WO2022196082A1 - Dispositif de traitement d'informations, procédé de traitement d'informations, et programme - Google Patents

Dispositif de traitement d'informations, procédé de traitement d'informations, et programme Download PDF

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Publication number
WO2022196082A1
WO2022196082A1 PCT/JP2022/001720 JP2022001720W WO2022196082A1 WO 2022196082 A1 WO2022196082 A1 WO 2022196082A1 JP 2022001720 W JP2022001720 W JP 2022001720W WO 2022196082 A1 WO2022196082 A1 WO 2022196082A1
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WIPO (PCT)
Prior art keywords
vehicle
unit
parked
parking
movable
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PCT/JP2022/001720
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English (en)
Japanese (ja)
Inventor
和弘 星野
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ソニーセミコンダクタソリューションズ株式会社
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Publication of WO2022196082A1 publication Critical patent/WO2022196082A1/fr

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    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G16—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR SPECIFIC APPLICATION FIELDS
    • G16Y—INFORMATION AND COMMUNICATION TECHNOLOGY SPECIALLY ADAPTED FOR THE INTERNET OF THINGS [IoT]
    • G16Y10/00—Economic sectors
    • G16Y10/40—Transportation

Definitions

  • the present technology relates to an information processing device, an information processing method, and a program, and in particular, when a vehicle that can move while parked and a vehicle that cannot move while parked coexist, the vehicle can be parked and exited smoothly.
  • the present invention relates to an information processing device, an information processing method, and a program that enable
  • Patent Document 1 assumes that all vehicles can be moved by remote control while parked. Therefore, for example, if there is a vehicle that cannot be moved while parked (for example, a vehicle that does not allow remote control or a vehicle that does not support remote control), the invention described in Patent Document 1 cannot be applied. .
  • the present technology has been developed in view of such circumstances, and enables smooth parking and exit of vehicles when vehicles that can move while parked and vehicles that cannot move while parked coexist. It makes it possible.
  • An information processing device classifies a first vehicle parked in a parking space into a movable vehicle that can move while parked or an unmovable vehicle that cannot move while parked.
  • a vehicle control unit when the first vehicle is classified as the movable vehicle, among the parking spaces, assigns the non-moving space for the vehicle to be moved while parked to the first vehicle;
  • a planning unit that, when one vehicle is classified as the non-movable vehicle, allocates, among the parking spaces, a movement target space for a vehicle that is not moved while parked or the non-movement space to the first vehicle.
  • An information processing method classifies a vehicle parked in a parking space into a movable vehicle that can move while parked or an unmovable vehicle that cannot move while parked, and is classified as the movable vehicle, a non-moving space for the vehicle to be moved while parked is allocated to the vehicle from among the parking spaces, and when the vehicle is classified as the non-movable vehicle, the parking Of the spaces, a movement target space or the non-movement space for a vehicle that is not moved while parked is assigned to the vehicle.
  • a program classifies a vehicle parked in a parking space into a movable vehicle that can move while parked or a non-movable vehicle that cannot move while parked, and the vehicle
  • a non-movable space for a vehicle to be moved while parked is allocated to the vehicle from among the parking spaces, and when the vehicle is classified as the non-movable vehicle, the parking space is allocated.
  • the computer is caused to execute a process of allocating a movement target space for a vehicle that is not moved while parked or the non-movement space to the vehicle.
  • a vehicle parked in a parking space is classified into a movable vehicle that can move while parked or a non-movable vehicle that cannot move while parked, and the vehicle is classified into the moving vehicle.
  • a non-movable space for a vehicle to be moved while parked is allocated to the vehicle, and when the vehicle is classified as the non-movable vehicle, the parking space is allocated.
  • the movement target space or the non-movement space for a vehicle that is not moved while parked is assigned to the vehicle.
  • FIG. 1 is a block diagram showing an embodiment of a parking control system to which the present technology is applied;
  • FIG. It is a figure which shows the structural example of a parking lot.
  • It is a block diagram which shows the structural example of a vehicle control part.
  • It is a block diagram which shows the structural example of a control apparatus.
  • It is a block diagram which shows the structural example of a parking control part.
  • 4 is a flowchart for explaining processing of a control device; 4 is a flowchart for explaining processing of a control device; 4 is a flowchart for explaining vehicle processing;
  • FIG. 1 shows a configuration example of a parking control system 1 to which the present technology is applied.
  • the parking control system 1 is a system that controls parking and exiting of vehicles in a parking lot, and implements an automatic valet parking system.
  • the automatic valet parking system is a system that automatically performs the process from parking the vehicle to leaving the parking lot by remote control.
  • the parking control system not all vehicles need to be remotely controlled, and some vehicles can be parked and exited by being driven by the driver or parking attendant.
  • remote control includes not only the case of remotely controlling the entire movement of the vehicle, but also the case of remotely controlling only part of the movement of the vehicle. For example, a case where a destination of a vehicle is designated by remote control and the vehicle autonomously moves to the designated destination is also included in remote control.
  • the parking control system 1 includes vehicles 11-1 to 11-n, information terminals 12-1 to 12-n, a control device 13, and a network 21.
  • the vehicles 11-1 to 11-n, the information terminals 12 to 12-n, and the control device 13 are interconnected via a network 21 and communicate with each other.
  • FIG. Also, the vehicles 11-1 to 11-n can communicate directly without going through the network 21.
  • the vehicles 11-1 to 11-n and the information terminals 12-1 to 12-n are simply referred to as the vehicle 11 and the information terminal 12 when there is no need to distinguish them individually.
  • vehicle 11 and the information terminal 12 do not necessarily have a one-to-one relationship.
  • one vehicle 11 may be associated with multiple information terminals 12
  • one information terminal 12 may be associated with multiple vehicles 11 .
  • At least part of the vehicle 11 is capable of automatic operation, and part of the operation can be remotely operated (remotely controlled) from the outside.
  • the information terminal 12 is configured by, for example, a mobile information terminal such as a smart phone or a mobile phone, or an information terminal for the vehicle 11 such as a key fob.
  • the information terminal 12 communicates directly with the vehicle 11 via the network 21 to give instructions to the vehicle 11 and obtain various information from the vehicle 11 .
  • the information terminal 12 communicates with the control device 13 via the network 21 and exchanges various information with the control device 13 .
  • the control device 13 is installed in the parking lot.
  • the control device 13 communicates with at least some of the vehicles 11 via the network 21 and remotely controls the vehicles 11 to control the positions and movements of the vehicles 11 in the parking lot.
  • FIG. 2 schematically shows a configuration example of a parking lot 51 in which the parking control system 1 is installed.
  • a check-in 61 and a check-out 62 are provided in the parking lot 51 .
  • the check-in 61 is provided with an entrance gate (not shown), and the check-out 62 is provided with an exit gate (not shown).
  • the control device 13 controls the opening and closing of the entrance gate and the exit gate.
  • a waiting space 63 is provided in front of the check-in 61 outside the parking lot 51 .
  • the waiting space 63 is a space where the vehicle 11 waiting to be parked waits. For example, the vehicles 11 waiting to be parked wait in line in the waiting space 63 and enter from the check-in 61 in order.
  • a parking space 64, a circular roadway 65, and a charging station 66 are provided within the premises of the parking lot 51.
  • the parking space 64 is divided into a moving space 64A, a non-moving space 64B, and a moving space 64C.
  • the movement object space 64A, the non-movement object space 64B, and the movement object space 64C are arranged in the longitudinal direction of the parked vehicle 11 . That is, the non-moving space 64B is sandwiched between the moving space 64A and the moving space 64C. Vehicles 11 are parked laterally in a line in each of the movement object space 64A, the non-movement object space 64B, and the movement object space 64C.
  • the movement target space 64A and the movement target space 64C are spaces for the vehicle 11 to be moved during parking (between parking and leaving). That is, the vehicles 11 parked in the movement target space 64A and the movement target space 64C are objects to be moved in order to park or leave the other vehicle 11 while they are parked, and can be moved by remote control of the control device 13. have a nature. Therefore, remote operation by the control device 13 is permitted in the movement target space 64A and the movement target space 64C, and the vehicle 11 that can move while parked (hereinafter referred to as a movable vehicle) is parked.
  • the non-moving space 64B is a space for the vehicle 11 that is not moved while parked.
  • the vehicle 11 parked in the non-moving space 64B is not subject to being moved to park or leave the other vehicle 11 while parked, and may be moved by the remote control of the control device 13. do not have. Accordingly, the vehicle 11 that cannot be moved while parked (hereinafter, referred to as a non-movable vehicle) is parked in the non-moving space 64B because remote operation of the control device 13 is not permitted.
