WO2021095800A1 - 管制装置及び管制方法 - Google Patents

管制装置及び管制方法 Download PDF

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Publication number
WO2021095800A1
WO2021095800A1 PCT/JP2020/042237 JP2020042237W WO2021095800A1 WO 2021095800 A1 WO2021095800 A1 WO 2021095800A1 JP 2020042237 W JP2020042237 W JP 2020042237W WO 2021095800 A1 WO2021095800 A1 WO 2021095800A1
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WIPO (PCT)
Prior art keywords
vehicle
parking
control device
obstacle
obstacle vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/042237
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English (en)
French (fr)
Japanese (ja)
Inventor
広大 山浦
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Denso Corp
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Denso Corp
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Filing date
Publication date
Application filed by Denso Corp filed Critical Denso Corp
Priority to JP2021556142A priority Critical patent/JPWO2021095800A1/ja
Publication of WO2021095800A1 publication Critical patent/WO2021095800A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

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 valley parking lot has a parking space where vehicles can be parked. Vehicles may move in the parking space.
  • a parking robot may carry a vehicle in a parking space.
  • a vehicle equipped with an automatic valley parking function (hereinafter referred to as a vehicle equipped with an AVP function) may travel in a parking space.
  • an obstacle vehicle a control device and a control method capable of moving an obstacle vehicle (hereinafter referred to as an obstacle vehicle).
  • One aspect of the present disclosure is a control device used in an automatic valley parking lot provided with a warehousing cab, a unloading cab, and a parking space, which is an obstacle vehicle when moving a vehicle in the parking space. It is a control device including an obstacle vehicle detection unit configured to detect the above and an obstacle vehicle movement unit for moving the obstacle vehicle by using a parking robot.
  • the control device which is one aspect of the present disclosure, can move an obstacle vehicle.
  • Another aspect of the present disclosure is a control method used in an automatic valet parking lot provided with a warehousing cab, a unloading cab, and a parking space, which is an obstacle vehicle when moving the vehicle in the parking space.
  • This is a control method for moving an obstacle vehicle by using a parking robot capable of detecting and transporting the vehicle.
  • the control method which is another aspect of the present disclosure, can move an obstacle 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 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 automatic valley parking 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 parking space 7 includes a plurality of parking sections in which the vehicle 11 can be parked, and a passage for the vehicle 11 to travel.
  • the plurality of warehousing cabs 13 and the plurality of warehousing cabs 15 are arranged in the vehicle width direction, respectively.
  • the vehicle width direction is the vehicle width direction of the vehicle 11 in the warehousing room 13 and the vehicle 11 in the warehousing room 15.
  • the direction orthogonal to the vehicle width direction is the vehicle front-rear direction.
  • Multiple parking lots constitute one parking block.
  • the parking blocks are separated by a passage.
  • at least three parking sections are arranged in the horizontal direction, and at least three parking sections are arranged in the column direction.
  • the horizontal direction and the column direction are orthogonal to each other.
  • the lateral direction is, for example, the vehicle width direction.
  • the column direction is, for example, the vehicle front-rear direction.
  • 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.
  • the control unit 33 includes an obstacle vehicle detection unit 41, an obstacle vehicle movement unit 43, a travel route creation unit 45, a transport unit 47, and a support unit 49.
  • 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 parking position where the vehicle 11 is to be parked.
  • 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 parking robot 31A shown in FIGS. 8 to 11 conveys the delivery request vehicle 51, which will be described later, among the parking robots 31.
  • the parking robot 31B conveys the obstacle vehicle 55, which will be described later, among the parking robots 31.
  • the parking robot 31A corresponds to the first parking robot.
  • the parking robot 31B corresponds to the second parking robot.
  • the transport unit 47 uses the parking robot 31A to transport the vehicle 11 parked in the parking section to the delivery vehicle compartment 15 along the delivery route 53, which will be described later.
  • the delivery route 53 corresponds to the travel route.
  • the obstacle vehicle moving unit 43 moves the parked vehicle existing on the delivery route 53 by using the parking robot 31B.
  • the parked vehicle existing on the delivery route 53 corresponds to the obstacle vehicle 55.
  • 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 vehicle 11's identification information into the common terminal 29.
