JP2023015476A - Parking lot management device - Google Patents

Abstract

To provide a parking lot management device capable of selecting an appropriate parking space while taking vehicles within a parking lot and states of parking spaces into account.SOLUTION: A parking lot management device grasps a parking space occupation situation, receives requests of parking and leaving of a plurality of vehicles and, in a case where a travel course interference determination unit for determining the presence/absence of interference of travel courses of the plurality of vehicles determines that the travel courses of the plurality of vehicles interfere, selects a parking space for a parking requesting vehicle by means of a parking space selection unit in such a manner that motions of traveling, parking and leaving of the plurality of vehicles do not interfere with each other.SELECTED DRAWING: Figure 2

Description

The present application relates to a parking lot management device.

When a large number of vehicles enter the parking lot in succession, conventionally, the vehicles are parked in the parking space closest to the vehicles in order of entry. In this case, the vehicle following the vehicle that has started the parking operation must slow down or stop temporarily and wait until it can pass. Parking lot space and vehicle energy utilization is inefficient.

A parking lot management device has been disclosed that presents driving route information to an automatically driving vehicle so that the vehicle capable of automatically driving efficiently runs in the parking lot and reaches the target parking space (for example, , see Patent Document 1).

Japanese Patent No. 5361619

In the parking lot management device of Patent Literature 1, only when interference with another vehicle or the like is about to occur, the route is changed. As a result, there is a possibility that interference will reoccur after the route is changed, and the vehicle will decelerate or stop due to the route change, resulting in a decrease in efficiency.

The present application discloses a technique for solving the above-described problems, and is a parking lot management system capable of selecting an appropriate parking space in consideration of the interference of vehicle travel routes in the parking lot and the state of the parking space. The purpose is to provide an apparatus.

A parking lot management device disclosed in the present application is a parking lot management device that manages a plurality of parking spaces in a parking lot, communicates with a vehicle in the parking lot, and manages a travel route of the vehicle. a communication unit for communicating; a parking space occupancy status receiving unit for acquiring the occupancy status of a plurality of parking spaces; a parking and departure request receiving unit for receiving requests for parking and departure of the vehicle; and at least location information of the vehicle. a parking space allocation status storage unit for storing vehicle allocation statuses for the plurality of parking spaces; and determining whether or not there is interference between the driving routes of the plurality of vehicles. and the parking space occupancy status and the parking space allocation status storage unit acquired by the parking space occupancy status reception unit for the vehicle of the parking request received by the parking and departure request reception unit. a parking space selection unit that selects a parking space from among the plurality of parking spaces using the allocation status of the vehicles stored in the vehicle; and a driving route instruction generation unit that transmits driving route instructions to the plurality of vehicles. , wherein the parking space selection unit determines that the running, parking, and departure operations of the plurality of vehicles do not interfere with each other when the running route interference determination unit determines that the running routes of the plurality of vehicles interfere with each other. and the driving route instruction generation unit transmits driving route instructions to the plurality of vehicles based on information on the parking spaces selected by the parking space selection unit. be.

According to the parking lot management device disclosed in the present application, it is possible to select an appropriate parking space in consideration of the interference of vehicle travel routes in the parking lot and the state of the parking space.

1 is a schematic diagram showing an overall configuration of a parking lot management system including a parking lot management device according to Embodiment 1; FIG. 1 is a block diagram showing the configuration of a parking lot management device according to Embodiment 1; FIG. 1 is a hardware configuration diagram of a parking lot management device according to Embodiment 1. FIG. 1 is a block diagram showing a system configuration of a vehicle in a parking lot according to Embodiment 1; FIG. It is a block diagram which shows the structure of the automatic operation control apparatus mounted in a vehicle. It is a hardware block diagram of the automatic operation control apparatus mounted in a vehicle. FIG. 4 is a diagram illustrating an example of a pattern of parking in a designated parking space by the parking lot management device according to Embodiment 1; FIG. 7 is a diagram illustrating another example of a pattern of parking in the designated parking space by the parking lot management device according to Embodiment 1; FIG. 7 is a diagram illustrating still another example of a pattern of parking in the designated parking space by the parking lot management device according to Embodiment 1; 4 is a flow chart showing the operation of the parking lot management device according to Embodiment 1; 4 is a flow chart showing an operation of a vehicle entering a parking lot managed by the parking lot management device according to Embodiment 1;

Hereinafter, embodiments of the parking management apparatus disclosed in the present application will be described with reference to the drawings. In addition, in each figure, the same code|symbol shall show the same or a corresponding part.

