JP2019105495A - Parking lot operation method and parking lot operation software - Google Patents

Abstract

To provide a parking lot operation method and parking lot operation software for allowing vehicles including automatic driving vehicles to park in a parking lot having multiple parking zones.SOLUTION: A parking lot operation method includes: previously setting multiple parking areas, multiple tracks extending in parallel with the multiple parking areas, multiple intersections of the tracks, an entrance, and an exit; selecting one specific area in accordance with an entering vehicle by a predetermined selection procedure; identifying a single or multiple specific intersections being the intersections connected to the tracks arranged in parallel with alignment of multiple parking zones of a specific area; guiding an entering vehicle to one specific intersection from the single or among the multiple specific intersections from a current position; and subsequently guiding an entering vehicle to allow the entering vehicle to park one parking zone among the multiple parking zones in the specific area.SELECTED DRAWING: Figure 5

Description

  The present invention relates to a parking lot operation method and parking lot operation software for parking a plurality of vehicles including a vehicle having an automatic driving function.

A parking lot is a place to park a vehicle.
There are vehicles having an automatic driving mechanism.
A parking device is used to park a plurality of vehicles, including a vehicle having an autonomous driving function.
In addition, it is conceivable that a car driven by a person and a vehicle having an automatic driving function are mixed and parked in a parking lot.

  It is assumed that the automatic driving function works to drive the vehicle in the parking lot.

For example, a person puts a vehicle into the storage port of the parking lot, gets out of the vehicle, and makes a storage request and exits. The vehicle works the automatic driving function, travels in the parking lot and gets into the parking lot.
When a person makes a request for leaving the vehicle, the vehicle operates the automatic driving function, exits the parking lot, travels in the parking lot, and stops at the outlet. A person gets on the vehicle and goes outside.

  The present invention has been made in view of the problems described above, and a parking lot operating method for parking a vehicle including an autonomous driving vehicle which is a vehicle having an automatic driving function in a parking lot provided with a plurality of parking masses Try to provide parking lot operation software.

  In order to achieve the above object, it is an operation method of a parking lot for parking a vehicle including an autonomous driving vehicle which is a vehicle having an automatic driving function in a parking lot provided with a plurality of parking spaces according to the present invention. A plurality of parking areas each having a plurality of parking masses grouped together in a certain area, and a plurality of parking paths extending in parallel to a plurality of parking masses in the plurality of parking areas, One of a plurality of parking areas corresponding to a storage vehicle, which is a vehicle to be stored according to a predetermined selection procedure, and a setting step of setting a single or a plurality of intersections where a plurality of travel roads intersect, a storage opening and a storage opening Specific area selection step of selecting a specific area which is one parking area, and one or more specific points which are the intersections connected to the parallel running paths of a plurality of parking masses in the specific area An intersection specifying step for specifying an intersection, a storage traveling guide step for guiding the storage vehicle from a current position to a final intersection which is one of the one or more specific intersections among the specific intersections, and the storage vehicle And a parking guidance step for guiding the storage vehicle to be parked in one parking mass of a plurality of parking masses in a specific area, wherein the specific area selecting step, the intersection identification step, and the traveling guidance step at storage time And execute the parking guiding process.

According to the above configuration of the present invention, the setting step is a parallel arrangement of a plurality of parking areas each having a plurality of parking masses grouped together in a predetermined area in a parking lot and a plurality of parking masses in the plurality of parking areas. A plurality of traveling paths along which the vehicle can travel and a plurality of intersections at which the plurality of traveling paths intersect with each other, an inlet and an outlet are set. The specific area selecting step selects a specific area which is a parking area of one of a plurality of parking areas, corresponding to a storage vehicle which is a vehicle to be stored according to a predetermined selection procedure. The intersection identification step identifies one or more specific intersections that are the intersections directly connected to the parallel running path of the plurality of parking spaces in the specific area. A travel guidance process at the time of storage guides the storage vehicle from the current position to a final intersection which is the specific intersection among one or more specific intersections. The parking guidance step guides the storage vehicle to park the storage vehicle from the specific intersection to one of the plurality of parking spaces in the specific area. After the specific area selection process, the intersection identification process, and the storage guidance during travel guidance process are performed, the parking guidance process is performed.
As a result, the vehicle to be stored can be guided to one parking lot and parked without causing a wasteful movement.

  Hereinafter, a method of operating a parking lot according to an embodiment of the present invention will be described. The present invention includes any of the embodiments described below, or a combination of two or more of them.

The operation method of the parking lot according to the embodiment of the present invention executes the specified area selecting process, the intersection identifying process, and the cruising travel guidance process at the time of warehousing when the vehicle arrives at the time when the vehicle reaches the final intersection Perform the parking guidance process.
According to the configuration of the above embodiment, when the vehicle arrives at the warehousing, the specific area selecting process, the intersection specifying process, and the cruising guidance process at the time of warehousing are executed and when the vehicle reaches the final intersection Run.
As a result, the vehicle to be stored can be guided to one parking lot and parked without causing a wasteful movement.

In the method of operating a parking lot according to an embodiment of the present invention, the plurality of intersections in which the traveling guidance process at the time of storage connects one or more specific intersections from the current intersection which is the intersection reached by the storage vehicle Specify in real time one or more specific routes that are routes consisting of and one or more travel routes, and compare the cost calculated by a predetermined first cost calculation procedure from among the one or more specific routes Select the selected route which is one of the specific routes, guide the warehousing vehicle to travel from the current intersection to the next appearing intersection, and the warehousing vehicle starts the warehousing opening The storage guidance traveling guidance step is repeated each time the storage vehicle reaches the intersection until the final intersection is reached.
According to the configuration of the above-described embodiment, the traveling guidance process at the time of storage is performed at a plurality of intersections and one or a plurality of travelings, which connects the current intersection which is the intersection reached by the storage vehicle to the specific intersection One or more specific routes which are routes composed of routes are specified in real time, and the cost calculated according to a predetermined first cost calculation procedure from among the one or more specific routes is compared to one specific one A selected route which is a route is selected, and the warehousing vehicle is guided to travel from the current intersection to the intersection that appears next along the selected route. The storage guidance traveling guidance process is repeated each time the storage vehicle reaches the intersection until the storage vehicle starts the storage opening and reaches the final intersection.
As a result, each time a vehicle reaches an intersection, it is possible to guide and park a vehicle to be selected and parked in one parking space without making a waste move by selecting a route in real time.

In the method of operating a parking lot according to an embodiment of the present invention, the specific area selecting step and the intersection each time the storage vehicle reaches the intersection until the storage vehicle starts the storage opening and reaches the final intersection The specific process and the traveling guidance process at the time of storage are sequentially repeated.
According to the configuration of the above embodiment, each time the warehousing vehicle reaches the intersection until the warehousing vehicle starts the warehousing port and reaches the final intersection, the specific area selecting process, the intersection specifying process, and the warehousing time The traveling guidance process is repeated in order.
As a result, each time a vehicle reaches an intersection, it is possible to guide and park a vehicle to be selected and parked in one parking space without making a waste move by selecting a route in real time.

In the method of operating a parking lot according to an embodiment of the present invention, the second parking guidance step is a predetermined second one of a plurality of empty car parking spaces that are parking spaces that are empty cars among the plurality of parking spaces in the specific area. The cost calculated by the cost calculation procedure is compared to select one selected parking lot, which is one empty parking lot, in real time, and the incoming vehicle is parked at the selected parking lot from the final intersection via the traveling path. Induce them to
According to the configuration of the above embodiment, the cost calculated according to the predetermined second cost calculation procedure is compared among a plurality of empty car parking spaces which are empty parking cars among the plurality of parking spaces in the specific area. The selected parking lot, which is one of the empty parking lots, is selected in real time to guide the storage vehicle from the last intersection via the traveling path to the selected parking lot.
As a result, the vehicle to be stored can be guided to the parking lot of an empty car and parked without causing a wasteful movement.

The method for operating a parking lot according to the embodiment of the present invention includes an exit traveling guidance step for guiding a leaving vehicle, which is a vehicle to be exited, from the current position to the exit, and takes out when there is a request for leaving the vehicle. Carry out a travel guidance process.
According to the configuration of the above embodiment, the leaving-time travel guidance step guides the leaving vehicle, which is a vehicle to be leaving, from the current position to the exit. When there is a demand for leaving the vehicle, the traveling guidance process at the time of leaving is executed.
As a result, the vehicle to be delivered can be guided out of the parking lot to the delivery exit without causing unnecessary movement.

