JP2020197803A - Parking lot management software and management method - Google Patents

Abstract

To provide management software and a management method for managing a parking lot to receive parking of an automatic traveling vehicle.SOLUTION: In a way different from a conventional parking lot management method, multiple landmarks are arranged along a track connecting an entrance/exit port of a parking lot to a parking zone. A specific parking zone being a parking zone allowing parking of a vehicle is identified by receiving an entrance request or an exit request. Information is transmitted to the vehicle, which is related to a travel route being a route along the track from the entrance/exit port to the specific parking zone or a travel route being a route along the track from the specific parking zone to the entrance/exit port. Displaying of the landmarks is changed in accordance with a state change of at least one of a state of the track and a state of the vehicle.SELECTED DRAWING: Figure 1

Description

The present invention relates to a parking lot management program for accepting autonomous vehicles and a management method thereof.

A parking lot is used to park the vehicle.
Parking lots include self-propelled parking lots and mechanical parking devices.
In an automatic parking lot, a vehicle travels from a public road via an entrance / exit to enter a parking lot, exits the parking lot, travels, and exits to a public road via an entrance / exit.
In the mechanical parking device, after the vehicle travels and enters the entry / exit space from the public road, the parking device operates to place the vehicle in the parking lot. The parking device is activated to move the vehicle from the parking lot to the entry / exit compartment. The vehicle runs and goes out from the entrance / exit space to the public road.

In recent years, vehicles capable of autonomous driving have been studied.
Here, a vehicle capable of automatically traveling is referred to as an automatic traveling vehicle.
The autonomous vehicle has a sensor system that recognizes the condition of the traveling passage and acquires information.
When autonomously driving, the autonomous driving vehicle uses the information acquired by the sensor system.
For example, an autonomous vehicle has a camera that captures the state of the outside world and a distance sensor that detects the distance to an obstacle in the outside world. For example, the distance sensor is a distance sensor that uses ultrasonic waves. For example, the camera is a CCD camera.
It is being considered to allow autonomous vehicles to automatically travel in parking lots and to allow autonomous vehicles to automatically travel from the entrance / exit to the parking space.
The driving environment of the parking lot has a different environment from that of a general public road, and a different approach from that of automatically driving on a general public road is required.
Generally, three types of approaches are being considered.

The first approach is called the vehicle / infrastructure balance type.
The parking control device identifies the travel route from the entrance / exit to the parking lot, and transmits information on the identified travel route to the autonomous vehicle. The self-driving vehicle follows the travel route based on the given information and enters the parking lot. It is conceivable to set landmarks along the travel route. The autonomous vehicle automatically travels to the parking lot while recognizing the landmark and acquiring the information.

The second approach is called infrastructure-focused.
The parking control device identifies the travel route from the entrance / exit to the parking lot, and determines the specified travel route. The parking control device remotely controls the steering wheel, accelerator, and brake of the autonomous vehicle to move the traveling route from the entrance / exit to the parking lot. Landmarks are not essential, but it is possible to set landmarks along the travel route. For example, landmarks are used to correct the error in the current position that occurs with the autonomous travel of the vehicle.

The third approach is called vehicle-focused.
Exclusively, the autonomous driving function of the autonomous vehicle is used to move the autonomous vehicle from the entrance / exit to the parking lot. In addition, the autonomous vehicle moves from the parking lot to the entrance / exit. Landmarks are not essential, but it is possible to set landmarks along the travel route. For example, landmarks are used to correct errors in the current position information recorded inside the vehicle that occur as the vehicle runs autonomously.

In general, an autonomous vehicle can select between an autonomous driving mode and a manual driving mode.
In addition, the parking lot accepts parking of only self-driving vehicles (hereinafter referred to as "limited space type") and parking of both self-driving vehicles and manually operated vehicles. (Hereinafter, it is referred to as "mixed running space type").

In addition, there are two types of self-driving vehicles, one is a completely unmanned type and the other is a manned type. In the manned form, an unoperated driver may watch over an autonomous vehicle.

The present invention has been devised in view of the above-mentioned problems, and recognizes and acquires information on the display of landmarks provided along the travel path connecting the entrance / exit of the parking lot and a plurality of parking lots. Provided are management software and a management method for managing a parking lot that accepts parking of an automatically traveling vehicle, which is a vehicle capable of automatically traveling on a traveling road.

In order to achieve the above object, it is possible to recognize the display of landmarks provided along the traveling path connecting the entrance / exit of the parking lot and the plurality of parking lots according to the present invention, acquire information, and automatically travel on the traveling path. The management software that manages the parking lot that accepts the parking of the automatic traveling vehicle, which is a vehicle, is installed along the running path of the parking lot, and the management computer receives the entry request or the exit request and sends the vehicle. A specific parking lot that is a parking lot to be parked is specified, and a travel route that is a route along the route from the entrance / exit to the specific parking lot or a route that is along the route from the specific parking lot to the entrance / exit. A travel route transmission function that transmits information about the route to the vehicle and a display switching function that changes the display of the landmark according to a change in the condition of the travel route or at least one of the vehicle conditions are realized.

According to the above-described configuration of the present invention, a plurality of landmarks are provided along the running path of the parking lot. Specify a specific parking lot that is a parking lot where vehicles are parked in response to a warehousing request or a warehousing request, and then go from the warehousing / exiting port to the warehousing / exiting port Information about the travel route, which is the route along the travel route of the vehicle, is transmitted to the vehicle. Change the landmark display according to changes in at least one of the road conditions or the vehicle conditions.
As a result, the vehicle can move and park flexibly in response to changes in at least one of the road conditions or the vehicle conditions.

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

The management software for managing a parking lot according to an embodiment of the present invention measures a relative position and a relative posture of a vehicle on a traveling path with reference to at least one of a plurality of landmark displays. You can read the reference line to do.
According to the configuration of the above embodiment, at least one of the indications of the plurality of landmarks can read a reference line for measuring the relative position and the relative posture of the vehicle on the traveling path with the landmark as a reference.
As a result, it is possible to know the relative position and relative posture of the vehicle on the traveling path with respect to the landmark by the reference line.

The management software for managing the parking lot according to the embodiment of the present invention changes the display of the landmark according to a change in the situation of the place where the display switching function provides the landmark of the traveling route of the parking lot.
According to the configuration of the above embodiment, the display of the landmark is changed according to the situation change of the place where the landmark of the traveling route of the parking lot is provided.
As a result, the vehicle can automatically travel and automatically park according to changes in the situation at the place where the landmark of the traveling route of the parking lot is provided.

In the management software that manages the parking lot according to the embodiment of the present invention, the display switching function changes the display of landmarks in the parking lot on the traveling route according to a change in the situation of the parking lot.
According to the configuration of the above embodiment, the display switching function changes the display of the landmark in the parking lot of the traveling route according to the change of the situation of the parking lot.
As a result, it is possible to display a display that gives information on the status of the parking lot to the vehicle traveling on the traveling route.

In the management software for managing the parking lot according to the embodiment of the present invention, the display switching function displays the landmarks in the parking lot of the traveling route according to the change of the parking lot status of the parking lot. Change.
According to the configuration of the above embodiment, the display switching function changes the display of the landmark in the parking section of the traveling route according to the change of the parking lot status of warehousing or not.
As a result, it is possible to display a display that gives information on whether or not the parking lot can be stored in the vehicle traveling on the traveling route.

The management software for managing the parking lot according to the embodiment of the present invention has the display switching function of the traveling route according to a change in the situation of the parking lot where there is no vehicle, there is a vehicle, or there is no vehicle but the parking is not possible. Change the display of landmarks in the parking lot.
According to the configuration of the above embodiment, the display switching function displays landmarks in the parking section of the traveling route according to a change in the situation of no vehicle, no vehicle, no vehicle but no warehousing in the parking zone. change.
As a result, it is possible to display information that the vehicle traveling on the traveling route does not have a vehicle in the parking zone, has a vehicle, or has no vehicle but cannot be stored.

The management software for managing the parking lot according to the embodiment of the present invention is provided at a place where the vehicle is traveling on the traveling route in response to a change in the situation of the vehicle traveling on the traveling route of the parking lot. Change the display of landmarks.
According to the configuration of the above embodiment, the display of the landmark provided at the place where the vehicle is traveling on the traveling route is changed according to the change in the situation of the vehicle traveling on the traveling route of the parking lot.
As a result, the vehicle traveling on the traveling route can acquire the information necessary for automatic driving from the landmark.

In the management software for managing the parking lot according to the embodiment of the present invention, the display switching function changes between automatic driving in which the vehicle condition follows a traveling route and automatic parking in a parking lot. The display of the landmark provided at the place where the vehicle is traveling on the traveling route is changed accordingly.
According to the configuration of the above embodiment, the location where the vehicle is traveling on the traveling route according to the change in the situation of the vehicle between the automatic traveling which follows the traveling route and the automatic parking which is parked in the parking lot. Change the display of landmarks provided in.
As a result, it is possible to display a display that gives information necessary for automatic driving when the vehicle automatically travels, and a display that gives information necessary for automatic parking when the vehicle automatically parks.

