JP7366516B2 - Parking lot operation method and parking system - Google Patents

Description

The present invention relates to a method of operating a parking lot and a parking system in which a plurality of vehicles are parked.

A parking lot is a place where vehicles are parked.
Parking devices are sometimes used to park multiple vehicles.
A parking device parks a vehicle in a parking space.
For example, in a self-propelled parking lot, vehicles self-propel through a travel space and park in parking spaces arranged along the travel space.

Conventionally, when parking a vehicle, a person drives a vehicle and parks the vehicle at a predetermined location. When parking, please also check the safety of the surrounding area. Furthermore, when leaving the parking lot, a person goes to the parking location, gets into the vehicle at the parking location, drives the vehicle, and leaves the parking lot.

In a typical flat/self-propelled parking lot, parking spaces are divided by white lines, and drivers park their cars in line with the white lines.

In parking lots for self-driving cars, since the vehicles are unmanned, a narrower parking space is sufficient than in the case of a manned vehicle, which improves accommodating efficiency.
Furthermore, by adopting a flexible parking pattern that matches the space in the parking area and the size and number of vehicles to be parked, the number of vehicles that can be accommodated can be increased, and by changing the position within the parking area, it is possible to reduce the time it takes to enter and exit the parking lot. It may be possible to shorten the time or use it to suit the situation.

The present invention was devised in view of the above-mentioned problems, and aims to provide a parking lot operating method and a parking system that are convenient for parking vehicles with an automatic parking function.

In order to achieve the above object, there is provided a method of operating a parking lot for parking automatically parked vehicles according to the present invention, the parking lot includes a parking area where a plurality of vehicles are parked, and a boarding area connected to a road where drivers can get on and off the vehicles. The automatic parking vehicle has an entrance and an exit that connect the boarding area and the parking area, and the automatic parking vehicle is a vehicle that has an automatic parking function that can automatically drive through the parking area and park. The warehousing process includes a warehousing process for warehousing a vehicle, and a warehousing process for leaving the warehousing vehicle, which is a vehicle with a warehousing request. a vehicle receiving process, a parking position determination process at the time of parking, which determines a parking position where a specific vehicle is to be parked at an arbitrary position within the parking area, and a parking position determination process that determines a parking position at an arbitrary position within the parking area, and a parking position determination process from the current position where the specific vehicle is currently located to the parking position. A warehousing driving route determining step for determining a warehousing driving route; a warehousing other vehicle determining step for determining in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the warehousing driving route; When it is determined that the other vehicle is on the warehousing route, the specific vehicle is stopped in real time, and when it is determined that no other vehicle is on the warehousing route, the specific vehicle is moved on the warehousing route in real time. a warehousing vehicle running process in which the vehicle automatically travels along the warehousing process, and a warehousing vehicle stopping process in which the specific vehicle is stopped at the parking position when the specific vehicle arrives at the parking position, and when executing the warehousing process, Using the warehousing vehicle as a specific vehicle, the warehousing vehicle acceptance process, the warehousing stop position determination process, the warehousing travel route determination process, the warehousing other vehicle determination process, the warehousing vehicle running process, and the warehousing vehicle stopping process are performed. and the other vehicle determined by executing the other vehicle determination step at the time of warehousing is set as a specific vehicle. The vehicle running step when warehousing and the vehicle stopping step when warehousing are executed.

According to the configuration of the present invention, the parking lot has a parking area where a plurality of vehicles are parked, a boarding area connected to the road where a driver can get on and off the vehicle, and an entrance and exit that connect the boarding and exit area and the parking area. An automatic parking vehicle is a vehicle with an automatic parking function that can automatically drive through a parking area and park the vehicle. In the warehousing process, a warehousing vehicle, which is a vehicle with a warehousing request, is warehousing. In the unloading process, the unloading vehicle, which is the vehicle with the unloading request, is unloaded. In the vehicle receiving process at the time of warehousing, after receiving the warehousing vehicle into the boarding area, the warehousing vehicle is put into the parking area. In the vehicle receiving process at the time of warehousing, a parking position, which is a position at which the specific vehicle is to be stopped, is determined at an arbitrary position within the parking area. The warehousing driving route determination step determines the warehousing driving route from the current position where the specific vehicle is currently located to the parking position. In the warehousing other vehicle determining step, it is determined in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the warehousing travel route. In the warehousing vehicle running step, the specific vehicle is stopped in real time when it is determined that the other vehicle is on the warehousing travel route, and the specific vehicle is stopped in real time when it is determined that no other vehicle is on the warehousing travel route. To automatically drive a specific vehicle along a driving route when entering a warehouse. In the vehicle stopping step upon warehousing, when the specific vehicle arrives at the parking position, the specific vehicle is stopped at the parking position. When executing the warehousing process, the warehousing vehicle is set as a specific vehicle, and the warehousing vehicle receiving process, the warehousing stop position determination process, the warehousing travel route determination process, the warehousing other vehicle determination process, and the warehousing vehicle are performed. executing the driving step and the vehicle stopping step when warehousing, and using the other vehicle determined by executing the warehousing other vehicle determining step as a specific vehicle, the warehousing stop position determining step and the warehousing travel route determining step The other vehicle determining step when warehousing, the vehicle running step when warehousing, and the vehicle stopping step when warehousing are executed.
As a result, a vehicle with an automatic parking function can be automatically parked in the parking area.

A method of operating a parking lot according to an embodiment of the present invention will be described below. The present invention includes any of the embodiments described below or a combination of two or more of them.

In the method of operating a parking lot according to an embodiment of the present invention, the leaving step includes a step of determining a driving route at the time of leaving the parking lot from the current position where the specific vehicle is currently located to the position of the exiting exit. , a step of determining in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is in the driving route at the time of leaving the garage; and determining that the other vehicle is in the driving route at the time of leaving the garage. an exit vehicle driving process in which the specified vehicle is stopped in real time when the specified vehicle is exited, and the specified vehicle is automatically driven along the exit travel route in real time when it is determined that no other vehicle is on the exit travel route; a vehicle exit step at the time of leaving the garage, in which the specific vehicle is taken to the boarding/disembarking area after the vehicle arrives at the exit gate; Execute the other vehicle determination process when leaving the garage, the vehicle running process when leaving the garage, and the vehicle exit process when leaving the garage, and identify the other vehicle determined by executing the other vehicle determination process when entering the garage or the other vehicle determination process when leaving the garage as a specific vehicle. As such, the parking position determining step during warehousing, the driving route determining step during warehousing, the other vehicle determining step during warehousing, the vehicle running step during warehousing, and the vehicle stopping step during warehousing are executed.
According to the configuration of the embodiment described above, the exiting driving route determining step determines the exiting driving route from the current position where the specific vehicle is currently located to the exiting exit position. The other vehicle determination step at the time of leaving the garage determines in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the traveling route at the time of leaving the garage. The vehicle driving process at the time of leaving the garage stops the specific vehicle in real time when it is determined that the other vehicle is on the traveling route at the time of leaving the garage, and stops the specific vehicle in real time when it is determined that the other vehicle is not on the traveling route at the time of leaving the garage. To automatically drive a specific vehicle along a driving route when leaving the garage. In the vehicle exit process at the time of leaving the garage, the specific vehicle is taken out to the boarding and alighting area after the specific vehicle arrives at the exit gate. When executing the leaving process, the leaving vehicle is set as a specific vehicle, and the leaving driving route determination process, the leaving other vehicle determining process, the leaving vehicle running process, and the leaving vehicle leaving process are executed, and the leaving vehicle is set as a specific vehicle. The other vehicle determined by executing the car determination step or the other vehicle determination step at the time of leaving the garage is set as a specific vehicle, and the step of determining the stop position at the time of warehousing, the driving route determination step at the time of warehousing, the step of determining another vehicle at the time of warehousing, and the step of determining the other vehicle at the time of warehousing. The vehicle running step and the vehicle stopping step when warehousing are executed.
As a result, a vehicle with an automatic parking function can be automatically moved out of the parking area.

In the parking lot operation method according to the embodiment of the present invention, in the parking position determination step, a first algorithm presets a parking position, which is a position at which a specific vehicle is to be parked, at an arbitrary position within the parking area. The first algorithm connects in advance the position of the entrance of the parking area and the position of the exit of the parking area to create a running space in which the vehicle can run and a plurality of parking spaces lined up along the running space where the vehicles can park. is defined, and one of the vacant parking spaces among the plurality of parking spaces is determined as the stopping position.
According to the configuration of the above-described embodiment, the parking position determining step at the time of warehousing determines a parking position, which is a position at which the specific vehicle is to be stopped at an arbitrary position within the parking area, based on a first algorithm set in advance. The first algorithm connects the position of the entrance of the parking area and the position of the exit of the parking area and defines in advance a running space in which the vehicle can run and a plurality of parking spaces lined up along the running space and in which the vehicles can park, The position of one of the vacant parking spaces among the plurality of parking spaces is determined as the stopping position.As a result, the stopping position of the specific vehicle can be easily determined.

In the method for operating a parking ticket according to an embodiment of the present invention, the step of determining the driving route at the time of warehousing includes a preset driving route at the time of warehousing from the current position where the specific vehicle is currently located to the parking position at the time of warehousing. The second algorithm defines in advance a preliminary driving route for entering the parking area that follows the driving space from the position of the entrance to the parking area to the position of the exiting entrance, and the second algorithm defines in advance a preliminary driving route for entering the parking area that follows the driving space from the position of the entrance to the parking area to the position of the exiting entrance. A route that follows the travel route is determined as the travel route at the time of warehousing.
According to the configuration of the above-described embodiment, the warehousing travel route determining step determines the warehousing travel route from the current position of the specific vehicle to the parking position based on a preset second algorithm. The second algorithm defines in advance a preliminary driving route for entering the parking area that follows the driving space from the position of the entrance to the parking area to the position of the exiting door, and follows the preliminary driving route for entering the parking area from the current position to the parking position. Determine the extended route as the driving route at the time of warehousing,
As a result, it is possible to easily determine the travel route at the time of warehousing.

In the method for operating a parking lot according to an embodiment of the present invention, the step of determining the driving route at the time of leaving the parking lot is performed by determining the driving route at the time of leaving the parking lot from the current position where the specific vehicle is currently located to the position of the exiting entrance. The third algorithm defines in advance a preliminary driving route for leaving the parking area that follows the driving space from the position of the entrance to the parking area to the position of the exit, and Determining a route that follows the preliminary traveling route when leaving the garage as the traveling route when leaving the garage;
According to the configuration of the above embodiment, the step of determining the exiting route determines the exiting route from the current position of the specific vehicle to the exiting exit position based on a preset third algorithm. . The third algorithm defines in advance a preliminary driving route for leaving the parking area that extends from the position of the entrance to the exit of the parking area following the driving space, and extends the preliminary driving route for leaving the parking area from the current position to the position of the exit. The route that follows this pattern is determined as the exit travel route.
As a result, it is possible to easily determine the travel route at the time of warehousing.

In the parking lot operation method according to the embodiment of the present invention, in the parking position determination step, a first algorithm presets a parking position, which is a position at which a specific vehicle is to be parked, at an arbitrary position within the parking area. The first algorithm defines in advance a plurality of parking spaces in which vehicles can park in a series along a trajectory connecting the position of the entrance of the parking area and the position of the exit of the parking area. The position of one of the vacant parking spaces is determined as the stopping position.
According to the configuration of the above-described embodiment, the parking position determining step at the time of warehousing determines a parking position, which is a position at which the specific vehicle is to be stopped at an arbitrary position within the parking area, based on a first algorithm set in advance. The first algorithm defines in advance a plurality of parking spaces where vehicles can park in a series along a trajectory that connects the position of the entrance to the parking area and the position of the exit. The position of one of the parking spaces is determined as the stop position.
As a result, the parking position can be easily determined.