  • the non-movable vehicle includes the vehicle 11 that can be moved by remote control but is not permitted to be moved by remote control while parked, and the vehicle that does not support movement by remote control.
  • the vehicle 11 parked in the non-moving space 64B may also be moved by remote control of the control device 13 when leaving the parking lot.
  • the movable vehicle is permitted to move by remote control of the control device 13, but is not moved to park or leave the other vehicle 11 while it is parked.
  • the circular roadway 65 is arranged so as to surround the parking space 64 .
  • the circuit road 65 is a road used by the vehicle 11 to park, leave, or move.
  • a movement-permitted vehicle temporarily stops at check-in 61 when parking.
  • the control device 13 remotely controls the movement-permitted vehicle to move it to the parking position.
  • the control device 13 remotely controls the movement-permitted vehicle to move it from the parking position to the checkout 62 .
  • the movement-permitted vehicle exits the parking lot 51 from the checkout 62 .
  • a non-movable vehicle stops at check-in 61 when parked. After being permitted to park, the unmovable vehicle enters the parking lot 51 from the check-in 61 and moves to the parking position by being driven by the driver or the attendant. In addition, the unmovable vehicle is moved from the parking position to the checkout 62 by the driver or the attendant when leaving the garage. After being permitted to leave the parking lot 51, the unmovable vehicle is driven out of the parking lot 51 through the checkout 62 by the driver.
  • the control device 13 controls the movement object space 64A and the movement object space 64A as necessary.
  • the movable vehicle parked at 64C is remotely operated to replace the vehicle 11. - ⁇ At this time, the circular roadway 65 is used as a space for changing the vehicles 11 .
  • FIG. 3 is an example of a mobile body control system to which the present technology can be applied, and is a block diagram showing a schematic functional configuration example of a vehicle control system 100 provided in each vehicle 11 .
  • each vehicle 11 when distinguishing each vehicle 11 from other vehicles 11, it is referred to as own vehicle or own vehicle. Further, the other vehicle 11 is referred to as the other vehicle or the other vehicle with respect to the own vehicle or the own vehicle.
  • the vehicle control system 100 includes an input unit 101, a data acquisition unit 102, a communication unit 103, an in-vehicle device 104, an output control unit 105, an output unit 106, a drive system control unit 107, a drive system 108, a body system control unit 109, a body A system 110 , a storage unit 111 , an automatic operation control unit 112 , and a remote operation control unit 113 are provided.
  • the input unit 101, the data acquisition unit 102, the communication unit 103, the output control unit 105, the drive system control unit 107, the body system control unit 109, the storage unit 111, the automatic operation control unit 112, and the remote operation control unit 113 are communication They are interconnected via a network 121 .
  • the communication network 121 is, for example, a CAN (Controller Area-network), a LIN (Local Interconnect-network), a LAN (Local Area-network), or an in-vehicle communication network conforming to any standard such as FlexRay (registered trademark). It consists of buses, etc. It should be noted that each part of vehicle control system 100 may be directly connected without going through communication network 121 .
  • the input unit 101 includes a device used by passengers to input various data and instructions.
  • the input unit 101 includes an operation device such as a touch panel, buttons, a microphone, a switch, and a lever, and an operation device that allows input by a method other than manual operation using voice, gestures, and the like.
  • the input unit 101 may be a remote control device using infrared rays or other radio waves, or an external connection device such as a mobile device or wearable device corresponding to the operation of the vehicle control system 100 .
  • the input unit 101 generates an input signal based on data, instructions, etc. input by the passenger, and supplies the input signal to each unit of the vehicle control system 100 .
  • the data acquisition unit 102 includes various sensors and the like for acquiring data used for processing of the vehicle control system 100, and supplies the acquired data to each unit of the vehicle control system 100.
  • the data acquisition unit 102 includes various sensors for detecting the state of the own vehicle. Specifically, for example, the data acquisition unit 102 uses a gyro sensor, an acceleration sensor, an inertial measurement unit (IMU), an accelerator pedal operation amount, a brake pedal operation amount, a steering wheel steering angle, an engine speed, A sensor or the like is provided for detecting the number of motor rotations or the rotation speed of the wheels.
  • a gyro sensor an acceleration sensor
  • IMU inertial measurement unit
  • a sensor or the like is provided for detecting the number of motor rotations or the rotation speed of the wheels.
  • the data acquisition unit 102 includes various sensors for detecting information on the outside of the own vehicle.
  • the data acquisition unit 102 includes imaging devices such as a ToF (Time Of Flight) camera, a stereo camera, a monocular camera, an infrared camera, and other cameras.
  • the data acquisition unit 102 includes an environment sensor for detecting the weather or the like, and an ambient information detection sensor for detecting objects around the vehicle.
  • Environmental sensors include, for example, raindrop sensors, fog sensors, sunlight sensors, and snow sensors.
  • Ambient information detection sensors include, for example, ultrasonic sensors, radar, LiDAR (Light Detection and Ranging, Laser Imaging Detection and Ranging), sonar, and the like.
  • the data acquisition unit 102 is equipped with various sensors for detecting the current position of the own vehicle.
  • the data acquisition unit 102 includes a GNSS receiver or the like that receives GNSS signals from GNSS (Global-Navigation Satellite System) satellites.
  • GNSS Global-Navigation Satellite System
  • the data acquisition unit 102 includes various sensors for detecting information inside the vehicle.
  • the data acquisition unit 102 includes an imaging device that captures an image of the driver, a biosensor that detects the biometric information of the driver, and a microphone that collects sounds inside the vehicle.
  • a biosensor is provided, for example, on a seat surface, a steering wheel, or the like, and detects biometric information of a passenger sitting on a seat or a driver holding a steering wheel.
  • the communication unit 103 communicates with the in-vehicle device 104 and various devices outside the vehicle, a server, a base station, etc., transmits data supplied from each unit of the vehicle control system 100, and transmits received data to the vehicle control system. 100 units.
  • the communication protocol supported by the communication unit 103 is not particularly limited, and the communication unit 103 can also support multiple types of communication protocols.
  • the communication unit 103 performs wireless communication with the in-vehicle device 104 by wireless LAN, Bluetooth (registered trademark)-NFC (Near Field Communication), WUSB (Wireless USB), or the like. Also, for example, the communication unit 103 may be connected via a connection terminal (and cable if necessary) not shown, USB (Universal Serial Bus), HDMI (registered trademark) (High-Definition Multimedia Interface), or MHL ( Wired communication with in-vehicle equipment 104 is performed by Mobile High-definition Link) or the like.
  • USB Universal Serial Bus
  • HDMI registered trademark
  • MHL Wired communication with in-vehicle equipment 104 is performed by Mobile High-definition Link
  • the communication unit 103 communicates with a device (such as an application server or control server) existing on an external network (such as the Internet, a cloud network, or an operator-specific network) via a base station or an access point. communicate.
  • a device such as an application server or control server
  • the communication unit 103 uses P2P (Peer To Peer) technology to communicate with a terminal (for example, a pedestrian or a store terminal, or an MTC (Machine Type Communication) terminal) in the vicinity of the vehicle. communicate.
  • the communication unit 103 performs vehicle-to-vehicle communication, vehicle-to-infrastructure communication, vehicle-to-home communication, and vehicle-to-pedestrian communication. ) performs V2X communication such as communication.
  • the communication unit 103 includes a beacon receiving unit, receives radio waves or electromagnetic waves transmitted from wireless stations installed on the road, and acquires information such as the current position, traffic congestion, traffic restrictions, required time, etc. do.
  • the in-vehicle device 104 includes, for example, a mobile device or wearable device possessed by the passenger, an information device carried into or attached to the vehicle, and a navigation device that searches for a route to an arbitrary destination.
  • the output control unit 105 controls the output of various information to passengers in the own vehicle or outside the vehicle.
  • the output control unit 105 generates an output signal including at least one of visual information (e.g., image data) and auditory information (e.g., audio data) and supplies it to the output unit 106 so that the output unit Controls the output of visual and auditory information from 106 .
  • the output control unit 105 combines image data captured by different imaging devices of the data acquisition unit 102 to generate a bird's-eye view image, a panoramic image, or the like, and outputs an output signal containing the generated image. It is supplied to the output section 106 .
  • the output control unit 105 generates audio data including a warning sound or a warning message against danger such as collision, contact, and entry into a dangerous area, and outputs an output signal including the generated audio data to the output unit 106. supply.
  • the output unit 106 includes a device capable of outputting visual information or auditory information to passengers in the vehicle or outside the vehicle.