  • 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 control device 25 calculates the travel route from the delivery request vehicle position to the target delivery position (hereinafter referred to as the delivery route 53).
  • the delivery request vehicle 51 is a vehicle 11 for which delivery is requested by a delivery request.
  • the warehousing request vehicle position is the current position of the warehousing request vehicle 51.
  • the target delivery position is any of the delivery cabin 15.
  • the process of calculating the delivery route 53 is executed by the travel route creation unit 45.
  • the process of calculating the exit route 53 corresponds to calculating the travel route from the parking position in the parking space 7 to the exit vehicle compartment 15.
  • the control device 25 uses the infrastructure 32 to detect the obstacle vehicle 55 on the delivery route 53.
  • the obstacle vehicle 55 is a vehicle 11 that exists on the delivery route 53 and becomes an obstacle when the delivery request vehicle 51 is moved along the delivery route 53.
  • the obstacle vehicle 55 is, for example, in the first position in tandem with the delivery request vehicle 51. Further, the obstacle vehicle 55 is, for example, in a second position arranged in the horizontal direction with respect to the first position arranged in a column with the delivery request vehicle 51.
  • the obstacle vehicle 55 is, for example, a parked vehicle 11.
  • the obstacle vehicle 55 may or may not be present.
  • the process of detecting the obstacle vehicle 55 is executed by the obstacle vehicle detection unit 41.
  • the parking space 7 includes a parking section in which the vehicle 11 is parked and a passage in which the vehicle 11 travels.
  • the obstacle vehicle detection unit 41 detects, for example, the obstacle vehicle 55 existing in the parking lot.
  • the processes B3 to B34 are executed.
  • the processes B4 to B8 and B14 to B24 are processes that are executed only when the obstacle vehicle 55 is present.
  • the processes of B4 to B8 and B14 to B24 are executed by the obstacle vehicle moving unit 43.
  • the processes B4 to B8 and B14 to B24 are processes for moving the obstacle vehicle 55 using the parking robot 31.
  • the processes of B35 to B61 are executed.
  • the processes B35 to B50 are processes that are executed only when the obstacle vehicle 55 is present.
  • the processing of B35 to B50 is executed by the obstacle vehicle moving unit 43.
  • the processes B35 to B50 are processes for moving the obstacle vehicle 55 using the parking robot 31.
  • the control device 25 transmits the obstacle vehicle position, the traveling route, and the pick-up instruction to the parking robot 31B.
  • the obstacle vehicle position is the position of the obstacle vehicle 55.
  • the traveling route is a traveling route from the current position of the parking robot 31B to the position of the obstacle vehicle.
  • the pick-up instruction is an instruction to pick up the obstacle vehicle 55.
  • B5 to B7 The processing of B5 to B7 is repeated until the parking robot 31B arrives at the position of the obstacle vehicle.
  • the parking robot 31B travels toward the position of the obstacle vehicle and transmits the current position of the parking robot 31B to the control device 25.
  • control device 25 manages traffic based on the current position of the parking robot 31B received in B5.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the parking robot 31B as necessary.
  • the parking robot 31B stops, starts, and reroutes according to the instruction.
  • the parking robot 31B determines whether or not the parking robot 31B has arrived at the position of the obstacle vehicle. If the parking robot 31B has not yet arrived at the position of the obstacle vehicle, this process returns to B6. When the parking robot 31B arrives at the position of the obstacle vehicle, the processes of B5 to B7 are terminated, and the process proceeds to B8.
  • the parking robot 31B notifies the control device 25 that the parking robot 31B has arrived at the position of the obstacle vehicle.
  • the control device 25 transmits the delivery request vehicle position, the traveling route, and the pick-up instruction to the parking robot 31A.
  • the traveling route is a traveling route from the current position of the parking robot 31A to the position of the vehicle requesting delivery.
  • the pick-up instruction is an instruction to pick up the delivery request vehicle 51.
  • the processing of B10 to B12 is repeated until the parking robot 31A arrives at the position of the vehicle requesting delivery.
  • the parking robot 31A travels toward the position of the vehicle requesting delivery, and transmits the current position of the parking robot 31A to the control device 25.
  • the control device 25 manages traffic based on the current position of the parking robot 31A received in B10.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the parking robot 31A as needed.
