JP2019175084A - Automatic parking lot device, automatic parking lot system, automatic parking lot management method and program thereof - Google Patents

Abstract

To provide an automatic parking lot device that reduces adverse effects on an automatic driving vehicle caused by a braking body on an entry/exit route.SOLUTION: In an automatic parking lot system 100, an automatic parking lot device 90 for managing a parking lot that can be used by a vehicle 10 including an automatic driving vehicle and a manual driving vehicle comprises: a braking body 30 that is disposed in a passage 3 and forms a step that reduces the traveling speed of the vehicle 10; a drive part 40 for moving the braking body 30 in the vertical direction; and a control part for controlling the drive part 40. The control part controls the drive part 40 such that the braking body 30 is set in the lowered state when the automatic driving vehicle approaches the braking body 30, and the braking body 30 is set in the raised state when the manual driving vehicle approaches the braking body 30.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic parking lot apparatus, an automatic parking lot system, an automatic parking lot management method, and a program therefor, and more particularly, an automatic parking lot apparatus in which a braking body for suppressing a traveling speed of a vehicle is installed on an entering / leaving road. , An automatic parking lot system, an automatic parking lot management method, and a program thereof.

  In order to suppress the traveling speed of the vehicle in the parking lot, a hump may be provided in the passage. In recent years, Patent Document 1 discloses a hump that is lowered by the weight of a vehicle when the vehicle passes in response to changes in various vehicle types and situations. In order to decelerate a vehicle traveling on a road, the hump includes a lowering portion installed horizontally with respect to the road and a shock absorber that supports the lowering portion. The shock absorber is provided with the shock absorber according to various conditions. The resistance value of the vessel was changed, so that the impact on the vehicle was changed optimally.

JP 2012-246755 A

  The hump has an effect of causing the driver to feel uncomfortable when the vehicle passes at a high speed due to vertical vibrations and prompting the driver to decelerate. Therefore, the hump acts as an effective target for a manually driven vehicle. On the other hand, it is possible not only to give an uncomfortable feeling, but also to perform an autonomous deceleration control, and it becomes an obstacle for an autonomous driving vehicle including an autonomous control device including sensors that are vulnerable to vibration.

  For example, when pedestrian detection is performed by a camera or the like, the camera image greatly shakes up and down due to pitching that occurs when the vehicle is moved over the hump, so that the pedestrian detection accuracy may be reduced. In addition, self-position estimation is calculated based on the sensor information from the camera and the surrounding monitoring unit (Light Detection and Ranging, Laser Imaging Detection and Ranging, etc.). An error is likely to occur in the position estimation. Furthermore, it is necessary to consider torque control when getting over. Therefore, it is desirable that there is no step such as a hump for an autonomous driving vehicle. The above-mentioned Patent Document 1 aims to optimize the degree of impact on the vehicle, but does not mention any correspondence to the autonomous driving vehicle.

  The present invention has been made in view of the above-mentioned background, and the object of the present invention is to eliminate unnecessary vibration and other vibrations for an autonomous driving vehicle caused by a braking body for speed control installed on a road surface of an entry / exit route. An object of the present invention is to provide an automatic parking lot apparatus that reduces adverse effects.

  The present invention employs the following technical means in order to solve the above problems. The symbol in parentheses described in the claims and in this section is an example showing the correspondence with the specific means described in the embodiment described later as one aspect, and limits the technical scope of the present invention. Not what you want.

  The automatic parking lot device (90) of the present invention is an automatic parking lot device (90) that manages a parking lot that can be used by a use vehicle (10) including an automatically driven vehicle (10a) and a manually driven vehicle (10b). A brake member (30) disposed in the passage (3) to form a step which suppresses the traveling speed of the vehicle (10), and a drive unit (40) for moving the brake member (30) in the vertical direction. ) And a control unit (50) for controlling the drive unit (40), and the control unit (50) is provided when the autonomous driving vehicle (10a) approaches the braking body (30). The brake body (30) is lowered, and when the manually operated vehicle (10b) approaches the brake body (30), the brake body (30) is raised. The drive unit (40) is controlled.

