JP6785582B2 - Self-driving parking system - Google Patents

Description

The present invention relates to an autonomous driving parking system.

In general, with the spread of automobiles, it is difficult to secure parking lot sites, especially in urban areas, so construction of commercial mechanical parking devices is underway, and large-scale condominiums, etc. Construction of ancillary mechanical parking devices is also underway.

However, in the case of a mechanical parking device, it is necessary for the vehicle to enter a narrow parking space and stop accurately at a determined position, so a driver who is unfamiliar or unconfident in driving, especially for beginners and the elderly. It has been pointed out that there is a problem that it is difficult for the driver to get in and the tension is forced. In addition, since the driver enters the parking space of the mechanical parking device for parking, it is necessary to take accident prevention measures accordingly.

In order to deal with these problems, for example, a patent indicates the general technical level of a parking device that allows a driver to automatically park a vehicle in a mechanical parking device simply by abandoning the self-driving car. There is Document 1.

Japanese Patent No. 5551410

However, in the parking device disclosed in Patent Document 1, a turntable for controlling the attitude of the vehicle is installed in front of the entrance / exit of the mechanical parking device, and the front / rear, position, orientation, and size of the vehicle are large. It was necessary to deploy a vehicle measuring device to detect the parking, which had the disadvantage of incurring extra installation costs. Further, the occupant must move the vehicle to the position of the turntable. For example, when the parking device disclosed in Patent Document 1 is applied to an apartment house or the like, after getting off, the occupant of the apartment house It was necessary to walk back to the entrance of the building, which was inconvenient especially on rainy days.

On the other hand, in facilities such as hotels and restaurants, there is also a system called valet parking. Valet parking is a service that allows you to park your vehicle just by leaving it to the person in charge, and the person in charge will transport the vehicle to the entrance when you go out or return home. However, valet parking requires a specialized porter, labor costs are high, and it cannot be said that it is practical to adopt it for apartments and the like.

The present invention has been made in view of the above-mentioned conventional problems, and does not require a turntable or a vehicle measuring device for attitude control, does not require human intervention, does not require labor costs, and reduces overall costs. It is intended to provide an automatic driving parking system that can be achieved and can greatly improve the convenience of occupants.

The present invention includes an autonomous driving vehicle that can automatically travel without the involvement of an occupant and a mechanical parking device.
The self-driving car that the occupant got off at the boarding / alighting place is automatically driven and stored in the mechanical parking device, while the self-driving car that was released from the mechanical parking device is automatically driven and stopped at the boarding / alighting place so that the occupant can board. configured,
The self-driving car includes a vehicle-side communication device and a vehicle-side control device having a driving controller for automatically traveling the vehicle.
The mechanical parking device includes an external communication device that wirelessly communicates with the vehicle-side communication device of the vehicle-side control device, and a receiving-side control device having an arithmetic controller.
The arithmetic controller of the receiving side control device is
At the time of warehousing, based on the warehousing start command notified by the occupants, the travel route from the boarding / alighting place to the front of the mechanical parking device is transmitted to the operation controller of the vehicle side control device via the external communication device, and when the warehousing preparation is completed. Parking that opens the entry / exit door and transmits a warehousing permission command to the operation controller of the vehicle side control device via an external communication device, and is transmitted from the operation controller of the vehicle side control device via the vehicle side communication device. While receiving the completion command and closing the entrance / exit door,
Based on the warehousing start command notified by the occupants at the time of warehousing, the autonomous driving vehicle to be warehousing is transported to the entry / exit position, and the traveling route from the front of the mechanical parking device to the boarding / alighting place is set on the vehicle side via an external communication device. Along with transmitting to the operation controller of the control device, the entry / exit door is opened and the exit permission command is transmitted to the operation controller of the vehicle side control device via the external communication device, and the autonomous vehicle enters after leaving the garage. It is configured to close the exit door,
A temporary stop location where the autonomous vehicle stands by is set in front of the mechanical parking device.
The arithmetic controller of the receiving side control device transmits a standby command for making the autonomous driving vehicle stand by at a temporary stop location when entering and leaving another autonomous vehicle to the operation controller of the vehicle side control device via an external communication device. It concerns self-driving parking systems that are configured to do so .

