WO2022049993A1 - Système d'aide au stationnement et dispositif d'aide au stationnement - Google Patents

Système d'aide au stationnement et dispositif d'aide au stationnement Download PDF

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Publication number
WO2022049993A1
WO2022049993A1 PCT/JP2021/029161 JP2021029161W WO2022049993A1 WO 2022049993 A1 WO2022049993 A1 WO 2022049993A1 JP 2021029161 W JP2021029161 W JP 2021029161W WO 2022049993 A1 WO2022049993 A1 WO 2022049993A1
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WIPO (PCT)
Prior art keywords
parking
self
vehicle
route
driving vehicle
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PCT/JP2021/029161
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English (en)
Japanese (ja)
Inventor
賢健 和田
広大 山浦
貴雅 日▲高▼
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株式会社デンソー
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Priority to JP2022546186A priority Critical patent/JPWO2022049993A1/ja
Priority to CN202180053062.7A priority patent/CN115989535A/zh
Publication of WO2022049993A1 publication Critical patent/WO2022049993A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
    • G01C21/34—Route searching; Route guidance
    • 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
    • G08G1/09—Arrangements for giving variable traffic instructions
    • 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

  • the present disclosure relates to a parking support system configured to support parking by an autonomous vehicle in a parking lot, and a parking support device.
  • Patent Document 1 proposes a technique for guiding an autonomous driving vehicle between a boarding / alighting area and a parking area by using the automatic driving function of the autonomous driving vehicle in the parking support device.
  • the parking support device may guide the autonomous driving vehicle between the boarding / alighting area and the parking area by using an automatic guided vehicle.
  • An automatic guided vehicle is a vehicle that can be carried by mounting a vehicle such as an autonomous driving vehicle.
  • One aspect of the present disclosure is to improve the efficiency of parking space utilization or reduce the time required for loading and unloading in a parking support device configured to support parking by an autonomous vehicle in a parking lot. There is something in it.
  • the parking support system configured to support parking of a vehicle.
  • the parking support system includes an automatic guided vehicle and a management device.
  • the automatic guided vehicle is configured to be able to transport the vehicle in the parking lot.
  • the management device is configured to move at least the self-driving vehicle between the boarding / alighting area and the parking area in the parking lot by controlling the unmanned transport vehicle and the self-driving vehicle.
  • the self-driving vehicle is configured to be capable of self-driving in the parking lot.
  • the management device includes a self-propelled setting unit, a transport setting unit, and a route transmission unit.
  • the self-driving setting unit receives a movement request that is a request to move the autonomous vehicle between the boarding / alighting area and the parking area
  • the self-driving setting unit determines the part of the guidance route connecting the boarding / alighting area and the parking area on the boarding / alighting area side. It is configured to be set as a self-propelled route in which an autonomous vehicle moves by self-propelled.
  • the transport setting unit Upon receiving a movement request, the transport setting unit is configured to set a portion of the guidance route on the parking area side as a transport route for the automatic guided vehicle to transport the autonomous vehicle.
  • the route transmission unit is configured to transmit the self-propelled route to the autonomous vehicle and transmit the transport route to the automatic guided vehicle.
  • the unmanned transport vehicle is used for transporting other vehicles while the self-driving vehicle is self-driving. It can shorten the time required for loading and unloading. Further, since the automatically driven vehicle is transported by the automatic guided vehicle at the portion of the guidance route on the parking area side, the vehicle can be parked accurately and the parking efficiency can be improved.
  • one aspect of the present disclosure may be a parking support device configured to support parking of the vehicle.
  • the parking support system 1 includes a warehousing room 3 set in a disembarkation area, which is an area where the user gets off, and a warehousing room 5 set in a boarding area, which is an area where the user gets on. , Parking area 7 and the like.
  • the area including the warehousing room 3, the warehousing room 5, and the parking area 7 will also be referred to as the parking lot. Further, the area including the warehousing room 3 and the warehousing room 5 is also referred to as boarding / alighting areas 3 and 5.
  • a plurality of sections are provided in the warehousing car room 3 and the warehousing car room 5, respectively.
  • the warehousing room 3 is connected to the outside of the parking support system 1 via the entrance 15.
  • the self-driving vehicle 18 can enter the warehousing vehicle room 3 from the outside through the entrance 15.
  • the self-driving vehicle 18 has an automatic valley parking function.
  • the autonomous driving vehicle 18 only needs to be able to carry out the automatic valley parking function in the parking lot, and does not need to have the function of performing automatic driving outside the parking lot.
  • the automatic valley parking function includes a function of traveling from the warehousing car room 3 to the parking position in the parking area 7 and parking by automatic driving, and a function of running from the parking position in the parking area 7 to the warehousing car room 5. .. Further, the automatic valley parking function includes a function of traveling to move in the parking area 7 when another vehicle enters or leaves the parking area.
  • the automatic valley parking function in particular, has a function of repeatedly acquiring the position information of the automatic driving vehicle 18 and transmitting the position information to the management device 39, and also receives a guidance route from the management device 39 and controls the automatic driving vehicle 18 according to the guidance route. Includes the ability to drive.
  • the position information of the autonomous driving vehicle 18 indicates an estimation result of the current location of the autonomous driving vehicle 18, and includes, for example, coordinate values within the area of the parking lot.
  • the warehousing car room 3 and the warehousing car room 5 are adjacent to the entrance 23 of the facility 22 such as a store.
