JP6969148B2 - Automatic valley parking system, gate opening / closing control device, automatic valley parking control method - Google Patents

Description

The present invention relates to an automatic valet parking system and an automatic valet parking method for performing automatic valet parking, and a gate opening / closing control device used in the automatic valet parking system.

As one application of automatic driving of a vehicle, automatic valley parking is attracting attention (see, for example, Patent Document 1). In the automatic valet parking system, a vehicle that supports automatic valet parking (hereinafter referred to as "automatic valet vehicle") communicates with an automatic valet parking control device that controls automatic valet parking of the entire parking lot, or is external. It automatically operates automatically without relying on information from the device, moves to an empty parking space in the parking lot, and parks.

Japanese Unexamined Patent Publication No. 2006-302187

In automatic valet parking, if all vehicles including surrounding vehicles are performing automatic valet parking, it is easy to predict the movement of other vehicles in the own vehicle and it is highly safe, but it is a transition until the automatic valet vehicle becomes widespread. During the period, automatic valet parking will be carried out with a mixture of vehicles that do not support automatic valet parking (hereinafter referred to as "manual vehicles").

An object of the present invention is to control the number of vehicles of both types in a parking lot when automatic valet parking is performed in a parking lot where an automatic valet vehicle and a manual vehicle can be parked.

In order to achieve the above object, one aspect of the present invention is that the automatic valley vehicle (100) automatically drives in the parking lot (300), moves to an empty parking space, and parks, and also performs parking, and the manual vehicle (110). The automatic valley parking system (200) that allows parking in the parking lot, the first gate (28) that permits or restricts the entry of the automatic valley vehicle into the parking lot, and the manual vehicle. The second gate (27) that permits or restricts the warehousing of the parking lot, and the control means (25) that restricts the warehousing of the first gate and the second gate under different conditions are provided. It has a different configuration.

With this configuration, it is possible to individually permit or restrict the entry of automatic valley vehicles and manual vehicles into the parking lot.

Another aspect of the present invention is a first gate (28) that permits or restricts the entry of the automatic valley vehicle (100) into the parking lot (300) and the entry of the manual vehicle (110) into the parking lot. The automatic valley vehicle automatically drives in the parking lot to move to an empty parking space and park in the parking lot of the manual vehicle. It is a gate opening / closing control device (25) in an automatic valley parking system that also allows parking, and has a configuration in which the first gate and the second gate are restricted from entering under different conditions.

This configuration also allows or restricts the entry of automatic valley vehicles and manual vehicles into the parking lot individually.

This configuration also allows or restricts the entry of automatic valley vehicles and manual vehicles into the parking lot individually.

Still another aspect of the present invention is the automatic valet vehicle used in the above-mentioned automatic valet parking system, and the information indicating that the automatic valet parking system is stored is readable and stored by the discriminating means of the automatic valet parking system. It has a structure with a part.

With this configuration, it is possible to accurately grasp the warehousing of automatic valley vehicles.

Yet another aspect of the present invention is the automatic valet vehicle used in the above-mentioned automatic valet parking system, which has a configuration including a communication unit for transmitting information indicating that the vehicle is an automatic valet vehicle to a discriminating means. ..

Even with this configuration, it is possible to accurately grasp the warehousing of automatic valley vehicles.

Yet another aspect of the present invention is the automatic valley vehicle used in the above-mentioned automatic valley parking system, the configuration including a reservation requesting means (12) for transmitting a parking reservation request by wireless communication to the reservation means. have.

With this configuration, it is possible to make a parking reservation from a vehicle away from the parking lot.

It is a schematic diagram of the place where the automatic valley parking system of the 1st Embodiment of this invention was introduced. It is a block diagram which shows the structure of the automatic valley vehicle and the automatic valley parking system of the 1st Embodiment of this invention. It is a flowchart which shows the whole processing of the automatic valley parking system of 1st Embodiment of this invention. It is an internal flowchart of the calculation process of the number of remaining slots of the 1st Embodiment of this invention. It is an internal flowchart of the automatic valley vehicle priority number setting process of 1st Embodiment of this invention. It is an internal flowchart of the management process of the number of reserved parking lots of 1st Embodiment of this invention. It is an internal flowchart of the drive process of the automatic valley vehicle warehousing gate of the 1st Embodiment of this invention. It is an internal flowchart of the drive processing of the manual vehicle warehousing gate of the 1st Embodiment of this invention. It is a schematic diagram of the parking lot which introduced the automatic valley parking control system of the 2nd Embodiment of this invention. It is a flowchart which shows the whole processing of the automatic valley parking control system 200 of the 2nd Embodiment of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. It should be noted that the embodiments described below show an example of the case where the present invention is carried out, and the present invention is not limited to the specific configuration described below. In carrying out the present invention, a specific configuration according to the embodiment may be appropriately adopted.

In the present specification, "automatic valley parking" typically means that the driver searches for an empty parking space and parks by autonomous driving without the driver boarding the vehicle, but the driver boarded the vehicle. It may include the case of autonomous driving in the United States and the case where the driver assists the autonomous driving (for example, driving by the driving operation of the driver when the vehicle is stuck), and the Society of Automotive Engineers: Parking by an autopilot equivalent to automation level 2 or higher as defined in SAE) may be included.

Further, "manual parking" typically means that the driver searches for an empty parking space while driving the vehicle and parks, but in some cases, the vehicle assists the driver in driving (for example,). It may include the case of automatic braking when it is likely to come into contact with a peripheral object), and may include parking by an auto pilot equivalent to automation level 1 according to the definition of SAE.

An automated valet vehicle can be defined for each automated valet parking system, for example, in some embodiments of an automated valet parking system, a vehicle capable of fully autonomous driving (equivalent to SAE automation level 5), ie, unmanned autonomous driving. May be treated as an automatic valet vehicle, and in another aspect of the automatic valet parking system, a vehicle capable of automatic driving equivalent to SAE automation level 4 or higher may be treated as an automatic valet vehicle. In the present embodiment, a vehicle that can be parked by unmanned automatic driving is treated as an automatic valley vehicle, and a vehicle that cannot be parked by unmanned automatic driving or is not permitted is treated as a manual vehicle.

(First Embodiment)
FIG. 1 is a schematic diagram of a place where the automatic valley parking system of the first embodiment is introduced. As shown in FIG. 1, a parking lot 300 is provided near the commercial facility 500. The parking lot 300 of the present embodiment is provided with a plurality of parking slots partitioned for each vehicle as parking spaces. Each parking slot is provided as a parking space in which both the automatic valley vehicle 100 and the manual vehicle 110 can be parked.