Furthermore, in the autonomous driving parking system, it is preferable that the autonomous driving vehicle is an electric vehicle and the mechanical parking device is provided with a charging device in the parking area of the electric vehicle.

Further, in the automatic driving parking system, it is preferable that the boarding / alighting place is in front of the entrance of the apartment house.

According to the automatic driving parking system of the present invention, there is no need for a turntable or a vehicle measuring device for attitude control, no human intervention is required, no labor cost is required, the overall cost can be reduced, and the occupant's It can have an excellent effect that the convenience can be greatly improved.

It is an overall outline block diagram which shows the Example of the automatic driving parking system of this invention. It is a top view which shows the operation at the time of warehousing in the Example of the automatic operation parking system of this invention. It is a top view which shows the operation at the time of delivery in the Example of the automatic operation parking system of this invention. It is a flowchart which shows the operation at the time of warehousing in the Example of the automatic operation parking system of this invention. It is a flowchart which shows the operation at the time of delivery in the Example of the automatic operation parking system of this invention. It is a top view which shows the operation when another self-driving car is warehousing at the time of warehousing in the Example of the self-driving parking system of this invention. It is a top view which shows the operation when another self-driving car is at the boarding / alighting place at the time of leaving the garage in the embodiment of the self-driving parking system of this invention. It is a top view which shows the operation when another self-driving car is leaving the garage at the time of warehousing in the Example of the self-driving parking system of this invention. It is a top view which shows the operation when another self-driving car is in the middle of a traveling path at the time of leaving the garage in the embodiment of the self-driving parking system of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

1 to 5 are examples of the automatic driving parking system of the present invention.

The self-driving parking system in the present embodiment includes a self-driving car 1 that can automatically travel without the involvement of occupants and a mechanical parking device 2, and is a building 3 (for example, a large-scale condominium (for example, a large-scale condominium)) The self-driving car 1 that the occupants got off in front of the entrance 4 of the apartment), etc.) is automatically driven and stored in the mechanical parking device 2, while the self-driving car 1 that is released from the mechanical parking device 2 is automatically driven. It is configured to stop in front of the entrance 4 (boarding / alighting place) of the building 3 so that the occupants can board.

The self-driving car 1 includes a vehicle-side control device 5 having a vehicle-side communication device 5A and a driving controller 5B for automatically traveling the vehicle. The vehicle-side communication device 5A of the vehicle-side control device 5 is a communication device capable of wireless communication with the outside, such as GPS (Global Positioning System) and ETC (Electronic Toll Collection System).

The mechanical parking device 2 includes an external communication device 6A that wirelessly communicates with the vehicle-side communication device 5A of the vehicle-side control device 5, and a receiving-side control device 6 having an arithmetic controller 6B.

FIG. 1 shows information communication between a smartphone 7 as an information terminal owned by a user (occupant), a vehicle-side communication device 5A of the autonomous driving vehicle 1, and an external communication device 6A of the mechanical parking device 2. Is shown as an example in which the data centers 8 are aggregated and controlled. However, it is also possible to directly perform information communication between the smartphone 7, the vehicle-side communication device 5A, and the external communication device 6A without going through the data center 8.

