Parking control device and method for entering and exiting autonomous vehicles.

Abstract

This control device for an autonomous vehicle comprises: an area calculation unit (12) that measures the size of an autonomous vehicle serving as an object to be parked and determines an occupied area in a parking area; an information storage unit (14) that stores parking area layout information in advance, and stores vehicle attribute information as vehicle information, said attribute information including the steering angle and the occupied area of the autonomous vehicle serving as the object to be parked; a procedure calculation unit (13) that parks the vehicle on the basis of the vehicle information and the layout information and, when exit instructions are given, computes the shortest travel route to an exit while comparing the occupied area of the vehicle that is to exit and the area of open spaces, on the basis of the vehicle information for the vehicle that is to exit, the layout information, and information on the number of open spaces; and a vehicle control unit (15) that remotely operates the vehicle that is to exit on the basis of the calculated shortest travel route and guides the vehicle that is to exit to the exit.

Description

Technical Field

[0001] The present invention relates to a parking lot control device and a method for entering and exiting an autonomous vehicle.

Background Art

[0002] Recently, vehicles equipped with an autonomous driving function (hereinafter referred to as "autonomous vehicles") have been put into practical use. Autonomous vehicles recognize the position and attitude of their own vehicles and the surrounding environment using various sensors such as GPS, cameras, gyro sensors, and vehicle speed sensors, and then drive automatically.

[0003] In a parking lot, a conventional example of entering and exiting an autonomous vehicle is disclosed in Patent Document 1.

[0004] Patent Document 1 describes a parking management system including a management device for managing the parking of vehicles capable of autonomous driving.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Patent Document 2

Summary of the Invention

Problems to be Solved by the Invention

[0006] However, in the conventional example, efficient parking according to the parking area of the parking lot cannot be achieved. In addition, the available parking spaces cannot be efficiently managed, which not only takes time for exiting, but there is also a risk that vehicles in the far-back area from the exit cannot be exited.

[0007] Furthermore, while other conventional examples (see Patent Document 2) describe the control of autonomous vehicles exiting parking lots, they describe vehicles being exited from parking lots where each vehicle is individually partitioned. This presents the challenge of being unable to exit any single vehicle from a highly crowded parking lot where vehicles are parked in close proximity.

[0008] The present invention has been made in view of the above circumstances, and aims to provide a parking control device and a method for entering and exiting an autonomous vehicle parking lot that can park autonomous vehicles at high density and efficiently guide parked autonomous vehicles to the exit gate for exit. [Means for solving the problem]

[0009] One aspect of the present invention is a parking control device comprising: an area calculation unit that measures the size of an autonomous vehicle to be parked and determines the area to be occupied in the parking lot; an information storage unit that stores parking lot layout information in advance; a procedure calculation unit that parks the vehicle based on the layout information and, when an exit instruction is issued, calculates a movement route to the exit gate while comparing the area to be occupied by the vehicle to be exited with the area of ​​the available space based on the layout information and the number of available spaces; and a vehicle control unit that guides the vehicle to be exited to the exit gate based on the calculated movement route.

[0010] Another embodiment of the present invention is a method for entering and exiting a parking lot for an autonomous vehicle, which includes securing sufficient empty space for the autonomous vehicle to exit the parking lot by autonomous driving, extracting parking lot layout information stored in an information storage unit in advance when the vehicle to be exited is to be exited, calculating a movement route from the parking position of the vehicle to be exited to the exit entrance while comparing the area occupied by the vehicle to be exited with the area of ​​the empty space based on the extracted layout information, and guiding the vehicle to be exited to the exit entrance by repeatedly performing the process of moving the autonomous vehicle parked along the calculated movement route to the empty space and moving the vehicle to be exited to the empty space after the move. [Effects of the Invention]

[0011] According to the parking control device and autonomous vehicle entry / exit method of the present invention, autonomous vehicles can be parked at high density, and parked autonomous vehicles can be efficiently guided to the exit and exited. [Brief explanation of the drawing]

