Automated valet parking management system and automated valet parking management method

Abstract

To perform motion simulation corresponding to rewriting of software in a parking lot corresponding to an automatic valet parking service.SOLUTION: An automatic valet parking lot management system includes: a parking lot management device that determines an automatic driving test motion which an automatic driving vehicle should perform within a parking lot, and creates a plan for the automatic driving test motion; and an automatic valet controller that outputs a command for executing the automatic driving test motion within the parking lot, to the automatic driving vehicle on the basis of the plan.SELECTED DRAWING: Figure 7

Description

Technical Field

[0001] The present invention relates to a vehicle control device and a system in a parking lot compatible with an automatic valet parking service.

Background Art

[0002] Recently, a so-called automatic valet parking service has been realized, where a vehicle is automatically parked in a parking space in a parking lot. However, in order to automatically drive the vehicle accurately, continuous improvement of software such as an autonomous vehicle is always necessary.

[0003] In Patent Document 1, in an information rewriting device that can efficiently rewrite a vehicle control program provided from a remote location in a vehicle and can efficiently notify a user of information related to the rewriting of the vehicle control program, a correction program for correcting the program is received from an information providing center outside the vehicle, and when there is a program rewriting request from the information providing center, based on the operating state of the vehicle, a rewriting determination unit that determines whether the vehicle control program can be rewritten, and notification means for notifying information related to the rewriting to the mobile phone of the vehicle user based on the determination result by the rewriting determination unit are disclosed.

[0004] In Patent Document 2, in order to enable an appropriate test operation to be performed on a moving body when the software of the moving body is rewritten, a rewriting processing unit that executes a rewriting process for rewriting the software of the vehicle when the vehicle is parked in a parking lot, and a verification processing unit that causes the vehicle to perform a test operation using the rewritten software in the parking lot after the rewriting process by the rewriting processing unit are disclosed.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

[0006] Patent Document 1 describes a system that responds to software program rewriting requests from an information provision center by determining whether the vehicle can rewrite the existing program, but it completely lacks any consideration of how the new software will affect the vehicle's performance and behavior.

[0007] In this regard, Patent Document 2 describes a test operation using the rewritten software in which a vehicle is made to move between parking spaces in a parking lot, but it does not consider test operations that affect performance and behavior in relation to other vehicles or the layout of the parking lot.

[0008] When conducting operational simulations in a parking lot used by both autonomous and non-autonomous vehicles, especially when implementing software rewriting, it is desirable to take into consideration improvements in convenience for users of autonomous vehicles.

[0009] The present invention relates to an automated valet parking management system that performs operational simulations corresponding to software rewriting in a parking lot equipped with an automated valet parking service. [Means for solving the problem]

[0010] An automated valet parking management system relating to one form of this disclosure is A parking management device that determines the autonomous driving test operations that an autonomous vehicle should perform within the parking lot and creates a plan for said autonomous driving test operations, Based on the aforementioned plan, an automated valet control device outputs commands to the autonomous vehicle for performing the autonomous driving test operation within the parking lot, It is equipped with.

[0011] The aforementioned parking management device is Determine the software version of the aforementioned autonomous vehicle, The autonomous vehicle may decide to perform one or more of the autonomous driving test operations associated with the aforementioned version that it has not yet performed.

[0012] The aforementioned parking management device is The autonomous driving test operation to be performed may be determined based on whether or not the autonomous driving vehicle can perform the unperformed autonomous driving test operation in the environment of the parking lot.

[0013] The aforementioned parking management device is The autonomous driving test operation to be performed may be determined based on the type and / or size of the autonomous vehicle.

[0014] The aforementioned parking management device is When the autonomous driving test operation to be performed by the autonomous vehicle is a vehicle-to-vehicle test operation, The participating vehicles, which are autonomous vehicles located within the aforementioned parking lot and participating in the aforementioned vehicle-to-vehicle test operation, are determined. The automated valet control device may be instructed to output commands to the autonomous vehicle and the participating vehicles to perform the vehicle-to-vehicle test operation within the parking lot.

[0015] The parking management device may cause the automatic valet control device to output commands to the participating vehicles to behave as pseudo-non-autonomous vehicles.

[0016] The aforementioned parking management device is If the autonomous vehicle has already performed the vehicle-to-vehicle test operation on a first type of participating vehicle, but has not yet performed it on a second type of participating vehicle that is different from the first type, and it determines that a second type of participating vehicle is present in the parking lot, it may decide to perform the vehicle-to-vehicle test operation on the second type of participating vehicle.

[0017] The type may include vehicle type, size, vehicle manufacturer, vehicle body color, and / or software update content.

[0018] The parking lot management device An autonomous vehicle that has completed the vehicle test operation, An autonomous vehicle whose owner of the participating vehicle has permitted participation in the vehicle test operation, An autonomous vehicle used as a shared car or rental car, An autonomous vehicle that has subscribed to valid vehicle insurance may determine any one of them as the participating vehicle.

[0019] The parking lot management device When the autonomous driving test operation to be executed by the autonomous vehicle is an automatic valet parking test operation, When there are three consecutive empty spaces, the middle empty space, When there are no three consecutive empty spaces but there are two consecutive empty spaces, one of the empty spaces, When there is no two-consecutive empty space but there is one empty space and the distance between the vehicle parked in the adjacent empty space and the one empty space is greater than or equal to a predetermined value, the one empty space, When there is no empty space, after an empty space appears, that empty space may create a plan for executing the automatic valet parking test operation for parking in the test parking space that is that empty space.

[0020] The test parking space may be a parking space dedicated for testing.

[0021] The size of the test parking space in the lateral direction and / or longitudinal direction of the autonomous vehicle is variable, The parking lot management device controls the test parking space to have a plurality of different sizes, A plan may be created for performing the automated valet parking test operation to park in multiple empty spaces of different sizes.

[0022] The aforementioned parking management device is When the autonomous driving test operation to be performed by the autonomous vehicle is a human interaction test operation, Commands for performing walking movements are output to the humanoid robot. A plan may be created for performing the person-to-person test within the aforementioned parking lot.

[0023] The aforementioned parking management device is The test results of the autonomous driving test operation performed by the autonomous vehicle may be generated.

[0024] The aforementioned parking management device is If the test results are satisfactory, the automated valet control device may instruct the automated vehicle to output a command to park the automated vehicle in a parking space within the parking lot by autonomous driving.

[0025] The test results may include images captured by one or more cameras installed in the parking lot and / or images captured by onboard cameras of the autonomous vehicle.

[0026] The aforementioned parking management device is The test results may be output to an external device.