The self-driving car 1 can be an electric vehicle. In this case, the driving controller 5B of the vehicle-side control device 5 includes an electric start switch (not shown), a control circuit switch, and a vehicle-side control device 5. It is provided with an authentication granting function that certifies that the vehicle is automatically driven and parked by the authentication code or the like exchanged in advance with the vehicle. Further, it is preferable that the mechanical parking device 2 is provided with a non-contact charging device 9 (see FIG. 1) as a charging device in the parking area of the electric vehicle. Incidentally, the charging device may be a robot arm charging device 9'in which the robot arm determines the charging port of the autonomous driving vehicle 1 and automatically charges the robot arm. The automatic driving vehicle 1 is not limited to an electric vehicle, and may be a vehicle powered by an internal combustion engine such as a gasoline engine or a diesel engine, or a hybrid vehicle powered by an internal combustion engine and an electric motor. Not to mention the good things.

On the other hand, it goes without saying that the mechanical parking device 2 may be any parking device such as tower parking, elevator parking, and multi-stage parking.

Further, as the building 3, an example of an apartment house such as a condominium is shown, and the place of getting on and off is in front of the entrance 4 of the apartment house, but the place of getting on and off is not limited to the front of the entrance 4 of the apartment house, and the hotel and restaurant. , The entrance of an urban building, condominium, hospital, etc., or the entrance of a suburban shopping center, theme park, etc., which is far from the mechanical parking device 2.

Next, the operation of the above-described embodiment will be described.

First, with reference to FIGS. 2 and 4, the flow at the time of warehousing when the user (crew) is a mother (or father) with an infant will be described in detail.

When the self-driving car 1 driven by the mother arrives in front of the entrance 4 of the building 3 (see step S1 in FIG. 4), the mother gets off the self-driving car 1 as a task of unloading the baby from the self-driving car 1. The stroller is taken out, the baby is unloaded from the self-driving car 1 and placed on the stroller, and the warehousing operation is performed (see step S2 in FIG. 4). This warehousing operation is performed when the mother notifies the warehousing start command C1 from the smartphone 7 (see FIG. 1) (or car navigation) (see step S2-1 in FIG. 4). The mother who has notified the warehousing start command C1 returns home with the baby (see step S3 in FIG. 4).

When the arithmetic controller 6B (see FIG. 1) of the receiving side control device 6 of the mechanical parking device 2 receives the warehousing start command C1 via the external communication device 6A (see step S4 in FIG. 4), it is in front of the entrance 4. The travel path R1 from to in front of the entrance / exit door 2D of the mechanical parking device 2 is transmitted to the operation controller 5B (see FIG. 1) of the vehicle side control device 5 of the autonomous driving vehicle 1 via the external communication device 6A (see FIG. 1). See step S5 in FIG. 4).

The operation controller 5B (see FIG. 1) of the vehicle-side control device 5 of the autonomous driving vehicle 1 receives the warehousing start command C1 via the vehicle-side communication device 5A (see step S6 of FIG. 4), and further travels. Upon receiving the route R1 (see step S7 in FIG. 4), the autonomous driving vehicle 1 starts automatic driving (see step S8 in FIG. 4) and actually automatically travels along the traveling route R1 (see step S8 in FIG. 4). (See step S9), and waits in front of the entrance / exit door 2D (see step S10 in FIG. 4).

During this time, the arithmetic controller 6B of the receiving side control device 6 of the mechanical parking device 2 that received the warehousing start command C1 in step S4 starts an operation of calling the warehousing pallet into the stop space as a mechanical operation (FIG. 4). When the warehousing pallet arrives (see step S12 in FIG. 4), the warehousing / exit door 2D is opened (see step S13 in FIG. 4) and waits in that state (see step S14 in FIG. 4). ), The warehousing permission command C2 is transmitted to the operation controller 5B (see FIG. 1) of the vehicle side control device 5 of the autonomous driving vehicle 1 via the external communication device 6A (see step S15 in FIG. 4).

When the operation controller 5B (see FIG. 1) of the vehicle side control device 5 of the autonomous driving vehicle 1 receives the warehousing permission command C2 via the vehicle side communication device 5A (see step S16 of FIG. 4), the entry is made. The autonomous vehicle 1 waiting in front of the exit door 2D starts automatic driving (see step S17 in FIG. 4), enters the parking space (see step S18 in FIG. 4), and issues a parking completion command C3. Transmission is performed from the operation controller 5B of the vehicle-side control device 5 via the vehicle-side communication device 5A (see FIG. 1) (see step S19 in FIG. 4).