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

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

  As a result, the brake body (30) only needs to be lowered when the automatically driven vehicle (10a) is detected, so that the manually operated vehicle (10b) can be detected without detecting the manually operated vehicle (10b). Thus, the speed control function of the braking body (30) can be exhibited, and the automatic driving vehicle (10a) can be controlled so as not to exhibit the function.

  ADVANTAGE OF THE INVENTION According to this invention, the automatic parking lot apparatus which reduced the unnecessary vibration and other bad effects to the self-driving vehicle resulting from the brake body for speed control installed in the road surface of the entrance / exit path | route can be provided.

It is a model explanatory view for explaining the composition of the automatic parking lot system concerning a 1st embodiment of the present invention. It is a block diagram for demonstrating schematic structure of the automatic parking lot system which concerns on 1st Embodiment of this invention. It is a flowchart for demonstrating the operation | movement procedure of the automatic parking lot management method which concerns on 1st Embodiment of this invention. It is a block diagram for demonstrating schematic structure of the automatic parking lot system which concerns on 2nd Embodiment of this invention. It is a flowchart for demonstrating the operation | movement procedure of the automatic parking lot management method which concerns on 2nd Embodiment of this invention. It is a block diagram for demonstrating schematic structure of the automatic parking lot system which concerns on 3rd Embodiment of this invention. It is a flowchart for demonstrating the operation | movement procedure of the automatic parking lot management method which concerns on 3rd Embodiment of this invention. It is a block diagram for demonstrating schematic structure of the automatic parking lot system which concerns on 4th Embodiment of this invention. It is a flowchart for demonstrating the operation | movement procedure of the automatic parking lot management method which concerns on 4th Embodiment of this invention. It is a flowchart for demonstrating the operation | movement procedure of the automatic parking lot management method which concerns on the modification of this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
<First Embodiment>
FIG. 1 is a schematic explanatory diagram for explaining a configuration of an automatic parking lot system 100 according to the first embodiment. An automatic parking lot system 100 shown in FIG. 1 includes an automatic parking lot device 90 that can be used by a vehicle. The automatic parking device 90 can be used for an automatic driving vehicle 10a (FIGS. 2, 4, 6, and 8) that can automatically run without a human driving operation, and a driver rides to drive the vehicle. A manned driving vehicle (hereinafter referred to as “manual driving vehicle”) 10b (FIG. 8) can also be used, and it is adapted to appropriately manage a parking lot in which these vehicle types are used in a mixed manner. Hereinafter, the automatic driving vehicle 10a and the manual driving vehicle 10b are collectively referred to as “use vehicle 10”. The automatic parking lot system 100 includes a braking body 30, a drive unit 40, and a central control device 80.

  The braking body 30 is a structure installed in the passage 3 of the vehicle 10 to be used, and has a role of suppressing the speed of the vehicle passing over the braking body 30 by forming a step H in the passage 3. An example of the braking body 30 is a so-called “speed hump”. In the present embodiment, the braking body 30 has a drive unit 40. The drive unit 40 includes a drive mechanism using electric power, hydraulic pressure, or the like, and moves the braking body 30 up and down in response to a command from a control unit 50 (FIGS. 2, 4, 6, and 8) disposed in the central controller 80. By moving in the direction, the speed suppression function can be switched by suppression / release. In the state where the speed is suppressed, the drive unit 40 raises the braking body 30 by a height H higher than the road surface 4. On the contrary, in the state where the speed suppression is released, the drive unit 40 causes the braking body 30 to sink (lowered state) until it is almost flush with the road surface 4 of the passage 3.

