JP7286914B2 - AUTOMATIC PARKING DEVICE, AUTOMATIC PARKING SYSTEM, AUTOMATIC PARKING MANAGEMENT METHOD AND PROGRAM THEREOF - Google Patents

Description

TECHNICAL FIELD The present invention relates to an automatic parking lot device, an automatic parking lot system, an automatic parking lot management method, and a program therefor, and more particularly to an automatic parking lot device in which a braking body for controlling the running speed of a vehicle is installed on a road entering or exiting the parking lot. , an automatic parking lot system, an automatic parking lot management method, and a program thereof.

Humps are sometimes provided in the aisles in order to control the speed of vehicles in parking lots. In recent years, Patent Document 1 discloses a hump that is lowered by the weight of a vehicle when it passes by, in response to various vehicle types and changes in circumstances. The hump comprises a descent placed horizontally with respect to the road and a buffer supporting the descent in order to decelerate a vehicle traveling on the road. By changing the resistance value of the container, it was possible to change the degree of impact on the vehicle optimally.

JP 2012-246755 A

When a vehicle passes over the hump at high speed, the vertical vibrations of the hump make the passengers feel uncomfortable and have the effect of prompting the driver to decelerate. Therefore, the hump acts as an effective target for manually operated vehicles. On the other hand, not only can it perform autonomous deceleration control without causing discomfort, but it also becomes an obstacle for self-driving vehicles equipped with autonomous control devices including sensors that are vulnerable to vibrations.

For example, when pedestrians are detected by a camera, etc., it is conceivable that the accuracy of pedestrian detection will drop because the camera image will shake greatly up and down due to the pitching that occurs when the vehicle climbs over a hump. In addition, self-position estimation is also calculated based on sensor information from cameras and peripheral monitoring units (Light Detection and Ranging, Laser Imaging Detection and Ranging, etc.). Position estimation is prone to errors. Furthermore, it is necessary to consider torque control and the like when overcoming. Therefore, it is desirable that there are no steps such as humps for automatic driving vehicles. The above-mentioned Patent Document 1 aims at optimizing the degree of impact on the vehicle, but does not make any reference to measures for automatically driving vehicles.

The present invention has been made in view of the above background, and its object is to eliminate unnecessary vibrations and other problems caused by a braking body for speed control installed on the road surface of an entry/exit route to an automatic driving vehicle. To provide an automatic parking device that reduces harmful effects.

The present invention employs the following technical means in order to solve the above problems. The symbols in parentheses described in the claims and this section are an example showing the correspondence relationship with the specific means described in the embodiment described later as one aspect, and limit the technical scope of the present invention. not something to do.

The automatic parking device (90) of the present invention is an automatic parking device (90) that manages a parking lot available for use vehicles (10) including automatically driven vehicles (10a) and manually driven vehicles (10b). a braking body (30) arranged in the passage (3) to form a step for suppressing the traveling speed of the vehicle (10); and a driving part (40) for vertically moving the braking body (30). ) and a control unit (50) for controlling the driving unit (40), the control unit (50) when the autonomous vehicle (10a) approaches the braking body (30) The braking body (30) is lowered, and when the manually operated vehicle (10b) approaches the braking body (30), the braking body (30) is raised. It controls the drive (40).

With this configuration, when the manually operated vehicle (10b) passes, the braking body (30) is in a raised state and acts as an obstacle that suppresses the traveling speed, while when the automatically driving vehicle (10a) passes, the braking body (30) 30) is in a lowered state, so the automatically driven vehicle (10a) can smoothly pass over the braking body (30).

Further, in the automatic parking lot system (90) of the present invention, the control unit (50) detects the automatically driven vehicle (10a) approaching the braking body (30), and detects the specific vehicle type information detection function (20). ), the braking body (30) is lowered when the automatically driving vehicle (10a) is detected, and after the automatically driving vehicle (10a) passes through the braking body (30), the braking body The drive unit (40) is controlled so that (30) is raised. The specific vehicle type information detection function (20) may detect the automatically driven vehicle (10a) when the wireless communication unit (identical reference numeral 20) receives the specific vehicle type information (Ka).