  • the occupants of the self-driving vehicle 18 that has entered the warehousing vehicle room 3 can get off the self-driving vehicle 18 and proceed to the entrance 23 on foot.
  • the exit vehicle room 5 is connected to the outside of the parking support system 1 via the exit 27.
  • the self-driving vehicle 18 can proceed from the exit vehicle compartment 5 to the outside of the parking support system 1 through the exit 27.
  • the delivery vehicle compartment 5 is adjacent to the entrance 23. The occupants can walk to the exit car room 5 from the entrance 23.
  • the parking area 7 is a place where a plurality of self-driving vehicles 18 can be parked.
  • a plurality of sections are provided inside the parking area 7.
  • Each section provided in the warehousing vehicle room 3, the warehousing vehicle room 5, and the parking area 7 is an area in which one self-driving vehicle 18 can be parked.
  • the parking area 7 does not need to be provided with a section. That is, the parking area 7 may be configured so that the parking support system 1 can set the parking position of a vehicle such as the autonomous driving vehicle 18, and may not be divided by, for example, a white line.
  • a temporary parking area 9A as a temporary parking target and a temporary warehousing area 9B as a temporary warehousing target are set.
  • the temporary parking target is a position that is a temporary arrival target
  • the temporary delivery target is a position that is a temporary delivery target.
  • the self-driving vehicle 18 can travel from the warehousing room 3 to the parking area 7. Further, the self-driving vehicle 18 can travel from the parking area 7 to the exit vehicle compartment 5. However, in the present embodiment, the self-driving vehicle 18 is set to travel from the warehousing vehicle room 3 to the temporary parking area 9A, or from the temporary warehousing area 9B to the warehousing vehicle room 5 which is the target position.
  • the parking support system 1 includes a management device 39 as the parking support device of the present disclosure, an infrastructure 41, and a terminal device 43.
  • the parking support system 1 includes a plurality of automatic guided vehicles 21.
  • the automatic guided vehicle 21 includes a control unit 61, a sensor group 63, a position information acquisition unit 65, and a communication unit 67.
  • the control unit 61 controls each unit of the automatic guided vehicle 21.
  • the automatic driving function executed by the automatic guided vehicle 21 is realized by the control performed by the control unit 61.
  • the control unit 61 holds map information about the parking lot.
  • the automatic guided vehicle 21 uses, for example, map information when performing automatic driving.
  • the sensor group 63 acquires peripheral information indicating the situation around the automatic guided vehicle 21.
  • the content of the peripheral information includes, for example, the position of an obstacle existing around the automatic guided vehicle 21.
  • the sensor group 63 includes, for example, a camera, a rider, and the like.
  • the automatic guided vehicle 21 uses peripheral information when performing automatic driving.
  • the position information acquisition unit 65 acquires the position information of the automatic guided vehicle 21.
  • the position information acquisition unit 65 is, for example, a GPS system.
  • the automatic guided vehicle 21 uses the position information when performing automatic driving.
  • the communication unit 67 can communicate with the management device 39.
  • the automatic guided vehicle 21 can, for example, travel in a state in which an arbitrary vehicle including an automatic driving vehicle 18 is mounted on the automatic guided vehicle 21 (hereinafter, referred to as a mounted state). Further, the automatic guided vehicle 21 can make a transition between a non-mounted state and a mounted state by sneaking into the lower part of the vehicle and lifting the vehicle. Further, the automatic guided vehicle 21 has a function of automatically driving to a target position along the guidance route provided by the management device 39. The automatic guided vehicle 21 can transport the vehicle to the target position by automatically driving the vehicle to the target position along the guidance path in the mounted state.
  • the automatic guided vehicle 21 is an autonomous vehicle 18 from the temporary parking area 9A shown in FIG. 1 to the parking position of the parking area 7 which is the target position, or from the parking position to the temporary delivery area 9B.
  • the vehicle transported by the unmanned transport vehicle 21 may be an autonomous driving vehicle 18, or a vehicle that is not an autonomous driving vehicle 18, that is, a vehicle that does not have an automatic driving function.
  • the management device 39 processes S15 (that is, automatic driving vehicle warehousing processing) and S63 processing (that is, automatic driving vehicle). Issuance processing) can be omitted.
  • the processes of S15 and S63 are processes for self-propelling the self-driving vehicle 18.
  • the control unit 47 of the management device 39 includes a configuration for transmitting a guidance route to a target position and various instructions to the autonomous driving vehicle 18 and the automatic guided vehicle 21.
  • the control unit 47 includes a parking position setting unit 47A, a self-propelled setting unit 47B, a transport setting unit 47C, a route transmission unit 47D, a movement determination unit 47E, and a delivery setting unit 47F. And prepare. The operation of each unit 47A to 47F constituting the control unit 47 will be described later.
  • the map information of the parking lot is stored in the memory 53. Further, the map information includes information indicating the state of the section in the parking area 7. As the state of the section, there are a vacant state (hereinafter referred to as an vacant state) and a state occupied by the autonomous driving vehicle 18 (hereinafter referred to as an occupied state).
  • the communication unit 49 can communicate with the self-driving vehicle 18.
  • the infrastructure 41 includes a device that acquires information indicating the internal situation of the parking support system 1 (hereinafter referred to as parking information) and supplies the parking information to the management device 39.
  • the infrastructure 41 includes a camera, a rider, and the like that photograph the inside of the parking support system 1.
