JP7171197B2 - PARKING CONTROL DEVICE, PARKING CONTROL SYSTEM AND PARKING CONTROL METHOD - Google Patents

Description

The present invention relates to a parking control device, a parking control system and a parking control method.

Conventionally, when a vehicle capable of autonomous driving is parked in a parking lot with a plurality of parking slots, a technique has been proposed for parking based on information from a device that manages the parking lot (see, for example, Patent Document 1). ).

For example, in the prior art, after the driver gets off at the entrance of the parking lot, the parking lot management device designates one empty parking space from among a plurality of parking spaces, and designates the designated parking space. Information indicating the parking slot is transmitted to the vehicle. A parking control system installed in a vehicle acquires information on designated parking spaces from the parking management device, and sets the acquired designated parking spaces as target parking spaces. The parking control system moves the vehicle to the target parking frame by automatic driving, and parks the vehicle in the target parking frame.

JP-A-10-275300

However, the conventional technology described above has room for improvement in terms of improving the parking efficiency of vehicles in parking lots. That is, the availability of parking slots in the parking lot changes over time as vehicles enter and leave the garage. In the conventional technology, since parking is performed in the target parking space set at the entrance, it is not possible to cope with the changed parking space availability, and as a result, there is a possibility that the parking efficiency of the vehicle will be lowered. was there.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a parking control device, a parking control system, and a parking control method that can improve the efficiency of parking a vehicle in a parking lot.

In order to solve the above problems and achieve the object, the present invention provides a parking control device that includes a designated parking frame acquisition unit, a target parking frame setting unit, and an empty parking frame detection unit. The designated parking space acquisition unit acquires information indicating a designated parking space, which is a parking space designated by an external device, among a plurality of parking spaces in the parking lot. The target parking frame setting unit sets the designated parking frame as a target parking frame, which is a target parking frame. The vacant parking frame detection unit detects an vacant parking frame, which is an vacant parking frame, while the host vehicle is moving to the target parking frame. Further, the target parking frame setting unit changes the set target parking frame to the vacant parking frame when the vacant parking frame is detected by the vacant parking frame detecting unit.

ADVANTAGE OF THE INVENTION According to this invention, the parking efficiency of the vehicle in a parking lot can be improved.

FIG. 1 is a diagram showing an outline of a parking control method according to the first embodiment. FIG. 2 is a block diagram showing an example of the overall configuration including the parking control system. FIG. 3 is a diagram for explaining priority determination performed by the priority determination unit. FIG. 4 is a diagram showing an example of priority information. FIG. 5 is a flowchart showing a procedure of parking control processing executed by the parking control device. FIG. 6 is a flowchart showing a processing procedure of target parking frame setting processing. FIG. 7 is a flow chart showing the procedure of the parking completion process. FIG. 8 is a flowchart showing a procedure of parking control processing executed by the parking management device. FIG. 9 is a flowchart showing a processing procedure of target parking frame setting processing in the first modified example. FIG. 10 is a flowchart showing the procedure of parking control processing executed by the parking management device according to the first modification. FIG. 11 is a flowchart showing a processing procedure of target parking frame setting processing in the second modification. FIG. 12 is a diagram showing an outline of a parking control method according to the second embodiment. FIG. 13 is a block diagram showing a configuration example of a parking system. FIG. 14 is a diagram showing an example of user coefficient information. FIG. 15 is a diagram showing an example of user coefficient information. FIG. 16 is a flow chart showing the procedure of the warehouse leaving control process.

Hereinafter, embodiments of a parking control device, a parking control system, and a parking control method disclosed in the present application will be described in detail with reference to the accompanying drawings. In addition, this invention is not limited by embodiment shown below.

<1. First Embodiment>
<1.1. Overview of Parking Control Method>
First, an overview of the parking control method according to the first embodiment will be described below with reference to FIG. FIG. 1 is a diagram showing an outline of a parking control method according to the first embodiment.

The parking control method according to the first embodiment is executed by the parking control device 10 provided in the vehicle C, for example. As shown in the upper diagram of FIG. 1 , a vehicle C such as an automobile is equipped with a parking control system 1 , and the parking control system 1 includes a parking control device 10 and a vehicle control device 40 . In addition, below, the vehicle C may be described as "own vehicle C."

The parking control device 10 performs parking control of the host vehicle C, which will be described later. A specific configuration of the parking control device 10 will be described with reference to FIG. 2 .

For example, when a driver performs a driving operation on an accelerator pedal, a brake pedal, a steering wheel, or the like, the vehicle control device 40 controls a drive source such as an engine, a braking device, or a steering device (none of which is shown) in accordance with the driving operation. etc. to control the behavior of the host vehicle C.

In addition, the vehicle control device 40 can perform automatic driving control that does not require driver's driving operation. For example, the vehicle control device 40 controls the own vehicle C based on GPS (Global Positioning System) information, image information around the own vehicle C captured by a camera (not shown), etc., and automatically reaches a target parking frame, which will be described later. It can be driven and parked.

Hereinafter, the case where self-vehicles C park in parking lot 200 by automatic operation control is mentioned as an example, and is explained. The parking lot 200 includes a plurality of parking frames 210 and a parking lot management device 220 .

In the example shown in the upper diagram of FIG. 1 , the parked vehicle Cx is already parked in some parking frames 210 among the plurality of parking frames 210, while the parking frame 210 on the right side of the paper surface does not have the parked vehicle Cx. It shall be empty.

In addition, below, the parking frame 210 of a vacant state may be described as a "vacant parking frame." Further, in the upper diagram of FIG. 1, the empty parking space on the right side of the paper surface is surrounded by a dashed line A, and this empty parking space may be hereinafter referred to as "empty parking space A".

Each of the plurality of parking frames 210 is provided with a vehicle detection sensor (not shown) that detects the parked vehicle Cx, and outputs a detection signal to the parking lot management device 220 when the parked vehicle Cx is detected. As the vehicle detection sensor, an infrared sensor, a weight sensor, or the like can be used, but the vehicle detection sensor is not limited to this.

The parking lot management device 220 is, for example, a center server that manages the entire parking lot 200 . The parking lot management device 220 obtains information on the availability of the parking frames 210 in the parking lot 200 based on the detection signals of the vehicle detection sensors described above. The parking lot management device 220 obtains vacancy information by analyzing not only the detection signal of the vehicle detection sensor, but also an image captured by an on-site camera (not shown) installed in the parking lot 200, for example. You may do so.

In addition, the parking lot management device 220 can communicate with each vehicle C, Cx. Note that the parking lot management device 220 is an example of an external device.

In the parking lot 200 configured as described above, parking control of the own vehicle C using automatic driving control (so-called automatic valet parking) is performed. As shown in the upper diagram of FIG. 1, it is assumed that the own vehicle C is stopped in front of the entrance 230 of the parking lot 200 first.

For example, after a user such as a driver gets off the vehicle C, the parking control device 10 displays vehicle information including vehicle size information of the vehicle C when the user operates a button requesting parking by automatic driving control. to the parking lot management device 220 (step S1).

Next, the parking lot management device 220 designates, for example, one vacant parking space A suitable for the vehicle size of the own vehicle C from among the plurality of parking spaces 210 based on the transmitted vehicle information and vacancy information. Then, information indicating the specified parking space (here, vacant parking space A) is transmitted to the own vehicle C (step S2).

The parking control device 10 acquires information on the designated parking space transmitted from the parking management device 220 (step S3). Next, the parking control device 10 sets the designated parking frame as the target parking frame, which is the target parking frame, whereby the automatic operation control up to the target parking frame is started by the vehicle control device 40 (step S4 ).

By the way, the availability of parking slots 210 in parking lot 200 may change over time. Specifically, as shown in the middle diagram of FIG. 1, for example, one of the parked vehicles Cx is pulled out while the host vehicle C is moving to the target parking slot (here, the vacant parking slot A). There is In the middle diagram of FIG. 1, the parked vehicle Cx to be left is indicated by Cx1.

As a result, the vacant parking spaces 210 among the plurality of parking spaces 210 become vacant parking spaces A and vacant parking spaces B, and the vacant status changes. In the conventional technology, parking is performed in the target parking frame set at the entrance 230, so the vehicle C passes through the vacant parking frame B and is parked in the vacant parking frame A, resulting in the vehicle being parked in the vacant parking space A. There was a possibility that the parking efficiency of C would be lowered.

Therefore, in the parking control method according to the present embodiment, an empty parking frame is detected while the host vehicle C is moving to the target parking frame (step S5). In the middle diagram of FIG. 1, it is assumed that the parking control device 10 has detected an empty parking frame B. As shown in FIG.

Then, as shown in the lower diagram of FIG. 1, the parking control device 10 changes the target parking frame set at the entrance 230 to the empty parking frame B (step S6). As a result, the own vehicle C is parked in the newly set target parking frame (here, the vacant parking frame B).

As described above, in the present embodiment, by parking the own vehicle C in the vacant parking frame B detected during movement to the target parking frame, the vehicle C is parked earlier than in the case of parking in the vacant parking frame A. Parking can be performed, and thus the parking efficiency of the own vehicle C in the parking lot 200 can be improved.

In addition, in this embodiment, the distance traveled by the vehicle C is shorter than when the vehicle is parked in the vacant parking slot A, so fuel consumption can be reduced.

Furthermore, in the present embodiment, the target parking space is changed to the vacant parking space B detected during movement, so that the parked vehicles Cx are parked near the entrance 230 in some clusters, for example. This makes it possible to easily manage the parking lot 200 in terms of maintenance such as crime prevention, as compared with the case where the parked vehicles Cx are sparsely present in the parking lot 200, for example.

