JP2021103490A - Parking system - Google Patents

Abstract

To realize a parking system that generates a route for a guided vehicle so as not to interfere with a non-guided vehicle in a parking lot where the guided vehicle and the non-guided vehicle coexist.SOLUTION: A vacant parking space presentation unit 10 presents a position of a vacant parking space 105 to a driver. Next, a parking space selection unit 11 causes the driver to select a desired vacant parking space 105. Next, in the case of a non-guided vehicle, a non-guided vehicle route prediction unit 12 predicts a route of the non-guided vehicle from position information of the selected vacant parking space 105 and past route information of the non-guided vehicle. In the case of a guided vehicle, a guided vehicle route generation unit 13 generates a route of the guided vehicle from the position information of the selected vacant parking space 105 and the predicted route information of the non-guided vehicle.SELECTED DRAWING: Figure 1

Description

The present invention relates to a parking system that generates a route for a guided vehicle that automatically enters and exits a parking lot.

Development of an automatic parking system that automates from the entrance of the parking lot to the parking space desired by the driver, or from the parking space to the exit of the parking lot, regardless of the driver's driving is underway. At the initial stage of the introduction of the automatic parking system, the automatic parking system is installed, and the vehicle whose movement in the parking lot is automated (hereinafter referred to as the vehicle to be guided in this specification) and the automatic parking system are installed. However, when moving in the parking lot, vehicles driven by the driver (hereinafter referred to as non-guided vehicles in the present invention) are mixed.

Patent Document 1 describes that when a guidance target vehicle and a non-guidance vehicle coexist, the non-guidance vehicle is mounted on a transport robot and automatically guided to a parking space.

JP-A-2017-204151

In an environment where guided vehicles and non-guided vehicles coexist, it is necessary that the route of the guided vehicle does not interfere with the non-guided vehicle. Here, the interference means that the positions for each time calculated from each route overlap, or the distance is equal to or less than the specified value. Conventionally, there has been no established method for generating a route for a vehicle to be guided in such a case.

In Patent Document 1, since the non-guided vehicle is moved at the warehousing port by using the transport robot, there is a possibility that the traffic jam waiting for the transport robot occurs at the warehousing port and the service level of the parking lot is lowered. In addition, since it is necessary to move the parking space from the parking space to the exit at the time of leaving the parking lot, there is a possibility that traffic congestion may occur in the parking lot. These traffic jams can be alleviated by increasing the number of transport robots, but it costs a lot of money.

Therefore, an object of the present invention is to realize a parking system that generates a route of a guided vehicle so as not to interfere with the non-guided vehicle in a parking lot where a guided vehicle and a non-guided vehicle coexist.

The present invention includes a vehicle detection unit that detects the position of a vehicle in a parking lot, a parking detection unit that detects the presence or absence of parking in each parking space in the parking lot, and an empty parking space based on detection by the vehicle detection unit and the parking detection unit. An empty parking space presentation unit that identifies and presents an empty parking space to the driver of the vehicle, an empty parking space selection unit that allows the driver of the vehicle to select a desired empty parking space, and a vehicle that moves in the parking lot. In the case of a non-guided vehicle driven by a driver, a non-guided vehicle route that generates a predicted route of the non-guided vehicle from the position of an empty parking space selected by the driver of the non-guided vehicle and the route information of the past non-guided vehicle. When the prediction unit and the vehicle is a guidance target vehicle whose movement in the parking lot is automated, the position of the vacant parking space selected by the driver of the guidance target vehicle and the non-guidance vehicle route prediction unit predict the position. The parking system is characterized by having a guided vehicle route generation unit that generates a route of the guided vehicle from the predicted route of the non-guided vehicle.

The non-guided vehicle may further have a first predicted route display unit that displays a predicted route generated by the non-guided vehicle route prediction unit.

