Automatic valet parking management system and automatic valet parking management method

Abstract

To provide a technique for smoothly performing entering / leaving in automatic ballet parking.SOLUTION: An automatic ballet parking management system manages automatic ballet parking in a parking lot. The automatic ballet parking management system includes: a recognition sensor for recognizing a peripheral state of the parking lot; and one or a plurality of processors. The one or the plurality of processors execute: allocation processing for allocating a first target leaving frame to a leaving vehicle from the parking lot; monitoring processing for detecting an invasion / approach of an external vehicle to the first target leaving frame from an outside of the parking lot by using the recognition sensor after the allocation of the first target leaving frame; and countermeasure processing for allocating a second target leaving frame to the leaving vehicle when the invasion / approach is detected in the monitoring processing or decelerating / stopping the leaving vehicle during leaving to the first target leaving frame.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a technology for managing Automated Valet Parking (AVP) in a parking lot.

Background Art

[0002] Patent Document 1 discloses an automated warehousing and shipping system including a warehousing and shipping control server that manages and controls warehousing and shipping. When receiving a warehousing and shipping request from a user using an automated parking service to use one of a plurality of boarding and alighting areas, the warehousing and shipping control server determines the congestion level of the boarding and alighting area requested for use during the warehousing and shipping time zone specified by the user. Then, when the congestion level of the requested boarding and alighting area is high, the warehousing and shipping control server proposes to the user to use another boarding and alighting area among the plurality of boarding and alighting areas, which has a lower congestion level than the requested boarding and alighting area.

[0003] Patent Documents 2 and 3 also disclose technologies related to automated valet parking.

Prior Art Documents

Patent Documents

[0004]

Patent Document 1

Patent Document 2

Patent Document 3

Summary of the Invention

Problems to be Solved by the Invention

[0005] In automated valet parking in a parking lot, if an external vehicle accidentally enters the target departure frame from outside the parking lot after allocating the target departure frame to the departing vehicle, the smooth management of entry and exit in automated valet parking will be hindered.

[0006] This disclosure has been made in view of the above-mentioned issues and aims to provide a technology that enables smoother entry and exit in automated valet parking. [Means for solving the problem]

[0007] The automated valet parking management system described herein manages automated valet parking in a parking lot. The automated valet parking management system comprises a recognition sensor that recognizes the surrounding conditions of the parking lot, and one or more processors. The one or more processors are configured to perform: an assignment process that assigns a first target exit space to a vehicle exiting the parking lot; a monitoring process that, after the assignment of the first target exit space, uses the recognition sensor to detect the intrusion or approach of an external vehicle into the first target exit space from outside the parking lot; and, if the monitoring process detects intrusion or approach, a countermeasure process that assigns a second target exit space to the exiting vehicle, or slows down or stops the exiting vehicle while it is exiting into the first target exit space.

[0008] The automated valet parking management method relating to this disclosure is executed by a computer and manages automated valet parking in a parking lot. The automated valet parking management method includes: an allocation process that assigns a first target exit space to a vehicle exiting the parking lot; a monitoring process that, after the allocation of the first target exit space, detects the intrusion or approach of an external vehicle into the first target exit space from outside the parking lot using a recognition sensor that recognizes the surrounding conditions of the parking lot; and, if the monitoring process detects intrusion or approach, a countermeasure process that assigns a second target exit space to the exiting vehicle, or slows down or stops the exiting vehicle while it is exiting into the first target exit space. [Effects of the Invention]

[0009] According to this disclosure, after a vehicle exiting the parking lot is assigned a first target exit space, the system monitors whether any external vehicles enter or approach the first target exit space from outside the parking lot. If an external vehicle actually enters or approaches the space, the aforementioned countermeasures are executed. This enables smoother entry and exit from the parking lot. [Brief explanation of the drawing]

[0010] [Figure 1] This is a conceptual diagram illustrating the outline of the automated valet parking system according to the embodiment. [Figure 2] This is a block diagram showing an example configuration of an automated valet parking management system according to an embodiment. [Figure 3] This figure shows a specific example of a parking lot according to the embodiment. [Figure 4] This flowchart shows the processes related to the countermeasures taken in the first example. [Figure 5] This flowchart shows the processing related to the countermeasures for the second example. [Figure 6] This flowchart shows the processing related to the countermeasures for the third example. [Figure 7] This flowchart shows the processing related to the countermeasures for the fourth example. [Figure 8] This flowchart shows the processing related to the countermeasures for the fifth example. [Figure 9] Figure 8 is a diagram illustrating a specific example of the predetermined position P shown in the figure. [Modes for carrying out the invention]

[0011] 1. Overview of automated valet parking Figure 1 is a conceptual diagram illustrating the overview of an automated valet parking (AVP) system according to an embodiment.

[0012] Vehicle 10 is compatible with automated valet parking in parking lot 1. Vehicle 10 can drive automatically without driver intervention, at least within parking lot 1. More specifically, vehicle 10 is equipped with recognition sensors (e.g., cameras) for recognizing its surroundings. Vehicle 10 drives automatically within parking lot 1 while recognizing its surroundings using the recognition sensors. Vehicle 10 may also be an autonomous vehicle capable of driving automatically outside of parking lot 1.

[0013] The parking lot 1 includes a boarding and alighting area 2, a passageway 3, and a plurality of parking spaces 4. The vehicle 10 entering the parking lot 1 stops at the alighting frame of the boarding and alighting area 2, where the user gets off the vehicle 10. On the other hand, the vehicle 10 leaving the parking lot 1 stops at the boarding frame of the boarding and alighting area 2, where the user gets on the vehicle 10. In other words, the alighting frame corresponds to the entrance frame, and the boarding frame corresponds to the exit frame. More specifically, the boarding and alighting area 2 includes one or more entrance frames and one or more exit frames. The one or more entrance frames and the one or more exit frames may be provided separately, or may be provided as one or more common frames that can be dynamically changed between the entrance frame and the exit frame. A specific example of the parking lot 1 including the boarding and alighting area 2 will be described later with reference to FIG. 3.