<1.2. Overall Configuration of Parking Control System>
Next, the overall configuration including the parking control system 1 according to the first embodiment will be described using FIG. FIG. 2 is a block diagram showing an example of the overall configuration including the parking control system 1. As shown in FIG.

As shown in FIG. 2 , the parking control system 1 includes the parking control device 10 described above, a vehicle control device 40 , a parking request button 50 , an in-vehicle sensor group 51 , and an imaging section 52 .

The parking request button 50 is provided, for example, on a key of the vehicle C, and when operated by the user after getting off the vehicle C, a parking request signal indicating that parking by automatic driving control is requested is generated. Output to the parking control device 10 .

The in-vehicle sensor group 51 includes various devices for detecting information necessary for, for example, processing for detecting an empty parking space, processing for determining the presence or absence of other vehicles, and processing for determining parking completion, which will be described later. For example, a GPS receiver that detects the current position of the own vehicle C based on signals from GPS satellites, a reflected wave obtained by radiating electromagnetic waves toward the surroundings, the presence or absence of objects such as other vehicles, and the objects The in-vehicle sensor group 51 includes, but is not limited to, a radar for measuring the distance and direction of the vehicle. The in-vehicle sensor group 51 outputs information such as the current position of the own vehicle C and the presence or absence of objects such as other vehicles to the parking control device 10 .

The image capturing unit 52 is a camera that captures an image of the outside (periphery) of the own vehicle C. As shown in FIG. The imaging unit 52 outputs the captured image information of the surroundings of the own vehicle C to the parking control device 10 .

The parking control device 10 includes a control section 20 and a storage section 30 . In addition to the parking management device 220 described above, the parking control device 10 can also communicate with the parking control device 110 of another vehicle Ca (see FIG. 3, described later), and can perform inter-vehicle communication. but more on that later.

The control unit 20 includes a designated parking frame acquisition unit 21, a target parking frame setting unit 22, a surrounding information acquisition unit 23, an empty parking frame detection unit 24, an other vehicle determination unit 25, a priority determination unit 26, A predetermined parking frame determination unit 27 , a parking completion determination unit 28 , and a transmission unit 29 are provided. Note that the control unit 20 is, for example, a microcomputer including a CPU.

The storage unit 30 is a storage unit configured by a storage device such as a nonvolatile memory or a hard disk drive, and stores vehicle information 31 and priority information 32 .

The designated parking frame acquisition unit 21 receives a parking request signal from the parking request button 50 described above. When the parking request signal is input, the designated parking space acquisition unit 21 reads out the vehicle information 31 stored in the storage unit 30, and transmits the vehicle information 31 and a signal requesting the information of the designated parking space to the parking management device 220. Send to The vehicle information 31 includes, for example, information such as the vehicle size and vehicle type of the own vehicle C, but is not limited to these.

When a signal requesting the vehicle information 31 and the information of the designated parking space is input, the parking management device 220 transmits the information of the designated parking space to the own vehicle C based on the vehicle information 31 and the like as described above. .

The designated parking space acquisition unit 21 acquires information on the designated parking space from the parking management device 220 and outputs the information on the designated parking space to the target parking space setting unit 22 and the predetermined parking space determination unit 27 .

When the information of the designated parking frame is input, the target parking frame setting unit 22 sets the designated parking frame as the target parking frame. The target parking frame setting unit 22 also outputs information indicating the set target parking frame to the vehicle control device 40 .

When the information of the target parking frame is input, the vehicle control device 40 performs automatic driving control up to the target parking frame. For example, the vehicle control device 40 calculates a route from the current position of the host vehicle C to the target parking frame. Information from the vehicle-mounted sensor group 51 and the imaging unit 52 is input to the vehicle control device 40, and the own vehicle C is automatically driven to the target parking frame based on the information and the calculated route.

Then, when the vehicle C reaches the vicinity of the target parking frame, the vehicle control device 40 detects the frame line of the target parking frame by analyzing the image information from the imaging unit 52, for example, and automatically stops within the frame line. Vehicle C is controlled and parked.

Information from the in-vehicle sensor group 51 and the imaging unit 52 is input to the peripheral information acquisition unit 23 . The peripheral information acquisition unit 23 outputs the input information to the empty parking frame detection unit 24 , the other vehicle determination unit 25 and the parking completion determination unit 28 .

The vacant parking frame detection unit 24 detects the vacant parking frame when the own vehicle C is moving to the target parking frame by automatic driving by the vehicle control device 40 . For example, the vacant parking space detection unit 24 analyzes image information captured by the imaging unit 52 while the host vehicle C is moving, thereby detecting vacant parking spaces among the parking spaces 210 along the route. Then, the vacant parking frame detection unit 24 outputs information indicating the detection result of the vacant parking frame to the target parking frame setting unit 22 and the other vehicle determination unit 25 .

The target parking frame setting unit 22 does not change the target parking frame when the vacant parking frame is not detected by the vacant parking frame detection unit 24 . That is, the self-vehicle C continues to automatically travel to the target parking slot set at the entrance 230 (see FIG. 1) of the parking lot 200 .

When the vacant parking frame is detected by the vacant parking frame detection unit 24, the other vehicle determination unit 25 detects the other vehicle Ca moving around the vacant parking frame based on information from the in-vehicle sensor group 51 and the imaging unit 52, for example. exists.

Note that the “other vehicle in motion” means, for example, another vehicle Ca (see FIG. 3) that is automatically driven to a target parking slot different from the target parking slot for the own vehicle C. Further, the term "moving" in this specification is not limited to a state in which the own vehicle C or the other vehicle Ca is physically moving. Even if the vehicle is in the vehicle, if the vehicle is on the way to the target parking space, it is included in "moving".

Then, the other vehicle determination unit 25 outputs to the target parking frame setting unit 22 and the priority determination unit 26 information indicating the determination result as to whether or not there is another vehicle Ca that is moving.

The target parking frame setting unit 22 changes the target parking frame to an empty parking frame when the other vehicle determining unit 25 determines that the other vehicle Ca does not exist. Then, the target parking frame setting unit 22 outputs information indicating the changed target parking frame to the vehicle control device 40 .

The vehicle control device 40 recalculates the route to the changed target parking frame, automatically drives the vehicle C to the target parking frame based on the calculated route, and parks the vehicle (see the lower diagram in FIG. 1). .

Thus, in this embodiment, when an empty parking space is detected while the host vehicle C is moving to the initially set target parking space, the target parking space is changed to the detected empty parking space. As compared with the case of parking the own vehicle C in the initially set target parking frame, parking can be performed earlier than in the case of parking the own vehicle C, thereby improving the parking efficiency of the own vehicle C in the parking lot 200.例文帳に追加can be done.

When the other vehicle determination unit 25 determines that the other vehicle Ca exists, the priority determination unit 26 determines the priority of the own vehicle C and the other vehicle Ca with respect to the empty parking frame based on the priority information 32 . Then, as will be described later, the target parking frame of the host vehicle C or the other vehicle Ca determined to have a higher priority is changed to an empty parking frame.

Here, priority determination performed by the priority determination unit 26 will be described with reference to FIG. 3 and the like. FIG. 3 is a diagram for explaining priority determination performed by the priority determination unit 26. As shown in FIG. Note that FIG. 3 shows an example of a scene in which the vacant parking frame B is detected by the vacant parking frame detection unit 24 and the other vehicle Ca is determined to exist around the vacant parking frame B by the other vehicle determination unit 25. ing.

As shown in FIG. 3, when it is determined that another vehicle Ca exists around the vacant parking space B and there is a competition for parking in the vacant parking space B, the priority determination unit 26 (see FIG. 2) of the parking control device 10 , the priority information 32 of the host vehicle C stored in the storage unit 30 is obtained. In addition, the priority determination unit 26 performs inter-vehicle communication with the parking control device 110 of the other vehicle Ca to acquire priority information 32 of the other vehicle Ca.

FIG. 4 is a diagram showing an example of the priority information 32 of the own vehicle C and the other vehicle Ca acquired by the priority determination unit 26. As shown in FIG.

As shown in FIG. 4, the priority information 32 includes acquisition time information for acquiring information indicating a designated parking space from the parking lot management device 220, distance information from the current position to an empty parking space, vehicle size information, number of occupants. information, usage frequency information of the parking lot 200, usage frequency information of the parking lot 200, and the like. The usage frequency information and usage frequency information of the parking lot 200 are an example of usage history information of the parking lot 200 .

The priority determination unit 26 can compare the acquisition time information of the own vehicle C and the acquisition time information of the other vehicle Ca, and determine that the earlier acquisition time has a higher priority, for example. That is, since the vehicle C or the other vehicle Ca with the earlier acquisition time enters the parking lot 200 first, the priority determination unit 26 determines that the vehicle with the earlier acquisition time has a higher priority. Then, the target parking frame is changed to an empty parking frame. As a result, parking is performed in the order in which the vehicles enter the parking lot 200, and the parking efficiency of the own vehicle C and the other vehicle Ca in the parking lot 200 can be improved.

In addition, the priority determination unit 26 can compare the distance information between the own vehicle C and the other vehicle Ca, and determine that the shorter distance has higher priority, for example. That is, since the vehicle with the shortest distance to the vacant parking space of the own vehicle C and the other vehicle Ca can be parked at an early stage, the priority determination unit 26 determines that the vehicle with the shorter distance has a higher priority. The target parking frame was changed to an empty parking frame. As a result, the own vehicle C and the other vehicle Ca can be parked in the parking lot 200 as quickly as possible, and parking efficiency can be improved.