  FIG. 2 is a block diagram for explaining functions of the automatic parking lot system 100 according to the first embodiment. As shown in FIG. 2, the automatic parking lot apparatus 90 includes a wireless communication unit 20, a braking body 30, a drive unit 40, and a control unit 50. On the other hand, the specific vehicle type information transmitting unit 11 is disposed in the automatic driving vehicle 10a, and transmits specific vehicle type information Ka indicating that the use vehicle 10 is the automatic driving vehicle 10a. The wireless communication unit 20 can wirelessly communicate with the autonomous driving vehicle 10a and receives the specific vehicle type information Ka transmitted from the autonomous driving vehicle 10a. When receiving the specific vehicle type information Ka, the control unit 50 detects the autonomous driving vehicle 10a. Moreover, the wireless communication part 20 can also transmit the suppression cancellation | release notification signal D mentioned later from the automatic parking lot apparatus 90 to the autonomous driving vehicle 10a.

  The control unit 50 controls the drive unit 40 according to the situation. When the wireless communication unit 20 detects the automatic driving vehicle 10a when the wireless communication unit 20 receives the specific vehicle type information Ka, the control unit 50 drives the driving unit 40 to lower the braking body 30 and sets the state of the automatic driving vehicle 10a. Do not interfere with driving.

  The automatic parking lot apparatus 90 transmits a suppression release notification signal D indicating release of suppression for the traveling speed V to the autonomous driving vehicle 10a after lowering the braking body 30. When the automatic driving vehicle 10a receives the suppression release notification signal D, the automatic driving vehicle 10a can perform automatic driving control so that the vehicle runs smoothly at a constant speed / constant torque. Conversely, if the autonomous driving vehicle 10a does not receive the suppression release notification signal D, it can be determined that there is the braking body 30 and can be controlled to open the engine throttle so as to increase torque in order to overcome it. There is sex. As a result, there is a possibility that the traveling speed V is unnecessarily increased although the passage 3 is actually flat.

  FIG. 3 is a flowchart for explaining an operation procedure of the automatic parking lot management method by the automatic parking lot system 100 according to the first embodiment. When the automatic driving vehicle 10a enters the automatic parking lot device 90, the specific vehicle type information Ka indicating that the own vehicle is the automatic driving vehicle 10a is transmitted (S10), and the automatic parking lot device 90 starts from the automatic driving vehicle 10a. The specific vehicle type information Ka is received (S11). Thereby, the automatic parking lot apparatus 90 detects that the autonomous driving vehicle 10a has entered the automatic parking lot apparatus 90.

  When the automatic parking lot device 90 detects the entrance of the automatic driving vehicle 10a by receiving the specific vehicle type information Ka, the automatic parking lot device 90 lowers the braking body 30 (S12). When the brake body 30 is lowered, the automatic parking lot device 90 transmits a suppression release notification signal D indicating that the brake body 30 is lowered to the autonomous driving vehicle 10a (S13). The automatic driving vehicle 10a receives the suppression release notification signal D transmitted from the automatic parking lot device 90 (S14). When the automatic driving vehicle 10a receives the suppression release notification signal D, the automatic driving vehicle 10a can perform automatic driving control so as to continue the constant torque / constant speed traveling.

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

  As mentioned above, although the structure of the automatic parking lot apparatus 90 of this Embodiment was demonstrated, the example of the hardware which comprises the control part 50 of above-described automatic parking lot apparatus 90 is CPU, RAM, ROM, a hard disk, a display, a keyboard. , A computer equipped with a mouse, a communication interface, and the like. By storing a program having a module for realizing each function described above in a RAM or ROM and executing the program by the CPU, the function of the automatic parking lot device described above is realized. Such a program is also included in the scope of the present invention.