As a result, when the automatically driven vehicle (10a) is detected, the braking body (30) is lowered, so even if the manually driven vehicle (10b) is not detected, the manually driven vehicle (10b) can be In this case, the braking body (30) can be controlled to exhibit the speed suppression function, and the automatic driving vehicle (10a) can be controlled not to exhibit the function.

Advantageous Effects of Invention According to the present invention, it is possible to provide an automatic parking apparatus that reduces unnecessary vibrations and other adverse effects on an automatically driven vehicle caused by a speed-reducing braking body installed on the road surface of an entry/exit route.

BRIEF DESCRIPTION OF THE DRAWINGS It is a schematic explanatory drawing for demonstrating the structure of the automatic parking lot system which concerns on 1st Embodiment of this invention. BRIEF DESCRIPTION OF THE DRAWINGS It is a block diagram for demonstrating schematic structure of the automatic parking lot system which concerns on 1st Embodiment of this invention. 4 is a flow chart for explaining the operation procedure of the automatic parking lot management method according to the first embodiment of the present invention; It is a block diagram for explaining a schematic structure of an automatic parking system according to a second embodiment of the present invention. FIG. 9 is a flow chart for explaining the operation procedure of the automatic parking lot management method according to the second embodiment of the present invention; FIG. FIG. 11 is a block diagram for explaining a schematic configuration of an automatic parking system according to a third embodiment of the present invention; FIG. It is a flow chart for explaining the operation procedure of the automatic parking lot management method according to the third embodiment of the present invention. It is a block diagram for explaining a schematic structure of an automatic parking lot system concerning a 4th embodiment of the present invention. It is a flow chart for explaining the operation procedure of the automatic parking lot management method according to the fourth embodiment of the present invention. It is a flow chart for explaining the operation procedure of the automatic parking lot management method according to the modification of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
FIG. 1 is a schematic explanatory diagram for explaining the configuration of an automatic parking system 100 according to the first embodiment. The automatic parking system 100 shown in FIG. 1 includes an automatic parking device 90 that can be used by vehicles. The automatic parking lot device 90 can use an automatic driving vehicle 10a (FIGS. 2, 4, 6, and 8) that can automatically run without a human driving operation, and can be driven by a driver. Manned vehicles (hereinafter referred to as "manually driven vehicles") 10b (FIG. 8) can also be used, and the parking lot where these types of vehicles are mixed can be appropriately managed. Hereinafter, the automatically-operated vehicle 10a and the manually-operated vehicle 10b are collectively referred to as "utilized vehicle 10". The automatic parking system 100 comprises a braking body 30 , a driving section 40 and a central controller 80 .

The braking body 30 is a structure installed in the passage 3 of the vehicle 10 to be used, and has a function of forming a step H in the passage 3 and suppressing the speed of the vehicle passing over the braking body 30 . An example of a braking body 30 is a so-called "speed hump". In this embodiment, the braking body 30 has a driving portion 40 . The drive unit 40 includes an electric or hydraulic drive mechanism, and moves the braking body 30 up and down according to commands from a control unit 50 (FIGS. 2, 4, 6, and 8) provided in the central control unit 80. By moving in the direction, the speed suppression function can be switched between suppression and release. In the speed restrained state, the driving unit 40 raises the braking body 30 higher than the road surface 4 by the height H. Conversely, in the state in which the speed suppression is released, the driving unit 40 lowers (lowers) the braking body 30 until it becomes nearly flush with the road surface 4 of the passage 3 .

FIG. 2 is a block diagram for explaining the functions of the automatic parking system 100 according to the first embodiment. As shown in FIG. 2 , the automatic parking system 90 includes a wireless communication section 20 , a braking body 30 , a drive section 40 and a control section 50 . On the other hand, the automatic driving vehicle 10a is provided with a specific vehicle type information transmission unit 11, which transmits specific vehicle type information Ka indicating that the vehicle 10 to be used is the automatic driving vehicle 10a. Further, the wireless communication unit 20 is capable of wireless communication with the automatically driving vehicle 10a, and receives the specific vehicle type information Ka transmitted from the automatically driving vehicle 10a. The control unit 50 detects the automatically driven vehicle 10a upon receiving the specific vehicle type information Ka. The wireless communication unit 20 can also transmit a restraint cancellation notification signal D, which will be described later, from the automatic parking lot device 90 to the automatically driving vehicle 10a.