In addition, the priority determination unit 26 can compare the vehicle size information of the own vehicle C and the other vehicle Ca, and determine that the vehicle size suitable for the size of the empty parking space has a higher priority. That is, depending on the parking lot 200, the number of parking slots for large vehicles, for example, may be relatively small. In such a case, when the own vehicle C, which is a large vehicle, and another vehicle Ca, which is a small vehicle, compete for an empty parking slot for a large vehicle, the priority determination unit 26 determines that the own vehicle C has a higher priority. Then, the target parking frame is changed to an empty parking frame. Thereby, the own vehicle C and the other vehicle Ca can be parked in the parking frame 210 suitable for the vehicle size in the parking lot 200, and parking efficiency can be improved.

In addition, the priority determination unit 26 can compare the information on the number of occupants of the own vehicle C and the other vehicle Ca, and determine that the vehicle with the larger number of occupants, for example, has a higher priority. That is, for example, if the parking lot 200 has an entrance and an exit adjacent to each other, parking in the parking frame 210 closer to the entrance allows the vehicle to reach the exit more quickly when exiting. Therefore, the priority determination unit 26 determines that the own vehicle C, which has a large number of passengers, has a high priority, and changes the target parking space to an empty parking space. As a result, it is possible to shorten the waiting time for leaving the own vehicle C, which has a large number of passengers, so that parking efficiency can be improved while giving satisfaction to many passengers.

In addition, the priority determination unit 26 compares the usage frequency information and the usage frequency information of the parking lot 200 of the own vehicle C and the other vehicle Ca, and determines, for example, that the one with the higher usage frequency or usage frequency has a higher priority. be able to. That is, the priority determination unit 26 determines that the own vehicle C, which is used more frequently, has a higher priority, and changes the target parking frame to an empty parking frame. As a result, it is possible to shorten the waiting time for the user's own vehicle C to leave the parking lot for the number of times of use or the frequency of use.

Note that the priority determination unit 26 may perform priority determination based on one of a plurality of types of priority information 32, or may determine priority by combining a plurality of types of priority information 32. can be

Note that the priority information 32 may be stored in association with the determination order. The determination order indicates the order of priority among various types of information stored as the priority information 32 . That is, for example, when the obtained time information with the first ranking is the same time for the own vehicle C and the other vehicle Ca, the priority determination unit 26 compares the distance information with the second ranking. may be used to determine the priority.

As a result, the priority determination unit 26 according to the present embodiment can reliably determine the priority between the host vehicle C and the other vehicle Ca. Although FIG. 4 shows various types of information stored as the priority information 32 and specific numerical values of determination order, these are only examples and are not limited.

Further, in the above description, the priority determination unit 26 directly acquires the priority information 32 from the other vehicle Ca. However, the present invention is not limited to this. may be obtained.

The priority determination unit 26 outputs to the target parking frame setting unit 22 information indicating the result of the priority determination performed as described above. Then, the target parking frame setting unit 22 sets the target parking frame based on the determination result of the priority determination unit 26 .

Specifically, the target parking frame setting unit 22 changes the target parking frame to the vacant parking frame when the priority of the host vehicle C to the vacant parking frame is higher than the priority of the other vehicle Ca. Conversely, the target parking frame setting unit 22 does not change the target parking frame to an empty parking frame when the priority of the own vehicle C is lower than the priority of the other vehicle Ca.

As a result, the vehicle C or the other vehicle Ca with higher priority is parked in the empty parking space, thereby improving the parking efficiency of the vehicle C or the other vehicle Ca in the parking lot 200. can.

Further, the priority determination unit 26 may output information indicating the priority determination result to the parking control device 110 of the other vehicle Ca. As a result, it is possible to share the determination result of the priority between the own vehicle C and the other vehicle Ca, so that the vehicle can smoothly park in the vacant parking slot with the higher priority.

As described above, the designated parking frame information is input from the designated parking frame acquisition unit 21 to the predetermined parking frame determining unit 27 . Then, the predetermined parking frame determination unit 27 determines whether or not the designated parking frame set as the target parking frame is a predetermined parking frame that satisfies a predetermined condition. Here, the predetermined condition includes, for example, a condition that the designated parking frame is the parking frame 210 designated by the user.

Specifically, for example, when entering the parking lot 200, when the user requests the parking lot management device 220 to park in a specific area of the parking lot 200 (for example, near a specific exit), the parking lot The management device 220 designates a parking space 210 in a specific area as a designated parking space. As a result, the designated parking frame is set as the target parking frame in the target parking frame setting unit 22, and automatic driving control is performed up to the target parking frame.

At this time, if an empty parking space is detected while the host vehicle C is moving to the target parking space, the target parking space is the designated parking space designated by the user. is preferably not changed to an empty parking space.

Therefore, in the present embodiment, first, the predetermined parking frame determination unit 27 determines whether or not the designated parking frame is the predetermined parking frame. The predetermined parking frame determination unit 27 outputs information indicating the determination result to the target parking frame setting unit 22 .

Then, when the vacant parking frame is detected by the vacant parking frame detecting unit 24 and the specified parking frame is determined by the predetermined parking frame determining unit 27 to be the predetermined parking frame, the target parking frame setting unit 22 sets the target parking space. It is prohibited to change the frame to an empty parking frame.

As a result, in the present embodiment, for example, when the specified parking space designated by the user is the target parking space, the target parking space is prohibited from being changed to an empty parking space. It is possible to improve the parking efficiency while satisfying the requirements.

The parking completion determination unit 28 determines whether or not parking of the own vehicle C in the target parking frame is completed based on information from the in-vehicle sensor group 51 and the imaging unit 52 input from the peripheral information acquisition unit 23 . The parking completion determination unit 28 outputs a completion signal indicating the completion of parking to the transmission unit 29 when it is determined that the parking of the own vehicle C in the target parking frame is completed. In this specification, "parking completion" means, for example, that the own vehicle C has stopped within the frame line of the target parking frame, but is not limited to this.

When the parking completion determination unit 28 determines that parking in the target parking space is completed and the completion signal is input, the transmission unit 29 transmits information indicating the target parking space in which the vehicle C is parked to the parking management device 220. Send to

As a result, the parking lot management device 220 can quickly acquire the information that the own vehicle C is parked in the target parking slot transmitted from the transmission unit 29 . 210 accurate availability information is always available.

<1.3. Control Processing of Parking Control Device According to First Embodiment>
Next, a specific treatment procedure in the parking control device 10 will be described using FIG. 5 and subsequent figures. FIG. 5 is a flowchart showing the procedure of the parking control process executed by the parking control device 10. As shown in FIG.

As shown in FIG. 5, the control unit 20 of the parking control device 10 executes processing for setting a target parking frame (step S10). FIG. 6 is a flowchart showing a processing procedure of target parking frame setting processing.

As shown in FIG. 6, the control unit 20 transmits the vehicle information of the own vehicle C to the parking lot management device 220 (step S100). Next, the control unit 20 acquires information on the designated parking space transmitted from the parking lot management device 220 (step S101).

Subsequently, the control unit 20 sets the designated parking frame as the target parking frame (step S102). Next, the control unit 20 determines whether or not an empty parking frame is detected while the host vehicle C is moving to the target parking frame (step S103).

When it is determined that no vacant parking frame is detected (step S103, No), the control unit 20 outputs information on the target parking frame set in step S102 to the vehicle control device 40 (step S104). As a result, the host vehicle C is automatically controlled and parked to the target parking frame by the vehicle control device 40 .

On the other hand, when it is determined that an empty parking frame is detected (step S103, Yes), the control unit 20 determines whether or not the designated parking frame set as the target parking frame is a predetermined parking frame (step S105). ).

When it is determined that the designated parking frame is not the predetermined parking frame (step S105, No), the control unit 20 determines whether or not there is another vehicle Ca moving around the empty parking frame (step S106). ).

When it is determined that the other vehicle Ca exists around (step S106, Yes), the control unit 20 determines the priority of the own vehicle C and the other vehicle Ca with respect to the empty parking frame (step S107).

Next, the control unit 20 determines whether or not the priority of the own vehicle C is higher than the priority of the other vehicle Ca (step S108). And control part 20 changes a target parking frame into an empty parking frame, when the priority of self-vehicles C is higher than other vehicles Ca (Step S108, Yes) (Step S109).

Then, the control unit 20 proceeds to step S<b>104 and outputs the changed target parking frame information to the vehicle control device 40 . As a result, the own vehicle C is parked in the target parking frame changed by the vehicle control device 40 .

On the other hand, when the priority of the own vehicle C is lower than the priority of the other vehicle Ca (step S108, No), the control unit 20 skips step S109 and does not change the target parking frame to an empty parking frame. , the target parking frame set in step S102 is maintained.

Here, when the priority of the own vehicle C is lower than that of the other vehicle Ca, the target parking frame is maintained, so the vehicle control device 40 moves the own vehicle C to the target parking frame. Parking in the vacant parking space of the other vehicle Ca with a higher value may be hindered from moving the own vehicle C to the target parking space. In such a case, the vehicle control device 40 stops the own vehicle C until the other vehicle Ca does not hinder the movement of the own vehicle C to the target parking frame, and then moves the own vehicle C to the target parking frame. can be

Continuing the description of FIG. 6, when it is determined that there is no other vehicle Ca in the vicinity (step S106, No), the control unit 20 proceeds to step S109 and changes the target parking frame to an empty parking frame.

When the designated parking frame is determined to be the predetermined parking frame (step S105, Yes), the control unit 20 prohibits changing the target parking frame to an empty parking frame (step S110).

