JP7162451B2 - automatic valet parking system - Google Patents

automatic valet parking system Download PDF

Info

Publication number
JP7162451B2
JP7162451B2 JP2018112028A JP2018112028A JP7162451B2 JP 7162451 B2 JP7162451 B2 JP 7162451B2 JP 2018112028 A JP2018112028 A JP 2018112028A JP 2018112028 A JP2018112028 A JP 2018112028A JP 7162451 B2 JP7162451 B2 JP 7162451B2
Authority
JP
Japan
Prior art keywords
vehicle
parking
control system
automatic
automatic driving
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
JP2018112028A
Other languages
Japanese (ja)
Other versions
JP2019215665A (en
Inventor
健一 中村
賢貴 西村
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
IHI Transport Machinery Co Ltd
Original Assignee
IHI Transport Machinery Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by IHI Transport Machinery Co Ltd filed Critical IHI Transport Machinery Co Ltd
Priority to JP2018112028A priority Critical patent/JP7162451B2/en
Publication of JP2019215665A publication Critical patent/JP2019215665A/en
Application granted granted Critical
Publication of JP7162451B2 publication Critical patent/JP7162451B2/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Images

Landscapes

  • Management, Administration, Business Operations System, And Electronic Commerce (AREA)
  • Traffic Control Systems (AREA)
  • Selective Calling Equipment (AREA)

Description

本発明は、自動バレーパーキングシステムに関するものである。 The present invention relates to automated valet parking systems.

従来、ホテルやレストラン等の施設では、バレーパーキング（Valet Parking）と称される駐車形式が知られており、この種のバレーパーキングでは、自分で運転してきた車両を専門のポーターに預けて車両の駐車を任せ、外出時や帰宅時には前記ポーターに頼んで車両をエントランスまで乗り付けてもらうようにしているが、将来的な自動運転車両の普及に向けて前記バレーパーキングの自動化を図ることが検討されている。 Conventionally, facilities such as hotels and restaurants use a form of parking known as valet parking. Parking is entrusted to them, and when they go out or come home, they ask the porter to drive the vehicle to the entrance. ing.

即ち、駐車設備の出入口付近に設定された所定の乗降場所にて自動運転車両から乗員が降車し、該自動運転車両と無線接続された管制システムにより前記自動運転車両を駐車スペースまで自動走行させて入庫させたり、或いは、駐車スペースから乗降場所まで自動走行させて出庫させたりすることが考えられている。 That is, the occupant alights from the automatically driven vehicle at a predetermined boarding and alighting location set near the entrance/exit of the parking facility, and the automatically driven vehicle is automatically driven to the parking space by a control system wirelessly connected to the automatically driven vehicle. It is conceivable to have the vehicle enter the parking space, or to automatically drive the vehicle from the parking space to the boarding/alighting place to exit the parking space.

尚、このように乗員が関与せずに自動走行で駐車スペースに対し車両を入出庫させるようにしたパーキングシステムに関する先行技術文献情報としては、例えば、本発明と同じ出願人による下記の特許文献１等が既に存在している。 In addition, prior art document information related to a parking system in which a vehicle is automatically moved into and out of a parking space without involvement of a passenger is, for example, the following patent document 1 by the same applicant as the present invention. etc. already exist.

特開２０１７－２１４８００号公報Japanese Patent Application Laid-Open No. 2017-214800

しかしながら、前述の如きバレーパーキングを自動化するにあたっては、駐車設備内の十分な保安性を確保する観点から該駐車設備内の完全無人化を図る必要があり、入庫のための自動走行を開始するのに先立ち、車室内に人が取り残されていないことを確認してから自動走行を開始しなければならず、この確認作業を確実に行うために乗降場所付近に人感センサやカメラ装置等を新たに配備しなければならなくなって、駐車設備の設備コストが大幅に高騰してしまうという問題があり、しかも、車両の外側から車室内に人が取り残されているかどうかを正確に検知すること自体が技術的に難しいという問題もあった。 However, in automating valet parking as described above, it is necessary to completely unmanned the parking facility from the viewpoint of ensuring sufficient security in the parking facility, and automatic driving for entering the parking facility must be started. In order to ensure that no one is left behind in the vehicle before starting automatic driving, a new motion sensor, camera device, etc. will be installed near the boarding and alighting areas. In addition, it is difficult to accurately detect whether or not a person is left inside the vehicle from the outside of the vehicle. There were also technical difficulties.