  • the output unit 106 includes a display device, an instrument panel, an audio speaker, headphones, a wearable device such as an eyeglass-type display worn by a passenger, a projector, a lamp, and the like.
  • the display device provided in the output unit 106 can display visual information within the driver's field of view, such as a head-up display, a transmissive display, a device having an AR (Augmented Reality) display function, etc., in addition to a device having a normal display. It may be a display device.
  • the driving system control unit 107 controls the driving system 108 by generating various control signals and supplying them to the driving system 108 . Further, the driving system control unit 107 supplies control signals to each unit other than the driving system 108 as necessary to notify the control state of the driving system 108 and the like.
  • the drive train system 108 includes various devices related to the drive train of the own vehicle.
  • the driving system 108 includes a driving force generator for generating driving force such as an internal combustion engine or a driving motor, a driving force transmission mechanism for transmitting the driving force to the wheels, a steering mechanism for adjusting the steering angle, It is equipped with a braking device that generates braking force, ABS (Antilock Brake System), ESC (Electronic Stability Control), and an electric power steering device.
  • the body system control unit 109 controls the body system 110 by generating various control signals and supplying them to the body system 110 .
  • the body system control unit 109 supplies control signals to each unit other than the body system 110 as necessary to notify the control state of the body system 110 and the like.
  • the body-system system 110 includes various body-system devices mounted on the vehicle body.
  • the body system 110 includes a keyless entry system, a smart key system, a power window device, a power seat, a steering wheel, an air conditioner, and various lamps (e.g., head lamps, back lamps, brake lamps, winkers, fog lamps, etc.). etc.
  • the storage unit 111 includes magnetic storage devices such as ROM (Read Only Memory), RAM (Random Access Memory), HDD (Hard Disc Drive), semiconductor storage devices, optical storage devices, and magneto-optical storage devices. .
  • the storage unit 111 stores various programs, data, and the like used by each unit of the vehicle control system 100 .
  • the storage unit 111 stores map data such as a three-dimensional high-precision map such as a dynamic map, a global map covering a wide area with lower accuracy than the high-precision map, and a local map including information about the surroundings of the vehicle. memorize
  • the automatic driving control unit 112 performs control related to automatic driving such as autonomous driving or driving support. Specifically, for example, the automatic driving control unit 112 performs collision avoidance or shock mitigation of the own vehicle, follow-up driving based on the inter-vehicle distance, vehicle speed maintenance driving, collision warning of the own vehicle, or lane deviation warning of the own vehicle. Perform cooperative control for the purpose of realizing functions of ADAS (Advanced Driver Assistance System) including Further, for example, the automatic driving control unit 112 performs cooperative control aimed at automatic driving in which the vehicle autonomously travels without depending on the operation of the driver.
  • the automatic driving control unit 112 includes a detection unit 131 , a self-position estimation unit 132 , a situation analysis unit 133 , a planning unit 134 and an operation control unit 135 .
  • the detection unit 131 detects various types of information necessary for controlling automatic operation.
  • the detection unit 131 includes an outside information detection unit 141 , an inside information detection unit 142 , and a vehicle state detection unit 143 .
  • the vehicle exterior information detection unit 141 performs detection processing of information outside the own vehicle based on data or signals from each unit of the vehicle control system 100 .
  • the vehicle exterior information detection unit 141 performs detection processing, recognition processing, and tracking processing of objects around the own vehicle, and detection processing of the distance to the object.
  • Objects to be detected include, for example, vehicles, people, obstacles, structures, roads, traffic lights, traffic signs, road markings, and the like.
  • the vehicle exterior information detection unit 141 performs detection processing of the surrounding environment of the own vehicle.
  • Surrounding environments to be detected include, for example, weather, temperature, humidity, brightness, road surface conditions, and the like.
  • the outside information detection unit 141 transmits data indicating the result of detection processing to the self-position estimation unit 132, the map analysis unit 151 of the situation analysis unit 133, the traffic rule recognition unit 152, the situation recognition unit 153, and the operation control unit 135. emergency avoidance unit 171 and the like.
  • the vehicle interior information detection unit 142 performs vehicle interior information detection processing based on data or signals from each unit of the vehicle control system 100 .
  • the in-vehicle information detection unit 142 performs driver authentication processing and recognition processing, driver state detection processing, passenger detection processing, and in-vehicle environment detection processing.
  • the state of the driver to be detected includes, for example, physical condition, wakefulness, concentration, fatigue, line-of-sight direction, and the like.
  • the in-vehicle environment to be detected includes, for example, temperature, humidity, brightness, and odor.
  • the in-vehicle information detection unit 142 supplies data indicating the result of detection processing to the situation recognition unit 153 of the situation analysis unit 133, the emergency situation avoidance unit 171 of the operation control unit 135, and the like.
  • the vehicle state detection unit 143 detects the state of the own vehicle based on data or signals from each unit of the vehicle control system 100 .
  • the state of the own vehicle to be detected includes, for example, speed, acceleration, steering angle, presence and content of abnormality, driving operation state, power seat position and inclination, door lock state, and other onboard equipment. state etc. are included.
  • the vehicle state detection unit 143 supplies data indicating the result of the detection processing to the situation recognition unit 153 of the situation analysis unit 133, the emergency avoidance unit 171 of the operation control unit 135, and the like.
  • the self-position estimation unit 132 estimates the position and attitude of the vehicle based on the data or signals from each unit of the vehicle control system 100 such as the vehicle exterior information detection unit 141 and the situation recognition unit 153 of the situation analysis unit 133. process. In addition, the self-position estimation unit 132 generates a local map (hereinafter referred to as self-position estimation map) used for self-position estimation, if necessary.
  • the map for self-position estimation is, for example, a highly accurate map using a technique such as SLAM (Simultaneous Localization and Mapping).
  • the self-position estimation unit 132 supplies data indicating the result of estimation processing to the map analysis unit 151, the traffic rule recognition unit 152, the situation recognition unit 153, and the like of the situation analysis unit 133.
  • the self-position estimation unit 132 causes the storage unit 111 to store the map for self-position estimation.
  • the situation analysis unit 133 analyzes the situation of the vehicle and its surroundings.
  • the situation analysis section 133 includes a map analysis section 151 , a traffic rule recognition section 152 , a situation recognition section 153 and a situation prediction section 154 .
  • the map analysis unit 151 analyzes various maps stored in the storage unit 111 while using data or signals from each unit of the vehicle control system 100 such as the self-position estimation unit 132 and the vehicle exterior information detection unit 141 as necessary. Analysis processing is performed and a map containing the information necessary for autonomous driving processing is constructed.
  • the map analysis unit 151 applies the constructed map to the traffic rule recognition unit 152, the situation recognition unit 153, the situation prediction unit 154, the route planning unit 161 of the planning unit 134, the action planning unit 162, the operation planning unit 163, etc. supply to
  • the traffic rule recognition unit 152 recognizes traffic rules around the own vehicle based on data or signals from each unit of the vehicle control system 100 such as the self-position estimation unit 132, the vehicle exterior information detection unit 141, and the map analysis unit 151. Perform recognition processing. Through this recognition processing, for example, the position and state of traffic signals around the vehicle, the content of traffic restrictions around the vehicle, and the lanes in which the vehicle can travel are recognized.
  • the traffic rule recognition unit 152 supplies data indicating the result of recognition processing to the situation prediction unit 154 and the like.
  • the situation recognition unit 153 receives data or signals from each unit of the vehicle control system 100 such as the self-position estimation unit 132, the vehicle exterior information detection unit 141, the vehicle interior information detection unit 142, the vehicle state detection unit 143, and the map analysis unit 151. Based on this, a process of recognizing the situation regarding the own vehicle is performed. For example, the situation recognition unit 153 performs recognition processing of the situation of the own vehicle, the surrounding situation of the own vehicle, the situation of the driver of the own vehicle, and the like. In addition, the situation recognition unit 153 generates a local map (hereinafter referred to as a situation recognition map) used for recognizing the situation around the vehicle as necessary.
  • the situation recognition map is, for example, an occupancy grid map.
  • the situation of the own vehicle to be recognized includes, for example, the position, posture, movement (for example, speed, acceleration, movement direction, etc.) of the own vehicle, as well as the presence or absence and content of anomalies.
  • the conditions surrounding the vehicle to be recognized include, for example, the types and positions of stationary objects in the surroundings, the types of moving objects in the surroundings, their positions and movements (e.g., speed, acceleration, direction of movement, etc.), and the road conditions in the surroundings. This includes configuration and road surface conditions, as well as ambient weather, temperature, humidity, and brightness.
