WO2021095690A1 - Dispositif de commande et procédé de commande - Google Patents

Dispositif de commande et procédé de commande Download PDF

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Publication number
WO2021095690A1
WO2021095690A1 PCT/JP2020/041747 JP2020041747W WO2021095690A1 WO 2021095690 A1 WO2021095690 A1 WO 2021095690A1 JP 2020041747 W JP2020041747 W JP 2020041747W WO 2021095690 A1 WO2021095690 A1 WO 2021095690A1
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WIPO (PCT)
Prior art keywords
space
warehousing
parking
control device
vehicle
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PCT/JP2020/041747
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English (en)
Japanese (ja)
Inventor
広大 山浦
Original Assignee
株式会社デンソー
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Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Priority to JP2021556085A priority Critical patent/JPWO2021095690A1/ja
Publication of WO2021095690A1 publication Critical patent/WO2021095690A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas

Definitions

  • This disclosure relates to a control device and a control method.
  • Patent Document 1 describes a parking lot where automatic valet parking is possible (hereinafter referred to as an automatic valet parking lot).
  • the automatic valet parking lot has a warehousing room and a parking space.
  • the automatic valley parking lot uses a parking robot to transport the vehicle from the warehousing room to the target parking position in the parking space.
  • the following issues were found.
  • the warehousing room is crowded with vehicles, it takes a long time for the parking robot to pick up the vehicle. As a result, the time required for parking becomes longer.
  • One aspect of the present disclosure is a control device used in an automatic valley parking lot having a parking space, a parking space, and a parking space, and is configured to set a target parking position in the parking space.
  • the target parking position setting unit, the support unit configured to support the parking robot that transports the vehicle to travel from the warehousing room to the target parking position, and the warehousing room are congested.
  • the target parking position setting unit includes a congestion determination unit configured to determine whether or not the parking space is in a state, and the target parking position setting unit is one of the parking spaces when the warehousing cabin is in a congested state.
  • the target parking position is set by giving priority to the first space, which is a part, and when the warehousing cab is not in a congested state, the target is given priority to the second space which is a part of the parking space.
  • the control device is configured to set a parking position, and the distance from the warehousing cab to the first space is shorter than the distance from the warehousing cab to the second space.
  • the control device which is one aspect of the present disclosure, is in a state where the warehousing vehicle compartment is congested, and when parking is performed using a parking robot, the target parking position is set with priority given to the first space. Since the first space is closer to the warehousing cabin than the second space, if the target parking position is in the first space, the time required for parking will be shorter.
  • control device which is one aspect of the present disclosure, is in a state where the warehousing vehicle compartment is congested, and even when parking is performed using a parking robot, the time required for parking can be suppressed.
  • the control device which is one aspect of the present disclosure, sets the target parking position by giving priority to the second space when the warehousing cabin is not congested. Therefore, the control device, which is one aspect of the present disclosure, is in a state where the warehousing vehicle compartment is congested, and it is easy to secure a vacancy in the first space when parking using a parking robot.
  • Another aspect of the present disclosure is a control device used in an automatic valley parking lot provided with a warehousing room where a user gets off a vehicle and a parking space for parking the vehicle.
  • the control device determines that the target parking position setting unit configured to set the target parking position in the parking space and the parking robot for transporting the vehicle travel from the warehousing room to the target parking position. It includes a support unit configured to support and a congestion determination unit configured to determine whether or not the number of vehicles to be stored is equal to or greater than a predetermined determination criterion.
  • the support unit is configured to have the parking robot lift up the vehicle and transport the vehicle to the target parking position.
  • the target parking position setting unit gives priority to the first space, which is a part of the parking space, and is conveyed by the parking robot.
  • the second space which is a part of the parking space, is preferentially transported by the parking robot. It is configured to set the target parking position of the vehicle.
  • the configuration of automatic valley parking lot 1 will be described with reference to FIG.
  • the automatic valley parking lot 1 includes a warehousing space 3, a warehousing space 5, and a parking space 7.
  • the warehousing space 3 is adjacent to the warehousing space 5 and the parking space 7.
  • the warehousing space 3 includes an entrance 9.
  • the vehicle 11 to be parked from the outside of the automatic valley parking lot 1 passes through the entrance 9 and enters the warehousing space 3.
  • the vehicle 11 includes a vehicle equipped with an automatic valet parking function (hereinafter referred to as a vehicle 11A equipped with an AVP function) and a vehicle not equipped with an automatic valet parking function (hereinafter referred to as a vehicle 11B not equipped with an AVP function).
  • the warehousing space 3 includes a plurality of warehousing cabins 13.
  • the plurality of warehousing vehicle compartments 13 are arranged on the side of the parking space 7 in the warehousing space 3.
  • Each warehousing cab 13 has a size capable of accommodating one vehicle 11.
  • the vehicle 11 that has entered the warehousing space 3 from the entrance 9 can enter any of the warehousing cabs 13 and stop.
  • the vehicle 11 in the warehousing room 13 can enter the parking space 7 by being transported by the parking robot 31 described later or by using the AVP function.
  • the warehousing space 5 includes a plurality of warehousing cabins 15.
  • the plurality of delivery vehicle compartments 15 are arranged on the side of the parking space 7 in the delivery space 5.
  • Each delivery cab 15 has a size capable of accommodating one vehicle 11.
  • the vehicle 11 that has been delivered from the parking space 7 enters one of the exiting cabs 15.
  • the delivery space 5 includes an exit 17.