In the method of operating a parking lot according to an embodiment of the present invention, the traveling guidance process at the time of delivery is a plurality of intersections connecting one intersection from the current intersection which is the intersection reached by the delivery vehicle to the delivery port and one or more. One or more specific routes that are routes configured with the traveling route are specified in real time, and the cost calculated by a predetermined third cost calculation procedure from among the one or more specific routes is compared and Select a selected route which is a specific route, and guide the outgoing vehicle to travel from the current intersection through the selected route to the next appearing intersection;
The outgoing travel guidance process is repeated each time the leaving vehicle reaches the intersection until the leaving mass is reached and the parking lot where the leaving vehicle parked is started and reaches the exit.
According to the configuration of the above embodiment, the traveling guidance process at the time of leaving is constituted by a plurality of intersections connecting the current intersection which is the intersection at which the leaving vehicle has arrived to the exit and a single or a plurality of traveling paths. One or more specific routes which are the specified routes in real time, and the cost calculated by a predetermined third cost calculation procedure from among the one or more specified routes is compared to select one of the specified routes And direct the traveling vehicle to travel from the current intersection to the next appearing intersection through the selected route. The outgoing travel guidance process is repeated each time the leaving vehicle reaches the intersection until the leaving mass is reached and the parking lot where the leaving vehicle parked is started and reaches the exit.
As a result, it is possible to leave the vehicle from the parking lot without making unnecessary movements by selecting a route in real time and leaving the vehicle each time an intersection is reached.

  A parking lot operation software for parking a vehicle including an autonomous driving vehicle, which is a vehicle having an automatic driving function, in a parking lot provided with a plurality of parking spaces according to the present invention in order to achieve the above object. A plurality of parking areas each having a plurality of parking masses grouped together in a certain area, and a plurality of parking paths extending in parallel to a plurality of parking masses in the plurality of parking areas, One of a plurality of parking areas corresponding to a storage vehicle which is a vehicle to be stored in according to a predetermined selection procedure and a setting procedure for setting a single or a plurality of intersections where a plurality of travel roads intersect, a storage opening and a storage opening Specific area selection procedure for selecting a specific area which is one parking area, and a single or a plurality which is the intersection leading to the parallel running path of a plurality of parking masses in the specific area An intersection identification procedure for identifying a specific intersection, a storage traveling guidance procedure for guiding the warehousing vehicle from a current position to a final intersection which is one of the one or more specific intersections, and the warehousing vehicle A parking guidance procedure for guiding the warehousing vehicle to park the storage vehicle in one of the plurality of parking spaces of the specific area, and the parking lot operation computer is configured to select the specific area and the intersection identification The parking guidance procedure is performed after the procedure and the incoming travel guidance procedure are performed.

According to the configuration of the present invention, after the parking area operation computer executes the specific area selection procedure, the intersection identification procedure, and the storage guidance during traveling guidance procedure, the parking guidance procedure is performed. In the setting procedure, a plurality of parking areas each having a plurality of parking masses grouped together in a certain area in a parking lot and a plurality of parking masses in the plurality of parking areas extend in parallel and the vehicle can travel A single or multiple intersections where the plurality of travel paths intersect the plurality of travel paths, and the entrance and exit are set. A specific area selection procedure selects a specific area which is a parking area of one of a plurality of parking areas corresponding to a storage vehicle which is a vehicle to be stored according to a predetermined selection procedure. The intersection identification procedure identifies one or more specific intersections that are the intersections connected to the parallel running path of the plurality of parking spaces in the specific area. An incoming travel guidance procedure guides the incoming vehicle from the current location to the final intersection, which is the specified intersection of one or more of the specified intersections. A parking guidance procedure guides the warehousing vehicle to park the warehousing vehicle in one of the plurality of parking spaces in the specific area.
As a result, the vehicle to be stored can be guided to one parking lot and parked without causing a wasteful movement.

  Hereinafter, parking lot operation software according to an embodiment of the present invention will be described. The present invention includes any of the embodiments described below, or a combination of two or more of them.

The parking lot operation software according to the embodiment of the present invention executes the specific area selection procedure, the intersection identification procedure, and the storage guidance traveling guidance procedure when the vehicle is put into the parking lot operation computer, and the vehicle The parking guidance procedure is performed when the final intersection is reached.
According to the configuration of the above embodiment, when the vehicle enters the parking lot operation computer, the specific area selection procedure, the intersection identification procedure, and the storage guidance procedure at the time of storage are executed and the vehicle reaches the final intersection To perform the parking guidance procedure.
As a result, the vehicle to be stored can be guided to one parking lot and parked without causing a wasteful movement.

In the parking lot operation software according to the embodiment of the present invention, the plurality of intersections in which the traveling guidance procedure at the time of storage connects the current intersection which is the intersection reached by the storage vehicle to one or more specific intersections with a single stroke Specify in real time one or more specific routes that are routes consisting of and one or more travel routes, and compare the cost calculated by a predetermined first cost calculation procedure from among the one or more specific routes Select the selected route which is one of the specific routes, and guide the storage vehicle to travel from the current intersection to the intersection that appears next after traveling through the selected route, to the parking lot operation computer. Every time the warehousing vehicle reaches the intersection until the vehicle starts the warehousing entrance and reaches the final intersection, the warehousing travel guidance procedure is repeated That.
According to the configuration of the above embodiment, in the parking lot operation computer, the storage guidance traveling guidance procedure is repeated every time the storage vehicle reaches the intersection until the storage vehicle starts the storage port and reaches the final intersection. Let The travel guidance procedure at the time of storage is a route constituted by a plurality of intersections connecting a current intersection, which is the intersection reached by the storage vehicle, to the specific intersection or intersections with a single stroke and a traveling path or intersections. One or more specific routes are specified in real time, and the cost calculated according to a predetermined first cost calculation procedure is selected from among the one or more specific routes to select one of the specific routes as a selected route. And guiding the warehousing vehicle to travel from the current intersection to the next appearing intersection along the selected route.
As a result, each time a vehicle reaches an intersection, it is possible to guide and park a vehicle to be selected and parked in one parking space without making a waste move by selecting a route in real time.

The parking lot operation software according to the embodiment of the present invention, the parking lot operating computer, the storage vehicle starts the storage opening and the specified each time the storage vehicle reaches the intersection until the final intersection is reached The area selection procedure, the intersection identification procedure, and the storage guidance during traveling guidance are repeated in order.
According to the configuration of the above embodiment, each time the warehousing vehicle reaches the intersection until the warehousing vehicle starts the warehousing port and reaches the final intersection, the specific area selection procedure, the intersection specifying procedure, and the warehousing period The driving guidance procedure is repeated in order.
As a result, each time a vehicle reaches an intersection, it is possible to guide and park a vehicle to be selected and parked in one parking space without making a waste move by selecting a route in real time.

In the parking lot operation software according to the embodiment of the present invention, the second parking guidance procedure is a predetermined second one of a plurality of empty car parking spaces that are parking spaces that are empty cars among the plurality of parking spaces in the specific area. The cost calculated by the cost calculation procedure is compared to select one selected parking lot, which is one empty parking lot, in real time, and the incoming vehicle is parked at the selected parking lot from the final intersection via the traveling path. Induce them to
According to the configuration of the above embodiment, the cost calculated according to the predetermined second cost calculation procedure is compared among a plurality of empty car parking spaces which are empty parking cars among the plurality of parking spaces in the specific area. The selected parking lot, which is one of the empty parking lots, is selected in real time to guide the storage vehicle from the last intersection via the traveling path to the selected parking lot.
As a result, the vehicle to be stored can be guided to the parking lot of an empty car and parked without causing a wasteful movement.

The parking lot operation software according to the embodiment of the present invention includes an exit traveling guidance procedure for guiding an exit vehicle, which is a vehicle to exit, from the current position to the exit, and requests the parking lot operation computer to leave the vehicle. Run out the travel guidance procedure when leaving the home.
According to the configuration of the above-described embodiment, the parking lot operation computer executes the traveling guidance procedure at the time of leaving when there is a request for leaving the vehicle. The exit guidance procedure guides an exit vehicle, which is a vehicle to exit, from the current position to the exit.
As a result, the vehicle to be delivered can be guided out of the parking lot to the delivery exit without causing unnecessary movement.

