JP6914226B2 - Mechanical parking device - Google Patents

Description

The present invention relates to a mechanical parking device for storing an autonomous vehicle and a general vehicle.

As a conventional mechanical parking device, Japanese Patent No. 5551410 (Patent Document 1) is known. In Patent Document 1, a vehicle with a self-propelled function is a vehicle side having a vehicle side communication device and an operation controller. A control device is provided, and the parking device is a mechanical parking device. A turntable as an attitude control device, which is a drop-off space, is provided in front of the parking space of the parking device, and is provided in the vicinity of the attitude control device. A vehicle measuring device for detecting the front-rear, position, orientation, and size of a vehicle that enters and stops on the attitude control device is provided, and a receiving-side control device is provided. Based on the external communication device that wirelessly communicates with the vehicle-side communication device and the vehicle detection result by the vehicle measurement device, the front-rear, position, orientation, and size of the vehicle are calculated, and a turning command is given to the attitude control device to give the vehicle a turning command. Along with turning the front-back direction of the parking device toward the parking space, the track for moving the vehicle on the posture control device whose front-rear direction is adjusted is calculated and along the calculated track. It has an arithmetic controller that gives a warehousing command for warehousing a vehicle on the attitude control device into the parking space to the operation controller of the vehicle side control device via an external communication device, and enters the attitude control device from the outside. The vehicle that stops at the parking lot is detected by the vehicle measuring device, and the front / rear, position, orientation, and size of the vehicle are calculated by the arithmetic controller of the receiving side controller, and the arithmetic controller controls the operation of the vehicle side controller by wireless communication. A command is issued to the vehicle side control device to obtain approval for parking the vehicle from the device and to keep the vehicle in a state in which the vehicle can automatically run, and further to the attitude control device based on the front-rear and orientation of the vehicle calculated by the arithmetic controller. A turning command is given to turn the front and rear of the vehicle toward the stop space, and a warehousing command is given from the receiving side control device to the vehicle side control device, and the operation controller follows the track calculated by the calculation controller. Described is a drop-off parking device for a vehicle with a self-propelled function, which is characterized in that the vehicle is automatically driven and the vehicle on the attitude control device is stored in a stop space.

Japanese Patent No. 5551410

However, even if the conventional mechanical parking device has no problem in the case of a configuration targeting only the autonomous driving vehicle, when the normal vehicle and the autonomous driving vehicle are used in a mixed manner, the safety of both drivers is safe. It is not possible to perform smooth storage processing while ensuring.

An object of the present invention is to provide a mechanical parking device capable of performing efficient warehousing processing while avoiding unnecessary traffic congestion while ensuring the safety of both drivers in a normal vehicle and an autonomous driving vehicle. There is.

In order to achieve the above object, the present invention includes a normal operation panel arranged near the entrance / exit of the boarding room, and a parking lot processing unit that mainly targets a general vehicle and performs processing corresponding to the operation on the normal operation panel. In a mechanical parking device provided with an automatic driving vehicle processing unit that mainly targets an automatic driving vehicle and performs movement processing to the boarding room, the parking device is formed at a position slightly away from the entrance / exit of the boarding room. An automatic driving vehicle boarding / alighting area for the automatic driving vehicle and an automatic driving operation panel arranged in the vicinity of the automatic driving vehicle boarding / alighting area are provided. It is characterized in that the self-driving vehicle is automatically moved between the boarding / alighting area of the self-driving vehicle and the boarding room when operated.

According to such a configuration, the driver of the general vehicle can perform the warehousing / exit operation as before, while the driver of the self-driving vehicle is a little away from the doorway in the boarding room. It is possible to get off from the autonomous driving vehicle in the position of the autonomous driving vehicle boarding / alighting area and deposit it on the mechanical parking device side, and the operation panel for automatic driving without approaching the normal operation panel located near the entrance / exit in the boarding room. It is possible to safely perform a predetermined operation from. In addition, since there is an autonomous vehicle boarding / alighting area, it is possible to wait until the self-driving vehicle is prepared in the self-driving vehicle boarding / alighting area without approaching the doorway in the boarding room even at the time of leaving the garage.