  When the automatic parking device 90 of the first embodiment detects the automatic driving vehicle 10a by receiving the specific vehicle type information Ka indicating that the usage vehicle 10 is the automatic driving vehicle 10a from the usage vehicle 10, the braking body 30 is detected. Is lowered so that the braking body 30 does not interfere with the traveling of the autonomous driving vehicle 10a. Thereby, it is possible to prevent the braking body 30 from getting in the way of the autonomous driving vehicle 10a that can autonomously perform the traveling to suppress the speed in the parking lot. Further, since the braking body 30 is raised when the autonomous driving vehicle 10a passes, the braking body 30 exerts a function of suppressing the speed of the manually operating vehicle 10b with respect to the manually operating vehicle 10b.

<Second Embodiment>
FIG. 4 is a block diagram for explaining a schematic configuration of the automatic parking lot system according to the second embodiment. The basic configuration of the automatic parking lot system according to the second embodiment is the same as that of the automatic parking lot system according to the first embodiment, but the automatic driving vehicle 10a approaches the automatic parking lot system according to the second embodiment. The structure which controls the braking body 30 using information, such as speed, is added. Hereinafter, differences from the first embodiment will be mainly described. Hereinafter, substantially the same requirements are denoted by the same reference numerals, and redundant description is omitted.

  As shown in FIG. 4, the automatic parking device 90 includes a camera 21 that captures the use vehicle 10 in the parking lot, and the control unit 50 determines the position and travel direction of the use vehicle 10 based on the captured image. And an image processing unit 51 for detecting a traveling speed and the like. Note that a distance measuring device (not shown) that measures the distance to the use vehicle 10 may be used to detect the position of the use vehicle 10. Further, the control unit 50 obtains the time until the use vehicle 10 reaches the brake body 30 by calculation from the position and travel speed of the use vehicle 10 obtained by the image processing unit 51. Hereinafter, the time until the use vehicle 10 reaches the braking body 30 is referred to as an estimated arrival time T.

  When the use vehicle 10 is the autonomous driving vehicle 10a, the controller 50 lowers the braking body 30 based on the arrival prediction time T before the autonomous driving vehicle 10a reaches the braking body 30. To do.

  FIG. 5 is a flowchart for explaining an operation procedure of the automatic parking lot system 100 according to the second embodiment. The basic operation of the automatic parking lot system according to the second embodiment is the same as the operation of the automatic parking lot system according to the first embodiment. However, the automatic parking lot system 100 according to the second embodiment includes an automatic driving vehicle 10a. Is different in that drive control of the brake body 30 is performed based on the estimated arrival time T until the brake body 30 reaches the brake body 30.

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

  Similarly to the automatic parking lot apparatus 90 of the first embodiment, the automatic parking lot apparatus 90 of the second embodiment detects the automatic driving vehicle 10a and lowers the braking body 30 so that the braking body 30 is automatically driven. It is possible not to obstruct the traveling of 10a. Moreover, since the process based on the estimated arrival time T until the autonomous driving vehicle 10a reaches the braking body 30 is performed, the braking body 30 may be surely lowered before the autonomous driving vehicle 10a passes. it can.

<Third Embodiment>
FIG. 6 is a block diagram for explaining a schematic configuration of the automatic parking lot system according to the third embodiment. Similar to the automatic parking system 100 of the second embodiment, the automatic parking system 100 according to the third embodiment controls the braking body 30 based on the predicted arrival time T. The difference is that the automatic driving vehicle 10a performs the calculation.

  The self-driving vehicle 10a detects a surrounding environment and performs automatic driving, so that a self-position is estimated, a peripheral monitoring unit 12 including a camera, an image processing device, a LIDAR, and the like, and a predicted arrival time calculation unit 13 is standard equipment. In the automatic parking lot system 100 of the third embodiment, when the autonomous driving vehicle 10a detects the braking body 30 by the periphery monitoring unit 12, braking is performed based on the distance from the own vehicle to the braking body 30 and the speed of the own vehicle. It has a function of calculating the predicted arrival time T to the body 30.