In the parking system according to the embodiment of the present invention, the traveling guidance procedure at the time of delivery is one intersection or a plurality of intersections connecting one intersection from the current intersection which is the intersection reached by the delivery vehicle to the delivery port. And one or more specific paths which are paths consisting of the one or more specific paths, and comparing the cost calculated from the one or more specific paths according to a predetermined third cost calculation procedure Select the selected route, and guide the outgoing vehicle to travel from the current intersection to the next appearing intersection.
The outgoing travel guidance procedure is repeated each time the leaving vehicle reaches the intersection until the parking lot where the leaving vehicle parked is started and reaches the exit.
According to the configuration of the above-described embodiment, the traveling guidance procedure at the time of exit is constituted by a plurality of intersections connecting the current intersection which is the intersection reached by the exit vehicle to the exit port by one stroke and one or more traveling paths. Specify one or more specific routes that are to be processed in real time, and compare the cost calculated by a predetermined third cost calculation procedure from among the one or more specific routes and select one of the specific routes A route is selected, and the exit vehicle is guided to travel from the current intersection to the intersection that appears next along the selected route. The outgoing travel guidance procedure is repeated each time the leaving vehicle reaches the intersection until the parking lot where the leaving vehicle parked is started and reaches the exit.
As a result, it is possible to leave the vehicle from the parking lot without making unnecessary movements by selecting a route in real time and leaving the vehicle each time an intersection is reached.

As explained above, the method of operating a parking lot according to the present invention has the following effects due to its configuration.
One specific area is specified based on a predetermined selection procedure corresponding to a storage vehicle, a plurality of specific intersections connected to the traveling path parallel to a plurality of parking spaces in the specific area are specified, and the storage vehicle is determined from the current position. Since the vehicle is guided to one specific intersection and the incoming vehicle is guided to be parked from the specific intersection to one parking mass in a specific area, the vehicle to be received can be used as one parking mass without causing a wasteful movement. It can be guided and parked.
In addition, since the specific area selection process, the intersection identification process, and the storage traveling guidance process are executed when the vehicle is in the warehousing, the parking guidance process is performed when the vehicle reaches the final intersection. The vehicle to be stored can be guided to one parking mass and parked without making a wasteful movement.
Further, each time the warehousing vehicle reaches the intersection until the warehousing vehicle reaches the final intersection, a plurality of specific routes connecting in a single stroke from the current intersection to a plurality of specific intersections are specified in real time, and the first cost calculation Since one selected route is selected from among a plurality of specific routes according to the procedure, and the above-mentioned travel guidance step at the time of storage for guiding the vehicle to travel from the current intersection to the next appearing intersection is repeated. It is possible to guide a vehicle to a parking mass and park it without making a wasteful movement by selecting a route in real time and arriving at each time an intersection is reached.
In addition, since the specific area selection process, the intersection identification process, and the storage traveling guidance process are sequentially repeated each time the storage vehicle reaches the intersection until the vehicle reaches the final intersection. It is possible to guide a vehicle to a parking mass and park it without causing a wasteful movement by selecting a route in real time and arriving at each arrival.
In addition, when the vehicle reaches the final intersection, the parking mass to be parked is selected based on the predetermined second cost calculation procedure from among the specific area in real time, and guided to the selected parking mass, so the vehicle to be received is selected. It can be guided to the parking lot of an empty car and parked without making a useless movement.
In addition, since the exit vehicle, which is the vehicle to be exited, is guided from the current position to the exit when there is a demand for exiting the vehicle, the vehicle to exit is guided from the parking mass to the exit without causing wasteful movement. Can be sent out.
Also, every time the delivery vehicle reaches the intersection until the delivery vehicle reaches the delivery exit, a plurality of specific routes connecting in a single stroke from the current intersection to the exit exit are specified in real time, and a plurality of cost routes are calculated by the third cost calculation procedure. As we have chosen to select one selected route from the specific route and drive the selected route from the current intersection to the next appearing intersection, we will repeat the exit travel guidance process, so we will reach the intersection Each time a route is selected in real time, the vehicle to be delivered can be taken out of the parking lot without causing a wasteful movement.

As described above, the parking lot operation software according to the present invention has the following effects due to its configuration.
In the parking lot operation computer, one specific area is specified based on a predetermined selection procedure corresponding to the storage vehicle, and a plurality of specific intersections connected to the traveling path parallel to a plurality of parking spaces of the specific area are specified. Since the warehousing vehicle is guided from the current position to one specific intersection, and the warehousing vehicle is guided to be parked from the specific intersection to one parking lot in a specific area, the warehousing vehicle is not made useless to move It can be guided to one parking lot and parked.
In addition, when the vehicle arrives at the parking lot operation computer, when the vehicle reaches the final intersection by executing the warehousing guidance procedure, the specific area selection procedure, the intersection identification procedure, and the warehousing travel guidance procedure. Since the parking guidance procedure is performed, the vehicle to be stored can be guided to one parking mass and parked without causing a wasteful movement.
In addition, a parking lot operation computer specifies in real time a plurality of specific routes connecting in a single stroke from the current intersection to a plurality of specific intersections each time the incoming vehicle reaches the intersection until the incoming vehicle reaches the final intersection And selecting the one selected route from the plurality of specific routes according to the first cost calculation procedure, and guiding the selected route from the current intersection to the next appearing intersection. Since it has been made to repeat, it is possible to guide and park a vehicle to be picked up in one parking mass without causing a wasteful movement by selecting a route in real time every time an intersection is reached.
In addition, the parking area operation computer repeats the specific area selecting process, the intersection identifying process, and the yard driving guidance process at storage each time the storage vehicle reaches the intersection until the vehicle reaches the final intersection. Since the route is selected in real time each time the vehicle reaches an intersection, vehicles to be stored can be guided and parked to one parking mass without causing wasteful movement.
In addition, when the vehicle reaches the final intersection, the parking lot operation computer is made to select the parking mass to be parked from the specific area according to the predetermined second cost calculation procedure and guide it to the selected parking mass when the vehicle reaches the final intersection. Therefore, the vehicle to be stored can be guided to the parking lot of an empty car and parked without making a wasteful movement.
In addition, the parking lot operation computer guides the delivery vehicle, which is the vehicle to be delivered when the delivery request for the vehicle is issued, from the current position to the delivery port, so that the parking vehicle does not make useless movement. Can be guided out of the storage outlet and taken out.
In addition, each time the leaving vehicle reaches the intersection, the parking lot operation computer specifies, in real time, a plurality of specific routes connecting in a single stroke from the intersection to the exit, every time the leaving vehicle reaches the intersection. By selecting one selected route from a plurality of specific routes according to the cost calculation procedure, the traveling guidance process at the time of leaving to be guided to travel from the current intersection to the next appearing intersection is repeated. As a result, each time a vehicle reaches an intersection, it is possible to leave the vehicle from the parking lot without making unnecessary movements by selecting a route in real time and leaving the vehicle.
Therefore, it is possible to provide a parking lot operation method and a parking system which are convenient for parking a vehicle having an automatic driving function.

It is an operation flowchart of the parking lot concerning a first embodiment of the present invention. It is an operation flowchart of the parking lot concerning a second embodiment of the present invention. It is an operation flowchart of the parking lot concerning a third embodiment of the present invention. It is an operation | use flowchart of the parking lot which concerns on 4th embodiment of this invention. It is a setting example of the operation method of the parking lot which concerns on embodiment of this invention. It is operation | movement explanatory drawing 1 of the operation method of the parking lot which concerns on embodiment of this invention. It is a 1st cost calculation procedure example of the operating method of the parking lot which concerns on embodiment of this invention. It is a 2nd cost calculation procedure example of the operating method of the parking lot which concerns on embodiment of this invention. It is operation | movement explanatory drawing 2 of the operation method of the parking lot which concerns on embodiment of this invention. It is operation | movement explanatory drawing 3 of the operation method of the parking lot which concerns on embodiment of this invention. It is operation | movement explanatory drawing 4 of the operation method of the parking lot which concerns on embodiment of this invention. Conceptual diagram of a parking lot according to an embodiment of the present invention Another conceptual view of the parking lot according to the embodiment of the present invention

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

A parking lot operation method and a parking system according to an embodiment of the present invention will be described based on the drawings.
FIG. 1 is an operation flowchart of a parking lot according to the first embodiment of the present invention. FIG. 2 is an operation flowchart of a parking lot according to a second embodiment of the present invention. FIG. 3 is an operation flowchart of the parking lot according to the third embodiment of the present invention. FIG. 4 is an operation flowchart of a parking lot according to a fourth embodiment of the present invention.