The control unit 50 controls the drive unit 40 depending on the situation. When the wireless communication unit 20 receives the specific vehicle type information Ka and detects the automatically driven vehicle 10a, the control unit 50 drives the drive unit 40 to lower the braking body 30, thereby causing the automatically driven vehicle 10a to move downward. Make sure it doesn't get in the way.

After lowering the brake body 30, the automatic parking device 90 transmits a restraint release notification signal D indicating that restraint on the traveling speed V is released to the automatically driven vehicle 10a. When receiving the suppression release notification signal D, the automatically driven vehicle 10a can perform automatic operation control so as to smoothly run at constant speed/constant torque. Conversely, if the automatic driving vehicle 10a does not receive the suppression release notification signal D, it is determined that there is a braking body 30, and in order to reliably overcome it, it is possible to control the engine throttle in the direction of opening to increase the torque. have a nature. As a result, the running speed V may unnecessarily increase even though the passage 3 is actually flat.

FIG. 3 is a flowchart for explaining the operation procedure of the automatic parking lot management method by the automatic parking lot system 100 according to the first embodiment. When the automatically driven vehicle 10a enters the automatically driven vehicle 10a, it transmits specific vehicle type information Ka indicating that the vehicle is the automatically driven vehicle 10a (S10). Specific vehicle type information Ka is received (S11). Thereby, the automatic parking lot system 90 detects that the automatically driven vehicle 10a has entered the automatic parking lot system 90 .

When the automatic parking device 90 detects the entry of the automatically driven vehicle 10a by receiving the specific vehicle type information Ka, the automatic parking device 90 lowers the braking body 30 (S12). When the brake body 30 descends, the automatic parking device 90 transmits a restraint release notification signal D indicating that the brake body 30 has descended to the automatically driven vehicle 10a (S13). The automatically driven vehicle 10a receives the restraint cancellation notification signal D transmitted from the automatic parking device 90 (S14). When receiving the restraint release notification signal D, the automatically driven vehicle 10a can perform automatic operation control so as to continue constant torque/constant speed running.

The automatic parking device 90 determines whether or not the automatically driven vehicle 10a has passed over the braking body 30 (S15). When it is determined that the automatically driven vehicle 10a has passed over the braking body 30, the automatic parking system 90 raises the braking body 30 (S16).

The configuration of the automatic parking system 90 according to the present embodiment has been described above. Examples of hardware constituting the control unit 50 of the automatic parking system 90 include a CPU, a RAM, a ROM, a hard disk, a display, and a keyboard. , a mouse, a communication interface, and the like. The functions of the automatic parking lot system are realized by storing a program having modules for realizing the functions described above in the RAM or ROM and executing the program by the CPU. Such programs are also included in the scope of the present invention.

When the automatic parking lot device 90 of the first embodiment detects the automatically driving vehicle 10a by receiving the specific vehicle type information Ka indicating that the utilizing vehicle 10 is the automatically driving vehicle 10a from the utilizing vehicle 10, the braking body 30 is lowered so that the braking body 30 does not hinder the traveling of the automatically driven vehicle 10a. As a result, the braking body 30 can be prevented from becoming an obstacle to the automatically driven vehicle 10a that can autonomously travel at a reduced speed within the parking lot. Further, when the automatically driven vehicle 10a passes, the braking body 30 is raised, so that the braking body 30 functions to suppress the speed of the manually driven vehicle 10b.

<Second embodiment>
FIG. 4 is a block diagram for explaining the schematic configuration of the automatic parking system according to the second embodiment. The basic configuration of the automatic parking system according to the second embodiment is the same as that of the automatic parking system according to the first embodiment, but the automatic parking system according to the second embodiment is configured such that an automatically driving vehicle 10a approaches. A configuration for controlling the braking body 30 using information such as speed is added. Differences from the first embodiment will be mainly described below. Henceforth, the same code|symbol is attached|subjected with respect to substantially the same requirement, and the overlapping description is abbreviate|omitted.