Returning to the description of FIG. 5, the control unit 20 executes a process of completing parking of the host vehicle C in the target parking frame (step S11). FIG. 7 is a flow chart showing the procedure of the parking completion process.

As shown in FIG. 7, the control unit 20 determines whether or not parking of the own vehicle C in the target parking frame is completed (step S200). When it is determined that the vehicle C has been parked in the target parking frame (step S200, Yes), the control unit 20 transmits information indicating the target parking frame in which the vehicle C is parked to the parking lot management device 220. (step S201).

On the other hand, if it is not determined that the vehicle C has been parked in the target parking frame (step S200, No), the control unit 20 skips step S201 and ends the process.

As described above, the parking control device 10 according to the first embodiment includes the designated parking frame acquisition unit 21 , the target parking frame setting unit 22 and the empty parking frame detection unit 24 . The designated parking space acquisition unit 21 acquires information indicating a designated parking space, which is a parking space designated by the parking management device 220 (an example of an external device) among the plurality of parking spaces 210 of the parking lot 200 . The target parking frame setting unit 22 sets the designated parking frame as a target parking frame, which is a target parking frame.

The vacant parking frame detection unit 24 detects an vacant parking frame, which is an vacant parking frame, while the host vehicle C is moving to the target parking frame. In addition, when the empty parking frame is detected by the empty parking frame detection unit 24, the target parking frame setting unit 22 changes the set target parking frame to the empty parking frame. Thereby, the parking efficiency of the vehicle in the parking lot can be improved.

Note that even after changing the set target parking frame to the vacant parking frame, the control unit 20 determines whether or not parking of the own vehicle C in the target parking frame is completed, as shown in FIG. (Step S200). Then, when it is determined that the parking of the host vehicle C in the changed target parking frame is completed (step S200, Yes), the control unit 20 determines that the target parking frame in which the host vehicle C is parked, in other words, the changed target parking frame. Information indicating the target parking space is transmitted to the parking lot management device 220 (step S201). Thereby, the parking lot management device 220 can recognize that the vehicle C has parked in a parking slot different from the designated parking slot. Therefore, the parking lot management device 220 does not set the parking space in which the own vehicle C is parked as a designated parking space for other vehicles.

Here, an example of control processing in the parking lot management device 220 will be described with reference to FIG. FIG. 8 is a flow chart showing the procedure of the parking control process executed by the parking lot management device 220. As shown in FIG.

As shown in FIG. 8, the parking management device 220 determines whether it has received the vehicle information and the signal requesting the information of the designated parking space from the host vehicle C (step S1000). When it is determined that the parking lot management device 220 has received the vehicle information and the like (step S1000, Yes), the parking lot management device 220 transmits the information of the designated parking space to the own vehicle C based on the vehicle information and the information on the vacancy situation (step S1000, Yes). S1001).

Next, the parking lot management device 220 updates information on the availability of the parking lot 200 (step S1002). Specifically, since the vehicle C is scheduled to be parked in the designated parking space transmitted to the vehicle C, the parking management device 220 provides information indicating that the vehicle C is scheduled to be parked in the designated parking space. Update the availability information so that is included in the availability information. As a result, the parking management device 220 can prevent the specified parking space transmitted to the host vehicle C from being set as the specified parking space for other vehicles.

If it is determined that the vehicle information or the like has not been received (step S1000, No), the parking lot management device 220 skips the above steps S1001 and S1002.

Next, the parking management device 220 determines whether the parking of the own vehicle C is completed and the information indicating the target parking frame in which the own vehicle C is parked has been received from the own vehicle C (step S1003).

When it is determined that the information indicating the target parking space has been received (step S1003, Yes), the parking lot management device 220 updates the information on the availability (step S1004). Specifically, the parking lot management device 220 updates the availability information so that the received target parking space is removed from the available parking space information included in the availability information. Accordingly, as already described, the parking lot management device 220 does not set the parking space in which the own vehicle C is parked as the designated parking space for other vehicles.

On the other hand, when it is determined that the information indicating the target parking space is not received (step S1003, No), the parking lot management device 220 skips step S1004 and ends the process.

<1.4. First modification>
Next, parking control processing executed by the parking control device 10 according to the first modified example will be described. For example, when the set target parking space is changed to the detected empty parking space, the parking control device 10 according to the first modification stores information about the parking space including information on the target parking space after the change. It was made to transmit to the parking lot management apparatus 220. - 特許庁

FIG. 9 is a flowchart showing a processing procedure of target parking frame setting processing in the first modified example. In addition, in FIG. 9 and FIGS. 10 and 11, which will be described later, the same step numbers are given to the same processes as in the first embodiment, and explanations thereof may be omitted.

As shown in FIG. 9, the control unit 20 of the parking control device 10 performs steps S100 to S110 to set the target parking frame for the host vehicle C. As shown in FIG. For example, the control unit 20 performs processing of changing the set target parking frame to the detected empty parking frame, or performs processing of not changing the target parking frame even when the empty parking frame is detected. do.

Then, the control unit 20 transmits information about the parking frame to the parking management device 220 (step S111). The information on the parking space described above includes, for example, information on the target parking space after the change, information on the vacant parking space that was not changed to the target parking space when the target parking space was not changed, and the like. It is not limited. Note that the control unit 20 performs the process of step S104 after the process of step S111.

Next, control processing in the parking lot management device 220 to which the information about the parking spaces is transmitted will be described with reference to FIG. 10 . FIG. 10 is a flowchart showing the procedure of parking control processing executed by the parking management device 220 according to the first modified example.

As shown in FIG. 10, the parking management device 220, after performing the processing of steps S1000 to S1002, if it is determined that the information indicating the parked target parking frame has not been received (step S1003, No), It is determined whether information has been received from host vehicle C (step S1005).

When the parking lot management device 220 determines that the information about the parking space has been received (step S1005, Yes), it updates the information on the availability (step S1004). Specifically, for example, when the information on the parking space includes information on the target parking space after the change, since the own vehicle C is scheduled to be parked in the target parking space after the change, the parking management device 220 The availability information is updated so that the information indicating that the own vehicle C is scheduled to be parked in the target parking slot after the change is included in the availability information. As a result, the parking management device 220 can prevent the changed target parking space from being set as a designated parking space for other vehicles.

In addition, since the target parking space before the change is an empty parking space because the own vehicle C is not parked, the parking lot management device 220 includes the target parking space before the change as an empty parking space in the vacancy information. Update availability information to ensure availability. As a result, the parking management device 220 can set the target parking space before the change, which has become an empty parking space, as a designated parking space for other vehicles, thereby improving the parking efficiency of the vehicle in the parking lot. can be made

Further, when the information on the parking space includes information on an empty parking space that has not been changed to the target parking space, the parking lot management device 220 determines that the empty parking space detected by the own vehicle C is included in the information on the availability status. Update availability information to ensure availability. Thus, in the first modified example, it is possible to quickly reflect the vacant parking spaces detected by the own vehicle C in the vacant status information.

On the other hand, when the parking lot management device 220 does not determine that the information regarding the parking frame has been received (step S1005, No), the process is terminated by skipping step S1004.

<1.5. Second modification>
Next, parking control processing executed by the parking control device 10 according to the second modified example will be described. For example, the parking control device 10 according to the second modification determines the priority of the host vehicle C and the other vehicle Ca, and then transmits information indicating the priority determination result to the parking control device 110 of the other vehicle Ca. sent to. Further, for example, when the parking control device 10 receives information indicating the priority determination result from the parking control device 110 of the other vehicle Ca before determining the priority by itself, the information indicating the received determination result Based on this, it is determined whether or not the priority of the own vehicle C is higher than the priority of the other vehicle Ca, and the target parking frame is set. As a result, the processing load on the parking control device 10 and the like can be reduced. The second modified example will be described in detail below with reference to FIG.

FIG. 11 is a flowchart showing a processing procedure of target parking frame setting processing in the second modification. As shown in FIG. 11, the control unit 20 of the parking control device 10 performs the processing of steps S100 to S106, and when it is determined that another vehicle Ca exists in the surroundings (step S106, Yes), the parking of the other vehicle Ca is determined. It is determined whether or not information indicating the priority determination result has been received from the control device 110 (step S106a).

If the control unit 20 does not determine that the information indicating the priority determination result has been received from the other vehicle Ca (step S106a, No), the control unit 20 proceeds to step S107, and determines the priority of the own vehicle C and the other vehicle Ca with respect to the empty parking frame. judge.

Then, the priority determination unit 26 (see FIG. 2) of the control unit 20 transmits information indicating the priority determination result to the parking control device 110 of the other vehicle Ca (step S107a). As a result, for example, when the parking control device 110 of the other vehicle Ca does not determine the priority, the parking control device 110 of the other vehicle Ca does not perform the priority determination process by itself, and determines the received priority. The determination result can be used to set the target parking frame, thereby reducing the processing load.

On the other hand, when it is determined that the information indicating the priority determination result has been received from the other vehicle Ca (step S106a, Yes), the control unit 20 skips steps S107 and S107a, proceeds to S108 and after, and controls the other vehicle Ca. The target parking frame is set using the priority determination result received from. In this manner, the priority determination unit 26 (see FIG. 2) of the control unit 20 does not perform the priority determination process by itself when receiving information indicating the priority determination result from the other vehicle Ca. Then, the control unit 20 sets the target parking frame using the priority determination result received from the other vehicle Ca, thereby reducing the processing load compared to the case where the priority determination process is performed by itself. can be done.