First, a parking lot operation method and parking lot operation software according to the first and second embodiments of the present invention will be described based on the drawings.
A method of operating a parking lot according to the first or second embodiment of the present invention is a method of parking a vehicle including an autonomous driving vehicle which is a vehicle having an automatic driving function in a parking lot provided with a plurality of parking spaces.
The parking lot operation software according to the first or second embodiment of the present invention is software for parking a vehicle including an autonomous driving vehicle which is a vehicle having an automatic driving function in a parking lot provided with a plurality of parking spaces. .

FIG. 12 is a conceptual view of a parking lot according to an embodiment of the present invention.
FIG. 13 shows an example of another arrangement of a parking lot according to an embodiment of the present invention.
The parking lot is a so-called self-propelled parking lot.
The vehicle includes a vehicle which is steered by a person and which runs in the parking lot and a vehicle which has an automatic driving function and which runs in the parking lot by automatic driving.
The parking lot is divided into an entrance space and a parking space.
An entrance and exit are provided at the boundary between the passenger space and the parking space.
An entrance is an entrance for putting a vehicle in a parking lot.
For example, the entrance is at a position where the driver gets off the vehicle having an automatic driving function in order to put the vehicle in the parking lot.
The exit is an exit for taking the vehicle out of the parking lot.
For example, the exit port is at a position where the driver gets in a vehicle having an automatic driving function to take the vehicle out of the parking lot.
The passenger space is a space where the driver gets on and off the vehicle with the automatic travel function.
The parking space is a space for parking a vehicle.
When loading a vehicle having an automatic driving function, the driver drives the vehicle to put the vehicle 5 in the getting-on / off space, get off the vehicle, and get out of the getting-on / off space. Thereafter, the vehicle 5 enters the parking space from the storage port using the automatic driving function, is guided by the procedure realized by the parking lot operation software, and parks in a predetermined parking space.
When leaving a vehicle having an automatic driving function, the vehicle exits the parking space using the automatic driving function, is guided to the exit from the parking space, passes through the exit, and stops at the entrance / exit space. The driver gets into the vehicle and gets out of the boarding space.

The operation method of the parking lot according to the first or second embodiment of the present invention comprises a setting step S10, a specific area selecting step S30, an intersection specifying step S40, a storage guiding instruction S50, and a parking guiding step S60. .
The operation method of the parking lot according to the first or second embodiment of the present invention includes the setting step S10, the specific area selecting step S30, the intersection specifying step S40, the storage guiding and guiding step S50, the parking guiding step S60, and the unloading and guiding Step S80 may be configured.
In the parking lot operation method according to the first or second embodiment of the present invention, the setting step S10, the storage request reception step S20, the specific area selection step S30, the intersection identification step S40, the storage travel guidance step S50, and the parking induction step It may be comprised by S60, delivery request | requirement reception process S70, and travel guidance process S80 at the time of delivery.

The setting step S10 is a step of setting a plurality of parking areas and one or more intersections.
For example, the parking lot operating software causes the parking lot operating computer to execute the setting procedure and executes the setting step S10.
FIG. 5 is a setting example of a parking lot operation method according to an embodiment of the present invention.
FIG. 5: shows an example of the setting of the operation method of the parking lot which concerns on embodiment of this invention, when a parking lot is arrangement | positioning shown to the conceptual diagram of FIG.
The setting step S10 may set a plurality of parking areas 200, a plurality of travel paths 400, a single intersection or a plurality of intersections 500, a storage port 100, and a delivery port 600.
The setting step S10 may set a plurality of parking areas 200, a plurality of traveling paths 400, a single or a plurality of intersections 500, a storage opening 100, a delivery opening 600, a storage opening close intersection 510, and a discharge opening close intersection 520 .
FIG. 5 shows four parking areas 200 (Aa, Ab, Ac, Ad) and twelve traveling paths 400 (R1, R2, R3, R4, R5, R6, R7, R8, R9, R10, R11, It shows how R12) and nine crossing points 500 (C1, C1, C3, C4, C5, C6, C7, C8, C9) are set.
The parking area 200 has a plurality of parking masses grouped in advance in a certain area in a parking lot.
The parking area 200 has a plurality of parking masses regularly arranged in a predetermined area in a parking lot in advance.
For example, the parking area 200 has a plurality of parking masses in series or parallel to each other in the parking lot in advance.
For example, the parking area 200 has a plurality of parking masses arranged in series or parallel to each other in advance in the parking lot.
The traveling path 400 is a passage that extends in parallel with the plurality of parking masses 300 in the parking area and allows the vehicle 5 to travel.
The traveling path 400 may be a path that extends parallel to and in parallel with the plurality of parking masses 300 in the parking area so that the vehicle 5 can travel.
For example, the travel paths R3, R8, R4, R9, R5, and R10 are paths which extend in parallel in the parallel direction of the plurality of parking masses 300 in the parking area and along which the vehicle 5 can travel.
The traveling path 400 may be a path that extends in parallel and in parallel with the plurality of parking masses 300 in the parking area and allows the vehicle 5 to travel.
For example, the travel paths R1, R6, R11, R2, R7, and R12 are paths which extend in parallel in the serial direction of the plurality of parking masses 300 in the parking area, and along which the vehicle 5 can travel.
The intersection 500 is a place where a plurality of travel paths 400 intersect.
The parking area 200 (Aa, Ab, Ac, Ad) comprises 12 parking squares 300 each.
For example, the parking area 200 (Ad) includes 12 parking spaces 300 (d1... D12).
For example, the storage port 100 is a port that passes when entering the parking space from the getting-on / off space.
For example, the outlet 600 is a port through which the vehicle passes from the parking space to the room.
The entry close intersection 510 is the intersection closest to the entry 100.
Exit exit 520 is the intersection closest to exit 600.

The warehousing request receiving step S20 is a step of receiving a warehousing request.
For example, the parking lot operating software causes the parking lot operating computer to execute the warehousing request accepting procedure, and executes the warehousing request accepting step S20.
For example, the parking lot operation computer receives a storage request by communication.
Hereinafter, the vehicle 5 for which the storage request has been made will be referred to as a storage vehicle.

The specific area selection step S30 is a step of selecting a specific area which is one parking area among a plurality of parking areas corresponding to a storage vehicle which is a vehicle to be stored according to a predetermined selection procedure.
For example, the parking lot operating software causes the parking lot operating computer to execute a specific area selection procedure, and executes the specific area selection step S30.
The predetermined selection procedure is a procedure for selecting a specific area from among the plurality of parking areas 200.
The specific area is a parking area including a parking space where it is planned to park the incoming vehicle.
The selection procedure selects a specific area from among the plurality of parking areas 200 on the basis of achieving a certain purpose.
For example, the selection procedure selects a specific parking area from among the plurality of parking areas 200 on the basis of not causing congestion in the parking lot. The selected parking area is called a specific area.
The parking area is selected by a predetermined selection procedure.
For example, a parking area having an empty parking lot near the exit is selected.
For example, a parking area having an empty parking lot near the entrance is selected.
For example, a parking area having an empty car parking mass at an intermediate position between the entrance and exit is selected.
For example, the parking area is selected such that the car is full in order from the place far from the entrance or exit.
For example, the parking area is selected so as to be full in order from the place near from the entrance or exit.
For example, a parking area with many empty parking lots is selected.
For example, a parking area with few parking spaces is selected.
Change the selection procedure according to the situation and select a specific area.
For example, when there are many warehousing requests, the parking air is selected so that the cars become full sequentially from the back of the parking lot.
For example, when there are many requests for leaving, a parking area that does not hinder the traveling of the vehicle during leaving is selected.
The selection procedure differs depending on the vehicle to be received and the vehicle to be delivered.
For example, warehousing vehicles are made to warehousing in the order of warehousing request, and for warehousing vehicles, the order of warehousing requests is ignored and the whole is optimized.
For example, warehousing vehicles are made to warehousing in the order in which the warehousing request was made, and the leaving vehicles are made to leave in the order of warehousing request.

When a vehicle driven by a driver (hereinafter referred to as a "general vehicle") and a vehicle driven automatically (hereinafter referred to as an automatically driven vehicle) are mixed, superiority or inferiority is given to ordinary vehicles and automatically driven vehicles. It may be operated.
For example, a general vehicle is made to travel with top priority given in the order of delivery of a general car, receipt of a general car / delivery of a self-driving car, delivery of a general car / delivery of a self-driving car, and storage of a self-driving car.

