JP2023145040A - Automatic valley parking system - Google Patents

Abstract

To turn on a power source of a vehicle at an arbitrary timing from a parking lot control device side even after initial automatic valley parking of the vehicle is completed.SOLUTION: In an automatic valley parking system of an embodiment, a parking lot control device is configured to, when receiving instruction information from an operation terminal in which an instruction operation of automatic valley parking of an object vehicle is performed by a user or even when not receiving the instruction information form the operation terminal, transmit a temporary key-issue request including vehicle information on the object vehicle, and user information to a vehicle server by a prescribed trigger. A vehicle server is configured to, when receiving the temporary key-issue request, collate the vehicle information with the user information, and transmit the temporary key to a parking lot control device when a collation result is GOOG. The parking lot control device is configured to, after receiving the temporary key, transmit a power source ON instruction to the object vehicle using the temporary key, and implement prescribed remote control to the object vehicle having the power source turned ON.SELECTED DRAWING: Figure 2

Description

Embodiments of the present invention relate to automated valet parking systems.

2. Description of the Related Art In recent years, automatic valet parking systems have been developed in parking lots that control vehicles to automatically travel (including semi-automatically) to a target point such as an empty parking space.

At that time, it is necessary to transfer operating authority from the vehicle owner when leaving the vehicle at the automatic valet parking lot, but instead of entrusting the physical key, the electronic key (hereinafter referred to as "key", "key information" ) is used to realize delegation of authority. By using key information, it is possible to electronically temporarily start and stop the vehicle by remote control via communication.

For example, a passenger gets off the vehicle at a drop-off location in a parking lot, and the power of the vehicle is turned off. When performing automatic valet parking control for the vehicle, the parking lot control device transmits key information to the vehicle, turns on the power, and then performs automatic valet parking control.

JP2019-35220A

However, in the above-mentioned conventional technology, after the initial automatic valet parking is completed, it is necessary to turn on the power of the vehicle when changing the parking location of the vehicle or performing automatic charging of the vehicle. However, there is no mention of that method, so I cannot respond.

Therefore, one of the challenges of the embodiment is to create an automatic valet parking system that allows the parking lot control device to turn on the power of the vehicle at any time even after the first automatic valet parking of the vehicle is completed. It is to provide.

The automatic valet parking system of the embodiment includes a parking lot control device that executes automatic valet parking in which a vehicle automatically travels in a parking lot and parks in an empty parking space, and vehicle information that is information about the vehicle and information about the user of the vehicle. A vehicle server that manages user information that is information. The parking lot control device performs a predetermined process even if the instruction information is received from the operation terminal where the user performed the instruction operation for automatic valet parking of the target vehicle, or even when the instruction information is not received from the operation terminal. In response to a trigger, a temporary key issuance request including vehicle information and user information regarding the target vehicle is transmitted to the vehicle server. When the vehicle server receives the temporary key issue request, the vehicle server collates the vehicle information and the user information, and if the collation result is favorable, transmits the temporary key to the parking lot control device. After receiving the temporary key, the parking lot control device transmits a power-on command to the target vehicle using the temporary key, and performs a predetermined remote control on the powered-on target vehicle. .
As a result, for example, even after the first automatic valet parking of the target vehicle has been completed, when changing the parking location of the target vehicle or automatically charging the target vehicle, the temporary key can be used from the parking lot control device side. You can turn on the power of the target vehicle.

Moreover, the automatic valet parking system of the embodiment further includes a parking lot server that is arranged between the parking lot control device and the vehicle server and manages information regarding the parking lot. The parking lot control device and the vehicle server communicate information via the parking lot server.
As a result, for example, if there are multiple parking lots and a parking lot control device is installed for each parking lot, the information from the multiple parking lot control devices can be collected on the parking lot server and sent to the vehicle server. can be sent to.

Further, in the automatic valet parking system of the embodiment, when the parking lot control device receives a power-on failure notification from the target vehicle, it transmits the failure notification to the operation terminal.
With this, for example, by transmitting and displaying a power-on failure notification on the operation terminal, the user can be informed of the failure and take countermeasures.

