle identification information.

[0063] The vehicle discrimination means 83 recognizes the vehicle identification information attached to the parking sticker of the vehicle V from the image of the parking sticker taken by the camera, and determines whether the vehicle V is a vehicle equipped with a remaining vehicle detection output means based on the vehicle discrimination information associated with the recognized vehicle identification information.

[0064] When the vehicle discrimination means 83 in any of the above examples determines that the entered vehicle V is a vehicle equipped with a remaining vehicle detection output means, that is, in this case, when the vehicle V is determined to be a vehicle that issues an on-board presence signal when it detects a person inside the vehicle, the determination unit 82 determines whether to permit or prohibit the operation of the operating device 20, as described above. That is, before the determination by the determination unit 82, the vehicle discrimination means 83 makes a determination.

[0065] Furthermore, if the vehicle discrimination means 83 cannot determine that the vehicle is equipped with a remaining vehicle detection output means, the system may be configured to, for example, use a speaker or display on the operation panel 7 to notify the user of a request to press an in-vehicle unmanned input operation button (unmanned input operation unit) provided on the operation panel 7. In this case, when the user presses the in-vehicle unmanned input operation button, information that the vehicle is unmanned is input to the control device 8. This causes the determination unit 82 to permit the operation of the operating device 20. The in-vehicle unmanned input operation button may be a safety confirmation button that includes confirmation that no one is present in the entry / exit area 3 outside the vehicle.

[0066] <First modified example of passenger information> In the above example, the signal output means 53 of the vehicle V outputs an in-vehicle occupancy signal as in-vehicle occupancy information, but in this first modified example, when the in-vehicle occupancy detection means 52 functions and does not detect any person inside the vehicle, the vehicle control device 51 causes the signal output means 53 to output an in-vehicle unmanned signal, which is a signal indicating that the vehicle is unmanned. In other words, the signal output means 53 outputs the in-vehicle unmanned signal as in-vehicle occupancy information, but does not output the in-vehicle occupancy signal.

[0067] In this case, in step S4, when the driver's seat switch is turned off and the doors of the vehicle V are locked, the vehicle interior occupancy detection means 52 is activated, and if no person is detected inside the vehicle, an interior occupancy signal is output from the signal output means 53. In this case, the control device 8 acquires the interior occupancy signal (interior occupancy information) from the signal acquisition means 9 (step S11).

[0068] In the case of this first modified example, after the vehicle V stops at the stopping position of the pallet 6 and detects that the driver has gotten off, the determination unit 82 does not permit operation of the operating device 20 until the signal acquisition means 9 acquires an unmanned vehicle signal, and when the signal acquisition means 9 acquires the unmanned vehicle signal, permits operation of the operating device 20. Here, if the unauthorised state continues for a predetermined time, the notification unit may be configured to notify that an occupant has been left behind in the vehicle.

[0069] In this first variant, the in-vehicle unmanned signal may be, for example, a flashing signal of the lights possessed by the vehicle V, as in the case of the in-vehicle manned signal described above, or may be the sounding of a horn or buzzer possessed by the vehicle V.

[0070] <Second modified example of passenger information> In the second modification, the signal output means 53 can output the above-mentioned in-vehicle manned signal and in-vehicle unmanned signal as in-vehicle occupancy information.

[0071] In this case, in step S4, when the driver's seat switch is OFF and the doors are locked, the vehicle interior occupancy detection means 52 is activated, and if a person is detected inside the vehicle, the signal output means 53 outputs an interior occupancy signal, and if no person is detected inside the vehicle, the signal output means 53 outputs an interior occupancy signal.

[0072] In the case of this second modified example, the operation of the operating device 20 is in a disallowed state when the vehicle V stops at the stopping position of the pallet 6, and after detecting that the driver has dismounted, if the signal acquiring means 9 acquires an unmanned vehicle signal, the determination unit 82 permits the operation of the operating device 20, and if the signal acquiring means 9 acquires a manned vehicle signal, the determination unit 82 keeps the operation of the operating device 20 in a disallowed state. Here, if the signal acquiring means 9 acquires a manned vehicle signal, the notification unit may be configured to notify that an occupant has been left behind in the vehicle.