In the method of operating a parking ticket according to an embodiment of the present invention, the step of determining the driving route at the time of warehousing is performed by determining the driving route at the time of warehousing from the current position where the specific vehicle is currently located to the parking position at the time of warehousing. The second algorithm defines in advance a preliminary driving route for entering the parking area that extends from the position of the entrance to the exit of the parking area, and follows the preliminary driving route for entering the parking area from the current position to the parking position. The route extending from
According to the configuration of the above-described embodiment, the warehousing travel route determination step determines the warehousing travel route from the current location of the specific vehicle to the parking position based on a preset second algorithm. The second algorithm defines in advance a preliminary travel route for entering the parking area that extends from the position of the entrance to the exit of the parking area, and creates a route that extends from the current position to the parking position following the preliminary travel route for entering the parking area. Determine the driving route,
As a result, it is possible to easily determine the travel route at the time of warehousing.

In the method of operating a parking lot according to an embodiment of the present invention, the step of determining the driving route at the time of leaving the parking lot is performed by determining the driving route at the time of leaving the parking lot from the current position where the specific vehicle is currently located to the position of the exiting entrance. The third algorithm defines in advance a preliminary travel route at the time of leaving the parking area that extends from the position of the entrance to the parking area to the position of the exit exit, and the third algorithm defines in advance a preliminary travel route at the time of leaving the parking area that extends from the position of the entrance to the parking area to the position of the exit exit, and the third algorithm Determining a route that follows the preliminary travel route as the exit travel route,
According to the configuration of the above embodiment, the step of determining the exiting route determines the exiting route from the current location of the specific vehicle to the exit exit position based on a preset third algorithm. . The third algorithm defines in advance a preliminary travel route for exiting the parking area that extends from the position of the entrance to the exit of the parking area, and creates a route that extends from the current position to the position of the exit exit following the preliminary travel route for exiting the parking area. Determined as the driving route when leaving the warehouse,
As a result, it is possible to easily determine the driving route at the time of leaving the garage.

In the method of operating a parking lot according to an embodiment of the present invention, the preliminary driving route at the time of parking includes a first preliminary driving route at the time of parking extending from the position of the parking entrance to the position of the exiting entrance within the parking area, and the exit exit within the getting-on/off area. and a second warehousing preliminary travel route extending from the position to the warehousing entrance position,
With the configuration of the above-described embodiment, the preliminary traveling route at the time of warehousing is the first preliminary traveling route at the time of warehousing extending from the position of the warehousing entrance to the position of the warehousing entrance within the parking area, and the preliminary traveling route at the time of warehousing extending from the position of the warehousing entrance to the position of the warehousing entrance within the getting-on/off area. and a second warehousing preliminary travel route extending to the position.
As a result, the driving route at the time of parking can be determined across the parking area and the getting-on/off area.

In the method of operating a parking lot according to an embodiment of the present invention, the preliminary driving route at the time of leaving the parking lot extends from the position of the entrance to the position of the exit exit within the parking area.
According to the configuration of the above-described embodiment, the preliminary travel route at the time of leaving the garage extends from the position of the entrance to the exit of the parking area.
As a result, the driving route when leaving the garage can be easily determined within the parking area.

In order to achieve the above object, there is provided a parking system for parking automatically parked vehicles according to the present invention, comprising: a parking area where a plurality of vehicles are parked; a boarding area connected to the road where a driver can get on and off the vehicle; and a parking area between the parking area and the parking area. The automatic parking vehicle is a vehicle that has an automatic parking function that can automatically drive in the parking area and park, and the parking device includes a parking lot having an entrance and an exit that connect the area, and a control device. It is possible to realize a warehousing function that causes an incoming vehicle, which is a requested vehicle, to enter the warehousing, and a warehousing function, which causes an outgoing vehicle that is a vehicle that has a warehousing request, to leave the warehousing. A vehicle acceptance function upon entering the specified vehicle into the parking area; a parking position determination function upon entering the parking area which determines a parking position where the specified vehicle is parked at an arbitrary position within the parking area; and a position where the specified vehicle is currently located. A warehousing driving route determination function that determines the warehousing driving route from the current position to the parking position, and a function that determines in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the warehousing driving route. A function for determining other vehicles at the time of warehousing, and a function that stops a specific vehicle in real time when it is determined that the other vehicle is on the warehousing route, and determines that no other vehicle is on the warehousing route. When the vehicle enters the warehouse, the function automatically moves a specific vehicle along the entry route in real time;
a vehicle stopping function upon warehousing, which stops the specific vehicle at the parking position when the specific vehicle arrives at the parking position; and when realizing the warehousing function, a vehicle receiving function when warehousing the warehousing vehicle as a specific vehicle; , the above-mentioned parking position determination function during warehousing, the above-mentioned driving route determination function during warehousing, the above-mentioned other vehicle determination function during warehousing, the above-mentioned vehicle running function during warehousing, and the above-mentioned vehicle stop function during warehousing, and the above-mentioned other vehicle determination function during warehousing. The other vehicle determined by executing is set as a specific vehicle, and the parking position determination function, the driving route determination function, the other vehicle determination function, the vehicle running function, and the vehicle stopping function function are performed. and execute
I took it as a thing.

According to the configuration of the present invention, the parking lot has a parking area where a plurality of vehicles are parked, a boarding area connected to the road where a driver can get on and off the vehicle, and an entrance and exit that connect the boarding and exit area and the parking area. An automatic parking vehicle is a vehicle with an automatic parking function that can automatically drive through a parking area and park the vehicle. The warehousing function causes a warehousing vehicle, which is a vehicle with a warehousing request, to be warehousing. The leaving function causes a leaving vehicle, which is a vehicle with a leaving request, to leave the warehouse. Vehicle acceptance function at the time of warehousing. After accepting the specific vehicle into the getting-on/off area, the specific vehicle is put into the parking area. The parking position determination function at the time of warehousing determines a parking position, which is a position at which a specific vehicle is to be stopped at an arbitrary position within the parking area. The warehousing driving route determination function determines the warehousing driving route from the current position where the specific vehicle is currently located to the parking position. The other vehicle determination function at the time of warehousing determines in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the driving route at the time of warehousing. The warehousing vehicle running function stops the specific vehicle in real time when it is determined that the other vehicle is on the warehousing route, and stops the specific vehicle in real time when it is determined that no other vehicle is on the warehousing route. To automatically drive a specific vehicle along a driving route when entering a warehouse. The vehicle stopping function upon warehousing causes the specific vehicle to stop at the parking position when the specific vehicle arrives at the parking position. When realizing the warehousing function, the warehousing vehicle is set as a specific vehicle, and the warehousing vehicle acceptance function, the warehousing stop position determination function, the warehousing driving route determination function, the warehousing other vehicle determination function, and the warehousing vehicle are performed. The driving function and the vehicle stop function when warehousing are executed, and the other vehicle determined by executing the warehousing other vehicle determination function is set as a specific vehicle, and the warehousing stop position determination function and the warehousing driving route determination function are performed. The other vehicle determination function when warehousing, the vehicle running function when warehousing, and the vehicle stop function when warehousing are executed.
As a result, a vehicle with an automatic parking function can be automatically parked in the parking area.

A parking system according to an embodiment of the present invention will be described below. The present invention includes any of the embodiments described below or a combination of two or more of them.

In the parking system according to an embodiment of the present invention, the exit function includes a exit driving route determination function that determines a driving route at the time of parking from the current position where the specific vehicle is currently located to the position of the exit exit; Another vehicle determination function at the time of leaving the garage determines in real time whether or not another company's vehicle, which is a different vehicle, is on the traveling route at the time of leaving the garage; and the other vehicle is determined to be on the traveling route at the time of leaving the garage When the specific vehicle is stopped in real time and it is determined that no other vehicle is on the exiting route, the specific vehicle is automatically driven along the exiting route in real time. and a vehicle exit function at the time of leaving the garage to take the specific vehicle to the boarding/disembarking area after arriving at the garage exit, and when realizing the vehicle exit function, the function for determining the traveling route at the time of leaving the garage as a specific vehicle, and the function for determining the driving route at the time of leaving the garage, etc. A vehicle determination function, a vehicle running function when leaving the garage, and a vehicle leaving function when leaving the garage are executed, and the other vehicle determined by executing the other vehicle determination function at the time of warehousing or the other vehicle determination function at the time of leaving the garage is set as a specific vehicle and the vehicle enters the garage. The vehicle is configured to execute a vehicle stop position determination function, a driving route determination function when warehousing, a function to determine other vehicles when warehousing, a vehicle running function when warehousing, and a vehicle stop function when warehousing.
With the configuration of the embodiment described above, the exit driving route determination function determines the exit driving route from the current position where the specific vehicle is currently located to the exit exit position. The other vehicle determination function at the time of leaving the garage determines in real time whether or not another vehicle other than the specific vehicle, which is a vehicle of another company, is on the traveling route at the time of leaving the garage. The vehicle running function when leaving the garage stops the specific vehicle in real time when it is determined that the other vehicle is on the traveling route when leaving the garage, and stops the specific vehicle in real time when it is determined that no other vehicle is on the traveling route when leaving the garage. To automatically drive a specific vehicle along a driving route when leaving the garage. The vehicle exit function upon leaving the garage takes the specific vehicle out to the boarding/alighting area after the specific vehicle arrives at the exit gate. When realizing the leaving function, the leaving vehicle is used as a specific vehicle to execute the driving route determination function when leaving the garage, the other vehicle determining function when leaving the garage, the vehicle running function when leaving the garage, and the vehicle leaving function when leaving the garage, and the functions when leaving the garage, etc. The other vehicle determined by executing the car determination function or the other vehicle determination function at the time of leaving the garage is set as a specific vehicle, and the function for determining the stop position at the time of warehousing, the driving route determination function at the time of warehousing, the function for determining another vehicle at the time of warehousing, and the aforementioned other vehicle determination function at the time of warehousing are performed. The vehicle running function at the time of storage and the vehicle stopping function at the time of warehousing are executed.
As a result, a vehicle with an automatic parking function can be automatically moved out of the parking area.

In the parking system according to the embodiment of the present invention, in the parking position determination step, a parking position, which is a position at which a specific vehicle is to be stopped at an arbitrary position within a parking area, is determined based on a first algorithm set in advance. , the first algorithm connects the position of the entrance of the parking area and the position of the exit of the parking area and defines in advance a running space in which the vehicle can run and a plurality of parking spaces arranged along the running space and in which the vehicles can park. , the position of one of the vacant parking spaces among the plurality of parking spaces is determined as the stopping position.
According to the configuration of the embodiment described above, in the parking position determination step, a parking position, which is a position at which the specific vehicle is to be stopped at an arbitrary position within the parking area, is determined based on a first algorithm set in advance. The first algorithm connects the entrance position and the exit exit position of the parking area in advance to define a running space in which a vehicle can run and a plurality of parking spaces lined up along the running space where vehicles can park, The position of one of the vacant parking spaces among the plurality of parking spaces is determined as the stopping position.
As a result, the stopping position of the specific vehicle can be easily determined.

In the parking system according to the embodiment of the present invention, the parking route determination step is based on a second algorithm that determines the parking route from the current location of the specific vehicle to the parking position. The second algorithm defines in advance a preliminary travel route extending from the entrance position of the parking area to the exit position following the travel space, and extends from the current position to the parking position following the preliminary travel route. Determine the route as the driving route when entering the warehouse,
According to the configuration of the above-described embodiment, the warehousing travel route determining step determines the warehousing travel route from the current position of the specific vehicle to the parking position based on a preset second algorithm. The second algorithm defines in advance a preliminary travel route extending from the entrance position of the parking area to the position of the exit entrance following the travel space, and the route extending from the current position to the parking position following the preliminary travel route is used for entering the parking area. This is determined as the time travel route.
As a result, it is possible to easily determine the travel route at the time of warehousing.