  • the driver's condition to be recognized includes, for example, physical condition, wakefulness, concentration, fatigue, gaze movement, driving operation, and the like.
  • the situation recognition unit 153 supplies data indicating the result of recognition processing (including a situation recognition map, if necessary) to the self-position estimation unit 132, the situation prediction unit 154, and the like. In addition, the situation recognition unit 153 causes the storage unit 111 to store the map for situation recognition.
  • the situation prediction unit 154 predicts the situation regarding the own vehicle based on the data or signals from each unit of the vehicle control system 100 such as the map analysis unit 151, the traffic rule recognition unit 152, and the situation recognition unit 153. For example, the situation prediction unit 154 predicts the situation of the own vehicle, the surrounding situation of the own vehicle, the situation of the driver, and the like.
  • the situation of the own vehicle to be predicted includes, for example, the behavior of the own vehicle, the occurrence of an abnormality, and the possible driving distance.
  • the conditions around the vehicle to be predicted include, for example, the behavior of moving objects around the vehicle, changes in signal conditions, and environmental changes such as weather.
  • the driver's condition to be predicted includes, for example, the behavior and physical condition of the driver.
  • the situation prediction unit 154 sends the data indicating the result of prediction processing to the route planning unit 161, the action planning unit 162, and the operation planning unit 163 of the planning unit 134 together with the data from the traffic rule recognition unit 152 and the situation recognition unit 153. etc.
  • the route planning unit 161 plans a route to the destination based on data or signals from each unit of the vehicle control system 100 such as the map analysis unit 151 and the situation prediction unit 154 . For example, the route planning unit 161 sets a route from the current position to the designated destination based on the global map. Further, for example, the route planning unit 161 appropriately changes the route based on conditions such as congestion, accidents, traffic restrictions, construction work, and the physical condition of the driver. The route planning unit 161 supplies data indicating the planned route to the action planning unit 162 and the like.
  • the action planning section 162 safely and within the planned time the route planned by the route planning section 161 based on data or signals from each section of the vehicle control system 100 such as the map analysis section 151 and the situation prediction section 154. Plan the behavior of the own vehicle for traveling. For example, the action planning unit 162 plans starting, stopping, direction of travel (eg, forward, backward, left turn, right turn, direction change, etc.), driving lane, driving speed, overtaking, and the like.
  • the action planning unit 162 supplies data indicating the planned actions of the own vehicle to the action planning unit 163 and the like.
  • the action planning section 163 determines the actions of the own vehicle for realizing the action planned by the action planning section 162 based on the data or signals from each section of the vehicle control system 100 such as the map analysis section 151 and the situation prediction section 154. to plan For example, the motion planning unit 163 plans acceleration, deceleration, travel trajectory, and the like.
  • the motion planning unit 163 supplies data indicating the planned motion of the own vehicle to the acceleration/deceleration control unit 172 and the direction control unit 173 of the motion control unit 135 and the like.
  • the operation control unit 135 controls the operation of the own vehicle.
  • the motion control unit 135 includes an emergency avoidance unit 171 , an acceleration/deceleration control unit 172 and a direction control unit 173 .
  • the emergency situation avoidance unit 171 Based on the detection results of the vehicle exterior information detection unit 141, the vehicle interior information detection unit 142, and the vehicle state detection unit 143, the emergency situation avoidance unit 171 detects collision, contact, entry into a dangerous zone, driver abnormality, vehicle Detects emergency situations such as abnormalities. When the occurrence of an emergency is detected, the emergency avoidance unit 171 plans the operation of the own vehicle to avoid an emergency such as a sudden stop or a sharp turn. The emergency avoidance unit 171 supplies data indicating the planned movement of the own vehicle to the acceleration/deceleration control unit 172, the direction control unit 173, and the like.
  • the acceleration/deceleration control unit 172 performs acceleration/deceleration control for realizing the operation of the own vehicle planned by the operation planning unit 163 or the emergency avoidance unit 171 .
  • the acceleration/deceleration control unit 172 calculates a control target value of a driving force generating device or a braking device for realizing planned acceleration, deceleration, or sudden stop, and drives a control command indicating the calculated control target value. It is supplied to the system control unit 107 .
  • the direction control unit 173 performs direction control for realizing the movement of the own vehicle planned by the operation planning unit 163 or the emergency avoidance unit 171 .
  • the direction control unit 173 calculates the control target value of the steering mechanism for realizing the traveling trajectory or sharp turn planned by the operation planning unit 163 or the emergency avoidance unit 171, and controls indicating the calculated control target value.
  • a command is supplied to the driving system control unit 107 .
  • the remote operation control unit 113 controls remote operation of the vehicle 11 .
  • the remote operation control unit 113 communicates with the outside (for example, the control device 13) via the communication unit 103, and approves the remote operation authority, which is the authority to remotely operate the vehicle 11 within a predetermined range.
  • the remote operation control unit 113 receives a signal for performing remote operation (hereinafter referred to as a remote operation signal) from the other party to whom the remote operation right has been granted (the party to whom remote operation is permitted) from the other party to whom the remote operation right has been granted (the party to whom remote operation is permitted)
  • the remote operation control unit 113 receives the received remote operation signal. Approve remote operation by operation signal.
  • the remote operation control unit 113 supplies a remote operation signal to each unit of the vehicle control system 100 .
  • the automatic driving control unit 112 is not provided in the vehicle 11 that does not support automatic driving.
  • the vehicle 11 that does not support remote control is not provided with the remote control unit 113 .
  • FIG. 4 is a block diagram showing a configuration example of the control device 13, more specifically, a configuration example when the control device 13 is configured by a computer (information processing device).
  • a CPU Central Processing Unit
  • ROM Read Only Memory
  • RAM Random Access Memory
  • An input/output interface 205 is further connected to the bus 204 .
  • An input unit 206 , a sensor unit 207 , an output unit 208 , a storage unit 209 , a communication unit 210 and a drive 211 are connected to the input/output interface 205 .
  • the input unit 206 includes input devices such as a keyboard, mouse, and microphone.
  • the sensor unit 207 includes sensors for detecting, for example, the position and movement of each vehicle 11 in and around the parking lot 51, the entry and exit of each vehicle 11 into and out of the parking lot 51, and the availability of the parking space 64.
  • the sensor unit 207 includes, for example, an imaging device, an ultrasonic sensor, radar, LiDAR, sonar, and the like.
  • the output unit 208 includes output devices such as a display and a speaker.
  • the storage unit 209 includes a hard disk, nonvolatile memory, and the like.
  • the communication unit 210 includes a network interface and the like.
  • a drive 211 drives a removable medium 212 such as a magnetic disk, optical disk, magneto-optical disk, or semiconductor memory.
  • FIG. 5 is a block diagram showing a configuration example of the functions of the parking control unit 251 realized by executing a predetermined control program by the CPU 201 of the control device 13. As shown in FIG.
  • the parking control unit 251 controls the position and movement of each vehicle 11 in the parking lot 51.
  • the parking control unit 251 includes a vehicle detection unit 261 , a planning unit 262 , a vehicle control unit 263 , a gate control unit 264 , a parking history generation unit 265 and a privilege provision unit 266 .
  • the vehicle detection unit 261 communicates with each vehicle 11 based on the sensor data supplied from the sensor unit 207 or via the communication unit 210 and the network 21, thereby detecting the inside of the parking lot 51 and the surroundings of the parking lot 51. position and movement of the vehicle 11 and movement of the user (passenger) of the vehicle 11 are detected.
  • the vehicle detection unit 261 supplies data indicating detection results to the planning unit 262 , the vehicle control unit 263 and the parking history generation unit 265 .
  • the planning unit 262 makes a leaving plan for each vehicle 11 in the parking lot 51 based on the leaving schedule information of each vehicle 11 supplied from the vehicle control unit 263 and the parking history data stored in the storage unit 111. create.
  • the leaving schedule information includes, for example, the scheduled leaving time of each vehicle 11 .
  • the parking history data includes, for example, the history of each vehicle 11 parked in the parking lot 51.
  • the parking history data includes the attributes of each vehicle 11, the date and time of entry, the date and time of exit, and the parking position.
  • the attributes of the vehicle 11 include, for example, the contents of the license plate of the vehicle 11 (vehicle number, etc.), the type of vehicle, the classification of the vehicle as movable or non-movable, and the like.