The parking lot 300 is provided with an automatic valet vehicle warehousing gate G11, a manual vehicle warehousing gate G21, an automatic valet vehicle warehousing gate G12, and a manual vehicle warehousing gate G22. The automatic valet vehicle warehousing gate G11, the manual vehicle warehousing gate G21, the automatic valet vehicle warehousing gate G12, and the manual vehicle warehousing gate G22 each have a blocking position that restricts the passage of the vehicle and a passage permit that permits the passage of the vehicle by a drive device. It has a cutoff bar that can be driven between positions.

Vehicle sensors are provided in the automatic valet vehicle warehousing gate G11, the manual vehicle warehousing gate G21, the automatic valet vehicle warehousing gate G12, and the manual vehicle warehousing gate G22. The blocking bar is in the blocking position when the vehicle sensor does not detect the vehicle, and when the vehicle sensor detects the vehicle, it is driven to the passing permitted position when the vehicle is permitted to pass. If the vehicle is not allowed to pass, each gate leaves the blocking bar in the blocking position and outputs a voice or display to inform that the passage cannot be permitted.

The automatic valet vehicle warehousing gate G11 and the manual vehicle warehousing gate G21 permit or restrict the warehousing of the automatic valet vehicle 100 and the manual vehicle 110 into the parking lot 300, respectively, and allow the automatic valet vehicle warehousing gate G12 and the manual vehicle warehousing gate G22, respectively. Allows or restricts the exit of the automatic valley vehicle 100 and the manual vehicle 110 from the parking lot 300, respectively.

The automatic valet vehicle 100 can enter the parking lot 300 through the automatic valet vehicle warehousing gate G11 and can leave the parking lot 300 through the automatic valet vehicle warehousing gate G12. The manual vehicle 110 can enter the parking lot 300 through the manual vehicle entry gate G21 and can leave the parking lot 300 through the manual vehicle exit gate G22. In this way, by separating the warehousing gate between the automatic valet vehicle 100 and the manual vehicle 110, it is possible to individually control whether or not the warehousing is permitted for the automatic valet vehicle 100 and the manual vehicle 110. Further, by separating the exit gate for the automatic valley vehicle 100 and the manual vehicle 110, the number of the automatic valley vehicle 100 and the number of the manual vehicle 110 in the warehousing can be grasped respectively.

In the vicinity of the commercial facility 500, the driver is included in the disembarkation vehicle approach P1 for the occupants including the driver to get off from the automatic valet vehicle 100 entering the parking lot 300, and the automatic valet vehicle 100 leaving the parking lot 300. A passenger parking lot P2 for passengers to get on is provided. In the present embodiment, the disembarkation vehicle approach P1 is provided on the upstream side of the automatic valet vehicle warehousing gate G11 in the moving direction of the automatic valet vehicle 100, and is provided on the downstream side of the automatic valet vehicle warehousing gate G21 on the downstream side of the automatic valet vehicle 100 in the moving direction. A passenger carriage P2 is provided.

As a result, the unmanned automatic valet vehicle 100 in the state where the occupants including the driver get off at the disembarkation vehicle approach P1 passes through the automatic valet vehicle warehousing gate G11 and enters the parking lot 300. Further, the unmanned automatic valet vehicle 100 that has left the parking lot 300 and passed through the automatic valet vehicle exit gate G21 stops at the passenger carriage P2, and the occupants including the driver board the automatic valet vehicle 100. The manual vehicle 110 is parked in a parking slot in the parking lot 300, and passengers including the driver get on and off the vehicle.

A guidance display (not shown) is provided in front of the automatic valley vehicle warehousing gate G11 and the manual vehicle warehousing gate G21. When the driver drives the vehicle in the corresponding direction according to the guidance display, the automatic valet vehicle 100 enters the parking lot 300 from the automatic valet vehicle warehousing gate G11, and the manual vehicle 110 enters the parking lot 300 from the manual vehicle warehousing gate G21. In this way, the automatic valley vehicle 100 and the manual vehicle 110 pass through their respective dedicated warehousing gates and enter the parking lot 300.

FIG. 2 is a block diagram showing the configurations of the automatic valley vehicle 100 and the automatic valley parking system 200. When the occupants including the driver get off at the parking lot P1 and receive a parking instruction, the automatic valet vehicle 100 autonomously travels unattended, passes through the automatic valet vehicle warehousing gate G12, and passes through the parking lot 300. Enter and park in an empty parking slot in the parking lot 300. Further, when the automatic valet vehicle 100 parked in the parking lot 300 receives an instruction to pick up the vehicle, the automatic valet vehicle 100 autonomously travels from the parking position of the parking lot 300 to the passenger parking lot P2 and stops unattended.

Many methods for realizing automatic valet parking including parking and pick-up in the automatic valet vehicle 100 have already been proposed, and in the present embodiment, automatic valet parking is realized by those conventional automatic valet parking methods. For this purpose, the automatic valley vehicle 100 is provided with an automatic driving device 11. The automatic operation device 11 includes various sensors 111, various control arithmetic units 112, and various actuators 113.

Each control arithmetic unit 112 executes a program for driving the actuator 113. Each sensor 111 measures physical quantities inside and outside the vehicle, and outputs the information obtained by the measurement to the corresponding control arithmetic unit 112. The sensor 111 includes a speed sensor for measuring vehicle speed, a sensor for detecting an object around the vehicle such as a sonar, a millimeter wave radar, and a camera to measure the distance to the object, an accelerator opening sensor, a steering rotation angle sensor, and a brake strength. Sensors and the like that measure the amount of driving operation of the vehicle are included. Each actuator 113 drives a device necessary for driving the automatic valley vehicle 100 such as an engine, a brake, and a steering.

The valet parking control device 12 controls the automatic driving device 11 so that the automatic valet vehicle 100 performs automatic valet parking. The automatic valley vehicle 100 of the present embodiment stores at least a map from the getting-off vehicle approach P1 to the boarding vehicle approach P2 through the parking lot 300 in the storage unit 13. Parking spaces in the parking lot 300 are defined in this map. The valley parking control device 12 searches for a parking space (that is, an empty parking space) in which the vehicle is not parked while autonomously driving the automatic valley vehicle 100 according to this map, and places the automatic valley vehicle 100 in the found empty parking space. Let me park.

Further, the storage unit 13 stores identification information that uniquely identifies the automatic valley vehicle 100. The display device 14 makes various displays related to automatic valley parking. Further, the display device 14 is configured as a touch panel provided with a touch sensor on the screen, and accepts the touch input of the occupant. In the present embodiment, the display device 14 displays a screen for making a parking reservation and accepts a touch input for making a parking reservation.