[0073] In this second modified example, the unmanned vehicle signal and the manned vehicle signal may be a flashing signal of lights possessed by the vehicle V, or may be a horn or buzzer sounding possessed by the vehicle V. For example, if a flashing signal of lights is used, the number of flashes or the flashing interval may be different between the unmanned vehicle signal and the manned vehicle signal. Furthermore, if a horn or buzzer is used, the sounding duration or the sounding interval may be different between the unmanned vehicle signal and the manned vehicle signal. Furthermore, either the unmanned vehicle signal or the manned vehicle signal may be a flashing signal of lights, and the other may be a horn or buzzer sounding.

[0074] In the above, the vehicle V is described as a manually driven vehicle, but the vehicle V may also be an automatically driven vehicle. In the case of an automatically driven vehicle, in step S4 of FIG. 3, the vehicle V can be brought into the warehouse by autonomous driving and stopped at a predetermined stopping position on the pallet 6.

[0075] In addition, when the vehicle V and the mechanical parking facility 1 are configured to be able to communicate wirelessly, a manned-in-vehicle signal or an unmanned-in-vehicle signal may be transmitted from the communication device 54 of the vehicle V in accordance with the detection result of the vehicle interior occupancy detection means 52 of the vehicle V, and received by the communication device 10 of the mechanical parking facility 1. In this case, the communication device 54 serves as the signal output means, and the communication device 10 serves as the signal acquisition means. In addition, in this case, the control device 8 of the mechanical parking facility 1 may inquire of the vehicle V about the detection result of the vehicle interior occupancy detection means 52 via the communication device 10. In addition, in this case, it is preferable to receive the detection result of the vehicle interior occupancy detection means 52 (manned-in-vehicle signal or unmanned-in-vehicle signal) from the vehicle V immediately after the user performs the second authentication operation (step S7).

[0076] For example, when vehicle V enters the entrance / exit area 3 and stops at the parking position, the determination unit 82 is initially in the operation prohibition state, and the control device 8 causes the communication device 10 to transmit an inquiry signal to the vehicle V that has entered the entrance / exit area 3 in order to inquire about the detection result of the vehicle interior occupancy detection means 52. For example, immediately after vehicle V stops at the parking position, the communication device 10 transmits the inquiry signal to vehicle V. If the communication device 10 receives an interior no-person signal from vehicle V in response, it considers the vehicle to be an unmanned autonomous vehicle, and the determination unit 82 permits operation of the operating device 20. On the other hand, if the communication device 10 transmits the inquiry signal but does not receive an interior no-person signal, it assumes that there may be an occupant in the vehicle, and the determination unit 82 maintains the operation prohibition state. Thereafter, if it detects that a door of vehicle V is open and then detects that all doors of vehicle V are closed, the communication device 10 makes another inquiry. If the communication device 10 receives an unmanned vehicle signal in response to this second inquiry, the determination unit 82 permits operation. If the communication device 10 does not receive the signal, the determination unit 82 denies operation and asks the user (driver) to confirm whether or not there is anyone in the vehicle by an announcement or the like. The determination unit 82 may permit operation when the user presses the unmanned vehicle input operation button on the operation panel 7. In the above description, the determination unit 82 may also include in the conditions for permitting operation of the operating device 20 that no person is detected in the entering / exiting area 3 by the entering / exiting area person detection means. In this case, if a person is detected in the entering / exiting area 3, the determination unit 82 denies operation of the operating device 20. The entering / exiting area person detection means is configured, for example, by object detection sensors 11-15, a monitoring camera, the control device 8, etc., and is a means for detecting people in the entering / exiting area 3. The opening and closing of the doors of the vehicle V parked at the parking position is detected, for example, by door opening / closing detection means configured, for example, by object detection sensors 11, 12, etc.

[0077] Furthermore, when the determination unit 82 determines that operation is not permitted upon receiving an in-vehicle occupant signal from the vehicle V, if the driver opens the door of the vehicle V to check the interior, lets any occupants who have been left behind get out of the vehicle, and closes the door of the vehicle V, the control device 8 may inquire of the vehicle V about the detection result of the in-vehicle occupant detection means 52, and upon receiving an in-vehicle unmanned signal from the vehicle V, the determination unit 82 may permit operation of the operating device 20. In this case, the determination unit 82 maintains the in-vehicle unmanned signal until it receives the in-vehicle unmanned signal. If the driver performs operations in steps S6 and S7 after receiving this in-vehicle unmanned signal, the processes in steps S8 and S9 are executed.