The management software for managing the parking lot according to the embodiment of the present invention is the vehicle of the traveling route according to whether the vehicle traveling by the display switching function is a vehicle that automatically travels or a vehicle that is manually driven. Change the display of landmarks provided in the place where you are driving.
According to the configuration of the above embodiment, the display of the landmark provided at the place where the vehicle is traveling on the traveling route is changed according to whether the traveling vehicle is an automatically traveling vehicle or a manually driven vehicle. ..
As a result, it is possible to display a display that gives information necessary for automatic driving when the vehicle automatically travels, and a display that gives information necessary for manual driving when the vehicle is manually driven.

The management software for managing the parking lot according to the embodiment of the present invention is a landmark provided at a position on the travel route where the vehicle is traveling according to the display switching function traveling on the travel route. The display is changed between the vehicle recognition display, which is a display in which the vehicle can recognize and acquire information, and the person recognition display, which is a display in which a person can recognize and acquire information.
According to the configuration of the above embodiment, the vehicle can recognize the display of the landmark provided at the place where the vehicle is traveling on the traveling route and acquire the information according to the vehicle traveling on the traveling route. Change between the vehicle recognition display and the person recognition display, which is a display that a person can recognize and acquire information.
As a result, when a vehicle in which a person is riding in the vehicle automatically travels, it is possible to display a display that gives information necessary for the automatic traveling and a display that gives information to the person in the vehicle.

In the management software for managing the parking lot according to the embodiment of the present invention, the place where the landmark is provided when the display switching function travels on the traveling route is in front of the vehicle traveling on the traveling route. Change the display of landmarks according to changes in the situation, whether it is behind or behind.
According to the configuration of the above embodiment, the situation changes whether the place where the landmark is provided when the vehicle travels on the travel route is in front of or behind the vehicle traveling on the travel route. Change the display of landmarks according to.
As a result, the information from the display that can be recognized from the front and the rear when viewed from the vehicle can be changed in conjunction with the vehicle traveling on the traveling route.

The management software for managing the parking lot according to the embodiment of the present invention is the driver's seat of the vehicle in which the place where the landmark is provided is traveling on the traveling route when the display switching function is traveling on the traveling route. The display of the landmark is changed according to the situation change whether it is visible from the driver's seat or not from the driver's seat.
According to the configuration of the above embodiment, when the display switching function travels on the traveling route, whether the place where the landmark is provided can be seen from the driver's seat or not from the driver's seat of the vehicle traveling on the traveling route. The display of the landmark is changed according to the change in the situation.
As a result, the display of the landmark can be changed according to a change in the situation whether the vehicle can be seen from the driver's seat or not from the driver's seat in conjunction with the vehicle traveling on the traveling route.

In the management software for managing the parking lot according to the embodiment of the present invention, the display switching function erases the display of the landmark provided at the place where the vehicle on the traveling route is not traveling.
According to the configuration of the above embodiment, the display switching function erases the display of the landmark provided at the place where the vehicle on the traveling route is not traveling.
As a result, the traveling vehicle does not recognize the landmark display at a position off the travel path.

An automatic vehicle capable of automatically traveling on a driving path by recognizing a display of a landmark provided along a traveling path connecting an entrance / exit of a parking lot and a plurality of parking lots according to an embodiment of the present invention and acquiring information. The management method for managing a parking lot that accepts parking of traveling vehicles is a preparatory process for establishing multiple landmarks along the driving path connecting the parking lot entrance / exit and the parking lot, and receiving a warehousing request or a warehousing request. Specify a specific parking lot, which is a parking lot for parking vehicles, and use a route along the route from the entrance / exit to the specific parking lot or a route along the route from the specific parking lot to the entrance / exit. It includes a travel route transmission step of transmitting information about a certain travel route to a vehicle, and a display switching step of changing the display of a landmark according to a change in the condition of the travel route or at least one of the conditions of the vehicle.

With the configuration of the above embodiment, the preparatory step provides a plurality of landmarks along the runway connecting the parking lot entrance / exit and the parking lot. The travel route transmission process identifies a specific parking zone, which is a parking zone for parking a vehicle in response to a warehousing request or a warehousing request, and is a travel route or a specific parking route along the travel path from the entry / exit port to the specific parking zone. Information about the travel route, which is the route along the travel route from the section to the entrance / exit, is transmitted to the vehicle. The display switching process changes the display of the landmark in response to a change in at least one of the road conditions or the vehicle conditions.
As a result, the vehicle can move and park flexibly in response to changes in at least one of the road conditions or the vehicle conditions.

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

In the management method for managing the parking lot according to the embodiment of the present invention, one of the display of the plurality of landmarks measures the relative position and the relative posture of the vehicle on the travel path with the landmark as a reference. You can read the reference line of.
According to the configuration of the above embodiment, the display of one of the plurality of landmarks can read the reference line for measuring the relative position and the relative posture of the vehicle on the traveling path with the landmark as a reference.
As a result, it is possible to know the relative position and relative posture of the vehicle on the traveling path with respect to the landmark by the reference line.

The management method for managing a parking lot according to an embodiment of the present invention changes the display of the landmark according to a change in the situation of a place where the display switching step provides a landmark of the traveling route of the parking lot.
According to the configuration of the above embodiment, the display switching step changes the display of the landmark according to the situation change of the place where the landmark of the traveling route of the parking lot is provided.
As a result, the vehicle can automatically travel and automatically park according to changes in the situation at the place where the landmark of the traveling route of the parking lot is provided.

In the management method for managing a parking lot according to the embodiment of the present invention, the display switching step changes the display of landmarks in the parking lot on the traveling route according to a change in the situation of the parking lot.
According to the configuration of the above embodiment, the display switching step changes the display of the landmark in the parking lot of the traveling route according to the change of the situation of the parking lot.
As a result, it is possible to display a display that gives information on the status of the parking lot to the vehicle traveling on the traveling route.

In the management method for managing the parking lot according to the embodiment of the present invention, the display switching step changes the display of landmarks in the parking lot on the traveling route according to the change in the parking lot status whether the parking lot can be stored or not. ..
According to the configuration of the above embodiment, the display switching step changes the display of the landmark in the parking section of the traveling route according to the change of the parking lot status of warehousing and non-warehousing.
As a result, it is possible to display a display that gives information on whether or not the parking lot can be stored in the vehicle traveling on the traveling route.

In the management method for managing the parking lot according to the embodiment of the present invention, the display switching step indicates that the parking lot has no vehicle, there is a vehicle, and there is no vehicle but the parking lot cannot be stored. Change the display of landmarks in the parking lot.
According to the configuration of the above embodiment, the display switching step displays landmarks in the parking section of the traveling route according to a change in the situation of no vehicle, no vehicle, no vehicle but no warehousing in the parking section. change.
As a result, it is possible to display information that the vehicle traveling on the traveling route does not have a vehicle in the parking zone, has a vehicle, or has no vehicle but cannot be stored.

The management method for managing the parking lot according to the embodiment of the present invention is provided at a place where the vehicle is traveling on the traveling route in accordance with a change in the situation of the vehicle traveling on the traveling route of the parking lot. Change the display of landmarks.
According to the configuration of the above embodiment, the display switching step changes the display of landmarks provided at the location where the vehicle is traveling on the traveling route according to a change in the situation of the vehicle traveling on the traveling route of the parking lot.
As a result, the vehicle traveling on the traveling route can acquire the information necessary for automatic driving from the landmark.

The management method for managing the parking lot according to the embodiment of the present invention is such that the display switching process changes between automatic driving in which the vehicle conditions follow a traveling route and automatic parking in a parking lot. The display of the landmark provided at the place where the vehicle is traveling on the traveling route is changed accordingly.
According to the configuration of the above-described embodiment, the display switching step of the vehicle on the traveling route is changed according to the change in the situation of the vehicle between the automatic traveling in which the vehicle travels along the traveling route and the automatic parking in which the parking lot is parked. Change the display of landmarks provided in the place where you are driving.
As a result, it is possible to display a display that gives information necessary for automatic driving when the vehicle automatically travels, and a display that gives information necessary for automatic parking when the vehicle automatically parks.

The management method for managing the parking lot according to the embodiment of the present invention is the location where the vehicle is traveling on the travel route according to whether the display switching process has a vehicle that automatically travels or a vehicle that is manually driven. Change the display of landmarks provided in.
According to the configuration of the above embodiment, the land provided at the place where the vehicle is traveling on the traveling route according to whether the vehicle traveling in the display switching step is a vehicle that automatically travels or a vehicle that is manually driven. Change the display of the mark.
As a result, it is possible to display a display that gives information necessary for automatic driving when the vehicle automatically travels, and a display that gives information necessary for manual driving when the vehicle is manually driven.