As shown in FIG. 4, the automatic parking device 90 includes a camera 21 that captures images of the vehicle 10 in the parking lot. , and an image processing unit 51 for detecting the running speed and the like. A distance measuring device (not shown) that measures the distance to the vehicle 10 may be used to detect the position of the vehicle 10 to be used. Further, the control unit 50 calculates the time required for the vehicle 10 to reach the braking body 30 based on the position and traveling speed of the vehicle 10 obtained by the image processing unit 51 . Hereinafter, the time until the utilization vehicle 10 reaches the braking body 30 is referred to as an estimated arrival time T. As shown in FIG.

When the vehicle 10 to be used is the automatically driven vehicle 10a, the control unit 50 determines the state in which the braking body 30 is lowered before the automatically driven vehicle 10a reaches the braking body 30 based on the estimated arrival time T. do.

FIG. 5 is a flow chart for explaining the operation procedure of the automatic parking system 100 according to the second embodiment. The basic operation of the automatic parking system according to the second embodiment is the same as the operation of the automatic parking system according to the first embodiment, but the automatic parking system 100 according to the second embodiment has an automatic driving vehicle 10a. The difference is that the driving control of the braking body 30 is performed based on the estimated arrival time T until the braking body 30 is reached.

The automatically driven vehicle 10a enters the parking lot and transmits specific vehicle type information Ka to the automatic parking device 90 (S20), and the automatic parking device 90 receives the specific vehicle type information Ka transmitted from the automatically driven vehicle 10a. (S21), the image captured by the camera 21 is image-processed to detect the position and speed of the automatically driven vehicle 10a (S22). Subsequently, the automatic parking device 90 calculates the predicted arrival time T to the braking body 30 based on the position and speed of the automatically driven vehicle 10a (S23). The automatic parking lot device 90 lowers the braking body 30 until the automatically driven vehicle 10a reaches the braking body 30 based on the estimated arrival time T (S24). The steps (S25-S28) after the automatic parking device 90 lowers the braking body 30 are the same as the steps (FIG. 3, S13-S16) described in the first embodiment.

Similar to the automatic parking lot system 90 of the first embodiment, the automatic parking lot system 90 of the second embodiment lowers the braking body 30 when the automatically driving vehicle 10a is detected, so that the braking body 30 stops the automatically driving vehicle. It is possible not to interfere with the running of 10a. In addition, since the process is performed based on the predicted arrival time T until the automatically driven vehicle 10a reaches the braking body 30, the braking body 30 can be reliably lowered before the automatically driven vehicle 10a passes. can.

<Third Embodiment>
FIG. 6 is a block diagram for explaining the schematic configuration of the automatic parking system according to the third embodiment. The automatic parking system 100 according to the third embodiment controls the braking body 30 based on the estimated arrival time T, like the automatic parking system 100 according to the second embodiment. The difference is that the calculation is performed by the automatically driven vehicle 10a.

In order to detect the surrounding environment and perform automatic driving, the automatic driving vehicle 10a estimates its own position. 13 as standard equipment. In the automatic parking lot system 100 of the third embodiment, when the automatically driven vehicle 10a detects the braking body 30 by the surroundings monitoring unit 12, the braking is performed based on the distance from the own vehicle to the braking body 30 and the speed of the own vehicle. It has a function of calculating the predicted arrival time T to the body 30 .

FIG. 7 is a flow chart for explaining the operation procedure of the automatic parking system 100 according to the third embodiment. The basic operation of the automatic parking lot system 100 of the third embodiment is the same as the operation of the automatic parking lot system 100 of the first embodiment, but the automatic parking lot system according to the third embodiment operates automatically. The difference is that the automatic parking system 90 controls the driving of the braking body 30 based on the predicted arrival time T to the braking body 30 calculated by the vehicle 10a.