If the vehicle does not select or cannot select an empty parking space and the movement in the parking lot is a non-guided non-selected vehicle driven by the driver, the closest empty space in the traveling direction of the non-guided non-selected vehicle. It further has a non-guided non-selected vehicle route prediction unit that generates a predicted route of the non-guided non-selected vehicle from the position of the parking space and the route information of the past non-guided vehicle and the non-guided non-selected vehicle, and generates a guided vehicle route. The unit includes the position of the vacant parking space selected by the driver of the guided vehicle, the predicted route of the non-guided vehicle predicted by the non-guided vehicle route prediction unit, and the non-guidance predicted by the non-guided non-selected vehicle route prediction unit. The route of the guided vehicle may be generated from the predicted route of the non-selected vehicle.

The non-guided non-selected vehicle route prediction unit regenerates the predicted route of the non-guided non-selected vehicle each time the predicted route of the non-guided non-selected vehicle deviates. The route of the guided vehicle may be regenerated every time the predicted route is regenerated.

The non-guided non-selected vehicle may further have a second predicted route display unit that displays the predicted route generated by the non-guided non-selected vehicle route prediction unit.

According to the present invention, it is possible to generate a route so that the guided vehicle does not interfere with the non-guided vehicle even in a parking lot where the guided vehicle and the non-guided vehicle coexist. In addition, since a transfer robot is not required, the cost is low, and there is no possibility that traffic jams waiting for the transfer robot will occur in the warehousing port or the parking lot.

The figure which showed the structure of the parking system of Example 1. FIG. The figure which showed the structure of the parking lot. Flowchart of route generation of vehicle to be guided. The figure which showed the specific example about the route generation of the vehicle to be guided. The figure which showed the specific example about the route generation of the vehicle to be guided. The figure which showed the specific example about the route generation of the vehicle to be guided. The figure which showed the concrete example about the prediction route of a non-guidance vehicle. The figure which showed the specific example about the route generation of the vehicle to be guided. The figure which showed the structure of the parking system of Example 2. The figure which showed the specific example about the route prediction of the non-guidance non-selection vehicle. The figure which showed the specific example when the route prediction of the non-guidance non-selection vehicle is wrong.

Hereinafter, specific examples of the present invention will be described with reference to the drawings, but the present invention is not limited to the examples.

FIG. 1 is the parking system of the first embodiment. As shown in FIG. 1, the parking system of the first embodiment includes an empty parking space presentation unit 10, a parking space selection unit 11, a non-guidance vehicle route prediction unit 12, a guidance target vehicle route generation unit 13, and a vehicle detection unit 14. And a parking detection unit 15. The non-guidance vehicle route prediction unit 12 and the guidance target vehicle route generation unit 13 are realized by the parking lot server 16. The parking system of the first embodiment is a system that generates a route of a guided vehicle in a parking lot where a guided vehicle and a non-guided vehicle coexist.

Here, the guidance target vehicle is a vehicle having an automatic driving function of selecting a parking space and automatically driving to that point and a communication function with the parking lot server 16, and the non-guidance vehicle selects the parking space. However, there is no automatic driving function, and the movement in the parking lot is a vehicle driven by the driver.

As shown in FIG. 2, the parking lot includes an entrance 100 which is an entrance to the parking lot, an exit 101 which is an exit from the parking lot, a plurality of parking spaces 102 which are parking places for individual vehicles, and a vehicle. It is composed of a passage 103 for movement. In addition, it is prohibited to turn right in the parking lot.

The vehicle detection unit 14 is a device that is arranged in or near the parking lot and detects the positions of all the vehicles in the parking lot, and can communicate with the parking lot server 16. The vehicle detection unit 14 is, for example, a plurality of cameras, and detects the position of each vehicle from images and moving images taken by the cameras. The vehicle detection unit 14 transmits the detected vehicle position information to the parking lot server 16 at any time.

The parking detection unit 15 is a device that detects whether or not a vehicle is parked in each parking space 102, and can communicate with the parking lot server 16. The parking detection unit 15 is, for example, an ultrasonic sensor provided in each parking space 102, and detects the presence or absence of parking of a vehicle based on the presence or absence of reflection of ultrasonic waves. Similar to the vehicle detection unit 14, the presence or absence of parking may be detected from an image or a moving image by a camera. The parking detection unit 15 transmits the detected information on the presence or absence of parking to the parking lot server 16 at any time.