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

  When the autonomous driving vehicle 10a enters the parking lot and detects the braking body 30 (S30), the predicted arrival time T to the braking body 30 is calculated based on the distance from the host vehicle to the braking body 30 and the traveling speed of the host vehicle. (S31). Subsequently, the automatic driving vehicle 10a automatically sets the information indicating that the host vehicle is the automatic driving vehicle 10a and the information of the predicted arrival time T (collectively referred to as “specific vehicle approach information E”). 90 (S32). When the automatic parking lot device 90 receives the specific vehicle approach information E (S33), the automatic parking lot device 90 performs drive control so that the braking body 30 is lowered before the autonomous driving vehicle 10a reaches the braking body 30 (S34). ). Steps (S35 to S38) after the automatic parking lot device 90 lowers the braking body 30 are the same as the steps (FIG. 3, S13 to S16) described in the first embodiment.

  Similar to the automatic parking system 100 of the second embodiment, the automatic parking system 100 of the third embodiment described above performs processing based on the predicted arrival time T until the autonomous driving vehicle 10a reaches the braking body 30. Therefore, the brake body 30 can be reliably lowered before the autonomous driving vehicle 10a passes. Moreover, since the automatic parking lot system 100 of 3rd Embodiment calculates the arrival time T to the braking body 30 using the function of the periphery monitoring part 12 equipped with the automatic driving vehicle 10a as standard equipment, automatic parking lot The apparatus 90 may not have a configuration for calculating the predicted arrival time T.

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

  The automatic driving vehicle 10a includes a specific vehicle type information transmission unit 11a. When entering the parking lot, the automatic driving vehicle 10a transmits specific vehicle type information Ka indicating that the own vehicle is the automatic driving vehicle 10a to the automatic parking lot device 90. The manually operated vehicle 10b includes a general vehicle type information transmitting unit 11b. When entering the parking lot, the manually operated vehicle 10b transmits general vehicle type information Kb indicating that the own vehicle is the manually operated vehicle 10b to the automatic parking lot device 90. The manually operated vehicle 10b and the general vehicle type information Kb are collectively referred to as “vehicle type information K”.

  The control unit 50 of the automatic parking lot apparatus 90 determines whether the utilization vehicle 10 is the automatic operation vehicle 10a to the manual operation vehicle 10b based on the vehicle type information K transmitted from the utilization vehicle 10. The control unit 50 lowers the braking body 30 when the use vehicle 10 is the autonomous driving vehicle 10a, and raises the braking body 30 when the use vehicle 10 is the manual operation vehicle 10b. The drive unit 40 is controlled so as to be in a state.

  FIG. 9 is a flowchart for explaining an operation procedure of the automatic parking lot system 100 according to the fourth embodiment. When the use vehicle 10 enters the parking lot, it transmits the vehicle type information K to the automatic parking lot device 90 (S40). When receiving the vehicle type information K (S41), the automatic parking lot apparatus 90 determines whether the use vehicle 10 is the automatic driving vehicle 10a or the manual driving vehicle 10b based on the vehicle type information K (S42).

  When the use vehicle 10 is the autonomous driving vehicle 10a, the automatic parking lot apparatus 90 sets the braking body 30 in the lowered state (S43). In addition, when the brake body 30 is in the state of being lowered from the original, the state is maintained. When the brake body 30 is lowered, the automatic parking lot device 90 transmits a suppression release notification signal D indicating that the brake body 30 is lowered to the autonomous driving vehicle 10a (S44). The automatic driving vehicle 10a receives the suppression release notification signal D transmitted from the automatic parking lot device 90 (S45). When the automatic driving vehicle 10a receives the suppression release notification signal D, the automatic driving vehicle 10a can perform automatic driving control so as to continue the constant torque / constant speed traveling.

  When the use vehicle is the manually operated vehicle 10b, the automatic parking lot apparatus 90 sets the brake body 30 in a raised state (S46). Note that, when the brake body 30 is raised from the beginning, the state is maintained.