本発明は上述の実情に鑑みてなされたものであり、自動運転車両の入庫時に車室内に人が取り残された状態で自動走行が開始されることを確実に防止し得る自動バレーパーキングシステムを設備コストの大幅な高騰を避けつつ実現することを目的とする。 The present invention has been made in view of the above-mentioned circumstances, and is equipped with an automatic valet parking system that can reliably prevent automatic driving from being started with a person left behind in the vehicle when the vehicle is parked. The purpose is to achieve this while avoiding a significant rise in costs.

本発明は、乗員が関与せずに自動走行可能な自動運転車両と、該自動運転車両を駐車するための駐車設備と、前記自動運転車両を無線接続により誘導して無人で自動走行せしめる管制システムとを備え、乗降場所で乗員が降車した自動運転車両を前記管制システムにより自動走行させて駐車設備の駐車スペースに入庫させる一方、該駐車スペースから前記管制システムにより出庫させた自動運転車両を乗員が待つ乗降場所まで誘導するようにした自動バレーパーキングシステムであって、
前記自動運転車両が車室内の人の有無を検知する検出器を装備しており、前記管制システムが前記自動運転車両の入庫開始時に前記検出器の検出情報を要求し且つその応答信号を確認して無人状態の場合に限り前記自動運転車両の自動走行を開始するように構成されていると共に、前記検出器からの応答信号が車内に人がいないことを検知している場合に、前記自動運転車両から降車した乗員の携帯端末に対し入庫開始応答を送信する一方、前記検出器からの応答信号が車内に人がいることを検知している場合には、前記自動運転車両から降車した乗員の携帯端末に対し入庫不可応答を送信するように前記管制システムが構成されていることを特徴とするものである。 The present invention provides an automated vehicle that can run automatically without the involvement of a passenger, a parking facility for parking the automated vehicle, and a control system that guides the automated vehicle through wireless connection to make it run unmanned. The automated driving vehicle that the occupant got off at the boarding and alighting place is automatically driven by the control system to enter the parking space of the parking facility, and the occupant is allowed to leave the automated driving vehicle from the parking space by the control system. An automatic valet parking system that guides the driver to a waiting boarding and alighting place,
The autonomous vehicle is equipped with a detector that detects the presence or absence of a person in the vehicle interior, and the control system requests the detection information of the detector when the autonomous vehicle starts entering the garage, and confirms the response signal. The automatic driving vehicle is configured to start automatic driving only when the vehicle is unmanned, and when the response signal from the detector detects that there is no person in the vehicle, the automatic driving While transmitting a parking start response to the mobile terminal of the occupant who got off the vehicle, when the response signal from the detector detects that there is a person in the vehicle, the occupant who got off the automatic driving vehicle The system is characterized in that the control system is configured to transmit a warehousing-impossible response to the portable terminal .

また、前記自動バレーパーキングシステムにおいては、前記車室内の人の有無を検知する検出器が着座センサであることが好ましい。 Further, in the automatic valet parking system, it is preferable that the detector for detecting the presence or absence of a person in the vehicle interior is a seat sensor.

本発明の自動バレーパーキングシステムによれば、乗降場所付近に人感センサやカメラ装置等を新たに配備しなくて済み、自動運転車両の入庫時に車室内に人が取り残された状態で自動走行が開始されることを確実に防止し得る自動バレーパーキングシステムを設備コストの大幅な高騰を避けつつ実現することができるという優れた効果を奏し得る。 According to the automatic valet parking system of the present invention, there is no need to newly install a human sensor or camera device near the boarding and alighting place, and automatic driving can be performed with a person left behind in the vehicle when the automatic driving vehicle enters the parking lot. It is possible to realize an automatic valet parking system that can reliably prevent the system from being started while avoiding a large rise in facility costs.