In the parking system according to the embodiment of the present invention, the step of determining the exiting route is based on a third algorithm that determines the exiting route from the current location of the specific vehicle to the exit exit position. The third algorithm defines in advance a preliminary travel route that extends from the parking area entrance position to the exit exit position following the travel space, and follows the preliminary travel route from the current position to the exit exit position. Determine the following route as the exit travel route,
According to the configuration of the above embodiment, the step of determining the exiting route determines the exiting route from the current location of the specific vehicle to the exit exit position based on a preset third algorithm. . The third algorithm defines in advance a preliminary travel route that extends from the parking area entrance position to the exit exit position following the travel space, and a route that extends from the current position to the exit exit position following the preliminary travel route. is determined as the driving route when leaving the warehouse.
As a result, it is possible to easily determine the travel route at the time of warehousing.

In the parking system according to the embodiment of the present invention, in the parking position determination step, a parking position, which is a position at which a specific vehicle is to be stopped at an arbitrary position within a parking area, is determined based on a first algorithm set in advance. , the first algorithm defines in advance a plurality of parking spaces in which vehicles can park in a series along a trajectory connecting the position of the entrance of the parking area and the position of the exit of the parking area, and selects the vacant seats among the plurality of parking spaces. determining the position of one of the parking spaces as a stopping position;
According to the configuration of the embodiment described above, in the parking position determination step, a parking position, which is a position at which the specific vehicle is to be stopped at an arbitrary position within the parking area, is determined based on a first algorithm set in advance. The first algorithm defines in advance a plurality of parking spaces where vehicles can park in a series along a trajectory that connects the position of the entrance to the parking area and the position of the exit. The position of one of the parking spaces is determined as the stop position.
As a result, the parking position can be easily determined.

In the parking system according to the embodiment of the present invention, the parking route determination step is based on a preset second algorithm to determine the parking route from the current location of the specific vehicle to the parking position. The second algorithm defines in advance a preliminary travel route extending from the parking area entrance position to the exit exit position, and travels along a route extending from the current position to the parking position following the preliminary travel route when entering the parking area. determined as a route,
According to the configuration of the above-described embodiment, the warehousing travel route determination step determines the warehousing travel route from the current location of the specific vehicle to the parking position based on a preset second algorithm. The second algorithm defines in advance a preliminary travel route extending from the position of the entrance of the parking area to the position of the exit of the parking area, and determines a route extending from the current position to the parking position following the preliminary travel route as the travel route at the time of parking. do.
As a result, it is possible to easily determine the travel route at the time of warehousing.

In the parking system according to the embodiment of the present invention, the step of determining the driving route at the time of leaving the garage is based on a third algorithm that determines the driving route at the time of leaving the garage from the current position where the specific vehicle is currently located to the position of the exit exit. The third algorithm defines in advance a preliminary travel route extending from the position of the entrance to the parking area to the position of the exit exit, and determines a route extending from the current position to the position of the exit exit following the preliminary travel route. Determined as the driving route when leaving the warehouse,
According to the configuration of the above embodiment, the step of determining the exiting route determines the exiting route from the current position of the specific vehicle to the exiting exit position based on a preset third algorithm. . The third algorithm defines in advance a preliminary travel route extending from the position of the entrance to the parking area to the position of the exit exit, and sets the route extending from the current position to the position of the exit exit following the preliminary travel route as the exit travel route. Determine as.
As a result, it is possible to easily determine the driving route at the time of leaving the garage.

In the parking system according to the embodiment of the present invention, the preliminary driving route at the time of parking includes a first preliminary driving route at the time of parking extending from the position of the parking area to the position of the exiting entrance, and a preliminary traveling route at the time of parking extending from the position of the exiting entrance to the position of the parking entrance. and a second warehousing preliminary travel route extending to the position.
According to the configuration of the embodiment described above, the preliminary traveling route at the time of warehousing extends from the position of the entrance to the parking area to the position of the exit entrance, and the preliminary traveling route at the time of warehousing extends from the position of the entrance to the parking area to the position of the entrance to the parking area. and a second warehousing preliminary travel route that extends.
As a result, the driving route at the time of parking can be determined across the parking area and the getting on/off area.

In the parking system according to the embodiment of the present invention, the preliminary driving route at the time of exit extends from the position of the entrance to the exit of the parking area within the parking area.
According to the configuration of the above-described embodiment, the preliminary traveling route at the time of leaving the parking area extends from the position of the entrance to the position of the exit.
As a result, it is possible to easily determine the driving route at the time of parking within the parking area.

As explained above, the parking lot operation method and parking system according to the present invention have the following effects depending on the configuration.
When an incoming vehicle with a warehousing request enters the parking area, the incoming vehicle that has entered the boarding/disembarking area is entered into the parking area, the parking position for the incoming vehicle is determined, and the driving route at the time of warehousing from the current position of the incoming vehicle to the parking position is determined. When there are other vehicles on the parking route, the vehicle entering the warehouse will stop, and if there are no other vehicles on the parking route, the vehicle will automatically travel along the parking route, and stop when it reaches the parking position. Determine a parking position at which the other vehicle on the route is to be stopped, determine a parking route from the current location of the other vehicle to the parking location, and stop the parking vehicle when there is another vehicle on the parking route. When the vehicle is parked and the vehicle is not in the parking lot, the vehicle automatically travels along the parking route and stops when it reaches the parking position, so it is possible to automatically park a vehicle with an automatic parking function in the parking area. .
When leaving a warehouse with a request for a leaving vehicle, the system determines the exiting route from the current location of the departing vehicle to the location of the exiting entrance, and stops the exiting vehicle when there are other vehicles on the exiting route, and stops the exiting vehicle if there are other vehicles on the exiting route. At this time, the leaving vehicle is automatically driven along the leaving route, and when it arrives at the exit exit, it is brought out to the boarding and alighting area, the parking position for the other vehicle on the leaving route is determined, and the parking position of the other vehicle is determined. Determine a driving route at the time of warehousing from the current position to the parking position, stop the warehousing vehicle when there are other vehicles on the warehousing travel route, and automatically drive the warehousing vehicle along the warehousing travel route when there are no other vehicles, Since the vehicle is stopped when it arrives at the parking position, a vehicle with an automatic parking function can be automatically pulled out of the parking area.
A driving space connecting the entrance and exit of the parking area and multiple parking spaces lined up along the driving space are defined in advance in the parking area, and the position of an empty parking space is determined as the stopping position for a specific vehicle. Therefore, the stopping position of a specific vehicle can be easily determined.
Define in advance a preliminary driving route for entering the parking area that follows the driving space from the entrance to the exit, and determine the path that extends from the current position to the parking position following the preliminary driving route for entering the parking area. This makes it possible to easily determine the driving route when entering the warehouse.
Define in advance a preliminary driving route for leaving the parking area that follows the driving space from the entrance to the exit, and determine the route that extends from the current position to the exit following the preliminary driving route for leaving the parking area as the driving route for leaving the parking area. This makes it possible to easily determine the driving route when entering the warehouse.
We have defined in advance multiple parking spaces in the parking area where vehicles can park in a line along the trajectory connecting the entrance and exit, and the position of an empty parking space is determined as the parking position. You can easily determine your parking location.
A preliminary travel route for entering the parking area that extends from the entrance to the exit is defined in advance, and a route that follows the preliminary travel route for entering the vehicle from the current position to the parking position is determined as the travel route for entering the vehicle. , it is possible to easily determine the driving route when entering the warehouse.
A preliminary travel route for exiting the parking area is defined in advance, extending from the entrance to the exit, and a route extending from the current position to the exit exit following the preliminary travel route for exiting is determined as the travel route for exiting. Therefore, it is possible to easily determine the driving route when leaving the garage.
Since the preliminary traveling route at the time of warehousing extends into the parking area and the getting-on/off area, the traveling route at the time of warehousing can be determined across the parking area and the getting-on/off area.
Since the preliminary traveling route at the time of warehousing extends from the entrance to the exit in the parking area, the traveling route at the time of warehousing can be easily determined.
Therefore, it is possible to provide a parking lot operation method and a parking system that are convenient for parking vehicles with automatic driving functions.

FIG. 1 is a functional diagram of a parking system according to an embodiment of the present invention. It is a parking procedure diagram of the parking method of the parking lot based on embodiment of this invention. It is a exit procedure diagram of a parking method for a parking lot according to an embodiment of the present invention. It is a conceptual diagram of a parking lot concerning a first embodiment of the present invention. FIG. 1 is a first diagram illustrating the operation of the parking lot according to the first embodiment of the present invention. FIG. 2 is a second diagram illustrating the operation of the parking lot according to the first embodiment of the present invention. FIG. 3 is a conceptual diagram of a parking lot according to a second embodiment of the present invention. FIG. 1 is a first diagram illustrating the operation of a parking lot according to a second embodiment of the present invention. FIG. 2 is a second diagram illustrating the operation of the parking lot according to the second embodiment of the present invention.

DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

A parking lot operating method and parking system according to an embodiment of the present invention will be explained based on the drawings.
FIG. 1 is a functional diagram of a parking system according to an embodiment of the present invention. FIG. 2 is a parking procedure diagram of a parking method for a parking lot according to an embodiment of the present invention. FIG. 3 is an exit procedure diagram of a parking method for a parking lot according to an embodiment of the present invention.

The parking lot operation method according to the first embodiment of the present invention is a method for parking an automatically parked vehicle.
The parking lot has a parking area 200 where a plurality of vehicles 40 are parked, a boarding area 100 connected to the road and where drivers can get on and off the vehicles 40, an entrance 110, and an exit 120.
The parking lot has a parking area 200 where a plurality of vehicles 40 are parked, a boarding area 100 that is connected to the road via a connecting passage and where drivers can get on and off the vehicles 40, an entrance 110, and an exit 120.
The entrance 110 and the exit 120 connect the boarding area 100 and the parking area.

First, an example of a parking lot that employs the parking lot operation method according to the embodiment of the present invention will be described.
The parking lot is a so-called self-propelled parking lot.
The parking lot has a parking area 200 and a boarding area 100.
Parking area 200 is a space where vehicle 40 is parked.
The boarding and alighting area 100 is a space where the driver gets off the vehicle when entering the garage, and a space where the driver gets into the vehicle when leaving the garage.
The boarding area 100 may be separated into a boarding area 101 and a boarding area 102.

The entrance 110 is an entrance that connects the boarding area 100 and the parking area 200.
The storage entrance 110 is an entrance mainly used to move the vehicle 40 from the boarding area 100 to the parking area 200.
The exit 120 is an exit that connects the boarding area 100 and the parking area 200.
The exit exit 120 is an exit mainly used to move the vehicle 40 from the parking area 200 to the boarding area 100.
One warehouse entrance may serve as the warehouse entrance 110 and the warehouse exit 120.
The storage entrance 110 and the storage exit 120 may have gates that can be opened and closed.

The self-parking vehicle is a vehicle 40 having an automatic parking function that can automatically drive in the parking area 200 and park the vehicle. For example, the vehicle is a vehicle with an automatic driving function.
For example, the vehicle is a vehicle 40 that has an automatic driving function and has an automatic parking function installed.
For example, the automatic parking function is a function that allows the vehicle to travel in a parking area in cooperation with a parking lot.