[0014] The passageway 3 is an area where the vehicle 10 travels. The parking space 4 is a space where the vehicle 10 parks. For example, the parking space 4 is demarcated by partition lines. Also, a plurality of markers 5 are arranged in the parking lot 1. The marker 5 is used to guide the vehicle 10 in the parking lot 1. For example, the vehicle 10 acquires surrounding images using a camera and recognizes the marker 5 based on the images. Then, the vehicle 10 performs a localization process to accurately estimate the position of the vehicle 10 in the parking lot 1 based on the recognition result of the marker 5. The vehicle 10 automatically travels in the parking lot 1 based on the vehicle position estimated by the localization process.

[0015] Note that the parking lot 1 may be used not only by the vehicle 10 corresponding to automatic valet parking but also by general vehicles other than the vehicle 10.

[0016] The automatic valet parking management system 100 manages automatic valet parking in the parking lot 1. The automatic valet parking management system 100 is hereinafter referred to as the "AVP management system 100". The AVP management system 100 may include a local management device installed in the parking lot 1 and a management center that oversees a plurality of parking lots 1.

[0017] The AVP management system 100 can communicate with the vehicle 10 and manage the vehicle 10. For example, the AVP management system 100 grasps the position and status of each vehicle 10 in the parking lot 1. The AVP management system 100 assigns a parking space 4 to the vehicle 10. The AVP management system 100 issues a movement instruction (for example, an entry instruction or an exit instruction) to the vehicle 10 in the parking lot 1. The AVP management system 100 may provide the map information of the parking lot 1 to the vehicle 10. The AVP management system 100, for example, generates a target route of the vehicle 10 in the parking lot 1 and provides the information of the target route to the vehicle 10. The AVP management system 100 may remotely operate the vehicle 10 in the parking lot 1.

[0018] In addition, the AVP management system 100 manages information about users of the automatic valet parking service. The AVP management system 100 can communicate with the user terminal 200 operated by the user.

[0019] Hereinafter, an example of the process when a certain user X uses the automatic valet parking service will be described. The membership information of user X is registered in the AVP management system 100 in advance.

[0020] First, user X makes a reservation for automatic valet parking. For example, user X operates the user terminal 200 to input information such as the ID information of user X, the desired parking lot 1, the desired use date, and the desired use time (scheduled entry time and scheduled exit time). The user terminal 200 transmits the reservation information including the input information to the AVP management system 100. The AVP management system 100 performs reservation processing based on the reservation information and transmits a reservation completion notice to the user terminal 200. In addition, the AVP management system 100 transmits authentication information corresponding to the reservation information to the user terminal 200. The user terminal 200 receives the authentication information and holds the received authentication information.

[0021] The entry (check-in) of the vehicle 10 into the parking lot 1 is as follows.

[0022] Vehicle 10, carrying user X, arrives at drop-off / pick-up area 2 in parking lot 1 and stops. At drop-off / pick-up area 2, user X (and any other passengers, if any) alight from vehicle 10. User X then requests vehicle 10 to enter the parking lot using the authentication information stored in user terminal 200. In response to the entry request, the AVP management system 100 authenticates user X. Once authentication is complete, control of vehicle 10 is transferred from user X to the AVP management system 100. The AVP management system 100 then performs the entry process for vehicle 10.

[0023] During the vehicle entry process, the AVP management system 100 communicates with the vehicle 10 and starts up the vehicle 10 (powers it on).

[0024] Furthermore, the AVP management system 100 refers to the usage status of parking lot 1 and assigns an available parking space 4 to vehicle 10. The AVP management system 100 then communicates with vehicle 10 and sends an entry instruction to vehicle 10. The entry instruction includes information on the assigned parking space 4 and map information of parking lot 1. The AVP management system 100 may also specify a target route from the drop-off / pick-up area 2 to the assigned parking space 4. In that case, the entry instruction includes information on the specified target route.

[0025] In response to the parking instruction, vehicle 10 initiates vehicle driving control. Specifically, vehicle 10 automatically travels along passage 3 from the drop-off / pick-up area 2 to the assigned parking space 4 and automatically parks in the assigned parking space 4. At this time, vehicle 10 may travel along a target route specified by the AVP management system 100. The AVP management system 100 may communicate with vehicle 10 and remotely control the vehicle's automatic driving.

[0026] Once parking is complete, vehicle 10 notifies the AVP management system 100 that parking is complete. Alternatively, the AVP management system 100 may detect that vehicle 10 has finished parking using an infrastructure sensor 140 (see Figure 2) installed in the parking lot 1. After parking is complete, the AVP management system 100 communicates with vehicle 10 and stops its operation (powers it off). The AVP management system 100 stores the information of vehicle 10's parking space 4 in association with user X.

[0027] The departure (checkout) of vehicle 10 from parking lot 1 is as follows:

[0028] User X requests the vehicle 10 to be released using user terminal 200. The release request includes information such as authentication information. In response to the release request, the AVP management system 100 authenticates user X and performs the release process for vehicle 10.

[0029] During the vehicle dispatch process, the AVP management system 100 communicates with the vehicle 10 and starts up the vehicle 10 (powers it on).

[0030] Furthermore, the AVP management system 100 communicates with the vehicle 10 and transmits an exit instruction to the vehicle 10. The exit instruction includes the location of the drop-off / pick-up area 2 (target exit space) and map information of the parking lot 1. The AVP management system 100 may also specify a target route from the parking space 4 to the drop-off / pick-up area 2. In that case, the exit instruction includes information about the specified target route.