Embodiment 1.
The parking lot management device according to Embodiment 1 will be described below with reference to the drawings.
FIG. 1 is a schematic diagram showing the configuration of a parking lot management system including a parking lot management device 1 according to Embodiment 1. As shown in FIG. In the figure, a parking lot management system 1000 is mainly composed of a parking lot, a parking lot management device 1, and a vehicle 20 that runs or parks in the parking lot. The parking lot has a plurality of parking spaces 3 and a travelable area for parking the vehicle 20 in the parking spaces 3. - 特許庁A plurality of parking spaces 3 are connected to the parking lot management device 1 through wired or wireless communication. A plurality of vehicles 20 are connected to the parking lot management device 1 by wireless communication of the network 2 . The parking lot management device 1 is installed in the parking lot so that the communication device provided in the parking lot management device 1 can acquire information on the occupancy status of the plurality of parking spaces 3 and the area in which the vehicle 20 in the vicinity can travel. It is

When a row of vehicles headed by the first vehicle enters the parking lot and parking operations occur continuously, if a parking space is selected in which the second vehicle does not sit next to the first vehicle, the third vehicle is parked. It is possible to suppress the amount of deceleration of the vehicle after the first vehicle.
Therefore, the parking lot management apparatus 1 according to Embodiment 1, when the second vehicle enters the parking lot without providing a predetermined distance or more to the first vehicle, the number of other vehicles already in the parking lot and Check departure requests and determine available parking spaces for incoming vehicles and potential slowdowns and stops to await parking behavior. As a result, the vehicles in the queue to be parked choose parking spaces that do not interfere with each other. Such an operation realizes parking lot management that can secure appropriate traffic in the parking lot.

2 and 3, the configuration and functions of the parking lot management apparatus 1 for realizing parking lot management capable of securing appropriate traffic in the parking lot will be described below.
FIG. 2 is a block diagram showing the configuration of the parking lot management device 1 according to Embodiment 1. As shown in FIG. In the figure, the parking lot management device 1 includes a communication unit 108 that communicates with the vehicle 20 and the parking space 3, a space occupancy status receiving unit 101 that acquires the occupancy status of the parking space 3 in the parking lot, and a vehicle 20 in the parking lot. A parking and departure request receiving unit 102 that receives a request to perform a parking or departure operation from a parking lot, a vehicle information receiving unit 103 that receives vehicle information from a vehicle 20 in the parking lot, and a parking space allocation result for the vehicle up to now. Parking space allocation status storage unit 104 for storing information on vehicles requesting parking or departure, the travel route of the vehicle traveling in the parking lot, or the travel route of the vehicle performing the parking or departure operation. , a parking space selection unit 106 that selects a parking space for the vehicle that requests parking based on the determination result of the travel route interference determination unit 105, and the selection result of the parking space selection unit 106 and a driving route instruction generation unit 107 that instructs a driving route to the parking space allocated based on the information or gives a driving route instruction from the target vehicle to the exit of the parking lot.

Next, each functional unit provided in the parking lot management device 1 will be described.
Communication unit 108 communicates with multiple vehicles 20 . The vehicle 20 for which the parking space 3 is to be selected is the vehicle 20 that is traveling in a communicable travelable area in the parking lot and is requesting parking, or the parking space 3 is selected by the parking management device 1 . This is the vehicle 20 that has determined that it is necessary to reselect the .

The space occupancy status receiving unit 101 receives, via the communication unit 108, whether or not there is a parked vehicle in each parking space 3 in the parking lot, that is, the occupancy status of the parking space.
The occupancy status of the parking space 3 may be acquired using a camera, sensor, or the like installed in the parking lot.

The parking and departure request receiving unit 102 receives a parking request from the vehicle 20 traveling in the parking lot if the vehicle is entering for parking, and receives a departure request from the parked vehicle 20 if there is a departure request.

The vehicle information receiving unit 103 receives vehicle information including at least position information, such as traveling direction, speed, number of passengers, and the like, from each vehicle 20 .

The parking space allocation status storage unit 104 stores the results of parking space allocation to vehicles up to now, the presence or absence of vacant parking spaces, and information on vehicles requesting parking or departure.

The travel route interference determination unit 105 determines a plurality of parking spaces based on the current occupancy status of parking spaces, parking and departure requests received from the vehicles 20, location information of each vehicle, traveling direction, etc., or the contents of the parking space allocation status storage unit 104. vehicle 20 will overlap at a certain time in the future.

When the travel route interference determination unit 105 determines whether there is interference between the travel routes, the parking space 3 is selected by combining a plurality of rules described below.
First, from the inter-vehicle distance and running speed of the entering vehicles, the number of vehicles entering in a certain period of time is calculated, and the number of effective parking spaces in the parking lot, that is, the number of unoccupied empty parking spaces, is more than twice the number of entering vehicles. If so, it is determined that the parking operation of a vehicle affects, ie interferes with, the following vehicle. In other words, when the calculated number of entering vehicles exceeds the predetermined threshold value with respect to the number of unoccupied parking spaces, it is determined that the traveling routes of the entering vehicles interfere with each other. As described below, when the travel route interference determination unit 105 determines that there will be interference in this way, the parking space selection unit 106 controls each vehicle so that a sufficient inter-vehicle distance can be maintained even when the vehicle is parked. Select parking space 3.