  • the parking lot information includes, for example, information indicating the position of an obstacle, information indicating the state of a section in the parking area 7, position information of an autonomous driving vehicle 18 existing inside the parking support system 1, and the like.
  • the terminal device 43 is installed in the vicinity of the warehousing vehicle room 3.
  • the terminal device 43 accepts an input operation by the occupant.
  • the terminal device 43 outputs a signal corresponding to the input operation to the management device 39.
  • the terminal device 43 outputs a parking request signal, for example, in response to an input operation.
  • the parking request signal is a signal for transporting the autonomous driving vehicle 18 in the warehousing room 3 to the parking area 7 and requesting that the vehicle be parked. Further, the terminal device 43 outputs the identification information of the autonomous driving vehicle 18 and the like when outputting the signal corresponding to the input operation to the management device 39.
  • the terminal device 43 outputs, for example, a delivery request signal or the like in response to an input operation.
  • the delivery request signal is a signal requesting that the autonomous driving vehicle 18 parked in the parking area 7 be transported to the delivery vehicle room 5.
  • the terminal device 43 outputs the identification information of the autonomous driving vehicle 18 in response to an input operation, for example.
  • the identification information is, for example, information such as a number plate for uniquely identifying the autonomous driving vehicle 18.
  • the identification information may be a part of the information of the number plate, for example, as long as the plurality of autonomous driving vehicles 18 currently existing in the parking lot can be distinguished from each other.
  • the self-driving vehicle 18 has an automatic valley parking function.
  • the autonomous driving vehicle 18 includes a control unit 69, a sensor group 71, a position information acquisition unit 73, and a communication unit 75.
  • the control unit 69 controls each unit of the autonomous driving vehicle 18.
  • the function of automatic operation is realized by the control performed by the control unit 69.
  • the autonomous driving vehicle 18 acquires the map information and the guidance route of the parking lot from the management device 39, and uses the map information and the guidance route of the parking lot when performing automatic driving.
  • the sensor group 71 acquires peripheral information indicating the situation around the autonomous driving vehicle 18.
  • the content of the peripheral information includes, for example, the position of an obstacle existing in the vicinity of the autonomous driving vehicle 18.
  • the sensor group 71 includes, for example, a camera, a rider, and the like.
  • the self-driving vehicle 18 uses peripheral information when performing self-driving.
  • the position information acquisition unit 73 acquires the position information of the autonomous driving vehicle 18.
  • the position information acquisition unit 73 is, for example, a position estimation system using a rider and a map.
  • the self-driving vehicle 18 uses position information when performing self-driving.
  • the communication unit 75 can communicate with the management device 39.
  • the parking setting process executed by the management device 39 will be described with reference to FIG.
  • the parking setting process is, for example, a process that is started when the power of the management device 39 is turned on and then repeatedly executed. Further, in the following, it is also described that the process executed by the control unit 47 (particularly the CPU 51) of the management device 39 is executed by the management device 39.
  • the management device 39 determines whether or not the parking request signal has been received in step 11 of the parking setting process (hereinafter referred to as “S”) 11 shown in FIG.
  • the terminal device 43 transmits a parking request signal corresponding to this input to the management device 39.
  • the user inputs vehicle information such as a number plate for identifying the vehicle, user information such as a user ID and a password for identifying the user, and other necessary information to the terminal device 43.
  • the parking request is one of the movement requests for moving the autonomous driving vehicle 18 between the boarding / alighting areas 3 and 5 and the parking area 7, and the movement request includes a delivery request described later.
  • the terminal device 43 When the terminal device 43 is operated, unique information such as an identification ID for identifying the terminal device 43, vehicle information, user information, etc. are transmitted to the management device 39. After manipulating the parking request, the user can leave the parking lot and head for the destination.
  • unique information such as an identification ID for identifying the terminal device 43, vehicle information, user information, etc.
  • the management device 39 transmits the map information of the parking lot to the autonomous driving vehicle 18 in S12. That is, when the management device 39 inputs that the user starts parking at the terminal device 43, the management device 39 transmits the map information of the parking lot to the autonomous driving vehicle 18.
  • the self-driving vehicle 18 that has received the map information is set to return the position information and the vehicle state as described later. Therefore, the management device 39 receives the position information transmitted from the autonomous driving vehicle 18 in S13. Subsequently, the process proceeds to S14, and the management device 39 of the management device 39 receives the vehicle state transmitted from the self-driving vehicle 18.
  • the vehicle state indicates the state of the self-driving vehicle 18. More specifically, the failure diagnosis result in the self-driving vehicle 18 and the data capable of diagnosing an abnormality such as the sensor value of the air pressure, temperature, residual fuel, etc. of the self-driving vehicle 18 are shown.
  • the management device 39 carries out the automatic driving vehicle warehousing process in S15.
  • the self-driving vehicle warehousing process is a process of self-propelling the self-driving vehicle 18 to the temporary parking area 9A.
  • the management device 39 performs the unmanned vehicle warehousing process in S16.
  • the automatic guided vehicle warehousing process is a process of moving the autonomous driving vehicle 18 from the temporary parking area 9A to the parking position by using the automatic guided vehicle 21.
  • the management device 39 ends the parking setting process.
  • the parking position setting unit 47A of the management device 39 selects a parking position that is a parking target that is a final arrival target in the parking area 7. Further, the parking position setting unit 47A sets a temporary parking target, which is a temporary parking target, in the temporary parking area 9A.