本発明の一実施例を示すシステム構成図である。1 is a system configuration diagram showing an embodiment of the present invention; FIG. 本実施例の入庫時における運用手順について示すフローチャートである。It is a flowchart which shows the operating procedure at the time of warehousing of a present Example. 本実施例の入庫時における無線の遣り取りを示すシーケンス図である。FIG. 4 is a sequence diagram showing wireless exchanges at the time of warehousing according to the present embodiment;

以下、本発明の実施の形態を添付図面を参照して説明する。 BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

図１は本発明の自動バレーパーキングシステムの実施例を示すシステム構成図であり、本実施例においては、乗員が関与せずに自動走行可能な自動運転車両１と、該自動運転車両１を駐車するための駐車設備２と、前記自動運転車両１を３Ｇ回線やインターネット回線等を用いた無線接続により誘導して無人で自動走行せしめる管制システム３とを備え、所定の乗降場所で乗員が降車した自動運転車両１を管制システム３により自動走行させて駐車設備２の駐車スペースに入庫させる一方、該駐車スペースから前記管制システム３により出庫させた自動運転車両１を乗員が待つ乗降場所まで誘導するように構成したものである。 FIG. 1 is a system configuration diagram showing an embodiment of an automatic valet parking system according to the present invention. In this embodiment, an automatically driving vehicle 1 capable of automatically traveling without the involvement of a passenger and parking the automatically driving vehicle 1 are shown. and a control system 3 that guides the automatic driving vehicle 1 through a wireless connection using a 3G line, Internet line, etc. to make it run unmanned automatically. The automatic driving vehicle 1 is automatically driven by the control system 3 to enter the parking space of the parking facility 2, and the automatic driving vehicle 1 exited from the parking space by the control system 3 is guided to the boarding and alighting place where the crew waits. It is configured to

ここで、前記自動運転車両１は、車室内の人の有無を検知する検出器として全ての座席に着座センサ４を装備しており、前記管制システム３は、前記自動運転車両１の入庫開始時に前記着座センサ４の検出情報を要求し且つその応答信号を確認して無人状態の場合に限り前記自動運転車両１に対し自動走行を開始するように構成されている。 Here, the automatic driving vehicle 1 is equipped with a seating sensor 4 on all seats as a detector for detecting the presence or absence of a person in the vehicle interior, and the control system 3, when the automatic driving vehicle 1 starts entering the parking lot It is configured to request the detection information of the seating sensor 4, confirm the response signal, and start the automatic driving of the automatic driving vehicle 1 only when it is in an unmanned state.

尚、車室内の人の有無を検知する検出器は着座センサ４に限定されるものではないが、この種の着座センサ４は、運転席と助手席における乗員のシートベルト着用を確認するべく大半の自動車に既に採用されているものであり、これを後部座席を含む全ての座席に採用して車室内の人の有無を検知する検出器として利用するのは容易である。 Although the detector for detecting the presence or absence of a person in the vehicle interior is not limited to the seating sensor 4, most seating sensors 4 of this type are used to check whether the occupants in the driver's seat and the passenger's seat are wearing seat belts. It is already adopted in the automobile, and it is easy to adopt this to all seats including the rear seats and use it as a detector for detecting the presence or absence of a person in the passenger compartment.

本実施例における入庫時の具体的な運用手順は、図２にフローチャートで示す通りであり、先ずステップＳ１で自動運転車両１を所定の乗降場所に停車させ、然る後に、ステップＳ２で自動運転車両１から降車した乗員が自身のスマートフォン等の携帯端末５を使用して入庫開始操作を行い、ステップＳ３で車内に人がいないことが管制システム３で確認された後、ステップＳ４で入庫開始受付の情報を乗員の携帯端末５に表示させ、次いで、ステップＳ５で自動運転車両１を管制システム３による無人走行で所定の駐車スペースに入庫させるようにしているが、先のステップＳ３で車内に人がいることが管制システム３で確認された場合には、ステップＳ６を経由して先のステップＳ２から遣り直されるようになっていて、先のステップＳ６においては、入庫不可の情報を乗員の携帯端末５に表示させるようにしている。 A specific operation procedure when entering the parking lot in this embodiment is as shown in the flowchart in FIG. An occupant who gets off the vehicle 1 uses his or her own mobile terminal 5 such as a smart phone to perform a parking start operation, and after the control system 3 confirms that there is no one in the vehicle in step S3, the parking start reception is performed in step S4. is displayed on the mobile terminal 5 of the occupant, and then in step S5, the automatic driving vehicle 1 is moved into a predetermined parking space by unmanned driving by the control system 3. When it is confirmed by the control system 3 that there is a vehicle in the parking lot, the system is designed to restart from the previous step S2 via the step S6. This is displayed on the terminal 5.