[0012] [Figure 1] Figure 1 is a block diagram showing the configuration of a parking control device according to one embodiment of the present invention. [Figure 2A] Figure 2A is a flowchart showing the processing procedure of a parking control device according to one embodiment of the present invention. [Figure 2B] Figure 2B is a flowchart showing the processing procedure of a parking control device according to one embodiment of the present invention. [Figure 3] Figure 3 is an explanatory diagram showing the processing procedure for a parking control device and an automated vehicle entry / exit method according to one embodiment of the present invention. [Figure 4] Figure 4 is an explanatory diagram showing the processing procedure for a parking control device and an automated vehicle entry / exit method according to one embodiment of the present invention. [Figure 5] Figure 5 is an explanatory diagram showing the processing procedure for a parking control device and an automated vehicle entry / exit method according to one embodiment of the present invention. [Figure 6] Figure 6 is an explanatory diagram showing the processing procedure for a parking control device and an automated vehicle entry / exit method according to one embodiment of the present invention. [Figure 7] Figure 7 is an explanatory diagram showing the processing procedure for a parking control device and an automated vehicle entry / exit method according to one embodiment of the present invention. [Figure 8] Figure 8 is an explanatory diagram showing the processing procedure for a parking control device and an automated vehicle entry / exit method according to one embodiment of the present invention. [Figure 9] Figure 9 is an explanatory diagram showing the processing procedure for a parking control device and an automated vehicle entry / exit method according to one embodiment of the present invention. [Figure 10] Figure 10 is an explanatory diagram showing the processing procedure for a parking control device and an automated vehicle entry / exit method according to one embodiment of the present invention. [Figure 11] Figure 11 is an explanatory diagram showing the processing procedure of the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention. [Figure 12] Figure 12 is an explanatory diagram showing the processing procedure of the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention. [Figure 13] Figure 13 is an explanatory diagram showing the processing procedure of the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention. [Figure 14] Figure 14 is an explanatory diagram showing the processing procedure of the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention. [Figure 15] Figure 15 is an explanatory diagram showing the processing procedure of the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention. [Figure 16] Figure 16 is an explanatory diagram showing the processing procedure of the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention. [Figure 17] Figure 17 is an explanatory diagram showing the processing procedure of the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention. [Figure 18] Figure 18 is an explanatory diagram showing the processing procedure of the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention. [Figure 19] Figure 19 is an explanatory diagram showing the processing procedure of the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention. [Figure 20] Figure 20 is an explanatory diagram showing another example of a parking lot to which the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention are applied. [Figure 21] Figure 21 is an explanatory diagram showing still another example of a parking lot to which the parking lot control device and the entry / exit method of the autonomous vehicle according to an embodiment of the present invention are applied.

Embodiments for Carrying Out the Invention

[0013] <Configuration of the Embodiment> Figure 1 is a block diagram showing the configuration of a parking control device according to one embodiment of the present invention, Figures 2A and 2B are flowcharts showing the processing procedure of the parking control device according to one embodiment of the present invention, and Figures 3 to 19 are explanatory diagrams showing the processing procedure of the parking control device and the method for entering and exiting an autonomous vehicle according to one embodiment of the present invention.

[0014] First, let's describe a parking lot 1 to which one embodiment of the present invention is applied. As shown in Figure 3, the parking lot 1 is provided with a plurality of parking spaces (parking areas) 2, an entrance 3, and an exit 4. The autonomous vehicle 50 enters the parking lot through the entrance 3 and parks in a designated parking space 2. When an exit command is issued to the autonomous vehicle 50 while it is parked, the autonomous vehicle 50 exits from where it was parked to the exit 4 according to a calculated optimal route. Note that there are areas in the parking lot 1 other than the area where vehicles are parked, such as building pillars and fire hydrants, but these are not shown in Figure 3.

[0015] Multiple autonomous vehicles 50 are parked in multiple parking spaces 2. Each parking space 2 has areas set up for parking autonomous vehicles 50 of three different sizes: regular cars 6, large cars 7, and small cars 8. In the example in Figure 3, 22 regular cars 6, 1 large car, and 2 small cars are parked. Note that each parking space 2 may have different areas (i.e., width and length (depth)) depending on the size of the vehicle (see Figure 21). In addition, a virtual parking space 60 is set for each parking space 2 in which a vehicle is already parked. Furthermore, three empty spaces 71, 72, and 73 that do not yet have vehicles parked are reserved as virtual no-parking zones. These empty spaces 71-73 are the minimum area required to allow autonomous vehicles 50 to enter and exit when the parking lot is full, and their number increases or decreases depending on the number of autonomous vehicles 50 parked. In order to speed up entry and exit times, it is desirable to set the number of empty spaces to be greater than the minimum required number.