The parking lot operation method according to the embodiment of the present invention includes a parking process S100 and a parking process S200.
The warehousing process S100 is a process of warehousing a warehousing vehicle, which is a vehicle with a warehousing request.
The warehousing process S100 includes a vehicle receiving process S12 when warehousing, a stopping position determination process S13 when warehousing, a driving route determining process S14 when warehousing, another vehicle determining process S15 when warehousing, a vehicle running process S16 when warehousing, and a vehicle stopping process S17 when warehousing. Consists of.
The warehousing process S100 includes a warehousing request reception process S11, a vehicle acceptance process at the time of warehousing S12, a stop position determination process at the time of warehousing S13, a driving route determination process at the time of warehousing S14, another vehicle determination process at the time of warehousing S15, a vehicle traveling process at the time of warehousing S16, and a warehousing process. The vehicle stopping step S17 may also be performed.
When executing the warehousing process, the warehousing vehicle is set as a specific vehicle and the warehousing vehicle acceptance step S12, the warehousing stop position determination step S13, the warehousing travel route determination step S14, the warehousing other vehicle determination step S15, and the warehousing vehicle running step S16 are performed. and the vehicle stopping step S17 at the time of warehousing, and the other vehicle determined by executing the other vehicle determination step S15 at the time of warehousing is set as a specific vehicle. A vehicle determination step S15, a vehicle running step S16 at the time of warehousing, and a vehicle stopping step S17 at the time of warehousing are executed.

For example, when executing the warehousing process, the warehousing vehicle is set as a specific vehicle, and the warehousing vehicle acceptance step S12, the warehousing stop position determination step S13, the warehousing driving route determination step S14, the warehousing other vehicle determination step S15, and the warehousing vehicle running step Step S16 and a vehicle stopping step S17 at the time of warehousing are executed.
Further, the other vehicle determined by executing the other vehicle determination step S15 at the time of warehousing is set as a specific vehicle, and the step S13 for determining the stop position at the time of warehousing, the driving route determination step S14 at the time of warehousing, the step S15 for determining another vehicle at the time of warehousing, and the vehicle traveling step at the time of warehousing S16 and a vehicle stopping step S17 at the time of warehousing are executed.
The flow depicted by solid lines in FIG. 2 describes the above procedure.

For example, when executing the warehousing process, the warehousing vehicle is set as a specific vehicle, and the warehousing vehicle acceptance step S12, the warehousing stop position determination step S13, the warehousing driving route determination step S14, the warehousing other vehicle determination step S15, and the warehousing vehicle running step Step S16 and a vehicle stopping step s17 at the time of warehousing are executed.
Furthermore, the parking position determination step S13, the driving route determination step S14, and the other vehicle determining step S15 are performed, with the other vehicle determined by executing the other vehicle determination step S15 as the specific vehicle being entered, as the specific vehicle. Then, a vehicle running step S16 at the time of warehousing and a vehicle stopping step S17 at the time of warehousing are executed.
Further, the process includes a parking position determination step S13, a driving route determination step S14, a driving route determination step S14, and a driving route determination step S14, with the other vehicle determined by executing the other vehicle determination step S15 as a specific vehicle. A determination step S15, a vehicle running step S16 at the time of warehousing, and a vehicle stopping step s17 at the time of warehousing are executed.
The flow depicted by solid lines and broken lines in FIG. 2 describes the above steps.
The flow drawn with a broken line in the figure shows a procedure for executing a different vehicle (another vehicle) as a specific vehicle.

The warehousing request receiving step S11 is a step of receiving a warehousing request for a warehousing vehicle.
The vehicle for which the reservation has been accepted is referred to as an in-stock vehicle.

In the warehousing vehicle receiving step S12, the specific vehicle is entered into the parking area after the specific vehicle is received into the boarding/alighting area.
In the warehousing vehicle receiving step S12, the specific vehicle may be entered into the parking area through the warehousing entrance after the specific vehicle is received in the boarding/alighting area.

In the warehousing parking position determining step S13, a parking position, which is a position at which the specific vehicle is parked, is determined at an arbitrary position within the parking area.
In the parking position determination step S13, a parking position, which is a position at which the specific vehicle is to be stopped, may be determined at an arbitrary position within the parking area based on a first algorithm set in advance.

The warehousing driving route determining step S14 determines the warehousing driving route from the current position where the specific vehicle is currently located to the parking position.
In the warehousing driving route determination step S14, the warehousing driving route from the current position of the specific vehicle to the parking position may be determined based on a second algorithm set in advance.

In the warehousing other vehicle determining step S15, it is determined in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the warehousing travel route.

In the warehousing vehicle running step S16, the specific vehicle is stopped in real time when it is determined that another vehicle is on the warehousing traveling route, and the specific vehicle is stopped in real time when it is determined that no other vehicle is on the warehousing traveling route. Automatically travels along the travel route when entering the warehouse.

In the warehousing vehicle stopping step S17, when the specific vehicle arrives at the parking position, the specific vehicle is stopped at the parking position.

The leaving step S200 is a step in which a leaving vehicle, which is a vehicle with a leaving request, leaves the warehouse.
The leaving process S200 is comprised of a leaving driving route determining process S22, a leaving other vehicle determining process S23, a leaving vehicle traveling process S24, and a leaving vehicle exit process S25.
The leaving step S200 may include a leaving request receiving step S21, a leaving driving route determining step S22, another vehicle determining step S23, a vehicle traveling step S24, and a vehicle exiting step S25.
When executing the leaving process, the leaving vehicle is set as a specific vehicle, and the leaving driving route determination process S22, the leaving other vehicle determining process S23, the leaving vehicle running process S24, and the leaving vehicle exit process S25 are executed, and the leaving vehicle is set as a specific vehicle. The other car determined by executing the car determination step S15 or the other vehicle determination step S23 at the time of leaving the garage is set as a specific vehicle, and the parking position determination step S13 at the time of warehousing, the travel route determination step S14 at the time of warehousing, the other vehicle determination step S15 at the time of warehousing, and the time at the time of warehousing are performed. A vehicle running step S16 and a vehicle stopping step S17 at the time of warehousing are executed.

For example, when executing the leaving process, the leaving vehicle is used as a specific vehicle, and the leaving driving route determining process S22, the leaving other vehicle determining process S23, the leaving vehicle running process S24, and the leaving vehicle leaving process S25 are executed.
Furthermore, the other vehicle determined by executing the other vehicle determination step S23 at the time of leaving the garage is set as a specific vehicle, and a stop position determination step S13, a travel route determination step S14, another vehicle determination step S15, and a vehicle travel step S14 are performed. S16 and a vehicle stopping step S17 at the time of warehousing are executed.
The flow indicated by the solid line in FIG. 3 shows the above-mentioned procedure.

For example, when executing the leaving process, the leaving vehicle is used as a specific vehicle, and the leaving driving route determining process S22, the leaving other vehicle determining process S23, the leaving vehicle running process S24, and the leaving vehicle leaving process S25 are executed.
Further, a parking position determination step S13, a traveling route determination step S14, and another vehicle determination step S15 are performed, with the other vehicle determined by executing the other vehicle determination step S23 as the leaving vehicle being a specific vehicle, as the specific vehicle. Then, a vehicle running step S16 at the time of warehousing and a vehicle stopping step S17 at the time of warehousing are executed.
Further, the process includes a stopping position determining step S13, a driving route determining step S14, a driving route determining step S14, a driving route determining step S14, and a driving route determination step S14, with the other vehicle determined by executing the other vehicle determination step S13 as a specific vehicle. A determination step S15, a vehicle running step S16 at the time of warehousing, and a vehicle stopping step S17 at the time of warehousing are executed.
The flow indicated by solid lines and broken lines in FIG. 3 shows the above-mentioned procedure.
The flow indicated by the broken line in the figure represents a procedure for executing a car different from other cars (another car) as a specific vehicle.

The leaving reservation reception process S21 is a process of accepting a request for leaving the vehicle.
The vehicle whose reservation has been accepted is referred to as a departing vehicle.

In the exiting driving route determination step S22, the exiting driving route is determined from the current location of the specific vehicle to the exiting exit position.
In the exiting driving route determination step S22, the exiting driving route from the current location of the specific vehicle to the exiting exit position is determined based on a third algorithm set in advance.

The other vehicle determination step S23 determines in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the exiting route.

In the leaving vehicle running step S24, the specific vehicle is stopped in real time when it is determined that another vehicle is on the leaving route, and the specific vehicle is stopped in real time when it is determined that no other vehicle is on the leaving route. Automatically travels along the driving route when leaving the warehouse.

In the vehicle exit step S25, the specific vehicle is taken out to the boarding and alighting area after the specific vehicle arrives at the exit gate.
In the vehicle exit step S25 when leaving the garage, the specific vehicle may be taken out from the parking area to the boarding area 100 through the exit after the specific vehicle arrives at the exit.
A driver gets into a specific vehicle, which is a delivery vehicle, and exits from the boarding/alighting area 100.

A parking system according to an embodiment of the present invention is a system for parking an automatically parked vehicle.
A parking system according to an embodiment of the present invention includes a parking lot and a control device.
The configuration of the parking lot is the same as that of the parking lot operation system according to the embodiment of the present invention, so a description thereof will be omitted.
The control device realizes the warehousing function F100.
The control device may realize a warehousing function F100 and a warehousing function F200.

The warehousing function F100 is a function for warehousing a warehousing vehicle that is a vehicle that has a warehousing request.
The warehousing function F100 includes a vehicle acceptance function at warehousing F12, a stop position determination function at warehousing F13, a driving route determination function at warehousing F14, another vehicle determination function at warehousing F15, a vehicle running function at warehousing F16, and a vehicle stop function at warehousing F17. Consists of.
The warehousing function F100 includes a warehousing request reception function F11, a vehicle acceptance function at warehousing F12, a stop position determination function at warehousing F13, a driving route determination function at warehousing F14, another vehicle determination function at warehousing F15, a vehicle running function at warehousing F16, and a warehousing function F16. The vehicle stop function F17 may also be configured.
When executing the warehousing function, the warehousing vehicle is set as a specific vehicle and the warehousing vehicle acceptance function F12, the warehousing stop position determination function F13, the warehousing driving route determination function F14, the warehousing other vehicle determination function F15, and the warehousing vehicle running function F16 are performed. and the vehicle stop function F17 when entering the warehouse, and the other vehicle determined by executing the other vehicle determination function F15 when entering the warehouse is set as a specific vehicle. A vehicle determination function F15, a vehicle running function at the time of warehousing F16, and a vehicle stop function at the time of warehousing F17 are executed.

The contents of each function are the same as the contents of each step in the parking lot operation method according to the embodiment of the present invention, so the explanation will be omitted.

The leaving function F200 is a function for causing a leaving vehicle, which is a vehicle with a leaving request, to leave the warehouse.
The leaving function F200 is composed of a driving route determination function F22 when leaving the garage, another vehicle determining function F23 when leaving the garage, a vehicle running function F24 when leaving the garage, and a vehicle exit function F25 when leaving the garage.
The leaving function F200 may be configured with a leaving request receiving function F21, a driving route determination function F22 when leaving, another vehicle determining function F23 when leaving, a vehicle traveling function F24 when leaving, and a vehicle exiting function F25 when leaving.
When executing the exiting function, the exiting vehicle is set as a specific vehicle, and the exiting driving route determination function F22, the exiting other vehicle determination function F23, the exiting vehicle running function F24, and the exiting vehicle exit function F25 are executed, and the exiting vehicle is set as a specific vehicle. The other vehicle determined by executing the car determination function F15 or the other vehicle determination function F23 when leaving the garage is set as a specific vehicle, and the function F13 determines the stop position at the time of warehousing, the driving route determination function F14 at the time of warehousing, the function F15 to determine another vehicle at the time of warehousing, and the function F15 when the vehicle enters the warehousing. A vehicle running function F16 and a vehicle stopping function F17 at the time of warehousing are executed.

The contents of each function are the same as the contents of each step in the parking lot operation method according to the embodiment of the present invention, so the explanation will be omitted.