Further, in addition to the above-described configuration, the present invention also starts an operation of determining whether or not the operation start condition is satisfied when an operation corresponding to warehousing / delivery is performed from the operation panel for automatic driving. It is characterized in that the determination unit and the automatic driving movement processing unit that starts the movement by the automatic driving when the operation start determination unit determines that the operation start condition is satisfied are provided.

According to such a configuration, there is a possibility that a dangerous state may occur in the vicinity of the boarding room, but the normal operation panel for general vehicles and the operation panel for automatic driving for autonomous vehicles are separated. Since the operation panel for autonomous driving is provided near the area for getting on and off the autonomous driving vehicle, it limits the complicated movement of each driver to ensure safety and eliminate unnecessary traffic congestion. It is possible to avoid and perform efficient warehousing / delivery processing.

According to the mechanical parking device according to the present invention, the driver of a general vehicle can perform the entry / exit operation in the same manner as before, while the driver of the automatic driving vehicle can perform the entry / exit operation from the entrance / exit in the boarding room. You can get off from the automatic driving vehicle in the automatic driving vehicle boarding / alighting area at a distance and leave it on the mechanical parking device side, and automatic driving without approaching the normal operation panel located near the doorway in the boarding room. A predetermined operation can be safely performed from the operation panel. In addition, since there is an autonomous vehicle boarding / alighting area, it is possible to wait until the self-driving vehicle is prepared in the self-driving vehicle boarding / alighting area without approaching the doorway in the boarding room even at the time of leaving the garage.

It is a top view which shows the mechanical parking device by one Example of this invention. It is a connection block diagram which shows the control system of the mechanical parking device shown in FIG. It is a block block diagram of the control system shown in FIG. FIG. 3 is a block configuration diagram showing more specific functions of the control system and the autonomous driving vehicle 7 shown in FIG. It is a flowchart which shows the processing procedure of each part at the time of warehousing. It is a top view which shows the mechanical parking device at the time of warehousing of a general vehicle. It is a top view which shows the mechanical parking device at the time of warehousing of the self-driving vehicle. It is a top view of the mechanical parking device which shows the other state at the time of warehousing of the self-driving vehicle. It is a flowchart which shows the processing procedure of each part at the time of delivery. It is a top view which shows the mechanical parking device at the time of leaving a general vehicle. It is a top view which shows the mechanical parking device at the time of leaving a self-driving vehicle.

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

FIG. 1 is a plan view showing a mechanical parking device according to an embodiment of the present invention.

The mechanical parking device is arranged and parked in the doorway portion 2 having the doorway 1 that can be opened and closed, the boarding room 3 formed behind the doorway 1 and the boarding room 3. A tray 4 that is moved to a storage portion (not shown) after the vehicle is entered, and a normal operation panel 6 that is arranged on a wall surface or the like in the vicinity of the entrance / exit portion 2 and is mainly operated by the driver of the general vehicle 5. , The automatic driving vehicle boarding / alighting area 8 which is the disembarkation or boarding position for the automatic driving vehicle 7 having the automatic driving function, and the driving of the automatic driving vehicle 7 which is arranged on the wall surface in the vicinity of the automatic driving vehicle boarding / alighting area 8 and the like. It has an automatic driving operation panel 9 that is to be operated by hand, and a dedicated entrance / exit 10 formed in the vicinity of the automatic driving vehicle boarding / alighting area 8.

2 and 3 are a connection configuration diagram and a block configuration diagram showing a control system of the mechanical parking device shown in FIG.

