JP2019038510A - Parking control device, parking control system and parking control method - Google Patents

Abstract

To provide a parking control device, a parking control system and a parking control method allowing for improvement of parking efficiency of a vehicle in a parking lot.SOLUTION: The parking control device according to one aspect of an embodiment, includes a designated-parking-frame acquiring unit, a target-parking-frame setting unit, and a vacant-parking-frame detection unit. The-designated- parking frame acquiring unit acquires information showing that a designated-parking-frame is a parking-frame designated by an external device among a plurality of parking frames in a parking lot. The target-parking-frame setting unit sets the designated parking frame as a target parking frame in a parking frame that targets the designated parking frame. The vacant-parking-frame detection unit detects a vacant parking frame being a parking frame in a vacant state while an own vehicle moves to the target parking frame. Also, the target-parking-frame setting unit changes, when the vacant-parking-frame detection unit detects the vacant parking frame, the set target parking frame into a vacant parking frame.SELECTED DRAWING: Figure 1

Description

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

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

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

Japanese Patent Laid-Open No. 10-275300

  However, the prior art described above has room for improvement in terms of improving the parking efficiency of the vehicle in the parking lot. In other words, the availability of parking frames in the parking lot changes with the entry / exit of vehicles as time passes. In the prior art, since parking is performed with respect to the target parking frame set at the entrance, it may not be possible to cope with the changed parking frame availability, resulting in a decrease in the parking efficiency of the vehicle. was there.

  This invention is made | formed in view of the above, Comprising: It aims at providing the parking control apparatus which can improve the parking efficiency of the vehicle in a parking lot, a parking control system, and a parking control method.

  In order to solve the above problems and achieve the object, the present invention includes a designated parking frame acquisition unit, a target parking frame setting unit, and an empty parking frame detection unit in a parking control device. A designated parking frame acquisition part acquires the information which shows the designated parking frame which is a parking frame designated by the external device among the several parking frames of a parking lot. The target parking frame setting unit sets the target parking frame as a target parking frame that is a target parking frame. The empty parking frame detection unit detects an empty parking frame that is an empty parking frame while the host vehicle is moving to the target parking frame. Moreover, the said target parking frame setting part changes the said set target parking frame to the said empty parking frame, when the said empty parking frame detection part detects the said empty parking frame.

  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 illustrating 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 illustrating an example of priority information. FIG. 5 is a flowchart illustrating a processing procedure of parking control processing executed by the parking control device. FIG. 6 is a flowchart showing the processing procedure of the target parking frame setting process. FIG. 7 is a flowchart showing a processing procedure of parking completion processing. FIG. 8 is a flowchart showing the procedure of the parking control process executed by the parking lot management apparatus. FIG. 9 is a flowchart showing a processing procedure of a target parking frame setting process in the first modification. FIG. 10 is a flowchart illustrating a parking control process performed by the parking lot management apparatus according to the first modification. FIG. 11 is a flowchart showing a processing procedure of a target parking frame setting process in the second modified example. FIG. 12 is a diagram illustrating an outline of the delivery control method according to the second embodiment. FIG. 13 is a block diagram illustrating a configuration example of a parking system. FIG. 14 is a diagram illustrating an example of user coefficient information. FIG. 15 is a diagram illustrating an example of user coefficient information. FIG. 16 is a flowchart illustrating a processing procedure of the 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>
Below, the outline | summary of the parking control method which concerns on 1st Embodiment is demonstrated with reference to FIG. FIG. 1 is a diagram illustrating 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 part of FIG. 1, a parking control system 1 is mounted on a vehicle C such as an automobile, and the parking control system 1 includes a parking control device 10 and a vehicle control device 40. Hereinafter, the vehicle C may be referred to as “own vehicle C”.

  The parking control device 10 performs parking control of the host vehicle C described later. In addition, the specific structure of the parking control apparatus 10 is demonstrated with reference to FIG.

  For example, when a driver performs a driving operation on an accelerator pedal, a brake pedal, a steering wheel, or the like by a driver, the vehicle control device 40 is driven by a driving source such as an engine, a brake device, or a steering device (none of which is shown). Etc. are controlled 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 the driving operation of the driver. For example, the vehicle control device 40 controls the host vehicle C based on GPS (Global Positioning System) information, image information around the host vehicle C captured by a camera (not shown), etc., and automatically to a target parking frame described later. It can be parked by driving.

  Hereinafter, the case where the own vehicle C parks in the parking lot 200 by automatic driving control will be described as an example. 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 parking vehicle Cx is already stopped in some parking frames 210 among the plurality of parking frames 210, while there is no parking vehicle Cx in the parking frame 210 on the right side of the page. Assume that it is free.

  Hereinafter, the empty parking frame 210 may be referred to as an “empty parking frame”. In the upper diagram of FIG. 1, the empty parking frame on the right side of the drawing is surrounded by a broken line A, and hereinafter, such an empty parking frame may be referred to as “empty parking frame 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. In addition, as a vehicle detection sensor, although an infrared sensor, a weight sensor, etc. can be used, it is not limited to this.

  The parking lot management device 220 is a center server that manages the entire parking lot 200, for example. The parking lot management device 220 obtains information on the availability of the parking frame 210 in the parking lot 200 based on the detection signal of the vehicle detection sensor described above. In addition, the parking lot management apparatus 220 obtains not only the detection signal of the vehicle detection sensor but also, for example, an image captured by an on-site camera (not shown) or the like installed in the parking lot 200 to obtain information on the availability. You may do it.

  Moreover, the parking lot management apparatus 220 can communicate with each vehicle C and Cx. 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 host vehicle C using automatic driving control (so-called automatic valet parking) is performed. As shown in the upper diagram of FIG. 1, first, it is assumed that the host vehicle C is stopped in front of the entrance 230 of the parking lot 200.

  The parking control device 10 includes vehicle information including vehicle size information of the host vehicle C when a user, such as a driver, gets off the host vehicle C and then performs a button operation for requesting parking by automatic driving control. Is transmitted to the parking lot management apparatus 220 (step S1).

  Next, the parking lot management apparatus 220 designates one empty parking frame A suitable for the vehicle size of the host vehicle C from the plurality of parking frames 210 based on the transmitted vehicle information and the availability information. And the information which shows the designated parking frame (here empty parking frame A) which is a designated parking frame is transmitted to the own vehicle C (step S2).

  The parking control device 10 acquires information on the designated parking frame transmitted from the parking lot management device 220 (step S3). Next, the parking control device 10 sets the designated parking frame as a target parking frame that is a target parking frame, and thereby, the vehicle control device 40 starts automatic driving control up to the target parking frame (step S4). ).

  By the way, the empty situation of the parking frame 210 in the parking lot 200 can change with progress of time. Specifically, as shown in the middle diagram of FIG. 1, for example, one of the parked vehicles Cx is issued while the host vehicle C moves to the target parking frame (here, the empty parking frame A). There is. In the middle diagram of FIG. 1, the parked vehicle Cx to be delivered is indicated by a symbol Cx1.

  As a result, the empty parking frame 210 among the plurality of parking frames 210 becomes the empty parking frame A and the empty parking frame B, and the availability changes. In the prior art, since the target parking frame set at the entrance 230 is parked, the own vehicle C passes through the empty parking frame B and is parked in the empty parking frame A. As a result, the own vehicle There was a risk of lowering the parking efficiency of C.

  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 detects an empty parking frame B.

  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 host vehicle C is parked in the newly set target parking frame (here, the empty parking frame B).