[0078] FIG. 4 is a flowchart showing an outline of the procedure for parking an autonomous vehicle in a mechanical parking facility 1. In this example, vehicle V is an autonomous vehicle capable of autonomous driving. This autonomous vehicle V is further equipped with an outside-vehicle person detection means capable of detecting people around vehicle V. The outside-vehicle person detection means is configured to detect people using information from an around view monitor, an image recognition device, peripheral sonar, LIDAR, etc., provided on the autonomous vehicle.

[0079] In this example, for example, a boarding and alighting area exclusively for autonomous vehicles is set in a predetermined area in front of the entrance / exit 4 of the mechanical parking facility 1. This boarding and alighting area may be located a predetermined distance (for example, several meters or more) away from the entrance / exit 4.

[0080] When an autonomous vehicle V enters a parking lot, the vehicle V comes to a designated boarding and disembarking area by autonomous or manual driving and stops, and the driver and all passengers disembark. Here, before or after disembarking, the driver operates, for example, an operation terminal to issue an entry command to the vehicle V to park in the mechanical parking facility 1 by autonomous driving.

[0081] The operation terminal has software related to the autonomously driven vehicle V and the mechanical parking facility 1 pre-installed. This operation terminal may be a terminal provided in the autonomously driven vehicle V, or may be a mobile terminal such as a smartphone. The operation terminal and the vehicle V (vehicle control device 51) are capable of communicating with each other. Furthermore, the vehicle V (vehicle control device 51) and the mechanical parking facility 1 (control device 8) are capable of wireless communication via their respective communication devices 54, 10.

[0082] As described above, when an automatic driving entry command is sent from the operation terminal to the vehicle control device 51, the vehicle V sends an automatic driving entry request signal and the vehicle registration number of the vehicle V to the mechanical parking facility 1.

[0083] In addition, the boarding and disembarking area dedicated to autonomous vehicles is equipped with a camera that photographs the license plate of vehicle V parked in this boarding and disembarking area. Also, control device 8 stores information that associates information on the vehicle registration number of the contractor's vehicle with information on the pallet used by the contractor.

[0084] The control device 8 acquires the image captured by the camera, performs character recognition processing to recognize the vehicle registration number of the vehicle V from the image captured by the camera (license plate), and compares it with the vehicle registration number sent from the vehicle V. If they match, it determines that a warehousing request has been made by the vehicle V (step S21).

[0085] Then, the control device 8 controls the transport device 21 to transport the empty pallet 6 associated with the vehicle registration number of the vehicle V from the storage unit to the loading / unloading area 3 (step S22). Then, when the empty pallet 6 arrives at the loading / unloading area 3, the control device 8 controls the door opening / closing device 22 to open the entrance / exit door 5 (step S23).

[0086] When the entrance / exit door 5 is opened, an entry permission signal is transmitted from the mechanical parking facility 1 to the vehicle V, and the vehicle V enters the facility by autonomous driving. At this time, information regarding the entry route, parking position, etc. may be transmitted from the mechanical parking facility 1 to the vehicle V. Then, the vehicle V autonomously drives into a predetermined parking position on the pallet 6 in the entry / exit area 3, stops, and stops its engine (step S24).

[0087] Next, the control device 8 confirms that the loading / unloading area 3 outside the vehicle V is unoccupied (step S25). This unoccupied state may be confirmed from the output of the object detection sensors 11-15, or from image data of a surveillance camera capturing the loading / unloading area 3. In this case, the object detection sensors 11-15, the surveillance camera, the control device 8, etc. serve as loading / unloading area human detection means, and if no human is detected by this loading / unloading area human detection means, it is determined that the loading / unloading area 3 is unoccupied.

[0088] When the control device 8 confirms that there is no one in the loading / unloading area 3, it controls the door opening / closing device 22 to close the entrance / exit door 5 (step S26).