When the travel route interference determination unit 105 determines that the travel routes of a plurality of vehicles 20 interfere with each other, or that it is necessary to decelerate for parking, starting, and running, the parking space selection unit 106 selects the vehicle to be parked. As the parking space 3, a parking space 3 with a short traveling distance and not affecting the line of cars is selected, and the parking space 3 is assigned to the vehicles to be parked.

For example, from the parking space 3 where the leading vehicle of the convoy is parked, a space for the following vehicle is selected every N spaces. N is, for example, the moving distance required for the second and subsequent vehicles to accelerate to the average speed of the row after decelerating so as not to interfere with the parking operation of the preceding vehicle, which is the width of one parking space. is divided by Here, N is a natural number, and one (N=1) is one width of the parking space.
That is, this is an example of a method of selecting a parking space 3 such that, when parking operations occur continuously, the following vehicle following the leading vehicle is not adjacent to the leading vehicle.

The travel route instruction generation unit 107 instructs the vehicle 20 to which the parking space 3 is newly selected and allocated by the parking space selection unit 106 to travel from the current position of the target vehicle 20 to the selected parking space 3. to generate

FIG. 3 is a hardware configuration diagram for realizing the functions of the parking management device 1. As shown in FIG.
Each functional unit of the parking lot management device 1 is realized by a processing circuit provided in the parking lot management device 1 . As shown in FIG. 3, the parking lot management apparatus 1 includes an arithmetic processing unit (computer) 70 such as a CPU (Central Processing Unit), a RAM (Random Access Memory), a ROM (Read Only Memory), and a storage device 71 such as a hard disk. , and a communication device 72 for data communication. The communication device 72 is connected to a network and performs data communication.

The storage device 71 of the parking lot management device 1 stores a program for realizing each function of the parking lot management device 1 . Each function of the parking lot management device 1 is realized by executing a program input from the storage device 71 by the arithmetic processing device 70 and by cooperating with hardware such as the storage device 71 and the communication device 72 . Further, the arithmetic processing unit 70 may output data such as operation results to the storage device 71 or may output the data to the outside via the communication device 72 .

In the parking lot management apparatus 1 shown in FIG. 1, the parking lot management apparatus alone has the hardware described in FIG. 3. However, for example, the parking lot management apparatus and other It can also be configured to coexist with a parking lot management system (not shown).

Next, the system configuration of the vehicle running in the parking lot will be described.
FIG. 4 is a block diagram showing the system configuration of the vehicle 20 in the parking lot according to Embodiment 1. As shown in FIG. The vehicle 20 includes an in-vehicle network 21, a communication device 22, a locator 23, a navigation device 24, an automatic driving control device 25, a power control device 26, a brake control device 27, an automatic steering control device 28, and a light control device 29. .

The in-vehicle network 21 is a network for mutual communication between the in-vehicle devices 22-29. Communication standards such as CAN (Controller Area Network: registered trademark), Ethernet (registered trademark), and FlexRay (registered trademark) are used.

The communication device 22 is a device that uses an antenna 22a to perform wireless communication with the parking lot management device 1 existing within the communication range, and performs data communication with the parking lot management device 1 . The communication device 22 is connected to the network 2 in this embodiment.

The locator 23 is a device for recognizing the position of the own vehicle, and has a GPS (Global Positioning System) antenna, an acceleration sensor, and a direction sensor.
The locator 23 matches the location information (latitude, longitude, altitude) of the own vehicle obtained from a GPS antenna or the like and the information obtained from the perimeter monitoring device 25a provided in the automatic driving control device 25 with high-precision map data. , to recognize highly accurate location information of the own vehicle.

The navigation device 24 determines the target position from the current position according to the current position of the own vehicle obtained from the locator 23, the target point set by the passenger or the target point indicated by the parking lot management device 1, the map data, and the road conditions. Determine a target route to a point. The navigation device 24 has a human interface 24a and accepts setting of a target point by the passenger. The navigation device 24 can output the navigation information to the speaker 24b and the display 24c and present it to the passenger.
In addition, current navigation information can be transmitted via the network 2 to a communication terminal such as a smart phone or a tablet possessed by the owner of the vehicle.

The automatic driving control device 25 is a device that performs recognition, judgment, and control for automatic driving. The configuration and functions of the automatic driving control device 25 will be described later.

The power control device 26 controls the output of a power machine 26a such as an internal combustion engine and a motor so that the speed of the vehicle follows the target speed.
The brake control device 27 controls the braking operation of the electric brake device 27a so that the speed of the own vehicle follows the target speed.
The automatic steering control device 28 controls the electric steering device 28a so that the steering angle follows the target steering angle.
The light control device 29 controls the direction indicator 29a according to the operation command from the automatic driving control device 25. As shown in FIG.