When the arithmetic controller 6B (see FIG. 1) of the receiving side control device 6 of the mechanical parking device 2 receives the parking completion command C3 via the external communication device 6A (see step S20 of FIG. 4), the machine operates. As a result, the entrance / exit door 2D is closed (see step S21 in FIG. 4). As a result, the warehousing of the self-driving car 1 is completed.

Subsequently, with reference to FIGS. 3 and 5, the flow at the time of delivery when the user (occupant) is a mother (or father) with an infant will be described in detail.

The mother makes a reservation operation for delivery in her room (see step S101 in FIG. 5). This delivery reservation operation is performed when the mother notifies the delivery start command C4 from the smartphone 7 (see FIG. 1) (see step S102 in FIG. 5). The mother who has notified the delivery start command C4 moves to the entrance 4 with the baby (see step S103 in FIG. 5).

When the arithmetic controller 6B (see FIG. 1) of the receiving side control device 6 of the mechanical parking device 2 receives the delivery start command C4 via the external communication device 6A (see step S104 of FIG. 5), the machine operation is performed. , The operation of calling the delivery pallet into the stop space is started (see step S105 in FIG. 5), and when the delivery pallet arrives (see step S106 in FIG. 5), the entry / exit door 2D is opened (step S107 in FIG. 5). (Refer to), while waiting in that state (see step S108 in FIG. 5), the traveling route R2 from the front of the entrance / exit door 2D of the mechanical parking device 2 to the front of the entrance 4 and the exit permission command C5 are sent to the external communication device 6A. It is transmitted to the operation controller 5B (see FIG. 1) of the vehicle side control device 5 of the automatic driving vehicle 1 (see step S109 in FIG. 5).

When the operation controller 5B (see FIG. 1) of the vehicle-side control device 5 of the autonomous driving vehicle 1 receives the delivery start command C4 via the vehicle-side communication device 5A (see step S110 of FIG. 5), the autonomous driving vehicle 1 waits until it becomes movable (see step S111 in FIG. 5), and when the driving path R2 and the exit permission command C5 are received by the operation controller 5B (see FIG. 1) of the vehicle-side control device 5 (see FIG. 5). (See step S112 of FIG. 5), the self-driving car 1 starts automatic driving (see step S113 of FIG. 5), and after leaving the garage, actually automatically travels along the traveling path R2 (see step S114 of FIG. 5). Arriving before the entrance 4 (see step S115 in FIG. 5).

The mother who moved to the entrance 4 in step S103 removes the baby from the stroller and puts it on the self-driving car 1, further puts the stroller on the self-driving car 1, and then gets on the self-driving car 1 and takes the baby. Go out (see step S116 in FIG. 5).

The arithmetic controller 6B (see FIG. 1) of the receiving side control device 6 of the mechanical parking device 2 that transmitted the travel path R2 and the exit permission command C5 in step S109 is such that the autonomous driving vehicle 1 is delivered to the stop space. When it is confirmed that there is no self-driving car 1 (see step S117 in FIG. 5), the entrance / exit door 2D is closed as a mechanical operation (see step S118 in FIG. 5). As a result, the delivery of the self-driving car 1 is completed.

As a result, the occupants only have to drop off the self-driving car 1 in front of the entrance 4 of the building 3 at the time of warehousing, and board the self-driving car 1 in front of the entrance 4 of the building 3 at the time of leaving the garage. Since it is not necessary to walk back and forth to the entrance / exit door 2D of the parking device 2, it is very convenient because it does not get wet especially on rainy days.