The management method for managing the parking lot according to the embodiment of the present invention is to display a landmark provided at a position on the travel route where the vehicle is traveling according to the display switching step when the vehicle travels on the travel route. Is changed between the vehicle recognition display, which is a display in which the vehicle can recognize and acquire information, and the person recognition display, which is a display in which a person can recognize and acquire information.
According to the configuration of the above embodiment, the vehicle recognizes the display of the landmark provided at the place where the vehicle is traveling on the traveling route according to the display switching step traveling on the traveling route, and obtains information. The display is changed between the vehicle recognition display, which is a display that can be acquired, and the person recognition display, which is a display that can be recognized and acquired by a person.
As a result, when a vehicle in which a person is riding in the vehicle automatically travels, it is possible to display a display that gives information necessary for the automatic traveling and a display that gives information to the person in the vehicle.

In the management method for managing the parking lot according to the embodiment of the present invention, the place where the landmark is provided when the vehicle travels on the travel route is in front of the vehicle traveling on the traveling route. Change the landmark display according to the situation change, whether it is behind or behind.
According to the configuration of the above embodiment, the situation changes whether the place where the landmark is provided when the vehicle travels on the travel route is in front of or behind the vehicle traveling on the travel route. Change the display of landmarks according to.
As a result, the information from the display that can be recognized from the front and the rear when viewed from the vehicle can be changed in conjunction with the vehicle traveling on the traveling route.

The management method for managing the parking lot according to the embodiment of the present invention is that when the vehicle travels on the travel route in the display switching step, the place where the landmark is provided is from the driver's seat of the vehicle traveling on the travel route. The display of the landmark is changed according to the situation change whether it is visible or invisible from the driver's seat.
According to the configuration of the above embodiment, when the vehicle travels on the travel route in the display switching process, whether the landmarks are visible from the driver's seat or not from the driver's seat of the vehicle traveling on the travel route. The display of the landmark is changed according to the change in the situation.
As a result, the display of the landmark can be changed according to a change in the situation whether the vehicle can be seen from the driver's seat or not from the driver's seat in conjunction with the vehicle traveling on the traveling route.

In the management method for managing the parking lot according to the embodiment of the present invention, the display switching step erases the display of the landmark provided at the place where the vehicle on the traveling route is not traveling.
According to the configuration of the above embodiment, the display switching step erases the display of the landmark provided at the place where the vehicle on the traveling route is not traveling.
As a result, the traveling vehicle does not recognize the landmark display at a position off the travel path.

As described above, the management software for managing the parking lot according to the present invention has the following effects depending on its configuration.
Since the vehicle recognizes the landmark display that changes according to the condition of the road or at least one of the conditions of the vehicle and acquires the information to automatically drive on the road, the vehicle is in the condition of the road. Alternatively, it can be flexibly moved and parked in response to changes in at least one of the vehicle conditions.
In addition, at least one of the multiple landmark displays can read the reference line for measuring the relative position and relative posture of the vehicle on the road with the landmark as a reference. It is possible to know the relative position and relative posture of the vehicle on the road based on the landmark.
In addition, since the display of the landmark is changed according to the change in the situation of the place where the landmark of the parking lot is provided, the situation of the place where the vehicle is provided with the landmark of the parking lot can be changed. It can automatically drive and park automatically according to the situation.
In addition, since the display of landmarks in the parking lot on the driving route is changed according to the change in the situation of the parking lot, a display that gives information on the situation of the parking lot to the vehicle traveling on the driving route is displayed. be able to.
In addition, the display of landmarks in the parking lot on the travel route is changed according to the change in the parking lot status, so that vehicles traveling on the travel route can enter the parking lot. , Can be displayed to give information about non-receipt.
In addition, the display of landmarks in the parking lot on the driving route is changed according to changes in the parking lot status such as no vehicle, no vehicle, no vehicle but no warehousing.
It is possible to display information that the vehicle traveling on the traveling route does not have a vehicle in the parking lot, has a vehicle, or has no vehicle but cannot be stored.
In addition, since the display of landmarks provided at the location where the vehicle is traveling on the traveling route is changed according to the change in the situation of the vehicle traveling on the traveling route of the parking lot, the vehicle traveling on the traveling route is changed. Can get the information necessary for automatic driving from the landmark.
In addition, as the condition of the vehicle changes between automatic driving that follows the traveling route and automatic parking that is parked in the parking lot, a landmark provided at the place where the vehicle is traveling on the traveling route. Since the display is changed, it is possible to display the information necessary for automatic parking when the vehicle automatically travels and to give the information necessary for automatic parking when the vehicle automatically parks.
In addition, the display of the landmarks provided at the place where the vehicle is traveling on the traveling route is changed according to whether the traveling vehicle is an automatically traveling vehicle or a manually driven vehicle. It is possible to display a display that gives information necessary for automatic driving when the vehicle is automatically driven, and a display that gives information necessary for manual driving when the vehicle is manually driven.
In addition, a vehicle recognition display and a person can acquire information by recognizing a landmark display provided at a place where the vehicle is traveling on the traveling route according to the vehicle traveling on the traveling route. Since the display is changed from the person recognition display, which is a display that can be recognized and information can be obtained, a display that gives information necessary for automatic driving when a vehicle with a person in the vehicle automatically travels is displayed. However, it is possible to display information that gives information to the passengers in the vehicle.
Also, when the vehicle travels on the travel route, the landmark display is changed according to the situation change whether the place where the landmark is received is in front of or behind the vehicle traveling on the travel route. Therefore, the information from the display that can be recognized from the front and the rear when viewed from the vehicle can be changed in conjunction with the vehicle traveling on the traveling route.
In addition, when the vehicle travels on the traveling route, the landmark is displayed according to the situation change whether the place where the landmark is provided can be seen from the driver's seat or not from the driver's seat of the vehicle traveling on the traveling route. Therefore, the display of the landmark can be changed according to a change in the situation whether the vehicle can be seen from the driver's seat or not from the driver's seat in conjunction with the vehicle traveling on the traveling route.
In addition, since the display of the landmark provided at the place where the vehicle on the traveling route is not traveling is turned off, the display of the landmark located at a position away from the traveling route is not recognized by the traveling vehicle.

As described above, the parking device management method according to the present invention has the following effects depending on its configuration.
Since the vehicle recognizes the landmark display that changes according to the condition of the road or at least one of the conditions of the vehicle and acquires the information to automatically drive on the road, the vehicle is in the condition of the road. Alternatively, it can be flexibly moved and parked in response to changes in at least one of the vehicle conditions.
In addition, at least one of the multiple landmark displays can read the reference line for measuring the relative position and relative posture of the vehicle on the road with the landmark as a reference. It is possible to know the relative position and relative posture of the vehicle on the road based on the landmark.
In addition, since the display of the landmark is changed according to the change in the situation of the place where the landmark of the parking lot is provided, the situation of the place where the vehicle is provided with the landmark of the parking lot can be changed. It can automatically drive and park automatically according to the situation.
In addition, since the display of landmarks in the parking lot on the driving route is changed according to the change in the situation of the parking lot, a display that gives information on the situation of the parking lot to the vehicle traveling on the driving route is displayed. be able to.
In addition, the display of landmarks in the parking lot on the travel route is changed according to the change in the parking lot status, so that vehicles traveling on the travel route can enter the parking lot. , Can be displayed to give information about non-receipt.
In addition, the display of landmarks in the parking lot on the driving route is changed according to changes in the parking lot status such as no vehicle, no vehicle, no vehicle but no warehousing.
It is possible to display information that the vehicle traveling on the traveling route does not have a vehicle in the parking lot, has a vehicle, or has no vehicle but cannot be stored.
In addition, since the display of landmarks provided at the location where the vehicle is traveling on the traveling route is changed according to the change in the situation of the vehicle traveling on the traveling route of the parking lot, the vehicle traveling on the traveling route is changed. Can get the information necessary for automatic driving from the landmark.
In addition, as the condition of the vehicle changes between automatic driving that follows the traveling route and automatic parking that is parked in the parking lot, a landmark provided at the place where the vehicle is traveling on the traveling route. Since the display is changed, it is possible to display the information necessary for automatic parking when the vehicle automatically travels and to give the information necessary for automatic parking when the vehicle automatically parks.
In addition, the display of the landmarks provided at the place where the vehicle is traveling on the traveling route is changed according to whether the traveling vehicle is an automatically traveling vehicle or a manually driven vehicle. It is possible to display a display that gives information necessary for automatic driving when the vehicle is automatically driven, and a display that gives information necessary for manual driving when the vehicle is manually driven.
In addition, a vehicle recognition display and a person can acquire information by recognizing a landmark display provided at a place where the vehicle is traveling on the traveling route according to the vehicle traveling on the traveling route. Since the display is changed from the person recognition display, which is a display that can be recognized and information can be obtained, a display that gives information necessary for automatic driving when a vehicle with a person in the vehicle automatically travels is displayed. However, it is possible to display information that gives information to the passengers in the vehicle.
In addition, when the vehicle travels on the travel route, the landmark display is changed according to the situation change of whether the place where the landmark is provided is in front of or behind the vehicle traveling on the travel route. Therefore, the information from the display that can be recognized from the front and the rear when viewed from the vehicle can be changed in conjunction with the vehicle traveling on the traveling route.
In addition, when the vehicle travels on the traveling route, the landmark is displayed according to the situation change whether the place where the landmark is provided can be seen from the driver's seat or not from the driver's seat of the vehicle traveling on the traveling route. Therefore, the display of the landmark can be changed according to a change in the situation whether the vehicle can be seen from the driver's seat or not from the driver's seat in conjunction with the vehicle traveling on the traveling route.
In addition, since the display of the landmark provided at the place where the vehicle on the traveling route is not traveling is turned off, the display of the landmark located at a position away from the traveling route is not recognized by the traveling vehicle.
Therefore, parking of an automatically traveling vehicle, which is a vehicle capable of automatically traveling on the driving path by recognizing the display of landmarks provided along the traveling path connecting the entrance / exit of the parking lot and a plurality of parking lots and acquiring information. It is possible to provide management software and a management method for managing the parking lot to be accepted.