  The configuration and operation of the automatic parking lot system 100 according to the fourth embodiment have been described above. The automatic parking lot system 100 according to the fourth embodiment drives and controls the braking body 30 according to whether the use vehicle 10 is an automatically driven vehicle 10a or a manually driven vehicle 10b. This prevents the braking body 30 from interfering with the autonomous driving vehicle 10a that can autonomously perform speed-reducing driving in the parking lot, and functions the braking body 30 with respect to the manually driven vehicle 10b. To suppress the speed. Moreover, since it is not necessary to raise the brake body 30 by default, when the autonomous driving vehicle 10a passes continuously, the brake body 30 may be left in the lowered state, and the number of times of driving is reduced. Can be reduced.

  In the automatic parking lot system 100 of the fourth embodiment described above, an example is given in which the vehicle type that has received the vehicle type information K from the vehicle 10 is used. However, when the manually operated vehicle 10b does not have a wireless communication function. It is possible to determine the vehicle 10 based on the function of the automatic parking lot device 90 detecting the vehicle 10 and the specific vehicle type information Ka received from the autonomous driving vehicle 10a. That is, the automatic parking device 90 has a function of detecting a vehicle, for example, a peripheral monitoring unit including the camera 21 and the image processing unit 51, and the automatic parking device 90 detects the vehicle 10 used. When the specific vehicle type information Ka is not received, the use vehicle 10 is determined as the manually operated vehicle 10b.

  Also in the automatic parking system 100 of the fourth embodiment, the braking body 30 is controlled according to the predicted arrival time T of the vehicle 10 to the braking body 30 as in the second and third embodiments. A configuration may be adopted.

  As mentioned above, although the automatic parking lot apparatus and the automatic parking lot system of the present invention have been described in detail with reference to the embodiment, the present invention is not limited to the above-described embodiment.

  In the first to third embodiments described above, an example in which the braking body 30 is raised by default and the braking body 30 is lowered when the autonomous driving vehicle 10a passes (S12, S24, S34). And explained. However, the present invention is not limited to this, and conversely, the braking body 30 may be lowered by default, and the braking body 30 may be raised when the manually operated vehicle 10b passes.

  FIG. 10 is a flowchart for explaining an operation procedure of the automatic parking lot system according to the modification. When the manually driven vehicle 10b enters the parking lot, it transmits general vehicle type information Kb indicating that it is the manually driven vehicle 10b to the automatic parking lot device 90 (S50). When receiving the general vehicle type information Kb (S51), the automatic parking lot device 90 sets the braking body 30 in a raised state (S52). The automatic parking lot device 90 determines whether or not the manually driven vehicle 10b has passed over the braking body 30 (S53). When it is determined that the manually driven vehicle 10b has passed (YES in S53), the braking body 30 is determined. Is lowered (S54).

  In the first to third embodiments, after the braking body 30 is lowered according to the detection of the autonomous driving vehicle 10a (S12, S24, S34), the braking body 30 is in a lowered state. Although the example which transmits the suppression cancellation | release notification signal D shown to the automatic driving vehicle 10a was given, since transmission of the suppression cancellation | release notification signal D is not essential, it can also be abbreviate | omitted.

  In the first to third embodiments, an example in which the notification indicating that the vehicle 10a is the automatic driving vehicle 10a is received from the side of the use vehicle 10, that is, the specific vehicle type information Ka is given. The specific vehicle type information Ka indicating the autonomous driving vehicle 10a is not necessarily required. For example, if the automatic driving vehicle 10a has a system such as using a special license plate, the license plate may be analyzed by image processing to determine whether the vehicle is the automatic driving vehicle 10a.

  In the above-described embodiment, an example of the braking body 30 is a speed hump. However, a flap plate can be used as the braking body 30. However, the undulation control requires some changes. The flap plate is often used for coin parking, and is kept lying down on the passage 3 when the use vehicle 10 enters and leaves the coin parking. Although not shown in detail, the flap plate is appropriately raised from the fixed passage 3 to restrain the vehicle 10 in the parking lot, and can be released from the restrained state if the purpose such as billing can be achieved. It is a management instrument.