The normal operation panel 6 and the automatic operation operation panel 9 are connected to a common control device 11, and the control device 11 is in the mechanical parking device based on the operation signals of the normal operation panel 6 and the automatic operation operation panel 9. Various operations of each drive unit 12 and the like are controlled. As shown in FIG. 3, the control device 11 controls the parking lot control unit 13 based on the operation signal of the normal operation panel 6, and controls based on the operation signal of the automatic operation panel 9, and is parked. It has an autonomous driving vehicle control unit 14 that performs control while maintaining a relationship with a common processing unit in the parking lot control unit 13. The autonomous driving vehicle control unit 14 has a signal transmission unit 15 that performs wireless communication with the autonomous driving vehicle 7.

FIG. 4 is a block configuration diagram showing more specific functions of the control system and the autonomous driving vehicle 7.

The parking lot control unit 13 described above is mounted on the tray 4 after the entrance / exit door opening / closing processing unit 16 for opening / closing the entrance / exit door 1 shown in FIG. 1 and the entrance / exit door 1 opening / closing processing unit 16 for closing the entrance / exit door 1. It has a storage processing unit 17 that moves the parked vehicle in the state to a predetermined storage space.

In addition to the signal transmission unit 15, the above-mentioned automatic driving vehicle control unit 14 determines whether or not the operation start condition is satisfied when an operation corresponding to warehousing is performed from the automatic driving operation panel 9. If there is data required for the automatic driving vehicle 7 to perform automatic driving when the operation start determination unit 18 determines that the operation start condition is satisfied, the automatic driving vehicle 7 is automatically provided to start the movement by automatic driving. It has an operation movement processing unit 19 and the like.

Each of the above-mentioned units is controlled by the control unit 21 based on the warehousing / delivery processing program stored in the storage unit 20.

On the other hand, in the autonomous driving vehicle 7, the vehicle side signal receiving unit 22 that wirelessly communicates with the signal transmitting unit 15 in the autonomous driving vehicle processing unit 14 and the vehicle side signal receiving unit 22 move start signals by automatic driving. It is provided with an automatic operation control unit 24 or the like that drives and controls the drive unit 23 to get on the tray 4 of the boarding room 3 by automatic operation.
Next, regarding the time of warehousing of the general vehicle 5 and the self-driving vehicle 7, a flowchart showing the processing procedure of each part at the time of warehousing shown in FIG. 5, a plan view at the time of warehousing of the general vehicle 5 shown in FIG. 6, FIG. This description will be described with reference to a plan view showing the mechanical parking device at the time of warehousing of the automatically driven vehicle shown, a plan view of the mechanical parking device showing another state at the time of warehousing of the automatically driven vehicle shown in FIG.

The control device 11 monitors that the normal operation panel 6 and the automatic operation panel 9 are operated in step S1. Now, as shown in FIG. 6, a general vehicle 5 enters for warehousing, and the driver descends from the general vehicle 5 and stands in front of the normal operation panel 6 arranged in the vicinity of the doorway 2. It is assumed that an operation for warehousing, for example, an operation for opening the doorway 1 is performed from the normal operation panel 6.

Since the parking lot control unit 13 of the control device 11 shown in FIG. 3 is an operation signal from the normal operation panel 6 in step S2, the process in the normal operation mode is selected and stored in step S3 as the operation of the parking device. When the empty tray 4 in the space is called and the empty tray 4 is prepared in the boarding room 3 in step S4, the door 1 of the doorway 1 of the boarding room 3 is opened as step S5.

After that, in step S6, the driver gets into the tray 4 of the boarding room 3 while getting into the general vehicle 5 again and driving. Next, the driver gets off from the general vehicle 5 in step S7 and confirms safety, that is, stores the side mirror, activates the parking brake, confirms the door lock and the like, and then leaves the boarding room 3 in step S8. The driver again stands in front of the normal operation panel 6 and closes the doorway 1.

Then, the parking lot control unit 13 detects the closing operation of the doorway 1 and closes the doorway 1 in step S9. When the completion signal is detected, the parking lot control unit 13 is generally mounted on the tray 4 in step S10. The vehicle 5 is transported to a predetermined storage space on the machine parking device side and put into a stored state.