[0089] Next, after the entrance door 5 is completely closed, the control device 8 controls the transport device 21 to transport the pallet 6 on which the vehicle V is mounted to a predetermined storage area (step S27). The above is the normal procedure for the warehousing process. The procedure for the warehousing process is generally the same as the procedure for the warehousing process, although there are differences between warehousing and warehousing.

[0090] In the above step S25, the unmanned check of the entry / exit area 3 is performed using an entry / exit area person detection means such as a sensor provided in the mechanical parking facility 1, but instead of or in addition to this, a vehicle outside person detection means provided in the vehicle V may be used. Information on the detection results of this vehicle outside person detection means is transmitted from the vehicle V to the mechanical parking facility 1. Here, by performing an unmanned check of the entry / exit area 3 using information on the detection results of both the entry / exit area person detection means and the vehicle outside person detection means, greater safety can be ensured.

[0091] In the above-described parking process, the vehicle interior occupancy detection means 52 of the vehicle V is activated when the driver gets off the vehicle in the boarding / alighting area reserved for autonomous vehicles and locks the doors, and when a person is detected inside the vehicle, a vehicle presence signal is output from the signal output means 53. Then, when all remaining occupants in the vehicle V get off and lock the doors, the vehicle interior occupancy detection means 52 is activated but does not detect any people, and unmanned vehicle information indicating that the vehicle is unmanned is transmitted to the vehicle control device 51. Then, the vehicle control device 51 transmits the unmanned vehicle information to the mechanical parking facility 1 via the communication device 54. The control device 8 acquires the unmanned vehicle information (vehicle occupancy information) received by the communication device 10 (step S31).

[0092] In this case, the judgment unit 82 acquires unmanned vehicle information indicating that the vehicle is unmanned before the vehicle V stops at the specified stopping position on the pallet 6 (before entering the pallet), and makes a judgment to allow the operation of the operating device 20 when the vehicle V stops at the stopping position.

[0093] On the other hand, even with an automatically driven vehicle V, there may be cases where the driver operates the vehicle to enter the parking lot. The procedure in this case will be described with reference to FIG.

[0094] The driver first stops the vehicle V in a boarding and disembarking area reserved for autonomous vehicles, and then operates the operation terminal to issue a parking command to the vehicle V to manually park it in the mechanical parking facility 1.

[0095] In this way, when a manual entry command is sent from the operation terminal to the vehicle control device 51, the vehicle V sends a manual entry request signal and the vehicle registration number of the vehicle V to the mechanical parking facility 1.

[0096] As described above, the control device 8 recognizes the vehicle registration number of the vehicle V from the image captured by the camera (license plate), compares it with the vehicle registration number sent from the vehicle V, and if they match, determines that there has been a warehousing request from the vehicle V (step S21), transports the empty pallet 6 from the storage section to the loading / unloading area 3 (step S22), and opens the entrance / exit door 5 (step S23).

[0097] When the entrance door 5 is opened, the driver manually drives the vehicle V into a predetermined parking position on the pallet 6, stops the vehicle, stops the engine, gets out of the vehicle, and locks the door (step S24). Then, the driver exits the loading / unloading area 3.

[0098] Then, the control device 8 confirms that there is no one outside the vehicle in the loading / unloading area 3 using the above-mentioned loading / unloading area person detection means and / or the vehicle outside person detection means of the vehicle V (step S25). When the control device 8 confirms that there is no one inside the loading / unloading area 3, it closes the entrance / exit door 5 (step S26) and transports the pallet 6 on which the vehicle V is loaded to a predetermined storage section (step S27).

[0099] In the above-described entry processing, the vehicle interior occupancy detection means 52 of the vehicle V is activated in step S24 when the vehicle V is entered into the entry / exit area 3, parked at a predetermined parking position on the pallet 6, the driver stops the engine, gets out of the vehicle, and locks the doors. This also applies when the vehicle V is entered into the shed by automatic driving with the driver remaining inside the vehicle.