Next, the configuration and functions of the automatic operation control device 25 will be described with reference to FIGS. 5 and 6. FIG.
FIG. 5 is a block diagram showing the configuration of the automatic driving control device 25 mounted on the vehicle 20. As shown in FIG. The automatic driving control device 25 includes a sensor information acquisition section 251 , a recognition section 252 , a communication section 253 , a target travel route generation section 254 , a management section 255 and a vehicle control command generation section 256 .

The sensor information acquisition unit 251 acquires peripheral information from the peripheral monitoring device 25a. The perimeter monitoring device 25a is a camera, radar, or the like that monitors the perimeter of the vehicle. A millimeter wave radar, a laser radar, an ultrasonic radar, or the like is used as the radar.

The recognizing unit 252 detects the driving conditions of surrounding vehicles and the conditions of roads and the like based on the position information of the own vehicle obtained from the locator 23, high-precision map data, and the surrounding information obtained from the surrounding monitoring device 25a. Be aware of the situation. As the running state of the surrounding vehicles, the position, speed, driving direction, driving lane, size, type, etc. of the surrounding vehicles are recognized.
The shape of the road, the lanes, the presence or absence of obstacles, the presence or absence of pedestrians, etc. are recognized as the state of the road on which the vehicle is traveling.

The communication unit 253 communicates with other in-vehicle devices 22 to 24 and 26 to 29 via the in-vehicle network 21 .

The target travel route generation unit 254 generates a short-distance target in accordance with the recognized surrounding travel conditions in order to travel along the travel route to the target point set by the navigation device 24 or the parking lot management device 1. Determine driving route. The short-distance target travel route is time-series travel plan data that indicates the position of the vehicle at each point in time in the near future, which is included in the aforementioned target travel route information, and is up to a predetermined distance forward or a predetermined time ahead from the present. target travel route. The future target travel route is determined arbitrarily. For example, the target travel route is determined within a range corresponding to the range that can be detected by the perimeter monitoring device 25a.

Therefore, in addition to information such as the position (latitude and longitude) of the vehicle at each time in the future, the traveling direction of the vehicle, the direction of the vehicle, the speed of the vehicle, etc., the target driving route information includes the target parking space and the automatic parking operation. Also includes information such as the start position of

The management unit 255 transmits a parking or departure request to the parking lot management device 1 via the communication device 22 when the own vehicle wants to park or depart.
Based on the received parking or departure request for each vehicle 20 and vehicle information, the parking lot management device 1 selects a parking space, allocates a parking space to the vehicle, and generates a driving route instruction, and transmits the instruction to the vehicle 20 . . The automatic driving control device 25 of each vehicle 20 automatically drives the vehicle 20 according to the travel route instruction including the target parking space received from the parking lot management device 1 .

For example, if the received instruction is a new target parking space and a travel route instruction to reach the target parking space from the parking lot management device 1, the management unit 255 The target travel route generated by the target travel route generator 254 is output to the vehicle control command generator 256 based on the information obtained from the target travel route generator 254 .
If the received instruction is a departure and a travel route instruction to the parking lot exit, the management unit 255 generates the target travel route generated by the target travel route generation unit 254 based on the received instruction and an instruction to execute the start operation. is output to the vehicle control command generator 256 .
If the received instructions do not include a driving route instruction, the vehicle 20 continues driving according to the driving route set by the navigation device 24.

In addition, when there is a driving route instruction from the parking lot management device 1, the management unit 255 uses one or both of the speaker 24b and the display 24c via the communication unit 253 and the navigation device 24 to check the driving situation. Notify passengers.
When the vehicle 20 is running unmanned, the management unit 255 notifies the vehicle owner's communication terminal, such as a smart phone or a tablet, of the running situation via the network.

The vehicle control command generation unit 256 generates a target speed, a target steering angle, and a direction indicator operation command so that the vehicle travels according to the command for the target route output from the management unit 255. A target steering angle is output to the brake control device 27, a target steering angle is output to the automatic steering control device 28, and a travel command for the direction indicator is output to the light control device 29 to issue a command.

In addition, since the configuration of the vehicle 20 having the automatic driving function differs depending on the vehicle manufacturer, there may be some parts different from the configuration of the automatic driving control device 25 described above. However, as long as the vehicle 20 has at least a function of transmitting vehicle information and a parking or departure request to the parking lot management device 1 and performing automatic driving according to the driving instruction transmitted from the parking lot management device 1, the vehicle 20 of the present embodiment can be used. parking space allocation system.

FIG. 6 shows a hardware configuration that implements the functions of the automatic driving control device 25. As shown in FIG.
Each function of the automatic operation control device 25 is implemented by a processing circuit provided in the automatic operation control device 25 . As shown in FIG. 6, the automatic operation control device 25 includes an arithmetic processing unit (computer) 80 such as a CPU, a storage device 81 such as a RAM, ROM, hard disk, etc., and a communication device 82 for data communication. The communication device 82 is connected to the in-vehicle network 21, the network 2, and the antenna 22a, and performs data communication.