  Thus, in this embodiment, the own vehicle C is parked in the empty parking frame B detected during the movement to the target parking frame, so that it is earlier than when parking in the empty parking frame A. Parking can be performed, and thus the parking efficiency of the host vehicle C in the parking lot 200 can be improved.

  Moreover, in this embodiment, since the moving distance of the own vehicle C also becomes short compared with the case where it parks in the empty parking frame A, fuel consumption can be reduced.

  Furthermore, in this embodiment, since the target parking frame is changed to the empty parking frame B detected in the middle of the movement, the parked vehicle Cx is fixed and parked to some extent near the entrance 230, for example. Thereby, compared with the case where the parking vehicle Cx exists sparsely in the parking lot 200, for example, it becomes possible to manage the parking lot 200 in terms of maintenance such as crime prevention.

<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 with reference to FIG. FIG. 2 is a block diagram illustrating an example of the overall configuration including the parking control system 1.

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

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

  The in-vehicle sensor group 51 includes various devices that detect information necessary for, for example, an empty parking frame detection process, a determination process for the presence or absence of another vehicle, and a parking completion determination process, which will be described later. For example, a GPS receiver that detects the current position of the host vehicle C based on a signal from a GPS satellite, from the reflected wave obtained by radiating electromagnetic waves toward the surroundings to the presence or absence of an object such as another vehicle The in-vehicle sensor group 51 includes a radar that measures the distance and direction of the vehicle, but is not limited thereto. The in-vehicle sensor group 51 outputs information such as the current position of the host vehicle C and the presence / absence of an object such as another vehicle to the parking control device 10.

  The imaging unit 52 is a camera that images the outside (periphery) of the host vehicle C. The imaging unit 52 outputs the captured image information around the host vehicle C to the parking control device 10.

  The parking control device 10 includes a control unit 20 and a storage unit 30. The parking control device 10 can communicate with the parking control device 110 of another vehicle Ca (see FIG. 3, which will be described later) in addition to the parking space management device 220 described above, and can perform inter-vehicle communication. This will be described 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 a microcomputer including a CPU, for example.

  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 frame acquisition unit 21 reads the vehicle information 31 stored in the storage unit 30, and sends the vehicle information 31 and a signal requesting information on the designated parking frame to the parking lot management device 220. Send to. The vehicle information 31 includes, for example, information such as the vehicle size and vehicle type of the host vehicle C, but is not limited thereto.

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

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

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

  When the information on 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. In addition, information from the in-vehicle sensor group 51 and the imaging unit 52 is input to the vehicle control device 40, and the host vehicle C is automatically driven to the target parking frame based on the information and the calculated route.

  Then, when the host 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 image information from the imaging unit 52, for example, so that the vehicle control apparatus 40 stops within the frame line. The vehicle C is controlled and parked.

  The peripheral information acquisition unit 23 receives information from the in-vehicle sensor group 51 and the imaging unit 52. 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 empty parking frame detection unit 24 detects an empty parking frame when the host vehicle C is moving to the target parking frame by automatic traveling by the vehicle control device 40. For example, the empty parking frame detection unit 24 detects the empty parking frame in the parking frame 210 along the route by analyzing image information captured by the imaging unit 52 while the host vehicle C is moving. And the empty parking frame detection part 24 outputs the information which shows the detection result of an empty parking frame to the target parking frame setting part 22 and the other vehicle determination part 25. FIG.

  The target parking frame setting unit 22 does not change the target parking frame when no empty parking frame is detected by the empty parking frame detection unit 24. That is, automatic traveling of the host vehicle C to the target parking frame set at the entrance 230 (see FIG. 1) of the parking lot 200 is continued.

  When the empty parking frame is detected by the empty parking frame detection unit 24, the other vehicle determination unit 25, for example, based on information from the in-vehicle sensor group 51 and the imaging unit 52, the other vehicle Ca that is moving around the empty parking frame. It is determined whether or not exists.

  Note that “the other vehicle in motion” means, for example, another vehicle Ca (see FIG. 3) that is traveling automatically to a target parking frame that is different from the target parking frame of the host vehicle C. In addition, “moving” in the present specification is not limited to a state in which the host vehicle C or the other vehicle Ca is physically moving. For example, the host vehicle C or the other vehicle Ca is stopped. Even if it is, it is included in “moving” if it is on the way to the target parking frame.

  And the other vehicle determination part 25 outputs the information which shows the determination result whether the moving other vehicle Ca exists to the target parking frame setting part 22 and the priority determination part 26. FIG.

  When the other vehicle determination unit 25 determines that the other vehicle Ca does not exist, the target parking frame setting unit 22 changes the target parking frame to an empty parking frame. 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, and performs parking by automatically driving the host vehicle C to the target parking frame based on the calculated route (see the lower diagram of FIG. 1). .

  As described above, in the present embodiment, when an empty parking frame is detected while the host vehicle C moves to the initially set target parking frame, the target parking frame is changed to the detected empty parking frame. Since it was made to do so, it can park early compared with the case where the own vehicle C is parked to the target parking frame set initially, and, therefore, the parking efficiency of the own vehicle C in the parking lot 200 is improved. Can do.

  The priority determination part 26 determines the priority of the own vehicle C and the other vehicle Ca with respect to an empty parking frame based on the priority information 32, when it determines with the other vehicle Ca existing by the other vehicle determination part 25. FIG. Then, as will be described later, the target parking frame determined to have a higher priority among the own vehicle C and the other vehicle Ca is changed to an empty parking frame.

  Here, the priority determination performed by the priority determination unit 26 will be described with reference to FIG. FIG. 3 is a diagram for explaining the priority determination performed by the priority determination unit 26. FIG. 3 shows an example of a scene where the empty parking frame B is detected by the empty parking frame detection unit 24 and the other vehicle determination unit 25 determines that the other vehicle Ca exists around the empty parking frame B. ing.

  As shown in FIG. 3, when it is determined that there is another vehicle Ca around the empty parking frame B and parking for the empty parking frame B competes, the priority determination unit 26 of the parking control device 10 (see FIG. 2) The priority information 32 of the host vehicle C stored in the storage unit 30 is acquired. Moreover, the priority determination part 26 performs the inter-vehicle communication with the parking control apparatus 110 of the other vehicle Ca, and acquires the priority information 32 of the other vehicle Ca.

  FIG. 4 is a diagram illustrating an example of the priority information 32 of the host vehicle C and the other vehicle Ca acquired by the priority determination unit 26.

  As shown in FIG. 4, the priority information 32 includes acquisition time information obtained from the parking lot management device 220 indicating information indicating the designated parking frame, distance information from the current position to the empty parking frame, vehicle size information, and the number of passengers. Information, information on the number of times the parking lot 200 is used, information on the frequency of use of the parking lot 200, and the like. The usage count information and usage frequency information of the parking lot 200 are examples of usage history information of the parking lot 200.

  The priority determination unit 26 compares the acquisition time information of the host vehicle C and the acquisition time information of the other vehicle Ca, and can determine, for example, that the one with the earlier acquisition time has higher priority. That is, among the own vehicle C and the other vehicle Ca, since the one with the earlier acquisition time has entered the parking lot 200 first, the priority determination unit 26 determines that the one with the earlier acquisition time has a higher priority. And the target parking frame is changed to an empty parking frame. Thereby, parking will be performed in the order which entered 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.