  When the flap plate is used as a braking body, the use vehicle 10 is not restricted to the parking lot. When the travel speed of the use vehicle 10 is suppressed, the flap plate is raised to a height that allows the use vehicle 10 to get over and to a height that gives vertical vibration to the vehicle when getting over. Thereby, the travel speed of the utilization vehicle 10 can be suppressed using a flap board.

3 passage, 4 road surface, 10 use vehicle, 10a automatic operation vehicle, 10b manual operation vehicle, 11 specific vehicle type information transmission unit, 11a specific vehicle type information transmission unit,
11b General vehicle type information transmission part, 12 periphery monitoring part, 13 arrival prediction time calculation part,
20 wireless communication units, 21 cameras, 30 braking bodies, 40 drive units, 50 control units,
51 image processing unit, 90 automatic parking device, 100 automatic parking system

Claims (14)

An automatic parking lot device (90) for managing a parking lot that can be used by a use vehicle (10) including an automatically driven vehicle (10a) and a manually driven vehicle (10b),
A braking body (30) disposed in the passage (3) and forming a step for suppressing the traveling speed of the vehicle (10).
A drive unit (40) for moving the braking body (30) in the vertical direction;
A control unit (50) for controlling the drive unit (40);
With
The controller (50) lowers the braking body (30) when the autonomous driving vehicle (10a) approaches the braking body (30), and the manually operated vehicle (10b) An automatic parking lot device (90) for controlling the drive unit (40) so as to raise the brake body (30) when approaching the brake body (30).   The control unit (50) determines whether the use vehicle (10) approaching the braking body (30) is the automatic operation vehicle (10a) or the manual operation vehicle (10b), and the use vehicle (10) is When it is determined that the vehicle is the automatic driving vehicle (10a), the braking body (30) is lowered, and the determining vehicle (52) causes the use vehicle (10) to be a manually operated vehicle (10b). The automatic parking lot device (90) according to claim 1, wherein the drive unit (40) is controlled so that the braking body (30) is raised when it is determined.   The controller (50) detects the autonomous driving vehicle (10a) approaching the braking body (30), and lowers the braking body (30) when the autonomous driving vehicle (10a) is detected. The drive unit (40) is controlled so that the brake body (30) is raised after the autonomous driving vehicle (10a) passes through the brake body (30). The automatic parking device (90) according to 1.   The controller (50) detects the manually operated vehicle (10b) approaching the brake body (30), and raises the brake body (30) when the manually operated vehicle (10b) is detected. The drive unit (40) is controlled so that the manually operated vehicle (10b) passes through the braking body (30) and then the braking body (30) is lowered. The automatic parking device (90) according to 1. The automatic parking device (90)
The suppression release notification signal (D) indicating that the braking body (30) has been lowered is transmitted to the autonomous driving vehicle (10a) when the braking body (30) is lowered. The automatic parking apparatus (90) in any one of -3.   The control unit (50) acquires a predicted arrival time until the use vehicle (10) reaches the braking body (30), and based on the arrival prediction time, the use vehicle (10) Before reaching the body (30), when the use vehicle (10) is the autonomous driving vehicle (10a), the braking body (30) is lowered, and the use vehicle (10) The automatic parking lot device (90) according to any one of claims 1 to 5, wherein when the vehicle is a manually operated vehicle (10b), the braking body (30) is raised.   The estimated arrival time is calculated by the control unit (50) based on the distance between the vehicle (10) and the braking body (30) and the traveling speed of the vehicle (10), or The automatic parking lot device (90) according to claim 6, wherein the control unit (50) acquires information on an estimated arrival time (T) transmitted from the use vehicle (10).   The said parking body (30) is a speed hump or a flap board, The automatic parking lot apparatus (90) in any one of Claims 1-7. The vehicle includes a use vehicle (10) including an automatic drive vehicle (10a) and a manual drive vehicle (10b), and an automatic parking lot device (90) capable of wireless communication with the use vehicle (10), and manages a parking lot. An automatic parking system (100),