  • the parking robot 31A stops, starts, and reroutes according to the instruction.
  • the parking robot 31A determines whether or not the parking robot 31A has arrived at the delivery request vehicle position. If the parking robot 31A has not yet arrived at the position of the vehicle requesting delivery, this process returns to B10. When the parking robot 31A arrives at the position of the vehicle requesting delivery, the processing of B10 to B12 is completed, and this processing proceeds to B13.
  • the parking robot 31A notifies the control device 25 that the parking robot 31A has arrived at the delivery request vehicle position.
  • control device 25 instructs the parking robot 31B to lift up the obstacle vehicle 55.
  • the parking robot 31B lifts up the obstacle vehicle 55.
  • the process proceeds to B16.
  • the parking robot 31B notifies the control device 25 of the completion of the lift-up.
  • the control device 25 transmits the target movement position information, the travel route, and the movement instruction to the parking robot 31B.
  • the target movement position information is the position information of the movement destination of the obstacle vehicle 55.
  • the target moving position is, for example, a parking position in the parking space 7.
  • the traveling route is a traveling route from the current position of the parking robot 31B to the target moving position.
  • the movement instruction is an instruction to move the obstacle vehicle 55 to the target movement position.
  • the control device 25 manages traffic based on the position of the parking robot 31B received in B18.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the parking robot 31B as necessary.
  • the parking robot 31B stops, starts, and reroutes according to the instruction.
  • the parking robot 31B determines whether or not the parking robot 31B has arrived at the target movement position. If the parking robot 31B has not yet arrived at the target movement position, this process returns to B18. When the parking robot 31B arrives at the target movement position, the processes of B18 to B20 are completed, and the process proceeds to B21.
  • the parking robot 31B notifies the control device 25 that the movement to the target movement position is completed.
  • control device 25 instructs the parking robot 31B to lift down the obstacle vehicle 55.
  • the parking robot 31B lifts down the obstacle vehicle 55.
  • the process proceeds to B24.
  • the parking robot 31B notifies the control device 25 of the completion of the liftdown.
  • control device 25 instructs the parking robot 31A to lift up the delivery request vehicle 51.
  • the parking robot 31A lifts up the delivery request vehicle 51. When the lift-up is completed, proceed to B27.
  • the parking robot 31A 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 31A.
  • 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 31A to the target delivery position.
  • the warehousing instruction is an instruction to issue the warehousing request vehicle 51 to the target warehousing position.
  • B29 to B31 The processing of B29 to B31 is repeated until the parking robot 31A arrives at the target delivery position.
  • the parking robot 31A travels toward the target delivery position and transmits the current position of the parking robot 31A to the control device 25.
  • the control device 25 manages traffic based on the position of the parking robot 31A received in B29.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the parking robot 31A as needed.
  • the parking robot 31A stops, starts, and reroutes according to the instruction.
  • the parking robot 31A determines whether or not the parking robot 31A has arrived at the target delivery position. If the parking robot 31A has not yet arrived at the target delivery position, this process returns to B29. When the parking robot 31A arrives at the target delivery position, the processing of B29 to B31 is completed, and this processing proceeds to B32.
  • the parking robot 31A notifies the control device 25 of the completion of delivery.
  • the processes of B9 to B13 and B25 to B33 are executed by the transport unit 47.
  • the processing of B9 to B13 and B25 to B33 after moving the obstacle vehicle 55 existing on the delivery route 53, the delivery request vehicle 51 parked at the parking position is moved to the traveling route by using the parking robot 31A.
  • the parking robot 31A Corresponds to the process of transporting the vehicle to the delivery vehicle compartment 15 along the above.
  • 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 control device 25 transmits the obstacle vehicle position, the traveling route, and the pick-up instruction to the parking robot 31B.
  • the traveling route is a traveling route from the current position of the parking robot 31B to the position of the obstacle vehicle.
  • B36 to B38 The processing of B36 to B38 is repeated until the parking robot 31B arrives at the position of the obstacle vehicle.
  • the parking robot 31B travels toward the position of the obstacle vehicle and transmits the current position of the parking robot 31B to the control device 25.
  • the control device 25 manages traffic based on the current position of the parking robot 31B received by the B36.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the parking robot 31B as necessary.