[0100] When the activated vehicle interior occupancy detection means 52 detects a person as described above, the signal output means 53 outputs a vehicle interior occupancy signal. When no person is detected, the signal output means 53 does not output a signal. Here, similar to the case of a manually operated vehicle, when the signal output means 53 outputs a vehicle interior occupancy signal, the vehicle interior occupancy signal is input to the signal acquisition means 9 and acquired by the control device 8. The determination unit 82 then determines that the operation of the operating device 20 is not permitted. In this case, the device control unit 81 does not allow the door opening / closing device 22 to close the entrance door 5 (step S26) or the conveyance device 21 to convey the pallet 6 to the storage unit (step S9). This prevents occupants such as infants from being left behind inside the vehicle V, thereby improving safety. Furthermore, when the determination unit 82 determines that the operation is not permitted, an alarm unit, such as a speaker provided on the operation panel 7 or an operation terminal, may be configured to notify the fact that an occupant has been left inside the vehicle.

[0101] In addition, when a person is detected by the vehicle interior person detection means 52, the autonomously driven vehicle V may be configured to transmit an in-vehicle resident signal from the communication device 54 to the mechanical parking facility 1. In addition, when a person is not detected by the vehicle interior person detection means 52, the autonomously driven vehicle V may be configured to transmit an in-vehicle unmanned signal from the communication device 54 to the mechanical parking facility 1.

[0102] Furthermore, in the case of an autonomously driven vehicle V, the entry request signal transmitted from the vehicle V to the mechanical parking facility 1 may include information regarding whether the vehicle is occupied or unoccupied, or an occupied / unoccupied signal may be received from the vehicle V parked on the pallet 6, as in the case of a manually driven vehicle. However, since an unmanned autonomous vehicle does not open / close or lock its doors after stopping, the timing for transmitting and receiving the signal may be set, for example, within a predetermined time after stopping. In any case, it is sufficient that the occupied / unoccupied signal is transmitted from the vehicle V to the control device 8 between the time the operation terminal transmits an entry command by autonomous driving to the vehicle control device 51 and before the control device 8 controls the door opening / closing device 22 to close the entrance door 5.

[0103] In the above, when an entry command for automatic or manual driving is sent from the operation terminal to the vehicle control device 51, a request signal for entry for automatic or manual driving and the vehicle registration number of the vehicle V are sent from the vehicle V to the mechanical parking facility 1, but it may also be configured to send a request signal for entry for automatic or manual driving and the vehicle registration number of the vehicle V from the operation terminal to the mechanical parking facility 1.

[0104] In addition, if there are separate entrances and exits to the entry / exit area 3 for autonomous vehicles and manually driven vehicles, or if the mechanical parking facility is exclusively for autonomous vehicles and the boarding / exit area exclusively for autonomous vehicles is separated from the entrance / exit of the entry / exit area 3, the entrance / exit door 5 at the entrance / exit for autonomous vehicles of the mechanical parking facility may be omitted.

[0105] From the above description, many modifications and other embodiments of the present invention will be apparent to those skilled in the art. Therefore, the above description should be construed as illustrative only and is provided for the purpose of teaching those skilled in the art the best mode for carrying out the present invention. Details of the structure and / or function thereof may be substantially changed without departing from the spirit of the present invention. [Industrial Applicability]

[0106] INDUSTRIAL APPLICABILITY The present invention is useful as a mechanical parking facility or the like that can prevent occupants from being left behind inside an entering vehicle and thereby improve safety. [Explanation of symbols]

[0107] V vehicle 1. Mechanical parking facilities 3. Intake and delivery area 4 Entrance / exit 5 Entrance door 9 Signal acquisition means 20 Operating device 21 Conveyor equipment 22 Door opening and closing device 52 Means for detecting people inside the vehicle 53 Signal output means 81 Device control section 82 Judgment section 83 Vehicle Identification Department

Claims

1. a storage unit for storing vehicles; an operating device including a transport device that transports the vehicle parked at a predetermined parking position to the storage unit; a signal acquisition means for acquiring the on-board occupancy signal emitted from the vehicle stopped at the stop position, when the vehicle is configured to be capable of detecting a person inside the vehicle and to emit an on-board occupancy signal when a person is detected inside the vehicle when the vehicle has reached a predetermined state after stopping; a determination unit that determines whether to permit or prohibit operation of the operating device; a device control unit that controls the operation of the operating device by reflecting the determination result of the determination unit; Equipped with The determination unit A mechanical parking facility in which, after the vehicle has stopped at the parking position, the signal acquisition means acquires the in-vehicle presence signal, and the operation of the operating device is not permitted, The vehicle further includes a vehicle discrimination means for discriminating whether or not the vehicle is a vehicle that issues the on-board occupancy signal, The determination unit A mechanical parking facility that allows the operation of the operating device if the vehicle discrimination means determines that the vehicle is a vehicle that emits the in-vehicle occupancy signal, and if the signal acquisition means does not acquire the in-vehicle occupancy signal within a predetermined time after the vehicle stops at the parking position.