ここで、乗員が携帯端末５を使用して入庫開始操作を行うにあたっては、駐車設備２の利用に先立ち事前登録を済ませておき、この事前登録の際に取得した認証コード等を管制システム３との間で取り交わすことで、該管制システム３が自動運転車両１を自動走行させて駐車設備２の駐車スペースに入庫させることに認証を与えるようにしておくと良い。 Here, when the occupant uses the mobile terminal 5 to perform the parking start operation, prior registration is completed prior to using the parking facility 2, and the authentication code etc. acquired at the time of this pre-registration is transmitted to the control system 3. By exchanging between them, the control system 3 may authenticate that the automatically driven vehicle 1 is automatically driven and parked in the parking space of the parking facility 2 .

尚、入庫開始受付や入庫不可の情報を表示させる携帯端末５は、スマートフォン以外の専用端末や自動運転車両１のスマートキー等であっても良く、また、情報を表示させる以外に音声やブザー等で知らせるようにすることも可能である。 In addition, the mobile terminal 5 that displays the reception of the start of parking and the information that the parking is not possible may be a dedicated terminal other than a smartphone, a smart key of the automatic driving vehicle 1, or the like. It is also possible to notify by

他方、乗員の携帯端末５と管制システム３と自動運転車両１との間で行われる無線の遣り取りは図３のシーケンス図に示す通りであり、自動運転車両１から降車した乗員が自身のスマートフォン等の携帯端末５を使用して入庫開始操作を行うと、この携帯端末５からの入庫開始要求Ｄ1が管制システム３に向けて送信され、これを受けた管制システム３から自動運転車両１に向けて無人確認要求Ｄ2（着座センサ４の検出情報の要求）が送信され、これを受けた自動運転車両１からは無人確認応答Ｒ1（着座センサ４の検出情報の要求に対する応答信号）が提供される。 On the other hand, the radio communication between the passenger's mobile terminal 5, the control system 3, and the automated driving vehicle 1 is as shown in the sequence diagram of FIG. When a parking start operation is performed using the mobile terminal 5, a parking start request D 1 from this mobile terminal 5 is transmitted to the control system 3, and the control system 3 that receives this is directed to the automated driving vehicle 1. Then, an unmanned confirmation request D 2 (request for information detected by the seating sensor 4) is transmitted, and the autonomous vehicle 1 that receives this request provides an unmanned confirmation response R 1 (response signal to the request for information detected by the seating sensor 4). be done.

そして、管制システム３に提供された無人確認応答Ｒ1が車内に人がいないことを検知したものであれば、管制システム３から自動運転車両１に向け自動走行開始要求Ｄ3が送信されて自動走行が開始され、これを受けた自動運転車両１から自動走行開始応答Ｒ2が管制システム３に返され、該管制システム３から入庫開始応答Ｒ3が乗員の携帯端末５に送信されて入庫開始受付の情報が表示される。 Then, if the unmanned confirmation response R 1 provided to the control system 3 detects that there is no person in the vehicle, the control system 3 sends an automatic driving start request D 3 to the automatic driving vehicle 1 to automatically Traveling is started, and an automatic travel start response R2 is returned to the control system 3 from the automated driving vehicle 1 that receives this, and a parking start response R3 is sent from the control system 3 to the passenger's mobile terminal 5 to start parking. Reception information is displayed.

ただし、前記管制システム３の無人確認要求Ｄ2に対する前記自動運転車両１からの無人確認応答Ｒ1が車内に人がいることを検知したものであった場合には、前記管制システム３から自動運転車両１に向けて自動走行開始要求Ｄ3が送信されず、前記管制システム３から入庫不可応答Ｒ4が乗員の携帯端末５に送信されて入庫不可の情報が表示される。 However, if the unattended confirmation response R 1 from the automatic driving vehicle 1 in response to the unattended confirmation request D 2 of the control system 3 detects that there is a person in the vehicle, the automatic driving from the control system 3 The automatic driving start request D3 is not sent to the vehicle 1, and the parking prohibition response R4 is sent from the control system 3 to the passenger's mobile terminal 5, and the parking prohibition information is displayed.