The intersection identification step S40 is a step of identifying one or more specific intersections.
For example, the parking lot operation software causes the parking lot operating computer to execute the intersection identification procedure, and executes the intersection identification step S40.
The specific intersection is an intersection connected to a parallel running path of a plurality of parking masses in a specific area.
For example, a specific intersection is an intersection directly connected to a parallel running path of a plurality of parking masses in a specific area.
In FIG. 5, when the parking area Ac is a specific area, the intersections C4, C5, C8, and C7 are specific intersections.
However, as described later, since the intersection C4, C5 or C8 is reached and the parking lot 300 is parked before reaching the intersection C7, the intersection C7 is ignored.

The storage guidance traveling guidance step S50 is a step of guiding the storage vehicle to one of a plurality of specific intersections.
The storage guidance and travel guidance step S50 may be a step of guiding the storage vehicle from the current position to one of a plurality of specific intersections.
For example, the parking lot operation software causes the parking lot operating computer to execute a storage guidance traveling guidance procedure, and executes a storage guidance traveling guidance step S50.
Among the specific intersections of a plurality or a single intersection, the specific intersection which the warehousing vehicle has actually reached is referred to as a final intersection.
Among the specific intersections of a plurality or a single intersection, the specific intersection which the warehousing vehicle first arrived at in reality may be referred to as a final intersection.
Storage guidance and travel guidance step S50 is a single route consisting of a plurality of intersections connecting a current intersection which is an intersection reached by the storage vehicle to a specific intersection or a plurality of specific intersections with a single stroke and a traveling path or a plurality Alternatively, a plurality of specific routes are specified in real time, and a cost calculated by a predetermined first cost calculation procedure is compared among one or more specific routes to select one selected route as a selected route, and a storage vehicle is selected. It may be guided so as to travel from the current intersection to the intersection which appears on the selected route.
According to the operation situation of the parking lot, the cost at the runway and intersection that compose one or more specific routes is calculated, the total value of the costs calculated for each one or more specific routes is compared, and the cost is minimum Select a specific route. The selected specific route is referred to as a selection route.
Here, the operation status is a status that affects the operation of the parking lot.
For example, the operation state is a state in which another vehicle is traveling on the traveling path 400.

After the specific area selection step S30, the intersection identification step S40, and the storage travel guidance step S50 are performed, the parking guidance step S60 is performed.
For example, after the parking lot operation software causes the parking lot operation computer to execute the specified area selection procedure, the intersection identification procedure and the travel guidance procedure at storage, the parking guidance procedure is executed to make the specific area selection process S30 and the intersection After the specific process S40 and the storage traveling guidance process S50 are performed, the parking guiding process S60 is performed.

When the vehicle is in the warehousing, the specific area selection process S30, the intersection specifying process S40, and the storage traveling guidance process S50 may be performed, and the parking guidance process S60 may be performed when the vehicle reaches the final intersection.
When the vehicle warehousing and receiving the warehousing request, the specific area selection process S30, the intersection specifying process S40 and the storage traveling guidance process S50 are executed, and the parking guidance process S60 is performed when the vehicle reaches the final intersection You may

The storage traveling guidance step S50 may be repeated each time the incoming vehicle reaches the intersection until the incoming vehicle reaches the final intersection.
Every time the incoming vehicle arrives at the intersection, the incoming traveling guidance step S50 may be repeated until the incoming vehicle reaches the final intersection (starting the entrance 100).
The storage guidance traveling guidance step S50 may be repeated each time the incoming vehicle arrives at the intersection until the incoming vehicle starts the incoming exit intersection 510 and reaches the final intersection.
FIG. 1 shows the storage guidance every time the warehousing vehicle reaches an intersection until the warehousing vehicle reaches the final intersection after sequentially executing the warehousing request receiving step S20, the specific area selection step S30, and the intersection specifying step S40. A mode that process S50 is repeated is shown.

The specified area selection step S30, the intersection identification step S40, and the storage guidance traveling guidance step S50 may be sequentially repeated each time the storage vehicle reaches the intersection until the storage vehicle reaches the final intersection.
Repeat the specific area selection step S30, the intersection identification step S40, and the travel guidance step S50 at storage in order each time the storage vehicle reaches the intersection until the storage vehicle reaches the final intersection (starting the storage opening 100) It is also good.
Repeat the specific area selection step S30, the intersection identification step S40, and the travel guidance step S50 at storage in order each time the storage vehicle reaches the intersection until the storage vehicle starts the storage entrance close intersection 510 and reaches the final intersection It is also good.
FIG. 2 shows the specific area selection step S30 and the intersection specifying step every time the storage vehicle reaches an intersection until the storage vehicle reaches the final intersection (starting the storage opening 100) after executing the storage request reception step S20. A mode that S40 and storage guidance driving | running | working guidance process S50 are repeated in order is shown.

The parking guiding step S60 is a step of guiding the incoming vehicle so as to park the incoming vehicle on one of the plurality of parking spaces in the specific area from the specific intersection.
For example, the parking lot operation software causes the parking lot operation computer to execute the parking guiding procedure, and executes the parking guiding step S60.

When the vehicle reaches one of the specific intersections, the parking guidance step S60 is performed.
The parking guidance step S60 may be performed when the vehicle reaches one specific intersection which has reached the first of the specific intersections.

The parking guidance process S60 compares the cost calculated according to a predetermined second cost calculation procedure out of a plurality of empty car parking spaces which are empty parking cars among a plurality of parking spaces in a specific area, and parks one empty car This is a step of selecting the selected parking mass which is a mass in real time, and guiding the storage vehicle from the last intersection via the traveling path to be parked in the selected parking mass.
The cost calculated by the second cost calculation procedure is compared to select a selected parking mass, which is one empty parking mass, in real time.
For example, from the current position of the incoming vehicle, the nearest parking mass among the parking masses of empty cars in the parking area is selected.
For example, when there is another vehicle on which a parking operation is being performed on the traveling path on which the storage vehicle travels, the cost is raised to lower the priority of selection.
For example, if the loading vehicle has to pass another intersection before reaching the parking mass, the cost is raised to lower the priority.
The total cost of cost calculated based on the second cost calculation procedure is compared and the least expensive parking lot is selected as the selected parking lot, and the incoming vehicle is parked in the selected parking lot from the final intersection via the travel path Lead to

The delivery request receiving process S70 is a process for receiving a delivery request.
The parking lot operation software causes the parking lot operation computer to execute the delivery request reception procedure, and executes the delivery request reception step S70.
For example, the parking lot operation computer receives a delivery request by communication.
Hereinafter, the vehicle for which the delivery request has been made will be referred to as the delivery vehicle.

The leaving-time traveling guidance step S80 is a step of guiding an leaving vehicle, which is a vehicle to be leaving, to the exit 600.
The leaving-time travel guiding step S80 may be a step of guiding an leaving vehicle, which is a vehicle to be leaving, from the current position to the outlet 600.

The exit guidance procedure S80 is a single or a plurality of routes including a plurality of intersections connecting the current intersection, which is the intersection reached by the exit vehicle, to the exit, with a single stroke and one or more traveling paths. The route is specified in real time, the cost calculated by the predetermined third cost calculation procedure is compared among one or more specific routes, the selection route which is one specific route is selected, and the delivery vehicle is selected from the current intersection It may be guided so as to travel along the route to the next appearing intersection.
Exit guidance travel guidance step S80 is a single or a plurality of routes consisting of a plurality of intersections connecting the present exit, which is the intersection at which the exit vehicle has arrived, to the exit near the exit with a single stroke and one or more travel paths. The selected route is specified in real time, and the cost calculated by the predetermined third cost calculation procedure is compared among one or more specified routes to select one selected route, which is a selected route, and the outgoing vehicle is currently It is also possible to drive from the route to the intersection that appears next along the selected route.

Every time the leaving vehicle reaches the intersection, the leaving-time travel guiding step S80 is repeated until the leaving vehicle reaches the exit.
The outgoing travel guidance process S80 may be repeated each time the leaving vehicle arrives at the intersection until the leaving vehicle starts the parking space where the leaving vehicle has parked and reaches the exit.
The leaving-time travel guidance step S80 may be repeated each time the leaving vehicle reaches the intersection, until the parking lot where the leaving vehicle parked is started to reach the exit near the exit.

Next, a parking lot operation method and parking lot operation software according to third to fourth embodiments of the present invention will be described based on the drawings.
A method of operating a parking lot according to the third to fourth embodiments of the present invention is a method of parking a vehicle including an autonomous driving vehicle which is a vehicle having an automatic driving function in a parking lot provided with a plurality of parking spaces.
The parking lot operation software according to the third to fourth embodiments of the present invention is software for parking a vehicle including an autonomous driving vehicle which is a vehicle having an automatic driving function in a parking lot provided with a plurality of parking spaces. .