Next, in the case where the autonomous driving vehicle 7 is boarded in the autonomous driving vehicle boarding / alighting area 8 for warehousing and the driver operates the automatic driving operation panel 9, the warehousing of the autonomous driving vehicle 7 shown in FIG. 7 The explanation will be given using a plan view of time.

When the control device 11 monitors the operation of the normal operation panel 6 and the automatic driving operation panel 9 in step S1 shown in FIG. 5, the automatic driving vehicle 7 is warehousing as shown in FIG. It is assumed that the vehicle has entered the self-driving vehicle boarding / alighting area 8. When the driver is urged to perform the warehousing operation from the automatic driving operation panel 9 while maintaining the state in which automatic driving is possible by display or voice, he / she descends from the automatic driving vehicle 7 and is placed in the automatic driving vehicle boarding / alighting area 8. Standing in front of the automatic operation operation panel 9, an operation for warehousing, for example, an operation of opening the doorway 1 is performed from the automatic operation operation panel 9. At this point, the self-driving vehicle 7 is handed over to the mechanical parking device side, and after receiving such a message, the driver exits from the dedicated doorway 10 of the self-driving vehicle boarding / alighting area 8 as shown in FIG. It becomes possible.

On the other hand, since the operation start determination unit 18 of the automatic driving vehicle control unit 14 in the control device 11 shown in FIG. 3 is an operation signal from the automatic driving operation panel 9 in step S11, the processing in the automatic driving vehicle operation mode is performed. The operation start determination unit 18 of the automatic driving vehicle control unit 14 selected and shown in FIG. 4 determines in step S12 whether or not another parked vehicle or person exists in the vicinity of the doorway 2. Using the detection device.

As a result of this determination, when there is no other parked vehicle or the like, each drive unit 12 which is a common unit of the parking lot control unit 13 shown in FIG. 3 is in the storage space in step S3 as in the case of the general vehicle 5. The empty tray 4 is called, and the empty tray 4 is prepared in the boarding room 3 in step S4.

In parallel with the preparation for the empty tray 4 at this time, the automatic driving movement processing unit 19 of the automatic driving vehicle control unit 14 sends a signal for starting the movement by automatic driving in step S13 to the signal transmitting unit 15 shown in FIG. Is given to the automatic driving control unit 24 via the vehicle side signal receiving unit 22 of the automatic driving vehicle 7. Then, the automatic driving control unit 24 that receives the movement start signal drives and controls the driving unit 23 to automatically drive the automatic driving vehicle 7 from the automatic driving vehicle boarding / alighting area 8 as in the first half movement path 25A shown in FIG. Move to the front of doorway 2.

On the other hand, each drive unit 12 completes the preparation of the empty tray 4 in step S5 before and after the movement by the automatic driving in the automatic driving vehicle 7, and opens the entrance / exit door 1 of the boarding room 3.

When both the movement of the automatic driving vehicle 7 to the front of the doorway 2 by the automatic driving in step S13 and the opening operation of the doorway 1 in step S5 are completed, the automatic driving movement processing unit 19 of the automatic driving vehicle control unit 14 steps. A signal for starting the movement by automatic driving in S14 is given from the signal transmitting unit 15 shown in FIG. 4 to the automatic driving control unit 24 via the vehicle side signal receiving unit 22 of the automatic driving vehicle 7. Then, the automatic driving control unit 24 that receives the movement start signal drives and controls the driving unit 23 to automatically drive the automatic driving vehicle 7 to temporarily stop the first half moving path 25A as in the latter half moving path 25B shown in FIG. From the position, enter the tray 4 of the boarding room 3 via the doorway 2.