尚、自動運転車両１を管制システム３により自動走行させて駐車設備２の駐車スペースに入庫させるに際し、例えば、先に先行技術文献情報としてあげた特開２０１７－２１４８００号公報（特許文献１）にも記載されている通り、乗員が関与せずに自動走行できる機能を既に備えている自動運転車両１を外部からの無線接続により誘導して自動走行させること自体は容易に実現可能な事項であり、後は駐車設備２内の各種センシング機器類を利用した適切な自動運転車両１の位置情報の把握と駐車スペースまでの適切なルート決めを管制システム３側で実施できれば良く、これらも既存技術により特段の技術的困難性なく実現できる事項である。 In addition, when automatically driving the automatic driving vehicle 1 by the control system 3 and entering the parking space of the parking facility 2, for example, Japanese Patent Application Laid-Open No. 2017-214800 (Patent Document 1) mentioned above as prior art document information As described in , it is a matter that can be easily realized to guide the automatic driving vehicle 1, which already has a function that allows automatic driving without the involvement of the occupant, by wireless connection from the outside to make it automatically run. After that, it is sufficient if the control system 3 can grasp the appropriate position information of the automatic driving vehicle 1 using various sensing devices in the parking facility 2 and determine the appropriate route to the parking space. It is a matter that can be realized without any particular technical difficulties.

而して、以上に述べた如き自動バレーパーキングシステムによれば、乗降場所付近に人感センサやカメラ装置等を新たに配備しなくて済み、自動運転車両１の入庫時に車室内に人が取り残された状態で自動走行が開始されることを確実に防止し得る自動バレーパーキングシステムを設備コストの大幅な高騰を避けつつ実現することができる。 Therefore, according to the automatic valet parking system as described above, there is no need to newly install a human sensor, a camera device, etc. It is possible to realize an automatic valet parking system capable of reliably preventing the start of automatic driving in a closed state while avoiding a significant rise in facility costs.

また、特に本実施例の場合には、管制システム３による入庫開始受付が完了したことを携帯端末５により確認することができ、しかも、降車した自動運転車両１に人が取り残されていた場合にも入庫不可の情報を携帯端末５で確認することができて迅速に対処することが可能となる。 In addition, particularly in the case of the present embodiment, it is possible to confirm by the mobile terminal 5 that the entry start reception by the control system 3 has been completed, and moreover, if a person is left behind in the automatically driven vehicle 1 after getting off, It is possible to check the information on the impossibility of warehousing on the portable terminal 5, and to quickly deal with the situation.

更に、本実施例のように、車室内の人の有無を検知する検出器を着座センサ４とすれば、運転席と助手席における乗員のシートベルト着用を確認するべく大半の自動車に既に採用されている着座センサ４を後部座席を含む全ての座席に採用するだけで対応することができ、その実施容易性の大幅な向上を図ることができるというメリットもある。 Furthermore, as in this embodiment, if the detector for detecting the presence or absence of a person in the vehicle interior is the seat sensor 4, it is already used in most automobiles to confirm that the seat belts are fastened by the occupants in the driver's seat and the front passenger's seat. There is also the advantage that it is possible to deal with the situation simply by adopting the seat sensors 4 that are used in all the seats including the rear seats, and that the easiness of implementation can be greatly improved.

尚、本発明の自動バレーパーキングシステムは、上述の実施例にのみ限定されるものではなく、本発明の要旨を逸脱しない範囲内において種々変更を加え得ることは勿論である。 It should be noted that the automatic valet parking system of the present invention is not limited to the above-described embodiments, and of course various modifications can be made without departing from the gist of the present invention.