In the above-described first embodiment and each modified example, the route from the own vehicle C to the target parking frame is calculated by the vehicle control device 40, but is not limited to this, and the parking control device 10 or the parking lot It may be calculated by the management device 220 .

In the above description, the vacant parking frame detection unit 24 detects the vacant parking frame based on the image information of the imaging unit 52, but the present invention is not limited to this. For example, the vacant parking frame detection unit 24 performs inter-vehicle communication with the parked vehicle Cx1 (see the middle diagram of FIG. 1) to be left, and acquires the leaving information indicating that the parked vehicle Cx1 has left the parking lot. , an empty parking frame may be detected.

Further, parking in the parking lot 200 described above is performed after the driver gets off the vehicle, but this is not a limitation, and the vehicle may be parked while the driver remains in the vehicle, for example.

<2. Second Embodiment>
<2.1. Overview of delivery control method>
Next, the parking system S according to the second embodiment will be explained. In addition, the same code|symbol may be attached|subjected to the same component as 1st Embodiment, and description may be abbreviate|omitted hereafter. First, the outline of the parking control method according to the second embodiment will be described with reference to FIG. Here, as a parking control method, an exit control method for exiting a vehicle from a parking lot will be described. FIG. 12 is a diagram showing an outline of a parking control method according to the second embodiment.

The parking lot management device 220a included in the parking system S, for example, executes the parking exit control method according to the second embodiment. As shown in FIG. 12, the parking system S includes a parking lot 200a having a parking lot management device 220a, a parking control system 1, and a terminal device 300. FIG. The parking control system 1 is mounted on a vehicle C parked in a parking lot 200a. It is also assumed that the terminal device 300 is owned by the user U who is the driver of the vehicle C. FIG.

Hereinafter, the case where the vehicle C parked in the parking lot 200a exits the parking lot 200a by automatic driving control will be described as an example. The parking lot 200a includes a plurality of parking frames 210, a parking lot management device 220a, a plurality of boarding areas 240, and an exit 230a.

The boarding area 240 is a place for a driver who is the user U, a fellow passenger of the vehicle C, or the like to board the vehicle C, and a plurality of the boarding areas 240 are provided in the parking lot 200a. In FIG. 12, there are three boarding points 240, but the number of boarding points 240 is not limited to two, or four or more. Further, in FIG. 12, the number of exits 230a of the parking lot 200a is one, but the number of exits 230a is not limited to this, and two or more exits 230a may be provided. Also, the boarding hall 240 may be provided with a plurality of boarding places within a single boarding hall.

The parking lot management device 220a operates as a parking control device that performs parking control for the own vehicle C, which will be described later. In addition, hereinafter, the parking control device that performs parking exit control is also referred to as parking exit control device. A specific configuration of the parking lot management device 220a will be described with reference to FIG.

In the parking lot 200a configured as described above, control for leaving the vehicle C using automatic operation control is performed. As shown in the upper diagram of FIG. 12, it is assumed that the own vehicle C is first parked in the parking lot 200a.

The parking lot management device 220a receives, from the terminal device 300 of the user U heading to the parking lot 200a, an exit instruction requesting exit by automatic operation control (step S1).

Upon receiving the exit instruction from the terminal device 300, the parking lot management device 220a calculates the expected boarding time until the user U gets into the own vehicle C at the boarding area 240 (step S2). Specifically, the parking lot management device 220a calculates the time required for the user U to move from the current position to the boarding hall 240 and get on the own vehicle C for each of the plurality of boarding halls 240 as the predicted boarding time. For example, the parking lot management device 220a considers the age of the user U, the congestion status of the route from the current position of the user U to the boarding place 240, and the like, in addition to the distance from the current position of the user U to the boarding place 240. to calculate the expected boarding time.

Next, the parking lot management device 220a calculates the exit arrival time until the vehicle C arrives at the exit 230a from the boarding area 240 (step S3). Specifically, the parking lot management device 220a calculates the exit arrival time from each boarding area 240 until the vehicle C arrives at the exit 230a (see arrows A12 and A22 in FIG. 12). The parking lot management device 220a predicts the exit arrival time in consideration of the number of exit instructions from the user U, in addition to the distance from each boarding area 240 to the exit 230a. When the parking lot 200a is provided with a plurality of exits 230a, the parking lot management device 220a calculates the exit arrival time from each boarding area 240 to each exit 230a.

The parking lot management device 220a calculates the destination arrival time until the vehicle C arrives at the destination from the exit 230a of the parking lot 200a (step S4). Specifically, when the parking lot management device 220a acquires the destination after leaving the parking lot from the terminal device 300, the parking lot management device 220a predicts the destination arrival time until the acquired destination is reached from the exit 230a (see arrow A4 in FIG. 12). do. If the parking lot 200a is provided with a plurality of exits 230a, the destination arrival time from each exit 230a to the destination is calculated. Also, here, the destination arrival time is calculated by the parking lot management device 220a, but the present invention is not limited to this. For example, the terminal device 300 or a navigation device (not shown) mounted on the vehicle C may calculate the destination arrival time. In this case, the parking lot management device 220a notifies the navigation device of the information on the exit 230a as the starting point, for example, and receives the destination arrival time from the navigation device.

Subsequently, the parking lot management device 220a determines the boarding hall 240 to which the vehicle C is moved according to the predicted boarding time, the exit arrival time, and the destination arrival time calculated in steps S2 to S4 (step S5). For example, the parking lot management device 220a calculates the total time for each boarding point 240 of the predicted boarding time, the exit arrival time, and the destination arrival time, and decides to move the vehicle C to the boarding point 240 with the shorter calculated total time. . When there are a plurality of exits 230a, the parking lot management device 220a calculates the total time of the predicted boarding time, exit arrival time, and destination arrival time for each combination of a plurality of boarding areas 240 and a plurality of exits 230a. . The parking lot management device 220a determines the boarding area 240 with the shortest calculated total time as the destination of the vehicle C, and determines the exit 230a with the shortest total time as the destination of the vehicle C after the user U boarded.

The parking lot management device 220a notifies the determined boarding area 240 to the user U and the vehicle C (step S6). In this way, the parking lot management device 220a guides the user U to the decided boarding place 240 by notifying the user U of the decided boarding place 240 . In addition, the parking lot management device 220a notifies the vehicle C of the determined boarding place 240, so that the vehicle control device 40 of the vehicle C performs automatic operation control, whereby the vehicle C moves to the determined boarding place 240. do.

If there are a plurality of exits 230a, the parking management device 220a notifies the vehicle C of the exit 230a determined to move after the user U gets on the vehicle. Thereby, for example, the vehicle control device 40 of the vehicle C can move the vehicle C to the determined exit 230a by the automatic operation control after the user U gets on.

Thus, in this embodiment, the parking lot management device 220a totals the predicted boarding time, the exit arrival time, and the destination arrival time for each of the plurality of boarding places 240, and determines the destination from the current position of the user U. Calculate the total time taken to Furthermore, the parking lot management device 220a determines the boarding place 240 where the user U gets on the vehicle C according to the total time. As a result, for example, it is possible to improve parking efficiency including exit efficiency while shortening the arrival time to the destination.

<2.2. Overall Configuration of Parking System>
Next, the configuration of the parking system S according to the second embodiment will be explained using FIG. 13 . FIG. 13 is a block diagram showing a configuration example of the parking system S. As shown in FIG.

As shown in FIG. 13, the parking system S includes the vehicle control device 40 described above, a terminal device 300, and a parking lot management device 220a.

The terminal device 300 is a mobile device such as a mobile phone or a smart phone. The terminal device 300 transmits the leaving instruction received from the user U to the parking management device 220a. In addition, the terminal device 300 notifies the user U of the boarding place 240 determined by the parking management device 220a.

Parking lot management device 220 a includes communication unit 410 , control unit 420 , and storage unit 430 .

The communication unit 410 is a communication interface that connects to the network N for two-way communication. Communication unit 410 connects to terminal device 300 and vehicle control device 40 via network N. FIG. Control unit 420 can transmit and receive various information by communicating with terminal device 300 and vehicle control device 40 via communication unit 410 .

The control unit 420 includes an exit instruction reception unit 421 , an acquisition unit 422 , a calculation unit 426 , a boarding location determination unit 427 , and a notification unit 428 . Note that the control unit 420 is, for example, a microcomputer including a CPU.

The storage unit 430 is a storage unit configured by a storage device such as a nonvolatile memory or a hard disk drive, and stores peripheral coefficient information 431 , congestion coefficient information 432 and user coefficient information 433 .

The delivery instruction receiving unit 421 receives the delivery instruction from the terminal device 300 via the communication unit 410 . The delivery instruction receiving unit 421 notifies the acquisition unit 422 and the calculation unit 426 of the received delivery instruction.

The acquisition unit 422 includes a surrounding information acquisition unit 422a, a traffic congestion information acquisition unit 422b, a user information acquisition unit 422c, and a destination information acquisition unit 422d.

The peripheral information acquisition unit 422 a acquires peripheral information of the parking lot 200 a via the communication unit 410 . The surrounding information includes, for example, traffic congestion information between the user U's current position and the number of exit instructions received by the exit instruction receiving unit 421 (hereinafter referred to as the number of exit instructions), the weather around the parking lot 200a, and the like. included.

The peripheral information acquisition unit 422a acquires, for example, from an external device connected via the network N, the situation including the degree of congestion around the user U, the weather around the parking lot 200a, and the like. Alternatively, the surrounding information acquisition unit 422a may determine the congestion situation around the user U based on the audio information collected by the microphone of the terminal device 300, the image information of the camera, or the image information of the camera provided around the parking lot 200a. , weather, etc. may be acquired. Further, the peripheral information acquisition unit 422 a acquires the number of delivery instructions from the delivery instruction reception unit 421 .