  • the planning unit 262 plans the position and movement of each vehicle 11 in the parking lot 51 based on the detection result of the vehicle detection unit 261, the classification result of the vehicle 11 by the vehicle control unit 263, and the leaving plan of each vehicle 11. to create Here, the vehicle classification result is the result of classifying the vehicle 11 into a movable vehicle or an immovable vehicle.
  • the planning unit 262 supplies the vehicle control unit 263 with information indicating the position and motion plan of each vehicle 11 .
  • the planning unit 262 estimates the required time for entering the vehicle 11 waiting in the check-in 61 or the waiting space 63 based on the detection result of the vehicle detecting unit 261 and the leaving plan of each vehicle 11 (the required time for entering the vehicle is estimated). anticipate).
  • the required parking time is, for example, the time required for the parking of the vehicle 11 to be completed.
  • the planning unit 262 instructs the vehicle detection unit 261 to detect the position of each vehicle 11 in the parking lot 51 as necessary.
  • the vehicle control unit 263 communicates with the vehicle 11 via the communication unit 210 and the network 21, and exchanges various data with the vehicle 11. For example, the vehicle control unit 263 acquires and returns the remote control right of the vehicle 11, and remotely operates the vehicle 11 for which the remote control right has been acquired. The vehicle control unit 263 acquires the leaving schedule information from the vehicle 11 and supplies it to the planning unit 262 . The vehicle control unit 263 notifies the vehicle 11 of the drop-off location, and receives from the vehicle 11 a notification of the user's getting off. The vehicle control unit 263 notifies the vehicle 11 of the parking position. The vehicle control unit 263 supplies data indicating the parking position of the vehicle 11 and details of the remote control to the privilege providing unit 266 .
  • the vehicle control unit 263 classifies the vehicles 11 parked in the parking lot 51 into movable vehicles and immovable vehicles. For example, the vehicle control unit 263 communicates with the vehicle 11 via the communication unit 210 and the network 21 to classify the vehicle 11 into a movable vehicle or an unmovable vehicle. For example, the vehicle control unit 263 classifies the vehicle 11 into a movable vehicle or an unmovable vehicle based on parking history data stored in the storage unit 111 . The vehicle control unit 263 supplies data indicating the classification result of each vehicle 11 to the planning unit 262 , the parking history generation unit 265 and the privilege provision unit 266 .
  • the vehicle control unit 263 determines whether parking or leaving the vehicle 11 is permitted, and when permitting parking or leaving the vehicle 11, notifies the gate control unit 264 to that effect.
  • the gate control unit 264 controls the entrance gate of the check-in 61 and the exit gate of the check-out 62 of the parking lot 51 .
  • the gate control unit 264 supplies the vehicle control unit 263 with data indicating the state of the entrance gate and exit gate.
  • the parking history generation unit 265 generates and updates parking history data based on the detection result of the vehicle detection unit 261 and the classification result of the vehicle 11 by the vehicle control unit 263.
  • the parking history generation unit 265 causes the storage unit 111 to store the parking history data.
  • the privilege granting unit 266 determines the privilege to be granted to the user of the vehicle 11 based on, for example, the classification result of the vehicle 11, the parking position, the amount of movement of the parked vehicle 11, and the like.
  • the privilege giving unit 266 transmits information about the privilege to be given to the server (not shown) or the information terminal 12 associated with the vehicle 11 via the communication unit 210 and the network 21, for example.
  • step S1 the vehicle detection unit 261 determines whether or not there is another vehicle 11 to park.
  • each vehicle 11 temporarily stops at check-in 61 before entering parking lot 51 . Also, each vehicle 11 waits in the waiting space 63 when the check-in 61 is filled with other vehicles.
  • the vehicle detection unit 261 detects the vehicle in the check-in 61 or the waiting space 63 based on the sensor data from the sensor unit 207 or by communicating with the vehicle 11 via the communication unit 210 and the network 21 .
  • a new waiting vehicle 11 it is determined that there is a newly parked vehicle 11 (hereinafter referred to as a newly parked vehicle). Then, the process proceeds to step S2.
  • step S2 the planning unit 262 estimates the time required for warehousing (required warehousing time).
  • the vehicle detection unit 261 notifies the planning unit 262 that a newly parked vehicle has been detected. Further, the vehicle detection unit 261 detects the number of vehicles 11 waiting to park in front of the newly parked vehicle and the position of each vehicle 11 in the parking lot 51 based on the sensor data from the sensor unit 207. and supplies data indicating the detection result to the planning unit 262 .
  • the planning unit 262 estimates the required parking time based on the number of vehicles 11 waiting to be parked in front of the newly parked vehicle, the availability of parking spaces 64, and the departure plan of each vehicle 11. That is, the planning unit 262 estimates the time from the current time until the parking of the newly parked vehicle is completed.
  • step S3 the control device 13 notifies the required time until warehousing.
  • the planning unit 262 notifies the vehicle control unit 263 of the required time for entering the newly parked vehicle.
  • the vehicle control unit 263 generates a warehousing required time notification signal including the warehousing required time.
  • the vehicle control unit 263 transmits a warehousing required time notification signal to the newly parked vehicle via the communication unit 210 and the network 21 .
  • the newly parked vehicle receives the warehousing required time notification signal in step S51 of FIG. 8, which will be described later.
  • the required time for entering the parking space is presented to the user.
  • the user uses the required time for parking as one of the conditions for selecting whether or not to permit movement of the newly parked vehicle.
  • the user may choose to leave the parking of the newly parked vehicle to the control device 13 if the required time for entering the parking lot (that is, waiting time) is long, and to park the newly parked vehicle by himself/herself if the required time for entering the parking lot is short. can be done.
  • step S4 the vehicle control unit 263 confirms whether or not the vehicle 11 (newly parked vehicle) can be moved. Specifically, the vehicle control unit 263 generates a movement permission confirmation signal for confirming whether or not movement of the newly parked vehicle is permitted. The vehicle control unit 263 transmits a movement permission confirmation signal to the newly parked vehicle via the communication unit 210 and the network 21 .
  • the newly parked vehicle receives a movement permission confirmation signal in step S52 of FIG. 8, which will be described later.
  • step S5 the vehicle control unit 263 determines whether or not movement of the vehicle 11 is permitted.
  • the newly parked vehicle determines whether or not movement is permitted in step S52 of FIG. .
  • the remote control authorization signal includes remote control information necessary for the control device 13 to remotely control the newly parked vehicle.
  • the remote control information includes vehicle information of a newly parked vehicle, a password required for remote control, and information such as the range of motion of the vehicle 11 that can be remotely controlled.
  • the remote control authorization signal may include departure schedule information including the scheduled time at which the newly parked vehicle leaves the parking lot 51 .
  • the vehicle control unit 263 when the vehicle control unit 263 receives a remote control grant signal from the newly parked vehicle via the network 21 and the communication unit 210, it determines that the movement of the vehicle 11 is permitted. That is, the vehicle control unit 263 classifies the newly parked vehicle as a movable vehicle. Then, the process proceeds to step S6.
  • remote control is permitted by granting the remote control right are limited to the range necessary to move the newly parked vehicle within the parking lot 51 .
  • remote control of acceleration, deceleration, braking, traveling direction (rudder angle), etc. is permitted.
  • remote control of actions unrelated to the movement of the newly parked vehicle such as opening and closing doors, controlling air conditioning, accessing personal information, etc., is not permitted.
  • restrictions will be added as necessary to the actions that can be remotely controlled. For example, restrictions such as the speed of the newly parked vehicle, the moving distance, and the moving range (for example, within the parking lot 51) are added.
  • At least one of the place and time for remote control is restricted.
  • the place where remote control can be performed is limited to the parking lot 51, or the time period during which remote control can be performed is limited to the scheduled departure time of the newly parked vehicle.
  • the newly parked vehicle can be moved by remote control, while preventing theft, vehicle vandalism, leakage of personal information, and wasteful energy consumption.
  • step S6 the vehicle control unit 263 notifies the drop-off location. Specifically, the vehicle control unit 263 sets the user's drop-off location. For example, if a newly parked vehicle is waiting at check-in 61, check-in 61 is set as the drop-off location. For example, when a newly parked vehicle is waiting in the waiting space 63, the waiting space 63 is set as the drop-off place.
  • the vehicle control unit 263 generates a drop-off location notification signal including the location of the user's drop-off location, and transmits the signal to the newly parked vehicle via the communication unit 210 and the network 21 .
  • the newly parked vehicle receives a drop-off location notification signal in step S54 of FIG. 8, which will be described later.
  • step S7 the control device 13 determines whether or not the user has gotten off the vehicle.
  • the determination process in step S7 is repeatedly executed until it is determined that the user has gotten off the vehicle.