Next, a parking system and a method of operating a parking lot according to a first embodiment of the present invention will be explained based on the drawings.
FIG. 4 is a conceptual diagram of a parking lot according to the first embodiment of the present invention. FIG. 5 is a first diagram illustrating the operation of the parking lot according to the first embodiment of the present invention. FIG. 6 is a second diagram illustrating the operation of the parking lot according to the first embodiment of the present invention.
A parking lot has a so-called fixed layout.
The parking area of the parking lot has a driving space 210 and a plurality of parking spaces 220 in advance.
The divisions between the driving space 210 and the plurality of parking spaces 220 may be fixed.
The division of the driving space 210 and the plurality of parking spaces 220 may change.
The running space 210 connects the position of the entrance 110 and the position of the exit 120, and is a space in which a vehicle can run.
The plurality of parking spaces 220 are spaces where vehicles can park in a line along the driving space 210.
The plurality of parking spaces 220 may be spaces where vehicles can be parked side by side along the running space 210.

In the warehousing parking position determining step S13, a parking position, which is a position at which the specific vehicle is to be stopped, is determined at an arbitrary position within the parking area based on a first algorithm set in advance.
The first algorithm is an algorithm that determines the position of one vacant parking space among a plurality of parking spaces as a stop position.

In the warehousing driving route determining step S14, the warehousing driving route from the current position of the specific vehicle to the parking position is determined based on a second algorithm set in advance.
The second algorithm defines in advance a preliminary driving route when entering the parking area that follows the driving space from the position of the entrance to the parking area to the position of the exiting entrance, and creates a route that extends from the current position to the parking position following the preliminary driving route when entering the parking area. This is an algorithm that determines the travel route when entering the warehouse.

In the exiting driving route determination step S22, the exiting driving route from the current location of the specific vehicle to the exiting exit position is determined based on a third algorithm set in advance.
The third algorithm defines in advance a preliminary driving route for leaving the parking area that follows the driving space from the position of the entrance to the parking area to the position of the exit. The extended route is determined as the exit travel route.

Next, the operation of the parking system and parking lot operating method according to the first embodiment of the present invention will be explained using a diagram showing an example of the operation.
For convenience of explanation, the three vehicles entering the warehouse will be referred to as vehicle No. 1, vehicle No. 2, and vehicle No. 3.
First, we will explain the warehousing process.
FIG. 5 is a first diagram illustrating the operation in the parking lot parking process according to the first embodiment of the present invention.

(Entering vehicle No. 1)
Receive a request to enter vehicle No. 1. (warehousing request reception machine step S11)
Vehicle No. 1 is designated as a specific vehicle, and after the specific vehicle is accepted into a boarding area 100, vehicle No. 1 is entered into a parking area 200 through an entrance 110. (Vehicle acceptance process S12 at warehousing)

1) Parking slot selection
An empty parking space is selected as the parking position for vehicle No. 1.
A parking position, which is a position where the specific vehicle is to be stopped at an arbitrary position within the parking area, is determined based on a first algorithm set in advance, with vehicle No. 1 as a specific vehicle. (Traveling route determination step S14 when entering the warehouse)
2) Driving route generation Generate the driving route for vehicle No. 1.
Using the No. 1 vehicle as a specific vehicle, a driving route at the time of parking from the current location of the specific vehicle to the parking position is determined based on a preset second algorithm. (Traveling route determination step S14 when entering the warehouse)
3) Send the driving route to vehicle No. 1 Send the driving route at the time of parking to vehicle No. 1.
4) Instruct vehicle No. 1 to run. 5) Vehicle No. 1 is running. It is determined in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the travel route at the time of parking. (Other vehicle determination process S15 when entering the warehouse)
When it is determined that another vehicle is on the driving route at the time of warehousing, the specific vehicle is stopped in real time.When it is determined that another vehicle is not on the driving route at the time of warehousing, the specific vehicle is stopped in real time along the driving route at the time of warehousing. Make it run automatically. (Vehicle running process S16 at the time of warehousing)
6) Vehicle No. 1 stops. 7) Confirmation of parking position. Vehicle No. 1 is designated as a specific vehicle. When the specific vehicle arrives at the parking position, the specific vehicle is stopped at the parking position. (Vehicle stopping process S17 when entering the warehouse)

(Arrival of vehicle No. 2)
Receive a request for the 2nd vehicle to enter the warehouse.
Vehicle No. 2 is designated as a specific vehicle, and after the specific vehicle is accepted into a boarding area 100, vehicle No. 2 is entered into a parking area 200 through an entrance 110. (Vehicle acceptance process S12 at warehousing)

1) Parking slot selection
An empty parking space is selected as the parking position for vehicle No. 2.
Using vehicle No. 2 as a specific vehicle, a parking position where the specific vehicle is to be stopped at an arbitrary position within the parking area is determined based on a first algorithm set in advance. (Stopping position determination step S13 when entering the warehouse)
2) Driving route generation A driving route for vehicle No. 2 is generated.
Using the No. 2 vehicle as the specific vehicle, a driving route at the time of parking from the current location of the specific vehicle to the parking position is determined based on a second algorithm set in advance. (Traveling route determination step S14 when entering the warehouse)
3) Send the driving route to the second vehicle Send the driving route at the time of parking to the second vehicle.
4) Instruct the driving route to the No. 2 vehicle. 5) The No. 2 vehicle runs. With the No. 2 vehicle as a specific vehicle, determine in real time whether or not another vehicle that is different from the specific vehicle is on the driving route at the time of parking. do. (Other vehicle determination process S15 when entering the warehouse)
When it is determined that another vehicle is on the driving route at the time of warehousing, the specific vehicle is stopped in real time.When it is determined that another vehicle is not on the driving route at the time of warehousing, the specific vehicle is stopped in real time along the driving route at the time of warehousing. Make it run automatically. (Vehicle running process S16 at the time of warehousing)
6) Vehicle No. 2 stops. 7) Confirmation of parking position. Vehicle No. 2 is designated as a specific vehicle. When the specific vehicle arrives at the parking position, the specific vehicle is stopped at the parking position. (Vehicle stopping process S17 when entering the warehouse)

(Arrival of vehicle No. 3)
Receive a request for vehicle number 3 to enter the warehouse.
Vehicle No. 3 is designated as a specific vehicle, and after the specific vehicle is accepted into a boarding area 100, vehicle No. 3 passes through an entrance 110 and enters a parking area 200. (Vehicle acceptance process S12 at warehousing)

1) Parking slot selection
An empty parking space is selected as the parking position for vehicle No. 3.
Using vehicle No. 3 as a specific vehicle, a parking position where the specific vehicle is to be stopped at an arbitrary position within the parking area is determined based on a first algorithm set in advance. (Stopping position determination step S13 when entering the warehouse)
2) Travel route generation A travel route for vehicle No. 3 is generated.
Using vehicle No. 3 as a specific vehicle, a driving route at the time of parking from the current location of the specific vehicle to the parking position is determined based on a second algorithm set in advance. (Traveling route determination step S14 when entering the warehouse)
3) Send the driving route to vehicle No. 3 Send the driving route at the time of parking to vehicle No. 3.
4) Instruct vehicle No. 3 which floor to drive. 5) Vehicle No. 3 is running. It is determined in real time whether another vehicle, which is a vehicle different from the specific vehicle, is on the travel route at the time of parking. (Other vehicle determination process S15 when entering the warehouse)
When it is determined that another vehicle is on the driving route at the time of warehousing, the specific vehicle is stopped in real time.When it is determined that another vehicle is not on the driving route at the time of warehousing, the specific vehicle is stopped in real time along the driving route at the time of warehousing. Make it run automatically. (Vehicle running process S16 at the time of warehousing)
6) Vehicle No. 3 stops. 7) Confirmation of parking position. Vehicle No. 3 is designated as a specific vehicle. When the specific vehicle arrives at the parking position, the specific vehicle is stopped at the parking position. (Vehicle stopping process S17 when entering the warehouse)

(End of stocking)
Confirm the status of parked cars at all times (regular communication)
The status of vehicles No. 1, No. 2, and No. 3 is confirmed through communication.

Next, the shipping process will be explained.
FIG. 6 is a second diagram illustrating the operation of the parking lot according to the first embodiment of the present invention.
In the method of operating a parking lot according to the first embodiment of the present invention, a space (roadway) for leaving the parking lot is always secured so that parked cars do not get in the way of any car.

(Departure of vehicle 2)
Receive a request for the exit of vehicle No. 2 (Departure request reception step S21)

1) Determining the exit position The exit position of the No. 2 vehicle is determined.
The exit position is set to the exit exit 120 position.
2) Travel route generation A travel route for vehicle No. 2 is generated.
Using the No. 2 vehicle as the specific vehicle, a driving route at the time of exit from the current location of the specific vehicle to the location of the exit exit is determined (based on a preset third algorithm). (Delivery route determination step S22)
3) Send the travel route to vehicle No. 2.
Sends the driving route when leaving the garage to vehicle No. 2.
4) Instruct vehicle No. 2 to run. 5) Vehicle No. 2 runs. Using vehicle No. 2 as a specific vehicle, determine in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the driving route at the time of leaving the garage. . (Other vehicle determination process S23 when leaving the garage)
With vehicle No. 2 as a specific vehicle, when it is determined that another vehicle is on the driving route when leaving the garage, the specific vehicle is stopped in real time, and when it is determined that no other vehicle is on the traveling route when leaving the garage, the specific vehicle is stopped in real time. Automatically travels along the driving route when leaving the warehouse. (Vehicle running process S24 when leaving the warehouse)
6) Vehicle No. 2 Stops Vehicle No. 2 stops at the exit exit 120.
7) Confirmation of parking position Confirm that the No. 2 vehicle is at the exit exit 120.
The second vehicle is set as a specific vehicle, and after the specific vehicle arrives at the exit exit, the specific vehicle is taken out to the boarding/disembarking area (passing through the exit exit from the parking area) (vehicle exit step S25 when exiting the garage).

(Departure of vehicle No. 3)
Receive a request for the departure of vehicle No. 3 (Departure request reception step S21)

1) Determination of exit position Determine the exit position of vehicle No. 3.
The exit position is set to the exit exit 120 position.
2) Travel route generation A travel route for vehicle No. 3 is generated.
Using vehicle No. 3 as the specific vehicle, the exit travel route from the current location of the specific vehicle to the exit exit position is determined (based on a preset third algorithm). (Delivery route determination step S22)
3) Send the travel route to vehicle No. 3.
Sends the driving route when leaving the garage to vehicle No. 3.
4) Instruct vehicle No. 3 to run. 5) Vehicle No. 3 runs. With vehicle No. 3 as a specific vehicle, determine in real time whether or not another vehicle that is different from the specific vehicle is on the driving route when leaving the garage. . (Other vehicle determination process S23 when leaving the garage)
When vehicle No. 3 is designated as a specific vehicle, the specific vehicle is stopped in real time when it is determined that another vehicle is on the route when leaving the garage, and the specific vehicle is stopped in real time when it is determined that no other vehicle is on the route when leaving the garage. Automatically travels along the driving route when leaving the warehouse. (Vehicle running process S24 when leaving the warehouse)
6) Vehicle No. 3 Stops Vehicle No. 3 stops at the exit exit 120.
7) Confirmation of parking position Confirm that vehicle No. 3 is at the exit exit 120.
With vehicle No. 3 as a specific vehicle, after the specific vehicle arrives at the exit exit, the specific vehicle is taken out to the boarding and alighting area (passing through the exit exit from the parking area) (vehicle exit step S25 when exiting the garage).