  • the management device 39 determines the state of each section as follows, for example.
  • the self-driving vehicle 18 parks in a certain section, the self-driving vehicle 18 sends the identification information of the section and the parking start information to the management device 39.
  • the automatic guided vehicle 21 sends the identification information of the section and the parking end information to the management device 39.
  • the self-driving vehicle 18 leaves the previously parked section, the self-driving vehicle 18 sends the identification information of the section and the parking end information to the management device 39.
  • the management device 39 determines the state of each section based on the history of information sent from the autonomous driving vehicle 18. Further, the management device 39 may determine the state of each section based on the information supplied by the infrastructure 41.
  • the management device 39 sets that section as the parking position or temporary parking target.
  • the management device 39 selects one section from the plurality of vacant sections as a parking position or a temporary parking target based on a predetermined criterion.
  • the criteria for selecting the parking position for example, the criteria for selecting the section closest to the warehousing room 3, the criteria for selecting the section closest to the warehousing room 5, and the area where the vacant sections are gathered.
  • There are criteria such as selecting a certain section.
  • criteria for selecting a temporary parking target for example, there are criteria for selecting the section farthest from the warehousing room 3, criteria for selecting the section closest to the parking position, and the like.
  • the management device 39 sets a guidance route using the map information of the parking lot.
  • the management device 39 sets a guidance route from the current location of the autonomous driving vehicle 18 to the parking position via the temporary parking target.
  • the guidance route is set separately for the parts on the boarding / alighting areas 3 and 5 side and the parts on the parking area 7 side with the temporary parking target or the temporary delivery target described later as a boundary.
  • the self-driving setting unit 47B is such that the self-driving vehicle 18 should travel on the parts of the guidance route on the boarding / alighting areas 3 and 5, that is, the parts from the current location of the self-driving vehicle 18 to the temporary parking target. Set as a driving route.
  • the route transmission unit 47D of the management device 39 transmits information representing the guidance route set in S22 (hereinafter referred to as guidance route information) using the communication unit 49.
  • the route transmission unit 47D transmits guidance route information, that is, a self-propelled route to the automatic driving vehicle 18.
  • the guidance route information also serves as an instruction to start parking for the autonomous driving vehicle 18.
  • the self-driving vehicle 18 receives the guidance route information, and automatic driving according to the guidance route is started.
  • the management device 39 acquires the position information of the autonomous driving vehicle 18 in S24. Subsequently, in S25, the management device 39 receives the vehicle state.
  • the vehicle state here is the same as the vehicle state received in S14.
  • the management device 39 determines in S28 whether or not the communication unit 49 has received the parking completion notification.
  • the parking completion notification is a notification transmitted by the autonomous driving vehicle 18 when the autonomous driving vehicle 18 is parked at the temporary parking target.
  • the management device 39 ends this process. If the parking completion notification is not received, the process returns to S24.
  • the transport setting unit 47C of the management device 39 sets the parking position selected in S21 from the current location of the automatic guided vehicle 21 as a guidance route to be traveled by the automatic guided vehicle 21 via the temporary parking target.
  • the route from the temporary parking target to the parking target is set as the transport route for the automatic guided vehicle 21 to transport the autonomous driving vehicle 18.
  • the transport route for the unmanned transport vehicle 21 to transport the self-driving vehicle 18 is a portion of the guidance route for the self-driving vehicle 18 on the parking area 7 side with the temporary parking target or the temporary delivery target described later as a boundary.
  • the route transmission unit 47D of the management device 39 transmits the guidance route information including the transport route to the automatic guided vehicle 21.
  • the guidance route information transmitted in S23 also serves as an instruction to start parking for the automatic guided vehicle 21.
  • the automatic guided vehicle 21 receives the guidance route information and starts automatic operation according to the guidance route.
  • the management device 39 acquires the position information of the automatic guided vehicle 21.
  • the management device 39 determines whether or not the communication unit 49 has received the parking completion notification.
  • the parking completion notification here is a notification transmitted by the automatic guided vehicle 21 when the autonomous driving vehicle 18 is parked at the parking position which is the end point of the guidance route.
  • the management device 39 ends this process. If the parking completion notification is not received, the process returns to S24.
  • the automatic guided vehicle warehousing process is followed by the automatic guided vehicle warehousing process, but the autonomous vehicle warehousing process and the automatic guided vehicle warehousing process may be performed at the same time as much as possible. ..
  • the temporary parking target is set in the temporary parking area 9A in S21 of the automatic driving vehicle warehousing process
  • the unmanned transport vehicle warehousing process starts without waiting for the remaining steps of the automatic driving vehicle warehousing process.
  • a guidance route from the current location of the automatic guided vehicle 21 to the parking position via the temporary parking target may be set and supplied to the automatic guided vehicle 21.
  • the automatic guided vehicle 21 can move from the current location of the automatic guided vehicle 21 to the temporary parking target while the autonomous driving vehicle 18 self-propells from the warehousing room 3 to the temporary parking target. .. Therefore, the time required for the self-driving vehicle 18 to be warehousing can be further shortened.
  • the automatic guided vehicle warehousing process and the self-driving vehicle warehousing process may be performed at the same time as much as possible. With such a configuration, the time required for the self-driving vehicle 18 to leave the garage can be further shortened.
  • the transport parking process executed by the automatic guided vehicle 21 will be described with reference to FIG. 7.