[0031] In response to the exit command, vehicle 10 starts vehicle driving control. Specifically, vehicle 10 automatically travels along passage 3 from parking space 4 to boarding / alighting area 2. At this time, vehicle 10 may travel along a target route specified by the AVP management system 100. The AVP management system 100 may communicate with vehicle 10 and remotely control the automatic driving of vehicle 10.

[0032] Vehicle 10 arrives at boarding / alighting area 2 and comes to a stop. Control of vehicle 10 is transferred from the AVP management system 100 to user X. User X (and any other passengers, if any) board vehicle 10. Vehicle 10 departs for its next destination.

[0033] 2. Example configuration of the AVP management system Figure 2 is a block diagram showing an example configuration of the AVP management system 100 according to an embodiment. The AVP management system 100 includes a communication device 110, one or more processors 120 (hereinafter simply referred to as processor 120), one or more storage devices 130 (hereinafter simply referred to as storage devices 130), and an infrastructure sensor 140.

[0034] The communication device 110 communicates with the vehicle 10 and the user terminal 200.

[0035] The processor 120 performs various processes. For example, the processor 120 includes a CPU (Central Processing Unit). The processor 120 communicates with the vehicle 10 and the user terminal 200 via the communication device 110. The processor 120 also manages automated valet parking in the parking lot 1. For example, the processor 120 assigns a parking space 4 to the vehicle 10. The processor 120 also instructs the vehicle 10 to move within the parking lot 1. The processes performed by the processor 120 include the "assignment process," "monitoring process," and "countermeasure process" described later.

[0036] The storage device 130 stores various types of information. The storage device 130 includes volatile memory, non-volatile memory, an HDD (Hard Disk Drive), or an SSD (Solid State Drive), or any combination thereof. The processor 120 reads various types of information from the storage device 130 and stores various types of information in the storage device 130.

[0037] The infrastructure sensor 140 is, for example, a camera that recognizes the conditions of the parking lot 1 and its surroundings. The infrastructure sensor 140 includes, for example, one or more infrastructure sensors (not shown) that recognize the conditions inside the parking lot 1, and one or more infrastructure sensors 141 (see Figure 3) that recognize the conditions around the parking lot 1. The latter one or more infrastructure sensors 141 correspond to an example of the "recognition sensor" as described herein.

[0038] The management program 150 is a computer program for managing automatic valet parking. The processor 120 executes the management program 150, thereby realizing various functions of the AVP management system 100 (processor 120). The management program 150 is stored in the storage device 130. The management program 150 may also be recorded on a computer-readable recording medium.

[0039] Furthermore, the storage device 130 stores information such as parking lot map information 160, parking lot usage information 170, and vehicle management information 180. The parking lot map information 160 is map information of parking lot 1. The parking lot map information 160 shows the arrangement of each element in parking lot 1, such as the drop-off / pick-up area 2, passageway 3, parking space 4, and marker 5. The parking lot usage information 170 shows the usage status (availability) of the parking space 4 and drop-off / pick-up area 2 within parking lot 1.

[0040] Vehicle management information 180 is information for managing the vehicles 10 that are subject to automated valet parking. For example, vehicle management information 180 includes vehicle ID, user information, entry / exit time information, and location information. Each vehicle 10 is associated with a vehicle ID, user information, entry / exit time information, and location information. The vehicle ID is the identification information for vehicle 10. The user information is information about the user who will use vehicle 10. The entry / exit time information is information about the entry and exit times of vehicle 10. For example, the entry / exit time information includes the scheduled entry time, the actual entry time, and the scheduled exit time. The location information indicates the location of vehicle 10 within parking lot 1. For example, the location information indicates the location or identification information of the parking space 4 assigned to vehicle 10. If vehicle 10 is driving within parking lot 1, the location information may indicate the driving position of vehicle 10. The current driving position of vehicle 10 is obtained by localization processing by vehicle 10. The processor 120 can communicate with vehicle 10 and obtain information about the current driving position from vehicle 10.

[0041] Furthermore, the AVP management system 100 may also include a display device 190. The display device 190 is configured to display various information to external vehicles 10A that are approaching the loading / unloading area 2 from outside the parking lot 1 for entry. For example, the display device 190 is installed corresponding to each of the loading / unloading spaces 6 to 8, as shown in Figure 3. The various information includes warnings to external vehicles (intruding vehicles) 10A (see steps S116 or S208 described later).

[0042] 3. Measures to prevent vehicles from entering the target departure slot. Figure 3 shows a specific example of a parking lot 1 according to an embodiment. The parking lot 1 includes a drop-off / pick-up area 2, a passageway 3, and a number of parking spaces 4. In the example shown in Figure 3, the drop-off / pick-up area 2 includes three drop-off / pick-up spaces 6, 7, and 8 that can be used as or as exit spaces. For example, drop-off / pick-up spaces 6, 7, and 8 are separated by partition lines. In the following description, a vehicle 10 exiting the parking lot 1 will be referred to as "exiting vehicle 10EX," and a vehicle 10 parked in a parking space 4 will be referred to as "parked vehicle 10P."

[0043] When parked vehicle 10P exits the parking space, it becomes exiting vehicle 10EX. Upon exiting, processor 120 performs an "assignment process" to assign the first target exiting space S1 to exiting vehicle 10EX. Once the first target exiting space S1 is assigned to exiting vehicle 10EX, it moves from parking space 4 to the first target exiting space S1.

[0044] Figure 3 shows a vehicle 10EX moving from a parking space 4 towards a passenger drop-off / pick-up space 6, which has been assigned as the first target exit space S1. Figure 3 also shows an external vehicle 10A attempting to enter the passenger drop-off / pick-up space 6, which has been assigned as the first target exit space S1 for the vehicle 10EX.