The automatic valley vehicle 100 is provided with a long-range wireless communication device 15 and a short-range wireless communication device 16. The telecommunications device 15 can be connected to the Internet, and in the present embodiment, the reservation processing device 23 of the automatic valley parking system 200 can be accessed particularly via the Internet. As a result, the automatic valley vehicle 100 can make a parking reservation from a place away from the parking lot 300.

The short-range wireless communication device 16 communicates with the short-range wireless communication device 22 of the automatic valley parking system 200. DSRC (Dedicated Short Range Communications) is used for communication between the short-range wireless communication devices 16 and 22. In particular, in the present embodiment, the identification information of the automatic valley vehicle 100 is transmitted from the short-range wireless communication device 16 of the automatic valley vehicle 100 to the short-range wireless communication device 22 of the automatic valley parking system 200.

The automatic valley parking system 200 includes the above-mentioned long-range wireless communication device 21 and short-range wireless communication device 22. The automatic valley parking system 200 includes a storage device 26, which stores the above-mentioned map. The automatic valley parking system 200 transmits a map from the short-range wireless communication 22 to the automatic valley vehicle 100 that has come to the parking lot 300, and the automatic valley vehicle 100 receives this by the short-range wireless communication device 16. And stores it in the storage device 13. The valley parking control device 12 controls automatic valley parking using this map.

The automatic valley parking system 200 further includes a reservation processing device 23 and an authentication processing device 24. The reservation processing device 23 receives a parking reservation request from the long-distance wireless communication device 21, executes a reservation process, and stores the parking reservation status in the storage device 26. Further, the authentication processing device 24 authenticates whether or not the automatic valet vehicle 100 arriving in front of the automatic valet vehicle warehousing gate G11 is a vehicle reserved for parking.

Hereinafter, parking by parking reservation will be described in detail.
The automatic valley vehicle 100 causes the display device 14 to display a parking reservation screen. This parking reservation screen may be provided as an application of the valley parking control device 12, or may be provided from the reservation processing device 23 and displayed via the browser of the valley parking control device 12. The occupant of the automatic valley vehicle 100 requests a parking reservation by inputting the parking reservation according to the parking reservation screen. The valley parking control device 12 that performs such processing for parking reservation corresponds to the parking reservation means.

The application of the valley parking control device 12 may make a parking reservation by voice guidance and voice recognition instead of making a parking reservation by displaying the parking reservation screen and touch input on the display device 14. In this case, the valley parking control device 12 accepts the parking reservation request by the voice input of the occupant.

When the valley parking control device 12 receives the parking reservation request from the occupant, the long-distance wireless communication device 15 transmits the parking reservation request to the reservation processing device 23. The parking reservation request includes the parking date and time and the identification information. Upon receiving the parking reservation request via the long-distance wireless communication device 21, the reservation processing device 23 determines whether or not the parking reservation is permitted.

The determination of whether or not to allow or reject the parking reservation is the same as the determination as to whether or not to close the automatic valley vehicle warehousing gate G11. That is, when the automatic valet vehicle warehousing gate G11 restricts the warehousing of the automatic valet vehicle 100, the reservation processing device 23 also restricts the parking reservation and permits the warehousing of the automatic valet vehicle 100. Also permits parking reservations in the reservation processing device 23.

Specifically, since the automatic valley vehicle 100 is allowed to enter the parking lot until the parking lot 300 has no parking lots available, the reservation processing device 23 will allow the parking lot 300 to have a parking lot available. Allow parking reservations. When the reservation is permitted, the reservation processing device 23 stores the parking date and time and the identification information in the storage device 26. The parking date and time and the identification information stored in the storage device 26 for each automatic valley vehicle 100 in this way are referred to the authentication processing device 24 as the parking reservation status.

If the parking lot 300 does not have a parkingable parking slot, the reservation processing device 23 rejects the parking reservation request and does not store the parking date and time and the identification information related to the parking reservation request. When the parking reservation is permitted, the reservation processing device 23 transmits a notification to the effect that the parking reservation has been accepted to the automatic valley vehicle 100 via the long-distance wireless communication device 21. Further, when the reservation processing device 23 rejects the parking reservation, the reservation processing device 23 transmits a notification to the automatic valley vehicle 100 via the long-distance wireless communication device 21 that the parking reservation cannot be made. In the automatic valley vehicle 100, the received notification is displayed on the display device 14.

The authentication processing device 24 determines whether or not the automatic valet vehicle 100 that has come to the automatic valet vehicle warehousing gate G11 is a vehicle reserved for parking. For this purpose, the short-range wireless communication device 22 is installed near the automatic valley vehicle warehousing gate G11.

The short-range wireless communication device 22 installed at the automatic valet vehicle warehousing gate G11 performs short-range communication with the short-range wireless communication device 16 by DSRC to store identification information stored in the storage unit 13 of the automatic valet vehicle 100. get.

The authentication processing device 24 refers to the parking reservation status stored in the storage device 26 using the identification information received by the short-range wireless communication device 22 as a key, and specifies the parking date and time corresponding to the identification information. When the specified parking date and time match the date and time at that time, the authentication processing device 24 authenticates the vehicle for which the parking reservation has been made to permit the warehousing, assuming that the vehicle has arrived according to the parking reservation. ..

The vehicle does not necessarily have to be provided with a configuration for making a parking reservation for the reservation processing device 23. For example, a parking reservation may be made by designating the parking date and time and the identification information of the parked vehicle from a terminal device capable of arbitrary information processing and communication such as a smartphone.

Further, the identification information may be information on the vehicle number, and in this case, the automatic valley parking system 200 recognizes the cameras installed at the automatic valley vehicle warehousing gate G11 and the images of those cameras. It may be provided with an image recognition device that performs processing. In this case, the camera photographs the license plate of the automatic valet vehicle 100 that has come to the automatic valet vehicle warehousing gate G11, and the image processing device recognizes the vehicle number information which is the identification information of the vehicle. The authentication processing device 24 uses the identification information recognized by the image recognition device as a key, refers to the parking reservation status, and determines whether or not the vehicle is a parking reserved vehicle.

Further, the reservation processing device 23 does not necessarily have to be provided in the parking lot 300, but is provided as a dedicated reservation processing server separately from other configurations of the automatic valley parking system 200, and is provided as a long-distance distance of the automatic valley parking system 200. It may be connected to the wireless communication device 21 via a communication network.

In this case, the automatic valley vehicle 100 can access the reservation processing server via the Internet by the telecommunications device 15 and make a parking reservation. Further, the automatic valley parking system 200 acquires parking reservation status information from the reservation processing server and stores it in the storage device 26. When the parking reservation status is stored in the reservation processing server, the authentication processing device 24 can access the reservation processing server via the long-distance wireless communication device 21 and refer to the parking reservation status for authentication.