[0016] A gap (space) 5 is provided at the front and rear of the parking space 2. The gap 5 is used to secure a movement area by moving vehicles that would affect the movement route forward or backward when an autonomous vehicle 50 enters or leaves the parking space. The gap 5 may have a width that allows it to function as a walkway for users.

[0017] Additionally, a measurement sensor (vehicle dimension measurement sensor) 20 and various entry-related equipment 30 are installed at the entry gate 3. Exit-related equipment 40 is installed at the exit gate 4.

[0018] Next, the parking control device 10 according to this embodiment will be described. As shown in Figure 1, the parking control device 10 comprises a general control unit 11, an area calculation unit (parking area calculation unit) 12, a procedure calculation unit (entry / exit procedure calculation unit) 13, an information storage unit (layout information / vehicle information storage unit) 14, a vehicle control unit 15, and a communication unit 16.

[0019] The central control unit 11 is a computer and centrally controls the parking control device 10. Specifically, when the central control unit 11 receives an entry instruction from an external source, it commands the measurement of the dimensions of the vehicle intended for entry (vehicle dimensions) and stores the vehicle dimensions obtained from the measurement. Furthermore, when a vehicle intended for exit appears in the parking lot 1, the central control unit 11 outputs the stored vehicle information. The central control unit 11 also stores parking lot layout information, such as the current available spaces and parking status, in the information storage unit 14. In addition, when an exit request is received, the central control unit 11 outputs a calculation command to the procedure calculation unit 13, and based on the calculation result, outputs the procedure for actually moving the vehicle to the vehicle control unit 15.

[0020] The area calculation unit 12 receives the dimensional measurement data of the entering vehicle measured by the measurement sensor 20 and calculates the parking area required for parking that vehicle. The area calculation unit 12 also determines the number of vehicles that can be parked in parking lot 1 by comparing the total area of ​​parking lot 1 with the cumulative value (sum) of the calculated parking areas. Here, the measurement sensor 20 is installed at the entrance 3 of parking lot 1, as shown in Figure 3. The area calculated by the area calculation unit 12 is set as the area of ​​the virtual parking space 60 when each vehicle is parked there.

[0021] One specific example of the measurement sensor 20 is a camera installed at the entrance 3. The camera, acting as the measurement sensor 20, captures images of the vehicle from above the entrance 3. The camera also has an image processing function, which extracts the outline of the vehicle's outer shape from the image of the vehicle viewed from above and calculates the size of the vehicle (horizontal projected area). Another specific example of the measurement sensor 20 is a 3D-Lidar installed at the entrance 3. The 3D-Lidar, acting as the measurement sensor 20, calculates the shape of an object based on the reflection angle and reflection intensity of the laser light. This measurement data is stored in the information storage unit 14 as attribute information (vehicle information) of the vehicle.

[0022] The procedure calculation unit 13 uses the layout information and vehicle information stored in the information storage unit 14 to calculate the exit procedure for moving a parked vehicle intended for exit from its parking spot to the exit gate 4. Specifically, it subtracts the area of ​​the parked vehicle from the parking area calculated by the area calculation unit 12 to generate a procedure for efficiently exiting the vehicle, even if it is parked in the furthest location from the exit gate 4. The calculation of the exit procedure may also include the calculation of a procedure for moving other vehicles to secure a movement route for the vehicle intended for exit (for example, a procedure for creating an empty space on the movement route).

[0023] The information storage unit 14 stores layout information and vehicle information necessary for calculations. The vehicle information includes information transmitted wirelessly from the autonomous vehicle 50 being brought into the depot.

[0024] Here, layout information refers to all information related to the parking lot, including the overall shape of the parking lot 1, the number, shape, and location of parking spaces 2, the location and size (dimensions) of entrances 3 and exits 4, the direction of the entrances and exits, the number of vehicles that can be parked, the area occupied by each vehicle, the size (area) of gaps 5, the parking position of each vehicle, the number and size (dimensions) of vehicles currently parked, information on available spaces, and the location and shape of obstacles (such as fire hydrants and pillars).