[0027] The aforementioned parking management device is The test results may be output to the external device in order to be stored in a database as big data.

[0028] An automated valet parking management method relating to one form of this disclosure is: Determine the autonomous driving test operations that the autonomous vehicle should perform within the parking lot and create a plan for said autonomous driving test operations. Based on the aforementioned plan, a command for executing the autonomous driving test operation within the parking lot is output to the autonomous vehicle. [Effects of the Invention]

[0029] According to the parking management system described above, convenience will be improved for users of autonomous vehicles in parking lots equipped with automated valet parking.

[0030] The effects described herein are not necessarily limited to those described herein and may include any of the effects described herein. [Brief explanation of the drawing]

[0031] [Figure 1] This is a schematic diagram showing an example configuration of an automated valet parking management system according to one embodiment of the present invention. [Figure 2] This is a schematic diagram illustrating an example of a parking lot configuration that supports automated valet parking services. [Figure 3] This is a schematic diagram showing an example configuration of a vehicle with autonomous driving capabilities. [Figure 4] This is an explanatory diagram showing an example of a member database. [Figure 5] This is a block diagram outlining the functions of a parking control system. [Figure 6] This diagram illustrates an example of an automated valet parking test operation, including a test drive operation. [Figure 7] This shows the operation flow of the automated valet parking management system. [Figure 8] This figure illustrates another example of an automated valet parking test operation, including a test drive operation. [Figure 9] This is an explanatory diagram showing an example of a vehicle database. [Modes for carrying out the invention]

[0032] Embodiments of this disclosure will be described below with reference to the drawings.

[0033] 1. Configuration of the automated valet parking management system

[0034] Figure 1 is a schematic diagram showing an example configuration of an automated valet parking management system according to one embodiment of the present invention.

[0035] The automated valet parking management system 500 can perform various tasks related to parking, such as managing reservations submitted by users, monitoring parking status, and calculating various fees related to parking use.

[0036] The automated valet parking management system 500 comprises a parking server 7, a parking management device 5, an automated valet control device 37, a payment server device (not shown) owned by a payment institution 9, and an ETC (Electronic Toll Collection System) management server device (not shown) owned by an ETC management institution 10. These terminals and devices are connected to each other via Network 1, enabling them to communicate with one another. Network 1 is constructed, for example, by the Internet or a wide-area communication network. In addition, any WAN (Wide Area Network) or LAN (Local Area Network) may be used, and the protocol for constructing Network 1 is not limited.

[0037] The parking management device 5 and the automatic valet control device 37 are installed in each parking lot 11. As will be described later, in this embodiment, the automatic valet parking management system according to the present invention is constructed centered on the parking management device 5 and the automatic valet control device 37. The parking management device 5 is capable of comprehensively controlling the operation of each device installed within the parking lot 11. Furthermore, the parking management device 5 can collect various information from each device installed within the parking lot 11 and transmit it to the parking server 7 and the automatic valet control device 37, etc. The parking management device 5 can receive various information from the parking server 7, etc., and perform various operations.

[0038] The parking management device 5 has hardware necessary for a computer configuration, such as a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and HDD (Hard Disk Drive). The parking management device 5 also has a communication unit for communicating with other devices via the network 1. The communication unit may include, for example, a wireless LAN module such as WiFi (registered trademark), or communication equipment such as a modem or router. Any computer, such as a PC (Personal Computer), can be used as the parking management device 5.

[0039] The parking management device 5 may be able to communicate with an external device that manages a database of big data. Big data may be, for example, big data from a city-state, experimental municipality, or community that stores a large amount of vehicle data. The parking management device 5 may also be able to communicate with an external device that is accessible to users, manufacturers, etc.

[0040] In the example shown in Figure 1, each parking lot 11 is equipped with a gate device 28 (entrance gate device 28a and exit gate device 28b). The gate device 28 can restrict the entry and exit of vehicles. Instead of the gate device 28, a flap device (locking device) or the like may be installed to restrict the exit of parking spaces without payment. Furthermore, the present invention can also be applied to so-called gateless / flapless parking lots where gate devices or flap devices are not installed.

[0041] The user terminal device 6 is a terminal used by users of each parking lot 11. The user terminal device 6 may be any mobile device such as a smartphone, tablet, or various PDAs (Personal Digital Assistants), or any computer such as a notebook PC (Personal Computer).

[0042] The parking server 7 can provide the automated valet parking service according to this embodiment as a web service. In this embodiment, the parking server 7 is composed of a plurality of server devices (not shown) and a database (DB).

[0043] Each server unit of the parking server 7 has the necessary hardware for a computer, such as a CPU, ROM, RAM, and HDD. Each server unit also has a communication unit for communicating with other devices via the network 1. The communication unit can be, for example, a wireless LAN module such as WiFi, or communication equipment such as a modem or router. Any computer, such as a PC, can be used as the server unit.

[0044] The DB of the parking server 7 functions as a storage unit and stores various information related to this automated valet parking service. For example, the DB of the parking server 7 may contain various databases, such as a member DB 101 (Figure 4), a vehicle DB 102 (Figure 9), a reservation information DB, a vehicle occupancy DB, a parking lot DB, a partner store DB, a discount DB, a vehicle departure information DB, an owner information DB, various history DBs, a management information DB, and a test results DB (described later). These various databases are comprehensively managed by the DB server within the parking server 7, and for example, member registration and withdrawal of users using the automated valet parking service, registration, modification and deletion of reservation information received from each user, registration and storage of owner information for each parking lot 11, and recording and storage of operational revenue and expenditure information are performed.

[0045] Figure 4 shows an example of a member database.

[0046] Member DB101 stores, for each member using Parking Lot 11, associated and stored information such as membership number, membership type, vehicle ID, vehicle information, vehicle name, vehicle color, autonomous driving type, insurance type, email address, and credit card information. The vehicle information includes the vehicle identification number and model, allowing for detailed vehicle specifications to be determined.

[0047] Insurance types include, for example, property damage and bodily injury coverage in the event of an accident while autonomous driving, and whether or not comprehensive vehicle insurance is in place. If insurance is in place, simultaneous shared driving (possibility of passing) with non-autonomous vehicles may be permitted. The driver's or user's intentions may also be confirmed. Insurance types and insurance information will be registered by the user in a list of coverage types, etc. Vehicles that do not have accident coverage while autonomous driving may not be able to use automated valet parking. The insurance expiration date may be checked, and the user may be notified at the entrance whether automated valet parking is possible.