(Departure of vehicle No. 1)
Receive a request for the departure of vehicle No. 1 (Departure request reception step S21)

1) Determining the exit position The exit position of vehicle No. 1 is determined.
The exit position is set to the exit exit 120 position.
2) Travel route generation A travel route for vehicle No. 1 is generated.
Using the No. 1 vehicle as a specific vehicle, a driving route at the time of leaving the garage from the current location of the specific vehicle to the location of the exit exit is determined (based on a third algorithm set in advance). (Delivery route determination step S22)
3) Send the travel route to vehicle No. 1.
Sends the driving route when leaving the garage to vehicle No. 1.
4) Instruct vehicle No. 1 to drive. 5) Vehicle No. 1 is running. With vehicle No. 1 as a specific vehicle, it is determined in real time whether or not another vehicle that is different from the specific vehicle is on the driving route at the time of leaving the garage. . (Other vehicle determination process S23 when leaving the garage)
With vehicle No. 1 as a specific vehicle, when it is determined that another vehicle is on the driving route at the time of leaving the garage, the specific vehicle is stopped in real time, and when it is determined that no other vehicle is on the traveling route at the time of leaving the garage, the specific vehicle is stopped in real time. Automatically travels along the driving route when leaving the warehouse. (Vehicle running process S24 when leaving the warehouse)
6) Vehicle No. 1 stops Vehicle No. 1 stops at the exit exit 120.
7) Confirmation of parking position Confirm that vehicle No. 1 is at the exit exit 120.
Taking the No. 1 vehicle as a specific vehicle, after the specific vehicle arrives at the exit exit, the specific vehicle is taken out to the boarding and alighting area (passing through the exit exit from the parking area) (vehicle exit step S25 when exiting the garage).

(Front vehicle has left the garage)
Confirm that vehicles 1, 2, and 3 have left the garage.

Next, a parking system and a parking lot operating method according to a second embodiment of the present invention will be explained based on the drawings.
FIG. 7 is a conceptual diagram of a parking lot according to the second embodiment of the present invention. FIG. 8 is a first diagram illustrating the operation of the parking lot according to the second embodiment of the present invention. FIG. 9 is a second diagram illustrating the operation of the parking lot according to the second embodiment of the present invention.
The parking lot has a so-called free layout.
In the parking lot, vehicles can be parked anywhere in the parking area.

In the warehousing parking position determining step S13, a parking position, which is a position at which the specific vehicle is to be stopped, is determined at an arbitrary position within the parking area based on a first algorithm set in advance.
The first algorithm defines in advance a plurality of parking spaces where vehicles can park in a line arranged in series (in the front and back direction) along a trajectory connecting the position of the entrance of the parking area and the position of the exit of the parking area,
This is an algorithm that determines the position of one of the vacant parking spaces among a plurality of parking spaces as the stop position.

In the warehousing driving route determining step S14, the warehousing driving route from the current position of the specific vehicle to the parking position is determined based on a second algorithm set in advance.
The second algorithm defines in advance a preliminary travel route when entering the parking area that extends from the position of the entrance to the parking area, and a route that extends from the current position to the parking position following the preliminary travel route when entering the parking area. It is an algorithm that determines as follows.

In the exiting driving route determination step S22, the exiting driving route from the current location of the specific vehicle to the exiting exit position is determined based on a third algorithm set in advance.
The third algorithm defines in advance a preliminary traveling route for leaving the parking area that extends from the position of the entrance to the parking area to the position of the exiting entrance, and creates a route that follows the preliminary traveling route for leaving the parking lot from the current position to the position of the exiting entrance. This is an algorithm that determines the driving route.

A preliminary entry route G1 extends from the entrance to the parking area in the parking area to the exit exit, and a second preliminary entry route G1 extends from the exit to the entrance in the boarding and alighting area. It may also have a route G2.

The preliminary traveling route G at the time of exiting the parking area may extend from the position of the entrance to the exit of the parking area.
The preliminary driving route G at the time of parking may extend from the position of the entrance to the parking area to the position of the exit.
The preliminary traveling route at the time of warehousing and the preliminary traveling route at the time of leaving the warehouse may coincide.
The preliminary traveling route at the time of warehousing and the preliminary traveling route at the time of leaving the warehouse may be a pair of routes extending in parallel.
A plurality of preliminary travel routes for entering the vehicle or a plurality of preliminary travel routes for leaving the vehicle may be set in advance.

Next, the operation of the parking system and parking lot operating method according to the second embodiment of the present invention will be explained using a diagram showing an example of the operation.
For convenience of explanation, the three vehicles entering the warehouse will be referred to as vehicle No. 1, vehicle No. 2, and vehicle No. 3.
First, we will explain the warehousing process.
FIG. 8 is a first diagram illustrating the operation in the parking lot parking process according to the first embodiment of the present invention.

(Entering vehicle No. 1)
Receive a request to enter vehicle No. 1. (warehousing request reception machine step S11)
Vehicle No. 1 is designated as a specific vehicle, and after the specific vehicle is accepted into a boarding area 100, vehicle No. 1 is entered into a parking area 200 through an entrance 110. (Vehicle acceptance process S12 at warehousing)

1) Deciding where to stop
Determine the parking location for vehicle No. 1.
A parking position, which is a position where the specific vehicle is to be stopped at an arbitrary position within the parking area, is determined based on a first algorithm set in advance, with vehicle No. 1 as a specific vehicle. (Stopping position determination step S14 when entering the warehouse)
2) Driving route generation Generate the driving route for vehicle No. 1.
Using the No. 1 vehicle as a specific vehicle, a driving route at the time of parking from the current location of the specific vehicle to the parking position is determined based on a preset second algorithm. (Traveling route determination step S13 when entering the warehouse)
3) Send the driving route to vehicle No. 1 Send the driving route at the time of parking to vehicle No. 1.
4) Instruct vehicle No. 1 to run. 5) Vehicle No. 1 is running. It is determined in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the travel route at the time of parking. (Other vehicle determination process S15 when entering the warehouse)
When it is determined that another vehicle is on the driving route at the time of warehousing, the specific vehicle is stopped in real time.When it is determined that another vehicle is not on the driving route at the time of warehousing, the specific vehicle is stopped in real time along the driving route at the time of warehousing. Make it run automatically. (Vehicle running process S16 at the time of warehousing)
6) Vehicle No. 1 stops. 7) Confirmation of parking position. Vehicle No. 1 is designated as a specific vehicle. When the specific vehicle arrives at the parking position, the specific vehicle is stopped at the parking position. (Vehicle stopping process S17 when entering the warehouse)

(Arrival of vehicle No. 2)
Receive a request for the 2nd vehicle to enter the warehouse.
The second vehicle is set as a specific vehicle, and after the specific vehicle is accepted into the boarding/disembarking area 100, the second vehicle passes through the entrance 110 and enters the parking area 200. (Vehicle acceptance process S12 at warehousing)

1) Selection of stopping place
Determine the parking location for vehicle No. 2.
Using vehicle No. 2 as a specific vehicle, a parking position where the specific vehicle is to be stopped at an arbitrary position within the parking area is determined based on a first algorithm set in advance. (Stopping position determination step S13 when entering the warehouse)
2) Generation of travel route for vehicle No. 2 A travel route for vehicle No. 2 is generated.
Using the No. 2 vehicle as the specific vehicle, a driving route at the time of parking from the current location of the specific vehicle to the parking position is determined based on a second algorithm set in advance. (Traveling route determination step S14 when entering the warehouse)
3) Check whether there are any vehicles on the travel route of vehicle No. 2.
Using vehicle No. 2 as a specific vehicle, it is determined in real time whether another vehicle different from the specific vehicle is on the driving route at the time of warehousing. (Other vehicle determination process S15 when entering the warehouse)
Vehicle No. 1, as another vehicle, discovers that another vehicle is on the driving route at the time of parking.
4) Determine the parking location of vehicle No. 1. Determine the parking location of vehicle No. 1.
A parking position, which is a position where the specific vehicle is to be stopped, is determined at an arbitrary position within the parking area based on a first algorithm set in advance, with vehicle No. 1 as a specific vehicle. (Stopping position determination step S13 when entering the warehouse)
5) Generation of travel route for No. 1 vehicle A travel route for No. 1 vehicle is generated.
Using the No. 1 vehicle as a specific vehicle, a driving route at the time of parking from the current position of the specific vehicle to the parking position is determined based on a second algorithm set in advance. (Traveling route determination step S14 when entering the warehouse)
6) Check whether there are any vehicles on the travel route of vehicle No. 1.
Using the No. 1 vehicle as a specific vehicle, it is determined in real time whether another vehicle different from the specific vehicle is on the driving route at the time of parking. (Other vehicle determination process S15 when entering the warehouse)
7) Send the driving route to vehicle No. 1 Send the driving route at the time of parking to vehicle No. 1.
8) Instruct the driving route to vehicle No. 1. 9) Vehicle No. 1 is running. When it is determined that another vehicle is on the driving route at the time of warehousing, the specific vehicle is stopped in real time and no other vehicle is on the driving route at the time of warehousing. When it is determined that this is the case, the specified vehicle is automatically driven along the parking route in real time. (Vehicle running process S16 at the time of warehousing)
10) Vehicle No. 1 stops. 11) Confirmation of parking position. Vehicle No. 1 is designated as a specific vehicle. When the specific vehicle arrives at the parking position, the specific vehicle is stopped at the parking position. (Vehicle stopping process S17 when entering the warehouse)
12) Send driving route to No. 2 vehicle Send the driving route at the time of parking to No. 2 vehicle.
13) Instruct the travel route to the No. 2 vehicle 14) The No. 2 vehicle is running With the No. 2 vehicle as the specific vehicle, determine in real time whether or not another vehicle that is different from the specific vehicle is on the travel route at the time of parking. do. (Other vehicle determination process S15 when entering the warehouse)
When it is determined that another vehicle is on the parking route, the specific vehicle is stopped in real time.When it is determined that no other vehicle is on the parking route, the specific vehicle is stopped in real time along the parking route. Make it run automatically. (Vehicle running process S16 at the time of warehousing)
15) Vehicle No. 2 stops. 16) Checking the parking position. Vehicle No. 2 is designated as a specific vehicle. When the specific vehicle arrives at the parking position, the specific vehicle is stopped at the parking position. (Vehicle stopping process S17 when entering the warehouse)

(Arrival of vehicle No. 3)
Similarly to the above, a travel route is generated in the order of vehicle No. 3, vehicle No. 2, and vehicle No. 1, and vehicle No. 1, vehicle No. 2, and vehicle No. 3 are moved in that order.
Alternatively, if a separate vehicle collision avoidance means is provided, a travel route is generated in the order of vehicle 3, vehicle 2, and vehicle 1, and vehicle 1, vehicle 2, and vehicle 3 are moved simultaneously. .

(warehousing completed)
Check the condition of parked vehicles at all times.
The status of vehicles No. 1, No. 2, and No. 3 is confirmed through communication.

Next, the shipping process will be explained.
FIG. 9 is a second diagram illustrating the operation of the parking lot according to the second embodiment of the present invention.
In the parking lot operation method according to the second embodiment of the present invention, the exit route is not particularly determined. If there are any cars that get in the way of the exit route, move them.