[0025] Vehicle information includes various attribute information about each vehicle, such as vehicle type information, steering angle information, current orientation (direction), and whether or not it is a special vehicle. Attribute information can be obtained, for example, through communication with the vehicle, imaging of the vehicle, or comparison between similar vehicles. A special vehicle is, for example, a vehicle that needs to be released preferentially. In the following explanation, "layout" for each vehicle is a concept that includes layout information, including the parking position of each vehicle, and vehicle information for each vehicle. The steering angle, or the vehicle's "minimum turning radius," is defined in Japanese safety standards as "12 meters or less from the outermost rut." Therefore, the information storage unit 14 does not need to store vehicle information regarding the steering angle for each vehicle by pre-storing this value. However, in order to efficiently move vehicles in and out of the parking lot, it is effective to store the steering angle for each vehicle as vehicle information.

[0026] The vehicle control unit 15 controls the autonomous vehicle 50 when it enters or leaves the depot by generating various commands such as forward commands and reverse commands based on the vehicle's mileage and steering angle.

[0027] The communication unit 16 performs wireless communication between the vehicle control unit 15 and the autonomous vehicle 50 to transmit various data and commands.

[0028] The autonomous vehicle 50 automatically drives by recognizing its own position, attitude, and surrounding environment using various sensors such as a GPS receiver, camera, gyro sensor, and vehicle speed sensor. In this embodiment, three types of autonomous vehicles 50—a regular car 6, a large car 7, and a small car 8—are parked in the parking space 2.

[0029] Although not shown in Figure 3, parking space sensors such as cameras and 3D-Lidar are also installed in parking space 2 as needed to measure the vehicle's current position. The information obtained from these sensors is input to the central control unit 11 as vehicle information and stored in the information storage unit 14.

[0030] <Processing procedure of this embodiment> When the autonomous vehicle 50 enters parking lot 1, the measurement sensor 20 measures the size of the autonomous vehicle 50 that is about to enter. The measurement data obtained by the measurement sensor 20 is output to the area calculation unit 12 of the parking control device 10. Based on the measurement data, the area calculation unit 12 calculates the parking area (the area occupied by the parking space 2). The area calculation unit 12 calculates the parking area each time the autonomous vehicle 50 enters the parking lot. Also, if the parking space 2 is allocated according to the size of the vehicle (regular car 6, large car 7, or small car 8), the autonomous vehicle 50 is guided to the parking space 2 corresponding to its size. When the autonomous vehicle 50 parks in the designated location, the vehicle identification number and its parking location are registered in the information storage unit 14.

[0031] The area calculation unit 12 sets (calculates) the minimum available space required for vehicles near the exit 4 to exit. If there are insufficient parking spaces 2 to secure the available space, the control unit 11 determines that the parking lot is full and prevents any new vehicles from parking (i.e., prohibits further entry).

[0032] If it is necessary to quickly exit the parking area for vehicles close to exit gate 4, the exit operation can be carried out efficiently by setting a larger available area in advance (i.e., increasing the number of parking spaces 2).

[0033] Next, using the flowcharts in Figures 2A and 2B, we will explain the exit operation for the vehicle 9 intended for exit, which is performed by the parking control device 10.

[0034] The parking control device 10 monitors whether or not there is an exit command (step S1). When an exit command is generated by input to the exit unit equipment 40, the central control unit 11 reads (extracts) the layout for each vehicle (parking lot layout information and vehicle information for each vehicle) from the information storage unit 14 (step S2). Note that the exit command may be generated based on instructions from a mobile terminal such as a smartphone held by the vehicle user, or based on instructions input from the parking control device 10. The central control unit 11 outputs the read layout for each vehicle to the procedure calculation unit 13 and outputs a calculation command based on the layout (step S3).

[0035] The procedure calculation unit 13 obtains the layout for each vehicle from the information storage unit 14 (step S4), and then calculates the departure procedure (departure route) from the current position of the vehicle to be departed 9 to the exit gate 4 (step S5). After that, the procedure calculation unit 13 outputs the calculated departure procedure to the control unit 11 (step S6).

[0036] When the control unit 11 obtains the dispatch procedure from the procedure calculation unit 13, it generates a vehicle operation calculation command based on the obtained dispatch procedure and outputs this command to the vehicle control unit 15 (step S7).

[0037] Based on the commands input from the vehicle control unit 15, the vehicle control unit 15 outputs a movement command to another vehicle (hereinafter referred to as the "specific vehicle") in order to move the vehicle 9 intended for departure (step S8).