[0048] Furthermore, the parking server 7 provides the automated valet parking service according to this embodiment, for example, using a WWW (World Wide Web) system. For example, the web server creates various web pages consisting of HTML documents. The web pages contain hyperlinks to other web pages and link information (for example, executable file names, URLs, etc.) for executing various processes. Furthermore, the Web / API server within the parking server 7 performs various processes in response to various requests. For example, the Web / API server collects and outputs information on the occupancy status of each parking lot 11. Web pages generated within the parking server 7 are displayed on the screen by the web browsers installed in each device shown in Figure 1. For example, users of the parking lot 11 can access various web pages and use various web applications by operating the user terminal device 6.

[0049] The payment institution 9 is, for example, a bank or a credit company, and it processes the payment (settlement) of parking fees through bank transfers, credit card payments (including transportation card payments and QR code payments), etc. The parking server 7 issues instructions to the payment server device of the payment institution 9 for the settlement of parking fees, and queries for settlement information such as whether or not the settlement has been completed.

[0050] The ETC management organization 10 is the organization that implements the ETC system and manages information on users of the ETC system, ETC card information, payment information, and vehicle information. For example, an ETC card is inserted into an ETC onboard unit installed in a vehicle. This makes it possible to use ETC-compatible (specifically ETC2.0 compatible) parking lots 11 equipped with ETC antennas using ETC payment.

[0051] There are multiple vehicle manufacturers 12, each providing software update information for autonomous driving-related functions in their genuine vehicles and parts. Third parties providing control programs for non-genuine parts and units are also included in the scope of vehicle manufacturers 12. Insurance organizations may also be added.

[0052] 2. Automatic valet parking system

[0053] The present invention is applicable to a parking lot 11 that provides an automated valet parking service. The automated valet parking system is a system that enables automated valet operation (automated valet parking, i.e., automated valet entry operation and automated valet exit operation) by a vehicle having an automated driving function (autonomous driving function). A parking lot 11 on which an automated valet parking system is constructed can also be called a parking lot 11 that supports automated valet parking services.

[0054] For example, a user can access an application that provides automated valet parking services by operating the user terminal device 6. By entering the necessary information and registering as a member, the user can then use the automated valet parking service. In this embodiment, an automated valet parking system is constructed as a system included in the automated valet parking management system 500 shown in Figure 1. That is, the automated valet parking service is provided as a service included in the parking management service provided by the parking server 7. Various databases related to the automated valet parking system are constructed in the database of the parking server 7. The system is not limited to this, and an automated valet parking system may be constructed as a separate system from the automated valet parking management system 500. For example, an automated valet parking system may be constructed using another management device, etc., not shown in Figure 1, and a separate contract may be made with the parking lot 11. Furthermore, the configuration and methods for constructing the automated valet parking system are not limited.

[0055] For example, a user operates the user terminal device 6 to make a reservation for automated valet parking. Then, at the reserved time, they manually drive a vehicle with an autonomous driving function (manual driving mode) into the parking lot 11. Of course, autonomous driving is also an option. Users park their vehicles in designated parking spaces within the parking lot 11 that are equipped with an automated valet parking service (hereinafter referred to as automated valet drop-off / pick-up spaces). After the user exits the vehicle, they are instructed to initiate automated valet parking. This instruction is given, for example, via the user terminal device 6. Alternatively, a dedicated terminal or similar device set up within the parking lot 11 may be operated. In response to the instruction, the vehicle will move to a designated parking space in parking lot 11 using unmanned, autonomous driving (autonomous driving mode) and park the vehicle (automatic valet parking). It is also possible to enter parking lot 11 at any time without making a reservation and have the automatic valet parking performed. When a user returns to the parking lot, instructions are entered, for example, to move the vehicle equipped with autonomous driving capabilities to the automated valet drop-off / pick-up area within the parking lot in a certain number of minutes. In response to these instructions, the vehicle moves from the parking space to the automated valet drop-off / pick-up area and parks itself (automated valet exit operation) using unmanned autonomous driving (autonomous driving mode). The following description of this embodiment will use a parking lot 11 equipped with an automated valet parking service as an example.

[0056] 3. Example of a parking lot configuration

[0057] Figure 2 is a schematic diagram showing an example of a parking lot configuration that supports automated valet parking services.

[0058] Parking lot 11 includes an entrance 15, an exit 16, an internal passageway 17, multiple parking spaces 18, an automated valet pick-up / drop-off space 19 (boarding area), stairs 20, an elevator 21 (elevator hall), a pre-payment machine 22, and an information device (not shown).

[0059] An entrance lane is formed leading from the entrance gate 15 into the parking lot 11. The entrance lane 27 is equipped with an entrance loop coil 27a, an entrance gate device 28a, and an entrance camera 29a. Based on the signal output from the entrance loop coil 27a, the entry of vehicle 3 into entrance lane 27 is detected. The entrance gate device 28a appropriately restricts the entry of vehicles 3 from the entrance lane 27 into the parking lot 11. The entrance camera 29a can capture images of vehicle 3 entering entrance lane 27. The specific configuration of each device is not limited, and any configuration may be adopted.

[0060] An exit lane 29 is formed from inside the parking lot 11 towards the exit entrance 16. The exit lane 29 is equipped with an exit loop coil 27b, an exit gate device 28b, and an exit camera 29b. Based on the signal output from the exit loop coil 27b, the entry of vehicle 3 into the exit lane 29 is detected. The exit gate device 28b appropriately restricts the exit of vehicles 3 from the exit lane 29 to the outside of the parking lot 11. Exit camera 29b makes it possible to photograph vehicle 3 as it enters exit lane 29. The specific configuration of each device is not limited, and any configuration may be adopted.

[0061] Although not shown in Figure 2, entrance lane 27 and exit lane 29 are equipped with entrance ETC antennas 30a and exit ETC antennas 30b (Figure 1), respectively, to detect vehicles 3 equipped with ETC onboard units. The entrance ETC antennas 30a and exit ETC antennas 30b are connected to roadside units 34 (Figure 1).

[0062] The internal passageway 17 is a passageway used by vehicles 3 that have entered the parking lot 11. In this disclosure, a vehicle 3 with an autonomous driving function that is operating in autonomous driving mode will be referred to as an autonomous driving vehicle 3a. On the other hand, a vehicle 3 that is being driven manually by a driver will be referred to as a non-autonomous driving vehicle 3b. For example, a vehicle 3 with an autonomous driving function that is operating in manual driving mode will also be a non-autonomous driving vehicle 3b. Autonomous driving vehicles that participate in test runs, as described later, will be referred to as pseudo-non-autonomous driving vehicles. In Figure 2, the autonomous vehicle 3a and the pseudo-non-autonomous vehicle are illustrated by a double, roughly rectangular shape. The non-autonomous vehicle 3b is illustrated by a single, roughly rectangular shape. As shown in Figure 2, signs (arrows, etc.) indicating the direction of travel for vehicles 3 may be provided on the internal passageway 17. In Figure 2, vehicles travel on the left side of the internal passageway in a two-way direction. In addition, a path for pedestrians may be provided.