FIG. 5 is a conceptual view of a parking lot according to third to fourth embodiments of the present invention.
The main configuration of the parking lot is the same as the configuration of the parking lot according to the first and second embodiments of the present invention, so only the differences will be described.
In the parking lot according to the third to fourth embodiments of the present invention, the entrance and the intersection are separated.
The intersection closest to the entrance 100 is referred to as the entrance close intersection.
A travel path connecting the storage port 100 and the storage port intersection 510 will be referred to as a storage path.
The intersection closest to the outlet 600 is referred to as an outlet 520 intersection.
A traveling route connecting the exit 600 and the exit near the exit is referred to as an exit.

The parking lot operation method according to the third to fourth embodiments of the present invention includes the setting step S10, the storage guidance step S25, the specific area selection step S30, the intersection identification step S40, the storage travel guidance step S50, and the parking guidance step S60. And consists of
The operation method of the parking lot according to the first or second embodiment of the present invention includes the setting step S10, the storage guidance step S25, the specific area selection step S30, the intersection identification step S40, the storage travel guidance step S50 and the parking guidance step S60. And, it may be constituted by the traveling guidance process S80 at the time of delivery and the transportation guidance process S85 at the time of transportation.
In the parking lot operation method according to the first or second embodiment of the present invention, the setting process S10, the warehousing request receiving process S20, the warehousing guiding process S25, the specific area selecting process S30, the intersection specifying process S40, and the yard driving guidance process at warehousing S50, a parking guidance process S60, a delivery request reception process S70, a delivery guidance process S80, and a delivery guidance process S85 may be used.

  The configuration of the storage request reception process S20, the specific area selection process S30, the intersection specification process S40, the storage travel guidance process S50, the parking guidance process S60, the delivery request reception process S70, and the delivery travel guidance process S80 is the first or second Since it is the same as that of the operation method of the parking lot concerning an embodiment, explanation is omitted.

The setting step S10 is a step of setting a plurality of parking areas, a single or a plurality of intersections, a storage path and a storage path.
The parking lot operating software causes the parking lot operating computer to execute the setting procedure and executes the setting step S10.
The warehousing path is a traveling path connecting the warehousing port and the warehousing intersection.
The exit road is a traveling path connecting the exit and the exit near the intersection.
The other configuration is the same as that of the parking lot operating method according to the first or second embodiment, and thus the description will be omitted.

The warehousing guidance process S25 is a process of traveling the warehousing vehicle from the warehousing port to the warehousing path and guiding the warehousing vehicle to the warehousing yard close intersection 510.
For example, the parking lot operation software causes the parking lot operating computer to execute the storage induction procedure, and executes the storage induction step S25.

  After the storage guidance step S25, the specific area selection step S30, the intersection identification step S40, and the storage travel guidance step S50 are performed, the parking guidance step S60 is performed.

When the vehicle enters the warehousing, the warehousing guidance process S25, the specific area selection process S30, the intersection specifying process S40, and the storage travel guidance process S50 are executed, and when the vehicle reaches the final intersection, the parking guidance process S60 is performed. It is also good.
When the vehicle arrives at the warehousing and receives the warehousing request, parking guidance is performed when the vehicle reaches the final intersection by executing the warehousing guidance process S25, the specific area selection process S30, the intersection identification process S40, and the warehousing travel guidance process S50. Step S60 may be performed.

Every time the incoming vehicle reaches the intersection, the incoming traveling guidance step S50 may be repeated until the incoming vehicle reaches the final intersection.
The storage travel guidance step S50 may be repeated each time the incoming vehicle arrives at the intersection until the incoming vehicle starts the entrance and reaches the final intersection.
In FIG. 3, after the storage request reception step S20, the specific area selection step S30, and the intersection identification step S40 are sequentially performed, traveling guidance at storage is performed each time the storage vehicle reaches the intersection until the storage vehicle reaches the final intersection. A mode that process S50 is repeated is shown.

The specific area selection step S30, the intersection identification step S40, and the storage traveling guidance step S50 may be sequentially repeated every time the storage vehicle reaches the intersection until the storage vehicle reaches the final intersection.
The specified area selection step S30, the intersection identification step S40, and the storage guidance traveling guidance step S50 may be sequentially repeated every time the storage vehicle reaches the intersection until the storage vehicle starts the storage opening and reaches the final intersection. .
FIG. 4 shows the specific area selection step S30, the intersection identification step S40, and the travel guidance step S50 at storage time each time the storage vehicle reaches the intersection until the storage vehicle reaches the final intersection after executing the storage request reception step S20. Shows how to repeat in order.

Every time the leaving vehicle reaches the intersection 500 until the leaving vehicle reaches the exit, the leaving-time travel guidance process is repeated.
Every time the leaving vehicle reaches the intersection, the traveling guidance process at the leaving is repeated until the leaving vehicle starts the parked parking lot and reaches the outlet.
Until the leaving vehicle starts the parked parking lot and arrives at the exit 520 near the exit, the leaving-time travel guidance process is repeated each time the leaving vehicle reaches the intersection.

  When the delivery vehicle reaches the delivery exit side intersection 520, the delivery guidance step S85 is executed.

Exit guidance process S85 is a process of guiding the exit vehicle from exit intersection 520 to exit outlet 600 via exit route.
The parking lot operation software causes the parking lot operation computer to execute the delivery guidance procedure, and executes the delivery guidance step S85.

Next, the operation of the parking lot operating method and the parking lot operating program according to the embodiment of the present invention will be described based on the drawings.
FIG. 6 is an operation explanatory view 1 of the operation method of the parking lot according to the embodiment of the present invention. FIG. 7 is a first cost calculation procedure example of the operation method of the parking lot according to the embodiment of the present invention. FIG. 8 is a second cost calculation procedure example of the operation method of the parking lot according to the embodiment of the present invention. FIG. 9 is an operation explanatory view 2 of the operation method of the parking lot according to the embodiment of the present invention. FIG. 10 is an operation explanatory view 3 of the operation method of the parking lot according to the embodiment of the present invention. FIG. 11 is an operation explanatory view 4 of the operation method of the parking lot according to the embodiment of the present invention.
Below, the case where the vehicle which has an automatic driving function is made to store is demonstrated to an example.
The vehicle automatically drives in the parking lot using an automatic driving function.
The setting step S10 is performed in advance.
FIG. 5 shows the parking lot set in the setting step S10.

<Received car arrived> t1
The storage request reception step S20 is executed.
The vehicle arrives at the parking lot.
The vehicle enters the boarding area.
The driver gets off the vehicle.
Receive a receipt request from the vehicle.
The vehicle is in the automatic driving mode.

<Automatic receipt start> t2
At the time of storage, the traveling guidance process S50 is executed.
FIG. 9 (A) shows that the warehousing vehicle is located in the getting on / off area.

<Layout 1> t3
A specific area selection step S30 and an intersection identification step S40 are executed.
Identify a specific area from the parking area, select a route to the intersection of the specific area, and select a route with low cost.
In FIG. 7A, the parking area Ac is selected as the specific area from the parking areas Aa, Ab, Ac, Ad, and the intersections C4, C5, C8 are specified as the specific intersections.
At the time of storage, the traveling guidance process S50 is executed.
Route 1 from the current intersection C1 to specific intersection intersection C4, C5, C8, route 2, route 3, route 4 as a specific route, as a specific route, each of route 1, route 2, route 3, route 4 It shows how to compare costs.
FIG. 7A shows the cost of each of Route 1, Route 2, Route 3, and Route 4 as specific routes when no other vehicle is traveling on the traveling route.
Path 1 is selected as a selected path from the four specific paths according to the cost comparison of FIG. 7A.

<Move to initial point (C1)> t4
The incoming vehicle is guided from the current position to travel on Route 1 as a selected intersection route.
FIGS. 9 (A) and 9 (B) show how the storage vehicle is guided to travel the route 1 through the storage opening.

<Arrive at the initial point (C1)> t5
A vehicle arrives at intersection C1.
The intersection C1 is a storage entrance intersection.
Every time the incoming vehicle reaches the intersection, the incoming traveling guidance step S50 is repeated until the incoming vehicle reaches the final intersection.
Since the intersection C1 is not a specific intersection, the storage traveling guidance step S50 is executed again.