(Departure of vehicle No. 2)
Receive a request for the exit of vehicle No. 2 (Departure request reception step S21)

1) Determining the exit position The exit position of the No. 2 vehicle is determined.
The exit position is set to the exit exit 120 position.
2) Travel route generation A travel route for vehicle No. 2 is generated.
Using the No. 2 vehicle as the specific vehicle, a driving route at the time of exit from the current location of the specific vehicle to the location of the exit exit is determined (based on a preset third algorithm). (Delivery route determination step S22)
3) When the vehicle is number 2, check whether there are any vehicles on the travel route.
Using the No. 2 vehicle as a specific vehicle, it is determined in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the driving route at the time of leaving the garage (Other vehicle determination step S23 at the time of leaving the garage).
It is determined that the No. 1 vehicle is on the exit travel route of the No. 2 vehicle as another vehicle.
4) Determine the parking location of vehicle No. 1. Determine the parking location of vehicle No. 1.
With vehicle No. 1 (another vehicle) as a specific vehicle, a parking position, which is a position at which the specific vehicle is to be stopped, is determined at an arbitrary position within the parking area based on a first algorithm set in advance. (Stopping position determination step S13 when entering the warehouse)
5) Generation of travel route for vehicle No. 1 Determine the travel route for vehicle No. 1 when it enters the warehouse.
Using the No. 1 vehicle (other vehicle) as the specific vehicle, a driving route at the time of parking from the current location of the specific vehicle to the parking location is determined based on a second algorithm set in advance. (Traveling route determination step S14 when entering the warehouse)
6) Check whether there are any vehicles on the travel route of vehicle No. 1.
Using the No. 1 vehicle (other vehicle) as a specific vehicle, it is determined in real time whether or not another vehicle that is different from the specific vehicle is on the driving route at the time of warehousing (another vehicle determination step S15 when warehousing).
7) Send the driving route to vehicle No. 1 Send the driving route at the time of parking to vehicle No. 1 (other vehicle).
8) Instruct vehicle No. 1 to start driving. 9) Vehicle No. 1 runs. Vehicle No. 1 (other vehicle) acts as a specific vehicle, and stops the specific vehicle in real time when it is determined that another vehicle is on the driving route when entering the warehouse. To automatically drive a specific vehicle along a warehousing traveling route in real time when it is determined that no other vehicle is on the warehousing traveling route. (Vehicle running process S16 at the time of warehousing)
10) Vehicle 1 stops Vehicle 1 (other vehicle) stops.
11) Confirm the stopping position of vehicle No. 1 Check the stopping position of vehicle No. 1 (other vehicle).
Vehicle No. 1 (another vehicle) is designated as a specific vehicle, and when the specific vehicle arrives at the stopping position, the specific vehicle is stopped at the stopping position. (Vehicle stopping process S17 when entering the warehouse)
12) Send driving route to No. 2 vehicle Send the driving route when leaving the garage to No. 2 vehicle (leaving vehicle).
13) Instructs vehicle No. 2 to start traveling. 14) Vehicle No. 2 runs. Vehicle No. 2 (leaving vehicle) travels.
The second vehicle is set as a specific vehicle, and when it is determined that another vehicle is on the driving route at the time of leaving the garage, the specific vehicle is stopped in real time, and when it is determined that no other vehicle is on the traveling route at the time of leaving the garage, the specific vehicle is stopped in real time. Automatically travels along the driving route when leaving the warehouse. (Vehicle running process S24 when leaving the warehouse)
15) Vehicle No. 2 stops Vehicle No. 2 (leaving vehicle) stops at the exit exit.
16) Confirm the stopping position of the No. 2 vehicle Check the stopping position of the No. 2 vehicle (leaving vehicle).
The second vehicle (leaving vehicle) is set as a specific vehicle, and after the specific vehicle arrives at the exit exit, the specific vehicle is taken out to the boarding/disembarking area (passing from the parking area through the exit exit) (vehicle exit step S25 when exiting the garage).

(Departure of vehicle No. 3)
Receive a request for the departure of vehicle No. 3 (Departure request reception step S21)
There is no specific shipping route. There are no cars in the way on the exit route for vehicle 3, so we just move on.

1) Determining the exit position of vehicle No. 3 The location of the exit entrance is determined as the exit position.
2) Determining the traveling route of vehicle No. 3 The traveling route of vehicle No. 3 (leaving vehicle) at the time of leaving the garage is determined.
Using vehicle No. 3 (leaving vehicle) as a specific vehicle, a traveling route at the time of leaving the garage from the current location of the specific vehicle to the location of the garage exit is determined based on a third algorithm set in advance. (Delivery route determination step S22)
3) Check whether there are any vehicles on the travel route of vehicle No. 3.
Check whether there are any other vehicles on the route of vehicle No. 3 (leaving vehicle) when it leaves the garage.
Using vehicle No. 3 (leaving vehicle) as a specific vehicle, it is determined in real time whether or not another vehicle that is different from the specific vehicle is on the driving route at the time of leaving the garage (other vehicle determination step S23)
4) Send the traveling route to vehicle No. 3 Send the traveling route at the time of leaving the garage to vehicle No. 3 (leaving vehicle).
5) Instruct vehicle No. 3 to start traveling. Instruct vehicle No. 3 (leaving vehicle) to start traveling.
6) Vehicle No. 3 is running. 7) Vehicle No. 3 is stopped. Vehicle No. 3 (leaving vehicle) stops at the exit location.
8) Confirm the stopping position of vehicle No. 3 Confirm the stopping position of vehicle No. 3 (outgoing vehicle).
The third vehicle (leaving vehicle) is set as a specific vehicle, and after the specific vehicle arrives at the exit exit, the specific vehicle is taken out to the boarding/disembarking area (passing from the parking area through the exit exit) (vehicle exit step S25 when exiting the garage).

(Departure of vehicle No. 1)
Receive a request for the departure of vehicle No. 1 (Departure request reception step S21)
There is no specific shipping route. There are no cars in the way on the exit route for vehicle 1, so we just move on.

1) Determining the exit position of vehicle No. 1 The location of the exit entrance is determined as the exit position.
2) Determining the traveling route of the No. 1 vehicle The traveling route of the No. 1 vehicle (leaving vehicle) at the time of leaving the garage is determined.
Using the No. 1 vehicle (leaving vehicle) as a specific vehicle, a traveling route at the time of leaving the garage from the current location of the specific vehicle to the location of the garage exit is determined based on a third algorithm set in advance. (Delivery route determination step S22)
3) Check whether there are any vehicles on the travel route of vehicle No. 1.
It is checked whether there are any other vehicles on the route of vehicle No. 1 (leaving vehicle) at the time of leaving the garage.
Using the No. 1 vehicle (leaving vehicle) as a specific vehicle, it is determined in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the driving route at the time of leaving the garage (Other vehicle determination step S23)
4) Send the travel route to vehicle No. 1 Send the travel route at the time of leaving the garage to vehicle No. 1 (leaving vehicle).
5) Instruct vehicle No. 1 to start traveling. Instruct vehicle No. 1 (leaving vehicle) to start traveling.
6) Vehicle No. 1 is running. 7) Vehicle No. 1 is stopped. Vehicle No. 1 (leaving vehicle) stops at the exit location.
8) Confirm the stopping position of vehicle No. 1 Check the stopping position of vehicle No. 1 (outgoing vehicle).
The first vehicle (leaving vehicle) is set as a specific vehicle, and after the specific vehicle arrives at the exit exit, the specific vehicle is taken out to the boarding/disembarking area (passing through the exit exit from the parking area) (vehicle exit step S25 when exiting the garage).

(Delivery completed)
There is no particular route for shipping.
All cars have left the garage. Vehicles 2, 3, and 1 have left the garage.

As explained above, the parking lot operation method and parking system according to the present invention have the following effects depending on the configuration.
When an incoming vehicle with a warehousing request enters the parking area, the incoming vehicle that has entered the boarding/disembarking area 100 is entered into the parking area 200, a parking position for the incoming vehicle is determined, and the incoming vehicle travels from the current position to the parking position at the time of warehousing. The route is determined, and when there is another vehicle on the parking route, the parking vehicle is stopped, and when there are no other vehicles, the parking vehicle is automatically driven along the parking route, and stopped when it reaches the parking location. Determines the parking position for other vehicles on the parking route, determines the parking route from the other vehicle's current location to the parking location, and stops the parking vehicle when there are other vehicles on the parking route. When the vehicle is parked and the vehicle is not in the parking lot, the vehicle automatically travels along the parking route and stops when it reaches the parking position, so it is possible to automatically park a vehicle with an automatic parking function in the parking area 200. can.
When leaving a warehouse with a request for leaving the warehouse, a leaving vehicle travel route is determined from the current position of the leaving vehicle to the position of the exit exit 120, and when there is another vehicle on the leaving vehicle route, the traveling of the leaving vehicle is stopped; When the vehicle is not in the parking lot, the vehicle is automatically driven along the exit route, and when it arrives at the exit 120, it is brought out to the boarding/disembarking area 100.The parking position for other vehicles on the exit route is determined, and the parking position for other vehicles on the exit route is determined. The system determines the parking route from the current location to the parking position, stops the parking vehicle when there are other vehicles on the parking route, and automatically drives the parking vehicle along the parking route when there are no other vehicles on the parking route. Since the vehicle is stopped when the vehicle reaches the parking position, a vehicle having an automatic parking function can be automatically exited from the parking area 200.
A driving space connecting the entrance 110 and the exit 120 in the parking area 200 and a plurality of parking spaces lined up along the driving space are defined in advance, and the position of an empty parking space is determined as the stopping position at which the specific vehicle is to be stopped. As a result, the parking position of a specific vehicle can be easily determined.
A preliminary travel route at the time of parking is defined in advance in the parking area 200 from the entrance 110 to the exit 120 following the driving space, and a route extending from the current position to the parking position following the preliminary travel route at the time of parking is defined as the travel route at the time of warehousing. Since the vehicle is determined as follows, it is possible to easily determine the travel route at the time of warehousing.
A preliminary travel route for exiting the parking area 200 is defined in advance, extending from the entrance 110 to the exit 120 following the travel space, and the route extending from the current position to the exit 120 following the preliminary travel route for exiting the garage is defined in advance. Since it is determined as a route, it is possible to easily determine the driving route at the time of warehousing.
A plurality of parking spaces in which vehicles can park are defined in advance in the parking area 200 along a trajectory connecting the entrance 110 and the exit 120 in the front-rear direction, and the position of an empty parking space is determined as the parking position. This makes it easy to determine the parking location.
A preliminary travel route for entering the parking area 200 is defined in advance from the entrance 110 to the exit 120, and a route extending from the current position to the parking position following the preliminary travel route for entering the vehicle is determined as the travel route for entering the vehicle. Therefore, the driving route at the time of warehousing can be determined easily.
A preliminary exiting travel route is defined in advance in the parking area 200 that extends from the entrance 110 to the exit 120, and a route extending from the current position to the exit exit 120 following the preliminary exiting route is determined as the exiting travel route. This makes it possible to easily determine the driving route when leaving the garage.
Since the preliminary traveling route at the time of parking is made to extend to the parking area 200 and the getting-on/off area 100, the traveling route at the time of parking can be determined astride the parking area 200 and the getting-on/off area 100.
Since the preliminary traveling route at the time of leaving the garage extends from the entrance to the exit to the parking area 200, the traveling route at the time of parking can be easily determined.

The present invention is not limited to the embodiments described above, and various changes can be made without departing from the gist of the invention.
In the explanation, the case of a self-propelled parking lot was explained as an example, but the present invention is not limited to this. For example, it may be a parking lot with a mechanical parking device on the premises.