[0063] Multiple parking spaces 18 are provided within the parking lot 11. In the example shown in Figure 2, multiple parking spaces 18 are arranged with space numbers A1-A6, B1-B6, C1-C6, D1-D6, E1-E6, F1-F6, G1-G6, J1-J9, and K1-K18. Of these, A1-A6 are assigned as test parking spaces. Parking space 18 is a space where both an automated vehicle 3a performing automatic valet parking and a non-autonomous vehicle 3b can park. In other words, in this embodiment, both automated vehicles 3a (including pseudo-non-autonomous vehicles) and non-autonomous vehicles 3b will travel together in the premises passageway 17.

[0064] The automated valet drop-off / pick-up space 19 is a parking space compatible with the automated valet parking service. In other words, the automated valet drop-off / pick-up space 19 is a space for the driver and passengers to get in and out of the vehicle 3 that operates the automated valet parking service. In the example shown in Figure 2, two automated valet drop-off / pick-up spaces 19, with space numbers V1 and V2, are provided near the entrance 15 and exit 16. For example, a user of the automated valet parking service enters the parking lot 11 from the entrance 15, turns right, and parks vehicle 3 in the automated valet drop-off / pick-up space 19. Then, at the automated valet drop-off / pick-up space 19, the user gets out of vehicle 3 and instructs the automated valet parking service to be performed. In response to this instruction, the automated vehicle 3a moves from the automated valet drop-off / pick-up space 19 to one of the parking spaces 18. The parking space 18 in which the autonomous vehicle 3a is parked may be predetermined or selected on a case-by-case basis. For example, a parking space 18 located in the furthest corner of the parking lot 11 and not very convenient may be preferentially allocated for automated valet parking. When a user of the automated valet parking service returns to parking lot 11, the automated vehicle 3a moves from parking space 18 to automated valet pick-up / drop-off space 19 at that time. The user gets into vehicle 3 and manually drives vehicle 3 out of exit 16.

[0065] The pre-payment machine 22 is a device that allows users of the parking lot 11 to make a pre-payment before exiting the parking lot 11 with their vehicle 3. For example, a device with a touch panel or the like may be installed as the pre-payment machine 22. The guidance device (not shown) is a device for providing various information regarding the parking lot 11 and the automated valet parking management system 500 (including the automated valet parking system). For example, a device having a display device or the like that can display guidance information may be used as the guidance device.

[0066] As a system to monitor the parking lot and support the automated valet service, the following devices are installed in the parking lot, as shown in Figure 2.

[0067] The on-site camera 32 (white circle in the figure), which mainly photographs the on-site passageway 17, the parking space camera 33 (black circle in the figure), which mainly photographs the parking space 18, the entrance camera 29a, the exit camera 29b, the on-site camera 32, and the parking space camera 33 each function as multiple control cameras in the automated valet parking management system (hereinafter, unless otherwise described individually, these will be collectively referred to as cameras). As the various cameras described above in this disclosure, for example, monocular digital cameras equipped with image sensors such as CMOS (Complementary Metal-Oxide Semiconductor) sensors and CCD (Charge Coupled Device) sensors are used. Other types of cameras, such as infrared cameras, may also be used.

[0068] The automated valet parking management system 500 can output monitoring information as a result of monitoring the parking lot 11. In this embodiment, images captured by various cameras and audio acquired by various microphones are output as monitoring information. In this disclosure, images include both still images and moving images (video). The on-site cameras 32 and parking space cameras 33 are positioned to cover as much of the entire parking lot 11 as possible. In other words, multiple on-site cameras 32 and multiple parking space cameras 33 are appropriately positioned to minimize blind spots.

[0069] 4. Automated valet parking control system

[0070] Referring to Figure 1, an example configuration of the automated valet parking management system 500 will be explained. The automated valet parking management system 500 is a system that will be implemented for parking lot 11. The automated valet parking management system 500 illustrated in Figure 1 includes a parking management device 5, a pre-payment machine 22, an automated valet control device 37, an entrance gate device 28a, an exit gate device 28b, a roadside device 34, an entrance ETC antenna 30a, an exit ETC antenna 30b, as well as an entrance camera 29a, an exit camera 29b, an in-parking camera 32, and a parking space camera 33. Each block shown in Figure 1 is connected to each other via an internal LAN (not shown) installed within the premises of, for example, the parking lot 11, enabling communication between them. Other communication technologies, such as wireless or wired connections, may also be used.

[0071] The automated valet control device 37 is a device for constructing an automated valet parking system. In this embodiment, the automated valet control device 37 works in cooperation with the parking server 7 and the parking management device 5 to manage automated valet operation and test runs by the autonomous vehicle 3a. For example, the automated valet control device 37 controls the automated driving operation of the automated vehicle 3a. For example, it may instruct the automated vehicle to drive from the automated valet pick-up / drop-off space 19 to a designated parking space 18. Alternatively, it may instruct the automated vehicle to drive from the designated parking space 18 to the automated valet pick-up / drop-off space 19. In addition, as a test run, it may instruct the automated vehicle to drive from the automated valet pick-up / drop-off space 19 to a test parking space, or from a designated test parking space to a designated parking space. In addition, various other processes are performed, such as managing reservations for automated valet parking. The automated valley control device 37 has hardware necessary for a computer configuration, such as a CPU, ROM, RAM, and HDD. The automated valley control device 37 is also equipped with a communication unit for communicating with other devices via the network 1. As the communication unit, for example, a wireless LAN module such as WiFi, or communication equipment such as a modem or router may be used. Any computer, such as a PC, can be used as the automatic valet control device 37.

[0072] The database (DB) of the parking management device 5 stores various data related to the parking lot 11, and various databases such as an occupancy database and a history database are created. Of course, data stored in the database of the parking server 7 may also be shared. Furthermore, various information related to automated valet parking is stored in the database of the parking management device 5. Note that the aforementioned vehicle information may be stored in the database of the parking server 7 instead of the database of the parking management device 5.

[0073] 5. Autonomous vehicles

[0074] Figure 3 is a schematic diagram showing an example of the configuration of a vehicle with autonomous driving capabilities.