A program for each function of the automatic operation control device 25 is stored in the storage device 81 of the automatic operation control device 25 . Each function of the automatic operation control device 25 is realized by executing a program input from the storage device 81 by the arithmetic processing device 80 and cooperating with other hardware such as the storage device 81 and the communication device 82 . Further, the arithmetic processing unit 80 may output data such as arithmetic results to the storage device 81 or may output the data to the outside via the communication device 82 .

Next, a pattern for selecting a parking space after the travel route interference determination unit 105 determines whether or not there is interference between the travel routes will be described with reference to the drawings.
Here, a pattern in which four or more entering vehicles each transmit a parking request and the first three vehicles 201, 202, and 203 select parking spaces will be described with reference to FIGS. 7 to 9. FIG.

7 to 9 are diagrams for explaining examples of patterns for parking in a parking space designated by the parking lot management device 1. FIG. 7 to 9, eight parking spaces 301 to 308 are arranged counterclockwise with respect to the parking section in order from reference numeral 301, and parking spaces 304, 306, and 307 already have parked vehicles. The space is occupied. In such an occupied state of the parking space, vehicles 201, 202, and 203 are approaching in order from the right direction.

Pattern 1: Selection of Parking Spaces in Order Closest to the Entrance A case in which the parking lot management device 1 determines that the travel routes of the three vehicles 201, 202, and 203 do not interfere with each other will be described with reference to FIG. At this time, the vehicle in the convoy is assigned a space with the shortest travel route among the spaces that can be parked when the vehicle enters the parking lot. Each vehicle 201, 202, 203 is sent a driving route instruction when a parking space is assigned.

In other words, there is sufficient space between the entering vehicles, and the travel route R1a of the vehicle 201, the travel route R2a of the vehicle 202, and the travel route R3a of the vehicle 203 do not interfere. Therefore, the first vehicle 201 is assigned the parking space 301 closest to the entrance, and the second vehicle 202 is assigned the parking space 302 closest to the entrance, so that the travel route is the shortest. , and the third vehicle 203 is assigned a parking space 303 which is the next closest to the entrance.

Pattern 2: Spaces are selected in order from the spaces that are as far back as the number of vehicles that have entered. Using FIG. Consider the case where no vehicle has requested to depart from the parking space.

First, when the leading vehicle 201 and the second vehicle 202 enter, each vehicle is assigned a parking space closest to the entrance. are assigned parking spaces 302 and directions for driving routes to the respective parking spaces are sent. Next, when the third vehicle 203 enters the second vehicle 202 with a narrow inter-vehicle distance, the leading vehicle 201 has a parking space two ahead of the closest parking space 301 from the entrance. A certain parking space 303 is reassigned to a parking space 302 which is one parking space ahead of the closest parking space from the entrance to the second vehicle 202, and instructions for travel routes R1b and R2b indicated by dotted lines are transmitted. be. A third vehicle 203 is assigned the space 303 closest to the entrance and is sent an indication of the driving route R3b.

Here, the narrow inter-vehicle distance refers to the case where the parking lot management device 1 determines that the travel routes interfere with each other and is equal to or less than the distance.
Also, in this case, although the parking space for the second vehicle 202 was not changed as a result, the parking space allocation for each vehicle may be changed depending on the number of entering vehicles.

Pattern 3: Parking spaces are selected from nearby parking spaces at regular intervals. A case where it is determined that there will be interference and where there is a vehicle requesting departure from a parking space near the parking space allocated in pattern 1 will be described.

First, when the leading vehicle 201 and the second vehicle 202 enter, each vehicle is assigned a parking space closest to the entrance. are assigned parking spaces 302 and directions for driving routes to the respective parking spaces are sent. Next, when the third vehicle 203 enters the second vehicle 202 with a narrow inter-vehicle distance, the second vehicle has a certain number (N) of parking spaces from the parking space 301 allocated to the leading vehicle 201. A space 303 of the advanced position is allocated and an indication of the modified driving route R1c, R2c indicated by the dashed line is transmitted. The third vehicle 203 is allocated a space 305 that is a certain number of spaces ahead of the parking space 303 allocated to the second vehicle 202, and is sent an instruction for the travel route R3c.

Here, although the fixed number is 2 in FIG. 9, it is not limited to this. Here, a certain number of vehicles are decelerated in the presence of a following vehicle so as not to interfere with the parking or departure operation of the preceding vehicle, and then accelerated to return the distance to the following vehicle to the original distance. The distance was divided by the distance traveled to pass one parking space and was rounded up.