In the above embodiment, it has been described that only the automatic valley vehicle 100 can make a parking reservation, but the manual vehicle 110 may be configured to make a parking reservation. In this case, the manual vehicle 110 also needs to be configured for the parking reservation described above, but the parking reservation using a smartphone and the recognition of the identification information using the vehicle number are performed as in the above modification. Therefore, no special configuration is required for the manual vehicle 110.

Next, opening / closing control of the automatic valley vehicle warehousing gate G11 and the manual vehicle warehousing gate G21, that is, control of permission and restriction of warehousing will be described.
In order to control the opening and closing of these gates, the automatic valet parking system 200 is a manual vehicle warehousing gate drive device 27 for driving the manual vehicle warehousing gate G21 and an automatic valet vehicle warehousing gate drive device for driving the automatic valet vehicle warehousing gate G11. 28, and a gate opening / closing control device 25 for controlling these are provided. The automatic valet vehicle warehousing gate drive device 28 permits or restricts the warehousing of the automatic valet vehicle 100 into the parking lot 300, and corresponds to the first gate. It permits or restricts the entry of the manual vehicle 110 into the parking lot 300, and corresponds to the second gate.

Further, the automatic valet parking system 200 has passed through the manual vehicle warehousing counter 29 for counting the vehicles warehousing in the parking lot 300 after passing through the manual vehicle warehousing gate G21 and warehousing in the parking lot 300 through the automatic valet vehicle warehousing gate G11. From the parking lot 300 after passing through the automatic valley vehicle warehousing counter 30 for counting vehicles, the manual vehicle warehousing counter 31 for counting vehicles leaving the parking lot 300 after passing through the manual vehicle warehousing gate G22, and the automatic valet vehicle warehousing gate G12. It is equipped with an automatic valley vehicle delivery counter 32 that counts the delivered vehicles. The count value of each counter is input to the gate open / close control device 25 and stored in the storage device 26.

The manual vehicle warehousing counter 29, the automatic valet vehicle warehousing counter 30, the manual vehicle warehousing counter 31, and the automatic valet vehicle warehousing counter 32 are the manual vehicle warehousing gate G21, the automatic valet vehicle warehousing gate G12, the manual vehicle warehousing gate G22, and the automatic, respectively. It is provided at the valley vehicle delivery gate G12.

As described above, each gate is provided with a vehicle sensor and a gate drive device. Each counter may count the number of vehicles warehousing based on the number of times the gate drive device has set the cutoff bar to the pass permission position, or may count the number of vehicles warehousing based on the detection of the vehicle by the vehicle sensor. good.

The gate open / close control device 25 calculates the number of automatic valet vehicles 100 stored in the parking lot 300 by subtracting the count value of the automatic valet vehicle warehousing counter 32 from the count value of the automatic valet vehicle warehousing counter 30. The gate open / close control device 25, the automatic valet vehicle warehousing counter 30, and the automatic valet vehicle warehousing counter 32 correspond to the first counting means. Further, the gate open / close control device 25 calculates the number of manual vehicles 110 stored in the parking lot 300 by subtracting the count value of the manual vehicle warehousing counter 31 from the count value of the manual vehicle warehousing counter 29. The gate open / close control device 25, the manual vehicle warehousing counter 29, and the manual vehicle warehousing counter 31 correspond to the second counting means.

In the present embodiment, the number of empty parking spaces in the parking lot 300 (hereinafter referred to as "remaining number of slots r") is the automatic valley vehicle stored in the parking lot 300 from the total number of parking slots in the parking lot 300. It is calculated as the number obtained by subtracting the number of 100 and the number of manual vehicles 110 stored in the parking lot 300.

The gate open / close control device 25 controls the manual vehicle warehousing gate drive device 27 and the automatic valley vehicle warehousing gate drive device 28 based on the number of remaining slots r and the number of parking reservations (hereinafter referred to as “parking reservation number b”). do. At this time, the gate open / close control device 25 controls the manual vehicle warehousing gate drive device 27 and the automatic valley vehicle warehousing gate drive device 28 independently of each other. Here, "control independently of each other" means that the manual vehicle warehousing gate drive device 27 and the automatic valley vehicle warehousing gate drive device 28 restrict warehousing under different conditions, and the manual vehicle is subject to predetermined conditions. It refers to a control in which one of the warehousing gate drive device 27 and the automatic valley vehicle warehousing gate drive device 28 may restrict warehousing and the other may not restrict warehousing.

When the number of remaining slots r is equal to or less than the number of reserved parking lots b, the gate opening / closing control device 25 restricts (that is, prohibits) the entry of vehicles into the parking lot 300, except for the vehicles reserved in advance. Therefore, vehicles that cannot be parked due to lack of vacant parking space will not be stored in the parking lot 300.

At this time, the gate open / close control device 25 does not limit the warehousing of the automatic valley vehicle 100 and the warehousing of the manual vehicle 110 at the same time when the number of remaining slots r becomes the number of parking reservations b or less, but the number of remaining slots r. However, when the number of vehicles preferentially allocated to the automatic valet vehicle (hereinafter referred to as "automatic valet vehicle priority number a") or less, the manual vehicle 110 is warehousing before the warehousing of the automatic valet vehicle 100 is restricted. In that state, when the number of remaining slots r becomes less than or equal to the number of reserved parking lots b, the warehousing of the automatic valet vehicle 100 is also restricted.

Even if the gate open / close control device 25 restricts the warehousing of the automatic valet vehicle 100, the gate opening / closing control device 25 permits the warehousing of the automatic valet vehicle 100 certified as a vehicle for which the parking pre-parking reservation has been made by the authentication processing device 24. .. For this purpose, as another automatic valley vehicle warehousing gate G11, a warehousing gate dedicated to vehicles reserved for parking may be additionally provided.

FIG. 3 is a flowchart showing the entire processing of the automatic valley parking system 200 of the present embodiment. The entire process of the automatic valley parking system 200 is executed by the gate opening / closing control device 25 according to a predetermined program.

The gate open / close control device 25 is mainly composed of a well-known computer having a CPU and a semiconductor memory (corresponding to the recording device 26) such as RAM, ROM, and flash memory. Various functions of the gate open / close control device 25 are realized by the CPU executing a program stored in a non-transitional substantive recording medium. In the present embodiment, the recording device 26 corresponds to a non-transitional substantive recording medium in which a program is stored. The non-transitional substantive recording medium means to remove electromagnetic waves from the recording medium. Further, when the gate open / close control device 25 executes this program, the method corresponding to the program is executed. The number of computers constituting the gate open / close control device 25 may be one or a plurality.