Moreover, in the case of this embodiment, unlike the parking device disclosed in Patent Document 1, a turntable for controlling the attitude of the vehicle is installed in front of the entrance / exit door 2D of the mechanical parking device 2. At the same time, it is not necessary to deploy a vehicle measuring device for detecting the front / rear, position, orientation, and size of the vehicle, and the installation cost can be suppressed.

On the other hand, compared to Valet Parking, which is used in facilities such as hotels and restaurants, it does not require a specialized porter, labor costs do not increase, and the system of this example is an apartment complex, etc. It will be easier to adopt.

In addition, since people do not enter or leave the mechanical parking device 2 at all, various sensors that have been required in the past are no longer required, leading to further cost reduction.

Furthermore, the occupant can effectively utilize the time without having to wait in front of the mechanical parking device 2.

Further, when the self-driving car 1 is an electric vehicle and the non-contact charging device 9 is provided in the parking area of the electric vehicle in the mechanical parking device 2 as shown in FIG. 1, the electric vehicle is charged non-contact when parked. This is done automatically by the device 9. As a result, the occupant is freed from the act of charging and does not have to worry about the remaining battery level.

In this way, a turntable and a vehicle measuring device for performing attitude control are not required, no human intervention is required, no labor cost is required, the overall cost can be reduced, and the convenience of the occupant can be greatly improved.

In the case of the present embodiment, the autonomous driving vehicle 1 includes a vehicle-side control device 5 having a vehicle-side communication device 5A and a vehicle-side control device 5B for automatically traveling the vehicle, and the mechanical parking device 2 is It includes an external communication device 6A that wirelessly communicates with the vehicle side communication device 5A of the vehicle side control device 5, and a receiving side control device 6 having an arithmetic controller 6B. The arithmetic controller 6B of the receiving side control device 6 sets a traveling path R1 from the front of the entrance 4 to the front of the entrance / exit door 2D of the mechanical parking device 2 based on the warehousing start command C1 notified by the occupant at the time of warehousing. It is transmitted to the operation controller 5B of the vehicle side control device 5 via the external communication device 6A, and when the warehousing preparation is completed, the warehousing / exit door 2D is opened and the warehousing permission command C2 is issued to the vehicle side control device via the external communication device 6A. 5B is transmitted to the operation controller 5B, and the parking completion command C3 transmitted from the operation controller 5B of the vehicle side control device 5 via the vehicle side communication device 5A is received to close the entrance / exit door 2D. Has been done. On the other hand, the arithmetic controller 6B of the receiving side control device 6 transports the autonomous driving vehicle 1 to be delivered to the entry / exit position based on the delivery start command C4 notified by the occupant at the time of delivery, and is a mechanical parking device. The travel path R2 from the front of the entrance / exit door 2D to the front of the entrance 4 of 2 is transmitted to the operation controller 5B of the vehicle side control device 5 via the external communication device 6A, and the entrance / exit door 2D is opened to allow the exit. The command C5 is transmitted to the operation controller 5B of the vehicle side control device 5 via the external communication device 6A, and the entrance / exit door 2D is closed after the automatic driving vehicle 1 leaves the garage. With this configuration, the autonomous driving vehicle 1 is automatically driven along the traveling paths R1 and R2 by wireless communication between the vehicle-side control device 5 and the receiving-side control device 6, and is entered into the mechanical parking device 2. It is possible to accurately issue goods.

Further, in the case of the present embodiment, for example, as shown in FIG. 6, the occupant of the autonomous driving vehicle 1y may have already completed the warehousing operation, and then the occupant of the autonomous driving vehicle 1x may perform the warehousing operation without much interval. is assumed. In this case, a temporary stop place where the autonomous driving vehicle 1x stands by is set in front of the mechanical parking device 2, and the autonomous driving vehicle 1y is warehousing from the arithmetic controller 6B of the receiving side control device 6. A standby command for causing 1x to stand by at the temporary stop location may be configured to be transmitted to the operation controller 5B of the vehicle-side control device 5 via the external communication device 6A.