[0075] Here, we will describe the autonomous vehicle 3a in a state where the autonomous driving mode is selected. Pseudo-non-autonomous vehicles participating in test runs are also included in autonomous vehicle 3a. The autonomous vehicle 3a includes a communication unit 41, on-board cameras 42, an image processing device 43, an ETC antenna 44, an ETC on-board unit 45, a control unit 46, on-board and off-board sensors 59, a car navigation system 60, and a GPS receiver / beacon receiver 61. The communication unit 41 is a device for communicating with other devices. In this embodiment, various information, including instructions from the automatic valet control device 37, is acquired via the communication unit 41. For the communication unit 41, for example, communication equipment such as DSRC (dedicated short-range communication) may be used. In addition, any communication device conforming to recent connected car standards may be used.

[0076] The on-board cameras 42 are capable of capturing images of the area around the autonomous vehicle 3a and of the occupants inside the autonomous vehicle 3a. The on-board cameras 42 may also include a dashcam camera. As the in-vehicle cameras 42, digital cameras such as CCD cameras are used. In addition, distance measuring devices such as ToF cameras and stereo cameras may be used. Infrared cameras may also be used. The image processing device 43 recognizes the surrounding environment of the autonomous vehicle 3a based on images captured by the on-board cameras 42. The algorithm for situation recognition is not limited. The ETC antenna 44 and the ETC onboard unit 45 enable the use of the parking lot 11 via ETC payment.

[0077] The control unit 46 has the necessary hardware for a computer, such as a CPU, ROM, RAM, and HDD. In the example shown in Figure 3, the control unit 46 implements the following software blocks: a driving route generation unit 47, a driving control unit 48, a vehicle / person recognition unit 57, an electrical equipment control unit 58, and an update management unit 62. The driving route generation unit 47 determines a driving route for automated driving based on instructions from the automatic valet control device 37, recognition results from the image processing device 43, map information of the parking lot 11, etc. The driving control unit 48 appropriately controls the drive system (not shown) and other components of the autonomous vehicle 3a in order to achieve autonomous driving along the determined driving route. For example, as illustrated in Figure 3, the driving control unit 48 outputs control signals to the engine / motor control device 49, brake control device 50, headlight control device 51, hazard lamp (turn signal) control device 52, and horn control device 53, etc. This enables automatic driving along a driving route and emergency avoidance maneuvers. In addition, other well-known technologies for realizing autonomous driving may be used as appropriate.

[0078] As described later, this automated valet parking management system 500 is configured to identify, track, and follow individual vehicles passing through the parking lot 11, thereby enabling monitoring of each vehicle's driving position, parking position, and other details.

[0079] The vehicle / person recognition unit 57 recognizes the faces of occupants and pedestrians from images of occupants inside and outside the autonomous vehicle 3a taken by the onboard cameras 42, and also recognizes parked and moving vehicles around the autonomous vehicle 3A.

[0080] The electrical control unit 58 outputs control signals to the door lock control device 54, the window operation control device 55, and the air conditioning control device 56.

[0081] 6. Overview of the functions of the parking management system

[0082] Figure 5 is a block diagram showing an overview of the functions of the parking management system and the automated valet control system.

[0083] The parking management device 5 has a parking space management function 77, a parking control function 78, a parking fee management function 79, a parking management device communication function 80, an automatic valet parking acceptance function 81, a vehicle software version confirmation function 71, a vehicle software version update function 72, a reference vehicle selection function 73, a driving route setting function 74, a test setting function 75, a test recording function 76, and a test record output function 82. These blocks are formed when the CPU of the parking management device 5 executes a predetermined program and cooperates with hardware resources within the device, thereby realizing the parking control method according to this embodiment. The method of installing the program on the parking management device 5 is not limited.

[0084] Software updates can be performed while the vehicle is parked at home or while driving. However, testing the software update content may not necessarily be possible at home or on public roads. Software update notifications may be displayed on the car navigation system or console screen. After the download is complete, the driver can choose to update or instruct the system to update, and the update should normally be performed while the vehicle is parked at home. The driver (user) may also indicate at the time of parking guidance whether they wish to perform a test run after the update.

[0085] The parking control function 78 performs various processes related to the control of the parking lot 11. For example, it performs various processes related to the control of the parking lot 11, such as detecting vehicle 3, controlling the gate device 28, controlling each device included in the monitoring system 24, controlling the pre-payment machine 22, controlling the guidance device (not shown), confirming pre-payment, communicating with other devices on the network 1 shown in Figure 1, writing and reading information to and from the parking lot DB, and other related operations. Of these functions, the automatic valet control device 37 controls the operation of the autonomous vehicle 3a, but for simplicity, the parking management device 5 and the automatic valet control device 37 are assumed to operate as a single unit.

[0086] In addition, the automated valet parking management system 500 according to the present invention may be implemented with a configuration that excludes the parking server 7, as illustrated in Figure 1. For example, the automated valet parking management system 500 according to the present invention may be implemented using only the parking management device 5.

[0087] 7. Automatic valet parking test operation

[0088] Figure 6 illustrates an example of an automated valet parking test operation, including a test drive. Figure 7 shows the basic operation flow of the automated valet parking test operation, including a test drive.

[0089] A vehicle 3a equipped with autonomous driving capabilities enters the parking lot 11 by manual driving and parks in the automated valet drop-off / pick-up space 19. Upon entry, the parking management device 5 obtains the vehicle ID (license plate, WCN, etc.) of the entering vehicle from the recognition results of the entrance camera 29a and the entrance ETC antenna 30a.

[0090] The parking management device 5 determines the autonomous driving test operations that the autonomous vehicle 3a will perform within the parking lot 11 upon entering the parking lot 11, and creates a plan for the autonomous driving test operations. The specific method is as follows.

[0091] The parking management device 5 queries the vehicle database 102 (Figure 9) of the parking server 7 and reads information on the corresponding vehicle 3a, as well as the history of completed autonomous driving test operations and automated valet parking history. The vehicle database 102 stores software update items for each vehicle 3a. If vehicle 3a is an autonomous driving vehicle 3a and is registered as a member, the parking management device 5 communicates with vehicle 3a wirelessly and reads software version information, the history of completed autonomous driving test operations and automated valet parking history from the update management unit 62 of vehicle 3a. The parking management device 5 determines the software version of the autonomous driving vehicle 3a (step S11). The contents of the update items are described within the software update program of the autonomous driving vehicle 3a.