The gate open / close control device 25 first calculates the number of remaining slots r (step S31). FIG. 4 is an internal flowchart of the calculation process of the number of remaining slots r. The gate open / close control device 25 first refers to the total number of parking slots in the parking lot 300 (step S311). Then, the gate open / close control device 25 determines whether or not there is a passing vehicle at the automatic valley vehicle warehousing gate G11 or the manual vehicle warehousing gate G21 (step S312).

If there is a passing vehicle (YES in step S312), the automatic valley vehicle warehousing counter 30 or the manual vehicle warehousing counter 29 increases the count value by 1, and the gate open / close control device 25 enters the parking lot 300. The number of vehicles is increased by 1 (step S313). When there are no passing vehicles (NO in step S312), the gate opening / closing control device 25 skips counting up the number of vehicles in the parking lot 300.

After that, the gate open / close control device 25 also determines whether or not there is a passing vehicle for the automatic valley vehicle exit gate G12 or the manual vehicle exit gate G22 (step S314). If there is a passing vehicle (YES in step S314), the automatic valley vehicle exit counter 32 or the manual vehicle exit counter 31 increases the count value by 1, and the gate open / close control device 25 enters the parking lot 300. The number of vehicles is reduced by 1 (step S315). When there are no passing vehicles (NO in step S314), the gate open / close control device 25 skips the countdown of the number of vehicles in the parking lot 300.

After the above processing is completed, the gate open / close control device 25 obtains the number of remaining slots r by subtracting the number of vehicles stored in the parking lot 300 from the total number of slots in the parking lot 300 (step S316). End the process.

Returning to FIG. 3, next, the gate opening / closing control device 25 sets the automatic valley vehicle priority number a (step S32). The number of automatic valley vehicle priority a may be a fixed value, but in the present embodiment, this is variable. FIG. 5 is an internal flowchart of the setting process of the automatic valley vehicle priority number a. The gate open / close control device 25 acquires parameters such as date and time and weather (step S321). These information can be acquired from an external server via the telecommunications device 21.

Next, the gate open / close control device 25 determines whether or not there is a manual input by the parking lot manager for the automatic valley vehicle priority number a (step S322). If there is a manual input (YES in step S322), the manually input value is set to the automatic valley vehicle priority number a (step S323) regardless of the acquired parameters, and the process ends. If there is no manual input by the parking lot manager (NO in step S322), the automatic valley vehicle priority number a is automatically installed according to the acquired parameters (step S324), and the process ends. The relationship between the parameter at this time and the priority number of automatic valley vehicles a is stored in the storage device 26 in advance in a table format. The gate open / close control device 25 refers to the table and sets the automatic valley vehicle priority number a corresponding to the acquired parameter.

Returning to FIG. 3, the reservation processing device 23 then manages the parking reservation number b (step S33). FIG. 6 is an internal flowchart of the management process of the number of reserved parking lots b. First, the reservation processing device 23 determines whether or not the automatic valley vehicle warehousing gate G11 is being permitted to open (step S331). In the present embodiment, if the number of empty slots r is not less than or equal to the number of reserved parking lots b, the gate G11 for the automatic valley vehicle is in the gate opening permission state.

Here, the gate opening permission is a state in which the warehousing gate permits the warehousing of the vehicle in the parking lot 300, and when the vehicle comes to the warehousing gate (that is, when the vehicle is detected by the vehicle sensor). A state in which warehousing from the warehousing gate to the parking lot 300 is permitted. Further, the closure is a state in which the warehousing gate restricts the warehousing of the vehicle into the parking lot 300, and even if the vehicle comes to the warehousing gate (that is, even if the vehicle is detected by the vehicle sensor), the warehousing gate Refers to the state of restricting warehousing from the parking lot 300.

When the automatic valet vehicle warehousing gate G11 is being permitted to open (YES in step S331), the reservation processing device 23 determines whether or not there is a parking reservation request from the automatic valet vehicle 100 (step S332). When there is a request for parking reservation (YES in step S332), the reservation processing device 23 counts up the number of parking reservations b, stores the identification information of the vehicle for which the parking reservation is made, and the parking date and time (step S333). The vehicle for which the parking reservation has been made is notified that the parking reservation has been completed (step S334), and the process is terminated.

If the automatic valet vehicle warehousing gate G11 is not permitted to open in step S331 (NO in step S331), it is determined whether or not there is a parking reservation request from the automatic valet vehicle 100 (step S336). When there is a parking reservation request (step S336), that is, when the automatic valet vehicle warehousing gate G11 is closed but the parking reservation request is received from the automatic valet vehicle 100 (step S336). YES), the reservation processing device 23 notifies the automatic valley vehicle 100 that the parking reservation request has been rejected without executing the parking reservation (step S337), and ends the processing.

If there is no parking reservation request from the automatic valley vehicle 100 in step S332 or step S336 (NO in step S332 or step S336), the process ends.

Returning to FIG. 3, the gate open / close control device 25 determines whether or not the number of remaining slots r is equal to or less than the number of automatic valley vehicle priority a (step S34). When the number of remaining slots r is equal to or less than the number of automatic valley vehicle priority a (YES in step S34), the gate open / close control device 25 closes the manual vehicle warehousing gate G21 (step S35), so that the manual vehicle 110 Restrict entry into parking lot 300.

Then, the gate open / close control device 25 further determines whether or not the number of remaining slots r is equal to or less than the number of reserved parking lots b (step S36). When the number of remaining slots r is equal to or less than the number of reserved parking lots b (YES in step S36), the gate open / close control device 25 closes the automatic valet vehicle warehousing gate G11 (step S37) to park the automatic valet vehicle 100. The warehousing to the parking lot 300 is restricted, and the process shifts to the drive process (step S42) of the automatic valet vehicle warehousing gate G11.

When the number of remaining slots r is larger than the number of reserved parking lots b (NO in step S36), the gate open / close control device 25 does not close the automatic valet vehicle warehousing gate G11 (that is, the automatic valet vehicle warehousing gate G11). (While the gate opening is permitted), the process proceeds to the drive process (step S42) of the automatic valley vehicle warehousing gate G11.

When the number of remaining slots r is larger than the number of automatic valley vehicle priority a in step S34 (NO in step S34), the gate open / close control device 25 determines whether or not the number of remaining slots r is equal to or less than the number of reserved parking lots b. Determine (step S38). When the number of remaining slots r is equal to or less than the number of reserved parking lots b (YES in step S38), the gate open / close control device 25 closes the manual vehicle warehousing gate G21 (step S39), so that the parking lot 300 of the manual vehicle 110 The warehousing to the warehousing is restricted, and the process shifts to the drive process (step S42) of the automatic valet vehicle warehousing gate G11.