A nearby parking space is a parking space where the area occupied for leaving that parking space overlaps with the driving path for parking maneuvers or passing by other vehicles. A typical example is a parking space adjacent to the parking space allocated in pattern 1, as shown in FIG.
Initially, the parking spaces assigned to the three vehicles 201, 202, and 203 in pattern 1 are the parking spaces 301, 302, and 303, and the nearby parking space is the parking space 304. FIG.

Since there is a vehicle 210 requesting departure from the parking space 304 in the vicinity, it is best to depart the vehicle 210 requesting departure after the third vehicle 203 has passed toward the parking space 305 so as not to interfere with the travel route. It is possible to efficiently park incoming vehicles.
For example, the travel route interference determination unit 105 preliminarily sets the time required for the starting operation and parking operation of the vehicle for each type of vehicle, and based on the starting operation time, the parking operation time, and the speed of the passing vehicle, The presence or absence of interference of travel routes is determined.
When the travel route interference determination unit 105 determines that the travel routes of a plurality of vehicles interfere with each other, the parking space selection unit 106 selects the fixed number of parking spaces based on the departure operation time, the parking operation time, and the speed of the passing vehicle. Let N be determined to make a choice of parking space.

The three parking space selection patterns described above have been described using the top three vehicles among four or more entering vehicles as an example, but even if the number of vehicles increases, it can be used as a basic selection pattern. be.

The operation of the parking lot management apparatus 1 using the parking space selection patterns described with reference to FIGS. 7 to 9 will be described below with reference to FIG.
FIG. 10 is a flow chart showing the operation of the parking lot management device 1 according to the first embodiment. This operation process is repeatedly executed, for example, at fixed calculation cycles.

In step S101, the space occupancy status receiving unit 101 receives the allocation status and occupancy status of each parking space in the parking lot.

In step S102, the parking and departure request receiving unit 102 determines whether or not a parking request from an entering vehicle or a departure request from a parked vehicle has been received. If there is at least either parking or departure request (YES in step S102), the process proceeds to step S103, and if there is no parking or departure request (NO in step S102), the process ends.

In step S103, the vehicle information receiving unit 103 receives vehicle information from each vehicle 20 in the parking lot.

In step S104, the travel route interference determination unit 105 determines whether there is a sufficient inter-vehicle distance between the vehicles scheduled to be parked, or whether a departure request is made and a vehicle assigned to park in a nearby parking space is not approaching. In other words, it is determined whether or not there is a portion that interferes with the travel routes of the vehicles that perform the operation targeting the parking space. If there is an interfering portion (YES in step S104), the process proceeds to step S105. If there is no interfering portion, the process is terminated, that is, the vehicle continues running.

In step S105, the parking space selection unit 106 selects a parking space for the vehicle requesting parking or the vehicle heading for the parking space. The method of selecting the spaces follows the patterns previously described with reference to FIGS.
Specifically, in accordance with pattern 1 described above, if there is no departure requesting vehicle in the parking space near the parking space assigned to the entering vehicle, for each of the plurality of entering vehicles requesting parking, Secure parking spaces for the number of vehicles requesting parking, starting with the nearest available parking space from the entrance of the parking lot. Select and assign parking spaces. When the number of vehicles requesting parking is three, pattern 2 in FIG. 8 is applied.

Corresponding to the pattern 1 described above, if there is a vehicle requesting departure within a predetermined range in the parking space near the parking space assigned to the entering vehicle, the second and subsequent vehicles are preceded. A fixed number of parking spaces behind the parking space where the vehicle is parked are selected (see pattern 3 in FIG. 9).

When the parking space for each vehicle is selected in the parking space selection unit 106, in step S106, the travel route instruction generation unit 107 selects the vehicle information received in step S103 and the position of the parking space selected in step S105. Based on this, a driving route instruction is generated and sent to the vehicle requesting parking or the vehicle requesting departure.

Next, the operation of the automatic driving control device 25 of the vehicle 20 will be explained using FIG. 11 .
FIG. 11 is a flowchart showing the operation of the automatic driving control device 25 for the vehicle 20 entering the parking lot managed by the parking lot management device 1 according to the first embodiment.
This processing is repeatedly executed, for example, at regular calculation cycles.

In step S201, the sensor information acquisition unit 251 acquires peripheral information from the peripheral monitoring device 25a.

In step S202, the management unit 255 determines whether parking or departure is required based on information from the navigation device 24 or the like. If parking or departure is required (YES in step S202), the process proceeds to step S203. If neither parking nor departure is required (NO in step S202), the process ends and vehicle control command generator 256 is followed.

In step S<b>203 , the management unit 255 transmits a parking or departure request and vehicle information including the target travel route to the parking lot management apparatus 1 through the communication unit 253 and the communication device 22 .

In step S<b>204 , the management unit 255 waits for a travel route instruction from the parking lot management device 1 . If there is a travel route instruction from the parking lot management device 1 (YES in step S204), the process proceeds to step S205. If there is no command from the parking management device 1 within the predetermined time (NO in step S204), the process is terminated and the vehicle control command generator 256 is followed.