When the autonomous vehicle 10a enters the parking lot and detects the braking body 30 (S30), the predicted arrival time T to the braking body 30 is calculated based on the distance from the own vehicle to the braking body 30 and the traveling speed of the own vehicle. (S31). Subsequently, the automatically driven vehicle 10a transmits information indicating that the vehicle is the automatically driven vehicle 10a and information on the estimated arrival time T (these are collectively referred to as "specific vehicle approaching information E") to the automatic parking lot device. 90 (S32). When the automatic parking lot device 90 receives the specific vehicle approach information E (S33), it drives and controls the braking body 30 to be in a lowered state by the time the automatically driven vehicle 10a reaches the braking body 30 (S34 ). The steps (S35-S38) after the automatic parking device 90 lowers the braking body 30 are the same as the steps (FIG. 3, S13-S16) described in the first embodiment.

The automatic parking system 100 of the third embodiment described above performs processing based on the predicted arrival time T until the automatically driven vehicle 10a reaches the braking body 30, similarly to the automatic parking system 100 of the second embodiment. Therefore, the braking body 30 can be reliably lowered by the time the automatic driving vehicle 10a passes. In addition, since the automatic parking system 100 of the third embodiment calculates the predicted arrival time T to the braking body 30 using the function of the perimeter monitoring unit 12 that is standard equipped in the automatic driving vehicle 10a, the automatic parking lot The device 90 may not be provided with a configuration for calculating the estimated arrival time T.

<Fourth Embodiment>
FIG. 8 is a block diagram for explaining the schematic configuration of the automatic parking system according to the fourth embodiment. In the automatic parking lot system 100 of the fourth embodiment, the automatic parking lot device 90 drives and controls the braking body 30 according to whether the vehicle 10 in use is the automatically driven vehicle 10a or the manually driven vehicle 10b.

The automatically driven vehicle 10a has a specific vehicle type information transmission unit 11a, and when entering the parking lot, transmits specific vehicle type information Ka indicating that the vehicle is the automatically driven vehicle 10a to the automatic parking lot device 90. The manually driven vehicle 10b has a general vehicle type information transmission unit 11b, and when entering the parking lot, transmits general vehicle type information Kb indicating that the own vehicle is the manually driven vehicle 10b to the automatic parking lot device 90. The manually operated vehicle 10b and the general vehicle type information Kb are collectively referred to as "vehicle type information K".

The control unit 50 of the automatic parking device 90 determines whether the vehicle 10 to be used is an automatically-operated vehicle 10a or a manually-operated vehicle 10b based on the vehicle type information K transmitted from the vehicle 10 to be used. The control unit 50 lowers the braking body 30 when the vehicle 10 to be used is the automatically-operated vehicle 10a, and raises the braking body 30 when the vehicle 10 to be used is the manually-operated vehicle 10b. The drive unit 40 is controlled so as to set the state.

FIG. 9 is a flow chart for explaining the operation procedure of the automatic parking system 100 according to the fourth embodiment. When the vehicle 10 enters the parking lot, it transmits vehicle type information K to the automatic parking device 90 (S40). When the automatic parking lot device 90 receives the vehicle type information K (S41), it determines whether the utilization vehicle 10 is the automatically driven vehicle 10a or the manually driven vehicle 10b based on the vehicle type information K (S42).

When the vehicle 10 to be used is the automatically driven vehicle 10a, the automatic parking device 90 lowers the braking body 30 (S43). If the braking body 30 is originally in a lowered state, that state is maintained. When the braking body 30 is lowered, the automatic parking device 90 transmits a suppression release notification signal D indicating that the braking body 30 has been lowered to the automatically driven vehicle 10a (S44). The automatically driven vehicle 10a receives the restraint cancellation notification signal D transmitted from the automatic parking device 90 (S45). When receiving the restraint release notification signal D, the automatically driven vehicle 10a can perform automatic operation control so as to continue constant torque/constant speed running.

If the vehicle to be used is the manually operated vehicle 10b, the automatic parking system 90 raises the braking body 30 (S46). If the braking body 30 is originally in the raised state, that state is maintained.