Furthermore, in the case of this embodiment, for example, as shown in FIG. 7, the occupant of the autonomous driving vehicle 1y has already completed the warehousing operation, and after that, the occupant of the autonomous driving vehicle 1x performs the warehousing operation without much interval. Is also assumed. In this case, as in the example shown in FIG. 6, a temporary stop location where the autonomous driving vehicle 1x stands by is set in front of the mechanical parking device 2, and another automatic operation is performed from the arithmetic controller 6B of the receiving side control device 6. A standby command for the autonomous driving vehicle 1x to stand by at the temporary stop location while getting on and off in front of the entrance 4 of the occupant for the driving vehicle 1y is transmitted to the operation controller 5B of the vehicle side control device 5 via the external communication device 6A. It should be configured.

Further, in the case of the present embodiment, for example, as shown in FIG. 8, it is assumed that the warehousing operation by the occupant of the autonomous driving vehicle 1x and the warehousing operation by the occupant of the autonomous driving vehicle 1y are performed in substantially the same manner. In this case, as in the examples shown in FIGS. 6 and 7, a temporary stop location where the autonomous driving vehicle 1x stands by is set in front of the mechanical parking device 2, and the arithmetic controller 6B of the receiving side control device 6 is used. A standby command for causing the autonomous driving vehicle 1x to stand by at the temporary stop location when the other autonomous driving vehicle 1y is delivered may be transmitted to the operation controller 5B of the vehicle side control device 5 via the external communication device 6A.

Furthermore, in the case of this embodiment, for example, as shown in FIG. 9, it is assumed that the occupant of the autonomous driving vehicle 1y takes a long time to load and unload the luggage, and the occupant of the autonomous driving vehicle 1x performs the warehousing operation during this period. In this case, as in the examples shown in FIGS. 6, 7, and 8, a temporary stop location where the autonomous driving vehicle 1x stands by is set in front of the mechanical parking device 2, and the arithmetic controller of the receiving side control device 6 is set. From 6B, a standby command for making the autonomous driving vehicle 1x stand by at a temporary stop location while traveling in the middle of the traveling route of the other autonomous driving vehicle 1y is issued to the operation controller 5B of the vehicle side control device 5 via the external communication device 6A. It may be configured to send to.

As described above, in FIGS. 6, 7, 8 and 9, a temporary stop place where the autonomous driving vehicle 1x stands by is set in front of the mechanical parking device 2, and the arithmetic controller of the receiving side control device 6 is set. The 6B is configured to transmit a standby command for making the autonomous driving vehicle 1x stand by at a temporary stop location when the other autonomous driving vehicle 1y enters and exits the operation controller 5B of the vehicle side control device 5 via the external communication device 6A. Has been done. With this configuration, it is effective in smoothly advancing the warehousing / delivery of a plurality of autonomous vehicles 1 (in the example of the figure, the autonomous vehicle 1x and the autonomous vehicle 1y).

Further, in the case of this embodiment, the arithmetic controller 6B of the receiving side control device 6 issues a traveling route change command for changing the traveling route of the autonomous driving vehicle 1x at the time of entering and leaving the other autonomous driving vehicle 1y, as an external communication device. It can also be configured to transmit to the operation controller 5B of the vehicle side control device 5 via 6A. With this configuration, it is possible to allow the autonomous driving vehicle 1x and the autonomous driving vehicle 1y to travel so as not to interfere with each other and to enter and leave the vehicle without specially setting the temporary stop location.

Further, the self-driving car 1 is an electric vehicle, and the mechanical parking device 2 can be provided with a charging device (non-contact charging device 9 or robot arm charging device 9') in the parking area of the electric vehicle. With this configuration, the electric vehicle is automatically charged by the charging device when parked, so that the occupant is freed from the act of charging and does not have to worry about the remaining battery level.