  • the user of the newly parked vehicle gets off from the newly parked vehicle at the specified drop-off location. Then, the newly parked vehicle transmits a getting-off notification signal for notifying the user of getting off the vehicle to the control device 13 in step S56 of FIG. 8, which will be described later.
  • the vehicle control unit 263 receives a get-off notification signal from the newly parked vehicle via the network 21 and the communication unit 210, it determines that the user has gotten off, and the process proceeds to step S8.
  • the vehicle detection unit 261 detects that the user has gotten off the newly parked vehicle based on the sensor data from the sensor unit 207, it determines that the user has gotten off. The vehicle detection unit 261 notifies the vehicle control unit 263 that the user has gotten off the vehicle.
  • step S8 the planning unit 262 plans the movement of each vehicle 11. Specifically, the vehicle control unit 263 notifies the planning unit 262, the parking history generation unit 265, and the privilege provision unit 266 that the newly parked vehicle has been classified as a movable vehicle.
  • the planning unit 262 plans the placement of each vehicle 11 in the parking lot 51 including the newly parked vehicle, based on the position of each vehicle 11 in the parking lot 51 and the scheduled time of departure of each vehicle 11, for example. . At this time, the planning unit 262 allocates the parking position of the newly parked vehicle in the movement target space 64A or the movement target space 64C.
  • the planning unit 262 plans the movement of each vehicle 11 including the newly parked vehicle as necessary when it is necessary to move the vehicles 11 other than the newly parked vehicle in order to realize the planned arrangement. Further, for example, the planning unit 262 plans the movement route and the movement order of each vehicle 11 as necessary.
  • the planning unit 262 supplies the vehicle control unit 263 with information indicating the created plan.
  • step S9 the vehicle control unit 263 parks the newly parked vehicle 11 (newly parked vehicle) while moving each vehicle 11 as necessary.
  • the vehicle control unit 263 transmits a remote control signal to the newly parked vehicle via the communication unit 210 and the network 21, The newly parked vehicle is moved to a check-in 61 in accordance with the movement of other vehicles in the waiting space 63. ⁇ At this time, the vehicle control unit 263 may give only an instruction to move to the check-in 61 to the newly parked vehicle so that the newly parked vehicle moves to the check-in 61 autonomously.
  • the vehicle control unit 263 instructs the gate control unit 264 to permit the parking of the newly parked vehicle. to notify.
  • the gate control unit 264 permits the newly parked vehicle to enter the parking lot 51 by opening the entrance gate of the check-in 61 of the parking lot 51 .
  • the vehicle control unit 263 transmits a remote control signal to each vehicle 11 to be moved (including the newly parked vehicle) via the communication unit 210 and the network 21 according to the plan created by the planning unit 262 .
  • the vehicle control unit 263 transmits a remote control signal including the moving route and parking position of each vehicle 11 to each vehicle 11 to be moved.
  • the vehicle control unit 263 controls the timing of transmitting the remote control signal to each vehicle 11 to be moved according to the moving order of each vehicle 11 and the like. As a result, each vehicle 11 moves to the planned parking position according to the planned movement order and movement route by remote control.
  • the vehicle control unit 263 transmits a remote control signal including the parking position of each vehicle 11 to each vehicle 11 .
  • each vehicle 11 communicates with each other and autonomously moves to the planned parking position while cooperating.
  • the newly parked vehicle is parked at the planned parking position by remote control, and the arrangement of other vehicles 11 is changed as necessary.
  • the newly parked vehicle determines in step S52 of FIG. 8 to be described later that movement is not permitted, in step S57 it transmits a movement prohibition notification signal that notifies that movement is not permitted.
  • the movement-impossible notification signal may include exit schedule information including the scheduled time for the newly parked vehicle to exit the parking lot 51 .
  • step S5 when the vehicle control unit 263 receives a movement prohibition notification signal from the newly parked vehicle via the network 21 and the communication unit 210, it determines that the movement of the vehicle 11 is not permitted. That is, the vehicle control unit 263 classifies the newly parked vehicle as an immovable vehicle. Then, the process proceeds to step S10.
  • step S10 the control device 13 plans the movement of each vehicle 11. Specifically, the vehicle control unit 263 notifies the planning unit 262, the parking history generation unit 265, and the privilege provision unit 266 that the newly parked vehicle has been classified as a non-movable vehicle.
  • the planning unit 262 plans the placement of each vehicle 11 in the parking lot 51 including the newly parked vehicle, based on the position of each vehicle 11 in the parking lot 51 and the scheduled time of departure of each vehicle 11, for example. . At this time, the planning unit 262 allocates the parking position of the newly parked vehicle in the non-moving space 64B.
  • the newly parked vehicle can be parked in the non-moving space 64B, one of them may be set as the parking position of the newly parked vehicle, or two or more of them may be set as the newly parked vehicle. parking position. In the latter case, for example, the user (driver) of the newly parked vehicle selects one of two or more parking positions to park the newly parked vehicle.
  • the planning unit 262 plans the movement of each vehicle 11 including the newly parked vehicle as necessary when it is necessary to move the vehicles 11 other than the newly parked vehicle in order to realize the planned arrangement. Further, for example, the planning unit 262 plans the movement route and the movement order of each vehicle 11 as necessary.
  • the planning unit 262 supplies the vehicle control unit 263 with information indicating the created plan.
  • step S11 the vehicle control unit 263 moves each vehicle 11 as necessary. Specifically, when the vehicle control unit 263 determines that it is necessary to move the other vehicle 11 before the newly parked vehicle is parked based on the plan created by the planning unit 262, the vehicle control unit 263 performs the same operation as in step S9. Processing is performed, and a remote control signal is transmitted to the vehicle 11 to be moved.
  • each vehicle 11 that has received a remote control signal moves based on the remote control signal, or moves autonomously in cooperation with other vehicles 11, as described above.
  • the parking lot 51 becomes ready for the newly parked vehicle to park at the set parking position.
  • step S12 the control device 13 notifies the parking position. Specifically, the vehicle control unit 263 generates a parking position notification signal including the parking position and transmits it to the newly parked vehicle via the communication unit 210 and the network 21 .
  • the newly parked vehicle receives a parking position notification signal in step S58 of FIG. 8, which will be described later.
  • the vehicle control unit 263 permits the parking of the newly parked vehicle. to notify.
  • the gate control unit 264 permits the newly parked vehicle to enter the parking lot 51 by opening the entrance gate of the check-in 61 of the parking lot 51 .
  • the user (driver) of the newly parked vehicle enters the parking lot 51 from the entrance gate of the check-in 61 and drives the newly parked vehicle to park at the designated parking position.
  • the user may get off at check-in 61, and the attendant may instead drive the newly parked vehicle so that it is parked at the designated parking position.
  • step S13 the vehicle detection unit 261 determines whether or not the vehicle 11 (newly parked vehicle) is parked at the designated parking position based on the sensor data from the sensor unit 207.
  • the determination process of step S13 is repeatedly executed until it is determined that the newly parked vehicle is parked at the designated parking position.
  • step S13 if it is determined in step S13 that the newly parked vehicle is parked at the designated parking position, the process proceeds to step S14.
  • a warning or the like may be issued to the user (driver) of the newly parked vehicle.
  • step S14 the vehicle control unit 263 moves each vehicle 11 as necessary. Specifically, when the vehicle control unit 263 determines that it is necessary to move the other vehicle 11 after the newly parked vehicle is parked based on the plan created by the planning unit 262, the same processing as in step S9 is performed. and transmits a remote control signal to the vehicle 11 to be moved.
  • each vehicle 11 that has received a remote control signal moves based on the remote control signal, or moves autonomously in cooperation with other vehicles 11, as described above. Thereby, each vehicle 11 moves to the planned parking position.
  • step S1 the vehicle detection unit 261 determines that there is no new parked vehicle 11 when no new vehicle 11 waiting in the check-in 61 or waiting space 63 is detected. After that, the processing of steps S2 to S14 is skipped, and the processing proceeds to step S15.
  • step S15 the parking history generator 265 updates the parking history data. Specifically, when the vehicle detection unit 261 detects completion of parking of the newly parked vehicle and movement of each vehicle 11 based on sensor data from the sensor unit 207, the vehicle detection unit 261 detects completion of parking of the newly parked vehicle. The planning unit 262, the vehicle control unit 263, and the parking history generation unit 265 are notified.
  • the parking history generation unit 265 adds the parking history data stored in the storage unit 111, for example, the date and time of the newly parked vehicle, the parking position, and attributes.