[0045] As shown in the scene in Figure 3, if an external vehicle 10A mistakenly enters the first target exit space S1 from outside the parking lot 1 after the first target exit space S1 has been assigned to the exiting vehicle 10EX, the exit of vehicle 10EX will be obstructed. Furthermore, obstruction of the exit of vehicle 10EX may lead to obstruction of the exit of other exiting vehicles 10EX, or obstruction of the entry of other vehicles 10 that are trying to enter the parking lot 1 correctly. In this way, the presence of an external vehicle 10A entering the first target exit space S1 hinders the smooth management of entry and exit in automated valet parking. To add to this, the external vehicle 10A that is expected to enter or approach in this manner is, for example, a vehicle 10 that is scheduled to enter the parking lot 1 for the use of automated valet parking.

[0046] In order to enable smoother entry and exit in automated valet parking, the processing performed by the processor 120 according to this embodiment includes the following "monitoring processing" and "countermeasure processing".

[0047] The monitoring process involves detecting the intrusion or approach of an external vehicle 10A from outside the parking lot 1 to the first target exit space S1 using an infrastructure sensor 141, after the first target exit space S1 has been allocated. More specifically, the period "after the allocation of the first target exit space S1" during which the monitoring of the first target exit space S1 by the monitoring process is performed includes not only the time when the exiting vehicle 10EX is moving toward the first target exit space S1 based on instructions from the processor 120 (see Figure 3), but also the period before the exiting vehicle 10EX starts moving based on those instructions. The infrastructure sensor 141 is installed in a location that can monitor the boarding / alighting spaces 6-8 of the boarding / alighting area 2.

[0048] The countermeasure process involves, when the monitoring process detects the intrusion or approach of an external vehicle 10A, assigning a second target departure slot S2 to the departure vehicle 10EX, or slowing down or stopping the departure vehicle 10EX that is in the process of moving to the first target departure slot S1.

[0049] The following describes the first to fifth examples of countermeasures according to this embodiment.

[0050] 3-1. Example 1 Figure 4 is a flowchart showing the processing related to the countermeasures in the first example. The processor 120 starts the processing shown in this flowchart when it initiates the exit of a parked vehicle 10P in response to an exit request from user X operating the user terminal 200.

[0051] In step S100, the processor 120 performs an "assignment process" to assign a first target exit slot S1 to the vehicle 10EX. In the assignment process, the processor 120 determines the first target exit slot S1 based, for example, on parking lot usage information 170.

[0052] Next, in step S102, the processor 120 instructs the vehicle 10EX to exit to the first target exit slot S1.

[0053] Next, in step S104, the processor 120 uses the infrastructure sensor 141 to determine whether an external vehicle 10A has entered or approached the first target exit space S1 from outside the parking lot 1 (monitoring process). Specifically, if the infrastructure sensor 141 detects that an external vehicle 10A is inside the first target exit space S1, the processor 120 determines that the external vehicle 10A has entered the first target exit space S1. In addition, during the monitoring process, the processor 120 uses the infrastructure sensor 141 to detect the distance D of the external vehicle 10A to the first target exit space S1. If the processor detects that this distance D has fallen below a predetermined threshold TH, the processor 120 determines that the external vehicle 10A has approached the first target exit space S1. Furthermore, detecting the approach of the external vehicle 10A to the first target exit space S1 in this manner is equivalent to predicting the entry of the external vehicle 10A into the first target exit space S1.

[0054] If neither intrusion nor approach of an external vehicle 10A is detected (step S104; No), the process proceeds to step S106. In step S106, the processor 120 uses, for example, the infrastructure sensor 141 to determine whether the departure of the vehicle 10EX has been completed. If the departure is not completed (step S106; No), the process returns to step S104. On the other hand, if the departure is completed (step S106; Yes), the process in this flowchart ends.

[0055] On the other hand, if the intrusion or approach of an external vehicle 10A is detected (step S104; Yes), the process proceeds to step S108. In step S108, the processor 120 determines whether a second target exit slot S2, which is different from the first target exit slot S1, can be assigned to the exiting vehicle 10EX. In other words, the processor 120 determines whether it is possible to change (reroute) the exit route of the exiting vehicle 10EX. For example, if there is an empty slot among the other boarding / alighting slots 6 to 8 that are not assigned to the first target exit slot S1, the processor 120 determines that rerouting is possible. Furthermore, the determination that rerouting is possible may also include whether there are no obstacles in the route from the current position of the exiting vehicle 10EX to any of the other empty boarding / alighting slots 6 to 8.

[0056] If rerouting is possible (step S108; Yes), the process proceeds to step S110. In step S110, the processor 120 assigns one of the other available boarding / alighting slots 6-8 to the departing vehicle 10EX as the second target departure slot S2. Then, in step S112, the processor 120 instructs the departing vehicle 10EX to depart to the second target departure slot S2.

[0057] On the other hand, if rerouting is not possible (step S108; No), that is, if the second target departure slot S2 cannot be assigned to the departure vehicle 10EX, the process proceeds to step S114. For example, if none of the other boarding / alighting slots 6-8 are available, or if there are other available boarding / alighting slots 6-8 but there are obstacles in the route, this is considered a case where rerouting is not possible. In step S114, the processor 120 instructs the departure vehicle 10EX to stop. Note that if rerouting is not possible (step S108; No), the processor 120 may decelerate the departure vehicle 10EX instead of stopping it, as in the process of step S200 described later.

[0058] In step S116, following step S114, the processor 120 performs at least one of the following: a warning and / or an instruction to the external vehicle (intruder vehicle) 10A.