<Layout 2> t6
At the time of storage, the traveling guidance process S50 is executed.
Identify the specific route from the current intersection C1 to the specific intersection intersection C4, C5, C8 as the route 1, route 2, route 3, route 4 and specify the cost of each of route 1, route 2, route 3, route 4 as the specific route Show how to compare
FIG. 7 (B) shows the cost of each of Route 1, Route 2, Route 3, and Route 4 as the specific route when the leaving vehicle is traveling on the traveling route.
Path 2 is selected as a selected path from the four specific paths according to the cost comparison of FIG. 7 (B).

<Move to next intersection (C2)> t7
Guide the incoming vehicle to travel on the route 2.
FIG. 10 (C) shows that the storage vehicle is guided to travel on the route 2.

<Arrive at next intersection (C2)> t8
The vehicle arrives at the intersection C2.
FIG. 10 (C) shows that the incoming vehicle is guided to travel on the route 2 and arrives at the intersection C2.
Every time the incoming vehicle reaches the intersection, the incoming traveling guidance step S50 is repeated until the incoming vehicle reaches the final intersection.
Since the intersection C2 is not a specific intersection, the storage guidance traveling guidance step S50 is executed again.

<Layout 3> t9
At the time of storage, the traveling guidance process S50 is executed.
Routes 2, 3 and 4 from the current intersection C2 to specific intersections C4, C5 and C8 are specified as specified routes, and the costs of each of route 2, route 3 and route 4 are compared as specified routes.
FIG. 7C shows the cost of each of Route 2, Route 3, and Route 4 as the specific route when the leaving vehicle is traveling on the traveling route.
Path 2 is selected as a selected path from the three specific paths according to the cost comparison of FIG. 7 (C).

<Move to next intersection (C5)> t10
Guide the incoming vehicle to travel on the route 2.
FIG. 10 (D) shows that the incoming vehicle is guided to travel on the route 2.
Every time the incoming vehicle reaches the intersection, the incoming traveling guidance step S50 is repeated until the incoming vehicle reaches the final intersection.
Since the intersection C2 is a specific intersection, next, parking guidance process S60 is performed.

<Arrive at next intersection (C5)> t11
The incoming vehicle arrives at the intersection C5.
Every time the incoming vehicle reaches the intersection, the incoming traveling guidance step S50 is repeated until the incoming vehicle reaches the final intersection.
Since the intersection C2 is a specific intersection, next, parking guidance process S60 is performed.

<Layout 4t> t12
A parking guidance process S60 is performed.
The cost is calculated by the second cost calculation procedure out of the parking lot of the parking area Ac which is the specific area, and the selected parking lot is selected.
FIG. 8 shows the costs of the parking masses c7, c8, c9, c1, c6 of an empty car.
The parking space c7 is selected from the five parking spaces according to the cost comparison of FIG.
FIG. 11 (D) shows how the vehicle is guided to the parking space c7 to be parked.

<Move to the designated parking frame &parking> t13
From the final intersection, guide the incoming vehicle to be parked in the selected parking space c7 via the traveling road.
FIG. 11E shows how the vehicle is parked to the parking space c7.

As described above, the parking lot operation method and the parking operation software according to the present invention have the following effects due to their configurations.
One specific area is specified based on a predetermined selection procedure corresponding to the incoming vehicle, a plurality of specific intersections connected to traveling paths parallel to a plurality of parking spaces in the specific area are specified, and the incoming vehicle is selected from the current position Since the guided vehicle is guided to the specific intersection and the incoming vehicle is guided to be parked from the specific intersection to one parking mass in the specific area, the vehicle to be received is guided to one parking mass without causing a wasteful movement. It can be parked.
In addition, since the parking guidance step is performed when the vehicle reaches the final intersection by executing the specific area selection step, the intersection identification step, and the storage guidance traveling guidance step when the vehicle enters the warehousing vehicle It can be guided to a parking lot and parked without making useless movement.
Also, every time the warehousing vehicle reaches the intersection until the warehousing vehicle reaches the final intersection, a plurality of specific routes connecting in a single stroke from the current intersection to a plurality of specific intersections are specified in real time, Since one selected route is selected from the specific routes, and the selected route is traveled from the current intersection to the next intersection, the travel guidance process at the time of storage is repeated. It is possible to guide a vehicle to a parking mass and park it without causing a wasteful movement by selecting a route in real time and storing it.
In addition, since the specific area selection process, the intersection specification process, and the storage guidance procedure at the time of storage are sequentially repeated every time the vehicle arrives at the intersection until the vehicle reaches the final intersection, each time the vehicle arrives at the intersection It is possible to guide a vehicle to a parking mass and park it without causing a wasteful movement by selecting a route and storing it.
In addition, when the vehicle reaches the final intersection, the parking mass to be parked is selected based on the predetermined second cost calculation procedure from among the specific area in real time, and guided to the selected parking mass, so the vehicle to be received is selected. It can be guided to the parking lot of an empty car and parked without making a useless movement.
In addition, since the exit vehicle, which is the vehicle to be exited, is guided to the exit when there is a demand for leaving the vehicle, the vehicle to exit is guided from the parking space to the exit without leaving useless movement. be able to.
Also, each time the delivery vehicle reaches an intersection, a plurality of specific routes connecting in a single stroke from the intersection to the delivery exit are specified in real time until the delivery vehicle reaches the delivery exit, and a plurality of specifications are specified by the third cost calculation procedure. Since one selected route is selected from the routes, and the selected route is traveled from the current intersection to the next appearing intersection, the exit guidance procedure is repeated, so each time the intersection is reached It is possible to leave the vehicle from the parking lot without making unnecessary movements by selecting the route in real time and leaving the vehicle.

The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the scope of the invention.
Although the warehousing path connects the warehousing port and the warehousing entrant intersection and the warehousing path connects the warehousing port and the warehousing port to the intersection, the present invention is not limited thereto. For example, the warehousing port and the warehousing port side intersection may be at the same point, or the outlet port and the food exit port side intersection may be at the same point.

5 Vehicle S10 setting process S20 warehousing request receiving process S25 warehousing guidance process S30 specific area selection process S40 intersection specific process S50 parking guidance process S60 parking guidance process S70 delivery request reception process S80 traveling guidance process S80 delivery guidance process S85 delivery guidance process t1 Car arrives t2 Automatic storage starts t3 Layout 1
Move to t4 initial point (C1) t5 arrive at initial point (C1) t6 layout 2
t7 Move to next intersection (C2) t8 Arrival at next intersection (C2) t9 Layout 3
t10 Move to the next intersection (C5) t11 Arrive at the next intersection (C5) t12 Layout 4
t13 Move to the designated parking frame & parking 100 Storage port 200 Parking area 300 Parking mass 400 Runway 500 Intersection 510 Storage port intersection 520 Outgoing port exit 600 Outgoing port

Unexamined-Japanese-Patent No. 2015-72650

Claims (20)