2. The determination unit After determining that the operation of the operating device is not permitted, the state of not permitting the operation of the operating device is maintained until information indicating that the vehicle is unoccupied is acquired.

2. A mechanical parking facility according to claim 1.

3. The vehicle further includes an unmanned input operation unit for a user of the vehicle to input information indicating that the vehicle is unmanned, The determination unit and permitting the operation of the operating device after receiving an input from the unmanned input operation unit indicating that the vehicle is unmanned.

2. A mechanical parking facility according to claim 1.

4. a storage unit that stores in advance user vehicle information in which user authentication information is associated with vehicle identification information indicating whether the vehicle used by the user is a vehicle that emits an in-vehicle occupancy signal; an authentication means for comparing authentication information acquired from the user before the vehicle enters the parking position with the authentication information of the user stored in the storage unit; Furthermore, The vehicle discrimination means and determining whether the vehicle is a vehicle that issues the on-board presence signal based on the vehicle discrimination information associated with authentication information acquired from the user before the vehicle enters the stopping position by referring to the user vehicle information. A mechanical parking facility according to claim 1 or 3.

5. The vehicle discrimination means The system is configured to recognize the vehicle registration number of the vehicle parked at the parking position from an image captured by a camera that captures the license plate of the vehicle, and to determine whether the vehicle is a vehicle that emits a manned-in-vehicle signal by comparing the recognized vehicle registration number with vehicle registration numbers registered in a vehicle database as vehicles that emit a manned-in-vehicle signal. A mechanical parking facility according to claim 1 or 3.

6. The in-vehicle manned signal includes at least one of a signal by flashing lights of the vehicle and a signal by sounding a horn or a buzzer of the vehicle. A mechanical parking facility according to any one of claims 1 to 5.

7. The signal acquisition means The vehicle is configured to detect a person inside the vehicle, and to emit an in-vehicle unmanned signal when no person is detected inside the vehicle when the driver gets off the vehicle and the vehicle enters a predetermined state, and the vehicle is configured to acquire the in-vehicle unmanned signal emitted from the vehicle; The determination unit and permitting the operation of the operating device when the signal acquisition means acquires the vehicle unmanned signal after the vehicle has stopped at the stop position.

2. A mechanical parking facility according to claim 1.

8. The determination unit When the vehicle is an autonomously driven vehicle capable of autonomous driving, and information indicating that the vehicle is unoccupied has been acquired from the vehicle before the vehicle stops at the stopping position, the operation of the operating device is permitted when the vehicle stops at the stopping position. A mechanical parking facility according to any one of claims 1 to 7.

9. Further, a loading / unloading area having the stopping position is provided, The operating device includes a door opening / closing device that opens and closes an entrance door provided at an entrance to the loading / unloading area, The device control unit When the vehicle stops at the stopping position by autonomous driving with the entrance door open, the operation of the operation device is permitted by the determination unit, and information indicating that no person is present around the vehicle is acquired from the vehicle, the door opening / closing device is controlled to close the entrance door.

9. A mechanical parking facility according to claim 8.

10. an entry / exit area having the stopping position; an entry / exit area human detection means for detecting a person in the entry / exit area; Furthermore, The operating device includes a door opening / closing device that opens and closes an entrance door provided at an entrance to the loading / unloading area, The device control unit When the vehicle stops at the stopping position by autonomous driving with the entrance door open, the operation of the operating device is permitted by the determination unit, and no person is detected by the entrance / exit area person detection means, the door opening / closing device is controlled to close the entrance door.

9. A mechanical parking facility according to claim 8.

11. The vehicle control system further includes a notification unit that notifies the driver that an occupant has been left behind in the vehicle when the determination unit determines that the operation of the operation device is not permitted. A mechanical parking facility according to any one of claims 1 to 10.

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