[0059] The warning to the external vehicle 10A referred to here indicates, for example, that "the first target exit slot S1 is a location used for the exit of another vehicle 10 (exiting vehicle 10EX)." This warning is given, for example, using a display device 190 corresponding to any of the boarding / alighting slots 6 to 8 that correspond to the first target exit slot S1. Alternatively, if the AVP management system 100 is in a state where it can communicate with the external vehicle 10A, this warning may be given together with or instead of the display device 190 using a user terminal held by the user of the external vehicle 10A, or a display device installed in the external vehicle 10A. The warning may also be given with at least one of sound and / or voice.

[0060] Furthermore, the instructions given to the external vehicle 10A are conditional on the external vehicle 10A being a vehicle compatible with automated valet parking in parking lot 1. These instructions include requesting the external vehicle 10A to make early preparations so that it can promptly begin automated driving in automated valet parking. Such preparations include, for example, not turning off the power to the external vehicle 10A after it has entered the first target exit space S1. These instructions also include requesting the external vehicle 10A, once it is ready for automated driving, to enter parking space 4 in parking lot 1. Note that in step S116, only one of the warning or the instruction may be executed. Additionally, according to the above instructions, the external vehicle 10A will be allowed to enter before the exit vehicle 10EX, which contributes to the smooth management of entry and exit in parking lot 1 as a whole.

[0061] In step S118, following step S116, the processor 120 uses, for example, the infrastructure sensor 141 to determine whether the intrusion or approach by the external vehicle 10A has been resolved. For example, if the external vehicle 10A moves away from the first target exit space S1 in response to the warning, or if the external vehicle 10A enters the parking space in accordance with the instructions, the intrusion or approach is resolved.

[0062] If the intrusion or approach has not been resolved (step S118; No), the processor 120 repeatedly executes the process of step S118, that is, it keeps the vehicle 10EX waiting in a stopped state.

[0063] On the other hand, if the intrusion or approach is resolved (step S118; Yes), that is, if the first target exit slot S1 becomes available, the process proceeds to step S120. In step S120, the processor 120 instructs the exit vehicle 10EX again to exit to the first target exit slot S1.

[0064] According to the first example described above, after the first target departure slot S1 is assigned to the departing vehicle 10EX, the system monitors whether an external vehicle 10A enters or approaches the first target departure slot S1 (monitoring process). If an external vehicle 10A actually enters or approaches, a second target departure slot S2, separate from the first target departure slot S1, is assigned to the departing vehicle 10EX (countermeasure process). This enables smoother entry and exit of vehicles.

[0065] More specifically, according to the first example, by performing the above-mentioned monitoring, it becomes possible to quickly recognize the intrusion or approach of an external vehicle 10A into the first target exit slot S1 compared to when such monitoring is not performed. As a result, it becomes possible to quickly start considering whether or not it is possible to allocate (i.e., reroute) to the second target exit slot S2. As a result, it becomes possible to quickly allocate the second target exit slot S2. Furthermore, if rerouting is not possible, it becomes possible to quickly take a second-best measure (e.g., stopping the exiting vehicle 10EX). In addition, by performing the allocation of the second target exit slot S2 as a countermeasure, it becomes possible to effectively suppress the decrease in the operating rate of the automated valet parking service by the AVP management system 100 due to the presence of the external vehicle 10A.

[0066] Furthermore, if the departure vehicle 10EX proceeds to the vicinity of the boarding / alighting area 2, which includes the first target departure space S1, without realizing that the first target departure space S1 is unavailable due to the presence of an external vehicle 10A, then the presence of the stopped departure vehicle 10EX may easily obstruct the entry and exit of other vehicles 10. In contrast, according to the first example, if the second target departure space S2 is unavailable, the processor 120 promptly stops the departure vehicle 10EX. This increases the likelihood that the stopped departure vehicle 10EX will not obstruct the entry and exit of other vehicles 10.

[0067] Furthermore, according to the first example, if the second target departure slot S2 can be allocated, dispatching the departure vehicle 10EX toward the second target departure slot S2 is prioritized over stopping the departure vehicle 10EX (steps S108-S114). This makes it possible to more effectively suppress the decrease in operating rate caused by the presence of the external vehicle 10A.

[0068] 3-2. Second Example Figure 5 is a flowchart showing the processing related to the countermeasures for the second example. The processing in this flowchart differs from the processing in the flowchart shown in Figure 4 in the following respects.

[0069] In Figure 5, if the entry or approach of an external vehicle 10A into the first target exit slot S1 is detected (step S104; Yes), the process proceeds to step S200. In step S200, the processor 120 instructs the exiting vehicle 10EX to decelerate.

[0070] Next, in step S202, the processor 120 issues a warning to the external vehicle 10A. This warning is issued in the same manner as the warning issued in step S116. Then, in step S204, the processor 120 determines whether the intrusion or approach of the external vehicle 10A has been resolved. If the intrusion or approach has been resolved by the warning (step S204; Yes), the processor 120 instructs the exiting vehicle 10EX to release the deceleration in step S206.

[0071] On the other hand, if the intrusion or approach is not resolved by warning alone (step S204; No), the processor 120 executes a process to instruct the exiting vehicle 10EX to stop driving (step S114), and related processes (steps S208, S118, and S120). The process related to the instruction to the external vehicle 10A in step S208 is the same as the process related to the instruction in step S116.

[0072] According to the second example described above, if the monitoring process detects the intrusion or approach of an external vehicle 10A, the processor 120 slows down the departing vehicle 10EX that is in the process of exiting to the first target exit space S1 (countermeasure process). This allows the departing vehicle 10EX to be decelerated quickly and countermeasures such as a warning (step S202) to be initiated promptly, compared to the example where, due to the lack of monitoring, the departing vehicle 10EX approaches the boarding / alighting area 2 only to discover that it cannot use the first target exit space S1 due to the presence of the external vehicle 10A. This can lead to the early resolution of the intrusion or approach of the external vehicle 10A. Furthermore, even if the intrusion or approach is not resolved, the next best countermeasure can be initiated promptly. Thus, the second example also enables smoother entry and exit.