  • the vehicle 11 in the exit vehicle compartment 15 can proceed to the outside of the automatic valley parking lot 1 through the exit 17.
  • the parking space 7 is a space in which a plurality of vehicles 11 can be parked.
  • the warehousing space 3 and the warehousing space 5 are adjacent to the facility 19.
  • Facility 19 is, for example, a store, an office, a house, a station, or the like.
  • the entrance / exit 21 of the facility 19 and the storage space 3 are connected by, for example, a pedestrian-only area. Further, the entrance / exit 21 and the exit space 5 are connected by, for example, a pedestrian-only area.
  • control system 23 The configuration of the control system 23 will be described with reference to FIGS. 2 to 3.
  • the control system 23 is used for the automatic valley parking lot 1.
  • the control system 23 includes a control device 25, a plurality of individual terminals 27, a common terminal 29, a parking robot 31, and an infrastructure 32.
  • the control device 25 includes a control unit 33 and a communication unit 35.
  • the control unit 33 includes a microcomputer having a CPU 37 and, for example, a semiconductor memory such as a RAM or a ROM (hereinafter referred to as a memory 39).
  • Each function of the control unit 33 is realized by the CPU 37 executing a program stored in a non-transitional substantive recording medium.
  • the memory 39 corresponds to a non-transitional substantive recording medium in which a program is stored.
  • the method corresponding to the program is executed.
  • the control unit 33 may include one microcomputer or a plurality of microcomputers.
  • control unit 33 moves the target parking position setting unit 41, the support unit 43, the congestion determination unit 45, the table creation unit 47, the standby unit 49, the advance determination unit 51, and the advance movement. It includes a unit 53 and.
  • the communication unit 35 can perform wireless communication with the parking robot 31 and the vehicle 11A equipped with the AVP function.
  • Each of the plurality of individual terminals 27 is associated with one warehousing cabin 13. Each individual terminal 27 is installed near the corresponding warehousing vehicle compartment 13. The individual terminal 27 accepts the user's operation. Examples of the user's operation include a warehousing request operation and input of user's identification information. In addition, the individual terminal 27 displays information to the user.
  • the common terminal 29 is installed in the delivery space 5.
  • the common terminal 29 accepts user operations. Examples of the user's operation include a delivery request operation, input of user's identification information, and the like. In addition, the common terminal 29 displays information to the user.
  • the parking robot 31 has the following functions.
  • the parking robot 31 can perform wireless communication with the control device 25.
  • the parking robot 31 can receive the travel route from the control device 25.
  • the parking robot 31 has map information of the automatic valley parking lot 1.
  • the parking robot 31 can acquire its own position information.
  • the parking robot 31 can travel along the traveling route by using the map information, the position information, and the traveling route.
  • the parking robot 31 can lift up the vehicle 11.
  • the parking robot 31 can travel along the traveling route with the vehicle 11 lifted up.
  • the fact that the parking robot 31 travels with the vehicle 11 lifted up corresponds to the parking robot 31 transporting the vehicle 11.
  • the parking robot 31 can lower the lifted vehicle 11 onto the road surface.
  • the parking robot 31 can transmit the position information to the control device 25.
  • the parking robot 31 can receive an instruction from the control device 25 and perform an operation corresponding to the instruction. Instructions include, for example, stop, start, reroute, and the like.
  • the infrastructure 32 includes a plurality of sensors that detect the state in each part of the automatic valley parking lot 1. Examples of the sensor include a camera, a rider, and the like. A part of the camera photographs the license plate of the vehicle 11 in the warehousing cabin 13.
  • the infrastructure 32 includes a device for guiding the vehicle 11. Examples of the guiding device include a display device that displays the traveling direction of the vehicle 11.
  • the processes A1 to A8 shown in FIG. 4 are performed. If the user does not make a reservation for warehousing, the processes A1 to A8 are not performed, and the processes after A9 shown in FIG. 5 are performed.
  • the user inputs information into the smartphone and makes a reservation operation for warehousing.
  • Smartphones are carried by users.
  • the information includes, for example, identification information of the vehicle 11, user identification information, scheduled warehousing time, type of AVP system included in the vehicle 11, and the like.
  • the smartphone transmits the information input in A1 to the control device 25 and inquires whether or not the reservation can be made.
  • the control device 25 confirms the consistency between the parking lot and the vehicle 11 based on the information received in A2. Matching between the parking lot and the vehicle 11 means that the AVP system included in the vehicle 11 and the control system 23 are matched and the AVP function of the vehicle 11 can be used.
  • control device 25 acquires the vacancy status of the parking space 7, and confirms whether or not it is possible to make a reservation for warehousing based on the acquired vacancy status.
  • A5 and A6 are performed only when the control device 25 determines that the parking lot and the vehicle 11 match in A3. In A5, the control device 25 notifies the smartphone whether or not the reservation can be made.
  • the smartphone notifies the user whether or not the reservation is possible.
  • A7 and A8 The processing of A7 and A8 is performed only when the control device 25 determines that the parking lot and the vehicle 11 do not match in A3.
  • the control device 25 notifies the smartphone whether or not the reservation can be made.
  • the control device 25 notifies the smartphone that the parking method is robot parking.
  • Robot parking is automatic valley parking using a parking robot 31.
  • the smartphone notifies the user whether or not the reservation is possible.
  • the smartphone notifies the user that the parking method is robot parking.
  • the user visits the automatic valley parking lot 1. At this time, the user is in the vehicle 11.
  • the infrastructure 32 detects the positions of the user and the vehicle 11.