Furthermore, the boarding / alighting place can be in front of the entrance 4 of the apartment house (building 3). With this configuration, especially when a driver who is unfamiliar with driving, such as a beginner or an elderly person, lives in an apartment, the vehicle can be put into the narrow parking space of the mechanical parking device 2 and accurately located at a determined position. It helps reduce the burden because it is not necessary to stop the vehicle. In addition, mothers and fathers with infants living in an apartment house abandon the self-driving car 1 in front of the entrance 4 of the building 3 at the time of warehousing, and board the self-driving car 1 in front of the entrance 4 of the building 3 at the time of leaving the garage. It is very convenient because it is not necessary to walk back and forth from the front of the entrance 4 of the building 3 to the front of the entrance door 2D of the mechanical parking device 2, especially on rainy days. Become. Moreover, since it is not necessary for a person to enter the parking space of the mechanical parking device 2 for parking, it is not necessary to take accident prevention measures associated therewith.

The automatic driving parking system of the present invention is not limited to the above-described embodiment, and it goes without saying that various modifications can be made without departing from the gist of the present invention.

1 Self-driving car 1x Self-driving car 1y Self-driving car 2 Mechanical parking device 2D Entry / exit door 3 Building (apartment house)
4 Entrance 5 Vehicle side control device 5A Vehicle side communication device 5B Operation controller 6 Reception side control device 6A External communication device 6B Arithmetic controller 9 Non-contact charging device (charging device)
9'Robot arm charging device (charging device)
C1 warehousing start command C2 warehousing permission command C3 parking completion command C4 warehousing start command C5 warehousing permission command R1 travel route R2 travel route

Claims (3)

Equipped with an autonomous vehicle that can automatically drive without the involvement of occupants and a mechanical parking device
The self-driving car that the occupant got off at the boarding / alighting place is automatically driven and stored in the mechanical parking device, while the self-driving car that was released from the mechanical parking device is automatically driven and stopped at the boarding / alighting place so that the occupant can board. configured,
The self-driving car includes a vehicle-side communication device and a vehicle-side control device having a driving controller for automatically traveling the vehicle.
The mechanical parking device includes an external communication device that wirelessly communicates with the vehicle-side communication device of the vehicle-side control device, and a receiving-side control device having an arithmetic controller.
The arithmetic controller of the receiving side control device is
At the time of warehousing, based on the warehousing start command notified by the occupants, the travel route from the boarding / alighting place to the front of the mechanical parking device is transmitted to the operation controller of the vehicle side control device via the external communication device, and when the warehousing preparation is completed. Parking that opens the entry / exit door and transmits a warehousing permission command to the operation controller of the vehicle side control device via an external communication device, and is transmitted from the operation controller of the vehicle side control device via the vehicle side communication device. While receiving the completion command and closing the entrance / exit door,
Based on the warehousing start command notified by the occupants at the time of warehousing, the autonomous driving vehicle to be warehousing is transported to the entry / exit position, and the traveling route from the front of the mechanical parking device to the boarding / alighting place is set on the vehicle side via an external communication device. Along with transmitting to the operation controller of the control device, the entry / exit door is opened and the exit permission command is transmitted to the operation controller of the vehicle side control device via the external communication device, and the autonomous vehicle enters after leaving the garage. It is configured to close the exit door,
A temporary stop location where the autonomous vehicle stands by is set in front of the mechanical parking device.
The arithmetic controller of the receiving side control device transmits a standby command for making the autonomous driving vehicle stand by at a temporary stop location when entering and leaving another autonomous vehicle to the operation controller of the vehicle side control device via an external communication device. Self-driving parking system that is configured to . The automatic operation vehicle is an electric vehicle, automatic operation parking system according to claim 1, further comprising a charging device to the mechanical parking device parking area for an electric vehicle. The automatic driving parking system according to claim 1 or 2, wherein the boarding / alighting place is in front of the entrance of an apartment house.

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