FIG. 1 is a diagram schematically showing the overall configuration of an automatic valet parking system according to an embodiment. FIG. 2 is a sequence diagram showing the flow of the third process performed by each device of the embodiment. FIG. 3 is a sequence diagram showing the flow of the fourth process performed by each device of the embodiment. FIG. 4 is a diagram schematically showing the overall configuration of a modified automatic valet parking system.

Exemplary embodiments of the invention are disclosed below. The configurations of the embodiments shown below, as well as the actions, results, and effects brought about by the configurations, are examples. The present invention can be realized with configurations other than those disclosed in the embodiments below, and at least one of various effects and derivative effects based on the basic configuration can be obtained.

FIG. 1 is a diagram schematically showing the overall configuration of an automatic valet parking system S according to an embodiment. The automatic valet parking system S is a system that performs control such that the vehicle 1 to be controlled automatically travels (including semi-automatically) to a target point such as an empty parking space in the parking lot P.

There are two types of vehicles existing in the parking lot P: a controlled vehicle 1 and a non-controlled vehicle (not shown). The target vehicle 1 is a vehicle controlled by instruction information from the parking lot control device 5. The target vehicle 1 is a mobile body equipped with an automatic driving function, and its specific configuration is not particularly limited. (e.g., automobiles, fuel cell automobiles, etc.), and automobiles using both of these as drive sources (hybrid automobiles). A non-target vehicle is a vehicle that is not under the control of the automatic valet parking system S, and is, for example, a manually operated vehicle or an automatically operated vehicle that is unrelated to the automatic valet parking system S.

Automatic driving realized by controlling the target vehicle 1 includes, for example, automatic parking and automatic parking. Automatic parking means that after the occupant (user) gets off the target vehicle 1 at the drop-off location in the parking lot P, the target vehicle 1 that has stopped at the drop-off location automatically moves from the drop-off location to an empty parking space in accordance with a predetermined instruction. This refers to self-driving cars that move and park. In addition, automatic parking refers to automatic driving in which after automatic parking is completed, the target vehicle 1 that has stopped in the parking space exits the parking space in response to a predetermined call, automatically moves from the parking space to the boarding location, and stops. be.

The vehicle control device 11 is an information processing device that is installed in the target vehicle 1 and performs various processes for realizing automatic travel of the target vehicle 1 based on instruction information received from the parking lot control device 5. The vehicle control device 11 causes the target vehicle 1 to travel automatically in cooperation with the traveling mechanism (braking system, acceleration system, steering system, transmission system, etc.) of the target vehicle 1.

Further, the vehicle control device 11 transmits vehicle information regarding the target vehicle 1 to the parking lot control device 5. The vehicle information includes, for example, an identification number that identifies the target vehicle 1, position information that identifies the current location of the target vehicle 1, and the like. The vehicle control device 11 transmits vehicle information to the parking lot control device 5 at predetermined time intervals, so that the parking lot control device 5 can grasp the accurate current position of the target vehicle 1.

Further, the vehicle control device 11 can communicate with the vehicle server 3 and the parking lot control device 5. When the vehicle control device 11 receives a power-on command using a temporary key from the parking lot control device 5, it turns on the power of the target vehicle 1, and when it receives a power-off command using the temporary key, it turns off the power of the target vehicle 1. Make it. Regarding turning the power on and off, the case where the power is turned on will be mainly described below, but the same applies to the case where the power is turned off.

The user terminal 2 (an example of an operating terminal) is an information processing device used by the occupant of the target vehicle 1, and is, for example, a smartphone, a tablet terminal, or the like. The user terminal 2 notifies the parking lot control device 5 of input/exit instructions for the target vehicle 1, reservation information, etc. based on the operation by the occupant.

The automatic valet parking system S includes a local control system LS and a global control system GS. The local control system LS includes a parking lot control device 5 and infrastructure equipment 6.

The infrastructure equipment 6 includes a surveillance camera 61, an entry/exit gate 62, and a display device 63.

The surveillance camera 61 images the inside of the parking lot P. The surveillance camera 61 captures images of, for example, vehicles traveling on a travel path, pedestrians walking in the parking lot P, buildings provided in the parking lot P, and the like.

The entrance/exit gate 62 is installed at the entrance/exit position of the parking lot P, and is equipped with an opening/closing bar, a sensor (ultrasonic detector, laser radar, etc.) that detects when a vehicle approaches or passes, a parking ticket issuing machine, etc. Equipped with.