  • the infrastructure 32 notifies the control device 25 of the positions of the user and the vehicle 11.
  • control device 25 instructs the infrastructure 32 to guide the user and the vehicle 11 to a position where automatic valley parking is possible.
  • the position where automatic valley parking is possible is any of the warehousing cab 13.
  • the infrastructure 32 guides the user and the vehicle 11 to a position where automatic valley parking is possible.
  • the user parks the vehicle 11 at a position where automatic valley parking is possible and gets off the vehicle 11.
  • the user inputs information to the individual terminal 27.
  • Information includes whether or not there is a reservation, if there is a reservation, the reservation number, parking method, warehousing request, etc.
  • the parking method is either robot parking or parking by the AVP function. The user may input the information into the smartphone.
  • the individual terminal 27 transmits the information input in A14 to the control device 25.
  • the smartphone may transmit the information input in the A14 to the control device 25.
  • control device 25 requests the vehicle 11 to confirm the alignment between the parking lot and the vehicle 11.
  • the vehicle 11 sends an answer to the control device 25.
  • the content of the answer is either the answer that the parking lot and the vehicle 11 match, or the answer that they do not match. If the answer is that the parking lot and the vehicle 11 do not match, the processes of A18 and A19 are performed. If the answer is that the parking lot and the vehicle 11 match, the processing of A18 and A19 is not performed.
  • control device 25 notifies the individual terminal 27 that the parking lot and the vehicle 11 do not match and that the parking method is robot parking.
  • the control device 25 may notify the smartphone.
  • the individual terminal 27 notifies the user that the parking lot and the vehicle 11 do not match and that the parking method is robot parking.
  • the smartphone may notify the user.
  • control device 25 requests the infrastructure 32 to confirm whether or not the size of the vehicle 11 can be accommodated.
  • “Available” means that automatic valet parking can be performed in automatic valet parking lot 1.
  • the infrastructure 32 confirms whether or not the size of the vehicle 11 can be accommodated, and transmits the confirmation result to the control device 25.
  • the processes of A22 and A23 are performed, and this process ends. If the content of the answer in A21 is such that the size of the vehicle 11 can be accommodated, the processes of A22 and A23 are not performed, and the processes after A24 are continuously performed.
  • control device 25 notifies the individual terminal 27 that automatic valet parking is not possible because the size of the vehicle 11 and the like are inconsistent.
  • the control device 25 may notify the smartphone.
  • the individual terminal 27 notifies the user that automatic valet parking is not possible because the size of the vehicle 11 and the like are inconsistent.
  • the individual terminal 27 requests the user to move to another parking lot.
  • the smartphone may notify and request the user.
  • control device 25 notifies the individual terminal 27 of the start of warehousing.
  • the control device 25 may notify the smartphone.
  • the individual terminal 27 notifies the user of the start of warehousing.
  • the smartphone may notify the user of the start of warehousing.
  • the control device 25 transmits the target vehicle information, the position information, the traveling route, and the pick-up instruction to the parking robot 31.
  • the target vehicle information is information about the target vehicle.
  • the target vehicle is the vehicle 11 that is about to be parked.
  • the position information is position information indicating the current position of the target vehicle.
  • the traveling route is a traveling route from the current position of the parking robot 31 to the current position of the target vehicle.
  • the pick-up instruction is an instruction to pick up the target vehicle.
  • A27 to A29 The processing of A27 to A29 is repeated until the parking robot 31 arrives in front of the target vehicle.
  • the parking robot 31 travels toward the target vehicle position and transmits the current position of the parking robot 31 to the control device 25.
  • control device 25 manages traffic based on the current position of the parking robot 31 received in A27.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the parking robot 31 as necessary.
  • the parking robot 31 stops, starts, and reroutes according to the instruction.
  • the parking robot 31 determines whether or not the parking robot 31 has arrived in front of the target vehicle. If the parking robot 31 has not yet arrived in front of the target vehicle, this process returns to A27. When the parking robot 31 arrives in front of the target vehicle, the processes of A27 to A29 are completed, and the process proceeds to A30.
  • the parking robot 31 notifies the control device 25 that the parking robot 31 has arrived in front of the target vehicle.
  • control device 25 instructs the parking robot 31 to lift up the target vehicle.
  • the parking robot 31 lifts up the target vehicle. When the lift-up is completed, proceed to A33.
  • the parking robot 31 notifies the control device 25 of the completion of the lift-up.
  • the control device 25 transmits the target parking position information, the traveling route, and the parking instruction to the parking robot 31.
  • the target parking position information is information representing the target parking position.
  • the target parking position is a target parking position for parking the vehicle 11 from now on.
  • the traveling route is a traveling route from the current position of the parking robot 31 to the target parking position.
  • the parking instruction is an instruction to park the target vehicle at the target parking position.
  • A35 to A37 The processing of A35 to A37 is repeated until the parking robot 31 arrives at the target parking position.
  • the parking robot 31 travels toward the target parking position and transmits the current position of the parking robot 31 to the control device 25.
  • control device 25 manages traffic based on the position of the parking robot 31 received in the A35.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the parking robot 31 as necessary.
  • the parking robot 31 stops, starts, and reroutes according to the instruction.
  • the parking robot 31 determines whether or not the parking robot 31 has arrived at the target parking position. If the parking robot 31 has not yet arrived at the target parking position, this process returns to A35. When the parking robot 31 arrives at the target parking position, the processes of A35 to A37 are completed, and this process proceeds to A38.