[0038] Each designated vehicle receives a movement command from the vehicle control unit 15 via the communication unit 16 and executes the movement process (step S9). Based on the movement command, each designated vehicle moves, and when the vehicle intended for departure 9 moves to the exit gate 4, the vehicle intended for departure 9 and the designated vehicles output a movement completion notification to the vehicle control unit 15 (steps S10, S11).

[0039] When the vehicle control unit 15 receives a movement completion notification from all vehicles via the communication unit 16 (YES in step S11), it outputs the movement completion notification to the general control unit 11 (step S12).

[0040] When the control unit 11 receives a notification that the movement is complete, it writes the current layout for each vehicle (step S13). That is, the control unit 11 updates the previous layout for each vehicle to the current layout. Then, when the departure of the vehicle 9 is complete, it outputs a departure completion notification to each part of the device 10 and terminates the process (steps S14, S15).

[0041] <Examples of vehicle operation> Next, an example of vehicle operation based on the processing procedure of this embodiment will be explained using Figures 3 to 19. In each figure, the vehicle intended for departure 9 is marked with a circle (○) on its roof surface. Vehicles that are moved to form a guidance path for the vehicle intended for departure 9 are shown with thick outlines. These vehicles are shown with dashed lines in their position before movement.

[0042] As shown in Figure 3, the vehicle intended for departure 9 is assumed to be parked in parking space 2 in the lower left corner, which is the furthest point from the exit 4 in the upper right corner. Multiple autonomous vehicles 50 are moved from this parking space 2 to the exit 4, guiding the vehicle intended for departure 9 to the exit 4. In front of the vehicle intended for departure 9, empty spaces 71, 72, and 73 where no vehicles are parked are reserved.

[0043] In this embodiment, three vehicle-sized empty spaces 71, 72, and 73 are provided, but it is not necessarily limited to three spaces. Depending on the number of parked vehicles, the more times a vehicle 9 needs to turn around (change direction), the fewer empty spaces will be needed. However, the more turns a vehicle needs to turn around, the longer it will take to exit the parking space. Having about three empty spaces will reduce the number of turns required and improve parking efficiency. Also, if the number of parked vehicles reaches around 100, about 5 to 7 empty spaces will be needed.

[0044] As shown in Figure 4, first, the vehicle 9 intended for departure is moved from among the available spaces 71, 72, and 73 to the available space 73 closest to the exit 4 (see Figure 3), via available spaces 71 and 72.

[0045] As shown in Figure 5, when the vehicle intended for departure 9 moves to the empty space 73, an empty space 74 is formed in the location where the vehicle intended for departure 9 was parked before moving.

[0046] Next, as shown in Figure 6, the vehicle 51 parked in front of the entrance 3 is moved to the empty space 74. In this case, first, the vehicle 52 parked in front of the empty space 71 is moved forward to fill the gap 5 (see Figure 3). Then, after moving the vehicle 51 to the empty space 71, the vehicle 51 is moved in reverse, passing through the empty space 71. As a result, an empty space 75 is secured in front of the entrance 3, as shown in Figure 7.

[0047] Next, as indicated by the arrows in Figure 7, other parked vehicles that obstruct the movement of the vehicle 9 intended for exit are moved forward or backward to fill the gap 5 and create an empty space. Figure 8 shows the state of parking lot 1 after the other vehicles have been moved. In this state, as shown in Figure 9, the vehicle 53 to the right of the empty space 75 is moved forward and then backward to reach the empty space 71.

[0048] Next, as shown in Figure 10, the vehicle 54 in front is reversed to the original position of vehicle 53. In this state, as shown in Figure 11, an empty space 76 is formed at the original position of vehicle 54.

[0049] At this time, suppose an instruction to enter the parking lot is given, and vehicle 55 enters the parking lot entrance 3. Even in this case, since there is an empty space 75 in front of the parking lot entrance 3, vehicle 55 can enter the parking lot immediately without having to wait. Figure 12 shows the state after vehicle 55 has entered the parking lot.

[0050] Next, as shown in Figure 13, vehicle 56 to the right of vehicle 9 intended for departure is moved to empty space 72. After vehicle 56 is moved, empty space 77 is formed. Then, as shown in Figure 14, vehicle 9 intended for departure is moved backward. Furthermore, as shown in Figure 15, vehicle 9, which has moved backward, is moved forward to the right and then reversed to empty space 76 (see Figure 14).