If the remaining slot r is larger than the number of reserved parking lots b (NO in step S38), the gate open / close control device 25 permits the automatic valley vehicle warehousing gate G11 to open (step S40), and the manual vehicle warehousing gate G21. (Step S41), the process shifts to the drive process (step S42) of the automatic valley vehicle warehousing gate G11.

FIG. 7 is an internal flowchart of the drive process of the automatic valley vehicle warehousing gate G11. The automatic valet vehicle warehousing gate drive device 28 first determines whether or not the vehicle has arrived at the automatic valet vehicle warehousing gate G11 based on the detection value of the vehicle sensor provided in the automatic valet vehicle warehousing gate G11 (step). S421).

When the vehicle arrives at the automatic valley vehicle warehousing gate G11 (YES in step S421), the authentication processing device 24 determines whether or not the vehicle is a vehicle reserved for parking (step S422). Specifically, the authentication processing device 24 responds to the identification information by referring to the parking reservation status stored in the storage device 26 using the identification information received from the vehicle by the short-range wireless communication device 22 as a key. Specify the parking date and time.

When the specified parking date and time match the date and time, the authentication processing device 24 determines that the arriving vehicle is the vehicle that made the parking reservation, and the parking reservation corresponding to the identification information is stored in the storage device. If it is not stored in 26, or if the parking reservation corresponding to the identification information is stored in the storage device 26, but the date and time do not match, it is determined that the arriving vehicle is not the vehicle that made the parking reservation. ..

If the authentication processing device 24 determines that the arriving vehicle is a vehicle reserved for parking (YES in step S422), the automatic valet vehicle warehousing gate drive device 28 sets the blocking bar of the automatic valet vehicle warehousing gate G11. The gate is opened by driving so as to be in the passage permitted position, and the vehicle is permitted to pass (step S423). At this time, the reservation processing device 23 reduces the number of parking reservations b by 1 (step S424). Then, the automatic valet vehicle warehousing gate drive device 28 drives the shutoff bar so as to be in the cutoff position, and closes the automatic valet vehicle warehousing gate G11 (step S425).

If the vehicle has not arrived at the automatic valet vehicle warehousing gate G11 (NO in step S421), the automatic valet vehicle warehousing gate G11 remains closed (step S425). If the vehicle arriving at the automatic valet vehicle warehousing gate G11 is not a vehicle for which parking reservation has been made (NO in step S422), the automatic valet vehicle individual gate drive device 28 has the automatic valet vehicle warehousing gate G11 in the gate opening permission state. Whether or not it is determined (step S426).

If the automatic valet vehicle warehousing gate G11 is not in the gate opening permission state (closed) (NO in step S426), the automatic valet vehicle warehousing gate G11 remains closed (step S425). When the automatic valet vehicle warehousing gate G11 is in the gate opening permission state (YES in step S426), the automatic valet vehicle warehousing gate drive device 28 is set to the pass permission position through the blocking bar of the automatic valet vehicle warehousing gate G11. By driving, the gate is opened, the passage of the vehicle is permitted (step S427), and then the blocking bar is driven so as to be in the blocking position, and the automatic valley vehicle warehousing gate is closed (step S425).

Returning to FIG. 3, the manual vehicle warehousing gate drive device 27 then performs a drive process for the manual vehicle warehousing gate (step S43). FIG. 8 is an internal flowchart of the drive process of the manual vehicle warehousing gate G21. The manual vehicle warehousing gate drive device 27 first determines whether or not the manual vehicle warehousing gate G21 is in the gate opening permission state (step S431).

When the manual vehicle warehousing gate G21 is in the gate opening permission state (YES in step S431), the manual vehicle warehousing gate drive device 27 sets the manual vehicle warehousing gate drive device 27 based on the detection value of the vehicle sensor provided in the manual vehicle warehousing gate G21. It is determined whether or not the vehicle has arrived at the manual vehicle warehousing gate G212 (step S432).

When the vehicle arrives at the manual vehicle warehousing gate G21 (YES in step S432), the manual vehicle warehousing gate drive device 27 drives the shutoff bar so as to be in the cutoff position and closes the manual vehicle warehousing gate G21. (Step S433), the process is terminated.

When the manual vehicle warehousing gate G21 is not in the gate opening permission state (closed state) (NO in step S431), or when the vehicle has not yet arrived at the manual vehicle warehousing gate G21 (NO in step S432). The manual vehicle warehousing gate drive device 27 ends the process with the manual vehicle warehousing gate closed (step S434).

Returning to FIG. 3, the automatic valley parking control system 200 returns to the start when the above processing is completed, and repeats the above processing from step S31.

As is clear from the above steps S34 to S37, the gate open / close control device 25 independently controls the automatic valley vehicle warehousing gate drive device 28 and the manual vehicle warehousing gate drive device 27, and is based on the number of remaining slots r. When closing the warehousing gate, first close the manual vehicle warehousing gate G21 and warehousing the manual vehicle 110 before closing the automatic valet vehicle warehousing gate G11 to limit the warehousing of the automatic valet vehicle 100 (step S37). (Step S35).

As described above, when the number of remaining slots r is low, the parking lot 300 is almost full by limiting the warehousing of the manual vehicle 110 first and then the warehousing of the automatic valet vehicle 100. At this time, the vehicle traveling in the parking lot 300 while searching for an empty parking space can be limited to the automatic valley vehicle 100. The state in which the manual vehicle 110 and the automatic valley vehicle 100 are mixed and running in the parking lot 300 is unexpected as compared with the state in which only the automatic valley vehicle 100 is searching for an empty parking space while autonomously traveling. It can be said that accidents are likely to occur. According to the present embodiment, when the parking lot 300 is nearly full, it is possible to avoid such a state in which an accident is relatively likely to occur.

In the above embodiment, when the number of remaining slots r is less than or equal to the number of automatic valley vehicle priority a and less than or equal to the number of reserved parking lots b, that is, when there are no more parkingable parking slots, the vehicle Restricted warehousing and parking reservations. That is, the total number of parking slots in the parking lot 300 is set as the limit number, and the number of vehicles exceeding this limit number is prevented from entering the parking lot 300. Instead of this, the number of vehicles slightly larger than the total number of parking slots in the parking lot 300 may be set as the limit number to limit the warehousing of vehicles.