  Moreover, the priority determination part 26 can compare the distance information of the own vehicle C and the other vehicle Ca, and can determine that the one where a distance is short has a high priority, for example. That is, among the own vehicle C and the other vehicle Ca, since the shorter distance to the empty parking frame can be parked earlier, the priority determination unit 26 determines that the shorter distance is higher in priority, The target parking frame was changed to an empty parking frame. Thereby, the own vehicle C and the other vehicle Ca in the parking lot 200 can be parked as soon as possible, and parking efficiency can be improved.

  Moreover, the priority determination part 26 can compare the vehicle size information of the own vehicle C and the other vehicle Ca, and can determine with the vehicle size suitable for the magnitude | size of an empty parking frame having a higher priority. That is, depending on the parking lot 200, for example, the number of parking frames for large vehicles 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 with each other for an empty parking frame for a large vehicle, the priority determination unit 26 determines that the own vehicle C has a high priority. Judgment was made and the target parking frame was 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 the parking efficiency can be improved.

  Moreover, the priority determination part 26 can compare the passenger | crew number information of the own vehicle C and the other vehicle Ca, for example, can determine that the one with many passenger | crew has a high priority. That is, for example, in the case of the parking lot 200 in which the entrance and the exit are adjacent to each other, a person parked in the parking frame 210 closer to the entrance can reach the exit earlier at the time of delivery. Therefore, for example, the priority determination unit 26 determines that the own vehicle C having a large number of passengers has a high priority and changes the target parking frame to an empty parking frame. Thereby, since the waiting time for leaving the own vehicle C having a large number of passengers can be shortened, the parking efficiency can be improved while giving satisfaction to many passengers.

  Moreover, the priority determination part 26 compares the usage frequency information and usage frequency information of the parking lot 200 with the own vehicle C and the other vehicle Ca, for example, determines that the one with much usage frequency or usage frequency has high priority. be able to. That is, for example, the priority determination unit 26 determines that the own vehicle C having a high number of uses or the like has a high priority and changes the target parking frame to an empty parking frame. Thereby, since it is possible to shorten the waiting time for the use of the user's own vehicle C to be frequently used, the parking efficiency can be improved while giving satisfaction to the user.

  The priority determination unit 26 may perform the priority determination based on one of the plurality of types of priority information 32, or may determine the priority by combining the plurality of types of priority information 32. It may be.

  The priority information 32 may be stored in association with the determination order. The determination order indicates a priority order among various pieces of information stored as the priority information 32. That is, for example, when the acquisition time information having the first determination ranking is the same time for the own vehicle C and the other vehicle Ca, the priority determination unit 26 compares the distance information having the second determination ranking. Alternatively, the priority may be determined.

  Thereby, in the priority determination part 26 which concerns on this embodiment, the priority of the own vehicle C and the other vehicle Ca can be determined reliably. In FIG. 4, various information stored as the priority information 32 and specific numerical values of the determination order are shown, but these are merely examples and are not limited.

  In the above description, the priority determination unit 26 directly acquires the priority information 32 from the other vehicle Ca. However, the priority determination unit 26 is not limited thereto. For example, the priority information 32 of the other vehicle Ca from the parking management device 220 or the like. May be obtained.

  The priority determination unit 26 outputs information indicating the priority determination result performed as described above to the target parking frame setting unit 22. Then, the target parking frame setting unit 22 sets a 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 an empty parking frame when the priority of the host vehicle C with respect to the empty parking frame is higher than the priority of the other vehicle Ca. In other words, the target parking frame setting unit 22 does not change the target parking frame to an empty parking frame when the priority of the host vehicle C is lower than the priority of the other vehicle Ca.

  As a result, of the own vehicle C and the other vehicle Ca, the higher priority is parked in the empty parking frame, and thus the parking efficiency of the own vehicle C and the other vehicle Ca in the parking lot 200 can be improved. it can.

  Further, the priority determination unit 26 may output information indicating the determination result of the priority to the parking control device 110 of the other vehicle Ca. Thereby, since the determination result of a priority can be shared between the own vehicle C and the other vehicle Ca, it becomes possible to perform the parking to the empty parking frame with a higher priority smoothly.

  As described above, information on the designated parking frame is input to the predetermined parking frame determination unit 27 from the designated parking frame acquisition unit 21. And the predetermined parking frame determination part 27 determines whether the designated parking frame set as a target parking frame is a predetermined parking frame which satisfy | fills predetermined conditions. 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 management device 220 to park in a specific area (for example, near a specific exit) of the parking lot 200, the parking lot The management device 220 designates the parking frame 210 in a specific area as the designated parking frame. Thereby, in the target parking frame setting unit 22, the designated parking frame is set as the target parking frame, and automatic driving control up to the target parking frame is performed.

  At this time, if an empty parking frame is detected during the movement of the host vehicle C to the target parking frame, the target parking frame is a designated parking frame designated by the user. It is preferable that the process of changing to an empty parking frame is not performed.

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

  The target parking frame setting unit 22 detects the target parking frame when the empty parking frame detection unit 24 detects the empty parking frame and the predetermined parking frame determination unit 27 determines that the designated parking frame is the predetermined parking frame. The change of the frame to an empty parking frame was prohibited.

  Thereby, in this embodiment, for example, when the designated parking frame designated by the user is the target parking frame, since the change of the target parking frame to the empty parking frame is prohibited, the user's request is Parking efficiency can be improved while satisfying.

  The parking completion determination unit 28 determines whether or not parking of the host 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. When it is determined that parking of the host vehicle C in the target parking frame is completed, the parking completion determination unit 28 outputs a completion signal indicating completion of parking to the transmission unit 29. In addition, although "the completion of parking" in this specification means that self-vehicles C stopped within the frame line of the target parking frame, for example, it is not limited to this.

  When the parking completion determination unit 28 determines that the parking in the target parking frame has been completed and a completion signal is input, the transmission unit 29 displays information indicating the target parking frame in which the host vehicle C is parked. Send to.

  Thereby, in the parking lot management apparatus 220, since the information that the own vehicle C was parked in the target parking frame transmitted from the transmission unit 29 can be acquired early, the parking frame in the parking lot 200 210 accurate availability information can always be obtained.

<1.3. Control Process of Parking Control Device According to First Embodiment>
Next, a specific procedure in the parking control device 10 will be described with reference to FIG. FIG. 5 is a flowchart showing a processing procedure of a parking control process executed by the parking control device 10.

  As shown in FIG. 5, the control part 20 of the parking control apparatus 10 performs the process which sets a target parking frame (step S10). FIG. 6 is a flowchart showing the processing procedure of the target parking frame setting process.

  As shown in FIG. 6, the control part 20 transmits the vehicle information of the own vehicle C to the parking lot management apparatus 220 (step S100). Next, the control unit 20 acquires information on the designated parking frame 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 when the host vehicle C is moving to the target parking frame (step S103).

  When it is determined that an empty parking frame is not detected (No at Step S103), the control unit 20 outputs information on the target parking frame set at Step S102 to the vehicle control device 40 (Step S104). Accordingly, the host vehicle C is parked under automatic driving control up to the target parking frame by the vehicle control device 40.

  On the other hand, when it determines with the empty parking frame having been detected (step S103, Yes), the control part 20 determines whether the designated parking frame set as a 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 (No at Step S105), the control unit 20 determines whether there is another moving vehicle Ca around the empty parking frame (Step S106). ).

  When it is determined that the other vehicle Ca exists in the surrounding area (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 host vehicle C is higher than the priority of the other vehicle Ca (step S108). And the control part 20 changes a target parking frame into an empty parking frame, when the priority of the own vehicle C is higher than the other vehicle Ca (step S108, Yes).