As described above, when the movement of the automatic driving vehicle 7 to the front of the entrance / exit 2 by the automatic driving in step S13 and the preparation process of the empty tray 4 in steps S3 to S5 are performed in parallel, the automatic driving vehicle by automatic driving is performed. The movement of 7 can be performed efficiently. Further, if the self-driving vehicle 7 by automatic driving is moved in advance to the front of the doorway 2 in step S13, after that, the driver of the following general vehicle misunderstands that it is his turn of warehousing and moves to the doorway 2. It is possible to prevent the vehicle from entering toward the vehicle.

Although the approach timing of such a following general vehicle is regulated by a traffic light or the like, it is possible to reliably prevent erroneous entry by visually observing the autonomous driving vehicle 7 stopped in front of the entrance / exit 2. ..

Next, in step S15, the automatic driving movement processing unit 19 transmits another storage preparation signal from the signal transmitting unit 15 shown in FIG. 4 to the automatic driving control unit 24 via the vehicle side signal receiving unit 22 of the automatic driving vehicle 7. give. Then, the automatic driving control unit 24 houses the side mirror, operates the parking brake, locks the door, and the like. After that, the automatic operation movement processing unit 19 closes the doorway 1 in step S16, and when it detects the completion signal of the closing operation of the doorway 1 as in the case of the general vehicle 5, it is placed on the tray 4 in step S10. The self-driving vehicle 7 in the mounted state is transported to a predetermined storage space on the machine parking device side to be in the stored state.

On the other hand, in the determination of step S12, as shown in FIG. 8, another parked vehicle, the normal vehicle 5, is in the vicinity of the doorway 2, or another driver is standing in front of the normal operation panel 6. If it is detected, the operation start determination unit 18 goes into a standby state in step S17. After that, when the operation start determination unit 18 detects in step S18 that the warehousing of the other vehicle in the standby state has been completed, the process proceeds to the parallel processing of steps S3 and S13 described above, and thereafter, the subsequent processing is performed. Process as in the case.

Next, regarding the time of delivery of the general vehicle 5 and the self-driving vehicle 7, a flowchart showing the processing procedure of each part at the time of delivery shown in FIG. 9, a plan view at the time of delivery of the general vehicle 5 shown in FIG. The explanation will be given with reference to a plan view showing the mechanical parking device at the time of leaving the self-driving vehicle shown.

FIG. 9 is a flowchart showing a processing procedure of each part at the time of delivery.

The control device 11 monitors in step S20 that the normal operation panel 6 and the automatic operation panel 9 are operated for delivery. Now, it is assumed that the driver of the general vehicle 5 already parked as shown in FIG. 10 stands in front of the normal operation panel 6 and performs an operation for leaving the garage from the normal operation panel 6.

Since the parking lot control unit 13 of the control device 11 shown in FIG. 3 is an operation signal from the normal operation panel 6 in step S21, the process in the normal operation mode is selected and stored in step S22 as the operation of the parking device. When the general vehicle 5 mounted on the tray stored in the space is called and prepared in the boarding room 3 in step S23, the doorway 1 of the boarding room 3 is opened as step S24.

At this point, the driver enters the boarding room 3 as step S25, and exits the boarding room 3 while boarding and driving the general vehicle 5. Next, when the driver gets off the general vehicle 5 in step S26 and closes the doorway 1 again from the normal operation panel 6, the operation related to the driver's leaving the garage is completed. Then, the parking lot control unit 13 detects the closing operation of the doorway 1 and closes the doorway 1 in step S27.

Next, when the driver of the already parked automatic driving vehicle 7 operates the automatic driving operation panel 9 for leaving the garage, the plan view at the time of leaving the automatic driving vehicle 7 shown in FIG. 11 is used. I will explain while.

When the control device 11 is monitoring the operation of the normal operation panel 6 and the automatic driving operation panel 9 in step S20 shown in FIG. 9, the driver of the automatic driving vehicle 7 is monitoring as shown in FIG. It is assumed that the warehousing operation is performed from the operation panel 9 for automatic operation near the dedicated entrance / exit 10. In the figure, the operation panel 9 for automatic driving is shown as a configuration that can be operated from either the side of the automatic driving vehicle boarding / alighting area 8 or the outside.