G Driving route G1 First driving route G2 Second driving route 40 Vehicle 100 Getting on/off area 101 Getting off/off area 102 Riding area 110 Entrance entrance 120 Exit exit 200 Parking area 210 Running space 220 Parking space F11 Entry request reception mechanism F12 Vehicle acceptance function when entering the warehouse F13 Stop position determination function when entering the warehouse F14 Driving route determination function when entering the warehouse
F15 Other vehicle determination function when entering the garage F16 Vehicle running function when entering the garage F17 Vehicle stop function when entering the garage F21 Exit request reception function F22 Driving route determination mechanism when leaving the garage F23 Other vehicle determining function when leaving the garage F24 Vehicle running function when leaving the garage F25 Vehicle exit function when leaving the garage S11 Receiving request for warehousing process S12 Receiving vehicle at warehousing process S13 Stop position determination process at warehousing S14 Driving route determination process at warehousing
S15 Other vehicle determination process at the time of warehousing S16 Vehicle running process at the time of warehousing S17 Vehicle stop process at the time of warehousing S21 Retrieval request acceptance process S22 Driving route determination process at the time of leaving the warehousing S23 Other vehicle determination process at the time of leaving the warehousing S24 Vehicle running process at the time of leaving the warehousing S25 Vehicle exiting process at the time of leaving the warehousing S100 Warehousing process S200 Warehousing process

JP 2003-303400

Claims (7)

Parking lot operation software for parking automatically parked vehicles,
The parking lot has a parking area where a plurality of vehicles can be parked, a boarding area connected to the road where a driver can get on and off the vehicle, and an entrance and exit that connect the boarding and exit area and the parking area,
An automatic parking vehicle is a vehicle that has an automatic parking function that can automatically drive through the parking area and park.
A warehousing function that causes the operation computer to enter a warehousing vehicle that is a vehicle that has a warehousing request;
an outgoing function that causes an outgoing vehicle that is a vehicle that has a outgoing request to be out of the warehouse;
Realize,
The parking area is set as a driving space that also serves as a parking space where a vehicle can park and a driving space where the vehicle can drive;
The above storage function is
a vehicle reception function at the time of warehousing, which enters the specific vehicle into the parking area after accepting the specific vehicle into the boarding/disembarking area;
A parking position determination function at the time of warehousing that determines a parking position, which is a position at which a specific vehicle is stopped at an arbitrary position within the driving space;
a driving route determination function at the time of warehousing, which determines a driving route at the time of warehousing, which is a driving route extending from the current position, which is the current position of the specific vehicle in the driving space, to the parking position, and in which spaces that can be used as parking spaces are lined up in series;
a function for determining in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the driving route at the time of warehousing;
When it is determined that the other vehicle is on the warehousing route, the specific vehicle is stopped in real time, and when it is determined that no other vehicle is on the warehousing route, the specific vehicle is moved on the warehousing route in real time. A vehicle running function when entering the warehouse that automatically runs along the
a vehicle stop function upon warehousing that stops the specific vehicle at the stopping position when the specific vehicle arrives at the stopping position;
has
The stopping position determination function during warehousing defines in advance a preliminary traveling route when warehousing, which is a traveling route extending from the position of the warehousing entrance to the position of the warehousing entrance, at an arbitrary position in the travel space, and the vehicle moves along the defined preliminary traveling route when warehousing. defining a plurality of parking spaces in which vehicles can park in series, and determining the position of one of the vacant parking spaces among the plurality of defined parking spaces as the parking position;
When realizing the above warehouse function,
Using the warehousing vehicle as a specific vehicle, the warehousing vehicle acceptance function, the warehousing stop position determining function, the warehousing driving route determining function, the warehousing other vehicle determination function, the warehousing vehicle running function, and the warehousing vehicle stopping function are performed. Realize the functions,
The parking position determination function at the time of warehousing, the driving route determination function at the time of warehousing, and the other vehicle determination function at the time of warehousing, using the other vehicle as a specific vehicle determined by realizing the other vehicle determination function at the time of warehousing with the said warehousing vehicle as a specific vehicle. and realizing the vehicle running function when warehousing and the vehicle stopping function when warehousing,
Parking lot operation software that features: The warehousing travel route determination function determines a warehousing travel route that extends from the current position to the parking position following the warehousing preliminary travel route;
The parking lot operation software according to claim 1. The above-mentioned shipping function is
a driving route determination function at the time of leaving the garage, which determines a driving route at the time of leaving the garage, which is a driving route extending from the current position of the specific vehicle in the driving space to the position of the exit exit, in which spaces that can also be used as parking spaces are lined up in series;
a function for determining in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is in the driving route at the time of leaving the garage;
When it is determined that the other vehicle is on the leaving route, the specific vehicle is stopped in real time, and when it is determined that no other vehicle is on the leaving route, the specific vehicle is moved in real time to the leaving route. A vehicle running function when leaving the parking lot that automatically runs along the
A vehicle exit function at the time of leaving the garage that moves the specific vehicle to the boarding/disembarking area after the specific vehicle arrives at the exit gate;
When realizing the above-mentioned warehousing function,
Realizing the driving route determination function when leaving the garage, the other vehicle determining function when leaving the garage, the vehicle running function when leaving the garage, and the vehicle exiting function when leaving the garage by using the vehicle leaving the garage as a specific vehicle,
The parking position determination function and the traveling route determination function when warehousing the other vehicle determined by realizing the other vehicle determination function at the time of warehousing or the other vehicle determination function at the time of leaving the warehousing as a specific vehicle with the leaving vehicle as a specific vehicle. realizing the other vehicle determination function when warehousing, the vehicle running function when warehousing, and the vehicle stop function when warehousing;
3. The parking lot operation software according to claim 2 . The exiting driving route determination function determines a driving route extending from the current position to the exiting exit position following the storage storage preliminary driving route as the exiting driving route.
4. The parking lot operation software according to claim 3. The preliminary traveling route at the time of warehousing is a traveling route extending from the position of the warehousing entrance to the position of the warehousing exit within the driving space, and the first preliminary traveling route at the time of warehousing, which exits from the parking area from the exit to the exit position within the boarding and alighting area. and a second reserve driving route for entering the parking area, which extends from the parking lot to the position of the parking entrance and enters the parking area.
The warehousing travel route determination function enters a warehousing route that follows the warehousing preliminary travel route so that the vehicle runs from the current position to the parking position along the first warehousing preliminary travel route and the second warehousing preliminary travel route. Determine the time travel route,
5. The parking lot operation software according to claim 4. Parking lot operation software for parking automatically parked vehicles,
The parking lot has a parking area where a plurality of vehicles can be parked, a boarding area connected to the road where a driver can get on and off the vehicle, and an entrance and exit that connect the boarding and exit area and the parking area,
An automatic parking vehicle is a vehicle that has an automatic parking function that can automatically drive through the parking area and park.
A warehousing function that causes the operation computer to enter a warehousing vehicle that is a vehicle that has a warehousing request;
an outgoing function that causes an outgoing vehicle that is a vehicle that has a outgoing request to be out of the warehouse;
Realize,
The parking area is set as a driving space that also serves as a parking space where a vehicle can park and a driving space where the vehicle can drive;
The above storage function is
a vehicle reception function at the time of warehousing, which enters the specific vehicle into the parking area after accepting the specific vehicle into the boarding/disembarking area;
A parking position determination function at the time of warehousing that determines a parking position, which is a position at which a specific vehicle is stopped at an arbitrary position within the driving space;
a driving route determination function at the time of warehousing, which determines a driving route at the time of warehousing, which is a driving route extending from the current position, which is the current position of the specific vehicle in the driving space, to the parking position, and in which spaces that can be used as parking spaces are lined up in series;
a function for determining in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the driving route at the time of warehousing;
When it is determined that the other vehicle is on the warehousing route, the specific vehicle is stopped in real time, and when it is determined that no other vehicle is on the warehousing route, the specific vehicle is moved on the warehousing route in real time. A vehicle running function when entering the warehouse that automatically runs along the
a vehicle stop function upon warehousing that stops the specific vehicle at the stopping position when the specific vehicle arrives at the stopping position;
has
The stopping position determination function during warehousing defines in advance a preliminary traveling route when warehousing, which is a traveling route extending from the position of the warehousing entrance to the position of the warehousing entrance, at an arbitrary position in the travel space, and the vehicle moves along the defined preliminary traveling route when warehousing. determining the position of said parking space as said parking position;
The above-mentioned shipping function is
a driving route determination function at the time of leaving the garage, which determines a traveling route at the time of leaving the garage, which is a traveling route extending from the current position of the specific vehicle in the driving space to the position of the exit exit, and in which spaces that can also be used as parking spaces are lined up in series;
a function for determining in real time whether or not another vehicle, which is a vehicle other than the specific vehicle, is on the driving route at the time of leaving the garage;
When it is determined that the other vehicle is on the leaving route, the specific vehicle is stopped in real time, and when it is determined that no other vehicle is on the leaving route, the specific vehicle is moved in real time to the leaving route. A vehicle running function when leaving the garage that automatically runs along the
It has a vehicle exit function at the time of exit, which allows the specific vehicle to move to the boarding/disembarking area after the specific vehicle arrives at the exit exit.
The exit driving route determining function determines a driving route extending from the current position to the exit exit position following the storage storage preliminary driving route as the exiting driving route;
When realizing the above-mentioned shipping function,
Realizing the driving route determination function when leaving the garage, the other vehicle determining function when leaving the garage, the vehicle running function when leaving the garage, and the vehicle exiting function when leaving the garage by using the vehicle leaving the garage as a specific vehicle,
The other vehicle determined by realizing the other vehicle determination function at the time of warehousing or the other vehicle determination function at the time of leaving the warehousing is set as the leaving vehicle as a specific vehicle, and the function for determining the stop position at the time of warehousing and the driving route determination function at the time of warehousing are performed. realizing the other vehicle determination function when warehousing, the vehicle running function when warehousing, and the vehicle stop function when warehousing;
Parking lot operation software that features: Parking lot operation software for parking automatically parked vehicles,
The parking lot has a parking area where a plurality of vehicles can be parked, a boarding area connected to the road where a driver can get on and off the vehicle, and an entrance and exit that connect the boarding and exit area and the parking area,
An automatic parking vehicle is a vehicle that has an automatic parking function that can automatically drive through the parking area and park.
A warehousing function that causes the operation computer to enter a warehousing vehicle that is a vehicle that has a warehousing request;
an outgoing function that causes an outgoing vehicle that is a vehicle that has a outgoing request to be out of the warehouse;
Realize,
The parking area is set as a driving space that also serves as a parking space where a vehicle can park and a driving space where the vehicle can drive;
The above storage function is
a vehicle reception function at the time of warehousing, which enters the specific vehicle into the parking area after accepting the specific vehicle into the boarding/disembarking area;
A parking position determination function at the time of warehousing that determines a parking position, which is a position at which a specific vehicle is stopped at an arbitrary position within the driving space;
a driving route determination function at the time of warehousing, which determines a driving route at the time of warehousing, which is a driving route extending from the current position, which is the current position of the specific vehicle in the driving space, to the parking position, and in which spaces that can be used as parking spaces are lined up in series;
a function for determining in real time whether or not another vehicle, which is a vehicle different from the specific vehicle, is on the driving route at the time of warehousing;
When it is determined that the other vehicle is on the warehousing route, the specific vehicle is stopped in real time, and when it is determined that no other vehicle is on the warehousing route, the specific vehicle is moved on the warehousing route in real time. A vehicle running function when entering the warehouse that automatically runs along the
a vehicle stop function upon warehousing that stops the specific vehicle at the stopping position when the specific vehicle arrives at the stopping position;
has
The stop position determination function at the time of parking is performed in advance at an arbitrary position in the driving space, and the first preliminary travel route when entering the garage, which is a travel route extending from the position of the entrance to the exit, and the exit from the parking area from the exit to the boarding/disembarking area. A preliminary traveling route at the time of entering the warehouse is defined, which has a second preliminary traveling route at the time of entering the parking area, which is a traveling route extending from the position of the exit exit to the position of the entrance to the parking area, and the first preliminary traveling route at the time of warehousing is defined. defining a plurality of parking spaces in which vehicles can park in series along the same line, and determining the position of one of the vacant parking spaces among the plurality of defined parking spaces as the parking position;
The warehousing travel route determination function enters a warehousing route that follows the warehousing preliminary travel route so that the vehicle runs from the current position to the parking position along the first warehousing preliminary travel route and the second warehousing preliminary travel route. Determine the time travel route,
When realizing the above warehouse function,
Using the warehousing vehicle as a specific vehicle, the warehousing vehicle acceptance function, the warehousing stop position determining function, the warehousing driving route determining function, the warehousing other vehicle determination function, the warehousing vehicle running function, and the warehousing vehicle stopping function are performed. Realize the functions,
The parking position determination function at the time of warehousing, the driving route determination function at the time of warehousing, and the other vehicle determination function at the time of warehousing, using the other vehicle as a specific vehicle determined by realizing the other vehicle determination function at the time of warehousing with the said warehousing vehicle as a specific vehicle. and realizing the vehicle running function when warehousing and the vehicle stopping function when warehousing,
Parking lot operation software that features:

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