  Then, the control unit 20 proceeds to step S104, and outputs the changed target parking frame information to the vehicle control device 40. Thereby, the host 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 host 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, since the target parking frame is maintained when the priority of the own vehicle C is lower than that of the other vehicle Ca, the vehicle control device 40 moves the own vehicle C to the target parking frame. Parking of an empty parking frame of another vehicle Ca having a high height may be started, and movement to the target parking frame of the host vehicle C may be hindered. In such a case, the vehicle control device 40 stops the host vehicle C until the other vehicle Ca does not interfere with the movement of the host vehicle C to the target parking frame, and then moves the host vehicle C to the target parking frame. It may be.

  If it continues with description of FIG. 6, when it determines with the other vehicle Ca not existing around (step S106, No), the control part 20 will progress to step S109, and will change a target parking frame into an empty parking frame.

  Moreover, when it determines with the designated parking frame being a predetermined parking frame (step S105, Yes), the control part 20 prohibits the change to the empty parking frame of a target parking frame (step S110).

  Returning to the description of FIG. 5, the control unit 20 executes a parking completion process on the target parking frame of the host vehicle C (step S <b> 11). FIG. 7 is a flowchart showing a processing procedure of parking completion processing.

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

  On the other hand, when it is not determined that the parking of the host vehicle C in the target parking frame has been completed (No at Step S200), 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 frame acquisition unit 21 acquires information indicating a designated parking frame that is a parking frame designated by the parking lot management device 220 (an example of an external device) among the plurality of parking frames 210 of the parking lot 200. The target parking frame setting unit 22 sets the target parking frame as a target parking frame that targets the designated parking frame.

  The empty parking frame detection unit 24 detects an empty parking frame that is an empty parking frame while the host vehicle C is moving to the target parking frame. Moreover, the target parking frame setting part 22 changes the set target parking frame into the said empty parking frame, when an empty parking frame is detected by the empty parking frame detection part 24. FIG. Thereby, the parking efficiency of the vehicle in a parking lot can be improved.

  Even after changing the set target parking frame to the empty parking frame, the control unit 20 determines whether or not parking of the host vehicle C on the target parking frame is completed as shown in FIG. (Step S200). And when it determines with the control part 20 having completed the parking to the changed target parking frame of the own vehicle C (step S200, Yes), the target parking frame which the own vehicle C parked, in other words, it changed. Information indicating the target parking frame is transmitted to the parking lot management device 220 (step S201). Thereby, the parking lot management apparatus 220 can recognize that the host vehicle C is parked in a parking frame different from the designated parking frame. For this reason, the parking lot management apparatus 220 does not set the parking frame in which the host vehicle C is parked as the designated parking frame for other vehicles.

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

  As shown in FIG. 8, the parking lot management apparatus 220 determines whether vehicle information and a signal requesting information on the designated parking frame have been received from the host vehicle C (step S1000). When it is determined that the vehicle information or the like has been received (step S1000, Yes), the parking lot management device 220 transmits information on the designated parking frame to the host vehicle C based on the vehicle information and the availability information (step) (step S1000). S1001).

  Next, the parking lot management device 220 updates information on the availability of the parking lot 200 (step S1002). Specifically, since parking of the own vehicle C is scheduled in the designated parking frame transmitted to the own vehicle C, the parking lot management device 220 indicates that the own vehicle C is scheduled to be parked in the designated parking frame. The availability information is updated so that is included in the availability information. Thereby, the parking lot management apparatus 220 can prevent the designated parking frame transmitted to the host vehicle C from being set as the designated parking frame for other vehicles.

  When it is not determined that the vehicle information or the like has been received (No at Step S1000), the parking lot management device 220 skips the processes at Steps S1001 and S1002.

  Next, the parking lot management apparatus 220 determines whether or not parking of the host vehicle C is completed and information indicating the parked target parking frame is received from the host vehicle C (step S1003).

  When it is determined that the information indicating the target parking frame has been received (step S1003, Yes), the parking lot management device 220 updates the availability information (step S1004). Specifically, the parking lot management apparatus 220 updates the availability information so that the received target parking frame is excluded from the information of the empty parking frame included in the availability information. Thereby, the parking lot management apparatus 220 does not set the parking frame in which the host vehicle C is parked as the designated parking frame for other vehicles, as already described.

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

<1.4. First Modification>
Next, the parking control process which the parking control apparatus 10 which concerns on a 1st modification performs is demonstrated. For example, when the set target parking frame is changed to the detected empty parking frame, the parking control device 10 according to the first modified example parks information on the parking frame including information on the changed target parking frame. It was made to transmit to the parking lot management apparatus 220.

  FIG. 9 is a flowchart showing a processing procedure of a target parking frame setting process in the first modification. In FIG. 9 and FIGS. 10 and 11 to be described later, the same steps as those in the first embodiment are denoted by the same step numbers and description thereof may be omitted.

  As illustrated in FIG. 9, the control unit 20 of the parking control device 10 performs the processes of steps S <b> 100 to S <b> 110 and performs the target parking frame setting process of the host vehicle C. For example, the control unit 20 performs a process of changing the set target parking frame to the detected empty parking frame, or performs a process of not changing the target parking frame even when an empty parking frame is detected. To do.

  And the control part 20 transmits the information regarding a parking frame to the parking lot management apparatus 220 (step S111). The information on the parking frame described above includes, for example, information on the target parking frame after the change and information on an empty parking frame that has not been changed to the target parking frame when the target parking frame is not changed. It is not limited. In addition, the control part 20 performs the process of step S104 after the process of step S111.

  Next, a control process in the parking lot management apparatus 220 to which information on the parking frame described above is transmitted will be described with reference to FIG. FIG. 10 is a flowchart showing a processing procedure of parking control processing executed by the parking lot management apparatus 220 according to the first modification.

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

  When it is determined that the information regarding the parking frame has been received (step S1005, Yes), the parking lot management apparatus 220 updates the information on the availability (step S1004). Specifically, for example, when the information on the target parking frame after the change is included in the information on the parking frame, the parking lot management device 220 is scheduled to park the host vehicle C in the changed target parking frame. The availability information is updated so that the information indicating that the host vehicle C is scheduled to be parked is included in the changed availability parking frame. Thereby, the parking lot management apparatus 220 can prevent the changed target parking frame from being set as the designated parking frame for other vehicles.

  In addition, since the target parking frame before the change is that the host vehicle C is not parked and becomes an empty parking frame, the parking lot management device 220 includes the target parking frame before the change as an empty parking frame in the information on the availability. To update the availability information. As a result, the parking management device 220 can set the target parking frame before the change, which has become an empty parking frame, as a designated parking frame for other vehicles, and improve the parking efficiency of the vehicle in the parking lot. Can be made.

  In addition, when the information on the parking frame includes information on the empty parking frame that has not been changed to the target parking frame, the parking lot management device 220 includes the empty parking frame detected by the host vehicle C in the information on the availability. To update the availability information. Thereby, in the 1st modification, it becomes possible to reflect the empty parking frame detected by the own vehicle C at an early stage in the information on an empty situation.

  On the other hand, when it is not determined that the information regarding the parking frame has been received (No at Step S1005), the parking lot management apparatus 220 skips Step S1004 and ends the process.