Since the automatic driving vehicle control unit 14 of the control device 11 shown in FIG. 3 is an operation signal from the automatic driving operation panel 9 in step S28, the processing in the automatic driving vehicle operation mode is selected as the operation of the parking device. When the autonomous driving vehicle 7 mounted on the tray stored in the storage space is called in step S22 and prepared in the boarding room 3 in step S23, the doorway 1 of the boarding room 3 is opened as step S24. ..

After that, the operation start determination unit 18 of the automatic driving vehicle control unit 14 shown in FIG. 4 determines in step S29 whether or not another parked vehicle, a normal vehicle, is in the vicinity of the doorway 2. Using a detection device or the like. As a result of this determination, when there is no other parked vehicle, the automatic driving movement processing unit 19 of the automatic driving vehicle control unit 14 sends a signal for starting the movement by automatic driving in step S30 to the signal transmitting unit 15 shown in FIG. Is given to the automatic driving control unit 24 via the vehicle side signal receiving unit 22 of the automatic driving vehicle 7. Then, the automatic driving control unit 24 that receives the movement start signal drives and controls the driving unit 23 to drive the automatic driving vehicle 7 from the tray 4 of the boarding room 3 as shown in the movement path 26 shown in FIG. It is moved to the autonomous driving vehicle boarding / alighting area 8 in step S31 via the doorway 2.

On the other hand, in the determination of step S29, if another vehicle that has been delivered in advance is in the vicinity of the doorway 2, the operation start determination unit 18 is put into a standby state in step S32. After that, when the operation start determination unit 18 detects in step S33 that another leaving vehicle has moved, the process proceeds to step S30 described above, and thereafter, processing is performed in the same manner as in the previous case.

In either case, the driver gets into the autonomous driving vehicle 7 and leaves the vehicle after considering that the autonomous driving vehicle 7 has been prepared in the autonomous driving vehicle boarding / alighting area 8 by the automatic driving.

As can be seen from the above description, in the case of mechanical parking in which both the general vehicle 5 and the autonomous driving vehicle 7 are stored, there is a possibility that a dangerous state may occur in the vicinity of the boarding room 3, but the general vehicle 5 The normal operation panel 6 for the purpose and the operation panel 9 for the automatic driving vehicle 7 are separately installed, and the operation panel 9 for automatic driving is provided in the vicinity of the automatic driving vehicle boarding / alighting area 8 for the automatic driving vehicle 7. Therefore, it is possible to avoid unnecessary congestion and perform efficient warehousing / delivery processing while limiting complicated movements of each driver to ensure safety.

Further, if the normal operation panel 6 is provided in the vicinity of the entrance / exit 2 in the boarding room 3 as before, the driver of the general vehicle 5 can perform the entry / exit operation in the same manner as before. Then, the driver of the autonomous driving vehicle 7 can get off from the autonomous driving vehicle 7 in the autonomous driving vehicle boarding / alighting area 8 at a position slightly away from the doorway 2 in the boarding room 3 and deposit it on the mechanical parking device side. Moreover, it is possible to safely perform a predetermined operation from the operation panel 9 for automatic operation without approaching the normal operation panel 6 arranged near the doorway 2 in the boarding room 3. Further, since the self-driving vehicle boarding / alighting area 8 is provided, it is possible to wait until the self-driving vehicle 7 is prepared in the self-driving vehicle boarding / alighting area 8 without approaching the doorway 2 in the boarding room 3 even at the time of leaving the garage.