It is a conceptual diagram of the parking device which concerns on embodiment of this invention. It is an example figure of the display of the landmark of the parking device which concerns on embodiment of this invention. FIG. 1 is a conceptual diagram of correction using a landmark of a parking device according to an embodiment of the present invention. FIG. 2 is a conceptual diagram of correction using a landmark of a parking device according to an embodiment of the present invention. It is an operation diagram of the parking device which concerns on embodiment of this invention.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

The control device for the parking device according to the embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a conceptual diagram of a parking device according to an embodiment of the present invention. FIG. 2 is an example diagram of a landmark display of a parking device according to an embodiment of the present invention. FIG. 3 is a conceptual diagram 1 of correction using a landmark of the parking device according to the embodiment of the present invention. FIG. 4 is a conceptual diagram No. 2 of the correction using the landmark of the parking device according to the embodiment of the present invention. FIG. 5 is an operation diagram of the parking device according to the embodiment of the present invention.

The management software and management method for managing the parking lot 5 according to the embodiment of the present invention are for managing the parking lot 5 that accepts the parking of the autonomous vehicle.
The self-driving vehicle recognizes the display of the landmark 40 provided at a predetermined location along the travel path 20 connecting the entrance / exit of the parking lot 5 and the plurality of parking lots 30, and acquires the information to obtain the travel path 20. It is a vehicle 10 capable of automatically traveling.
A plurality of landmarks 40 are provided at a plurality of predetermined locations along the traveling path 20 of the parking lot 5.

The management software for managing the parking lot 5 according to the embodiment of the present invention will be described below.
The management software for managing the parking lot 5 according to the embodiment of the present invention realizes a display switching function on the management computer 6.
The management software for managing the parking lot 5 according to the embodiment of the present invention realizes a traveling route transmission function and a display switching function on the management computer 6.

The travel route transmission function is a function of specifying a specific parking section 9 which is a parking section 30 for parking the vehicle 10 in response to a warehousing request or a warehousing request and transmitting information about the specific parking section 9.
The travel route transmission function is a route along the travel path 20 from the entry / exit port to the specific parking zone 9 by specifying the specific parking zone 9 which is the parking zone 30 for parking the vehicle 10 in response to the warehousing request or the warehousing request. Information regarding the travel route 8 which is a route along the travel route from the travel route 8 or the specific parking lot 9 to the entrance / exit may be transmitted to the vehicle 10.
When the vehicle 10 enters the garage, the travel route transmission function identifies the specific parking zone 9 which is the parking zone 30 for parking the vehicle 10 in response to the warehousing request, and the travel path 20 from the entry / exit port to the specific parking zone 9 This is a function of transmitting information about a certain warehousing travel route to the vehicle 10.
When the vehicle 10 leaves the garage, the travel route transmission function identifies the specific parking zone 9 which is the parking zone 30 where the vehicle 10 parks in response to the warehousing request, and the travel path 20 from the specific parking zone 9 to the entry / exit port This is a function of transmitting information about a certain leaving travel route to the vehicle 10.
For example, the information regarding the traveling route 8 is the map information of the traveling route 20 connecting the entrance / exit and the parking lot 30.
For example, the information regarding the warehousing travel route is a sequence of maneuvering commands of the vehicle 10 traveling from the warehousing entrance to the parking lot 30.
For example, the information regarding the exit travel route is a sequence of maneuvering commands of the vehicle 10 traveling from the parking lot 30 to the entry / exit port.

The display switching function is a function of changing the display of the landmark 40 according to a change in at least one of the conditions of the traveling road 20 and the vehicle 10.
The display switching function is a function of changing the display of the landmark 40 according to the situation of the traveling path 20 or at least one of the situations of the vehicle 10 when the vehicle 10 travels along the traveling path 8.
When the vehicle 10 travels between the entrance / exit and the parking lot 30 along the travel path 8, the display switching function makes a land according to a change in the condition of the travel path 20 or at least one of the conditions of the vehicle 10. This is a function for changing the display of the mark 40.
For example, the display switching function is a function of changing the display of the landmark 40 according to a change in the situation of the parking lot 5.
For example, the display switching function is a function of changing the display of the landmark 40 according to a change in the situation of the vehicle 10.
For example, the display switching function is a function of changing the display of the landmark 40 according to the situation change between the situation of the parking lot 5 and the situation of the vehicle 10.
FIG. 2 shows an example of displaying the landmark 40 of the parking device according to the embodiment of the present invention.

At least one of the landmark 40 displays may read the reference line 7 for measuring the relative positions X, Y and relative posture θ of the vehicle 10 on the travel path 20 with reference to the landmark 40. ..
At least one of the landmark 40 displays is a reference line for measuring the relative positions X and Y and the relative posture θ on the travel path 20 of the vehicle 10 with reference to the position and posture at which the landmark 40 is provided. 7 may be read.
Such a display of the landmark 40 is referred to as a position / posture correction display.
In this way, the camera of the vehicle 10 recognizes the position and the posture correction display, and determines the position within the captured image frame, the position of the reference line 7 of the posture correction display, the correction position which is the posture, and the correction posture. The relative positions X and Y and the relative posture θ on the travel path 20 of the vehicle 10 can be obtained from the extracted position and posture on which the landmark 40 is provided, the extracted correction position, and the correction posture.
3 and 4 show the concept of correction using the landmark 40 of the parking device according to the embodiment of the present invention.

The display switching function may change the display of the landmark 40 according to the situation change of the place where the landmark 40 of the traveling route 8 of the parking lot 5 is provided.
For example, when the place where the landmark 40 of the traveling route 8 of the parking lot 5 is provided is in a traveling situation, the display of the landmark 40 indicates that the landmark 40 can be traveled, and the landmark 40 of the traveling route 8 of the parking lot 5 is displayed. When the provided location is in a situation where the vehicle cannot travel, the landmark 40 is displayed to indicate that the vehicle cannot travel.
When the vehicle 10 automatically travels, when the display indicating that the landmark 40 can travel is recognized, the vehicle 10 passes through the portion of the traveling route 8 where the landmark 40 is provided. When the vehicle 10 automatically travels, when the display indicating that the landmark 40 cannot travel is recognized, the vehicle 10 stops at the place where the landmark 40 is provided on the traveling route 8 until the display indicating that the vehicle can travel is displayed. stand by.

The display switching function may change the display of the landmark 40 in the parking lot 30 of the traveling route 8 according to the change of the situation of the parking lot 30.
For example, the display of the landmark 40 is determined according to the situation of the parking lot 30. The display of the landmark 40 in the parking lot 30 of the traveling route 8 is changed to correspond to the situation of the parking lot 30 according to the change of the situation of the parking lot 30.

The display switching function may change the display of the landmark 40 in the parking lot 30 of the traveling route 8 according to the change of the parking lot 30 status of the parking lot 30 and the parking lot not possible.
For example, the display of the landmark 40 is determined according to the situation of the parking lot 30 whether the parking lot 30 can be stored or not. The display of the landmark 40 in the parking lot 30 of the traveling route 8 is changed to the one corresponding to the fact that the parking lot 30 can be parked or cannot be parked according to the change of the parking lot 30.