<1.5. Second Modification>
Next, the parking control process which the parking control apparatus 10 which concerns on a 2nd modification performs is demonstrated. The parking control device 10 according to the second modification, for example, after determining the priority of the host vehicle C and the other vehicle Ca, information indicating the determination result of the priority is given to the parking control device 110 of the other vehicle Ca. Was sent to. In addition, 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 performing the priority determination by itself, the parking control device 10 indicates the received determination result. Based on the above, it is determined whether or not the priority of the host vehicle C is higher than the priority of the other vehicle Ca, and the target parking frame is set. Thereby, the processing load in the parking control device 10 or the like can be reduced. Hereinafter, the second modification will be described in detail with reference to FIG.

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

  When it is not determined that the information indicating the priority determination result is received from the other vehicle Ca (No at Step S106a), the control unit 20 proceeds to Step S107, and the priority of the own vehicle C and the other vehicle Ca with respect to the empty parking frame. Determine.

  And the priority determination part 26 (refer FIG. 2) of the control part 20 transmits the information which shows the determination result of a priority to the parking control apparatus 110 of the other vehicle Ca (step S107a). Thereby, for example, when the priority determination is not performed in the parking control device 110 of the other vehicle Ca, the parking control device 110 of the other vehicle Ca does not perform the priority determination process by itself, but the received priority It is possible to set the target parking frame using the determination result, and thus the processing load can be reduced.

  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 and proceeds to step S108 and the subsequent steps. The target parking frame is set using the priority determination result received from. Thus, the priority determination part 26 (refer FIG. 2) of the control part 20 does not perform a priority determination process by itself, when the information which shows the priority determination result from the other vehicle Ca is received. And the control part 20 reduces processing load compared with the case where the priority determination process is performed by setting the target parking frame using the priority determination result received from the other vehicle Ca. Can do.

  In the first embodiment and each modification described above, the route from the host vehicle C to the target parking frame is calculated by the vehicle control device 40. However, the present invention is not limited to this, and the parking control device 10 or the parking lot is not limited thereto. It may be calculated by the management apparatus 220.

  Moreover, in the above, although the empty parking frame detection part 24 detected the empty parking frame based on the image information of the imaging part 52, it is not limited to this. For example, the empty parking frame detection unit 24 performs vehicle-to-vehicle communication with the parked vehicle Cx1 (see the middle diagram in FIG. 1), and obtains unloading information indicating that the parking vehicle Cx1 has been unloaded. An empty parking frame may be detected.

  Moreover, although parking in the parking lot 200 described above is performed after the driver gets off, the present invention is not limited to this, and may be performed while the driver gets on 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 described. Hereinafter, the same components as those in the first embodiment are denoted by the same reference numerals, and the description thereof may be omitted. First, an outline of the parking control method according to the second embodiment will be described with reference to FIG. Here, as a parking control method, a delivery control method for leaving a vehicle from a parking lot will be described. FIG. 12 is a diagram illustrating an outline of the delivery control method according to the second embodiment.

  The delivery control method according to the second embodiment is executed by, for example, a parking lot management device 220a included in the parking system S. 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. The parking control system 1 is mounted on the vehicle C parked in the parking lot 200a. The terminal device 300 is assumed to be owned by the user U who is the driver of the vehicle C.

  Hereinafter, the case where the own vehicle C parked in the parking lot 200a issues a car from 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 places 240, and an exit 230a.

  The boarding place 240 is a place where a driver who is the user U or a passenger of the vehicle C gets on the vehicle C, and a plurality of boarding places 240 are provided in the parking lot 200a. In FIG. 12, there are three boarding places 240, but the present invention is not limited to this, and there may be two boarding places 240 or four or more places. Moreover, in FIG. 12, although the exit 230a of the parking lot 200a is made into one place, it is not limited to this, There may be two or more exits 230a. Moreover, the boarding place 240 should just have the place which can board several in a single boarding place.

  The parking lot management device 220a operates as a parking control device that performs exit control in parking control of the host vehicle C described later. Hereinafter, the parking control device that performs the exit control is also referred to as an exit control device. Moreover, the specific structure of the parking lot management apparatus 220a is demonstrated with reference to FIG.

  In the parking lot 200a configured as described above, exit control of the host vehicle C using automatic driving control is performed. In addition, as shown to the upper stage figure of FIG. 12, first, the own vehicle C shall be parked in the parking lot 200a.

  The parking lot management apparatus 220a receives the leaving instruction | indication which requests | requires the leaving by automatic driving | operation control from the terminal device 300 of the user U who goes to the parking lot 200a (step S1).

  When receiving the exit instruction from the terminal device 300, the parking lot management device 220a calculates a predicted boarding time until the user U gets on the host vehicle C at the boarding place 240 (step S2). Specifically, the parking lot management device 220 a calculates the time required for the user U to move from the current position to the boarding place 240 and get on the host vehicle C as a boarding prediction time for each of the plurality of boarding places 240. For example, the parking lot management apparatus 220a considers the age of the user U, the congestion state of the road from the current position of the user U to the boarding place 240, in addition to the distance from the current position of the user U to the boarding place 240. To calculate the estimated ride time.

  Next, the parking lot management apparatus 220a calculates the exit arrival time until the vehicle C arrives at the exit 230a from the boarding place 240 (step S3). Specifically, the parking lot management device 220a calculates the exit arrival time until the vehicle C arrives at the exit 230a from each boarding place 240 (see arrows A12 and A22 in FIG. 12). The parking lot management apparatus 220a predicts the exit arrival time in consideration of, for example, the number of exit instructions from the user U in addition to the distance from each boarding place 240 to the exit 230a. In addition, when the some exit 230a is provided in the parking lot 200a, the parking lot management apparatus 220a calculates each exit arrival time from each boarding place 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 from the terminal device 300, the parking lot management device 220a predicts the destination arrival time until it arrives at the destination acquired from the exit 230a (see arrow A4 in FIG. 12). To do. In addition, when the some exit 230a is provided in the parking lot 200a, the destination arrival time from each exit 230a to the destination is each calculated. Here, the destination arrival time is calculated by the parking lot management device 220a, but is not limited to this. For example, a navigation device (not shown) mounted on the terminal device 300 or the host vehicle C may calculate the destination arrival time. In this case, for example, the parking lot management device 220a notifies the navigation device of information on the exit 230a as a departure point, and receives the destination arrival time from the navigation device.

  Subsequently, the parking lot management device 220a determines a boarding place 240 to which the vehicle C is moved according to the estimated 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 of the estimated boarding time, the exit arrival time, and the destination arrival time for each boarding place 240, and determines to move the vehicle C to the boarding place 240 with the calculated total time being short. . In addition, when there are a plurality of exits 230a, the parking lot management device 220a calculates the total time of the estimated boarding time, the exit arrival time, and the destination arrival time for each combination of the plurality of boarding places 240 and the plurality of exits 230a. . The parking lot management device 220a determines the boarding place 240 with the short calculated total time as the destination of the vehicle C, and determines the exit 230a with the short total time as the destination of the vehicle C after the user U gets on.

  The parking lot management apparatus 220a notifies the determined boarding place 240 to the user U and the vehicle C (step S6). Thus, the parking lot management device 220a notifies the user U of the determined boarding place 240 to guide the user U to the determined boarding place 240. In addition, the parking lot management apparatus 220a notifies the determined boarding place 240 to the vehicle C, and the vehicle control apparatus 40 of the vehicle C performs automatic driving control so that the vehicle C moves to the boarding place 240 determined. To do.