In step S<b>205 , the management unit 255 reflects the instruction contents of the parking space allocation and the travel route instruction from the parking lot management device 1 to the vehicle control command generation unit 256 .

As described above, the parking management apparatus 1 according to Embodiment 1 includes a plurality of parking spaces 3 connected to the parking management apparatus 1 via wired or wireless communication and whose states are managed. , and a plurality of vehicles 20 which are connected to the parking management apparatus 1 by wireless communication and whose travel routes are managed.

The parking lot management apparatus 1 according to Embodiment 1 has a space occupancy status receiving unit 101 that acquires the occupancy status of the parking space 3 in the parking lot, and the parking or departure operation from the vehicle 20 in the parking lot. a parking and departure request receiving unit 102 for receiving a parking or departure request requesting a parking or departure request; a vehicle information receiving unit 103 for receiving vehicle information from a vehicle 20 in the parking lot; and a parking or departure request and location information included in the vehicle information and a travel route interference determination unit 105 that determines from each target travel route information whether a line of cars traveling in the parking lot or a vehicle performing a departure operation interferes, and a parking request based on the determination result of the travel route interference determination unit 105 and a driving route from the target vehicle to the parking space 3 assigned to the target vehicle based on the selection result of the parking space selection unit 106, or the target vehicle and a driving route instruction generation unit 107 that generates a driving route instruction from to the exit of the parking lot.

With such a configuration, it is possible to select an appropriate parking space in consideration of the interference of vehicle travel routes in the parking lot and the state of the parking space. In other words, when multiple autonomous vehicles enter the parking lot, it is possible to select a parking space in consideration of the congestion situation of the parking lot, and to change the selected parking space accordingly, thereby realizing more efficient parking lot utilization.

Although this application describes various exemplary embodiments and examples, the various features, aspects, and functions described in the embodiments are not limited to application of particular embodiments. , alone or in various combinations to the embodiments.
Accordingly, numerous variations not illustrated are envisioned within the scope of the technology disclosed herein. For example, the modification, addition, or omission of at least one component shall be included.

1: parking lot management device, 2: network network, 3: parking space, 20: vehicle,
21: in-vehicle network, 22: communication device, 22a: antenna,
23: locator, 24: navigation device,
24a: human interface, 24b: speaker,
24c: display, 25: automatic operation control device, 25a: peripheral monitoring device,
26: power control device, 26a: power machine, 27: brake control device,
27a: electric braking device, 28: automatic steering control device, 28a: electric steering device,
29: Light control device, 29a: Direction indicator, 101: Space occupancy reception unit, 102: Parking and departure request reception unit, 103: Vehicle information reception unit,
104: parking space allocation status storage unit, 105: traveling route interference determination unit,
106: parking space selection unit, 107: driving route instruction generation unit, 108: communication unit,
70: Arithmetic processing device 71: Storage device 72: Communication device 80: Arithmetic processing device 81: Storage device 82: Communication device 201: Lead vehicle
202: second vehicle, 203: third vehicle, 210: departure request vehicle,
251: Sensor information acquisition unit, 252: Recognition unit, 253: Communication unit,
254: Target travel route generation unit 255: Management unit 256: Vehicle control command generation unit
301, 302, 303, 304, 305, 306, 307, 308: parking spaces,
1000: Parking management system

A parking lot management device disclosed in the present application is a parking lot management device that manages a plurality of parking spaces in a parking lot, communicates with a vehicle in the parking lot, and manages a travel route of the vehicle. a communication unit for communicating; a parking space occupancy status receiving unit for acquiring the occupancy status of a plurality of parking spaces; a parking and departure request receiving unit for receiving requests for parking and departure of the vehicle; and at least location information of the vehicle. a parking space allocation status storage unit for storing vehicle allocation statuses for the plurality of parking spaces; and determining whether or not there is interference between the driving routes of the plurality of vehicles. and the parking space occupancy status and the parking space allocation status storage unit acquired by the parking space occupancy status reception unit for the vehicle of the parking request received by the parking and departure request reception unit. a parking space selection unit that selects a parking space from among the plurality of parking spaces using the allocation status of the vehicles stored in the vehicle; and a driving route instruction generation unit that transmits driving route instructions to the plurality of vehicles. , wherein the travel route interference determination unit calculates the number of vehicles entering the parking lot in a certain time based on the inter-vehicle distance and the travel speed of the plurality of vehicles, and the parking space occupancy status reception unit If the number of vehicles calculated from the number of unoccupied parking spaces exceeds a threshold, the number of vehicles entering the parking lot within a certain period of time The parking space selection unit determines that the routes interfere with each other, and the parking space selection unit determines that the plurality of vehicles travel, park, and depart when the travel route interference determination unit determines that the travel routes of the plurality of vehicles interfere with each other. The parking spaces are selected so as not to interfere with each other, and the driving route instruction generating unit transmits driving route instructions to the plurality of vehicles based on information on the parking spaces selected by the parking space selecting unit. , is a thing.