The display devices 63 are installed at various locations in the parking lot P and display various information such as whether the vehicle can proceed or not.

Note that the infrastructure equipment 6 is not limited to these, and includes, for example, sensors that detect the usage status of each parking space, and sensors that detect obstacles (vehicles, pedestrians, falling objects, etc.) based on images captured by the surveillance camera 61. It may include an information processing device that recognizes type, position, size, moving direction, moving speed, moving acceleration, etc.

The parking lot control device 5 is a computer device that executes various processes related to management and control of the parking lot P and infrastructure equipment 6. The parking lot control device 5 executes, for example, automatic valet parking in which the target vehicle 1 is automatically driven in the parking lot P and parked in an empty parking space. Specifically, it is as follows.

For example, the parking lot control device 5 calculates a travel plan for automatically driving the target vehicle 1 based on the entry/exit instructions and reservation information for the target vehicle 1 received from the user terminal 2, and issues instructions based on the travel plan. Information is generated and instruction information is transmitted to the vehicle control device 11 mounted on the target vehicle 1.

Furthermore, the parking lot control device 5 creates a travel plan corresponding to the target vehicle 1 based on vehicle information including position information regarding the target vehicle 1, obstacle information acquired from the infrastructure equipment 6, map information regarding the parking lot P, etc. calculate. The map information is information indicating the topographical characteristics of the parking lot P, and includes information indicating, for example, the distance of a straight road on the driving path, the curvature of a curved road, road width, slope, etc. The instruction information includes, for example, the travel route of the target vehicle 1 to be controlled, the upper limit speed when traveling on the travel route, and the like.

The parking lot control device 5 includes, as a hardware configuration, a CPU (Central Processing Unit), a ROM (Read Only Memory), a RAM (Random Access Memory), a communication device, an input/output device, a storage, and the like.

The CPU is a hardware processor that controls the parking lot control device 5 in an integrated manner. The CPU reads various control programs (operation system, application programs, firmware, etc.) stored in the ROM or storage, and executes predetermined arithmetic processing. The ROM is a non-volatile main storage device, and stores parameters and the like necessary for executing various processes in addition to control programs. RAM is a volatile main memory that operates as a work area for the CPU.

The communication device is an interface that communicates with other devices (infrastructure equipment 6, parking lot server 4, user terminal 2, target vehicle 1, etc.). The communication device communicates with the parking lot server 4 via, for example, an Internet line. Further, the communication device performs wireless communication with the target vehicle 1 and the user terminal 2, for example, using a cellular network (for example, LTE (Long Term Evolution)).

The input/output device is a user interface that allows receiving input operations from an operator and outputting information to the operator. The input/output device may be, for example, a keyboard, mouse, touch panel, microphone, display, speaker, or the like.

The storage (storage unit 51) is a rewritable nonvolatile auxiliary storage device. The storage is, for example, an SSD (Solid State Drive), an HDD (Hard Disk Drive), or the like.

The storage unit 51 stores various information. The storage unit 51 stores, for example, parking lot vehicle information 52. The parking lot vehicle information 52 includes identification information regarding vehicles in the parking lot P, entry/exit history information, and the like.

When the parking lot control device 5 receives instruction information from the user terminal 2 where the user has performed an instruction operation for automatic valet parking of the target vehicle 1, or even when no instruction information is received from the user terminal 2, , a temporary key issuance request including vehicle information and user information regarding the target vehicle 1 is transmitted to the vehicle server 3.

Here, the temporary key is key information whose number of uses and time are limited. As a temporary key, for example, key information that is valid only once and within 10 minutes from issuance can be considered, but the number of times and time is not limited to this.

The global control system GS includes a vehicle server 3 and a parking lot server 4.

The vehicle server 3 is, for example, a computer device operated by a vehicle manufacturer, and holds various information regarding vehicles (including the target vehicle 1). The vehicle server 3 includes a storage section 31. The storage unit 31 stores (manages) vehicle information 32, which is vehicle information (identification information, etc.), and user information 33, which is vehicle user information (identification information, etc.).