  In addition, when there are multiple exits 230a, the parking lot management apparatus 220a notifies the vehicle C of the exit 230a determined to move after the user U gets on. Thereby, the vehicle control apparatus 40 of the vehicle C can be moved to the exit 230a which determined the vehicle C by automatic driving | operation control, after the user U gets on, for example.

  Thus, in this embodiment, the parking lot management apparatus 220a totals the estimated 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 complete. Furthermore, the parking lot management apparatus 220a determines the boarding place 240 where the user U gets on the vehicle C according to the total time. Thereby, for example, the parking efficiency including the delivery efficiency can be improved while shortening the arrival time to the destination.

<2.2. Overall configuration of parking system>
Next, the structure of the parking system S which concerns on 2nd Embodiment is demonstrated using FIG. FIG. 13 is a block diagram illustrating a configuration example of the parking system S.

  As shown in FIG. 13, the parking system S includes the vehicle control device 40, the 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 smartphone. The terminal device 300 transmits the leaving instruction received from the user U to the parking lot management device 220a. Moreover, the terminal device 300 notifies the user U of the boarding place 240 determined by the parking lot management device 220a.

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

  The communication unit 410 is a communication interface connected to the network N so as to be capable of bidirectional communication. The communication unit 410 is connected to the terminal device 300 and the vehicle control device 40 via the network N. The control unit 420 can transmit and receive various types of information by communicating with the terminal device 300 and the vehicle control device 40 via the communication unit 410.

  The control unit 420 includes a delivery instruction receiving unit 421, an acquisition unit 422, a calculation unit 426, a boarding place determination unit 427, and a notification unit 428. The control unit 420 is a microcomputer including a CPU, for example.

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

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

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

  The peripheral information acquisition unit 422a acquires the peripheral information of the parking lot 200a via the communication unit 410. The surrounding information includes, for example, traffic jam information with the current location of the user U, 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, a situation including congestion around the user U, weather around the parking lot 200a, and the like from an external device connected via the network N. Alternatively, the surrounding information acquisition unit 422a may be congested around the user U based on audio information collected by the microphone of the terminal device 300, image information of the camera, image information of a camera provided around the parking lot 200a, or the like. You may make it acquire weather and weather. The peripheral information acquisition unit 422a acquires the number of exit instructions from the exit instruction reception unit 421.

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

  The traffic jam information acquisition unit 422b acquires the traffic jam information of the parking lot 200a and the road via the communication unit 410. The traffic jam information includes, for example, the number of delivery instructions, the traffic situation around the parking lot 200a, and the traffic situation up to the destination after delivery.

  The traffic jam information acquisition unit 422b acquires, for example, the traffic jam status from the external device connected via the network N to the vicinity of the parking lot 200a and the destination after leaving. Note that the destination after delivery is acquired from a destination information acquisition unit 422d described later. The traffic jam information acquisition unit 422b acquires the number of exit instructions from the exit instruction reception unit 421.

  The traffic jam information acquired by the traffic jam information acquisition unit 422b is output to the calculation unit 426, which will be described later, and is used to calculate the exit arrival time and the destination arrival time. The traffic jam information acquired by the traffic jam information acquisition unit 422b is not limited to the above example 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 user U's family structure, age, information about a companion, the fatigue level of the user U, the amount (number and weight) and type of luggage the user U has. .

  The user information acquisition unit 422c acquires the current location of the user U based on, for example, GPS information mounted on the terminal device 300. Moreover, the user information acquisition part 422c acquires the family structure, age, etc. of the user U based on the information registered in the terminal device 300, for example. Moreover, the user information acquisition part 422c acquires the quantity of the luggage | load which the user U has based on the terminal device 300, the parking lot 200a periphery, or the camera image installed in the shop where the user U shoped, for example. The user information acquisition unit 422c also acquires information regarding the type of luggage such as a cart or a stroller. Note that the amount of luggage held by the user U may be acquired from purchase data of the user U using a credit card or the like, for example. Further, the user information acquisition unit 422c acquires the amount of baggage that the user U had when getting off the vehicle C based on the camera images installed around the parking lot 200a, and the amount of such baggage and shopping, etc. The amount of luggage that the user U has may be estimated according to the increased amount of luggage.

  In addition, the user information acquisition unit 422c calculates, for example, the moving speed of the user U from a 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 degree of fatigue of the user U is high when the moving speed becomes slow or when the number of times that the moving speed becomes zero increases. Or the user information acquisition part 422c acquires the conversation of the user U from the microphone mounted in the terminal device 300, for example, and estimates that the degree of fatigue is high when the amount of conversation decreases. Further, the user information acquisition unit 422c estimates that the fatigue level of the user U is high when a word related to the fatigue level of the user U such as “tired” or “tight” 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 is used for calculation of the estimated boarding time. Note that the user information acquired by the user information acquisition unit 422c only needs to be used for calculation of the estimated boarding time, and is not limited to the example described above.

  The destination information acquisition unit 422d acquires the destination of the vehicle C after delivery from the terminal device 300 via the communication unit 410. For example, when the destination is included in the exit instruction received by the exit instruction receiving unit 421, the destination information acquisition unit 422d acquires the destination from the exit instruction. Alternatively, when the exit 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. It may be. In addition, when a destination after leaving 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, for each of the plurality of boarding places 240, the predicted time from the current position of the user U to the destination via each boarding place 240. The predicted time is a total time of the estimated boarding time, the exit arrival time, and the destination arrival time calculated by the calculation unit 426. 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 is based on the user information acquired by the user information acquisition unit 422c, the peripheral information acquired by the peripheral information acquisition unit 422a, the user coefficient information 433 stored in the storage unit 430, and the peripheral coefficient information 431. Calculate time.

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

  Specifically, the boarding time calculation unit 426a determines the boarding arrival time until the user U arrives at the boarding place 240 from the current position, and the boarding after the user U arrives at the boarding board 240 until boarding the vehicle C. Time is calculated for each of the plurality of boarding places 240.

  First, the boarding time calculation unit 426a 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 shortened. Alternatively, when the user U uses a cart, a stroller, a wheelchair, or the like, the boarding time calculation unit 426a selects a route passing through a road with few steps. For example, in the case of rain, the boarding time calculation unit 426a selects a route that is difficult to get wet, such as an underpass or an arcade street. As described above, the boarding time calculation unit 426a may select a route to the boarding place 240 based on user information including information related to the type of baggage and surrounding information. Thereby, the boarding time calculation unit 426a can select a route according to the user U and the surrounding situation.

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

  The boarding time calculation unit 426a predicts the boarding area arrival time when the selected route is moved for each of the plurality of boarding places 240. At this time, the boarding time calculation unit 426a calculates the boarding area arrival time using the user information and the peripheral information, so that the boarding room arrival time can be calculated with higher accuracy.

  Specifically, the boarding time calculation unit 426a calculates a standard arrival time that arrives at the boarding place 240 when the selected route is moved, and corrects the calculated standard arrival time using user information and surrounding information. Calculate the arrival time at the boarding place. The standard arrival time is calculated based on, for example, the distance of the selected route and a general user moving speed.

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

  Here, an example of the user coefficient information 433 will be described with reference to FIGS. 14 and 15. 14 and 15 are diagrams illustrating an example of the user coefficient information 433.

  FIG. 14 shows an example of a coefficient corresponding to the age included in the user information as one of the user coefficient information 433. As shown in FIG. 14, the user coefficient information 433 is set for each age. For example, the coefficient for the 20s is “1”, and the coefficient for the 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 a coefficient having the largest value among the companions including the user U. In addition, the information regarding a companion shall be previously registered by the user U. Or the information regarding a companion shall be acquired by the user information acquisition part 422c based on the camera image provided in the terminal device 300, the parking lot 200a, etc. FIG.