  • the parking robot 31B stops, starts, and reroutes according to the instruction.
  • the parking robot 31B determines whether or not the parking robot 31B has arrived at the position of the obstacle vehicle. If the parking robot 31B has not yet arrived at the obstacle vehicle position, this process returns to B36. When the parking robot 31B arrives at the position of the obstacle vehicle, the processing of B36 to B38 is completed, and the processing proceeds to B39.
  • the parking robot 31B notifies the control device 25 that the parking robot 31B has arrived at the position of the obstacle vehicle.
  • control device 25 instructs the parking robot 31B to lift up the obstacle vehicle 55.
  • the parking robot 31B notifies the control device 25 of the completion of the lift-up.
  • the control device 25 transmits the target movement position information, the travel route, and the movement instruction to the parking robot 31B.
  • the traveling route is a traveling route from the current position of the parking robot 31B to the target moving position.
  • B44 to B46 The processing of B44 to B46 is repeated until the parking robot 31 arrives at the target movement position.
  • the parking robot 31B travels toward the target movement position and transmits the current position of the parking robot 31B to the control device 25.
  • the control device 25 manages traffic based on the position of the parking robot 31B received by the B44.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the parking robot 31B as necessary.
  • the parking robot 31B stops, starts, and reroutes according to the instruction.
  • the parking robot 31B determines whether or not the parking robot 31B has arrived at the target movement position. If the parking robot 31B has not yet arrived at the target movement position, this process returns to B44. When the parking robot 31B arrives at the target movement position, the processing of B44 to B46 is completed, and the processing proceeds to B47.
  • the parking robot 31B notifies the control device 25 that the movement to the target movement position is completed.
  • control device 25 instructs the parking robot 31B to lift down the obstacle vehicle 55.
  • the parking robot 31B notifies the control device 25 of the completion of the liftdown.
  • control device 25 transmits an ignition on instruction to the delivery request vehicle 51.
  • the delivery request vehicle 51 turns on the ignition in response to the ignition on instruction.
  • the delivery request vehicle 51 transmits 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 51.
  • the travel route is a travel route from the current position of the warehousing request vehicle 51 to the target warehousing position.
  • B54 to B56 The processing of B54 to B56 is repeated until the delivery request vehicle 51 arrives at the target delivery position.
  • the warehousing request vehicle 51 travels toward the target warehousing position, and transmits the current position of the warehousing request vehicle 51 to the control device 25.
  • the control device 25 manages traffic based on the current position of the delivery request vehicle 51 received in B54.
  • the control device 25 transmits instructions for stopping, starting, and rerouting to the delivery request vehicle 51, if necessary.
  • the delivery request vehicle 51 stops, starts, and reroutes according to the instruction.
  • the delivery request vehicle 51 determines whether or not the delivery request vehicle 51 has arrived at the target delivery position. If the delivery request vehicle 51 has not yet arrived at the target delivery position, this process returns to B54. When the delivery request vehicle 51 arrives at the target delivery position, the processing of B54 to B56 is completed, and this processing proceeds to B57.
  • the delivery request vehicle 51 notifies the control device 25 of the completion of delivery.
  • control device 25 instructs the exit request vehicle 51 to turn off the ignition.
  • the delivery request vehicle 51 turns off the ignition.
  • the delivery request vehicle 51 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 processes of B51 to B60 are executed by the support unit 49.
  • the processing of B51 to B60 corresponds to the processing of supporting the exit requesting vehicle 51 parked at the parking position to travel to the exiting vehicle compartment 15 along the traveling route after moving the obstacle vehicle 55.
  • the common terminal 29 notifies the user of the completion of shipping.
  • the smartphone may notify the user of the completion of shipping.
  • the obstacle vehicle 55 exists on the delivery route 53 of the delivery request vehicle 51.
  • the obstacle vehicle 55 is in a position in line with the delivery request vehicle 51.
  • the obstacle vehicle 55 is a parked vehicle 11.
  • the delivery request vehicle 51 was a vehicle 11A equipped with an AVP function, and was parked by the AVP function.
  • the control device 25 uses the parking robot 31 to move the obstacle vehicle 55 by processing B35 to B50.
  • the control device 25 supports the delivery request vehicle 51 to travel to the delivery cab 15 along the delivery route 53 by processing B51 to B60.