[0092] The parking management device 5 checks the software version information of the vehicle 3a and the history of completed autonomous driving test operations and automated valet parking history as appropriate, and extracts any unexecuted autonomous driving test operations (step S12). The parking management device 5 extracts any autonomous driving test operations that the autonomous driving vehicle 3a has not yet executed from among the one or more autonomous driving test operations linked to the software version of the autonomous driving vehicle 3a.

[0093] If the autonomous vehicle 3a has any unexecuted autonomous driving test operations, the parking management device 5 determines whether the extracted autonomous driving test operations can be executed in the environment within the parking lot 11 (i.e., whether the environment in the parking lot 11 is suitable for testing) (step S13).

[0094] For example, the parking lot database of the parking lot server 7 stores the test items and test content for each parking lot 11 in the form of update test codes assigned by the vehicle manufacturer 12. In other words, parking lot 11 with a large number of corresponding update test codes can provide a large number of types of autonomous driving test operations. The parking lot management device 5 only needs to determine whether or not an autonomous driving test operation can be performed in the environment of parking lot 11 based on the test items and test content (update test codes) in the parking lot database. Furthermore, the parking lot management device 5 may also determine whether or not an autonomous driving test operation can be performed in the environment of parking lot 11 based on the current environment of parking lot 11 (for example, brightness, time of day, congestion level, presence or absence of pedestrians, etc.). Furthermore, the parking lot management device 5 may also determine which autonomous driving test operation should be performed based on the type and / or size of the autonomous driving vehicle 3a.

[0095] The parking management device 5 determines which automated driving test operations (one or more) should be performed from among the unexecuted automated driving test operations (step S14). For example, if the software for improving the operational stability related to automated parking has been updated and no automated parking test operations or actual automated valet parking operations have been performed, the parking management device 5 decides that an automated valet parking test operation should be performed before the current (actual) automated valet parking operation.

[0096] In detail, the parking management device 5 determines an available parking space that can be used as a test parking space 90. Preferably, the central space of three available parking spaces, with no cars parked on either side, is selected as the test parking space 90. If there are only two available parking spaces, one of the two spaces is selected as the test parking space 90. In addition, the size and parking condition of the vehicles parked on the other side are taken into consideration when selecting the test parking space 90 that ensures the safest possible distance. In other words, the parking management device 5 creates a plan to execute an automated valet parking test operation to park in the test parking space 90, which is the available space, once any available space becomes available. This plan is used when there are three consecutive available spaces, the central available space is used when there are no three consecutive available spaces but there are two consecutive available spaces, the one available space is used when there is one available space and the distance between the vehicle parked in the adjacent available space and the available space is greater than or equal to a predetermined value, and when there are no available spaces at all.

[0097] If the parking management device 5 selects the central space of three empty parking spaces as the test parking space 90, it creates a plan to move forward in the shortest distance and park in reverse at the test parking space 90. If the parking management device 5 selects either of the two empty parking spaces as the test parking space 90, it creates a plan to move forward in the space furthest in the direction of travel of the two spaces and park in reverse. If there is only one empty parking space available as the test parking space 90, the parking management device 5 either does not perform the test operation at this time, or it selects an empty parking space where the size of the vehicles on both sides are relatively small and where the safest possible distance can be secured, and creates a plan to move forward in that space and park in reverse. The parking management device 5 also considers the type and / or size of the autonomous vehicle 3a itself that will perform the automated valet parking test operation and decides whether or not to perform the test operation.

[0098] The automated valet control device 37 outputs a command to the automated vehicle 3a to perform an automated driving test operation (in this example, an automated valet parking test operation 91) within the parking lot 11, based on the plan created by the parking management device 5 (step S15).

[0099] Based on commands output from the automated valet control device 37, the autonomous vehicle 3a executes an automated valet parking test operation 91 with the test parking space 90 as its destination.

[0100] The parking management device 5 records the status of the autonomous driving test operation (autonomous valet parking test operation 91) performed by the autonomous vehicle 3a and generates test results. The test results include images taken by one or more cameras installed in the parking lot 11 (parking space camera 33, in-park camera 32, and other cameras if any) and / or images taken by the on-board cameras 42 of the autonomous vehicle 3a. The test results also include parking position data, steering rotation information, whether or not a change of direction was made, the time taken for parking, the closest approach distance (distance to the space boundary), etc. The parking management device 5 records the test results in the test results DB (not shown) of the parking server 7.

[0101] The parking management device 5 outputs the test results to an external device (not shown) (step S16). For example, the parking management device 5 notifies the user's mobile terminal device 6 of the test results via email or the like. Alternatively, it may output the results to an external device for storage in a database as big data. The big data may be, for example, big data from a city-state, experimental municipality, or community that stores a large amount of vehicle data. The parking management device 5 may also output the test results to an external device that can be accessed by users, manufacturers, etc.

[0102] If the automated vehicle 3a has completed the automated valet parking test operation 91 and the test result is satisfactory, the parking management device 5 instructs the automated valet control device 37 to output a command to the automated vehicle 3a to park the automated vehicle 3a in the final parking space 92 in the parking lot 11 by automated driving. The automated valet control device 37 outputs a command to the automated vehicle 3a to perform the automated valet parking operation 93 for the initially selected final parking space 92. On the other hand, if there is a problem with the test result, the automated valet control device 37 does not output a command to the automated vehicle 3a to perform the automated valet parking operation 93, and the automated vehicle 3a continues to park in its current position.

[0103] If the test results are not satisfactory and the operation of the autonomous vehicle 3a is unstable or its performance is degraded, the parking management device 5 may downgrade the software of the autonomous vehicle 3a.

[0104] Furthermore, the width and / or length of the test parking space 90 for the autonomous vehicle 3a may be variable. For example, the white lines separating the test parking space 90 can be composed of multiple rows of LED lights arranged continuously on the floor, and the size of the empty space can be made variable by illuminating two rows of LED lights of a predetermined width and turning off the LED lights in the other rows. The parking management device 5 can control the test parking space 90 to be of multiple different sizes and create a plan for executing an automated valet parking test operation 91 to park in multiple test parking spaces 90 of different sizes. This makes it possible to determine whether all of the tests passed when the same test operation was performed in multiple test parking spaces 90 of different sizes (or conversely, whether there are any test parking spaces 90 of a size that the device struggles with).

[0105] 8. Examples of other test operation

[0106] Figure 8 illustrates an example of an automated valet parking test operation 96, including other test driving operations.

[0107] Detailed explanations are omitted if the operation is the same as that shown in Figure 6.

[0108] The parking management device 5 determines the software version of the autonomous vehicle 3a (step S11) and extracts any autonomous driving test operations that the autonomous vehicle 3a has not yet performed (step S12). The parking management device 5 determines whether the extracted autonomous driving test operations can be performed in the environment of the parking lot 11 (step S13).