  • the transport parking process is a process of transporting the autonomous driving vehicle 18 from the temporary parking target to the parking position according to the automatic guided vehicle warehousing process executed by the management device 39. Further, in the following, it is also described that the processing executed by the control unit 61 of the automatic guided vehicle 21 is executed by the automatic guided vehicle 21.
  • the automatic guided vehicle 21 determines in S46 whether or not the communication unit 67 has received the guidance route information.
  • the guidance route information is transmitted by the management device 39. When the guidance route information is received, this process proceeds to S52. If the guidance route information has not been received, this process returns to S46.
  • the automatic guided vehicle 21 starts automatic operation.
  • the automatic guided vehicle 21 drives the automatic guided vehicle 21 based on the guidance route information.
  • the automatic guided vehicle 21 travels by automatic operation.
  • the automatic guided vehicle 21 continues automatic operation at S55.
  • the automatic guided vehicle 21 travels on the route to the parking position via the temporary parking target while continuing the processing of S55.
  • the automatic guided vehicle 21 operates to put the autonomous driving vehicle 18 in the mounted state at the temporary parking target as a part of the processing of S55.
  • the automatic guided vehicle 21 repeatedly transmits the position information of the automatic guided vehicle 21 to the management device 39 until it is determined in S57, which will be described later, that parking is completed. The transmitted position information is received by the management device 39.
  • the automatic guided vehicle 21 determines in S57 whether or not parking is completed.
  • parking the automatic guided vehicle 21 and the autonomous driving vehicle 18 arrive at the parking position.
  • this process proceeds to S58. If parking is not completed, this process returns to S55.
  • the automatic guided vehicle 21 transmits a parking completion notification using the communication unit 67, and ends the transportation parking process.
  • the management device 39 receives the transmitted parking completion notification. After the parking is completed, the automatic guided vehicle 21 leaves the self-driving vehicle 18 for the next transportation.
  • the automatic parking process executed by the self-driving vehicle 18 will be described with reference to FIG.
  • the automatic parking process is a process in which the autonomous driving vehicle 18 automatically drives from the warehousing vehicle compartment 3 to the temporary parking target in response to the automatic driving vehicle warehousing process executed by the management device 39. Further, in the following, it is also described that the process executed by the control unit 69 of the autonomous driving vehicle 18 is executed by the autonomous driving vehicle 18.
  • the self-driving vehicle 18 determines in S40 whether or not the communication unit 75 has received the map information of the parking lot. If the map information has not been received, the process returns to S40.
  • the process proceeds to S41, and the autonomous driving vehicle 18 estimates the current location of the autonomous driving vehicle 18. Then, in S42, the estimation result of the current location is transmitted to the management device 39 as the position information of the autonomous driving vehicle 18.
  • the self-driving vehicle 18 acquires the vehicle state from the sensor group 71 and transmits the vehicle state to the management device 39.
  • the vehicle condition is as described above.
  • the self-driving vehicle 18 determines whether or not the guidance route information has been received in S46. If the guidance route information is not received in S46, the process returns to S46.
  • the autonomous driving vehicle 18 starts the automatic driving of the autonomous driving vehicle 18 in S52.
  • the automatic driving vehicle 18 drives the automatic driving vehicle 18 according to the guidance route included in the guidance route information.
  • the self-driving vehicle 18 continues the automatic driving of the self-driving vehicle 18 in S55.
  • the self-driving vehicle 18 repeatedly transmits the position information of the self-driving vehicle 18 to the management device 39 until it is determined in S57, which will be described later, that parking is completed. Further, the self-driving vehicle 18 repeatedly transmits the vehicle state to the management device 39 in S56. The transmitted position information and vehicle state are received by the management device 39.
  • the self-driving vehicle 18 determines in S57 whether or not parking is completed.
  • the autonomous driving vehicle 18 arrives at the temporary parking target set in the management device 39. If parking is not completed, return to S57.
  • the process proceeds to S58, and the autonomous driving vehicle 18 transmits a parking completion notification using the communication unit 75 and ends this process.
  • the management device 39 receives the transmitted parking completion notification.
  • the delivery setting process executed by the management device 39 will be described with reference to FIG.
  • the warehousing setting process is a process of moving the autonomous driving vehicle 18 from the parking position to the unloading vehicle room 5 by using the unmanned transport vehicle 21 or by the self-driving of the autonomous driving vehicle 18.
  • the delivery setting process is a process that the control unit 47 of the management device 39 repeatedly executes, for example, in parallel with other processes.
  • the management device 39 of the management device 39 determines whether or not the delivery request signal has been received.
  • the warehousing request signal is a signal indicating a request to move the autonomous driving vehicle 18 from the parking position to the warehousing room 5, and when the user operates the terminal device 43 to input the warehousing request, the terminal device 43 A delivery request signal is transmitted to the management device 39.
  • the management device 39 determines whether or not the self-driving vehicle 18 should be moved by reservation.
  • a request for immediate delivery there are a request for immediate delivery and a request for specifying a delivery time such as 10 minutes later.
  • a request for specifying a delivery time such as 10 minutes later.
  • the management device 39 shifts this process to S62. Further, if it is determined in S64 that the autonomous driving vehicle 18 should not be moved by reservation, the movement determination unit 47E of the management device 39 shifts to S18, and whether or not the autonomous driving vehicle 18 can be self-propelled. To judge. Self-driving vehicle delivery is a state in which the self-driving vehicle 18 can move from the parking area 7 to the delivery vehicle compartment 5 without moving other vehicles around the self-driving vehicle 18.