  • the obstacle vehicle 55 exists on the delivery route 53 of the delivery request vehicle 51.
  • the obstacle vehicle 55 is in a position in line with the delivery request vehicle 51.
  • the obstacle vehicle 55 is a parked vehicle 11.
  • the delivery request vehicle 51 was parked by robot parking.
  • the control device 25 uses the parking robot 31B to move the obstacle vehicle 55 by processing B4 to B8 and B14 to B24.
  • the control device 25 uses the parking robot 31A to transport the delivery request vehicle 51 to the delivery cab 15 along the delivery route 53 by processing B9 to B13 and B25 to B33.
  • the control device 25 can detect an obstacle vehicle 55 that becomes an obstacle when the vehicle 11 is moved in the parking space 7.
  • the control device 25 can move the obstacle vehicle 55 by using the parking robot 31. Therefore, the control device 25 can prevent the movement of the vehicle 11 from being hindered by the obstacle vehicle 55.
  • the control device 25 creates a delivery route 53 from the parking position in the parking space 7 to the delivery vehicle compartment 15.
  • the control device 25 detects and moves the obstacle vehicle 55 existing on the exit route 53 of the exit request vehicle 51. Therefore, the control device 25 can prevent the delivery of the delivery request vehicle 51 from being hindered by the obstacle vehicle 55.
  • the control device 25 can control the vehicles 11 to be parked side by side in an automatic valley parking.
  • the number of cars that can be parked in the automatic valley parking lot 1 can be increased as compared with the case where the car is not parked side by side in a column.
  • the obstacle vehicle 55 is the vehicle 11A equipped with the AVP function and the user permits the obstacle vehicle 55 to move, the obstacle vehicle 55 is turned on and the obstacle vehicle 55 is self-propelled to move. You may let me.
  • the obstacle vehicle movement unit 43 determines the obstacle vehicle.
  • the obstacle vehicle 55 may be moved using the AVP function of 55.
  • the delivery route 53 corresponds to the travel route.
  • the parking robot 31B moves the obstacle vehicle 55.
  • the obstacle vehicle movement unit 43 is a parking robot.
  • the obstacle vehicle 55 may be moved using 31B.
  • the obstacle vehicle moving unit 43 may always use the parking robot 31B to move the obstacle vehicle 55 even when the obstacle vehicle 55 is the vehicle 11A equipped with the AVP function.
  • the obstacle vehicle 55 is the vehicle 11A equipped with the AVP function, and the user of the obstacle vehicle 55 permits the obstacle vehicle 55 to be moved out of the delivery route 53 by using the AVP function of the obstacle vehicle 55.
  • the obstacle vehicle moving unit 43 uses the parking robot 31B to move the obstacle vehicle 55.
  • the control device 25 determines whether or not the vehicle 11 is a vehicle 11A equipped with an AVP function, and whether or not the user permits the vehicle 11 to be turned on and moved when the vehicle 11 becomes an obstacle vehicle 55. It is determined and stored when the vehicle 11 is received.
  • the control device 25 moves the obstacle vehicle 55 existing on the travel path of the warehousing request vehicle 51, and then uses the parking robot 31A to move the warehousing vehicle 51 along the travel route. Can be transported to.
  • the control device 25 assists the exit request vehicle 51 to travel to the exit cabin 15 along the travel route after moving the obstacle vehicle 55 existing on the travel route of the exit request vehicle 51. Can be done.
  • the traveling route creation unit 45 may create a traveling route from the warehousing vehicle compartment 13 to the parking position in the parking space 7, or a traveling route from the parking position to the warehousing vehicle compartment 15.
  • the obstacle vehicle 55 is, for example, on a traveling path from the warehousing vehicle compartment 13 to the parking position in the parking space 7.
  • the obstacle vehicle 55 is, for example, on the traveling path from the parking position to the exit vehicle compartment 15.
  • the obstacle vehicle moving unit 43 lifts up the obstacle vehicle 55 by using the parking robot 31B and transports the obstacle vehicle 55 out of the traveling path.