A parking lot operation method for parking a vehicle including an autonomous driving vehicle, which is a vehicle having an automatic driving function, in a parking lot provided with a plurality of parking spaces,
A plurality of parking areas each having a plurality of parking masses grouped together in a certain area in a parking lot in advance and a plurality of parking masses in a plurality of parking areas each extending in parallel and a plurality of vehicles can travel A setting step of setting a single or a plurality of intersections at which a traveling road and a plurality of traveling roads intersect, an entrance and an exit;
A specific area selecting step of selecting a specific area which is one parking area among a plurality of parking areas corresponding to a storage vehicle which is a vehicle to be stored according to a predetermined selection procedure;
An intersection specifying step of specifying one or more specific intersections that are the intersections connected to the parallel running path of the plurality of parking spaces in the specific area;
A travel guidance step at the time of storage for guiding the storage vehicle from the current position to the final intersection which is the specified intersection among one or more of the specified intersections;
A parking guiding step of guiding the incoming vehicle so as to park the incoming vehicle from the specific intersection to one of the plurality of parking spaces in the specific area;
Equipped with
The parking guidance step is performed after the specific area selection step, the intersection identification step, and the storage guidance during travel guidance step are performed.
How to operate the parking lot that is characterized. Execute the parking guidance process when the vehicle reaches the final intersection by executing the specific area selection process, the intersection identification process, and the storage traveling guidance process when the vehicle has received goods.
A method of operating a parking lot according to claim 1, characterized in that. At the time of storage, the travel guidance process
A single or a plurality of specific routes each including a plurality of intersections connecting the current intersection, which is the intersection reached by the warehousing vehicle, to the one or more specific intersections in a single stroke and a single or a plurality of traveling paths The selected route which is one of the specific routes is selected by comparing the costs calculated according to a predetermined first cost calculation procedure from among one or more of the specific routes by specifying in real time, and selecting the warehousing vehicle as the current intersection Drive along the selected route from there to the intersection that appears next,
The storage guidance traveling guidance step is repeated each time the storage vehicle reaches the intersection until the storage vehicle starts the storage opening and reaches the final intersection.
A method of operating a parking lot according to claim 2, characterized in that. The specific area selecting process, the intersection identifying process, and the yard driving guidance process at storage are sequentially repeated every time the storage vehicle reaches the intersection until the storage vehicle starts the storage opening and reaches the final intersection.
A method of operating a parking lot according to claim 3, characterized in that. The parking guidance process
Selection of a single empty car parking mass by comparing the costs calculated according to a predetermined second cost calculation procedure from among a plurality of empty car parking masses that are empty cars among the plural parking masses of the specific area Selecting a parking mass in real time and guiding the storage vehicle from the last intersection via the travel path to the selected parking mass;
The method of operating a parking lot according to claim 4, characterized in that: Outgoing travel guidance step for guiding an exit vehicle, which is a vehicle to exit, from the current position to an exit port;
Equipped with
Execute the traveling guidance process at the time of leaving when there is a request for leaving the vehicle,
A method of operating a parking lot according to claim 5, characterized in that. The said traveling guidance process at the time of leaving
Identifying one or more specific routes, which are routes composed of a plurality of intersections connecting one intersection with a current intersection which is the intersection reached by the delivery vehicle and the exit, and one or more traveling paths in real time, From the one or more specific routes, the cost calculated by a predetermined third cost calculation procedure is compared to select one selected route which is the specific route, and the delivery vehicle is selected from the current intersection via the selected route. Guide to travel and drive to the next appearing intersection,
The outgoing travel guidance step is repeated each time the leaving vehicle reaches the intersection until the parking lot where the leaving vehicle parked is started and reaches the exit.
A method of operating a parking lot according to claim 6, characterized in that. The parking guidance process
Selection of a single empty car parking mass by comparing the costs calculated according to a predetermined second cost calculation procedure from among a plurality of empty car parking masses that are empty cars among the plural parking masses of the specific area Selecting a parking mass in real time and guiding the storage vehicle from the last intersection via the travel path to the selected parking mass;
A method of operating a parking lot according to claim 1, characterized in that. Outgoing travel guidance step for guiding an exit vehicle, which is a vehicle to exit, from the current position to an exit port;
Equipped with
Execute the travel guidance process at the time of exit when there is a request for leaving the vehicle,
A method of operating a parking lot according to claim 1, characterized in that. The said traveling guidance process at the time of leaving
Identifying one or more specific routes, which are routes composed of a plurality of intersections connecting one intersection with a current intersection which is the intersection reached by the delivery vehicle and the exit, and one or more traveling paths in real time, From the one or more specific routes, the cost calculated by a predetermined third cost calculation procedure is compared to select one selected route which is the specific route, and the delivery vehicle is selected from the current intersection via the selected route. Guide to travel and drive to the next appearing intersection,
The outgoing travel guidance step is repeated each time the leaving vehicle reaches the intersection until the parking lot where the leaving vehicle parked is started and reaches the exit.
A method of operating a parking lot according to claim 1, characterized in that. A parking lot operation software for parking a vehicle including an autonomous driving vehicle, which is a vehicle having an automatic driving function, in a parking lot provided with a plurality of parking spaces,
A plurality of parking areas each having a plurality of parking masses grouped together in a certain area in a parking lot in advance and a plurality of parking masses in a plurality of parking areas each extending in parallel and a plurality of vehicles can travel A setting procedure for setting a single or a plurality of intersections at which a traveling road and a plurality of traveling roads intersect, an entrance and an exit;
A specific area selection procedure of selecting a specific area which is one parking area among a plurality of parking areas corresponding to a storage vehicle which is a vehicle to be stored according to a predetermined selection procedure;
An intersection identification procedure for identifying one or more specific intersections that are the intersections connected to the parallel running path of the plurality of parking spaces in the specific area;
A travel guidance procedure at the time of storage for guiding the storage vehicle from the current position to the final intersection which is the specified intersection among one or more of the specified intersections;
A parking guidance procedure for guiding the warehousing vehicle to park the warehousing vehicle from the specific intersection to a parking space of one of a plurality of parking spaces in the specific area;
Equipped with
In the parking lot operation computer,
The parking guidance procedure is performed after the specific area selection procedure, the intersection identification procedure, and the storage guidance during traveling guidance procedure are performed.
Parking lot operation software characterized by. In the parking lot operation computer,
Execute the parking guidance procedure when the vehicle reaches the final intersection by executing the specific area selection procedure, the intersection identification procedure, and the storage guidance at the time of storage when a vehicle is received.
The parking lot operation software according to claim 11, characterized in that. The said travel guidance procedure at the time of receipt is
A single or a plurality of specific routes each including a plurality of intersections connecting the current intersection, which is the intersection reached by the warehousing vehicle, to the one or more specific intersections in a single stroke and a single or a plurality of traveling paths The selected route which is one of the specific routes is selected by comparing the costs calculated according to a predetermined first cost calculation procedure from among one or more of the specific routes by specifying in real time, and selecting the warehousing vehicle as the current intersection Drive along the selected route from there to the intersection that appears next,
In the parking lot operation computer,
Every time the storage vehicle reaches the intersection, the storage guidance procedure is repeated until the storage vehicle starts the storage opening and reaches the final intersection.
The parking lot operation software according to claim 12, characterized in that. In the parking lot operation computer,
Every time the warehousing vehicle reaches the intersection until the warehousing vehicle starts the warehousing port and reaches the final intersection, the specific area selection procedure, the intersection identification procedure, and the yardage travel guidance procedure are sequentially repeated ,
The parking lot operation software according to claim 13, characterized in that. The parking guidance procedure
Selection of a single empty car parking mass by comparing the costs calculated according to a predetermined second cost calculation procedure from among a plurality of empty car parking masses that are empty cars among the plural parking masses of the specific area Selecting a parking mass in real time and guiding the storage vehicle from the last intersection via the travel path to the selected parking mass;
The parking lot operation software according to claim 14, characterized in that. Outgoing travel guidance procedure for guiding an exit vehicle, which is a vehicle to exit, from the current position to an exit port;
Equipped with
In the parking lot operation computer,
Execute the traveling guidance procedure at the time of leaving when there is a request for leaving the vehicle,
The parking lot operation software according to claim 15, characterized in that. The said traveling guidance procedure at the time of leaving
Identifying one or more specific routes, which are routes composed of a plurality of intersections connecting one intersection with a current intersection which is the intersection reached by the delivery vehicle and the exit, and one or more traveling paths in real time, From the one or more specific routes, the cost calculated by a predetermined third cost calculation procedure is compared to select one selected route which is the specific route, and the delivery vehicle is selected from the current intersection via the selected route. Guide to travel and drive to the next appearing intersection,
The outgoing travel guidance procedure is repeated each time the outgoing vehicle reaches the intersection until the outgoing vehicle starts the parking lot parked and reaches the outlet.
The parking lot operation software according to claim 16, characterized in that. The parking guidance procedure
Selection of a single empty car parking mass by comparing the costs calculated according to a predetermined second cost calculation procedure from among a plurality of empty car parking masses that are empty cars among the plural parking masses of the specific area Selecting a parking mass in real time and guiding the storage vehicle from the last intersection via the travel path to the selected parking mass;
The parking lot operation software according to claim 11, characterized in that. Outgoing travel guidance procedure for guiding an exit vehicle, which is a vehicle to exit, from the current position to an exit port;
Equipped with
In the parking lot operation computer,
Execute the traveling guidance procedure at the time of leaving when there is a request for leaving the vehicle,
The parking lot operation software according to claim 11, characterized in that. The said traveling guidance procedure at the time of leaving
Identifying one or more specific routes, which are routes composed of a plurality of intersections connecting one intersection with a current intersection which is the intersection reached by the delivery vehicle and the exit, and one or more traveling paths in real time, From the one or more specific routes, the cost calculated by a predetermined third cost calculation procedure is compared to select one selected route which is the specific route, and the delivery vehicle is selected from the current intersection via the selected route. Guide to travel and drive to the next appearing intersection,
The outgoing travel guidance procedure is repeated each time the outgoing vehicle reaches the intersection until the outgoing vehicle starts the parking lot parked and reaches the outlet.
The parking lot operation software according to claim 11, characterized in that.

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