The peripheral information acquired by the peripheral information acquisition unit 422a is output to the calculation unit 426, which will be described later, and used to calculate the estimated boarding time. Note that the peripheral information acquired by the peripheral information acquisition unit 422a is not limited to the example described above as long as it is used for calculating the estimated boarding time.

The congestion information acquisition unit 422b acquires congestion information of the parking lot 200a and roads via the communication unit 410 . The congestion information includes, for example, the number of instructions to leave the parking lot, the congestion situation around the parking lot 200a, and the congestion situation to the destination after leaving the parking lot.

The traffic congestion information acquisition unit 422b acquires traffic conditions around the parking lot 200a and to the destination after leaving the parking lot from an external device connected via the network N, for example. Note that the destination after leaving the parking lot is obtained from the destination information obtaining unit 422d, which will be described later. In addition, the congestion information acquisition unit 422b acquires the number of leaving instructions from the leaving instruction receiving unit 421. FIG.

The congestion information acquired by the congestion information acquisition unit 422b is output to the calculation unit 426, which will be described later, and used to calculate the exit arrival time and the destination arrival time. Note that the congestion information acquired by the congestion information acquisition unit 422b is not limited to the examples described above as long as it is used for calculating the exit arrival time and the destination arrival time.

The user information acquisition unit 422c acquires user information of the user U via the communication unit 410 . The user information includes, for example, the current location of the user U, the family composition of the user U, the age, information about companions, the degree of fatigue of the user U, the amount (number and weight) and type of luggage held by the user U, and the like. .

The user information acquisition unit 422c acquires the current location of the user U, for example, based on the GPS information installed in the terminal device 300. FIG. Also, the user information acquisition unit 422c acquires the family composition, age, etc. of the user U based on information registered in the terminal device 300, for example. Also, the user information acquisition unit 422c acquires the amount of baggage carried by the user U, based on camera images installed around the terminal device 300 or the parking lot 200a, or in a store where the user U has shopped, for example. The user information acquisition unit 422c also acquires information about the type of luggage such as carts and strollers. It should be noted that the amount of luggage carried by the user U may be obtained from purchase data of the user U's credit card or the like, for example. In addition, the user information acquisition unit 422c acquires the amount of luggage that the user U had when he got off the vehicle C based on the images of the cameras installed around the parking lot 200a. The amount of baggage carried by the user U may be estimated according to the increased amount of baggage.

Further, the user information acquisition unit 422c, for example, calculates the moving speed of the user U from the change in the current position of the user U, and estimates the fatigue level of the user U based on the calculated moving speed. For example, the user information acquisition unit 422c estimates that the fatigue level of the user U is high when the movement speed becomes slow or when the number of times the movement speed becomes zero increases. Alternatively, the user information acquisition unit 422c acquires the conversation of the user U from a microphone mounted on the terminal device 300, for example, and estimates that the fatigue level is high when the amount of conversation decreases. Further, the user information acquiring unit 422c estimates that the user U's fatigue level is high when a word related to the user U's fatigue level such as "tired" or "hard" is detected.

The user information acquired by the user information acquisition unit 422c is output to the calculation unit 426, which will be described later, and used to calculate the estimated boarding time. Note that the user information acquired by the user information acquisition unit 422c is not limited to the example described above as long as it is used for calculating the estimated boarding time.

The destination information acquisition unit 422 d acquires the destination of the vehicle C after leaving the garage from the terminal device 300 via the communication unit 410 . For example, when the destination is included in the shipping instruction received by the shipping instruction receiving unit 421, the destination information acquisition unit 422d acquires the destination from the shipping instruction. Alternatively, when the delivery instruction is received, the destination information acquisition unit 422d transmits a notification requesting input of the destination to the terminal device 300, and acquires the destination from the terminal device 300 as a reply to the notification. can be Further, when the destination after leaving the garage is registered in advance in a navigation device (not shown) mounted on the vehicle C, the destination information acquisition unit 422d may acquire the destination from the navigation device.

The calculation unit 426 calculates the estimated time from the current position of the user U to the destination via each boarding hall 240 for each of the boarding halls 240 . This predicted time is the total time of the predicted boarding time calculated by the calculator 426, the exit arrival time, and the destination arrival time. The calculation unit 426 includes a boarding time calculation unit 426a, an exit time calculation unit 426b, and a destination time calculation unit 426c.

The boarding time calculation unit 426a predicts boarding based on the user information acquired by the user information acquisition unit 422c, the peripheral information acquired by the peripheral information acquisition unit 422a, and the user coefficient information 433 and peripheral coefficient information 431 stored in the storage unit 430. Calculate time.

In this manner, the boarding time calculation unit 426a calculates the boarding time prediction based on the user information and the peripheral information, so that the boarding time prediction can be predicted with higher accuracy.

Specifically, the boarding time calculation unit 426a calculates the arrival time of the user U from the current position to the boarding place 240 and the boarding time of the user U from arriving at the boarding place 240 to boarding the vehicle C. and time are calculated for each of the plurality of boarding points 240 .

First, the boarding time calculation unit 426 a selects a route from the current position of the user U to the boarding place 240 . The boarding time calculation unit 426a selects a route so that the distance to the boarding place 240 is short. Alternatively, if the user U uses a cart, stroller, wheelchair, or the like, the boarding time calculation unit 426a selects a route via a road with few steps. Further, for example, in the case of rain, the ride time calculation unit 426a selects a route that is less likely to get wet in the rain, such as an underpass or an arcade. In this manner, the boarding time calculation unit 426a may select a route to the boarding area 240 based on user information including information on the type of baggage and peripheral information. Accordingly, the boarding time calculation unit 426a can select a route according to the user U and surrounding conditions.

For example, the boarding time calculation unit 426a may select a plurality of route candidates to the boarding point 240, and the user U may select a route from among the route candidates. In this case, the boarding time calculation unit 426 a transmits the selected route candidate to the terminal device 300 via the communication unit 410 and receives the user U's selection result from the terminal device 300 .

The boarding time calculation unit 426a predicts the boarding place arrival time for each of the plurality of boarding places 240 when the selected route is traveled. At this time, the boarding time calculation unit 426a calculates the boarding place arrival time using the user information and the surrounding information, so that the boarding place arrival time can be calculated more accurately.

Specifically, the boarding time calculation unit 426a calculates the standard arrival time to arrive at the boarding point 240 when traveling along the selected route, and corrects the calculated standard arrival time using the user information and the peripheral information. to calculate the arrival time at the boarding point. The standard arrival time is calculated, for example, based on the distance of the selected route and the speed of movement of a typical user.

The boarding time calculation unit 426a calculates the boarding point arrival time by multiplying the calculated standard arrival time by a coefficient corresponding to the user information and the peripheral information. Such coefficients are pre-stored in the storage unit 430 as user coefficient information 433 and peripheral coefficient information 431 .

An example of the user coefficient information 433 will now be described with reference to FIGS. 14 and 15. FIG. 14 and 15 are diagrams showing an example of the user coefficient information 433. FIG.

FIG. 14 shows, as one of the user coefficient information 433, an example of coefficients according to age included in user information. As shown in FIG. 14, in the user coefficient information 433, coefficients are set for each age. For example, the coefficient for people in their 20s is "1" and the coefficient for people in their 60s is "1.3". The boarding time calculation unit 426a determines a coefficient for each age of the user U based on the user information. In addition, when the user U has a companion, the boarding time calculation unit 426a selects the coefficient with the largest value among the companions including the user U. It is assumed that the information about the accompanying person has been registered by the user U in advance. Alternatively, the information about the companion is assumed to be acquired by the user information acquisition unit 422c based on the camera image provided in the terminal device 300, the parking lot 200a, or the like.

FIG. 15 shows, as one of the user coefficient information 433, an example of coefficients according to the amount of luggage included in the user information. As shown in FIG. 15, for example, a coefficient of "1" is set in the case of "no baggage". Also, when the amount of luggage is an amount that can be carried with one hand, a coefficient of "1.1" is set. The boarding time calculation unit 426a determines a coefficient according to the amount of luggage based on the user information.

Thus, the user coefficient information 433 is information used to determine a coefficient for each information such as age and family structure included in the user information. In addition to the examples shown in FIGS. 14 and 15, the user coefficient information 433 includes coefficients corresponding to the degree of fatigue of the user. Similarly, the peripheral coefficient information 431 is information used to determine a coefficient for each information such as congestion status and weather included in the peripheral information. For example, by dividing the population density of the selected route into n stages and setting coefficients for each, it is possible to set coefficients according to congestion conditions.

Note that the user coefficient information 433 shown in FIGS. 14 and 15 is an example, and is not limited to this. In the user coefficient information 433 shown in FIG. 14, coefficients corresponding to each age are set, but coefficients corresponding to categories such as "infants", "children", and "adults" may be set. Also, the coefficients shown in FIGS. 14 and 15 are examples, and other values may be used.

The boarding time calculation unit 426a multiplies the standard arrival time by a coefficient determined based on the user coefficient information 433 and the peripheral coefficient information 431 to calculate the boarding point arrival time.

Here, the boarding time calculation unit 426a calculates the standard arrival time according to the distance of the selected route, but the present invention is not limited to this. For example, the boarding time calculation unit 426a may calculate the standard arrival time based on the moving speed from when the user U gets off the vehicle C to when the user U issues an instruction to leave the vehicle and the distance of the selected route. Alternatively, the standard arrival time may be the average time required to travel the routes selected by other users. Accordingly, the boarding time calculation unit 426a can calculate the standard arrival time with higher accuracy.