  • the parking robot 31 notifies the control device 25 of the completion of parking.
  • control device 25 notifies the individual terminal 27 of the completion of parking.
  • the control device 25 may notify the smartphone of the completion of parking.
  • the individual terminal 27 notifies the user of the completion of parking.
  • the smartphone may notify the user of the completion of parking.
  • the control device 25 distributes the parking lot map to the vehicle 11 and transmits an ignition on instruction to the vehicle 11.
  • the parking lot map is the map information of the automatic valley parking lot 1.
  • the ignition on instruction is an instruction to turn on the ignition of the vehicle 11.
  • Vehicle 11 receives the parking lot map. The vehicle 11 turns on the ignition in response to the ignition on instruction.
  • the vehicle 11 transmits the ignition on notification and the self-position to the control device 25.
  • the ignition on notification is a notification indicating that the ignition of the vehicle 11 has already been turned on.
  • the self-position is the current position of the vehicle 11.
  • the control device 25 transmits the target parking position, the traveling route, and the parking instruction to the vehicle 11.
  • the traveling route is a traveling route from the current position of the vehicle 11 to the target parking position.
  • the parking instruction is an instruction to drive along the traveling route and park at the target parking position.
  • A44 to A46 The processing of A44 to A46 is repeated until the vehicle 11 arrives at the target parking position.
  • the vehicle 11 travels toward the target parking position and transmits the current position of the vehicle 11 to the control device 25.
  • control device 25 manages traffic based on the current position of the vehicle 11 received by the A44.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the vehicle 11 as necessary.
  • the vehicle 11 stops, starts, and reroutes according to the instruction.
  • the vehicle 11 determines whether or not the vehicle 11 has arrived at the target parking position. If the vehicle 11 has not yet arrived at the target parking position, this process returns to A44. When the vehicle 11 arrives at the target parking position, the processing of A44 to A46 is completed, and the processing proceeds to A47.
  • the vehicle 11 notifies the control device 25 of the completion of parking.
  • control device 25 instructs the vehicle 11 to turn off the ignition. Vehicle 11 turns off the ignition.
  • the vehicle 11 notifies the control device 25 of the completion of the ignition off.
  • control device 25 notifies the individual terminal 27 of the completion of parking.
  • the control device 25 may notify the smartphone of the completion of parking.
  • the individual terminal 27 notifies the user of the completion of parking.
  • the smartphone may notify the user of the completion of parking.
  • the process of setting the target parking position is executed by the target parking position setting unit 41 and the congestion determination unit 45.
  • the process of setting the target parking position will be described later.
  • Other processes performed by the control device 25 are executed by the support unit 43.
  • the processing of A26 to A28, A30, A31, and A33 to A39 corresponds to the support unit 43 supporting the parking robot 31 to travel from the warehousing room 13 to the target parking position.
  • the processing of A41 to A45 and A47 to A50 corresponds to the support unit 43 supporting the vehicle 11A equipped with the AVP function from the warehousing room 13 to the target parking position.
  • the standby unit 49 causes the parking robot 31 when not in use to stand by in the vicinity of the warehousing cab 13. For example, when the use of the parking robot 31 is finished and the next use is not yet planned, the standby unit 49 moves the parking robot 31 to a waiting place around the warehousing room 13. The parking robot 31 moves from the standby place to the place where it is used the next time it is used.
  • the user makes a delivery reservation or a delivery request to the common terminal 29.
  • the user inputs the user's identification information and the identification information of the delivery request vehicle into the common terminal 29.
  • the delivery request vehicle is a vehicle 11 for which delivery is requested by a delivery request.
  • the common terminal 29 transmits a delivery reservation or a delivery request to the control device 25.
  • the common terminal 29 transmits the issue reservation the following processing is executed according to the reservation time of the issue reservation.
  • the common terminal 29 transmits a delivery request the following processing is immediately executed.
  • the processes B3 to B17 are executed.
  • the processes B18 to B28 are executed.
  • the control device 25 transmits the delivery request vehicle position, the traveling route, and the pick-up instruction to the parking robot 31.
  • the delivery request vehicle position is the current position of the delivery request vehicle.
  • the traveling route is a traveling route from the current position of the parking robot 31 to the position of the vehicle requesting delivery.
  • the pick-up instruction is an instruction to pick up the vehicle requesting delivery.
  • B4 to B6 The processing of B4 to B6 is repeated until the parking robot 31 arrives at the position of the vehicle requesting delivery.
  • the parking robot 31 travels toward the position of the vehicle requesting delivery, and transmits the current position of the parking robot 31 to the control device 25.
  • control device 25 manages traffic based on the current position of the parking robot 31 received in B4.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the parking robot 31 as necessary.
  • the parking robot 31 stops, starts, and reroutes according to the instruction.
  • the parking robot 31 determines whether or not the parking robot 31 has arrived at the delivery request vehicle position. If the parking robot 31 has not yet arrived at the position of the vehicle requesting delivery, this process returns to B4. When the parking robot 31 arrives at the position of the vehicle requesting delivery, the processing of B4 to B6 is completed, and the processing proceeds to B7.
  • the parking robot 31 notifies the control device 25 that the parking robot 31 has arrived at the position of the vehicle requesting delivery.
  • control device 25 instructs the parking robot 31 to lift up the vehicle requesting delivery.
  • the parking robot 31 notifies the control device 25 of the completion of the lift-up.
  • the control device 25 transmits the target delivery position information, the traveling route, and the delivery instruction to the parking robot 31.