By doing so, there will be a small number of vehicles in the parking lot 300 for which a parkingable slot cannot be found. If the warehousing is permitted from the warehousing gate after the warehousing is cleared, the warehousing vehicle moves from the parking slot to the warehousing gate, and the warehousing vehicle moves from the warehousing gate to the parking slot. The parking slot will remain vacant for hours, and the efficiency of parking will be reduced. On the other hand, by allowing more vehicles than the total number of parking slots to enter, when a parking slot becomes available in the parking lot 300, a new vehicle can be parked in the parking slot in a relatively short time. Therefore, parking efficiency is improved.

In this way, if there is a vehicle for which a parkingable slot cannot be found when the vehicle is full, the distance that the vehicle travels in the parking lot 330 while searching for an empty parking space in the parking lot 300 increases, and there is a risk of an accident. The sex becomes high. In such a case, as in the present embodiment, the warehousing of the manual vehicle 110 is restricted first, and the vehicle to be warehousing when the number approaches the limit is limited to the automatic valley vehicle 100, specifically, the limit. By setting the difference between the number of machines and the total number of slots (that is, the number of vehicles to be stored in excess of the total number of slots) to the number of automatic valet vehicle priority a or less, vehicles that cannot find a slot that can be parked when the car is full are automatically valeted. It can be only the vehicle 100.

Further, in the above embodiment, the automatic valet vehicle 100 and the manual vehicle 110 are guided to the respective warehousing gates by providing the guidance display, but in addition to this, the automatic valet vehicle warehousing gate G11 is used as an automatic valet vehicle. A discriminating device for determining the existence may be provided so that only the vehicle determined to be the automatic valet vehicle 100 is warehousing from the automatic valet vehicle warehousing gate G11.

Further, the automatic valley vehicle delivery gate G12 may be similarly provided with a discrimination device so that only vehicles certified as the automatic valley vehicle 100 by the discrimination device are discharged. As a result, it is possible to accurately determine the entry and exit of the automatic valley vehicle 100, and it is possible to accurately grasp the number of automatic valley vehicles 100 stored in the parking lot 300.

Further, such a discrimination device may be provided at the manual vehicle warehousing gate G21 and the manual vehicle warehousing gate G22. As a result, even if the automatic valet vehicle 100 accidentally enters the warehousing from the manual vehicle warehousing gate G21 or warehousing from the manual vehicle warehousing gate G22, the number of the automatic valet vehicles 100 warehousing in the parking lot 300 is accurate. Can be grasped.

In this case, the storage device 26 of the automatic valley parking system 200 stores the identification information of the automatic valley vehicle 100. The short-range wireless communication device 22 reads the identification information from the vehicle, or the short-range wireless communication device 16 of the automatic valley vehicle 100 transmits the identification information and the short-range wireless communication device 22 receives the identification information. The device acquires the identification information of the automatic valley vehicle. The discrimination device may perform discrimination by collating the identification information stored in the storage device 26 as the identification information of the automatic valley vehicle 100 with the acquired identification information. That is, the identification information of the automatic valley vehicle 100 may be used as information indicating that the vehicle is the automatic valley vehicle 100, and it may be determined whether the vehicle is the automatic valley vehicle 100 or the manual vehicle 110.

Further, in the above embodiment, the vehicle for getting off P1 for the automatic valet vehicle 100 is located upstream of the automatic valet vehicle warehousing gate G11, and the driver gets off at the vehicle for getting off P1 and becomes unmanned. Explained an example in which the vehicle passes through the automatic valet vehicle warehousing gate G11 by autonomous driving. After passing through, you may get off at the disembarkation vehicle approach P1 and start automatic valley parking.

Further, by using the long-distance wireless communication device 15 of the automatic valet vehicle 100 and the long-distance wireless communication device 21 of the automatic valet parking system 200, the automatic valet vehicle warehousing gate G11 is provided from the automatic valet parking system 200 to the automatic valet vehicle 100. You may be informed whether or not you are in the state of permission to open the gate (step S40 in FIG. 3). At this time, the automatic valet parking system 200 may further inform the automatic valet vehicle 100 whether or not the manual vehicle warehousing gate G21 is in the gate opening permission state (step S41 in FIG. 3).

(Second embodiment)
In the first embodiment described above, the gate open / close control device 25 is provided with an automatic valet vehicle warehousing gate G11 and a manual vehicle warehousing gate G21 in the parking lot 300, and warehousing of the automatic valet vehicle 100 and the manual vehicle 110, respectively. By limiting individually, the control was performed to limit the warehousing of the manual vehicle 110 before limiting the warehousing of the automatic valley vehicle 100. Also in this embodiment, the gate open / close control device 25 is provided with the automatic valet vehicle warehousing gate G11 and the manual vehicle warehousing gate G21 in the parking lot 300, and restricts the warehousing of the automatic valet vehicle 100 and the manual vehicle 110 individually. However, the control is different from that of the first embodiment.

FIG. 9 is a schematic diagram of a parking lot in which the automatic valley parking control system of the present embodiment is introduced. Similar to the first embodiment, the parking lot 301 is provided with an automatic valet vehicle warehousing gate G11, a manual vehicle warehousing gate G21, an automatic valet vehicle warehousing gate G12, and a manual vehicle warehousing gate G22. ..

The parking lot 301 of the present embodiment is divided into an automatic valley vehicle parking area 303 and a manual vehicle parking area 304 by a blocking wall 302 inside the parking lot 301, and the automatic valley vehicle parking area 303 and the manual vehicle parking area 303. It is configured so that vehicles cannot come and go to and from 304. The barrier wall 302 is installed at an arbitrary position in the parking lot 301, and the installation position is variable. The barrier 302 may be moved by the parking lot manager (person) or may be moved by a machine. The barrier wall 302 can be translated in the left-right direction of FIG.

The automatic valet vehicle warehousing gate G11 and the automatic valet vehicle warehousing gate G12 are connected to the automatic valet vehicle parking area 303, and the manual vehicle warehousing gate G21 and the manual vehicle warehousing gate G22 are connected to the manual vehicle parking area 304. The automatic valet vehicle 100 warehousing from the automatic valet vehicle warehousing gate G11 enters the automatic valet vehicle parking area 303 and exits from the automatic valet vehicle warehousing gate G12. The manual vehicle 110 warehousing from the manual vehicle warehousing gate G21 enters the manual vehicle parking area 304 and leaves the warehousing from the manual vehicle warehousing gate G22.

The block diagram of the automatic valley vehicle 100 and the automatic valley parking control system 200 of the present embodiment is the same as the block diagram shown in FIG. FIG. 10 is a flowchart showing the entire processing of the automatic valley parking control system 200 of the present embodiment. In FIG. 10, the same processing as in FIG. 3 is designated by the same reference numerals and detailed description thereof will be omitted.