The display switching function changes the display of the landmark 40 in the parking lot 30 of the traveling route 8 according to the situation change of the parking lot 30 where there is no vehicle 10, there is a vehicle 10, and there is no vehicle 10 but the parking is not possible. You may.
For example, the display of the landmark 40 is determined according to the situation of the parking lot 30 that there is no vehicle 10, there is a vehicle 10, and there is no vehicle 10 but the parking is not possible. The situation of the parking lot 30 is that there is no vehicle 10, there is a vehicle 10, there is no vehicle 10, but the vehicle 10 does not display the landmark 40 in the parking lot 30 of the traveling route 8 according to the situation change. Change to the display corresponding to the presence of the vehicle 10 and the absence of the vehicle 10 but the warehousing is not possible.

The display switching function may change the display of the landmark 40 provided at the place where the vehicle 10 is traveling on the traveling route 8 according to the situation change of the vehicle 10 traveling on the traveling route 8 of the parking lot 5.
The display indicated by the landmark 40 is determined according to the type of automatic traveling of the vehicle 10.
For example, the display of the landmark 40 provided at the place where the vehicle 10 is traveling on the traveling route 8 is changed according to the type of automatic traveling of the vehicle 10 traveling on the traveling route 8 of the parking lot 5.
For example, depending on whether the type of automatic traveling of the vehicle 10 traveling on the traveling route 8 of the parking lot 5 is a vehicle / infrastructure balance type, an infrastructure-oriented type, or a vehicle-oriented type, the vehicle traveling on the traveling route 8 travels. The display of the landmark 40 provided at the designated place is changed.

The display switching function is such that the vehicle on the traveling route 8 is traveling according to the situation of the vehicle 10 changing between the automatic traveling traveling along the traveling route 8 and the automatic parking parked in the parking lot 30. The display of the landmark 40 provided at the location may be changed.
For example, when the situation of the vehicle 10 follows the traveling route 8 and automatically travels, the information necessary for traveling can be acquired by displaying the landmark 40 provided at the traveling location of the vehicle 10 on the traveling route 8. Then, when the vehicle 10 parks in the parking lot 30, the landmark 40 provided at the place where the vehicle 10 is traveling on the traveling route 8 is displayed so that the information necessary for parking can be acquired.
When the vehicle 10 follows the travel path 8 and automatically travels, it recognizes the display of the landmark 40 provided at the location where the vehicle 10 is traveling on the travel route 8 and goes straight, changes the course, and is in front of the specific parking lot 9. When the vehicle 10 stops and parks in the specific parking zone 9, the posture of the vehicle 10 is determined by recognizing the display of the landmark 40 provided at the place where the vehicle 10 is traveling on the travel route 8. Run to match and stop.

The display switching function of the landmark 40 provided at the traveling location of the vehicle 10 on the traveling route 8 according to whether the traveling vehicle 10 is the automatically traveling vehicle 10 and the manually driven vehicle 10. The display may be changed.
For example, when the situation of the vehicle 10 traveling on the traveling route 8 is the automatic driving mode, the camera for automatic driving recognizes the display of the landmark 40 provided at the traveling portion of the vehicle 10 on the traveling route 8. When the situation of the vehicle 10 traveling on the traveling route 8 is the manual driving mode, the display of the landmark 40 provided at the traveling portion of the vehicle 10 on the traveling route 8 is displayed by the driver for manual driving. Make it recognizable by humans. For example, a human-recognizable display is similar to a traffic sign.
When the vehicle 10 automatically travels, the camera recognizes the display of the landmark 40 provided at the place where the vehicle 10 is traveling to acquire information, and the vehicle 10 automatically travels. When the vehicle 10 automatically travels, a person recognizes the display of the landmark 40 provided at the place where the vehicle 10 is traveling, acquires information, and watches the automatic traveling of the vehicle 10.

The display switching function allows the vehicle 10 to recognize the display of the landmark 40 provided at the location where the vehicle 10 is traveling on the traveling route 8 and acquire information as the vehicle 10 travels on the traveling route 8. It may be changed between the vehicle recognition display which is a display and the person recognition display which is a display which a person can recognize and acquire information.
For example, as the vehicle 10 travels on the travel route 8, the landmark 40 located in front of the vehicle 10 among the landmarks 40 provided at the location where the vehicle 10 is traveling on the travel route 8 is displayed. The display is such that a person can recognize and acquire information, and the vehicle 10 can recognize the display of the landmark 40 located behind the vehicle 10 and acquire the information.
In this way, when the vehicle 10 on which the person is on board travels on the traveling route 8 by automatic traveling, the person can monitor the traveling along the traveling route 8. For example, when a human-recognizable display indicates a right turn and the vehicle 10 is about to turn left, the driver switches the automatic driving to the manual driving and manually drives the vehicle.

The display switching function makes a land according to the situation change whether the place where the landmark 40 is provided when the vehicle 10 travels on the travel route 8 is in front of or behind the vehicle 10 traveling on the travel route 8. The display of the mark 40 may be changed.
For example, the landmark 40 is divided into those shown in front of the vehicle 10 and those shown in the rear, and when the vehicle 10 travels on the traveling route 8, it is provided at a place where the vehicle 10 travels on the traveling route 8. The landmark 40 located in front of the vehicle 10 among the landmarks 40 is displayed in front of the vehicle 10, and the landmark 40 located behind the vehicle 10 is displayed in the rear of the vehicle 10. The display is switched as the vehicle 10 travels. For example, it is assumed that the display of the landmark 40 located in front of the vehicle 10 acquires information on the running, changing hands, and stopping of the vehicle 10, and the display of the landmark 40 located behind the vehicle 10 is the position of the vehicle 10. This is a display for position / posture correction that corrects posture information.

When the vehicle 10 travels on the travel route 8, the display switching function responds to a change in the situation whether the location where the landmark 40 is provided can be seen from the driver's seat or the driver's seat of the vehicle 10 traveling on the travel route. The display of the landmark 40 may be changed.
For example, it is defined in advance whether the vehicle 10 can be seen from the driver's seat or not from the driver's seat according to the relative position and posture from the vehicle, and a landmark 40 is provided when the vehicle 10 travels on the traveling path 8. The display of the landmark 40 is changed according to a change in the situation of whether the portion to be moved is visible from the driver's seat or not visible from the driver's seat of the vehicle 10 traveling on the traveling route.
For example, the display of the landmark 40 at a position visible from the driver's seat of the vehicle 10 is changed to a human-recognizable display, and the display of the landmark 40 at a position not visible from the driver's seat of the vehicle 10 is turned off.
For example, the display of the landmark 40 at a position visible from the driver's seat of the vehicle 10 is made a human recognizable display, and the display of the landmark 40 at a position not visible from the driver's seat of the vehicle 10 is made a display recognizable by the vehicle 10. ..

The display switching function may turn off the display of the landmark 40 provided at the place where the vehicle 10 on the traveling path 8 is not traveling.
The display switching function may turn off the display of the landmark 40 provided at a place where the vehicle 10 on the traveling path 20 is not traveling.
In this way, it is possible to prevent the display from being reflected on the landmark 40 which is far away from the view of the camera of the vehicle 10 traveling on the traveling path 8.

Next, a management method for managing the parking lot 5 according to the embodiment of the present invention will be described.
The management method for managing the parking lot 5 according to the embodiment of the present invention includes a preparation step and a display switching step.
The management method for managing the parking lot 5 according to the embodiment of the present invention is composed of a preparation step, a traveling route transmission step, and a display switching step.

The preparatory step is a step of providing a plurality of landmarks 40 along the traveling path 20 connecting the entrance / exit of the parking lot 5 and the parking lot 30.
The plurality of landmarks 40 are provided on the floor, walls, pillars, walls of the parking lot 30, and the like of the track 20.
The plurality of parking lots 30 are arranged along the traveling path 20.

The travel route transmission process is a step of implementing the travel route transmission function.
Since the details of the travel route transmission process are the same as the details of the travel route transmission function, the description thereof will be omitted.

The display switching step is a step of implementing the display switching function.
Since the details of the display switching process are the same as the details of the display switching function, the description thereof will be omitted.

Next, the operation of the parking lot 5 management software and the management method according to the first to third embodiments of the present invention will be described.
FIG. 5 is an operation diagram of the parking device according to the embodiment of the present invention.
The parking lot 5 according to the first embodiment of the present invention parks only an unmanned self-driving vehicle 10.
Hereinafter, for convenience of explanation, the type of automatic traveling of the vehicle 10 in the parking lot 5 will be described as a vehicle / infrastructure balance type.

<Receiving>
The vehicle 10 is driven and stops at the entrance / exit.
The driver makes a warehousing request and puts the vehicle 10 into the automatic driving mode.
The management computer 6 identifies the specific parking zone 9 which is the parking zone 30 for parking the vehicle 10 in response to the warehousing request, and sets the warehousing travel route which is the travel route 8 from the warehousing port to the specific parking zone 9 to the vehicle 10. Send.