  • the target delivery position is any of the delivery cabin 15.
  • the target delivery position information is position information representing the target delivery position.
  • the traveling route is a traveling route from the current position of the parking robot 31 to the target delivery position.
  • the warehousing instruction is an instruction to issue the warehousing request vehicle to the target warehousing position.
  • B12 to B14 The processing of B12 to B14 is repeated until the parking robot 31 arrives at the target delivery position.
  • the parking robot 31 travels toward the target delivery position and transmits the current position of the parking robot 31 to the control device 25.
  • the control device 25 manages traffic based on the position of the parking robot 31 received in B12.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the parking robot 31 as necessary.
  • the parking robot 31 stops, starts, and reroutes according to the instruction.
  • the parking robot 31 determines whether or not the parking robot 31 has arrived at the target delivery position. If the parking robot 31 has not yet arrived at the target delivery position, this process returns to B12. When the parking robot 31 arrives at the target delivery position, the processes of B12 to B14 are completed, and the process proceeds to B15.
  • the parking robot 31 notifies the control device 25 of the completion of delivery.
  • control device 25 notifies the common terminal 29 of the completion of delivery.
  • the control device 25 may notify the smartphone of the completion of delivery.
  • the common terminal 29 notifies the user of the completion of shipping.
  • the smartphone may notify the user of the completion of shipping.
  • control device 25 transmits an ignition on instruction to the delivery request vehicle.
  • the delivery request vehicle turns on the ignition in response to the ignition on instruction.
  • the delivery request vehicle sends an ignition on notification to the control device 25.
  • the control device 25 transmits the target delivery position, travel route, and delivery instruction to the delivery request vehicle.
  • the travel route is a travel route from the current position of the vehicle requesting delivery to the target delivery position.
  • B21 to B23 The processing of B21 to B23 is repeated until the delivery request vehicle arrives at the target delivery position.
  • the warehousing request vehicle travels toward the target warehousing position, and the current position of the warehousing request vehicle is transmitted to the control device 25.
  • the control device 25 manages traffic based on the current position of the delivery request vehicle received in B21.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the vehicle requesting delivery, if necessary.
  • the delivery request vehicle stops, starts, and reroutes according to the instruction.
  • the delivery request vehicle determines whether or not the delivery request vehicle has arrived at the target delivery position. If the delivery request vehicle has not yet arrived at the target delivery position, this process returns to B21. When the delivery request vehicle arrives at the target delivery position, the processing of B21 to B23 is completed, and this processing proceeds to B24.
  • the delivery request vehicle notifies the control device 25 of the completion of delivery.
  • the control device 25 instructs the vehicle requesting delivery to turn off the ignition.
  • the delivery request vehicle turns off the ignition.
  • the delivery request vehicle notifies the control device 25 of the completion of the ignition off.
  • control device 25 notifies the common terminal 29 of the completion of delivery.
  • the control device 25 may notify the smartphone of the completion of delivery.
  • the common terminal 29 notifies the user of the completion of shipping.
  • the smartphone may notify the user of the completion of shipping.
  • the target parking position setting unit 41 and the congestion determination unit 45 set the target parking position transmitted by A34 or A43. A method of setting the target parking position by the target parking position setting unit 41 and the congestion determination unit 45 will be described with reference to FIGS. 1, 10 to 12.
  • step 1 of FIG. 12 the congestion determination unit 45 acquires the current time.
  • the congestion determination unit 45 reads the table from the memory 39.
  • the table defines the hours of congestion.
  • the table defines the relationship between the time and the degree of congestion in the warehousing cab 13.
  • the congested state is a state in which the warehousing vehicle compartment 13 is congested.
  • the time zone from 8:00 am to 10:00 am is set as the time zone in which the state is congested, and the other time zone is set as the time zone in which the state is not crowded.
  • a time zone that is not congested is also called a non-congested time zone.
  • the table is created in advance by the table creation unit 47 and stored in the memory 39.
  • the table creation unit 47 creates a table based on the past data.
  • the past data is the data of the number of warehousing units at each time.
  • the number of warehousing units corresponds to the degree of congestion in the warehousing vehicle compartment 13.
  • the table creation unit 47 sets a time zone in which the number of warehousing units is relatively large in the past data as a time zone in which the table is in a congested state.
  • the table creation unit 47 sets a time zone in which the number of warehousing units is relatively small in the past data as a time zone in which the table creation unit 47 is not in a congested state.
  • the time zone from 8:00 am to 10:00 am is defined as the time zone T1 in which the congestion state occurs, and the other time zone is defined as the time zone T2 in which the congestion state is not present.
  • step 3 the congestion determination unit 45 determines whether or not the current time is in a congestion state by collating the current time acquired in step 1 with the table read in step 2.
  • the congestion determination unit 45 determines that the current time is in the congestion state. If the current time acquired in step 1 does not belong to the time zone in which the congestion state is defined in the table, the congestion determination unit 45 determines that the current time is not in the congestion state.
  • step 4 the target parking position setting unit 41 determines whether or not the method of parking the vehicle 11 at the target parking position to be set is robot parking. If the parking method is robot parking, this process proceeds to step 5. If the parking method is not robot parking, this process proceeds to step 6. When the parking method is not robot parking, the parking method is parking by the AVP function.
  • the target parking position setting unit 41 sets the target parking position with priority given to the first space 55 shown in FIGS. 1 and 11.
  • the first space 55 is a part of the parking space 7.
  • the first space 55 is a portion of the parking space 7 that is close to the warehousing room 13.