The configuration and operation of the automatic parking system 100 according to the fourth embodiment have been described above. The automatic parking lot system 100 of the fourth embodiment drives and controls the braking body 30 depending on whether the vehicle 10 in use is an automatically-operated vehicle 10a or a manually-operated vehicle 10b. As a result, the braking body 30 does not get in the way of the automatically driven vehicle 10a that can autonomously run at a reduced speed in the parking lot, and the braking body 30 functions to the manually driven vehicle 10b. speed control can be achieved. In addition, since it is not necessary to raise the braking body 30 by default, when the automatic driving vehicle 10a continuously passes, the braking body 30 can be kept lowered, and the number of times of driving can be increased. can be reduced.

In the automatic parking lot system 100 of the fourth embodiment described above, an example was given in which the vehicle type information K was received from the vehicle 10 to be used and the vehicle type was determined. , the vehicle 10 to be used can be determined based on the function of the automatic parking device 90 to detect the vehicle 10 to be used and the specific vehicle type information Ka received from the automatically driven vehicle 10a. That is, even though the automatic parking device 90 is provided with a vehicle detection function, for example, a peripheral monitoring unit including the camera 21 and the image processing unit 51, the automatic parking device 90 detects the vehicle 10 in use. , when the specific vehicle type information Ka is not received, the vehicle 10 to be used is determined to be a manually operated vehicle 10b.

Also in the automatic parking system 100 of the fourth embodiment, the brake body 30 is controlled according to the predicted arrival time T of the vehicle 10 to reach the brake body 30 in the same manner as in the second embodiment and the third embodiment. configuration may be employed.

Although the automatic parking device and the automatic parking system of the present invention have been described in detail with reference to the embodiments, the present invention is not limited to the above-described embodiments.

In the above-described first to third embodiments, the braking body 30 is raised by default, and the braking body 30 is lowered when the automatic driving vehicle 10a passes (S12, S24, S34). was mentioned and explained. Without being limited to this, on the contrary, the braking body 30 may be lowered by default, and the braking body 30 may be raised when the manually operated vehicle 10b passes.

FIG. 10 is a flow chart for explaining the operation procedure of the automatic parking system according to the modification. When the manually operated vehicle 10b enters the parking lot, it transmits general vehicle type information Kb indicating that it is the manually operated vehicle 10b to the automatic parking device 90 (S50). When the automatic parking lot device 90 receives the general vehicle type information Kb (S51), the automatic parking device 90 raises the braking body 30 (S52). The automatic parking device 90 determines whether or not the manually operated vehicle 10b has passed over the braking body 30 (S53). is lowered (S54).

In the above-described first to third embodiments, after the braking body 30 is lowered in response to the detection of the automatically driven vehicle 10a (S12, S24, S34), it is detected that the braking body 30 is in the lowered state. Although an example in which the restraint cancellation notification signal D shown in FIG.

In the above-described first to third embodiments, an example of receiving a notification indicating that the vehicle is automatically driven 10a from the vehicle 10 to be used, that is, the specific vehicle type information Ka is given. The specific vehicle type information Ka indicating that the vehicle is the automatically driven vehicle 10a is not necessarily required as long as it can be determined whether or not the vehicle is the automatic driving vehicle 10a. For example, if there is a system such as using a special license plate for the automatically driven vehicle 10a, the license plate may be analyzed by image processing to determine whether the vehicle is the automatically driven vehicle 10a.

Further, in the above-described embodiment, an example of the braking body 30 is a speed hump, but it is also possible to use a flap plate as the braking body 30 . However, the undulation control needs to be slightly modified. The flap plate is often used in coin parking, and is kept face down on the passage 3 when the vehicle 10 enters and exits the coin parking. Although not shown in detail, the flap plate is raised from the permanently installed passage 3 and restrains the vehicle 10 in the parking lot. It is a management instrument that

When the flap plate is used as a braking body, it is not necessary to restrain the vehicle 10 to be used in the parking lot. When suppressing the traveling speed of the vehicle 10 to be used, the flap plate is raised to a height that the vehicle 10 can ride over and to a height that gives vertical vibration to the vehicle when overriding. As a result, the traveling speed of the utilization vehicle 10 can be suppressed using the flap plate.