[0109] The parking management device 5 determines which automated driving test operations (one or more) should be performed from among the unexecuted automated driving test operations (step S14). For example, if the software for improving safety assurance operations related to automated driving has been updated and a vehicle-to-vehicle test operation has not yet been performed, the device determines that a vehicle-to-vehicle test operation should be performed before or simultaneously with the current automated valet parking operation 96.

[0110] In detail, the parking management device 5 determines which autonomous vehicles (participating vehicles 3c) are located within the parking lot 11 and will participate in the vehicle-to-vehicle test operation. The parking management device 5 determines participating vehicles 3c to be any of the following: autonomous vehicles that have already performed vehicle-to-vehicle test operations, autonomous vehicles whose owners have authorized their participation in vehicle-to-vehicle test operations, autonomous vehicles used as shared cars or rental cars, or autonomous vehicles that are covered by valid vehicle insurance. The owner may be, for example, an individual member, especially an individual member who has authorized participation and received a reward, a leasing institution, or a car-sharing administrator. The parking management device 5 also determines participating vehicles 3c according to the type of vehicle. The type of vehicle includes the make, model, size, vehicle manufacturer 12, body color, and / or software update details.

[0111] Furthermore, if the parking management device 5 determines that an autonomous vehicle 3a has previously performed a vehicle-to-vehicle test operation on a first type (e.g., small) participating vehicle, but has not yet performed it on a second type (e.g., large) participating vehicle 3c which is different from the first type (small), then the device will determine that a second type (large) participating vehicle 3c is present in the parking lot and will decide to perform a vehicle-to-vehicle test operation on the second type (large) participating vehicle 3c. This allows the device to determine whether the same test operation passed all tests when performed on multiple different types of vehicles (or conversely, whether there are any vehicle types that the vehicle has difficulty with).

[0112] The parking management device 5 creates a plan for the autonomous vehicle 3a under test to first set the final parking space 92 as its destination and execute an automated valet parking test operation 96. The parking management device 5 instructs the automated valet control device 37 to output commands to the autonomous vehicle 3a and the participating vehicle 3c to execute vehicle-to-vehicle test operations within the parking lot 11. The parking management device 5 instructs the automated valet control device 37 to output commands to the participating vehicle 3c to behave as a pseudo-non-autonomous vehicle (step S15). For example, the participating vehicle 3c is instructed to continue driving without stopping even when passing other vehicles. In addition, after confirming safety, it may be instructed to perform unstable driving such as sudden acceleration, sudden braking, or slight swerving.

[0113] The automated valet control system 37 treats the test participant vehicle 3c as a simulated non-autonomous vehicle and outputs a notification (false information notification) to the test subject autonomous vehicle 3a that a non-autonomous vehicle is approaching. Based on the command output from the automated valet control system 37, the test participant vehicle 3c travels along the route 94 determined by the parking management system 5 and drives in a manner that allows it to pass the test subject autonomous vehicle 3a. For safety reasons, the test subject autonomous vehicle 3a moves to the left side 95 of the premises passage and comes to a temporary stop. Once the test participant vehicle 3c has passed, the test subject autonomous vehicle 3a resumes the automated valet parking test operation 96.

[0114] Furthermore, depending on the software update content, the parking management device 5 creates a plan and controls the test vehicle 3c to determine when it will pass the test vehicle 3c. Immediately after the test is completed, the test vehicle 3c will automatically park in its original parking position (automatic valet parking). The parking management device 5 records the test parking situation and outputs the results (step S16).

[0115] 9. Regarding other additional features and functions

[0116] The parking management device 5 may, when the autonomous driving test operation to be performed by the autonomous driving vehicle 3a is a person-facing test operation, output a command to a humanoid robot (not shown) to perform a walking operation and create a plan for performing the person-facing test operation within the parking lot.

[0117] The parking management device 5 may notify the owner of an autonomous vehicle 3a whose software, which affects the performance and / or functionality of the automated valet parking and automated valet retrieval operation, has not yet been rewritten, prompting it to perform the rewriting and verification process. Depending on the owner's response, the device may perform the software rewriting process and verification operation (autonomous driving test operation and recording) while the vehicle is parked.

[0118] The parking management device 5 may perform an automated driving test operation on an automated driving vehicle 3a that is not being valet parked (i.e., an automated driving vehicle 3a with automated parking and pick-up functions that has been parked in the parking lot by manual driving). In this case, the parking management device 5 may perform an automated driving test operation if instructed by the owner.

[0119] Owners who participate in the test as a simulated non-autonomous vehicle 3c may receive rewards such as a reduction or offset of service fees related to the test operation of their vehicle.

[0120] The timing of the autonomous driving test operation may be controlled by the parking management device 5 according to the level of congestion in the parking lot 11. The autonomous driving test may also involve first performing an automated valet parking, followed by the test operation.

[0121] Although various embodiments and modifications of this technology have been described above, this technology is not limited to the embodiments described above, and various modifications can be made without departing from the gist of this technology. [Industrial applicability]

[0122] This invention is designed to improve convenience for users of parking lots equipped with automated valet parking services. [Explanation of Symbols]

[0123] Autonomous vehicle 3a Non-autonomous vehicle 3b Parking Server 7 Parking management device 5 Automatic valet control system 37 Automated valet parking management system 500

Claims

1. A parking management device that determines the autonomous driving test operations that an autonomous vehicle should perform within the parking lot and creates a plan for said autonomous driving test operations, Based on the aforementioned plan, an automated valet control device outputs commands to the autonomous vehicle for performing the autonomous driving test operation within the parking lot, It is equipped with, The aforementioned parking management device is When the autonomous driving test operation to be performed by the autonomous vehicle is a vehicle-to-vehicle test operation, The participating vehicles, which are autonomous vehicles located within the aforementioned parking lot and participating in the aforementioned vehicle-to-vehicle test operation, are determined. The automated valet control system is instructed to output commands to the autonomous vehicle and the participating vehicles for performing the vehicle-to-vehicle test operation within the parking lot. Automated valet parking management system.

2. A parking management device that determines the autonomous driving test operations that an autonomous vehicle should perform in a parking lot and creates a plan for the autonomous driving test operations, Based on the aforementioned plan, an automated valet control device outputs commands to the autonomous vehicle for performing the autonomous driving test operation within the parking lot, It is equipped with, The aforementioned parking management device is When the autonomous driving test operation to be performed by the autonomous vehicle is an automated valet parking test operation, When there are three consecutive empty parking spaces, the central empty space is used. When there are no three consecutive empty parking spaces but there are two consecutive empty parking spaces, one of the empty spaces will be used. When there are no two consecutive empty parking spaces but there is one empty parking space, and the distance between a vehicle parked in an adjacent empty parking space and the said one empty parking space is greater than or equal to a predetermined value, the said one empty parking space, If there are no available parking spaces, then you can wait until one becomes available before parking in that space. Create a plan to perform the automated valet parking test operation to park in the test parking space. Automated valet parking management system.