  • the obstacle vehicle 55 is, for example, a parked vehicle in a first position arranged in a column adjacent to the parking position or a second position arranged in a horizontal direction adjacent to the first position, and is on a traveling path. Includes existing parked vehicles. For example, in the column direction, there is no other parking compartment between the first position and the parking position. For example, in the lateral direction, there is no other parking compartment between the second position and the parking position.
  • the obstacle vehicle 55 detected by the control device 25 may be the one shown in FIG.
  • the obstacle vehicle 55 is a parked vehicle that exists between an empty space 57 in which the vehicle 11 can be parked and a route 59 in which the vehicle 11 can travel.
  • the empty space 57 and the route 59 are in the parking space 7.
  • the control device 25 can move the obstacle vehicle 55 to the destination 61 by using the parking robot 31.
  • the destination 61 is a parking position in the parking space 7.
  • the control device 25 may directly move the obstacle vehicle 55 to the moving destination 61, or may move the obstacle vehicle 55 to an intermediate position 63 other than the parking position and then move it to the moving destination 61. After moving the obstacle vehicle 55 to the destination 61, the vehicle 11 can pass through the position where the obstacle vehicle 55 previously existed and park in the empty space 57.
  • the obstacle vehicle 55 detected by the control device 25 may be the one shown in FIG.
  • the obstacle vehicle 55 is a parked vehicle that exists in the space 65 that will be used in the future.
  • the space 65 to be used in the future is in the parking space 7.
  • the control device 25 can move the obstacle vehicle 55 to the destination 61 by using the parking robot 31.
  • the destination 61 is a parking position in the parking space 7.
  • the control device 25 may directly move the obstacle vehicle 55 to the moving destination 61, or may move the obstacle vehicle 55 to an intermediate position 63 other than the parking position and then move it to the moving destination 61. After moving the obstacle vehicle 55 to the destination 61, the vehicle 11 can be parked in the space 65 that will be used in the future.
  • Another aspect of the present disclosure is a warehousing cab 13 where the user gets off the vehicle 11, a warehousing cab 15 where the user gets on the vehicle 11, a parking space 7 where the vehicle 11 is parked, and a control device. It is an automatic valley parking lot 1 equipped with 25.
  • the control device 25 includes an obstacle vehicle detection unit 41 and an obstacle vehicle movement unit 43.
  • the obstacle vehicle detection unit 41 is configured to detect an obstacle vehicle 55 that becomes an obstacle when the vehicle 11 is moved in the parking space 7.
  • the obstacle vehicle moving unit 43 is configured to move the obstacle vehicle 55 by using a parking robot 31 capable of transporting the vehicle 11.
  • the parking space 7 includes a parking position where the vehicle 11 can be parked and a passage through which the vehicle 11 travels.
  • the obstacle vehicle detection unit 41 is configured to detect the obstacle vehicle 55 existing in the parking position.
  • 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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PCT/JP2020/042237 2019-11-13 2020-11-12 管制装置及び管制方法 Ceased WO2021095800A1 (ja)

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WO2022039068A1 (ja) * 2020-08-21 2022-02-24 株式会社デンソー 駐車支援装置、駐車支援方法、及び駐車支援プログラム
CN116118719A (zh) * 2023-04-14 2023-05-16 禾多科技（北京）有限公司 基于障碍物判断车速的自动驾驶泊车测速系统
CN119283845A (zh) * 2024-11-01 2025-01-10 重庆赛力斯凤凰智创科技有限公司 室内泊车控制方法、装置、设备及可读存储介质

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JP2018151858A (ja) * 2017-03-13 2018-09-27 株式会社デンソーテン 車載機器、駐車管理装置、駐車管理システム、出庫準備方法、及び駐車管理方法
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US20100161128A1 (en) * 2008-12-22 2010-06-24 Electronics And Telecommunications Research Institute System and method for controlling automatic parking
JP2018151858A (ja) * 2017-03-13 2018-09-27 株式会社デンソーテン 車載機器、駐車管理装置、駐車管理システム、出庫準備方法、及び駐車管理方法
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WO2022039068A1 (ja) * 2020-08-21 2022-02-24 株式会社デンソー 駐車支援装置、駐車支援方法、及び駐車支援プログラム
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CN119283845A (zh) * 2024-11-01 2025-01-10 重庆赛力斯凤凰智创科技有限公司 室内泊车控制方法、装置、设备及可读存储介质

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