3 passage, 4 road surface, 10 vehicle used, 10a automatically operated vehicle, 10b manually operated vehicle, 11 specific vehicle type information transmission unit, 11a specific vehicle type information transmission unit,
11b general vehicle type information transmission unit, 12 surroundings monitoring unit, 13 predicted arrival time calculation unit,
20 wireless communication unit, 21 camera, 30 braking body, 40 driving unit, 50 control unit,
51 image processing unit, 90 automatic parking device, 100 automatic parking system

Claims (13)

An automatic parking device (90) for managing a parking lot available for utilization vehicles (10) including automatically driven vehicles (10a) and manually driven vehicles (10b),
a braking body (30) disposed in the passage (3) and forming a step for suppressing the running speed of the vehicle (10);
a drive unit (40) for vertically moving the braking body (30);
a control section (50) for controlling the driving section (40);
with
The control unit (50) lowers the braking body (30) when the automatically driven vehicle (10a) approaches the braking body (30) so that the manually driven vehicle (10b) controlling the drive unit (40) so that the braking body (30) is raised when approaching the braking body (30) ;
An automatic parking lot for transmitting a restraint release notification signal (D) indicating that the braking body (30) has been lowered to the automatically driven vehicle (10a) when the braking body (30) is in a lowered state. A device (90). The control unit (50) determines whether the utilization vehicle (10) approaching the braking body (30) is the automatically driven vehicle (10a) or the manually driven vehicle (10b), and determines whether the utilization vehicle (10) is When the vehicle (10a) is determined to be the automatically driven vehicle, the braking body (30) is lowered, and the control unit (5 0 ) controls the vehicle (10) to be the manually driven vehicle (10b). 2. The automatic parking system (90) according to claim 1, wherein the drive unit (40) is controlled so that the braking body (30) is raised when it is determined that there is. The control unit (50) detects the automatically driving vehicle (10a) approaching the braking body (30), and lowers the braking body (30) when the automatically driving vehicle (10a) is detected. After the automatic driving vehicle (10a) passes the braking body (30), the driving part (40) is controlled so that the braking body (30) is raised. The automatic parking device (90) of Claim 1. The control unit (50) detects the manually operated vehicle (10b) approaching the braking body (30), and raises the braking body (30) when the manually operated vehicle (10b) is detected. and after the manually operated vehicle (10b) passes through the braking body (30), the driving part (40) is controlled so that the braking body (30) is lowered. The automatic parking device (90) of Claim 1. The control unit (50) acquires a predicted arrival time until the vehicle (10) reaches the braking body (30), and based on the predicted arrival time, the vehicle (10) is braked. Before reaching the body (30), if the vehicle (10) is the automatically driven vehicle (10a), the braking body (30) is lowered, and the vehicle (10) moves to the The automatic parking system (90) according to any one of claims 1 to 4 , wherein the braking body (30) is raised when the vehicle is a manually operated vehicle (10b). The predicted arrival time is calculated by the control unit (50) based on the distance between the vehicle (10) and the braking body (30) and the running speed of the vehicle (10), or 6. The automatic parking device (90) according to claim 5 , wherein the control unit (50) acquires information on the estimated arrival time (T) transmitted from the vehicle (10). The automatic parking lot system (90) according to any one of claims 1 to 6 , wherein the braking body (30) is a speed hump or a flap plate. A vehicle (10) including an automatically driven vehicle (10a) and a manually driven vehicle (10b), and an automatic parking lot device (90) capable of wireless communication with the utilized vehicle (10) to manage a parking lot. An automated parking system (100) comprising:
The automatic parking device (90) comprises:
a braking body (30) disposed in the passage (3) and forming a step for suppressing the running speed of the vehicle (10);
a drive unit (40) for vertically moving the braking body (30);
a control section (50) for controlling the driving section (40);
a wireless communication unit (20) capable of wirelessly communicating with at least one of the automatically operated vehicle (10a) and the manually operated vehicle (10b);
with
At least one of the automatically driven vehicle (10a) and the manually driven vehicle (10b) transmits vehicle type information (K) indicating whether the own vehicle is an automatically driven vehicle or a manually driven vehicle to the automatic parking lot device (90). ) to