The vacant parking space presentation unit 10 is a device that indicates the vacant parking space 102 of the parking lot to the driver of the guided vehicle or the non-guided vehicle from the parking lot server 16. Further, the vacant parking space presentation unit 10 can communicate with the parking lot server 16 and indicates the vacant parking space 105 based on the position information of the vacant parking space 105 from the parking lot server 16. The vacant parking space presentation unit 10 is, for example, a mobile terminal owned by each driver, an in-vehicle display mounted on a vehicle, a display provided at the warehousing port 100, or the like.

The parking space selection unit 11 is a device that allows the driver to select an empty parking space 105. Further, the parking space selection unit 11 can communicate with the parking lot server 16. When the vacant parking space 105 is selected by the driver, the parking space selection unit 11 transmits the information of the selected vacant parking space 105 to the parking lot server 16. The parking space selection unit 11 is, for example, a mobile terminal owned by each driver, an in-vehicle touch panel display, a touch panel display provided at the warehousing port 100, or the like.

The non-guided vehicle route prediction unit 12 is a device that predicts the route of the non-guided vehicle from the position information of the vacant parking space 105 selected by the driver of the non-guided vehicle and the route information of the past non-guided vehicle. The non-guidance vehicle route prediction unit 12 is realized by software of the parking lot server 16, for example. The predicted route of the non-guided vehicle predicted by the non-guided vehicle route predicting unit 12 is stored in the storage unit of the parking lot server 16.

The guidance target vehicle route generation unit 13 is a device that generates a guidance target vehicle route from the position information of the vacant parking space 105 selected by the driver of the guidance target vehicle and the predicted route of the non-guidance vehicle. The guidance target vehicle route generation unit 13 is realized by software of the parking lot server 16, for example. The generated route information of the guidance target vehicle is stored in the parking lot server 16 and transmitted to the guidance target vehicle.

The parking lot server 16 is a computer having a CPU, a storage unit, a communication unit, and the like. The parking lot server 16 can communicate with the vacant parking space presentation unit 10, the parking space selection unit 11, the vehicle detection unit 14, and the parking detection unit 15 by the communication unit. The storage unit is selected by software for realizing the non-guidance vehicle route prediction unit 12 and the guidance target vehicle route generation unit 13, the position of the vehicle in the parking lot, whether or not each parking space 102 is parked, and the driver of each vehicle. Information such as the position of the vacant parking space 105, the route of the past non-guided vehicle, and the predicted route information of the non-guided vehicle is stored.

Next, the flow until the route of the guided vehicle is generated will be described with reference to the flowchart of FIG.

First, the vehicle detection unit 14 and the parking detection unit 15 specify the position of the vehicle and the parking position in the parking lot, and transmit the information to the parking lot server 16 (step S1).

Next, the parking lot server 16 identifies the vacant parking space 105 from the position of the vehicle in the parking lot, the parking position information, and the vacant parking space 105 selected by the preceding vehicle in the parking space selection unit 11 (step S2). Here, the vacant parking space 105 in which the preceding vehicle is scheduled to park may be excluded from the vacant parking space 105. Further, the parking space 102, which is currently parked but is scheduled to be vacated by the vehicle moving immediately, may be included as the vacant parking space 105. Next, the parking lot server 16 transmits the information of the vacant parking space 105 to the vacant parking space presentation unit 10.

Next, when a vehicle arrives at the warehousing port 100, the vacant parking space presentation unit 10 displays the vacant parking space 105 on the display of the mobile terminal of the driver based on the position information of the vacant parking space 105 from the parking lot server 16. An image showing the position is displayed (step S3). In addition, it may be displayed on a display installed in the warehousing port 100, or may be displayed on an in-vehicle display or the like. Further, the display may be different between the guided vehicle and the non-guided vehicle. For example, by separating the area of the vacant parking space 105 presented to the guided vehicle and the area of the vacant parking space 105 presented to the non-guided vehicle, the interference between the guided vehicle and the non-guided vehicle is further reduced. it can.