  FIG. 15 shows an example of a coefficient corresponding to the amount of luggage included in the user information as one of the user coefficient information 433. As shown in FIG. 15, for example, in the case of “no luggage”, the coefficient “1” is set. In addition, when the amount of luggage is the amount that can be held with one hand, the coefficient “1.1” is set. The boarding time calculation unit 426a determines a coefficient corresponding 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 piece of information such as age and family structure included in the user information. In addition to the examples shown in FIGS. 14 and 15, a coefficient corresponding to the user's fatigue level is included in the user coefficient information 433. Similarly, the peripheral coefficient information 431 is information used to determine a coefficient for each piece of information such as congestion status and weather included in the peripheral information. For example, the coefficient according to the congestion situation can be set by dividing the population density of the selected route into n stages and setting the coefficients respectively.

  The user coefficient information 433 shown in FIGS. 14 and 15 is an example, and the present invention is not limited to this. In the user coefficient information 433 illustrated in FIG. 14, coefficients corresponding to each age are set, but coefficients corresponding to each category such as “infant”, “child”, “adult”, and the like may be set. 14 and 15 are examples, and other values may be used.

  The boarding time calculation unit 426a calculates the boarding hall arrival time by multiplying the standard arrival time by a coefficient determined based on the user coefficient information 433 and the peripheral coefficient information 431.

  Here, although the boarding time calculation unit 426a calculates the standard arrival time according to the distance of the selected route, 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 until issuing a leaving instruction and the distance of the selected route. Or it is good also considering the average time required to move the path | route which the other user selected as standard arrival time. 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 when the user U arrives at the boarding place 240 until he gets on the vehicle C for each boarding place 240. The boarding time calculation unit 426a calculates the boarding time when boarding the vehicle C immediately after arrival at the boarding place 240 as the standard boarding time, and corrects the calculated standard boarding time using the user information and the peripheral information. The ride time is calculated.

  The boarding time calculation unit 426a calculates the boarding time by multiplying the calculated standard boarding time by a coefficient corresponding to user information and surrounding information. For example, the boarding time calculation unit 426a determines a coefficient having a larger value as the number of exit instructions included in the peripheral information increases. In addition, the boarding time calculation unit 426a determines a coefficient that takes into account the time required for loading the load according to the amount of the load and the type of the load. When the cart includes a cart, the boarding time calculation unit 426a determines a coefficient that takes into account the time required for returning the cart. Such coefficients are assumed to be stored in the storage unit 430 as peripheral coefficient information 431 and user coefficient information 433.

  Here, the boarding time when the boarding time calculation unit 426a gets on the vehicle C immediately after arrival at the boarding place 240 is set as the standard boarding time, but the invention is not limited to this. For example, the boarding time calculation unit 426a may use an average value in a predetermined period including the current time of the boarding time of another user as the standard boarding time. Alternatively, the time required for the user U to get off the vehicle C may be the standard boarding time.

  Moreover, although boarding time calculation part 426a decided the coefficient based on the user information of user U here, it is not limited to this. For example, the boarding time calculation unit 426a may determine the coefficient based on user information of other users. Specifically, for example, the user's boarding time may be calculated using user information of the user who uses the boarding place 240 before the user U, and the coefficient may be determined according to the calculated boarding time. For example, when the boarding time of the user who uses the boarding place 240 before the user U is long, the boarding time of the user U may be long. Therefore, by calculating user's U boarding time using user information of users other than user U, user U's boarding time can be calculated more accurately.

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

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

  In this way, the exit time calculation unit 426b calculates the exit arrival time based on the traffic jam information, so that the exit arrival time can be predicted with higher accuracy.

  The exit time calculation unit 426b calculates the standard travel time according to the distance from each boarding place 240 to the exit 230a and the speed limit of the parking lot 200a, for example, and the calculated standard travel time is a coefficient according to traffic jam information. The exit arrival time is calculated by multiplying.

  The exit time calculation unit 426b calculates the exit arrival time by, for example, multiplying the standard movement time by a coefficient corresponding to the number of exit instructions included in the traffic jam information. The coefficient corresponding to the number of exit instructions is, for example, a coefficient that increases as the number of exit instructions increases, and is prestored in the storage unit 430 as the traffic 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 according to the congestion state of the road around the parking lot 200a included in the traffic jam information, for example. For example, when the road around the parking lot 200a is congested, it takes a long time for the vehicle C to reach the road from the exit 230a. Therefore, the exit time calculation unit 426b calculates the exit arrival time by multiplying the standard travel time by a coefficient that increases as the road around the parking lot 200a becomes congested.

  Here, although the exit time calculation unit 426b calculates the exit arrival time based on the traffic jam information, the present invention is not limited to this. For example, an average value of the time required for other vehicles to travel from the boarding place 240 to the exit 230a in a predetermined period including the current time may be used as the exit arrival time. Further, the exit time calculation unit 426b may calculate the exit arrival time including the departure time from when the user U gets on the vehicle C until the vehicle C starts. Such departure time can be calculated from, for example, an average time of past departure times of the user U.

  The destination time calculation unit 426c calculates a destination arrival time from the exit 230a to the destination based on the traffic jam information. The destination time calculation unit 426c selects a route from the exit 230a to the destination, and calculates a 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 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 selection result of the user U from the terminal device 300. Or the destination time calculation part 426c may acquire the priority in the case of performing route selection from the user U, and may select a route according to the acquired priority. Examples of the priority order include “toll road priority”, “general road priority”, “arrival time priority”, and the like.

  The boarding place determination unit 427 adds up the boarding predicted time, the exit arrival time, and the destination arrival time calculated by the calculation unit 426, and calculates the predicted time for each of the plurality of boarding places 240. The boarding place determination unit 427 determines the boarding place 240 having the shortest predicted time as the boarding place 240 that guides the user U. The boarding place determination unit 427 outputs the determined 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 platform 240 determined by the platform 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 place 240 determined. Thereby, the parking lot management apparatus 220a can present the route to the boarding place 240 determined to the user U.

  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 place 240. Thereby, it is not necessary for the vehicle C to search for a route to the destination, and the processing load on the vehicle C can be reduced. Further, it is not necessary for the user U to input the destination to the vehicle C again, and the input work by the user U can be omitted.

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

<2.3. Delivery control process 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 flowchart illustrating a processing procedure of the exit control process executed by the parking lot management apparatus 220a. In addition, after parking the vehicle C in the parking lot 200a, the parking lot management apparatus 220a repeatedly performs the process sequence shown in FIG. 16 with a predetermined period.

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

  On the other hand, the control part 420 acquires destination information from the terminal device 300, when the leaving instruction | indication is received (step S301, Yes) (step S302). Next, the control unit 420 acquires user information (step S303) and acquires peripheral information (step S304). Subsequently, the control unit 420 acquires traffic jam information (step S305).

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

  The control unit 420 determines a boarding place 240 where the user U gets on the vehicle C based on the estimated 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 boarding place 240 determined in step S309 to the user U and the vehicle control device 40 of the vehicle C (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 processes in steps S306 to S308 may be switched in order, or may be performed simultaneously.

  As described above, the parking lot management apparatus 220a according to the second embodiment includes the exit instruction receiving unit 421, the calculation unit 426, the boarding place determination unit 427, and the notification unit 428.