  • the portion of the parking space 7 excluding the first space 55 is referred to as the second space 57.
  • the distance from the warehousing room 13 to the first space 55 is shorter than the distance from the warehousing room 13 to the second space 57.
  • the distance from the warehousing room 13 to the first space 55 is shorter than the distance from the warehousing room 13 to the second space 57, for example, the distance from the reference position in the warehousing room 13 to the first space 55. Means that it is shorter than the distance from the reference position to the second space 57.
  • the reference position is, for example, the central position of the warehousing cab 13 or one position of the plurality of warehousing cabs 13.
  • the target parking position setting unit 41 sets, for example, the first space 55 and the second space 57.
  • Setting the target parking position with priority given to the first space 55 means, for example, setting the target parking position as follows. When there is a vacancy in the first space 55, the target parking position setting unit 41 sets the target parking position in the first space 55. When there is no vacancy in the first space 55, the target parking position setting unit 41 sets the target parking position in a vacant portion of the second space 57, which is as close to the first space 55 as possible.
  • step 6 the target parking position setting unit 41 sets the target parking position with priority given to the second space 57 shown in FIGS. 1 and 11.
  • Setting the target parking position with priority given to the second space 57 means, for example, setting the target parking position as follows. When there is a vacancy in the second space 57, the target parking position setting unit 41 sets the target parking position in the second space 57. When there is no vacancy in the second space 57, the target parking position setting unit 41 sets the target parking position in a vacant portion of the first space 55, which is as close to the second space 57 as possible.
  • Process of moving the vehicle 11 parked in the first space 55 The process of moving the vehicle 11 parked in the first space 55 will be described with reference to FIG. This process is repeatedly executed at predetermined time intervals.
  • the pre-determination unit 51 determines whether or not the current time acquired in step 11 is a predetermined time before the time when the congestion state starts. For example, when the time zone in which the congestion state starts is from 8:00 am to 10:00 am and the predetermined time is 30 minutes, the predetermined time before the time when the congestion state starts is 7:30 am.
  • the predetermined time is, for example, a time set based on the time required to move the vehicle 11 parked in the first space 55 to a place other than the first space 55 by using the parking robot 31. ..
  • step 13 If the current time is a predetermined time before the time when the congestion state starts, this process proceeds to step 13. If the current time is not a predetermined time before the time when the congestion state starts, this process ends.
  • step 13 the pre-movement unit 53 determines whether or not there is a vehicle 11 parked in the first space 55.
  • the pre-movement unit 53 can detect the vehicle 11 parked in the first space 55 using the infrastructure 32. If there is a vehicle 11 parked in the first space 55, this process proceeds to step 14. If there is no vehicle 11 parked in the first space 55, this process ends.
  • the control device 25 determines whether or not the warehousing cab 13 is in a congested state according to the current time. Therefore, the control device 25 can easily determine whether or not the warehousing vehicle compartment 13 is in a congested state.
  • the control device 25 creates a table based on past data.
  • the control device 25 determines whether or not the warehousing cab 13 is in a congested state by collating the current time with the table. Therefore, the control device 25 can appropriately determine whether or not the warehousing cab 13 is in a congested state based on the past data.
  • the control device 25 also supports parking using the AVP function.
  • the control device 25 sets the target parking position with priority given to the second space 57 regardless of whether the warehousing vehicle compartment 13 is in a congested state or not. Therefore, in the control device 25, when the warehousing vehicle compartment 13 is in a congested state and the parking method is robot parking, it is easier to secure a vacancy in the first space 55.
  • control device 25 when the warehousing room 13 is congested and the parking method is robot parking, and there is no vacancy in the first space 55, the target parking position is set in the second space 57. Set. Therefore, the control device 25 can park the vehicle 11 even when the first space 55 is full.
  • the control device 25 sets a target parking position in the first space 55 when the warehousing vehicle compartment 13 is not in a congested state and there is no vacancy in the second space 57.
  • the control device 25 can park the vehicle 11 even when the second space 57 is full.
  • the control device 25 causes the parking robot 31 when not in use to stand by in the vicinity of the warehousing room 13. Therefore, the time required for the parking robot 31 to pick up the vehicle 11 in the warehousing vehicle compartment 13 can be suppressed.
  • the automatic valley parking lot 1 had the configurations shown in FIGS. 1 and 11.
  • the automatic valley parking lot 1 is different from the first embodiment in that it has the configurations shown in FIGS. 14 and 15.
  • the exit passage 103 is a passage extending from the exit 17 to the outside of the automatic valley parking lot 1. At the boundary between the exit passage 103 and the outside of the automatic valley parking lot 1, there is a site exit 107.
  • the exit passage 103 is configured so that the vehicles 11 travel in a vertical row.
  • the vehicle 11 discharged from the parking space 7 enters the exit passage 103 from the exit 17, passes through the exit passage 103, and proceeds to the outside of the automatic valley parking lot 1 from the site exit 107.
  • the infrastructure 32 can detect the number of vehicles 11 existing in the exit passage 103.
  • the target parking position setting unit 41 and the congestion determination unit 45 set the target parking position transmitted by A34 or A43. A method of setting the target parking position by the target parking position setting unit 41 and the congestion determination unit 45 will be described with reference to FIG.
  • the congestion determination unit 45 is an example of the congestion detection unit of the present disclosure. The congestion detection unit detects the degree of congestion in the warehousing vehicle compartment 13.
  • the congestion determination unit 45 detects the number of congested warehousing units using the infrastructure 32.