Subsequently, the boarding time calculation unit 426a calculates the boarding time from the arrival of the user U at the boarding hall 240 to the boarding of the vehicle C for each boarding hall 240 . The boarding time calculation unit 426a calculates the boarding time as the standard boarding time when boarding the vehicle C immediately after arriving at the boarding area 240, and corrects the calculated standard boarding time using the user information and the peripheral information. to calculate the boarding time.

The boarding time calculation unit 426a calculates the boarding time by multiplying the calculated standard boarding time by a coefficient corresponding to the user information and the peripheral information. For example, the boarding time calculation unit 426a determines a coefficient with a larger value as the number of leaving instructions included in the surrounding information increases. In addition, the boarding time calculation unit 426a determines a coefficient that takes into account the time required to load the luggage according to the amount of luggage and the type of luggage. Also, if the luggage includes a cart, the boarding time calculation unit 426a determines a coefficient that takes into account the time required to return the cart. Note that such coefficients are stored in the storage unit 430 as peripheral coefficient information 431 and user coefficient information 433 .

Here, the boarding time calculation unit 426a assumes that the boarding time is the standard boarding time when the vehicle C is boarded immediately after arriving at the boarding area 240, but the boarding time is not limited to this. For example, the boarding time calculation unit 426a may set an average value of other users' boarding times over a predetermined period including the current time as the standard boarding time. Alternatively, the time required for the user U to get off the vehicle C may be used as the standard boarding time.

Also, here, the boarding time calculation unit 426a determines the coefficient based on the user information of the user U, but the present invention is not limited to this. For example, the boarding time calculator 426a may determine the coefficient based on the user information of other users. Specifically, for example, user information of a user who uses the boarding area 240 before the user U may be used to calculate the boarding time of the user, and the coefficient may be determined according to the calculated boarding time. For example, if the boarding time of a user who uses the boarding area 240 before the user U is long, the boarding time of the user U may also be long. Therefore, by calculating the boarding time of the user U using the user information of the users other than the user U, the boarding time of the user U can be calculated more accurately.

The boarding time calculation unit 426a calculates the estimated boarding time by totaling the calculated boarding place arrival time and boarding time for each of the plurality of boarding places 240 . The boarding time calculation unit 426 a outputs the calculated predicted boarding time to the boarding place determination unit 427 .

The exit time calculation unit 426b calculates the exit arrival time from the boarding place 240 to the exit 230a for each of the plurality of boarding places 240 based on the congestion information.

Thus, the exit arrival time can be predicted with higher accuracy by the exit time calculation unit 426b calculating the exit arrival time based on the congestion information.

For example, the exit time calculation unit 426b calculates the standard travel time according to the distance from each boarding point 240 to the exit 230a and the speed limit of the parking lot 200a, and adds a coefficient corresponding to the traffic congestion information to the calculated standard travel time. Calculate the exit arrival time by multiplying by .

The exit time calculator 426b calculates the exit arrival time by, for example, multiplying the standard travel time by a coefficient corresponding to the number of exit instructions included in the congestion information. The coefficient corresponding to the number of delivery instructions is a coefficient whose value increases as the number of delivery instructions increases, and is pre-stored in the storage unit 430 as congestion coefficient information 432 .

In addition, the exit time calculation unit 426b calculates the exit arrival time by multiplying the standard travel time by a coefficient corresponding to the congestion status of the roads around the parking lot 200a included in the congestion information, for example. For example, when the road around the parking lot 200a is congested, it takes time to get out of the exit 230a onto the road, so it is considered that the time required for the vehicle C to arrive at the exit 230a is longer. Therefore, the exit time calculation unit 426b calculates the exit arrival time by multiplying the standard travel time by a coefficient whose value increases as the roads around the parking lot 200a become more congested.

Here, the exit time calculation unit 426b calculates the exit arrival time based on traffic congestion information, but the present invention is not limited to this. For example, the exit arrival time may be an average value of the time required for other vehicles to move from the boarding area 240 to the exit 230a during a predetermined period including the current time. Alternatively, the exit time calculation unit 426b may calculate the exit arrival time including the departure time from when the user U gets into the vehicle C until the vehicle C starts. Such a departure time can be calculated from the average time of user U's past departure times, for example.

The destination time calculator 426c calculates the destination arrival time from the exit 230a to the destination based on the traffic jam information. The destination time calculator 426c selects a route from the exit 230a to the destination and calculates the destination arrival time on the selected route. For example, the destination time calculation unit 426c may select a plurality of route candidates to the destination, and the user U may select a route from among the route candidates. In this case, the destination time calculation unit 426c transmits the selected route candidate to the terminal device 300 via the communication unit 410 and receives the user U's selection result from the terminal device 300. FIG. Alternatively, the destination time calculation unit 426c may acquire a priority order for route selection from the user U, and select a route according to the acquired priority order. Examples of the order of priority include "priority on toll roads", "priority on general roads", and "priority on arrival time".

The boarding place determination unit 427 sums the predicted boarding time, the exit arrival time, and the destination arrival time calculated by the calculation unit 426 to calculate the predicted time for each of the plurality of boarding places 240 . The boarding point determination unit 427 determines the boarding point 240 to guide the user U to the boarding point 240 with the shortest calculated predicted time. The boarding place determination unit 427 outputs the decided boarding place 240 to the notification unit 428 .

The notification unit 428 notifies the terminal device 300 and the vehicle control device 40 of the boarding place 240 determined by the boarding place determination unit 427 via the communication unit 410 . At this time, the notification unit 428 may notify the terminal device 300 of the route from the current position of the user U selected by the boarding time calculation unit 426a to the boarding point 240 determined. Thereby, the parking lot management device 220a can present the determined route to the boarding area 240 to the user U. FIG.

Further, the notification unit 428 may notify the vehicle C of the route to the destination selected by the destination time calculation unit 426c in addition to the determined boarding point 240 . As a result, the vehicle C does not need to search for a route to the destination, and the processing load on the vehicle C can be reduced. In addition, the user U does not need to input the destination to the vehicle C again, and the effort of the user U to input can be saved.

When the vehicle control device 40 receives the notification of the determined boarding place 240 from the parking lot management device 220a, the vehicle control device 40 moves the vehicle C to the boarding place 240 by automatic driving control.

<2.3. Leaving Control Processing of Parking Lot Management Apparatus According to Second Embodiment>
Next, a specific processing procedure in the parking lot management device 220a will be described with reference to FIG. FIG. 16 is a flow chart showing the procedure of the parking control process executed by the parking management device 220a. The parking lot management device 220a repeatedly executes the procedure shown in FIG. 16 at predetermined intervals after the vehicle C is parked in the parking lot 200a.

As shown in FIG. 16, the control unit 420 of the parking lot management device 220a determines whether or not an exit instruction has been received (step S301). If the delivery instruction has not been received (step S301, No), the process ends.

On the other hand, when the control unit 420 receives the delivery instruction (step S301, Yes), the control unit 420 acquires the destination information from the terminal device 300 (step S302). Next, the control unit 420 acquires user information (step S303) and peripheral information (step S304). Subsequently, the control unit 420 acquires traffic congestion information (step S305).

Subsequently, the control unit 420 calculates predicted boarding times from the current position of the user U to boarding the vehicle C at each boarding point 240 (step S306). Next, the control unit 420 calculates the exit arrival time from boarding the vehicle C at each boarding point 240 to the exit 230a (step S307), and calculates the destination arrival time from the exit 230a to the destination. (Step S308).

The control unit 420 determines the boarding place 240 where the user U boards the vehicle C based on the predicted boarding time, the exit arrival time, and the destination arrival time calculated in steps S306 to S308 (step S309).

The control unit 420 notifies the vehicle control devices 40 of the user U and the vehicle C of the boarding point 240 determined in step S309 (step S310).

Note that the order of the processes in steps S302 to S304 may be changed, or the processes may be performed simultaneously. Similarly, the order of steps S306 to S308 may be changed, or the steps may be performed simultaneously.

As described above, the parking lot management device 220a according to the second embodiment includes the exit instruction receiving unit 421, the calculating unit 426, the boarding location determining unit 427, and the notifying unit 428.

The exit instruction receiving unit 421 receives, from the user U, an instruction to exit the vehicle C parked in the parking lot 200 a having a plurality of boarding areas 240 . The calculation unit 426 calculates the estimated boarding time until the user U moves from the current position to the boarding place 240 and gets on the vehicle C, and the exit arrival time until the vehicle C arrives at the exit 230a of the parking lot 200a from the boarding place 240. and the destination arrival time until the vehicle C arrives at the destination from the exit 230a of the parking lot 200a.

The boarding hall determination unit 427 determines the boarding hall 240 to which the vehicle C is to be moved from among the plurality of boarding halls 240 according to the predicted time based on the leaving instruction from the user U. The notification unit 428 notifies the user U and the vehicle C of the determined boarding point 240 .

As a result, the parking lot management device 220a can perform exit control in consideration of the route from the current position of the user U to the destination, and can improve parking efficiency including exit efficiency.

In the above-described second embodiment, the parking lot management device 220a determines the boarding area 240, but the present invention is not limited to this. For example, the parking control device 10 of the vehicle C or the terminal device 300 may determine the boarding area 240 . In this case, the parking control device 10 of the vehicle C or the terminal device 300 operates as the parking control device.