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

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

  Thereby, the parking lot management apparatus 220a can perform delivery control in consideration of the route from the current position of the user U to the destination, and can improve parking efficiency including delivery efficiency.

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

  In the above description, the user information, the peripheral information, and the traffic jam information are acquired after the parking lot management device 220a receives the exit instruction. However, the present invention is not limited to this. For example, the parking lot management apparatus 220a may acquire user information, peripheral information, and traffic jam information from when the user U gets out of the vehicle C until receiving a leaving instruction.

  In the above description, the parking lot management device 220a selects the boarding place 240 having the shortest predicted time, which is the total time of the predicted boarding time, the exit arrival time, and the destination arrival time, but is not limited thereto. For example, when the fatigue level of the user U is high, the parking lot management device 220a may select the boarding place 240 having the shortest boarding predicted time. Alternatively, the user U may select the boarding place 240 based on the estimated boarding time, the exit arrival time, the destination arrival time, and the predicted time.

  In the above description, the vehicle control device 40 moves the vehicle C to the boarding place 240 when receiving the notification from 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 place 240 is longer than the time during which the vehicle control device 40 moves the vehicle C to the boarding place 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. Or you may make it the notification part 428 notify the boarding place 240 to the vehicle control apparatus 40 at the timing according to the time at which the user U arrives at the boarding place 240. Thereby, the vehicle C can be moved to the boarding place 240 without obstructing another user's boarding to the other vehicle.

  On the other hand, for example, it is assumed that the time until the user U arrives at the boarding place 240 is shorter than the time during which the vehicle control device 40 moves the vehicle C to the boarding place 240. In this case, the notification unit 428 may notify the user U of the congestion situation of the parking lot 200a, present a route change to the boarding place 240, or present a stopover location such as a resting place. . Thereby, leaving control can be performed efficiently, suppressing the fall of the user's U convenience.

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

DESCRIPTION OF SYMBOLS 1 Parking control system 10 Parking control apparatus 21 Designated parking frame acquisition part 22 Target parking frame setting part 24 Unoccupied parking frame detection part 25 Other vehicle determination part 26 Priority determination part 27 Predetermined parking frame determination part 28 Parking completion determination part 29 Transmission part 31 Vehicle information 32 Priority information 40 Vehicle control device 220, 220a Parking lot management device 421 Exit instruction receiving unit 426a Boarding time calculation unit 426b Exit time calculation unit 426c Destination time calculation unit 427 Boarding point determination unit 428 Notification unit C Own vehicle Ca other vehicles

Claims (15)

A designated parking frame acquisition unit that acquires information indicating a designated parking frame that is a parking frame designated by an external device among a plurality of parking frames in a parking lot;
A target parking frame setting unit that sets the target parking frame as a target parking frame that is the target parking frame;
An empty parking frame detection unit that detects an empty parking frame that is an empty parking frame while the host vehicle is moving to the target parking frame;
The target parking frame setting unit
The parking control device, wherein when the empty parking frame is detected by the empty parking frame detection unit, the set target parking frame is changed to the empty parking frame. A parking completion determination unit that determines whether or not parking of the host vehicle in the target parking frame is completed;
A transmission unit that transmits 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. The parking control apparatus according to 1. When the empty parking frame is detected by the empty parking frame detection unit, another vehicle determination unit that determines whether there is another vehicle moving around the empty parking frame;
A priority determination unit that determines the priority of the host vehicle and the other vehicle with respect to the empty parking frame when the other vehicle determination unit determines that the other vehicle exists;
The target parking frame setting unit
The parking control device according to claim 1 or 2, wherein the target parking frame is set based on a determination result of the priority determination unit. The target parking frame setting unit
The parking control device according to claim 3, wherein when the priority of the own vehicle with respect to the empty parking frame is higher than the priority of the other vehicle, the target parking frame is changed to the empty parking frame. The priority determination unit
In each of the host vehicle and the other vehicle, acquisition time information acquired information indicating the designated parking frame, distance information from the current position to the empty parking frame, vehicle size information, occupant number information, and the parking lot The parking according to claim 3 or 4, wherein at least one piece of information indicating history of use is acquired as priority information, and the priority is determined based on the acquired priority information. Control device. The priority determination unit
The priority determination is not performed when information indicating the determination result of the priority of the own vehicle and the other vehicle with respect to the empty parking frame is received from the other vehicle. The parking control device according to one. 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;
The target parking frame setting unit
When the empty parking frame is detected by the empty parking frame detection unit and the designated parking frame is determined to be the predetermined parking frame by the predetermined parking frame determination unit, the empty parking frame of the target parking frame The parking control device according to any one of claims 1 to 6, wherein a change to is prohibited. A parking completion determination unit that determines whether or not the vehicle has been parked to the changed target parking frame;
A transmission unit that transmits information indicating the changed target parking frame parked to the external device when it is determined by the parking completion determination unit that the parking to the changed target parking frame has been completed. The parking control device according to any one of claims 1 to 7. A parking control device that automatically performs parking control of a vehicle in a parking lot having a plurality of landings,
A receiving unit that receives from the user an instruction to leave the vehicle parked in the parking lot;
The estimated travel time until the user moves from the current position to the boarding area and gets on the vehicle, the exit arrival time until the vehicle arrives at the exit of the parking lot from the boarding area, and the vehicle A calculation unit that calculates a predicted time including a destination arrival time from the exit of the parking lot to the destination;
A boarding place determination unit that determines the boarding place to move the vehicle from among the plurality of boarding stations according to the predicted time based on the leaving instruction from the user;
A notification unit for notifying the user and the vehicle of the determined boarding place;
A parking control device comprising: The calculation unit includes:
The estimated boarding time is calculated based on user information including at least one of a user's family structure, age, time required for boarding, user fatigue, the number of baggage of the user, and weight of the baggage of the user. The parking control device according to claim 9. The calculation unit includes:
The parking estimated time according to claim 9 or 10, wherein the estimated boarding time is calculated based on surrounding information including at least one of a situation between a user's current position and a parking lot, a number of leaving instructions, and weather. Control device. The calculation unit includes:
The parking control device according to any one of claims 9 to 11, wherein the exit arrival time is calculated based on congestion information including at least one of a number of exit instructions and congestion information around the parking lot. The parking control device according to any one of claims 1 to 12,
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 frame obtaining step for obtaining information indicating a designated parking frame which is a parking frame designated by an external device among a plurality of parking frames in a parking lot;
A target parking frame setting step of setting the target parking frame as a target parking frame that is a target parking frame;
An empty parking frame detecting step of detecting an empty parking frame that is an empty parking frame during movement of the host vehicle to the target parking frame;
The target parking frame setting step includes:
When the said empty parking frame is detected at the said empty parking frame detection process, the said set target parking frame is changed to the said empty parking frame. The parking control method characterized by the above-mentioned. A parking control method for automatically performing parking control of a vehicle in a parking lot having a plurality of landings,
A receiving step of receiving a delivery instruction of the vehicle parked in the parking lot from a user;
The estimated travel time until the user moves from the current position to the boarding area and gets on the vehicle, the exit arrival time until the vehicle arrives at the exit of the parking lot from the boarding area, and the vehicle A calculation step of calculating a predicted time including a destination arrival time from the exit of the parking lot to the destination;
A boarding place determining step for determining the boarding place to move the vehicle from among the plurality of boarding stations according to the predicted time based on the leaving instruction from the user;
A notification step of notifying the user and the vehicle of the determined boarding place;
Including parking control method.

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