The control unit (50) lowers the braking body (30) when the automatically driven vehicle (10a) approaches the braking body (30) so that the manually driven vehicle (10b) controlling the driving unit (40) based on the vehicle type information (K) so that the braking body (30) is raised when approaching the braking body (30) ;
When the braking body (30) is in a lowered state, the wireless communication unit (20) transmits a suppression release notification signal (D) indicating that the braking body (30) has been lowered to the automatic driving vehicle. Automated parking system (100) sending to (10a) . At least one of the automatically driven vehicle (10a) and the manually driven vehicle (10b),
transmitting information on the traveling speed of the own vehicle or information on the estimated arrival time (T) until the own vehicle reaches the braking body (30) to the automatic parking device (90);
9. The automatic parking system according to claim 8 , wherein the control unit (50) of the automatic parking device (90) controls the driving of the braking body (30) based on the traveling speed or the predicted arrival time. 100). An automatic parking lot management method for managing a parking lot available to utilization vehicles (10) including automatically driven vehicles (10a) and manually driven vehicles (10b), comprising:
A control unit (50) of an automatic parking device (90) controls a braking body (30) arranged in a passage (3) to form a step for suppressing the traveling speed of the utilization vehicle (10). (10) detecting approach;
The control unit (50) of the automatic parking device (90) drives the driving unit (40), so that when the automatically driven vehicle (10a) approaches the braking body (30), the braking body ( 30) is lowered, and when the manually operated vehicle (10b) approaches the braking body (30), the braking body (30) is raised;
When the braking body (30) is in a lowered state, the wireless communication unit (20) transmits a suppression release notification signal (D) indicating that the braking body (30) has been lowered to the automatic driving vehicle ( 10a);
An automatic parking lot management method comprising: An automatic parking lot management method for managing a parking lot available to utilization vehicles (10) including automatically driven vehicles (10a) and manually driven vehicles (10b), comprising:
A control unit (50) of an automatic parking device (90) controls a braking body (30) that is disposed in a passage (3) and forms a step that suppresses the running speed of the utilization vehicle (10). a step of detecting that the vehicle (10a) has approached;
a step in which a control unit (50) of an automatic parking device (90) drives a driving unit (40) so that the braking body (30) is lowered;
When the automatic parking device (90) detects that the automatically driven vehicle (10a) has passed the braking body (30), the control unit (50) drives the driving unit (40) to raising the braking body (30);
When the braking body (30) is in a lowered state, the wireless communication unit (20) transmits a suppression release notification signal (D) indicating that the braking body (30) has been lowered to the automatic driving vehicle ( 10a);
An automatic parking lot management method comprising: An automatic parking lot management program for controlling an automatic parking lot system (90) that can be used by vehicles (10) including automatically driven vehicles (10a) and manually driven vehicles (10b), comprising: 90) on the computer,
a step of detecting that the vehicle (10) has approached a braking body (30) disposed in the passage (3) and forming a step for suppressing the traveling speed of the vehicle (10);
When the automatically driven vehicle (10a) approaches the braking body (30), the braking body (30) is lowered, and the manually driven vehicle (10b) approaches the braking body (30). setting the damping body (30) in an elevated state when the
a step of transmitting a suppression release notification signal (D) indicating that the braking body (30) has been lowered to the automated driving vehicle (10a) when the braking body (30) is in a lowered state;
An automated parking management program that runs a An automatic parking lot management program for controlling an automatic parking lot system (90) that can be used by vehicles (10) including automatically driven vehicles (10a) and manually driven vehicles (10b), comprising: 90) on the computer,
a step of detecting that the automatically driven vehicle (10a) has approached a braking body (30) that is disposed in the passage (3) and forms a step that suppresses the running speed of the vehicle (10);
a step in which the control unit (50) lowers the braking body (30);
raising the braking body (30) when the control unit (50) detects that the automatically driven vehicle (10a) has passed the braking body (30);
a step of transmitting a suppression release notification signal (D) indicating that the braking body (30) has been lowered to the automated driving vehicle (10a) when the braking body (30) is in a lowered state;
An automated parking management program that runs a

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