  • the number of warehousing congestion reflects the degree of congestion in the warehousing cabin 13. The higher the degree of congestion in the warehousing room 13, the greater the number of warehousing congestions. Therefore, in the second embodiment, the congestion determination unit 45 has a function of detecting the degree of congestion of the warehousing vehicle compartment 13 by using the infrastructure 32.
  • the congestion determination unit 45 determines whether or not the warehousing vehicle compartment 13 is in a congested state based on the number of warehousing congestion detected in step 21. For example, the congestion determination unit 45 determines that the warehousing vehicle compartment 13 is in a congested state when the number of warehousing congestions is equal to or greater than a preset threshold value. Further, the congestion determination unit 45 determines that the warehousing vehicle compartment 13 is not in a congested state when the number of warehousing congestion is less than the threshold value. If it is determined that the warehousing vehicle compartment 13 is in a congested state, this process proceeds to step 23. If it is determined that the warehousing vehicle compartment 13 is not in a congested state, this process proceeds to step 25.
  • steps 23 to 25 is the same as the processing of steps 4 to 6 in the first embodiment.
  • the control device 25 uses the infrastructure 32 to determine whether or not the warehousing cab 13 is in a congested state. Therefore, the control device 25 can accurately determine whether or not the warehousing vehicle compartment 13 is in a congested state.
  • control device 25 is used in an automatic valley parking lot 1 provided with a warehousing room 13 in which the user gets off the vehicle 11 and a parking space 7 in which the vehicle 11 is parked. May be good.
  • the control device 25 may include a target parking position setting unit 41, a support unit 43, and a congestion determination unit 45.
  • the support unit 43 supports the parking robot 31 that conveys the vehicle 11 to travel from the warehousing room 13 to the target parking position.
  • the support unit 43 for example, causes the parking robot 31 to lift up the vehicle 11 and transport the vehicle 11 to the target parking position.
  • the congestion determination unit 45 determines whether or not the number of vehicles 11 to be stored is equal to or greater than a predetermined determination criterion.
  • the target parking position setting unit 41 sets the target parking position in the parking space 7.
  • the target parking position setting unit 41 gives priority to the first space 55, which is a part of the parking space 7, and is a parking robot in the parking space 7.
  • the target parking position of the vehicle 11 transported by 31 is set.
  • the target parking position setting unit 41 gives priority to the second space 57, which is a part of the parking space 7, and the parking robot in the parking space 7.
  • the target parking position of the vehicle 11 transported by 31 is set.
  • the warehousing vehicle compartment 13 When the warehousing vehicle compartment 13 is crowded, this is an example of the case where the number of vehicles 11 to be warehousing is equal to or greater than the judgment standard. When the warehousing vehicle compartment 13 is not congested, this is an example of the case where the number of vehicles 11 to be warehousing is less than the determination standard.
  • Setting the target parking position with priority given to the first space 55 means that if there are vacant parking lots in both the first space 55 and the second space 57, the vacant parking included in the first space 55 It means selecting the parcel as the target parking position.
  • the target parking position setting unit 41 has the first space 55 and the first space 55 so that the distance from the reference position of the warehousing room 13 to the first space 55 is shorter than the distance from the reference position to the second space 57. Two spaces 57 may be set.
  • the distance from the warehousing cab 13 to the first space 55 and the distance from the warehousing cab 13 to the second space 57 may be a straight line distance or a route length along the route. Good.
  • the route length along the route is, for example, the moving distance of the parking robot 31.
  • the straight line distance from the warehousing room 13 to the parking lot is shorter than the moving distance from the warehousing room 13 to the parking lot.
  • the target parking position setting unit 41 may set the first space 55 and the second space 57 based on the time required for the parking robot 31 to transport the vehicle 11 from the warehousing room 13 to the target parking position. Good. For example, in the target parking position setting unit 41, the time required for the parking robot 31 to transport the vehicle 11 from the warehousing room 13 to the first space 55 is required for the parking robot 31 to carry the vehicle from the warehousing room 13 to the second space 57.
  • the first space 55 and the second space 57 may be set so as to be shorter than the time required for transporting the 11.
  • the first space 55 and the second space 57 may be separated by a passage in the parking space 7, and the first space 55 and the second space 57 may not be separated by a passage.
  • the support unit 43 may support the vehicle 11A equipped with the automatic valley parking function from the warehousing room 13 to the target parking position.
  • the target parking position setting unit 41 sets the target parking position of the vehicle 11A equipped with the automatic valley parking function by giving priority to the second space 57.
  • control device 25 may include a standby unit 49 configured to make the parking robot 31 stand by at a predetermined position when not in use.
  • the standby unit 49 acquires, for example, reservation information for warehousing in the parking space 7. The reservation information is input by the user.
  • the standby unit 49 moves the parking robot 31 to the vicinity of the warehousing cabin 13 and puts it on standby according to the first hour before the warehousing time specified in the reservation information.
  • the position where the unused parking robot 31 stands by is, for example, the installation location of the charging stand for charging the parking robot 31, or the position on the passage in the parking space 7.
  • the other vehicle 11 can pass by the parking robot 31 waiting at a position on the passage in the parking space 7.
  • the parking robot 31 may start moving from the standby position and move to the vicinity of the warehousing cabin 13 two hours before the warehousing time specified in the reservation information.
  • the area around the warehousing vehicle compartment 13 is the immediately preceding standby position.
  • the second hour is shorter than the first hour.
  • the second time is, for example, 15 minutes.