１ 自動運転車両
２ 駐車設備
３ 管制システム
４ 着座センサ（検出器）
５ 携帯端末
Ｄ1 入庫開始要求
Ｄ2 無人確認要求（検出器の検出情報の要求）
Ｄ3 自動走行開始要求
Ｒ1 無人確認応答（検出器の検出情報の要求に対する応答信号）
Ｒ2 自動走行開始応答
Ｒ3 入庫開始応答
Ｒ4 入庫不可応答 1 Autonomous vehicle 2 Parking facility 3 Control system 4 Seating sensor (detector)
5 Mobile terminal D 1 Request to start warehousing D 2 Unattended confirmation request (detector detection information request)
D 3 Automatic travel start request R 1 Unmanned confirmation response (response signal to request for detector detection information)
R 2 Automatic running start response R 3 Parking start response R 4 Parking not possible response

Claims (2)

乗員が関与せずに自動走行可能な自動運転車両と、該自動運転車両を駐車するための駐車設備と、前記自動運転車両を無線接続により誘導して無人で自動走行せしめる管制システムとを備え、乗降場所で乗員が降車した自動運転車両を前記管制システムにより自動走行させて駐車設備の駐車スペースに入庫させる一方、該駐車スペースから前記管制システムにより出庫させた自動運転車両を乗員が待つ乗降場所まで誘導するようにした自動バレーパーキングシステムであって、
前記自動運転車両が車室内の人の有無を検知する検出器を装備しており、前記管制システムが前記自動運転車両の入庫開始時に前記検出器の検出情報を要求し且つその応答信号を確認して無人状態の場合に限り前記自動運転車両の自動走行を開始するように構成されていると共に、前記検出器からの応答信号が車内に人がいないことを検知している場合に、前記自動運転車両から降車した乗員の携帯端末に対し入庫開始応答を送信する一方、前記検出器からの応答信号が車内に人がいることを検知している場合には、前記自動運転車両から降車した乗員の携帯端末に対し入庫不可応答を送信するように前記管制システムが構成されていることを特徴とする自動バレーパーキングシステム。 An automated driving vehicle that can run automatically without the involvement of a passenger, a parking facility for parking the automated driving vehicle, and a control system that guides the automated driving vehicle by wireless connection to make it run unmanned. The control system automatically drives the automated driving vehicle that the occupant exits at the boarding and alighting place and enters the parking space of the parking facility, and the automated driving vehicle exited by the control system from the parking space to the boarding and alighting place where the occupant waits. An automated valet parking system adapted to guide
The autonomous vehicle is equipped with a detector that detects the presence or absence of a person in the vehicle interior, and the control system requests the detection information of the detector when the autonomous vehicle starts entering the garage, and confirms the response signal. The automatic driving vehicle is configured to start automatic driving only when the vehicle is unmanned, and when the response signal from the detector detects that there is no person in the vehicle, the automatic driving While transmitting a parking start response to the mobile terminal of the occupant who got off the vehicle, when the response signal from the detector detects that there is a person in the vehicle, the occupant who got off the automatic driving vehicle 1. An automatic valet parking system , wherein the control system is configured to transmit a parking refusal response to a mobile terminal . 前記車室内の人の有無を検知する検出器が着座センサであることを特徴とする請求項１に記載の自動バレーパーキングシステム。 2. The automatic valet parking system according to claim 1 , wherein the detector for detecting the presence or absence of a person in the vehicle interior is a seat sensor.
JP2018112028A 2018-06-12 2018-06-12 automatic valet parking system Active JP7162451B2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2018112028A JP7162451B2 (en) 2018-06-12 2018-06-12 automatic valet parking system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2018112028A JP7162451B2 (en) 2018-06-12 2018-06-12 automatic valet parking system

Publications (2)

Publication Number Publication Date
JP2019215665A JP2019215665A (en) 2019-12-19
JP7162451B2 true JP7162451B2 (en) 2022-10-28

Family

ID=68918715

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2018112028A Active JP7162451B2 (en) 2018-06-12 2018-06-12 automatic valet parking system

Country Status (1)

Country Link
JP (1) JP7162451B2 (en)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP7431075B2 (en) * 2020-03-24 2024-02-14 新明和工業株式会社 Parking system and parking system control device
EP4160567A4 (en) * 2020-05-28 2024-03-13 Kawasaki Motors, Ltd. Utility vehicle
CN112158191A (en) * 2020-06-24 2021-01-01 上汽通用五菱汽车股份有限公司 Automatic parking method, system and readable storage medium