Further, when the vehicle server 3 receives a temporary key issue request from the parking lot control device 5 via the parking lot server 4, the vehicle server 3 stores the vehicle information 32 in the storage unit 31 regarding the vehicle information and user information included in the temporary key issue request. and the user information 33. If the verification result is good, the vehicle server 3 transmits a temporary key to the parking lot control device 5 via the parking lot server 4.

Further, after receiving the temporary key from the vehicle server 3 via the parking lot server 4, the parking lot control device 5 transmits a power-on command to the target vehicle 1 using the temporary key. The target vehicle 1 that has received the power-on command is powered on by the vehicle control device 11, and is subjected to predetermined remote control (automatic valet parking control, control to move the parking location, automatic charging control, etc.) by the parking lot control device 5. becomes possible. The parking lot control device 5 performs a predetermined remote control on the target vehicle 1 whose power is turned on.

Further, when the parking lot control device 5 receives a power-on failure notification from the target vehicle 1 after transmitting a power-on command to the target vehicle 1 using the temporary key, the parking lot control device 5 transmits a failure notification to the user terminal 2, Display power-on failure.

The parking lot server 4 is a computer device operated by the management company of the parking lot P, and is arranged between the parking lot control device 5 and the vehicle server 3. That is, the parking lot control device 5 and the vehicle server 3 communicate information via the parking lot server 4. Note that the vehicle server 3 communicates with the parking lot server 4 via, for example, an Internet line. Further, the vehicle server 3 performs wireless communication with the user terminal 2 and the target vehicle 1, for example, via a cellular network.

The parking lot server 4 includes a storage unit 41. The storage unit 41 stores various information. The storage unit 41 stores (manages) parking lot information 42, which is, for example, various information regarding the parking lot P (AVP (Automated Valet Parking) parking lot information, availability information, cost information, etc.).

The processing flow of each of these devices will be explained with reference to FIG. 2. FIG. 2 is a sequence diagram showing the flow of first processing by each device of the embodiment.

First, in step S31, the user terminal 2 transmits an automatic valet parking instruction including user information to the parking lot control device 5 when the user performs an instruction operation for automatic valet parking of the target vehicle 1.

Next, in step S32, the parking lot control device 5 acquires user information included in the received automatic valet parking instruction.

Next, in step S33, the parking lot control device 5 acquires vehicle information by, for example, a vehicle number reading process based on an image taken by the surveillance camera 61. Note that if the automatic valet parking instruction includes vehicle information, that vehicle information may be acquired.

Next, in step S34, the parking lot control device 5 transmits a temporary key issuance request including vehicle information and user information regarding the target vehicle 1 to the vehicle server 3 via the parking lot server 4.

Next, in step S35, the vehicle server 3 collates the vehicle information and user information included in the temporary key issue request using the vehicle information 32 and user information 33 in the storage unit 31. Here, it is assumed that the matching result is good.

Next, in step S36, the vehicle server 3 transmits the temporary key to the parking lot control device 5 via the parking lot server 4.

Next, in step S37, the parking lot control device 5 transmits a power-on command to the target vehicle 1 using the temporary key.

Next, in step S38, the target vehicle 1 that has received the power-on command is powered on by the vehicle control device 11, and becomes in a state where automatic valet parking control and the like by the parking lot control device 5 are possible.

Next, in step S39, the parking lot control device 5 controls the target vehicle 1, which is powered on, to perform automatic valet parking.

In the example of FIG. 2, the parking lot control device 5 is assumed to receive an automatic valet parking instruction from the user terminal 2. Even if the parking lot control device 5 has not received an automatic valet parking instruction from the user terminal 2, the parking lot control device 5 transmits a temporary key issuance request including vehicle information and user information regarding the target vehicle 1 to the vehicle server 3 by a predetermined trigger. do. Possible scenarios include, for example, a scene in which the target vehicle 1 is moved to another parking space after obtaining permission from the user in advance, and a scene in which the target vehicle 1 is charged. This will be explained with reference to FIG.

FIG. 3 is a sequence diagram showing the flow of second processing by each device of the embodiment. First, in step S41, the parking lot control device 5 receives a predetermined trigger (for example, an instruction input when moving the target vehicle 1 to another parking space or charging the target vehicle 1). shall be taken as a thing.

Steps S42 to S46 are similar to steps S34 to S38 in FIG. 2.