[0073] 3-3. Third Example Figure 6 is a flowchart showing the processing related to the countermeasures for the third example. The processing in this flowchart differs from the processing in the flowcharts shown in Figures 4 and 5 in the following respects.

[0074] In Figure 6, if the system detects the entry or approach of an external vehicle 10A into the first target exit space S1 (step S104; Yes), the process proceeds to step S114, where the processor 120 instructs the exit vehicle 10EX to stop. Subsequently, the processor 120 executes the processes in steps S208, S118, and S120. Alternatively, the process in step S116 (including a warning to the external vehicle 10A) may be executed instead of the process in step S208.

[0075] According to the third example described above, if the monitoring process detects the intrusion or approach of an external vehicle 10A, the processor 120 stops the exiting vehicle 10EX that is exiting to the first target exiting space S1 (countermeasure process). This allows the exiting vehicle 10EX to be stopped more quickly than in the example where, due to the lack of monitoring, the exiting vehicle 10EX proceeds close to the boarding / alighting area 2 before it is discovered that it cannot use the first target exiting space S1 due to the presence of the external vehicle 10A. This increases the likelihood that the stopped exiting vehicle 10EX will not interfere with the entry and exit of other vehicles 10. Thus, the third example also enables smoother entry and exit. In addition, by stopping the exiting vehicle 10EX early, countermeasures such as issuing instructions to the external vehicle 10A (step S208) can be started more quickly. This can lead to the early resolution of the intrusion or approach of the external vehicle 10A.

[0076] 3-4. The fourth example Figure 7 is a flowchart showing the processing related to the countermeasures for the fourth example. The processing in this flowchart differs from the processing in the flowcharts shown in Figures 4 and 5 in the following respects.

[0077] In Figure 7, after step S102, the process proceeds to step S300. In step S300, the processor 120 detects the external vehicle 10A and determines whether the distance D has become shorter than a predetermined first threshold TH1. As already explained, the distance D is the distance of the external vehicle 10A to the first target exit frame S1. If the external vehicle 10A is not detected or the distance D is greater than or equal to the first threshold TH1 (step S300; No), the process proceeds to step S106.

[0078] On the other hand, if the distance D of the detected external vehicle 10A becomes shorter than the first threshold TH1 (step S300; Yes), that is, if the external vehicle 10A approaches the first target exit frame S1, the process proceeds to step S108. If rerouting is possible as a result, exit to the second target exit frame S2 is performed (steps S110 and S112).

[0079] In Figure 7, if rerouting is not possible (step S108; No), the process proceeds to step S302. In step S302, the processor 120 determines whether the distance D has become shorter than a predetermined second threshold TH2. The second threshold TH2 is set to be smaller than the first threshold TH1. If the distance D is greater than or equal to the second threshold TH2 (step S302; No), the process returns to step S108. That is, the rerouting is attempted again.

[0080] On the other hand, if the distance D becomes shorter than the second threshold TH2 (step S302; Yes), that is, if the degree of approach of the external vehicle 10A to the first target exit space S1 increases, the processor 120 instructs the exit vehicle 10EX to decelerate (step S200). Next, the processor 120 executes the processes associated with the deceleration instruction (steps S202, S204, and S206). If the intrusion or approach does not resolve with just a warning (step S204; No), the process proceeds to step S304.

[0081] In step S304, the processor 120 determines whether the distance D has become shorter than a predetermined third threshold TH3. The third threshold TH3 is set to be smaller than the second threshold TH2. If the distance D is greater than or equal to the third threshold TH3 (step S304; No), the process returns to step S204.

[0082] On the other hand, if the distance D becomes shorter than the third threshold TH3 (step S304; Yes), that is, if the degree of approach of the external vehicle 10A to the first target exit space S1 increases further, the processor 120 instructs the exit vehicle 10EX, which is currently decelerating, to stop (step S114). Subsequently, the processor 120 executes the processes associated with stopping the vehicle (steps S208, S118, and S120). Note that the condition that the distance D becomes shorter than the third threshold TH3 also holds when the external vehicle 10A enters the first target exit space S1 (i.e., when the distance D becomes zero).

[0083] As with the fourth example described above, the execution of monitoring and countermeasures enables smoother inbound and outbound operations, similar to the first to third examples.

[0084] Furthermore, according to the fourth example, if the second target departure slot S2 can be allocated to the departure vehicle 10EX when the distance D becomes shorter than the first threshold TH1, then the second target departure slot S2 is allocated to the departure vehicle 10EX. Then, if the external vehicle 10A approaches the first target departure slot S1 further without being allocated the second target departure slot S2 (distance D < second threshold TH2), deceleration of the departure vehicle 10EX is performed. This allows appropriate measures to be taken depending on the degree to which the external vehicle 10A approaches the first target departure slot S1. In addition, by prioritizing the allocation of the second target departure slot S2 over deceleration, the decrease in utilization rate caused by the presence of the external vehicle 10A can be effectively suppressed.

[0085] Furthermore, according to the fourth example, when the departing vehicle 10EX is slowing down, the departing vehicle 10EX stops in response to the external vehicle 10A approaching the first target departing space S1 further (distance D < third threshold TH3). This also allows appropriate measures to be taken depending on the degree to which the external vehicle 10A approaches the first target departing space S1.

[0086] 3-5. Example 5 Figure 8 is a flowchart showing the processing related to the countermeasures for the fifth example. The processing in this flowchart differs from the processing shown in the flowchart in Figure 7 in the following respects.