As described above, the present invention is a parking lot process for performing a process corresponding to an operation on the normal operation panel 6 mainly for a general vehicle 5 and a normal operation panel 6 arranged in the vicinity of the entrance 2 of the boarding room 3. In a mechanical parking device including a unit 13 and an automatic driving vehicle processing unit 14 that mainly targets an automatic driving vehicle 7 and performs movement processing to the boarding room 3, the vehicle is slightly separated from the doorway 2 of the boarding room 3. An automatic driving vehicle boarding / alighting area 8 for the automatic driving vehicle 7 formed at the position and an automatic driving operation panel 9 arranged in the vicinity of the automatic driving vehicle boarding / alighting area 8 are provided. It is characterized in that the automatic driving vehicle 7 is automatically moved between the automatic driving vehicle boarding / alighting area 8 and the boarding room 3 when the automatic driving operation panel 9 is operated.

According to such a configuration, the driver of the general vehicle 5 can perform the warehousing / exit operation in the same manner as before, while the driver of the autonomous driving vehicle 7 can perform the entrance / exit 2 in the boarding room 3. A normal operation panel 6 that can be disembarked from the self-driving vehicle 7 and deposited on the mechanical parking device side in the self-driving vehicle boarding / alighting area 8 at a position slightly away from the boarding room 3 and is arranged near the doorway 2 in the boarding room 3. It is possible to safely perform a predetermined operation from the operation panel 9 for automatic operation without approaching. Further, since the self-driving vehicle boarding / alighting area 8 is provided, it is possible to wait until the self-driving vehicle 7 is prepared in the self-driving vehicle boarding / alighting area 8 without approaching the doorway 2 in the boarding room 3 even at the time of leaving the garage.

Further, in the present invention, in addition to the above-described configuration, the automatic driving vehicle processing unit 14 starts an operation for determining whether or not the operation start condition is satisfied when an operation corresponding to warehousing / delivery is performed from the automatic driving operation panel 9. It is characterized in that the determination unit 18 and the automatic driving movement processing unit 19 for starting the movement by the automatic driving when the operation start determination unit 18 determines that the operation start condition is satisfied are provided.

According to such a configuration, there is a possibility that a dangerous state may occur in the vicinity of the boarding room 3, but the normal operation panel 6 for the general vehicle 5 and the automatic driving vehicle 7 for the automatic driving vehicle 7 are used. Since the operation panel 9 is installed separately and the operation panel 9 for automatic driving is provided in the vicinity of the autonomous driving vehicle boarding / alighting area 8 for the automatic driving vehicle 7, the complicated movement of each driver is restricted to ensure safety. While securing, it is possible to avoid unnecessary traffic jams and perform efficient warehousing / delivery processing.

1 Doorway 2 Doorway 2 Doorway 3 Boarding room 6 Normal operation panel 7 Autonomous driving vehicle 8 Autonomous driving vehicle boarding / alighting area 9 Autonomous driving operation panel 13 Parking lot processing unit 14 Autonomous driving vehicle processing unit 18 Operation start judgment unit 19 Autonomous driving movement processing Department

Claims (2)

The normal operation panel arranged near the entrance / exit of the boarding room, the parking lot processing unit that mainly targets general vehicles and performs processing corresponding to the operation on the normal operation panel, and the above-mentioned mainly for autonomous vehicles. In a mechanical parking device equipped with an autonomous vehicle processing unit that performs movement processing to the boarding room
An autonomous driving vehicle boarding / alighting area for the autonomous driving vehicle formed at a position slightly away from the entrance / exit of the boarding room and an automatic driving operation panel arranged in the vicinity of the autonomous driving vehicle boarding / alighting area are provided. The self-driving vehicle processing unit is configured to automatically move the self-driving vehicle between the self-driving vehicle boarding / alighting area and the boarding room when the self-driving operation panel is operated. A mechanical parking device characterized by. The automatic driving vehicle processing unit operates an operation start determination unit that determines whether or not the operation start condition is satisfied when an operation corresponding to warehousing / delivery is performed from the automatic driving operation panel, and the operation start determination unit. The mechanical parking device according to claim 1, further comprising an automatic driving movement processing unit that causes the automatic driving vehicle to start moving by automatic driving when it is determined that the start condition is satisfied.

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