  • a parking robot 31 loaded with an AVP function-equipped vehicle 11A or a non-AVP function-equipped vehicle 11B may travel around the warehousing vehicle compartment 13 in the parking space 7. Therefore, it may be preferable that the waiting parking robot 31 does not stay in the vicinity of the warehousing room 13 in the parking space 7.
  • the target parking position setting unit 41 sets the target parking position in the first space 55 and parks using the parking robot 31, the target parking is performed in the order of the farther away from the warehousing room 13.
  • the position may be set.
  • the vacant parking lot in the first space 55 is as far back as possible from the warehousing room 13.
  • the parking lot is set to the target parking position, and the vehicle 11 is parked at the set target parking position.
  • the parking robot 31 can reach the target parking position through another vacant parking lot. Therefore, even when the parking lot 13 is crowded and the parking robot 31 is used for parking, the time required for parking can be shortened.
  • the automatic valley parking lot 1 may be used only for robot parking as a parking method. In this case, in the process shown in FIG. 12, if an affirmative decision is made in step 3, the process always proceeds to step 5. Further, in the process shown in FIG. 16, when a positive judgment is made in step 22, the process always proceeds to step 24.
  • the control unit 33 and its method described in the present disclosure are dedicated provided by configuring a processor and memory programmed to perform one or more functions embodied by a computer program. It may be realized by a computer. Alternatively, the control unit 33 and its method described in the present disclosure may be realized by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the control unit 33 and its method described in the present disclosure are a combination of a processor and memory programmed to perform one or more functions and a processor composed of one or more hardware logic circuits. It may be realized by one or more dedicated computers configured by. The computer program may also be stored on a computer-readable non-transitional tangible recording medium as an instruction executed by the computer. The method for realizing the functions of each unit included in the control unit 33 does not necessarily include software, and all the functions may be realized by using one or a plurality of hardware.
  • a plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or one function possessed by one component may be realized by a plurality of components. .. Further, a plurality of functions possessed by the plurality of components may be realized by one component, or one function realized by the plurality of components may be realized by one component. Further, a part of the configuration of the above embodiment may be omitted. In addition, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment.
  • control device In addition to the above-mentioned control device, a system having the control device as a component, a program for operating a computer as the control device, a non-transitional actual recording medium such as a semiconductor memory in which this program is recorded, and automatic.
  • the present disclosure can also be realized in various forms such as a control method for a valley parking lot.

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Abstract

La présente invention concerne un dispositif de commande utilisé pour un parc de stationnement automatique de valet (1). Le dispositif de commande est pourvu d'une unité de réglage de position de stationnement cible, d'une unité d'assistance et d'une unité de détermination d'encombrement. L'unité de réglage de position de stationnement cible règle une position de stationnement cible. L'unité d'assistance aide le déplacement d'un robot de stationnement (31). L'unité de détermination d'encombrement détermine si des chambres d'entrée de véhicule (13) sont encombrées. L'unité de réglage de position de stationnement cible règle une position de stationnement cible par classement par ordre de priorité d'un premier espace (55) lorsque les chambres d'entrée de véhicule sont encombrées, et règle une position de stationnement cible par classement par ordre de priorité d'un second espace (57) lorsque les chambres d'entrée de véhicule ne sont pas encombrées. La distance entre les chambres d'entrée du véhicule et le premier espace est plus courte que la distance entre les chambres d'entrée du véhicule et le second espace.
PCT/JP2020/041747 2019-11-13 2020-11-09 Dispositif de commande et procédé de commande WO2021095690A1 (fr)

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Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001344697A (ja) * 2000-05-31 2001-12-14 Nichizou Tec:Kk 駐車場の状態検出装置，駐車案内装置及び管理装置
JP2004118703A (ja) * 2002-09-27 2004-04-15 Toshiba Eng Co Ltd 駐車場内誘導システム
JP2008052670A (ja) * 2006-08-28 2008-03-06 Toyota Motor Corp 駐車場駐車支援システム
JP2008090364A (ja) * 2006-09-29 2008-04-17 Chugoku Electric Power Co Inc:The 駐車場検索システムおよび駐車場検索プログラム
JP2008192064A (ja) * 2007-02-07 2008-08-21 Mitsubishi Electric Corp ナビゲーションシステム
JP2018204373A (ja) * 2017-06-08 2018-12-27 Ｉｈｉ運搬機械株式会社 混在型駐車設備
JP2019148131A (ja) * 2018-02-28 2019-09-05 Ｉｈｉ運搬機械株式会社 車両搬送駐車システム

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001344697A (ja) * 2000-05-31 2001-12-14 Nichizou Tec:Kk 駐車場の状態検出装置，駐車案内装置及び管理装置
JP2004118703A (ja) * 2002-09-27 2004-04-15 Toshiba Eng Co Ltd 駐車場内誘導システム
JP2008052670A (ja) * 2006-08-28 2008-03-06 Toyota Motor Corp 駐車場駐車支援システム
JP2008090364A (ja) * 2006-09-29 2008-04-17 Chugoku Electric Power Co Inc:The 駐車場検索システムおよび駐車場検索プログラム
JP2008192064A (ja) * 2007-02-07 2008-08-21 Mitsubishi Electric Corp ナビゲーションシステム
JP2018204373A (ja) * 2017-06-08 2018-12-27 Ｉｈｉ運搬機械株式会社 混在型駐車設備
JP2019148131A (ja) * 2018-02-28 2019-09-05 Ｉｈｉ運搬機械株式会社 車両搬送駐車システム

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