After step S46, in step S47, the parking lot control device 5 performs predetermined control (movement control to another parking space, charging control, etc.) for the target vehicle 1 that is powered on.

In this way, according to the automatic valet parking system S of the embodiment, even after the first automatic valet parking of the target vehicle 1 is completed, the target vehicle can be parked at any timing using the temporary key from the parking lot control device 5 side. 1 can be turned on and predetermined remote control can be performed. The temporary key can reduce the risk of vehicle theft because the number of times and time of use are limited.

Note that the device with which the user instructs automatic valet parking for the target vehicle 1 is not limited to the user terminal 2, and may also be an operating terminal (not shown) installed in the parking lot P, for example.

Moreover, when the parking lot control device 5 receives a power-on failure notification from the target vehicle 1, it transmits the failure notification to the user terminal 2, and displays the power-on failure. This allows the user to know this and take countermeasures.

Furthermore, the information communication between the vehicle server 3 and the parking lot control device 5 goes through the parking lot server 4, so that the following effects are achieved. First, when there are multiple parking lots and a parking lot control device 5 is arranged for each parking lot, information from the plurality of parking lot control devices 5 is collected by the parking lot server 4 and sent to the vehicle server. Can be sent to 3. This makes processing and data management more efficient. Moreover, since the parking lot server 4 can perform parking lot cost processing and the like for the target vehicle 1 in conjunction with automatic valet parking by the parking lot control device 5, processing, data management, etc. can be made more efficient.

(Modified example)
Next, a modification will be explained. FIG. 4 is a diagram schematically showing the overall configuration of a modified automatic valet parking system S. In the modified example, when information communication is performed between the vehicle server 3 and the parking lot control device 5, the parking lot server 4 is not used. Even in this case, compared to the case of the above-described embodiment, there are unique effects (such as the above-mentioned processing and data management) due to the information communication between the vehicle server 3 and the parking lot control device 5 going through the parking lot server 4. It is possible to similarly obtain effects other than (increased efficiency). Furthermore, in FIG. 4, the parking lot server 4 exists and does not relay communication between the vehicle server 3 and the parking lot control device 5, but the parking lot server 4 may not exist.

Although the embodiments of the present invention have been illustrated above, the above embodiments and modifications are merely examples and are not intended to limit the scope of the invention. The embodiments and modifications described above can be implemented in various other forms, and various omissions, substitutions, combinations, and changes can be made without departing from the gist of the invention. Furthermore, the configurations and shapes of each embodiment and each modification can be partially replaced.

1...Target vehicle, 2...User terminal, 3...Vehicle server, 4...Parking lot server, 5...Parking lot control device, 6...Infrastructure equipment, 11...Vehicle control device, 31...Storage unit, 32...Vehicle information, 33 ...User information, 41...Storage unit, 42...Parking lot information, 51...Storage unit, 52...Parking lot vehicle information, 61...Surveillance camera, 62...Enter/exit gate, 63...Display device, GS...Global control system, LS …Local control system, S…Automatic valet parking system

Claims (3)

A parking lot control device that executes automatic valet parking in which a vehicle automatically travels in a parking lot and parks in an empty parking space, and a vehicle that manages vehicle information that is information about the vehicle and user information that is information about the user of the vehicle. An automatic valet parking system comprising a server,
The parking lot control device performs a predetermined process even if the instruction information is received from the operation terminal where the user performed the instruction operation for automatic valet parking of the target vehicle, or even when the instruction information is not received from the operation terminal. In response to a trigger, transmitting a temporary key issuance request including vehicle information and user information regarding the target vehicle to the vehicle server;
When the vehicle server receives the temporary key issue request, the vehicle server collates the vehicle information and the user information, and if the collation result is good, transmits the temporary key to the parking lot control device,
After receiving the temporary key, the parking lot control device transmits a power-on command to the target vehicle using the temporary key, and performs a predetermined remote control on the powered-on target vehicle. , automatic valet parking system. further comprising a parking lot server disposed between the parking lot control device and the vehicle server and managing information regarding the parking lot,
The automatic valet parking system according to claim 1, wherein the parking lot control device and the vehicle server communicate information via the parking lot server. The automatic valet parking system according to claim 1, wherein when the parking lot control device receives a power-on failure notification from the target vehicle, it transmits the failure notification to the operation terminal.

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