Next, the parking space selection unit 11 causes the driver to select a desired empty parking space 105 by selection using the touch panel display of the mobile terminal or the like (step S4). Then, the position information of the selected empty parking space 105 and the information on whether the selected vehicle is a non-guidance vehicle or a guidance target vehicle are transmitted to the parking lot server 16. It is not necessary to select only one empty parking space 105, and a plurality of empty parking spaces 105 may be selected. When a plurality of empty parking spaces 105 are selected, priorities may be set as in the first candidate and the second candidate. Further, the parking space 102 may be divided into a plurality of areas and the areas may be selected. By selecting a plurality of vacant parking spaces 105 or selecting them in an area in this way, it is possible to guide the vehicle to be guided to the vacant parking space 105 even if the parking environment changes. The change in the parking environment is, for example, when a non-guided vehicle parks in an empty parking space 105 other than the empty parking space 105 selected by the non-guided vehicle, or when the non-guided vehicle moves on a route different from the predicted route.

Next, the parking lot server 16 determines whether the vacant parking space 105 is the guided vehicle or the non-guided vehicle (step S5).

In the case of a non-guided vehicle, the non-guided vehicle route prediction unit 12 predicts the route of the non-guided vehicle from the position information of the selected empty parking space 105 and the past route information of the non-guided vehicle (step S6). ). By having the driver of the non-guidance vehicle select the vacant parking space 105, the route prediction can be performed more easily and accurately. Then, the information of the predicted route is stored in the storage unit of the parking lot server 16 (step S7). For example, among the routes from the warehousing port 100 to the selected vacant parking space 105, the route that the most unguided vehicles have taken in the past may be the predicted route. Further, the predicted route may be obtained by machine learning such as deep learning using the route information of the past non-guided vehicle as learning data. Further, in accordance with the traffic regulations in the parking lot, the route from the entrance 100 to the vacant parking space may be used as the prediction route. Further, the vacancy status of the parking space and the route that the non-guided vehicle has passed to the vacant parking space 105 in the past may be stored and the route may be predicted from the vacancy status of the parking space.

It should be noted that the predicted route obtained by the above may be displayed on the passage 103 of the parking lot by projection mapping or the like, and may have a predicted route display unit that guides the non-guided vehicle to the selected empty parking space 105. The possibility that the non-guided vehicle deviates from the predicted route is reduced, and the possibility that the non-guided vehicle and the guided vehicle interfere with each other can be further reduced.

Further, since the non-guided vehicle may deviate from the predicted route and pass through another route, it is preferable to update and correct the predicted route as needed until the non-guided vehicle parks.

On the other hand, in the case of a guided vehicle, the guided vehicle route generation unit 13 generates a route of the guided vehicle from the position information of the selected empty parking space 105 and the predicted route information of the non-guided vehicle (step S8). ). The route generation is set so as not to interfere with the predicted route of the non-guided vehicle. Here, the interference means that the positions for each time calculated from each route overlap, or the distance is equal to or less than the specified value. That is, a route is generated so that the guided vehicle and the non-guided vehicle do not collide or approach abnormally.

Specifically, for the predicted route of the non-guided vehicle, a route is generated so that the vehicle interval becomes equal to or more than a specified value for each time, and if necessary, a route such as a temporary stop of the guided vehicle is generated. .. In addition, an evaluation function is created in which the evaluation decreases as the time from warehousing to parking of the guided vehicle and the moving distance of the guided vehicle decreases, and the route of the guided vehicle is determined by optimization using the evaluation function. Generate. Alternatively, by maximizing the distance between the guided vehicle and the moving non-guided vehicle, the possibility of interference between the guided vehicle and the non-guided vehicle can be further reduced.

When there are a plurality of non-guided vehicles in the parking lot, the evaluation function may be calculated using all the predicted routes of the non-guided vehicles, but some of them may be used. For example, a non-guided vehicle far away from the guided vehicle is unlikely to interfere with the guided vehicle, so it is not necessary to consider the predicted route of such a non-guided vehicle. Further, the parking direction of the non-guided vehicle may be considered in the evaluation function. Backward parking usually takes longer than forward parking and can block the aisles of other vehicles. Therefore, if an evaluation function that considers the parking direction of the non-guided vehicle is created, a route with less interference can be generated.

Next, the parking lot server 16 transmits the route information of the guidance target vehicle generated by the guidance target vehicle route generation unit 13 to the guidance target vehicle (step S9). Then, the guided vehicle automatically drives and parks up to the vacant parking space 105 selected according to the received route.