[0087] In Figure 8, after step S102, the process proceeds to step S400. In step S400, the processor 120 detects the external vehicle 10A and determines whether the distance D has become shorter than a predetermined fourth threshold TH4. The fourth threshold TH4 may be the same as, for example, the first threshold TH1 or the second threshold TH2 (see Figure 7).

[0088] If the distance D of the detected external vehicle 10A becomes shorter than the fourth threshold TH4 (step S400; Yes), the processor 120 instructs the exiting vehicle 10EX to decelerate (step S200). The processor 120 then executes the processes associated with the deceleration instruction (steps S202, S204, and S206).

[0089] Furthermore, in Figure 8, if the intrusion or approach is not resolved by warning alone (step S204; No), the process proceeds to step S402. In step S402, the processor 120 determines whether the distance D has become shorter than a predetermined fifth threshold TH5. The fifth threshold TH5 is set to be smaller than the fourth threshold TH4. The fifth threshold TH5 may be the same as, for example, the third threshold TH3 (see Figure 7). If the distance D is greater than or equal to the fifth threshold TH5 (step S402; No), the process returns to step S204.

[0090] On the other hand, if the distance D becomes shorter than the fifth threshold TH5 (step S402; Yes), that is, if the degree of approach of the external vehicle 10A to the first target exit slot S1 increases, the processor 120 instructs the exit vehicle 10EX to stop driving (step S114). Next, the processor 120 performs processing related to the instruction to the external vehicle 10A (step S208). In Figure 8, after step S208, the process proceeds to step S404.

[0091] In step S404, the processor 120 determines whether a predetermined time T has elapsed. This predetermined time T corresponds to the time elapsed since the vehicle 10EX was stopped by the process in step S114.

[0092] If the predetermined time T has not yet elapsed (step S404; No), the process proceeds to step S406. In step S406, the processor 120 uses, for example, the infrastructure sensor 141 to determine whether or not a vacant boarding / alighting slot 6 to 8 (including the first target boarding / alighting slot S1) has become available as a target departure slot.

[0093] If there are no available slots among boarding / alighting slots 6-8 (Step S406; No), the process returns to Step S404. On the other hand, if there is a available slot among boarding / alighting slots 6-8 (Step S406; Yes), the process proceeds to Step S408. In Step S408, the processor 120 determines the available departure slot (any of boarding / alighting slots 6-8) as the target departure slot (first target departure slot S1 or second target departure slot S2). Then, in Step S410, the processor 120 instructs the departure vehicle 10EX to depart to the said target departure slot.

[0094] On the other hand, if a predetermined time T has elapsed without a target departure slot being determined (step S404; Yes), that is, if it is not possible to assign the first target departure slot S1 or the second target departure slot S2 to the departure vehicle 10EX before the predetermined time T has elapsed, the process proceeds to step S412. In step S412, the processor 120 instructs the departure vehicle 10EX to move to a predetermined position P (see Figure 9 described later). Subsequently, if a vacancy becomes available in any of the boarding / alighting slots 6 to 8 (step S414; Yes), the processes of steps S408 and S410 described above are executed.

[0095] Figure 9 is a diagram illustrating a specific example of the predetermined position P shown in Figure 8. The predetermined position P is, for example, the departure start position P1 of the vehicle 10EX. The departure start position P1 is the position of the parking space 4 where the vehicle 10EX was parked.

[0096] Furthermore, the predetermined position P may be a position P2 that does not obstruct the passage of other vehicles 10 for entry and exit, compared to the current stopping position P0 of the exiting vehicle 10EX. Position P2 is determined in advance, for example, by considering the shape of the parking lot 1 that is subject to automatic valet parking, and is stored in the storage device 130 as parking lot map information 160. The current stopping position P0 is the position of the exiting vehicle 10EX that is stopped based on the driving stop instruction in step S114 in Figure 8.

[0097] Alternatively, the predetermined position P may be a position P3 that is closer to one or more candidate outgoing frames than the current stop position P0. In an example shown in FIG. 9, the "one or more candidate outgoing frames" referred to here correspond to the boarding and alighting frames 6 to 8 that can be determined as the first target outgoing frame S1 or the second target outgoing frame S2. Similar to the position P2, the position P3 is also determined in advance in consideration of the shape of the parking lot 1 that is the target of the automated valet parking, and is stored in the storage device 130 as the parking lot map information 160.

[0098] The predetermined position P may be the position P4 of the standby frame. The standby frame is provided in advance separately from the parking frame 4, and the position P4 is stored in the storage device 130 as the parking lot map information 160. Alternatively, the predetermined position P may be the position P5 of the empty parking frame 4.

[0099] Also according to the fifth example described above, by executing the monitoring process and the countermeasure process, smoother incoming and outgoing can be achieved as in the first to fourth examples.

[0100] Further, according to the fifth example, when the deceleration of the outgoing vehicle 10EX is executed in response to the distance D becoming shorter than the fourth threshold value TH4. Then, when the distance D becomes shorter than the fifth threshold value TH5 (<TH4), the outgoing vehicle 10EX is stopped. Thereby, appropriate countermeasures can be taken according to the degree of approach of the external vehicle 10A to the first target outgoing frame S1.

[0101] Also according to the fifth example, if the first target outgoing frame S1 or the second target outgoing frame S2 cannot be assigned to the outgoing vehicle 10EX until a predetermined time T elapses after the outgoing vehicle 10EX is stopped, the processor 120 moves the outgoing vehicle 10EX to the predetermined position P. Thereby, the following effects can be obtained according to each predetermined position P.