Claims (7)

A parking lot management device that manages a plurality of parking spaces in a parking lot, communicates with vehicles in the parking lot, and manages a travel route of the vehicle,
a communication unit that communicates with the vehicle;
a parking space occupancy status receiving unit that acquires the occupancy status of the plurality of parking spaces;
a parking and departure request receiving unit for receiving parking and departure requests for the vehicle;
a vehicle information receiving unit that receives vehicle information including at least location information of the vehicle;
a parking space allocation status storage unit that stores vehicle allocation statuses for the plurality of parking spaces;
a travel route interference determination unit that determines whether there is interference between the travel routes of the plurality of vehicles;
The parking space occupancy status acquired by the parking space occupancy status reception section and the vehicle status stored in the parking space allocation status storage section for the vehicle requested to park received by the parking and departure request reception section. a parking space selection unit that selects a parking space from among the plurality of parking spaces using the allocation status;
a driving route instruction generation unit that transmits driving route instructions to a plurality of the vehicles,
The parking space selection unit
When the travel route interference determination unit determines that the travel routes of the plurality of vehicles interfere with each other, the parking space is selected so that the travel, parking, and departure operations of the plurality of vehicles do not interfere with each other,
The parking lot management apparatus, wherein the driving route instruction generating unit transmits driving route instructions to the plurality of vehicles based on the information of the parking space selected by the parking space selecting unit. The travel route interference determination unit calculates the number of vehicles entering the parking lot in a certain time period based on the inter-vehicle distance and the travel speed of the plurality of vehicles, When the number of vehicles calculated from the occupancy status of parking spaces is compared with the number of unoccupied parking spaces and exceeds a threshold value, it is determined that the traveling routes of the vehicles entering the parking lot within a certain period of time interfere with each other. 2. The parking lot management device according to claim 1, characterized in that it determines. The travel route interference determination unit preliminarily sets a departure operation time required for a vehicle departure operation and a parking operation time required for a parking operation, and based on the departure operation time, the parking operation time, and the speed of the passing vehicle. to determine whether or not there is interference between the travel routes of the plurality of vehicles,
The parking space selection unit, when the travel route interference determination unit determines that the travel routes of the plurality of vehicles interfere with each other, based on the departure operation time, the parking operation time, and the speed of the passing vehicle. 3. The parking lot management device according to claim 1, wherein the parking space is selected. The parking space selection unit stores the parking space occupancy status and the parking space allocation status storage unit acquired by the parking space occupancy status reception unit for the vehicle requesting parking received by the parking and departure request reception unit. A first pattern for selecting and allocating the parking spaces from the heads of the plurality of vehicles in order from the entrance side of the parking lot among the unoccupied parking spaces using the stored allocation status of the vehicles. have
When the travel route interference determination unit determines that the travel routes of the plurality of vehicles generated based on the first pattern interfere,
4. The parking space selection unit according to any one of claims 1 to 3, wherein the parking space selection unit changes from the first pattern and reselects the parking spaces in which the plurality of vehicles are to be parked. Parking management device. When the parking and departure request receiving unit receives a departure request from a vehicle parked in a parking space adjacent to the parking space allocated according to the first pattern, the travel route interference determination unit determines whether the departure request 5. The parking lot management apparatus according to claim 4, wherein it is determined whether or not the vehicle travel route interferes with the plurality of vehicle travel routes generated based on the first pattern. The parking and departure request receiving unit receives a departure request from a vehicle parked in a parking space within a predetermined range with respect to the parking spaces allocated in the first pattern;
When the travel route interference determination unit determines that the travel route of the vehicle requested to depart interferes with the travel routes of the plurality of vehicles generated based on the first pattern,
The parking space selection unit changes from the first pattern so that each vehicle requesting parking selects a parking space that does not hinder the parking or departure of other vehicles ahead of it, moving distance from the entrance. 6. The parking lot management system according to claim 4, wherein parking spaces spaced apart by a predetermined number are selected and allocated in ascending order of length. When the parking and departure request receiving unit has not received a departure request from a vehicle parked in a parking space within a predetermined range with respect to the parking spaces allocated in the first pattern,
When the travel route interference determination unit determines that the travel routes of the plurality of vehicles generated based on the first pattern interfere,
The parking space selection unit changes the pattern from the first pattern, and selects the number of parking spaces corresponding to the number of vehicles in the parking request received by the parking and departure request receiving unit from among the unoccupied parking spaces on the entrance side of the parking lot. 5. The parking lot management apparatus according to claim 4, wherein the parking space is selected from the heads of the plurality of vehicles in descending order of movement distance from the parking lot management apparatus.

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