A more specific example will be described with reference to FIGS. 4 to 6. FIG. 4 shows a state of the parking lot and an image displayed to the driver of the non-guidance vehicle V2 when the non-guidance vehicle V2 arrives at the warehousing port 100. As shown in FIG. 4, the non-guidance vehicle V1 is moving in the passage 103 in advance in the parking lot. Further, as shown in FIG. 4, parking spaces 102 exist from P1 to P12, vehicles are already parked in P2, P5, P11, and P12, and a non-guidance vehicle V1 is scheduled to park in P8. Therefore, the empty parking space 105 becomes P1, P3, P4, P6, P7, P9, and P10.

After that, it is assumed that the driver of the non-guidance vehicle V2 selects P6 out of the empty parking space 105. Then, the non-guided vehicle route prediction unit 12 calculates the predicted route of the non-guided vehicle V2 based on the position of P6 and the past route information of the non-guided vehicle. The route shown by the dotted line in FIG. 4 is the predicted route of the non-guidance vehicle V2.

After that, FIG. 5 shows a case where the guided vehicle V3 arrives at the warehousing port 100 before the non-guided vehicle V2 parks. As shown in FIG. 5, the non-guidance vehicle V1 has reached P8 and is about to park. Further, the non-guidance vehicle V2 is moving in the passage 103 toward P6. The image displayed to the driver of the guidance target vehicle V3 at this time is as shown in FIG. Since the non-guided vehicles V1 and V2 are scheduled to park in P6 and P8, the empty parking spaces 105 are P1, P3, P4, P7, P9, and P10.

Here, it is assumed that the driver of the guidance target vehicle V3 selects P10. Then, the guided vehicle route generation unit 13 determines the route of the guided vehicle V3 from the predicted route of the non-guided vehicle V1, the predicted route of the non-guided vehicle V2, and the position of P10 which is the selected empty parking space 105. To generate. FIG. 6 shows the state of the parking lot and the route of the guided vehicle V3. As shown in FIG. 6, the generated route does not interfere with the predicted routes of the non-guided vehicles V1 and V2. Therefore, the guided vehicle V3 can safely move and park from the warehousing port 100 to P10 by automatically driving along the generated route. Further, the non-guidance vehicles V1 and V2 can also be safely moved and parked without being affected by the guidance target vehicle V3.

FIG. 7 shows another specific example of the route prediction of the non-guided vehicle. As shown in FIG. 7, it is assumed that the unguided vehicle arriving at the warehousing port 100 selects P10 out of the vacant parking spaces 105. In the past non-guided vehicle routes, if 75% of the routes that turn left from the intersection near P3 are selected and 25% of the routes that go straight and detour are selected, the predicted route will be to the left at the intersection near P3. The route is a turn.

FIG. 8 shows another specific example of route generation of the guided vehicle. As shown in FIG. 8, two non-guidance vehicles V4 and V5 are about to park in P6 and P10, respectively, the non-guidance vehicle V4 is already about to park in P6, and the non-guidance vehicle V5 scheduled to be parked in P10. It is still near the warehousing port 100. The predicted routes of the non-guided vehicles V4 and V5 are as shown by the dotted lines in FIG. Under such circumstances, it is assumed that the guidance target vehicle V6 arrives at the warehousing port 100 and P12 is selected from the vacant parking spaces 105. In this case, since the non-guidance vehicle V5 and the guidance target vehicle V6 are close to each other on the route turning left at the intersection near P3, there is a high possibility that the non-guidance vehicle V5 interferes with the guidance target vehicle V6 when parked at P10. Therefore, a route that goes straight through the intersection near P3 and detours is generated as the route of the guided vehicle V6. As a result, interference between the non-guidance vehicle V5 and the guidance target vehicle V6 can be avoided.

In the above description, the case where both the guidance target vehicle and the non-guidance vehicle are in the warehousing has been described, but the same applies to the case where one or both of the guidance target vehicle and the non-guidance vehicle are in the warehousing.

As described above, according to the parking system of the first embodiment, since the information of the predicted route of the non-guided vehicle is used when generating the route of the guided vehicle, the route of the guided vehicle is set so as not to interfere with the non-guided vehicle. It can be generated, and both the non-guided vehicle and the guided vehicle can be moved more safely.