<Automatic warehousing>
The vehicle 10 receives the warehousing travel route and automatically travels along the warehousing travel route 20 along the warehousing travel route.
As the vehicle 10 travels on the warehousing travel route, the camera recognizes the display of the landmarks 40 located in front of and behind the vehicle 10 and acquires information.
According to the traveling of the vehicle 10 along the warehousing travel route, the display of the landmark 40 located in front of the vehicle 10 is recognized and information is acquired, and the display of the landmark 40 located behind the vehicle 10 is recognized and information is obtained. To get.
When the vehicle 10 travels on the warehousing travel route, the vehicle 10 updates the position information recorded by the vehicle 10.
The vehicle 10 recognizes the display of the landmark 40 provided on the floor of the traveling path 20, acquires the information necessary for correcting the position and posture of the vehicle 10, and corrects the position information recorded by the vehicle 10.
When the vehicle 10 comes in front of the specific parking section 9, the automatic driving mode is changed to the automatic parking mode.
The vehicle 10 recognizes the display of the landmark 40 provided around the specific parking section 9 and acquires the information necessary for automatic parking.
The vehicle 10 stops so as to fit in the specific parking section 9 using the information necessary for automatic parking, and ends the automatic running.

<Delivery>
Receive a delivery request from the driver.
In response to the warehousing request, the specific parking section 9 in which the vehicle 10 is parked is specified, and the warehousing travel route, which is the travel route 8 from the specific parking ward 9 to the entry / exit port, is transmitted to the vehicle 10.

<Automatic delivery>
The vehicle 10 receives the delivery travel route.
The vehicle 10 recognizes the display of the landmark 40 provided around the specific parking lot 9 and acquires the information.
The vehicle 10 exits from the specific parking lot 9 based on the acquired information.
As the vehicle 10 travels on the delivery travel route, the camera recognizes the display of the landmarks 40 located in front of and behind the vehicle 10 and acquires information.
When the vehicle 10 travels on the warehousing travel route, the position information recorded by the vehicle 10 is updated.
The vehicle 10 recognizes the display of the landmark 40 provided on the floor of the traveling path 20, acquires the information necessary for correcting the position and posture of the vehicle 10, and corrects the position information recorded by the vehicle 10.
The vehicle 10 reaches the entrance / exit and stops automatic driving.
The driver gets into the vehicle 10 and runs.

Next, the operation of the parking lot 5 management software and the management method according to the second embodiment of the present invention will be described.
The parking lot 5 according to the second embodiment of the present invention is for parking only the vehicle 10 on which the driver can ride and automatically travel.
Hereinafter, for convenience of explanation, the type of automatic traveling of the vehicle 10 in the parking lot 5 will be described as a vehicle / infrastructure balance type.

<Receiving>
The vehicle 10 is driven and stops at the entrance / exit.
The driver makes a warehousing request and puts the vehicle 10 into the automatic driving mode.
The management computer 6 identifies the specific parking zone 9 which is the parking zone 30 for parking the vehicle 10 in response to the warehousing request, and sets the warehousing travel route which is the travel route 8 from the warehousing port to the specific parking zone 9 to the vehicle 10. Send.

<Automatic warehousing>
The vehicle 10 receives the warehousing travel route and automatically travels along the warehousing travel route 20 along the warehousing travel route.
As the vehicle 10 travels on the warehousing travel route, the camera recognizes the display of the landmarks 40 located in front of and behind the vehicle 10 and acquires information.
According to the traveling of the vehicle 10 along the warehousing travel route, the display of the landmark 40 located in front of the vehicle 10 is recognized and information is acquired, and the display of the landmark 40 located behind the vehicle 10 is recognized and information is obtained. To get.
When the vehicle 10 travels on the warehousing travel route, the position information recorded by the vehicle 10 is updated.
The vehicle 10 recognizes the display of the landmark 40 provided on the floor of the traveling path 20, acquires the information necessary for correcting the position and posture of the vehicle 10, and corrects the position information recorded by the vehicle 10.
While the vehicle 10 is running, the driver on the vehicle 10 confirms the safety of the running.
For example, when the driver recognizes the display of the landmark 40 and there is a contradiction between the acquired information and the movement of the vehicle 10, the driver switches the automatic driving to the manual driving.
The driver sees a display on which a person can recognize and acquire information, and when there is a contradiction between the information and the movement of the vehicle 10, the driver switches the automatic driving to manual driving.
For example, the driver sees a display that can be recognized and acquired by a person in front of the vehicle 10, and when there is a contradiction between the information and the movement of the vehicle 10, the driver switches the automatic driving to manual driving.
When the vehicle 10 comes in front of the specific parking section 9, the automatic driving mode is changed to the automatic parking mode.
The vehicle 10 recognizes the display of the landmark 40 provided around the specific parking section 9 and acquires the information necessary for automatic parking.
The vehicle 10 stops so as to fit in the specific parking section 9 using the information necessary for automatic parking, and ends the automatic running.

<Delivery>
Receive a delivery request from the driver.
In response to the warehousing request, the specific parking zone 9 in which the vehicle 10 is parked is specified, and the warehousing travel route, which is the travel route 8 from the specific parking zone 9 to the entry / exit port, is transmitted to the vehicle 10.

<Automatic delivery>
The vehicle 10 receives the delivery travel route.
The vehicle 10 recognizes the display of the landmark 40 provided around the specific parking lot 9 and acquires the information.
The vehicle 10 exits from the specific parking lot 9 based on the acquired information.
As the vehicle 10 travels on the delivery travel route, the camera recognizes the display of the landmarks 40 located in front of and behind the vehicle 10 and acquires information.
When the vehicle 10 travels on the delivery travel route, the position information recorded by the vehicle 10 is updated.
The vehicle 10 recognizes the display of the landmark 40 provided on the floor of the traveling path 20, acquires the information necessary for correcting the position and posture of the vehicle 10, and corrects the position information recorded by the vehicle 10.
While the vehicle 10 is running, the driver on the vehicle 10 confirms the safety of the running.
For example, when the driver recognizes the display of the landmark 40 and there is a contradiction between the acquired information and the movement of the vehicle 10, the driver switches the automatic driving to the manual driving.
The vehicle 10 reaches the entrance / exit and stops automatic driving.
The driver steers the vehicle 10 and exits the parking lot 5.

Next, the operation of the parking lot 5 management software and the management method according to the third embodiment of the present invention will be described.
In the parking lot 5 according to the third embodiment of the present invention, a vehicle 10 capable of automatically traveling and a vehicle 10 manually driven are mixed and parked.
Hereinafter, for convenience of explanation, the type of automatic traveling of the vehicle 10 in the parking lot 5 will be described as a vehicle / infrastructure balance type.

<Receiving>
The vehicle 10 is driven and stops at the entrance / exit.
The driver makes a warehousing request and puts the automatically traveling vehicle 10 into the automatic traveling mode.
The management computer 6 identifies the specific parking zone 9 which is the parking zone 30 for parking the vehicle 10 in response to the warehousing request, and sets the warehousing travel route which is the travel route 8 from the warehousing port to the specific parking zone 9 to the vehicle 10. Send.

<Automatic warehousing>
The vehicle 10 that automatically travels receives the warehousing travel route and automatically travels along the warehousing travel route 20 along the warehousing travel route.
The manually driven vehicle 10 also receives the warehousing travel route and automatically travels along the warehousing travel route 20 along the warehousing travel route.
As the automatically traveling vehicle 10 travels on the warehousing travel route, the camera recognizes the display of the landmarks 40 located in front of and behind the vehicle 10 and acquires information.
When the automatically traveling vehicle 10 travels on the warehousing travel route, the position information recorded by the vehicle 10 is updated.
The manually driven vehicle 10 visually recognizes the display of landmarks 40 located in front of and behind the vehicle 10 and acquires information as the driver travels along the warehousing travel route.
According to the traveling of the vehicle 10 along the warehousing travel route, the display of the landmark 40 located in front of the vehicle 10 is recognized and information is acquired, and the display of the landmark 40 located behind the vehicle 10 is recognized and information is obtained. To get.
When the vehicle 10 travels on the warehousing travel route, the position information recorded by the vehicle 10 is updated.
When the vehicle 10 that automatically travels comes in front of the specific parking section 9, the automatic driving mode is changed to the automatic parking mode.
The vehicle 10 that automatically travels recognizes the display of the landmark 40 provided around the specific parking lot 9 and acquires the information necessary for automatic parking.
The vehicle 10 that automatically travels stops so as to fit in the specific parking section 9 using the information necessary for automatic parking, and the automatic traveling ends.
When the vehicle 10 to be manually driven comes in front of the specific parking zone 9, the vehicle 10 is put in the specific parking zone 9 and stopped, and the manual operation is stopped.

<Delivery>
Receive a delivery request from the driver.
In response to the warehousing request, the specific parking section 9 in which the vehicle 10 is parked is specified, and the warehousing travel route, which is the travel route 8 from the specific parking ward 9 to the entry / exit port, is transmitted to the vehicle 10.