  • the movement determination unit 47E determines that the vehicle can be delivered by itself. Further, for example, when another vehicle is parked both in front of and behind the self-driving vehicle 18, and the other vehicle moves, or the self-driving vehicle 18 cannot move to the passage unless it moves in the left-right direction, the movement determination unit 47E determines that it cannot be delivered by itself.
  • the delivery setting unit 47F of the management device 39 carries out the automatic guided vehicle delivery process in S62.
  • the automatic guided vehicle delivery process is a process of moving the autonomous driving vehicle 18 to a temporary parking target, which is a temporary parking target, by using the automatic guided vehicle 21.
  • the delivery setting unit 47F generates a guidance route to the temporary delivery target before the delivery time so that the autonomous driving vehicle 18 can arrive at the delivery room 5 by the delivery time as much as possible, and before the delivery time.
  • the self-driving vehicle 18 is moved to the temporary delivery target. Therefore, the route transmission unit 47D is configured to transmit the self-propelled route to the automatic driving vehicle 18 and the transport route to the automatic guided vehicle 21 before the delivery time.
  • the delivery setting unit 47F performs the automatic driving vehicle delivery process in S63 after the automatic guided vehicle delivery process.
  • the self-driving vehicle warehousing process is a process of moving the self-driving vehicle 18 to the warehousing room 5 by itself.
  • the guidance route from the current location of the autonomous driving vehicle 18 to the exit cab 5 is set in S63.
  • the guidance route from the temporary delivery position to the delivery position is set in S63.
  • control unit 47 ends this process.
  • the parking position setting unit 47A of the management device 39 selects the delivery position. As the delivery position, the delivery position that is the final arrival target in the delivery vehicle room 5 is selected. Further, the parking position setting unit 47A sets a temporary delivery target, which is a temporary delivery target, in the temporary delivery area 9B. At this time, if there is an empty parking frame in the parking area 7, and the parking frame is a parking frame that can be self-propelled, the parking position setting unit 47A temporarily sets the parking frame. It may be set as a delivery target.
  • the transport setting unit 47C generates a guidance route from the current location of the autonomous driving vehicle 18 to the delivery vehicle room 5 via the temporary delivery target. Then, the transport setting unit 47C sets the route from the current location of the autonomous driving vehicle 18 to the temporary delivery target among the guidance routes as the transport route. However, the transport setting unit 47C sets a route from the current location of the automatic guided vehicle 21 to the temporary delivery target via the current location of the autonomous driving vehicle 18 as a guidance route to be traveled by the automatic guided vehicle 21.
  • the management device 39 when the management device 39 receives a delivery request for which a delivery time is specified, the management device 39 calculates the time required for the autonomous driving vehicle 18 to move along the guidance route. Then, the management device 39 supplies the guided route information to the automatic guided vehicle 21 before the delivery time so that the autonomous driving vehicle 18 can arrive at the delivery vehicle room 5 immediately before the delivery time. At this time, if there is a margin by the delivery time, the supply of the guidance route information may be temporarily suspended.
  • the management device 39 determines in S66 whether or not the delivery completion notification has been received.
  • the delivery completion notification is a notification transmitted from the automatic guided vehicle 21 when the automatic guided vehicle 21 transports the autonomous driving vehicle 18 to the temporary delivery target, which is the target position.
  • the delivery completion notification is a notification transmitted from the automatic driving vehicle 18 when the automatic driving vehicle 18 arrives at the delivery vehicle room 5 which is a target position by self-driving.
  • management device 39 If the management device 39 has not received the delivery completion notification, it returns to the process of S24, and if it has received the delivery completion notification, the management device 39 ends this process.
  • S21 a position similar to the target position set in S21 of the automatic guided vehicle delivery process is selected, and in S22, the route from the temporary delivery target to the delivery room 5 is set as a self-propelled route.
  • the route from the current location of the autonomous driving vehicle 18 to the unloading vehicle room 5 is performed. Is set as a self-driving route.
  • the management device 39 determines in S66 whether or not the delivery completion notification has been received. If the management device 39 has not received the delivery completion notification, it returns to the process of S24, and if it has received the delivery completion notification, the management device 39 ends this process.
  • the transport delivery process executed by the automatic guided vehicle 21 will be described with reference to FIG.
  • the transport / delivery process is a process of transporting the autonomous vehicle 18 from the parking position to the delivery / delivery room 5 in response to the automatic guided vehicle delivery process executed by the management device 39.
  • the processes of S46, S52, and S55 are performed.
  • the automatic guided vehicle 21 travels on the route to the temporary delivery target via the parking position of the self-driving vehicle 18 while continuing the processing of S55.
  • the unmanned transport vehicle 21 performs an operation of putting the autonomous driving vehicle 18 in a mounted state at the parking position of the autonomous driving vehicle 18 as a part of the processing of S55.
  • the automatic guided vehicle 21 determines in S71 whether or not the delivery has been completed. For example, when it is detected that the automatic guided vehicle 21 has arrived at the temporary delivery target, the automatic guided vehicle 21 determines that the delivery has been completed. However, when the automatic guided vehicle 21 transports the vehicle to the delivery vehicle room 5, which is the target position, when the automatic guided vehicle 21 detects that it has arrived at the delivery vehicle room 5, it may be determined that the delivery has been completed.