  • step S16 the vehicle control unit 263 determines whether or not the vehicle leaving schedule has been notified. Specifically, when the vehicle control unit 263 receives a delivery schedule notification signal transmitted from the vehicle 11 via the network 21 and the communication unit 210 in step S62 of FIG. 8 to be described later, the delivery schedule is notified. Then, the process proceeds to step S17.
  • the delivery schedule notification signal includes delivery schedule information including the scheduled delivery time of the vehicle 11 .
  • step S5 when the remote control authorization signal or the movement prohibition notification signal received from the newly parked vehicle in the process of step S5 includes information on the schedule to leave the parking lot, the vehicle control unit 263 determines that the schedule to leave the garage has been notified, and the process proceeds to step S5. Proceed to S17.
  • step S17 the planning unit 262 updates the shipping plan. Specifically, the vehicle control unit 263 supplies the newly received delivery schedule information to the planning unit 262 . The planning unit 262 updates the leaving plan including the scheduled leaving time of each vehicle 11 in the parking lot 51 based on the acquired leaving schedule information.
  • step S16 determines whether the delivery schedule has been notified. If it is determined in step S16 that the delivery schedule has not been notified, the process of step S17 is skipped and the process proceeds to step S18.
  • step S18 the planning unit 262 determines whether or not there is a vehicle 11 to leave. Specifically, based on the leaving plan, if there is a vehicle 11 whose scheduled leaving time is within a predetermined time (for example, within three ) is present, and the process proceeds to step S19.
  • a predetermined time for example, within three
  • step S19 the planning unit 262 determines whether the vehicle is permitted to move. If the leaving vehicle is a movable vehicle, the planning unit 262 determines that the vehicle is permitted to move, and the process proceeds to step S20.
  • step S20 the planning unit 262 plans the movement of each vehicle 11. Specifically, the planning unit 262 instructs the vehicle detection unit 261 to detect the position of each vehicle 11 in the parking lot 51 .
  • the vehicle detection unit 261 detects the position of each vehicle 11 in the parking lot 51 based on the sensor data from the sensor unit 207 and supplies information indicating the position of each vehicle 11 to the planning unit 262 .
  • the planning unit 262 plans the placement of each vehicle 11 in the parking lot 51 after the vehicle has left the parking lot 51 based on the position of each vehicle 11 in the parking lot 51 and the scheduled time of departure of each vehicle 11. do.
  • the planning unit 262 Plan 11 moves. Further, for example, the planning unit 262 plans the movement route and the movement order of each vehicle 11 as necessary.
  • the planning unit 262 supplies the vehicle control unit 263 with information indicating the created plan.
  • step S21 the vehicle control unit 263 moves the exiting vehicle 11 (exiting vehicle) while moving each vehicle 11 as necessary. Specifically, the vehicle control unit 263 performs the same process as in step S9, and transmits a remote control signal to the vehicle 11 to be moved (including the leaving vehicle).
  • each vehicle 11 that has received a remote control signal moves based on the remote control signal, or moves autonomously in cooperation with other vehicles 11, as described above.
  • the leaving vehicle is moved to the checkout 62 by remote control, and the position of the other vehicle 11 is changed as necessary.
  • the user gets on the leaving vehicle at checkout 62 .
  • step S22 the vehicle control unit 263 returns the remote control right of the vehicle 11 leaving the garage.
  • the vehicle control unit 263 generates a remote operation right return signal for returning the remote operation right, and transmits it to the leaving vehicle via the communication unit 210 and the network 21 .
  • the leaving vehicle receives a remote control right return signal in step S63 of FIG. 8, which will be described later.
  • the vehicle control unit 263 discards the remote control information of the leaving vehicle.
  • step S23 the vehicle detection unit 261 determines whether or not the vehicle 11 (departing vehicle) has left the garage. The determination process of step S23 is repeatedly executed until it is determined that the leaving vehicle has left the garage.
  • the vehicle control unit 263 notifies the gate control unit 264 that the leaving vehicle is permitted to leave the parking lot after the payment of the parking fee is confirmed.
  • the gate control unit 264 permits the leaving vehicle to leave the parking lot 51 by opening the exit gate of the checkout 62 of the parking lot 51 .
  • the exiting vehicle exits the parking lot 51 from the exit gate of the checkout 62 .
  • step S23 the vehicle detection unit 261 determines that the leaving vehicle has left the garage based on the sensor data from the sensor unit 207.
  • step S19 if the leaving vehicle is a vehicle that cannot be moved, the planning unit 262 determines that it is not a vehicle permitted to move, and the process proceeds to step S24.
  • step S24 the planning unit 262 plans the movement of each vehicle 11. Specifically, the planning unit 262 instructs the vehicle detection unit 261 to detect the position of each vehicle 11 in the parking lot 51 .
  • the vehicle detection unit 261 detects the position of each vehicle 11 in the parking lot 51 based on the sensor data from the sensor unit 207 and supplies information indicating the position of each vehicle 11 to the planning unit 262 .
  • the planning unit 262 plans the placement of each vehicle 11 in the parking lot 51 after the vehicle has left the parking lot 51 based on the position of each vehicle 11 in the parking lot 51 and the scheduled time of departure of each vehicle 11. do.
  • the planning unit 262 determines the movement of each vehicle 11 as necessary. to plan Further, for example, the planning unit 262 plans the movement route and the movement order of each vehicle 11 as necessary.
  • the planning unit 262 supplies the vehicle control unit 263 with information indicating the created plan.
  • step S25 the vehicle control unit 263 moves each vehicle 11 as necessary. Specifically, when the vehicle control unit 263 determines, based on the plan created by the planning unit 262, that it is necessary to move the other vehicle 11 before the leaving vehicle leaves the garage, the same processing as in step S9 is performed. and transmits a remote control signal to the vehicle 11 to be moved.
  • each vehicle 11 that has received a remote control signal moves based on the remote control signal, or moves autonomously in cooperation with other vehicles 11, as described above. This allows the leaving vehicle to move to the checkout 62 .
  • the user gets into the leaving vehicle, drives the leaving vehicle, and moves it to the checkout 62 .
  • step S26 it is determined whether or not the vehicle 11 (departing vehicle) has left the garage, similar to the process of step S23.
  • the determination process of step S26 is repeatedly executed until it is determined that the leaving vehicle has left the garage. Then, when it is determined that the leaving vehicle has left the garage, the process proceeds to step S27.
  • the vehicle control unit 263 moves each vehicle 11 as necessary. Specifically, the vehicle detection unit 261 notifies the vehicle control unit 263 that the leaving vehicle has left the garage.
  • the vehicle control unit 263 determines that it is necessary to move another vehicle 11 after the leaving vehicle leaves the garage based on the plan created by the planning unit 262, the vehicle control unit 263 performs the same processing as in step S9, A remote control signal is transmitted to the vehicle 11 of the
  • each vehicle 11 that has received a remote control signal moves based on the remote control signal, or moves autonomously in cooperation with other vehicles 11, as described above. Thereby, each vehicle 11 moves to the planned parking position.
  • step S27 may be started, for example, when the leaving vehicle moves to the checkout 62 and before the leaving vehicle leaves the garage.
  • step S28 the parking history generator 265 updates the parking history data. Specifically, the vehicle detection unit 261 notifies the planning unit 262, the vehicle control unit 263, and the parking history generation unit 265 of the completion of the leaving vehicle.
  • the parking history generation unit 265 adds, for example, the departure date and time of the leaving vehicle to the parking history data stored in the storage unit 111 .
  • step S1 After that, the process returns to step S1, and the processes after step S1 are executed.
  • step S18 determines whether there are no vehicles to leave the parking lot. If it is determined in step S18 that there are no vehicles to leave the parking lot, the process returns to step S1, and the processes after step S1 are executed.
  • This process is, for example, a process that is executed after the vehicle 11 temporarily stops at the check-in 61 or waiting space 63 to park in the parking lot 51 and before it leaves the parking lot 51 .
  • step S51 the vehicle 11 presents the required time until warehousing.
  • the communication unit 103 receives, via the network 21, the required warehousing time notification signal transmitted from the control device 13 in step S2 of FIG.
  • the communication unit 103 supplies the received warehousing required time notification signal to the output control unit 105 .
  • the output unit 106 displays the required parking time based on the required parking time notification signal, and also displays a screen for selecting whether or not to permit the movement of the vehicle 11 while the vehicle is parked. do.
  • step S52 the remote operation control unit 113 determines whether or not movement is permitted.
  • the user eg, driver of the vehicle 11 selects via the input unit 101 whether to permit the vehicle 11 to move while it is parked.