Further, in the above description, the user information, the surrounding information, and the congestion information are acquired after the parking lot management device 220a receives the leaving instruction, but the present invention is not limited to this. For example, the parking lot management device 220a may acquire the user information, the surrounding information, and the traffic congestion information after the user U gets off the vehicle C and before receiving the leaving instruction.

In the above description, the parking lot management device 220a selects the boarding point 240 with the shortest predicted time, which is the total time of the predicted boarding time, exit arrival time, and destination arrival time. However, the present invention is not limited to this. For example, when the degree of fatigue of the user U is high, the parking lot management device 220a may select the boarding area 240 with the shortest expected boarding time. Alternatively, the user U may select the boarding point 240 based on the predicted boarding time, exit arrival time, destination arrival time, and predicted time.

Further, in the above description, it is assumed that the vehicle control device 40 moves the vehicle C to the boarding place 240 upon receiving the notification of the boarding place 240, but the present invention is not limited to this. For example, it is assumed that the time until the user U arrives at the boarding point 240 is longer than the time for the vehicle control device 40 to move the vehicle C to the boarding point 240 . In this case, the vehicle control device 40 may move the vehicle C so that the vehicle C arrives at the boarding place 240 at the time when the user U arrives at the boarding place 240 . Alternatively, the notification unit 428 may notify the vehicle control device 40 of the boarding point 240 at a timing corresponding to the time when the user U arrives at the boarding point 240 . Accordingly, the vehicle C can be moved to the boarding area 240 without hindering other users from boarding other vehicles.

On the other hand, for example, it is assumed that the time required for the user U to arrive at the boarding hall 240 is shorter than the time for the vehicle control device 40 to move the vehicle C to the boarding hall 240 . In this case, the notification unit 428 may notify the user U of the congestion status of the parking lot 200a, suggest a route change to the boarding area 240, or present a stopping place such as a rest area. . As a result, it is possible to efficiently control the leaving of the garage while suppressing a decrease in convenience for the user U.

Further effects and modifications can be easily derived by those skilled in the art. Therefore, the broader aspects of the invention are not limited to the specific details and representative embodiments shown and described above. Accordingly, various changes are possible without departing from the spirit or scope of the general inventive concept defined by the appended claims and equivalents thereof.

1 parking control system 10 parking control device 21 designated parking frame acquisition unit 22 target parking frame setting unit 24 empty parking frame detection unit 25 other vehicle determination unit 26 priority determination unit 27 predetermined parking frame determination unit 28 parking completion determination unit 29 transmission unit 31 vehicle information 32 priority information 40 vehicle control device 220, 220a parking lot management device 421 exit instruction reception unit 426a boarding time calculation unit 426b exit time calculation unit 426c destination time calculation unit 427 boarding place determination unit 428 notification unit C own vehicle Ca other vehicle

Claims (8)

A designated parking space acquisition unit that acquires information indicating a designated parking space, which is a parking space designated by an external device among a plurality of parking spaces in the parking lot;
A target parking frame setting unit that sets the designated parking frame as a target parking frame that is a target parking frame;
During the movement of the own vehicle to the target parking slot, an empty parking slot, which is an empty parking slot, is detected by the own vehicle using an image captured by an imaging unit mounted on the own vehicle. a frame detection unit;
When the vacant parking frame is detected by the vacant parking frame detection unit, another vehicle determination unit that determines whether or not there is another vehicle moving around the vacant parking frame;
When the other vehicle determining unit determines that the other vehicle exists, the priority of the own vehicle and the other vehicle with respect to the vacant parking space is determined, and the priority of the own vehicle and the other vehicle with respect to the vacant parking space is determined. a priority determination unit that does not determine the priority when information indicating the determination result of the priority is received from the other vehicle ,
The target parking frame setting unit,
When the vacant parking frame is detected by the vacant parking frame detection unit, changing the set target parking frame to the vacant parking frame,
The priority determination unit,
At least one of acquisition time information, vehicle size information, occupant number information, and history information indicating the parking lot usage history for each of the own vehicle and the other vehicle. as priority information, determine the priority based on the obtained priority information,
The target parking frame setting unit,
A parking control device, wherein when there is a determination result of the priority determination unit, the target parking frame is set based on the determination result. A designated parking space acquisition unit that acquires information indicating a designated parking space, which is a parking space designated by an external device among a plurality of parking spaces in the parking lot;
A target parking frame setting unit that sets the designated parking frame as a target parking frame that is a target parking frame;
During the movement of the own vehicle to the target parking slot, an empty parking slot, which is an empty parking slot, is detected by the own vehicle using an image captured by an imaging unit mounted on the own vehicle. a frame detection unit;
When the vacant parking frame is detected by the vacant parking frame detection unit, another vehicle determination unit that determines whether or not there is another vehicle moving around the vacant parking frame;
a priority determination unit that determines a priority of the own vehicle and the other vehicle with respect to the vacant parking frame when the other vehicle determination unit determines that the other vehicle exists ;
a predetermined parking frame determination unit that determines whether or not the designated parking frame set as the target parking frame is a predetermined parking frame that satisfies a predetermined condition;
with
The target parking frame setting unit,
When the vacant parking frame is detected by the vacant parking frame detection unit, while changing the set target parking frame to the vacant parking frame, the vacant parking frame is detected by the vacant parking frame detection unit, and , when the specified parking frame is determined to be the predetermined parking frame by the predetermined parking frame determination unit, prohibiting the change of the target parking frame to the vacant parking frame,
The priority determination unit,
At least one of acquisition time information, vehicle size information, occupant number information, and history information indicating the parking lot usage history for each of the own vehicle and the other vehicle. as priority information, determine the priority based on the obtained priority information,
The target parking frame setting unit,
A parking control device, wherein when there is a determination result of the priority determination unit, the target parking frame is set based on the determination result. A parking completion determination unit that determines whether or not parking of the own vehicle in the target parking frame is completed;
A transmitting unit configured to transmit information indicating the parked target parking frame to the external device when the parking completion determination unit determines that parking in the target parking frame is completed. 3. The parking control device according to 1 or 2 . The target parking frame setting unit,
4. The target parking frame is changed to the vacant parking frame when the priority of the own vehicle for the vacant parking frame is higher than the priority of the other vehicle. The parking control device according to claim 1. A parking completion determination unit that determines whether or not parking of the own vehicle in the changed target parking frame is completed;
and a transmitting unit configured to transmit information indicating the changed target parking frame in which the vehicle is parked to the external device when the parking completion determination unit determines that parking in the changed target parking frame is completed. The parking control device according to any one of claims 1 to 4 , characterized by: A parking control device according to any one of claims 1 to 5 ;
A parking control system comprising: a vehicle control device that controls a vehicle based on a signal output from the parking control device. A designated parking space acquiring step of acquiring information indicating a designated parking space, which is a parking space designated by an external device among a plurality of parking spaces in the parking lot;
A target parking frame setting step of setting the designated parking frame as a target parking frame, which is a target parking frame;
During the movement of the own vehicle to the target parking slot, an empty parking slot, which is an empty parking slot, is detected by the own vehicle using an image captured by an imaging unit mounted on the own vehicle. a frame detection step;
When the vacant parking frame is detected in the vacant parking frame detection step, another vehicle determination step of determining whether or not there is another vehicle moving around the vacant parking frame;
When it is determined that the other vehicle exists in the other vehicle determining step, the priority of the own vehicle and the other vehicle with respect to the vacant parking space is determined, and the priority of the own vehicle and the other vehicle with respect to the vacant parking space is determined. a priority determination step of not performing priority determination when information indicating the determination result of the priority is received from the other vehicle ;
The target parking frame setting step includes:
When the vacant parking frame is detected in the vacant parking frame detection step, changing the set target parking frame to the vacant parking frame,
The priority determination step includes
At least one of acquisition time information, vehicle size information, occupant number information, and history information indicating the parking lot usage history for each of the own vehicle and the other vehicle. as priority information, determine the priority based on the obtained priority information,
The target parking frame setting step includes:
A parking control method, wherein if there is a determination result of the priority determination step, the target parking frame is set based on the determination result. A designated parking space acquiring step of acquiring information indicating a designated parking space, which is a parking space designated by an external device among a plurality of parking spaces in the parking lot;
A target parking frame setting step of setting the designated parking frame as a target parking frame, which is a target parking frame;
During the movement of the own vehicle to the target parking slot, an empty parking slot, which is an empty parking slot, is detected by the own vehicle using an image captured by an imaging unit mounted on the own vehicle. a frame detection step;
When the vacant parking frame is detected in the vacant parking frame detection step, another vehicle determination step of determining whether or not there is another vehicle moving around the vacant parking frame;
When it is determined that the other vehicle exists in the other vehicle determination step, a priority determination step of determining the priority of the own vehicle and the other vehicle with respect to the vacant parking frame ;
a predetermined parking frame determination step of determining whether or not the designated parking frame set as the target parking frame is a predetermined parking frame that satisfies a predetermined condition;
including
The target parking frame setting step includes:
When the vacant parking frame is detected in the vacant parking frame detection step, while changing the set target parking frame to the vacant parking frame, the vacant parking frame is detected in the vacant parking frame detection step, and , when it is determined that the designated parking frame is the predetermined parking frame in the predetermined parking frame determination step, prohibiting the change of the target parking frame to the vacant parking frame,
The priority determination step includes
At least one of acquisition time information, vehicle size information, occupant number information, and history information indicating the parking lot usage history for each of the own vehicle and the other vehicle. as priority information, determine the priority based on the obtained priority information,
The target parking frame setting step includes:
A parking control method, wherein if there is a determination result of the priority determination step, the target parking frame is set based on the determination result.

Images