<Automatic delivery>
The vehicle 10 receives the delivery travel route.
The vehicle 10 that automatically travels recognizes the display of the landmark 40 provided around the specific parking lot 9 and acquires the information.
The driver of the manually driven vehicle 10 recognizes the display of the landmark 40 provided around the specific parking lot 9 and acquires the information.
The vehicle 10 that automatically travels exits from the specific parking lot 9 based on the acquired information.
The manually driven vehicle 10 also exits the specific parking lot 9 based on the acquired information.
As the automatically traveling vehicle 10 travels on the delivery travel route, the camera recognizes the display of the landmarks 40 located in front of and behind the vehicle 10 and acquires information.
When the automatically traveling vehicle 10 travels on the exit travel route, the position information recorded by the vehicle 10 is updated.
The automatically traveling vehicle 10 recognizes the display of the landmark 40 provided on the floor of the traveling path 20, acquires the information necessary for correcting the position and posture of the vehicle 10, and obtains the position information recorded by the vehicle 10. to correct.
The vehicle 10 that automatically travels reaches the entrance / exit and stops the automatic traveling.
The manually driven vehicle 10 reaches the entry / exit port.
The driver steers the vehicle 10 and exits the parking lot 5.

Further, the management software and the management method for managing the parking lot 5 according to the embodiment of the present invention have the following effects depending on the configuration.
Since the vehicle 10 recognizes the display of the landmark 40 that changes according to the situation of the traveling road 20 or at least one of the situations of the vehicle 10 and acquires the information, the vehicle automatically travels on the traveling road 20. 10 can move and park flexibly according to a change in the situation of the traveling path 20 or at least one of the situations of the vehicle 10.
Further, one of the landmark 40 displays is a reference for measuring the relative positions X and Y and the relative posture θ on the travel path 20 of the vehicle 10 with reference to the position and posture at which the landmark 40 is provided. Since the line 7 can be read, the relative positions X and Y and the relative posture θ on the travel path 20 of the vehicle 10 based on the position and posture at which the landmark 40 is provided can be known from the reference line 7.
Further, since the display of the landmark 40 is changed according to the change in the situation of the place where the landmark 40 of the traveling route 8 of the parking lot 5 is provided, the vehicle 10 is the landmark 40 of the traveling route 8 of the parking lot 5. It is possible to automatically drive and park automatically according to changes in the situation of the place where the parking lot is provided.
Further, since the display of the landmark 40 in the parking lot 30 of the traveling route 8 is changed according to the change of the situation of the parking lot 30, the vehicle 10 traveling on the traveling route is related to the situation of the parking lot 30. It can be displayed to give information.
Further, since the display of the landmark 40 in the parking lot 30 of the traveling route 8 is changed according to the change of the parking lot 30 whether it can be stored or not, the vehicle 10 traveling on the traveling route 8 is changed. Can be displayed to give information on whether the parking lot 30 can be stored or not.
In addition, the display of the landmark 40 in the parking lot 30 of the traveling route 8 is changed according to the situation of the parking lot 30 such that there is no vehicle 10, there is a vehicle 10, and there is no vehicle 10 but the parking is not possible. Because I did
It is possible to display that the vehicle 10 traveling on the travel path 8 gives information regarding the absence of the vehicle 10 in the parking lot 30, the presence of the vehicle 10, and the absence of the vehicle 10 but the warehousing is not possible.
Further, since the display of the landmark 40 provided at the place where the vehicle 10 is traveling on the traveling route 8 is changed according to the situation change of the vehicle 10 traveling on the traveling route 8 of the parking lot 5, the traveling route is changed. The vehicle 10 traveling in 8 can acquire information necessary for automatic traveling from the landmark 40.
Further, as the situation of the vehicle 10 changes between the automatic traveling that follows the traveling route 8 and the automatic parking that parks in the parking lot 30, the vehicle 10 of the traveling route 8 is changed to the traveling portion. Since the display of the provided landmark 40 is changed, a display that gives information necessary for automatic driving when the vehicle 10 automatically runs is displayed, and information necessary for automatic parking is given when the vehicle 10 automatically parks. Can be displayed.
Further, the display of the landmark 40 provided at the traveling portion of the vehicle 10 on the traveling route 8 is changed according to whether the traveling vehicle 10 is the automatically traveling vehicle 10 and the manually driven vehicle 10. Therefore, it is possible to display a display that gives information necessary for automatic driving when the vehicle 10 automatically travels, and a display that gives information necessary for manual driving when the vehicle 10 manually drives.
Further, it is a display in which the vehicle 10 can recognize the display of the landmark 40 provided at the position where the vehicle 10 is traveling on the traveling route 8 and acquire the information as the vehicle 10 travels on the traveling route 8. Since the vehicle recognition display and the person recognition display, which is a display that allows a person to recognize and acquire information, are changed, when the vehicle 10 with a person on the vehicle 10 automatically runs, the vehicle automatically runs. It is possible to display the information necessary for the vehicle 10 and to give the information to the person riding the vehicle 10.
Further, when the vehicle 10 travels on the traveling route 8, the landmark 40 is provided according to a change in the situation of whether the location where the landmark 40 is provided is in front of or behind the vehicle 10 traveling on the traveling route 8. Since the display of is changed, the information from the display that can be recognized from the front and the rear when viewed from the vehicle 10 can be changed in conjunction with the vehicle 10 traveling on the traveling path 8.
Further, when the vehicle 10 travels on the traveling route 8, the land where the landmark 40 is provided can be seen from the driver's seat or not from the driver's seat of the vehicle 10 traveling on the traveling route. Since the display of the mark 40 is changed, the landmark 40 is displayed according to the situation change of whether the vehicle 10 can be seen from the driver's seat or not from the driver's seat in conjunction with the vehicle 10 traveling on the traveling route 8. You can change the display.
Further, since the display of the landmark 40 provided at the place where the vehicle 10 of the traveling route 8 is not traveling is erased, the display of the landmark 40 at the position where the traveling vehicle 10 is separated from the traveling route 8 is displayed. Does not recognize.

The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the gist of the invention.
Landmark 40 exemplifies four types of indications, but is not limited thereto. For example. The display of the landmark 40 may conform to the display of the traffic sign. In addition, the landmark 40 display can be recognized by a camera and acquired information, can be recognized by a radar and acquired information, can be recognized by a sound wave sensor and acquired information, and can be visually recognized and acquired information. Other formats may be used.
The description has been given with an example in which the autonomous vehicle travels between the entrance / exit and the specific parking lot in the automatic driving mode, but the present invention is not limited to this. For example, the self-driving vehicle may travel between the entrance / exit and the front of the specific parking zone in the automatic driving mode, and may enter / exit the specific parking zone in the manual driving mode. Further, the self-driving vehicle may travel between the entrance / exit and the front of the specific parking zone in the manual driving mode, and may enter / exit the specific parking zone in the automatic driving mode.

5 Parking lot 6 Management computer 7 Reference line 8 Travel route 9 Specified parking lot X Relative position Y Relative position θ Relative posture 10 Vehicle 20 Roadway 30 Parking lot 40 Landmark

JP 2015-153145 Japanese Patent Application Laid-Open No. 10-275300 JP 2011-54116 JP-A-208-52670 2017 R & D / Demonstration Project for Social Implementation of Advanced Autonomous Driving System R & D Achievement Report Necessary for Demonstration of Autonomous Valet Parking and Realization of Advanced Autonomous Driving System March 2018 Two General Incorporated Foundations Automotive Research Institute

Claims (48)