The automatic parking device (90)
A braking body (30) disposed in the passage (3) and forming a step for suppressing the traveling speed of the vehicle (10).
A drive unit (40) for moving the braking body (30) in the vertical direction;
A control unit (50) for controlling the drive unit (40);
A wireless communication unit (20) capable of wireless communication with at least one of the automatic driving vehicle (10a) and the manual driving vehicle (10b);
With
At least one of the automatic driving vehicle (10a) and the manual driving vehicle (10b) transmits vehicle type information (K) indicating whether the own vehicle is an automatic driving vehicle or a manual driving vehicle to the automatic parking lot device (90 )
The controller (50) lowers the braking body (30) when the autonomous driving vehicle (10a) approaches the braking body (30), and the manually operated vehicle (10b) An automatic parking lot system (40) that controls the drive unit (40) based on the vehicle type information (K) so that the brake body (30) is raised when approaching the brake body (30). 100). At least one of the automatic driving vehicle (10a) and the manual driving vehicle (10b) is:
Information on the traveling speed of the host vehicle or information on the predicted arrival time (T) until the host vehicle reaches the braking body (30) is transmitted to the automatic parking device (90),
The automatic parking lot system (100) according to claim 9, wherein the control unit (50) of the automatic parking device (90) controls driving of the braking body (30) based on the travel speed or the predicted arrival time. ). An automatic parking lot management method for managing a parking lot that can be used by a vehicle (10) including an automatically driven vehicle (10a) and a manually driven vehicle (10b),
The use vehicle (10) approaches the braking body (30) that forms a step in which the automatic parking device (90) is disposed in the passage (3) and suppresses the traveling speed of the use vehicle (10). The step of detecting
The automatic parking lot device (90) lowers the braking body (30) when the autonomous driving vehicle (10a) approaches the braking body (30), and the manually operated vehicle (10b) A step of raising the brake body (30) when approaching the brake body (30);
An automatic parking management method. An automatic parking lot management method for managing a parking lot that can be used by a vehicle (10) including an automatically driven vehicle (10a) and a manually driven vehicle (10b),
The self-driving vehicle (10a) approaches the braking body (30) in which an automatic parking device (90) is disposed in the passage (3) and forms a step that suppresses the traveling speed of the vehicle (10). The step of detecting
The automatic parking device (90) driving the drive unit (40) so that the control unit (50) lowers the braking body (30);
When the automatic parking device (90) detects that the self-driving vehicle (10a) has passed through the braking body (30), the step of raising the braking body (30);
An automatic parking management method. An automatic parking lot management program for controlling an automatic parking lot device (90) that can be used by a use vehicle (10) including an automatically driven vehicle (10a) and a manually driven vehicle (10b). 90)
Detecting the use vehicle (10) approaching a braking body (30) disposed in a passage (3) and forming a step which suppresses the traveling speed of the use vehicle (10);
When the automatic driving vehicle (10a) approaches the braking body (30), the braking body (30) is lowered, and the manually operated vehicle (10b) approaches the braking body (30). If so, the step of raising the braking body (30);
An automatic parking management program that lets you run. An automatic parking lot management program for controlling an automatic parking lot device (90) that can be used by a use vehicle (10) including an automatically driven vehicle (10a) and a manually driven vehicle (10b). 90)
Detecting that the autonomous driving vehicle (10a) has approached a braking body (30) disposed in a passage (3) and forming a step which suppresses the traveling speed of the vehicle (10).
A step in which the control unit (50) lowers the braking body (30);
When the control unit (50) detects that the autonomous driving vehicle (10a) has passed through the braking body (30), the step of raising the braking body (30);
An automatic parking management program that lets you run.

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