  • the automatic guided vehicle 21 sends a delivery completion notification to the management device 39 in S72, and ends the transport delivery process.
  • the automatic warehousing process executed by the self-driving vehicle 18 will be described with reference to FIG.
  • the automatic warehousing process is a process of driving the autonomous driving vehicle 18 from the parking position to the warehousing room 5 in response to the automatic driving vehicle warehousing process executed by the management device 39.
  • the autonomous driving vehicle 18 carries out the processes of S46, S52, and S55 among the above-mentioned automatic warehousing processes. After S55, the self-driving vehicle 18 of the self-driving vehicle 18 determines in S71 whether or not the delivery is completed. When it is detected that the self-driving vehicle 18 has arrived at the delivery vehicle room 5, which is the target position, the self-driving vehicle 18 determines that the delivery has been completed.
  • the automatic driving vehicle 18 sends a delivery completion notification to the management device 39 and ends the automatic delivery process.
  • the temporary parking target and the temporary delivery position are predetermined positions by the management device 39.
  • the parking support system 1 configured to support parking of a vehicle.
  • the parking support system 1 includes an automatic driving vehicle 18, an automatic guided vehicle 21, and a management device 39.
  • the self-driving vehicle 18 is configured to be capable of self-driving in the parking lot.
  • the automatic guided vehicle 21 is configured to be capable of transporting vehicles in the parking lot.
  • the management device 39 is configured to move at least the autonomous driving vehicle 18 between the boarding / alighting areas 3 and 5 and the parking area 7 in the parking lot by controlling the unmanned transport vehicle 21 and the autonomous driving vehicle 18. ..
  • the management device 39 includes a self-propelled setting unit 47B, a transport setting unit 47C, and a route transmission unit 47D.
  • the self-propelled setting unit 47B Upon receiving the movement request, the self-propelled setting unit 47B causes the self-driving vehicle 18 to self-propell to move on the boarding / alighting areas 3 and 5 side of the guidance route connecting the boarding / alighting areas 3 and 5 and the parking area 7. It is configured to be set as a self-propelled route.
  • the movement request is a request to move the autonomous driving vehicle 18 between the boarding / alighting areas 3 and 5 and the parking area 7.
  • the transport setting unit 47C Upon receiving a movement request, the transport setting unit 47C is configured to set a portion of the guidance route on the parking area 7 side as a transport route for the automatic guided vehicle 21 to transport the autonomous driving vehicle 18.
  • the route transmission unit 47D is configured to transmit the self-propelled route to the autonomous driving vehicle 18 and transmit the transport route to the automatic guided vehicle 21.
  • the self-driving vehicle 18 is self-propelled in the parts of the guidance route on the boarding / alighting areas 3 and 5
  • the unmanned transport vehicle 21 is other than the self-driving vehicle 18 while the self-driving vehicle 18 is self-driving. It can be used for transporting vehicles, and the time required for loading and unloading can be shortened. Further, since the automatic guided vehicle 18 is transported by the automatic guided vehicle 21 at the portion of the guidance route on the parking area 7 side, the vehicle can be parked accurately and the parking efficiency can be improved.
  • a parking position setting unit 47A is further provided.
  • the parking position setting unit 47A is configured to set a parking target as a final arrival target in the parking area 7 and a temporary parking target as a temporary arrival target. ..
  • the parking request is a parking request for moving the autonomous driving vehicle 18 from the boarding / alighting areas 3 and 5 to the parking area 7.
  • the self-propelled setting unit 47B is configured to set a route from the current location of the self-driving vehicle 18 to the temporary parking target as a self-propelled route.
  • the transport setting unit 47C is configured to set a route from the temporary parking target to the parking target as the transport route.
  • the self-driving vehicle 18 can be quickly moved to the temporary parking target by self-propelling, so that the time occupied by the self-driving vehicle 18 in the boarding / alighting areas 3 and 5 can be shortened.
  • the parking area 7 includes a temporary parking area 9A having a section set as a temporary parking target in addition to the section set as the parking target.
  • the parking position setting unit 47A is configured to set a temporary parking target from among the vacant sections in the temporary parking area 9A.
  • a movement determination unit 47E and a delivery setting unit 47F are further provided.
  • the movement determination unit 47E receives a warehousing request, which is a request to move the autonomous driving vehicle 18 from the parking area 7 to the boarding / alighting areas 3 and 5, as a movement request, the movement determination unit 47E does not move other vehicles around the autonomous driving vehicle 18. It is configured to determine whether or not the self-driving vehicle 18 can be moved from the parking area 7.
  • the delivery setting unit 47F sets the guidance route from the current location of the self-driving vehicle 18 to the boarding / alighting areas 3 and 5 as the self-propelled route. It is composed of. Further, when it is determined that the self-propelled vehicle 18 cannot be moved by the self-propelled delivery setting unit 47F, the parking area 7 in the guidance route from the current location of the self-driving vehicle 18 to the boarding / alighting areas 3 and 5. It is configured to set the side part as a transport path.
  • the self-driving vehicle 18 can be self-propelled when it can move by itself at the time of delivery, and the automatic guided vehicle 21 can be used only when the self-driving vehicle 18 cannot move by self-driving. Therefore, it is possible to suppress the excessive use of the automatic guided vehicle 21 and the increase in the waiting time.