The parking system of the second embodiment is a system that generates a route of a guided vehicle in a parking lot in which a non-guided non-selected vehicle is mixed in addition to a guided vehicle and a non-guided vehicle. Here, the non-guided non-selected vehicle is a vehicle that does not select or cannot select the vacant parking space 105 among the non-guided vehicles, does not have an automatic driving function, and moves in the parking lot by the driver's driving. In the parking system of the second embodiment, in the parking system of the first embodiment, as shown in FIG. 9, the non-guidance non-selection vehicle route prediction unit 22 is added, and the guidance target vehicle route generation unit 13 is used as the guidance target vehicle route generation unit 23. It is a replacement. Other configurations are the same as in the first embodiment.

The non-guided non-selected vehicle route prediction unit 22 predicts the route of the non-guided non-selected vehicle. As for the route of the non-guided non-selected vehicle, it is assumed that the vacant parking space 105 closest to the non-guided non-selected vehicle in the traveling direction is the vacant parking space 105 in which the non-guided non-selected vehicle parks. Then, the route of the non-guided non-selected vehicle is predicted from the assumed position information of the empty parking space 105 and the route information of the past non-guided vehicle and the non-guided non-selected vehicle, and the information of the predicted route is used as the parking lot. It is stored in the storage unit of the server 16.

The guidance target vehicle route generation unit 23 generates a guidance target vehicle route from the position information of the vacant parking space 105 selected by the driver of the guidance target vehicle and the predicted route information of the non-guidance vehicle and the non-guidance non-selection vehicle. .. Here, since the prediction route of the non-guided non-selected vehicle is predicted based on the tentatively determined empty parking space 105, the prediction accuracy is not high. Therefore, every time the predicted route of the non-guided non-selected vehicle deviates, the predicted route is regenerated, and the route of the guided vehicle is also regenerated. For the deviation of the predicted route, for example, it may be detected that the assumed empty parking space 105 has passed. The predicted route may be updated at predetermined intervals instead of every time the predicted route deviates. If the assumed vacant parking space 105 and the vacant parking space 105 in which the guidance target vehicle parks overlap, the vacant parking space 105 in which the guidance target vehicle parks is also changed.

In this way, even if there is a non-guided non-selected vehicle in the parking lot, by updating the predicted route of the non-guided non-selected vehicle at any time, the guided vehicle does not interfere with the non-guided vehicle or the non-guided non-selected vehicle. Can generate a route for.

The predicted route of the non-guided non-selected vehicle may be displayed on the passage 103 of the parking lot by projection mapping or the like, and the non-guided non-selected vehicle may be guided to the empty parking space 105. It is possible to further reduce the possibility of interference between the non-guided non-selected vehicle and the guided vehicle.

A more specific example of route prediction of a non-guided non-selected vehicle will be described. As shown in FIG. 10, there are a non-guidance vehicle V7 and a non-guidance non-selection vehicle V8 in the parking lot, and the guidance target vehicle V9 arrives at the warehousing port 100. Further, the non-guidance vehicle V7 is in the passage 103 near P5 and selects P6 from the vacant parking spaces 105, and the predicted route is as shown by the dotted line in FIG. Further, the non-guidance non-selection vehicle V8 is in the passage 103 near P7. The closest empty parking space 105 in the traveling direction of the non-guided non-selected vehicle V8 is P7, and the predicted route of the non-guided non-selected vehicle V8 is as shown by the dotted line in FIG.

In such a situation, it is assumed that the driver of the guidance target vehicle V9 selects P9 out of the vacant parking space 105. In addition, it is prohibited to turn right in the parking lot. Since the guided vehicle V9, the non-guided vehicle V7, and the non-guided non-selected vehicle V8 are sufficiently separated from each other and do not interfere with each other, the route of the guided vehicle V9 is P3 as shown by the solid arrow in FIG. Go straight at the nearby intersection, turn the corner near P6 and P7, and reach P9.