An autonomous vehicle that can automatically travel on a road by recognizing the display of landmarks provided at predetermined locations along the road that connects the entrance and exit of a parking lot and multiple parking lots and acquiring information. Management software that manages parking lots that accept parking
Multiple landmarks are set up along the parking lot track,
On the management computer
Specify a specific parking lot that is a parking lot where vehicles are parked in response to a warehousing request or a warehousing request, and then go from the warehousing / exiting port to the warehousing / exiting port A travel route transmission function that transmits information about the travel route, which is a route along the travel route, to the vehicle,
A display switching function that changes the landmark display according to changes in at least one of the road conditions or vehicle conditions.
Realize,
Management software characterized by this. At least one of the landmark displays can read a reference line for measuring the relative position and orientation of the vehicle on the road with reference to the landmark.
The management software according to claim 1. The display switching function changes the display of the landmark according to the situation change of the place where the landmark of the traveling route of the parking lot is provided.
The management software according to claim 2, wherein the management software is characterized by the above. The display switching function changes the display of landmarks in the parking section of the traveling route according to changes in the situation of the parking section.
The management software according to claim 3, characterized in that. The display switching function changes the display of landmarks in the parking lot of the traveling route according to the change in the parking lot status of warehousing or not.
The management software according to claim 4, wherein the management software is characterized by the above. The display switching function changes the display of landmarks in the parking section of the traveling route according to changes in the situation of no vehicle, no vehicle, no vehicle but no warehousing in the parking lot.
The management software according to claim 5, characterized in that. The display switching function changes the display of landmarks provided at a place where the vehicle is traveling on the traveling route according to a change in the situation of the vehicle traveling on the traveling route of the parking lot.
The management software according to claim 6, wherein the management software is characterized in that. The display switching function is provided at the place where the vehicle is traveling on the traveling route according to the change between the automatic traveling in which the vehicle travels along the traveling route and the automatic parking parked in the parking lot. Change the display of landmarks,
The management software according to claim 7, characterized in that. The display of the landmark provided at the place where the vehicle is traveling on the traveling route is changed according to whether the vehicle traveling by the display switching function is a vehicle that automatically travels or a vehicle that is manually driven.
The management software according to claim 8, wherein the management software is characterized by the above. The vehicle recognition display is a display in which the display switching function allows the vehicle to recognize and acquire information on the display of landmarks provided at the location where the vehicle is traveling on the travel route according to the vehicle traveling on the travel route. And the person recognition display, which is a display that people can recognize and acquire information,
9. The management software according to claim 9. The display switching function displays the landmark according to the situation change whether the place where the landmark is provided when the vehicle travels on the travel route is in front of or behind the vehicle traveling on the travel route. Change,
10. The management software according to claim 10. When the display switching function is used when the vehicle travels on the traveling route, the land where the landmark is provided can be seen from the driver's seat or not from the driver's seat of the vehicle traveling on the traveling route. Change the display of the mark,
The management software according to claim 11. The display switching function erases the display of landmarks provided in places where vehicles on the travel route are not traveling.
12. The management software according to claim 12. The display switching function changes the display of the landmark according to the situation change of the place where the landmark of the traveling route of the parking lot is provided.
The management software according to claim 1. The display switching function changes the display of landmarks in the parking section of the traveling route according to changes in the situation of the parking section.
The management software according to claim 1. The display switching function changes the display of landmarks in the parking lot of the traveling route according to the change in the parking lot status of warehousing or not.
The management software according to claim 1. The display switching function changes the display of landmarks in the parking section of the traveling route according to changes in the situation of no vehicle, no vehicle, no vehicle but no warehousing in the parking lot.
The management software according to claim 1. The display switching function changes the display of landmarks provided at a place where the vehicle is traveling on the traveling route according to a change in the situation of the vehicle traveling on the traveling route of the parking lot.
The management software according to claim 1. The display switching function is provided at the place where the vehicle is traveling on the traveling route according to the change between the automatic traveling in which the vehicle travels along the traveling route and the automatic parking parked in the parking lot. Change the display of landmarks,
The management software according to claim 1. The display of the landmark provided at the place where the vehicle is traveling on the traveling route is changed according to whether the vehicle traveling by the display switching function is a vehicle that automatically travels or a vehicle that is manually driven.
The management software according to claim 1. The vehicle recognition display is a display in which the display switching function allows the vehicle to recognize and acquire information on the display of landmarks provided at the location where the vehicle is traveling on the travel route according to the vehicle traveling on the travel route. And the person recognition display, which is a display that people can recognize and acquire information,
The management software according to claim 1. The display switching function displays the landmark according to the situation change whether the place where the landmark is provided when the vehicle travels on the travel route is in front of or behind the vehicle traveling on the travel route. Change,
The management software according to claim 1. When the display switching function is used when the vehicle travels on the traveling route, the land where the landmark is provided can be seen from the driver's seat or not from the driver's seat of the vehicle traveling on the traveling route. Change the display of the mark,
The management software according to claim 1. The display switching function erases the display of landmarks provided in places where vehicles on the travel route are not traveling.
The management software according to claim 1. Self-driving vehicles that can automatically drive on the road by recognizing the display of landmarks provided at predetermined locations along the road connecting the entrance and exit of the parking lot and multiple parking lots and acquiring information. It is a management method to manage the parking lot that accepts parking.
A preparatory process to set up multiple landmarks along the road connecting the parking lot entrance and exit and the parking lot,
Specify a specific parking lot that is a parking lot for parking vehicles in response to a warehousing request or a warehousing request. A travel route transmission process for transmitting information about a travel route, which is a route along the travel route of
A display switching process that changes the landmark display according to changes in at least one of the road conditions or the vehicle conditions.
A management method characterized by being prepared. One of the landmark displays can read a reference line for measuring the relative position and relative posture of the vehicle on the road with reference to the landmark.
25. The management method according to claim 25. The display switching step changes the display of the landmark according to the change in the situation of the place where the landmark of the traveling route of the parking lot is provided.
26. The management method according to claim 26. The display switching step changes the display of landmarks in the parking section of the traveling route according to changes in the situation of the parking section.
27. The management method according to claim 27. The display switching process changes the display of landmarks in the parking lot of the traveling route according to the change in the parking lot status of warehousing or not.
28. The management method according to claim 28. The display switching step changes the display of landmarks in the parking lot of the traveling route according to changes in the situation of no vehicle, no vehicle, no vehicle but no warehousing in the parking lot.
29. The management method according to claim 29. The display switching step changes the display of landmarks provided at a place where the vehicle is traveling on the traveling route according to a change in the situation of the vehicle traveling on the traveling route of the parking lot.
30. The management method according to claim 30. The display switching step is provided at a place where the vehicle is traveling on the traveling route according to the change between the automatic traveling in which the vehicle conditions follow the traveling route and the automatic parking in which the parking lot is parked. Change the display of landmarks,
31. The management method according to claim 31. The display of the landmark provided at the place where the vehicle is traveling on the traveling route is changed according to whether the vehicle traveling in the display switching process is a vehicle that automatically travels or a vehicle that is manually driven.
32. The management method according to claim 32. The vehicle recognition display is a display in which the vehicle can recognize and acquire information on the display of landmarks provided at the location where the vehicle is traveling on the travel route in accordance with the display switching step as the vehicle travels on the travel route. And the person recognition display, which is a display that people can recognize and acquire information,
33. The management method according to claim 33. In the display switching process, when the vehicle travels on the travel route, the landmark is displayed according to the situation change whether the place where the landmark is provided is in front of or behind the vehicle traveling on the travel route. Change,
34. The management method according to claim 34. When the vehicle travels on the travel route in the display switching process, the land where the landmark is provided can be seen from the driver's seat or not from the driver's seat of the vehicle traveling on the travel route. Change the display of the mark,
35. The management method according to claim 35. The display switching process erases the display of landmarks provided at places where vehicles on the travel route are not traveling.
36. The management method according to claim 36. The display switching step changes the display of the landmark according to the change in the situation of the place where the landmark of the traveling route of the parking lot is provided.
25. The management method according to claim 25. The display switching step changes the display of landmarks in the parking section of the traveling route according to changes in the situation of the parking section.
25. The management method according to claim 25. In the display switching step, the display of the landmark in the parking lot of the traveling route is changed according to the change that the vehicle can enter the parking lot and cannot enter the parking lot.
25. The management method according to claim 25. The display switching step changes the display of landmarks in the parking lot of the traveling route according to changes in the situation of no vehicle, no vehicle, no vehicle but no warehousing in the parking lot.
25. The management method according to claim 25. The display switching step changes the display of landmarks provided at a place where the vehicle is traveling on the traveling route according to a change in the situation of the vehicle traveling on the traveling route of the parking lot.
25. The management method according to claim 25. The display switching step is provided at a place where the vehicle is traveling on the traveling route according to the change between the automatic traveling in which the vehicle conditions follow the traveling route and the automatic parking in which the parking lot is parked. Change the display of landmarks,
25. The management method according to claim 25. The display of the landmark provided at the place where the vehicle is traveling on the traveling route is changed according to whether the vehicle traveling in the display switching process is a vehicle that automatically travels or a vehicle that is manually driven.
25. The management method according to claim 25. The vehicle recognition display is a display in which the vehicle can recognize and acquire information on the display of landmarks provided at the location where the vehicle is traveling on the travel route in accordance with the display switching step as the vehicle travels on the travel route. And the person recognition display, which is a display that people can recognize and acquire information,
25. The management method according to claim 25. In the display switching process, when the vehicle travels on the travel route, the landmark is displayed according to the situation change of whether the place where the landmark is provided is in front of or behind the vehicle traveling on the travel route. Change,
25. The management method according to claim 25. When the vehicle travels on the travel route in the display switching process, the land where the landmark is provided can be seen from the driver's seat or not from the driver's seat of the vehicle traveling on the travel route. Change the display of the mark,
25. The management method according to claim 25. The display switching process erases the display of landmarks provided at places where vehicles on the travel route are not traveling.
25. The management method according to claim 25.

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