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006159939A (en) 2004-12-02 2006-06-22 Xanavi Informatics Corp Notice device for in-cabin object to be informed
JP2007219738A (en) 2006-02-15 2007-08-30 Fujitsu Ten Ltd Parking management system, on-vehicle parking control apparatus, and parking control apparatus
JP2015176468A (en) 2014-03-17 2015-10-05 株式会社デンソー Vehicle Management System
JP2016099953A (en) 2014-11-26 2016-05-30 株式会社デンソー Automatic vehicle operation system
US20180029591A1 (en) 2016-07-26 2018-02-01 Ford Global Technologies, Llc Vehicle remote park assist with occupant detection
JP2018505488A (en) 2015-02-12 2018-02-22 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ Method and apparatus for monitoring a vehicle present in a parking lot in an autonomous mode of operation

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006159939A (en) 2004-12-02 2006-06-22 Xanavi Informatics Corp Notice device for in-cabin object to be informed
JP2007219738A (en) 2006-02-15 2007-08-30 Fujitsu Ten Ltd Parking management system, on-vehicle parking control apparatus, and parking control apparatus
JP2015176468A (en) 2014-03-17 2015-10-05 株式会社デンソー Vehicle Management System
JP2016099953A (en) 2014-11-26 2016-05-30 株式会社デンソー Automatic vehicle operation system
JP2018505488A (en) 2015-02-12 2018-02-22 ローベルト ボツシユ ゲゼルシヤフト ミツト ベシユレンクテル ハフツングＲｏｂｅｒｔ Ｂｏｓｃｈ Ｇｍｂｈ Method and apparatus for monitoring a vehicle present in a parking lot in an autonomous mode of operation
US20180029591A1 (en) 2016-07-26 2018-02-01 Ford Global Technologies, Llc Vehicle remote park assist with occupant detection

Also Published As

Publication number Publication date
JP2019215665A (en) 2019-12-19

Similar Documents

Publication Publication Date Title
EP3383728B1 (en) Method for autonomously parking a motor vehicle with interior monitoring, driver assistance system as well as motor vehicle
US10387738B2 (en) Method and device for monitoring a vehicle that is in an autonomous operating mode and is located in a parking facility
US10518785B2 (en) Method and apparatus for operating a vehicle
JP7162451B2 (en) automatic valet parking system
JP6785582B2 (en) Self-driving parking system
JP6579903B2 (en) Driving support device, vehicle, and garage cooperative control system
US20180072345A1 (en) Automated valet parking method and device
JP5471462B2 (en) Automatic parking equipment
US10814865B2 (en) Parking device
CN105894810B (en) Method and device for monitoring a vehicle travelling in a parking area
KR20060103222A (en) Vehicle door control system
CN104169978A (en) Portable authentication means and vehicle security system for a motor vehicle
JP2019020985A (en) Unmanned taxi control method and unmanned taxi control device
KR102113344B1 (en) Auto open and shut system for door of vehicle
CN108025702A (en) The guarantee of motor vehicle
JP2009064276A (en) Parking guide system
CN110281728B (en) Control device and control method
JP2018065488A (en) Automatic driving system
CN114633739A (en) Control device for a motor vehicle and method for operating a motor vehicle in a parking space
JP2003078593A (en) On-vehicle electronic control system
US11385638B2 (en) Method for operating a safety system for a motor vehicle and safety system
US20200372463A1 (en) Method and system for delivering and/or collecting objects at a place of destination
JP2009074325A (en) Power window device
JP6819486B2 (en) Control device
JP5897096B1 (en) Vehicle travel support communication device and communication system

Legal Events

Date Code Title Description
A621 Written request for application examination

Free format text: JAPANESE INTERMEDIATE CODE: A621

Effective date: 20210409

A977 Report on retrieval

Free format text: JAPANESE INTERMEDIATE CODE: A971007

Effective date: 20220323

A131 Notification of reasons for refusal

Free format text: JAPANESE INTERMEDIATE CODE: A131

Effective date: 20220405

A521 Request for written amendment filed

Free format text: JAPANESE INTERMEDIATE CODE: A523

Effective date: 20220527

TRDD Decision of grant or rejection written
A01 Written decision to grant a patent or to grant a registration (utility model)

Free format text: JAPANESE INTERMEDIATE CODE: A01

Effective date: 20221011

A61 First payment of annual fees (during grant procedure)

Free format text: JAPANESE INTERMEDIATE CODE: A61

Effective date: 20221018

R150 Certificate of patent or registration of utility model

Ref document number: 7162451

Country of ref document: JP

Free format text: JAPANESE INTERMEDIATE CODE: R150