[0051] As shown in Figure 16, an empty space 77 is formed in front of the vehicle 9 intended for exiting the parking lot, and a small vehicle 57 is parked in front of this empty space 77. Then, as shown in Figure 17, the vehicle 52 is moved forward (see Figure 6) to move the small vehicle 57 to the empty space 78 that has been formed.

[0052] As shown in Figure 18, with the small vehicle 57 moved to the empty space 78, empty spaces 77 and 79 are formed in front of the vehicle intended for departure 9. Next, the small vehicle 58 and several other vehicles in the same row that obstruct the path of the vehicle intended for departure 9 to the exit 4 are moved backward. As a result, a path to the exit 4 is formed in front of the vehicle intended for departure 9.

[0053] Then, as shown in Figure 19, the parking control device 10 remotely moves the vehicle 9 intended for exit along this movement path to the exit gate 4.

[0054] Vehicle 9, which has moved to exit gate 4, will board its passengers and move out of parking lot 1.

[0055] As described above, according to this embodiment, multiple autonomous vehicles can be parked at high density, and the parked autonomous vehicles can be efficiently guided to the exit and released.

[0056] <Other parking lot layouts> The exit procedure in parking lot 1 of the embodiment has been explained with reference to Figures 3 to 20, but parking lot layouts vary.

[0057] For example, Figure 20 shows Parking Lot 1A when there are more small vehicles parked there compared to Parking Lot 1. The positions of the entrance 3 and exit 4 are the same as in Parking Lot 1, and the vehicle 9 intended for exiting is parked in the leftmost corner, furthest from exit 4. Because there are more small vehicles, the time required for vehicle 9 to exit Parking Lot 1A can also be shortened.

[0058] Figure 21 shows parking lot 1B, which has a single entrance / exit gate 90 for both entry and exit, located in the right corner of the figure. Many small cars are parked there.

[0059] Similarly, in parking lots 1A and 1B with this layout, the size of the vehicle (horizontal projection area) is measured upon entry to determine the number of vehicles that can be parked. This allows for high-density parking of autonomous vehicles in any parking lot shape, and enables efficient guidance of parked autonomous vehicles to the exit.

[0060] The above embodiments are merely examples and do not limit the scope of the present invention. Various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their variations are included in the scope and spirit of the present invention, as well as in the claims of the invention and its equivalents.

Claims

1. A parking control device, An area calculation unit measures the size of the autonomous vehicle to be parked and determines the area occupied in the parking lot, An information storage unit that stores parking lot layout information and vehicle information, which is attribute information for each vehicle, in advance. Based on the layout information, the system parks the vehicle, and when an instruction is given to exit the parking lot for one of the autonomous vehicles, the system calculates, based on the layout information and the vehicle information, the movement route from the parking position of the vehicle to the exit gate, and the procedure for moving other autonomous vehicles to an empty space to secure the movement route. A vehicle control unit guides the vehicle intended for exit to the exit gate, while moving other autonomous vehicles parked along the calculated movement route and the evacuation procedure, to the available space. A parking control device equipped with the following features.

2. The parking control device according to claim 1, wherein the area calculation unit calculates the parking area of ​​a vehicle based on camera images or measurement data from a 3D-Lidar installed at the entrance to the parking area.

3. The parking control device according to claim 1 or 2, wherein the evacuation procedure includes temporarily moving the other autonomous vehicle to a different orientation than the orientation it was in before evacuation.

4. A method for entering and exiting a parking lot for autonomous vehicles, When one of the aforementioned autonomous vehicles, which is a vehicle intended for exiting the parking lot, exits the parking lot, the layout information of the parking lot and the vehicle information of each vehicle, which are stored in the information storage unit in advance, Based on the extracted layout information and vehicle information, the system calculates the movement route of the vehicle intended for exit from its parking position to the exit gate, and the procedure for moving other autonomous vehicles to an empty space in the parking lot in order to secure the movement route. In order to guide the vehicle intended for departure to the exit, based on the calculated movement route and the evacuation procedure, the following processes are executed: moving other autonomous vehicles parked along the movement route to the available space, and moving the vehicle intended for departure. A method for entering and exiting a parking lot for autonomous vehicles, including the following.

5. The method for entering and exiting a parking garage for an automated vehicle according to claim 4, wherein the evacuation procedure includes temporarily moving the other automated vehicle to a different orientation than the orientation it was in before evacuation.

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