[0102] Specifically, if the designated position P is the exit start position P1, the less obstructive position P2, the waiting area position P4, or the available parking space position P5 as illustrated in Figure 9, the following effects can be obtained. That is, if the exit vehicle 10EX stops for a long time at the unintended current stopping position P0 due to the presence of an external vehicle 10A, depending on the current stopping position P0 and the congestion in the parking lot 1, it may hinder the smooth entry and exit of other vehicles 10. In contrast, positions P1, P2, P4, or P5 allow the exit vehicle 10EX to be moved to a more suitable location from the perspective of managing the smooth entry and exit of the entire parking lot 1, including other vehicles 10. In addition, positions P1, P4, or P5 can more reliably prevent obstruction of the passage of other vehicles 10 compared to position P2. Furthermore, while position P4 requires space that is not used as a parking space 4, it has the advantage of not hindering the entry of other vehicles 10 compared to positions P1 and P5. Furthermore, if position P5 is closer to the target delivery slot (S1 or S2) than the delivery start position P1, selecting position P5 instead of the delivery start position P1 is preferable for user X because it shortens the delivery time after restarting.

[0103] On the other hand, if the predetermined position P is position P3 as illustrated in Figure 9 (a position closer to the candidate exiting space compared to the current stopping position P0), the following effects can be obtained. That is, when the exiting vehicle 10EX can resume exiting, the exiting vehicle 10EX can be exited more quickly compared to the example where the exiting start position P1 is used as the predetermined position P. In addition, position P3 may be determined not only to be closer to the candidate exiting space compared to the current stopping position P0, but also to be a position that does not obstruct the passage of other vehicles 10 compared to the current stopping position P0.

[0104] In addition, in the process shown in Figure 8, if the distance D becomes shorter than the fifth threshold TH5 (step S402; Yes), the processes related to rerouting (steps S108-S112) may be executed instead of the processes related to stopping the outgoing vehicle 10EX (steps S114 and S208). If rerouting is not possible (step S108; No), the process may proceed to the processes related to stopping (steps S114 and S208).

[0105] Furthermore, the processes in steps S404 to S414 in Figure 8 may be executed in place of the processes in steps S118 and S120 in the flowcharts of Figures 4, 5, 6, or 7 described above. [Explanation of symbols]

[0106] 1 Parking lot, 2 Drop-off / pick-up area, 4 Parking spaces, 6-8 Drop-off / pick-up spaces, 10 Vehicles, 10A External vehicles (entering vehicles), 10EX Exiting vehicles, 10P Parked vehicles, 100 Automatic Valet Parking (AVP) management system, 110 Communication device, 120 Processor, 130 Storage device, 140, 141 Infrastructure sensors, 150 Management program, 160 Parking lot map information, 170 Parking lot usage information, 180 Vehicle management information, 190 Display device, 200 User terminals

Claims

1. An automated valet parking management system for managing automated valet parking in a parking lot, A recognition sensor that recognizes the surrounding conditions of the aforementioned parking lot, One or more processors, Equipped with, The one or more processors described above are: A sorting process that assigns a first target exit slot to a vehicle exiting the aforementioned parking lot, After the allocation of the first target exit space, a monitoring process is performed using the recognition sensor to detect the intrusion or approach of an external vehicle into or to the first target exit space from outside the parking lot, If the monitoring process detects the intrusion or approach, the countermeasures include assigning a second target exit slot to the exiting vehicle, or slowing down or stopping the exiting vehicle while it is exiting to the first target exit slot. It is configured to execute An automated valet parking management system characterized by the following features.

2. In the countermeasure processing described above, the one or more processors Determine whether or not the second target departure slot can be allocated to the vehicle being dispatched. If the second target departure slot is available, the process of moving the vehicle toward the second target departure slot will take precedence over slowing down or stopping the vehicle. The automated valet parking management system according to feature 1.

3. In the countermeasure process described above, if the second target departure slot is not available, the one or more processors stop the departure vehicle. The automated valet parking management system according to feature 2.

4. In the countermeasure processing described above, the one or more processors If the distance of the external vehicle to the first target exit slot becomes shorter than the first threshold, and if the second target exit slot is available, the second target exit slot is assigned to the exiting vehicle. If the distance becomes shorter than the second threshold (which is less than the first threshold) without being able to allocate the second target departure slot, the vehicle departing will be decelerated. The automated valet parking management system according to feature 1.

5. In the countermeasure process described above, the one or more processors stop the vehicle departing the depot when the distance becomes shorter than a third threshold, which is less than the second threshold. The automated valet parking management system according to feature 4.

6. In the countermeasure processing described above, the one or more processors In response to the distance of the external vehicle to the first target exit slot becoming shorter than the fourth threshold, the exiting vehicle is decelerated. In response to the aforementioned distance becoming shorter than a fifth threshold which is smaller than the fourth threshold, the vehicle departing the depot is stopped. The automated valet parking management system according to feature 1.

7. In the countermeasure process described above, if it is not possible to assign the first or second target parking space to the vehicle within a predetermined time after the vehicle has been stopped, the one or more processors move the vehicle to the vehicle's departure start position, a position that does not obstruct the passage of other vehicles compared to the vehicle's current stopping position, a position that is closer to one or more candidate parking spaces compared to the vehicle's current stopping position, a waiting space, or an available parking space. The automated valet parking management system according to feature 1.

8. An automated valet parking management method, which is performed by a computer and manages automated valet parking in a parking lot, A sorting process that assigns a first target exit slot to a vehicle exiting the aforementioned parking lot, After the allocation of the first target exit space, a monitoring process is performed to detect the intrusion or approach of an external vehicle into the first target exit space from outside the parking lot using a recognition sensor that recognizes the surrounding conditions of the parking lot. If the monitoring process detects the intrusion or approach, the countermeasures include assigning a second target exit slot to the exiting vehicle, or slowing down or stopping the exiting vehicle while it is exiting to the first target exit slot. including An automated valet parking management method characterized by the following features.

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