Next, as shown in FIG. 11, it is assumed that the non-guided non-selected vehicle V8 passes through P7 and reaches the vicinity of P8, and the predicted route is deviated. In this case, the predicted route of the non-guided non-selected vehicle V8 is obtained again. Since the closest empty parking space 105 in the traveling direction of the non-guided non-selected vehicle V8 is P9, it is assumed that the non-guided non-selected vehicle V8 is parked in P9, and the regenerated predicted route is as shown in FIG.

Here, P9 assuming that the non-guided non-selected vehicle V8 is parked is the same as the empty parking space 105 selected by the driver of the guided vehicle V9. Therefore, the vacant parking space 105 in which the guidance target vehicle V9 is parked is changed to P8, which is the vacant parking space 105 closest to P9, and the route of the guidance target vehicle V9 is regenerated. As shown in FIG. 11, the regenerated route is a route that goes straight at an intersection near P3, turns a corner near P6 and P7, and reaches P8. In this way, even if the predicted route of the non-guided non-selected vehicle V8 deviates, the guided target vehicle V9 does not interfere with the non-guided vehicle or the non-guided non-selected vehicle by updating and correcting the route of the guided vehicle V9. Can be done.

The present invention can be applied to a parking lot in which a guided vehicle and a non-guided vehicle coexist, and can be applied to a parking lot such as a shopping mall, for example.

10: Empty parking space presentation unit 11: Parking space selection unit 12: Non-guidance vehicle route prediction unit 13, 23: Guidance target vehicle route generation unit 14: Vehicle detection unit 15: Parking detection unit 16: Parking lot server 22: Non-guidance Non-selected vehicle route prediction unit 100: warehousing port 101: warehousing port 102: parking space 103: passage 105: vacant parking space

Claims (5)

A vehicle detection unit that detects the position of a vehicle in the parking lot,
A parking detection unit that detects the presence or absence of parking in each parking space in the parking lot,
An empty parking space presentation unit that identifies an empty parking space based on the detection by the vehicle detection unit and the parking detection unit and presents the empty parking space to the driver of the vehicle.
An empty parking space selection unit that allows the driver of the vehicle to select a desired empty parking space,
When the vehicle is a non-guided vehicle driven by a driver in the parking lot, the non-guided vehicle is based on the position of the vacant parking space selected by the driver of the non-guided vehicle and the route information of the past non-guided vehicle. Non-guided vehicle route prediction unit that generates the prediction route of
When the vehicle is a guidance target vehicle whose movement in the parking lot is automated, the position of the vacant parking space selected by the driver of the guidance target vehicle and the non-guidance predicted by the non-guidance vehicle route prediction unit. A guidance target vehicle route generation unit that generates a guidance target vehicle route from a vehicle prediction route, and a guidance target vehicle route generation unit.
A parking system characterized by having. A parking system further comprising a first predicted route display unit that displays a predicted route generated by the non-guided vehicle route predicting unit for a non-guided vehicle. When the vehicle does not select or cannot select an empty parking space and the movement in the parking lot is a non-guided non-selected vehicle driven by the driver, the vehicle is closest in the traveling direction of the non-guided non-selected vehicle. It further has a non-guided non-selected vehicle route prediction unit that generates a predicted route of the non-guided non-selected vehicle from the position of an empty parking space and the route information of the past non-guided vehicle and the non-guided non-selected vehicle.
The guidance target vehicle route generation unit includes the position of an empty parking space selected by the driver of the guidance target vehicle, the prediction route of the non-guidance vehicle predicted by the non-guidance vehicle route prediction unit, and the non-guidance non-selection vehicle. The route of the guided vehicle is generated from the predicted route of the non-guided non-selected vehicle predicted by the route prediction unit.
The parking system according to claim 1 or 2. The non-guided non-selected vehicle route prediction unit regenerates the predicted route of the non-guided non-selected vehicle each time the predicted route of the non-guided non-selected vehicle deviates.
The guided vehicle route generation unit regenerates the route of the guided vehicle every time the predicted route of the non-guided non-selected vehicle is regenerated.
The parking system according to claim 3. The third or fourth aspect of the present invention, wherein the non-guided non-selected vehicle further includes a second predicted route display unit that displays a predicted route generated by the non-guided non-selected vehicle route predicting unit. Parking system.

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