  • a delivery position setting unit 47G is further provided. Upon receiving the delivery request, the delivery position setting unit 47G is configured to set a delivery target as a final arrival target and a temporary delivery target as a provisional arrival target in the boarding / alighting areas 3 and 5.
  • the transport setting unit 47C is configured to set a route from the current location of the autonomous driving vehicle 18 to the temporary delivery target as a transport route.
  • the self-propelled setting unit 47B is configured to set a route from the temporary delivery target to the delivery target as the self-propelled route.
  • the route to the temporary delivery target is transported by the automatic guided vehicle 21, even if the vehicle spacing is set small, it can be safely separated from other vehicles. This is because the automatic guided vehicle 21 can generally move more accurately than the case where the self-driving vehicle 18 is self-propelled. Further, since the autonomous driving vehicle 18 runs by itself from the temporary delivery target to the delivery target, it is possible to shorten the time for using the automatic guided vehicle 21 for the movement of the automatic driving vehicle 18.
  • the temporary delivery target is automatically set at the parking position in the parking area 7 before the delivery time.
  • a route is set in which the parking position where the driving vehicle 18 can leave the garage by itself is set as a temporary warehousing target.
  • the unmanned transport vehicle 21 moves the self-driving vehicle 18 to a parking position where it can be self-driving before the departure time, and the self-driving vehicle 18 is self-driving from there to the boarding / alighting areas 3 and 5. You can move.
  • the route transmission unit 47D is configured to transmit the self-propelled route to the autonomous driving vehicle 18 and the transport route to the automatic guided vehicle 21 before the delivery time.
  • the automatic guided vehicle 21 can be moved to the temporary delivery target before the delivery time, so that the autonomous driving vehicle 18 is moved to the delivery room 5 in time for the delivery time as much as possible. be able to.
  • the guidance route is divided into two sections, the sections on the boarding / alighting areas 3 and 5 (that is, the warehousing room 3 and the warehousing room 5) are set as self-propelled routes, and the parking area 7 side.
  • the section is not limited to this configuration.
  • the guidance route may be divided into three or more sections. In this case, it is sufficient that the part on the 3rd and 5th side of the boarding / alighting area is set as the self-propelled route and the part on the 7th side of the parking area is set as the transport route, and the other parts may be the self-propelled route. It may be a transport route.
  • the section on the boarding / alighting area 3 and 5 side of the guidance route is set as the self-propelled route at the time of warehousing
  • the section on the parking area 7 side is set as the transport route at the time of warehousing
  • the vehicle can be self-propelled at the time of leaving the garage.
  • the guidance route was set only to the self-propelled route, but the configuration is not limited to this.
  • the section on the boarding / alighting areas 3 and 5 side of the guidance route may be set as the self-propelled route
  • the section on the parking area 7 side may be set as the transport route, as in the case of warehousing.
  • control unit 47 and methods thereof 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 47 and its method described in the present disclosure may be realized by a dedicated computer provided by configuring a processor with one or more dedicated hardware logic circuits. Alternatively, the control unit 47 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 configured by 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 47 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. Further, at least a part of the configuration of the above embodiment may be added or replaced with the configuration of the other above embodiment.
  • a management device 39 which is a component of the parking support system 1, a program for operating a computer as the parking support system 1, a semiconductor memory in which this program is recorded, and the like are not used.
  • the present disclosure can also be realized in various forms such as a transitional substantive recording medium and a parking support method.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Traffic Control Systems (AREA)

Abstract

Un mode de réalisation de la présente invention concerne un système d'aide au stationnement (1) configuré de façon à aider au stationnement d'un véhicule, un dispositif de gestion (39) comprenant une unité de réglage à auto-propulsion (47B : S22) et une unité de réglage de transport (47C : S22). L'unité de réglage à auto-propulsion est configurée de telle sorte que si une demande de mouvement pour déplacer un véhicule à déplacement autonome (18) est reçue, l'unité de réglage à auto-propulsion définit un emplacement sur un côté de zone d'embarquement et de débarquement d'un trajet de guidage reliant une zone d'embarquement et de débarquement et une zone de stationnement en tant que trajet d'auto-propulsion le long duquel le véhicule à déplacement autonome se déplace au moyen de l'auto-propulsion. L'unité de réglage de transport est configurée de telle sorte que si une demande de mouvement est reçue, l'unité de réglage de transport définit un emplacement sur un côté de zone de stationnement du trajet de guidage en tant que trajet de transport le long duquel un véhicule de transport sans pilote transporte le véhicule à déplacement autonome.
PCT/JP2021/029161 2020-09-02 2021-08-05 Système d'aide au stationnement et dispositif d'aide au stationnement WO2022049993A1 (fr)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019061418A (ja) * 2017-09-26 2019-04-18 Ｉｈｉ運搬機械株式会社 駐車場の運用方法と駐車システム
JP2019067200A (ja) * 2017-10-02 2019-04-25 トヨタ自動車株式会社 管理装置
JP2019066932A (ja) * 2017-09-28 2019-04-25 トヨタ自動車株式会社 管理装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2019061418A (ja) * 2017-09-26 2019-04-18 Ｉｈｉ運搬機械株式会社 駐車場の運用方法と駐車システム
JP2019066932A (ja) * 2017-09-28 2019-04-25 トヨタ自動車株式会社 管理装置
JP2019067200A (ja) * 2017-10-02 2019-04-25 トヨタ自動車株式会社 管理装置

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