3. A parking management device that determines the autonomous driving test operations that an autonomous vehicle should perform in a parking lot and creates a plan for the autonomous driving test operations, Based on the aforementioned plan, an automated valet control device outputs commands to the autonomous vehicle for performing the autonomous driving test operation within the parking lot, It is equipped with, The aforementioned parking management device is When the autonomous driving test operation to be performed by the autonomous vehicle is a human interaction test operation, Commands for performing walking movements are output to the humanoid robot. Create a plan for performing the aforementioned person-to-person test operation within the aforementioned parking lot. Automated valet parking management system.

4. An automated valet parking management system according to any one of claims 1 to 3, The aforementioned parking management device is Determine the software version of the aforementioned autonomous vehicle, The system determines that, among the one or more autonomous driving test operations associated with the aforementioned version, the autonomous vehicle will perform the autonomous driving test operation that it has not yet performed. Automated valet parking management system.

5. An automated valet parking management system according to any one of claims 1 to 4, The aforementioned parking management device is Based on whether the autonomous vehicle can perform the previously unperformed autonomous driving test operations within the parking lot environment, the decision is made on which the autonomous driving test operations to be performed should be made. Automated valet parking management system.

6. An automated valet parking management system according to any one of claims 1 to 5, The aforementioned parking management device is Based on the type and / or size of the autonomous vehicle, the autonomous driving test operation to be performed is determined. Automated valet parking management system.

7. An automated valet parking management system according to claim 1, The parking management device causes the automatic valet control device to output commands to the participating vehicles to behave as pseudo-non-autonomous vehicles. Automated valet parking management system.

8. An automated valet parking management system according to claim 1 or 7, The aforementioned parking management device is If the autonomous vehicle has already performed the vehicle-to-vehicle test operation on a first type of participating vehicle, but has not yet performed it on a second type of participating vehicle that is different from the first type, and it determines that a second type of participating vehicle is present in the parking lot, it will decide to perform the vehicle-to-vehicle test operation on the second type of participating vehicle. Automated valet parking management system.

9. An automated valet parking management system according to claim 8, The aforementioned type includes vehicle type, size, vehicle manufacturer, body color, and / or software update details. Automated valet parking management system.

10. An automated valet parking management system according to claim 1, 7, 8, or 9, The aforementioned parking management device is The autonomous vehicle that has performed the aforementioned vehicle-to-vehicle test operation, The owner of the participating vehicle has authorized the autonomous vehicle to participate in the vehicle-to-vehicle test operation. Autonomous vehicles used as shared cars or rental cars, Self-driving vehicles with valid vehicle insurance One of the following will be designated as the participating vehicle. Automated valet parking management system.

11. An automated valet parking management system according to claim 2, The aforementioned test parking space is a parking space exclusively for test parking. Automated valet parking management system.

12. An automated valet parking management system according to claim 2 or 11, The width and / or length of the test parking space for the autonomous vehicle are variable. The aforementioned parking management device is The test parking space is controlled to be of multiple different sizes, Create a plan for performing the automated valet parking test operation to park in multiple empty spaces of different sizes. Automated valet parking management system.

13. An automated valet parking management system according to any one of claims 1 to 12, The aforementioned parking management device is This generates the test results of the autonomous driving test operations performed by the autonomous vehicle. Automated valet parking management system.

14. An automated valet parking management system according to claim 13, The aforementioned parking management device is If the test results are satisfactory, the automated valet control system will instruct the automated vehicle to automatically park in a parking space within the parking lot. Automated valet parking management system.

15. An automated valet parking management system according to claim 13 or 14, The test results include images taken by one or more cameras installed in the parking lot and / or images taken by the onboard cameras of the autonomous vehicle. Automated valet parking management system.

16. An automated valet parking management system according to any one of claims 13 to 15, The aforementioned parking management device is The aforementioned test results are output to an external device in order to be stored in a database as big data. Automated valet parking management system.

17. A parking management device determines the autonomous driving test operations that the autonomous vehicle should perform within the parking lot and creates a plan for the autonomous driving test operations. The automated valet control system outputs a command to the autonomous vehicle to perform the autonomous driving test operation within the parking lot, based on the plan. An automated valet parking management method, The aforementioned parking management device When the autonomous driving test operation to be performed by the autonomous vehicle is a vehicle-to-vehicle test operation, The participating vehicles, which are autonomous vehicles located within the aforementioned parking lot and participating in the aforementioned vehicle-to-vehicle test operation, are determined. The automated valet control system is instructed to output commands to the autonomous vehicle and the participating vehicles for performing the vehicle-to-vehicle test operation within the parking lot. Automated valet parking management method.

18. A parking management device determines the autonomous driving test operations that the autonomous vehicle should perform within the parking lot and creates a plan for the autonomous driving test operations. The automated valet control system outputs a command to the autonomous vehicle to perform the autonomous driving test operation within the parking lot, based on the plan. An automated valet parking management method, The aforementioned parking management device When the autonomous driving test operation to be performed by the autonomous vehicle is an automated valet parking test operation, When there are three consecutive empty parking spaces, the central empty space is used. When there are no three consecutive empty parking spaces but there are two consecutive empty parking spaces, one of the empty spaces will be used. When there are no two consecutive empty parking spaces but there is one empty parking space, and the distance between a vehicle parked in an adjacent empty parking space and the said one empty parking space is greater than or equal to a predetermined value, the said one empty parking space, If there are no available parking spaces, then you can wait until one becomes available before parking in that space. Create a plan to perform the automated valet parking test operation to park in the test parking space. Automated valet parking management method.

19. A parking management device determines the autonomous driving test operations that the autonomous vehicle should perform within the parking lot and creates a plan for the autonomous driving test operations. The automated valet control system outputs a command to the autonomous vehicle to perform the autonomous driving test operation within the parking lot, based on the plan. An automated valet parking management method, The aforementioned parking management device When the autonomous driving test operation to be performed by the autonomous vehicle is a human interaction test operation, Commands for performing walking movements are output to the humanoid robot. Create a plan for performing the aforementioned person-to-person test operation within the aforementioned parking lot. Automated valet parking management method.

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