First, the gate opening / closing control device 25 sets the total number of slots tv of the automatic valley vehicle parking area 303 and the total number of slots tm of both the manual vehicle parking areas 304 based on the position of the blocking wall 302 (step S101). The total number of slots tv and tm are changed with the movement of the barrier wall 302.

Next, the gate opening / closing control device 25 calculates the number of remaining slots rv and rm for each of the automatic valley vehicle parking area 303 and the manual vehicle parking area 304 in the same manner as in the flowchart shown in FIG. 4 (step S102). Next, the gate open / close control device 25 manages the number of reserved parking lots b in the same manner as in the flowchart of FIG. 6 (step S103).

Next, the gate open / close control device 25 determines whether or not the number of remaining slots rm of the manual vehicle parking area 304 is 0 (step S104). If the number of remaining slots rm is 0 (YES in step S104), the manual vehicle warehousing gate G21 is closed (step S35), and if the number of remaining slots rm is not 0 (NO in step S104), the manual vehicle The warehousing gate G21 is put into a state of permission to open (step S40).

When the manual vehicle warehousing gate G21 is closed, it is next determined whether or not the number of remaining slots rv of the automatic valley vehicle parking area 303 is equal to or less than the number of reserved parking lots b (step S106). When the number of remaining slots rv is less than or equal to the number of reserved parking lots b (YES in step S106), the automatic valley vehicle warehousing gate G11 is closed (step S37), and when the number of remaining slots rv is larger than the number of reserved parking lots b (YES). NO in step S106), the automatic valley vehicle warehousing gate G11 is put into a state of permission to open (step S41).

Next, the automatic valley vehicle warehousing gate drive device 28 drives the automatic valet vehicle warehousing gate G11 according to the flowchart of FIG. 7 (step S42), and the manual vehicle warehousing gate drive device 27 drives the manual vehicle according to the flowchart of FIG. The warehousing gate G21 is driven (step S43).

As described above, according to the present embodiment, the parking lot 301 is divided into an automatic valley vehicle parking area 303 and a manual vehicle parking area 304, and the warehousing gate and the exit gate are also divided into the automatic valley vehicle 100 and the manual vehicle 110. By separating the parking lot 300, it is possible to prevent the automatic valet vehicle 100 and the manual vehicle 110 from coexisting in the parking lot 301 while allowing both the parking of the automatic valet vehicle 100 and the parking of the manual vehicle 110.

Further, by controlling the warehousing restriction at the automatic valet vehicle warehousing gate G11 and the warehousing restriction at the manual vehicle warehousing gate G21 independently of each other, the automatic valet vehicle parking area 303 and the manual vehicle parking area 304 are fully occupied. You can restrict warehousing.

The reservation processing device 23, the authentication processing device 24, and the storage device 26 in the automatic valley parking system 200 of the first and second embodiments described above do not necessarily have to be installed in the parking lot 300, and are automatically installed. It may be installed in a remote location while being communicably connected to another configuration of the valley parking system 200 via a communication network.

23 ... Reservation processing device, 24 ... Authentication processing device, 25 ... Gate open / close control device, 27 ... Manual vehicle warehousing gate drive device, 28 ... Automatic valley vehicle warehousing gate drive device, 100 ...・ ・ Automatic valley vehicle, 110 ・ ・ ・ manual vehicle, 200 ・ ・ ・ automatic valley parking system, 300 ・ ・ ・ parking lot

Claims (12)

An automatic valet parking system (100) that allows an automatic valet vehicle (100) to automatically drive in a parking lot (300), move to an empty parking space, and park, and also allow a manual vehicle (110) to park in the parking lot (110). 200) And
The first gate (28) that permits or restricts the entry of the automatic valley vehicle into the parking lot, and
A second gate (27) that permits or restricts the entry of the manual vehicle into the parking lot, and
A control means (25) for restricting warehousing of the first gate and the second gate under different conditions, and
Automatic valley parking system with. The automatic valet parking system according to claim 1, wherein the control means restricts the warehousing of the manual vehicle to the second gate before the first gate restricts the warehousing of the automatic valet vehicle. The automatic valley parking according to claim 2, wherein the control means restricts the entry of the manual vehicle to the second gate when the number of empty parking spaces (r) in the parking lot is equal to or less than the predetermined number (a). system. The first counting means (32) for counting the number of automatic valley vehicles stored in the parking lot, and
A second counting means (31) for counting the number of manual vehicles stored in the parking lot, and
Equipped with
The control means controls the first gate and the second gate based on the number of automatic valley vehicles counted by the first counting means and the number of manual vehicles counted by the second counting means, claim 1. Or the automatic valley parking system described in any of 3. Further provided with a reservation processing means (23) for accepting parking reservations for automatic valley vehicles outside the parking lot by wireless communication.
The control means restricts the warehousing of automatic valet vehicles to the first gate when the number of vacant parking spaces (r) in the parking lot is equal to or less than the number of automatic valet vehicles (b) for which parking reservations have been accepted. The automatic valley parking system according to claim 4. The automatic valet parking system according to claim 5, wherein the reservation processing means rejects a parking reservation when the first gate restricts the entry of the automatic valet vehicle into the parking lot. Further equipped with an authentication processing means (24) for authenticating an automatic valley vehicle that has accepted a parking reservation,
The automatic according to claim 5 or 6, wherein the first gate permits the entry of the automatic valley vehicle certified by the authentication processing means even when the entry of the automatic valley vehicle into the parking lot is restricted. Valley parking system. Further equipped with a discrimination means for determining that the vehicle is an automatic valley vehicle,
The automatic valet parking system according to any one of claims 1 to 7, wherein the first gate restricts warehousing of a vehicle that is not determined to be an automatic valet vehicle by the determination means into the parking lot. The first gate (28) that permits or restricts the entry of the automatic valley vehicle (100) into the parking lot (300) and the first gate (28) that permits or restricts the entry of the manual vehicle (110) into the parking lot. With two gates (27), the automatic valet vehicle automatically drives in the parking lot to move to an empty parking space for parking, and also allows the manual vehicle to park in the parking lot. The gate open / close control device (25) in the system.
A gate open / close control device that restricts warehousing of the first gate and the second gate under different conditions. The automatic valet vehicle used for the automatic valet parking system according to claim 8, further comprising a storage unit that readablely stores information indicating that the vehicle is an automatic valet vehicle by the discriminating means. The automatic valet vehicle used for the automatic valet parking system according to claim 8, further comprising a communication unit for transmitting information indicating that the vehicle is an automatic valet vehicle to the determination means. The automatic valet vehicle used for the automatic valet parking system according to any one of claims 5 to 7, further comprising a reservation requesting means (12) for transmitting the parking reservation request by wireless communication to the reservation means. Also, an automatic volleyball vehicle.

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