  • the input unit 101 supplies data indicating the user's selection result to the remote operation control unit 113 . Then, when the remote operation control unit 113 determines to permit movement of the vehicle 11 based on the data acquired from the input unit 101, the process proceeds to step S53.
  • step S53 the remote operation control unit 113 grants the remote operation right. Specifically, remote operation control unit 113 generates a remote operation authorization signal. At this time, for example, when the scheduled leaving time is input by the user via the input unit 101, the remote operation control unit 113 includes the scheduled leaving information including the scheduled leaving time in the remote operation authorization signal. The remote operation control unit 113 transmits a remote operation authorization grant signal to the control device 13 via the communication unit 103 and the network 21 .
  • the vehicle 11 receives notification of the drop-off location.
  • the communication unit 103 receives, via the network 21, the drop-off location notification signal transmitted from the control device 13 in step S6 of FIG.
  • the communication unit 103 supplies the received drop-off location notification signal to the remote operation control unit 113 .
  • the remote operation control unit 113 instructs the output control unit 105 to notify the location of the drop-off location.
  • the output unit 106 outputs an image or sound indicating the location of the drop-off location.
  • the user of the newly parked vehicle gets off the vehicle 11 at the drop-off location (check-in 61 or waiting space 63).
  • step S55 the situation recognition unit 153 determines whether or not the user has exited the vehicle based on the data indicating the result of the information detection processing inside the vehicle 11 supplied from the vehicle interior information detection unit 142. This determination process is repeated until it is determined that all the users in the vehicle 11 have gotten off, and when it is determined that all the users in the vehicle 11 have gotten off, the process proceeds to step S56.
  • step S56 the situation recognition unit 153 notifies the user of getting off the vehicle. Specifically, the situation recognition unit 153 generates a getting-off notification signal for notifying the user of getting off the vehicle, and transmits the signal to the control device 13 via the communication unit 103 and the network 21 .
  • step S52 determines whether the movement of the vehicle 11 is permitted. If it is determined in step S52 that the movement of the vehicle 11 is not permitted, the process proceeds to step S57.
  • step S57 the remote operation control unit 113 notifies that movement is not permitted. Specifically, remote operation control unit 113 generates a movement prohibition notification signal. At this time, for example, when the scheduled leaving time is input by the user via the input unit 101, the remote operation control unit 113 includes the scheduled leaving information including the scheduled leaving time in the movement prohibition notification signal. Remote operation control unit 113 transmits a movement prohibition notification signal to control device 13 via communication unit 103 and network 21 .
  • the vehicle 11 receives notification of the parking position.
  • the communication unit 103 receives, via the network 21, the parking position notification signal transmitted from the control device 13 in step S12 of FIG.
  • the communication unit 103 supplies the received parking position notification signal to the output control unit 105 .
  • the output unit 106 displays the parking position specified by the control device 13 under the control of the output control unit 105 based on the parking position notification signal.
  • the user (driver) of the vehicle 11 drives the vehicle 11 and parks it at the specified parking position.
  • the user may get off the vehicle 11, and the attendant may drive the vehicle 11 and park it in the designated parking position.
  • step S59 the remote operation control unit 113 determines whether or not an instruction from the control device 13 has been received.
  • the communication unit 103 transmits the remote control signal transmitted from the control device 13 in step S9, step S11, or step S14 in FIG. 6 or step S21, step S25, or step S27 in FIG.
  • the remote control unit 113 determines that it has received an instruction from the control device 13, and the process proceeds to step S60.
  • step S60 the vehicle 11 performs processing corresponding to the instruction from the control device 13.
  • the remote operation control unit 113 supplies the remote operation signal to the route planning unit 161 when the operation instructed by the remote operation signal is within the permitted range.
  • the route planning unit 161 supplies data indicating the movement route included in the remote control signal to the action planning unit 162 .
  • the route planning unit 161 communicates with other vehicles 11 in the parking lot 51 via the communication unit 103 and the network 21 when, for example, the movement route is not included in the remote control signal, and Plan the route to the designated destination in cooperation with The route planning unit 161 supplies data indicating the planned movement route to the action planning unit 162 and the like.
  • the action planning unit 162 plans the actions of the vehicle 11 for moving along the travel route notified from the route planning unit 161 .
  • the action planning unit 162 supplies data indicating the planned actions of the vehicle 11 to the action planning unit 163 and the like.
  • the motion planning unit 163 plans motions of the vehicle 11 for realizing the actions planned by the motion planning unit 162 .
  • the motion planning unit 163 plans acceleration, deceleration, travel trajectory, and the like.
  • the motion planning unit 163 supplies data indicating the planned motion of the vehicle 11 to the motion control unit 135 and the like.
  • the motion control unit 135 controls the drive train system 108 via the drive train control unit 107 and controls the motion of the vehicle 11 (for example, acceleration/deceleration control, direction control, etc.), thereby performing the operation planned by the motion planning unit 163 .
  • the operation of the vehicle 11 is realized.
  • the vehicle 11 operates according to the remote control by the control device 13, travels on the circuit road 65, or moves to the instructed position (for example, the parking position or the checkout 62).
  • the vehicle 11 moves from the check-in 61 to the parking position in order to park.
  • vehicle 11 moves from a parking position to checkout 62 to exit.
  • the vehicle 11 travels on the circular roadway 65 so that the other vehicle can be parked, or moves to a parking position planned by the control device 13 .
  • the vehicle 11 runs on the loop roadway 65 so that the other vehicle can leave the parking lot, or moves to a parking position planned by the control device 13 .
  • the remote operation control unit 113 ignores the remote operation signal, for example, when the action instructed by the remote operation signal is outside the permitted range. This prevents the vehicle 11 from operating outside the permitted range by remote control.
  • step S59 determines whether an instruction from the control device 13 has been received. If it is determined in step S59 that an instruction from the control device 13 has not been received, the process of step S60 is skipped and the process proceeds to step S61.
  • step S60 If the vehicle 11 is a non-movable vehicle, the vehicle 11 will not receive an instruction from the control device 13, so the process of step S60 is skipped and the process proceeds to step S61.
  • step S61 the communication unit 103 determines whether or not a delivery schedule has been set.
  • the information terminal 12 when the user inputs a schedule for leaving the vehicle 11, the information terminal 12 generates a leaving schedule setting signal including the scheduled leaving time. The information terminal 12 transmits a leaving schedule setting signal to the vehicle 11 via the network 21 or directly. Note that this process can be executed regardless of whether the vehicle 11 is a movable vehicle or an unmovable vehicle.
  • the scheduled time to leave the garage is basically set by the user. , 3 minutes later) is set as the scheduled departure time. Further, for example, when the user instructs to leave the parking lot after a predetermined time, the information terminal 12 sets the scheduled leaving time to the time after a predetermined time from the current time. This processing is assumed to be executed when automatically leaving the vehicle 11 when the control device 13 permits the movement of the vehicle 11 .
  • the communication unit 103 receives the delivery schedule setting signal transmitted from the information terminal 12 via the network 21, it determines that the delivery schedule has been set, and the process proceeds to step S62.
  • step S62 the communication unit 103 transmits a delivery schedule notification signal to the control device 13. Specifically, the communication unit 103 generates a leaving schedule notification signal including the scheduled leaving time of the vehicle 11 based on the leaving schedule setting signal received from the information terminal 12 , and transmits the signal to the control device 13 via the network 21 . do.
  • step S61 determines whether the delivery schedule is not set. If it is determined in step S61 that the delivery schedule is not set, the process of step S62 is skipped and the process proceeds to step S63.
  • step S63 the remote operation control unit 113 determines whether or not the remote operation right has been returned.
  • the remote operation control unit 113 receives the remote operation right return signal transmitted by the control device 13 in step S22 of FIG. 7 via the network 21 and the communication unit 103, it determines that the remote operation right has been returned, and processes goes to step S64.
  • step S64 the remote operation control unit 113 disables the remote operation by the control device 13. Thereafter, the remote operation control unit 113 prohibits the remote operation by the control device 13 and does not respond even if a remote operation signal is received from the control device 13 .
  • step S63 determines whether the remote control right has been returned. If it is determined in step S63 that the remote control right has not been returned, the process returns to step S59.
  • step S59 If the vehicle 11 is a non-movable vehicle, the remote control right will not be returned, so the process returns to step S59.
  • each vehicle 11 can be parked and exited smoothly.
  • the parking space in the parking lot 51 can be used effectively, and the number of vehicles that can be parked can be increased. Thereby, the profitability of the parking lot 51 is improved.
  • the user when the user permits movement of the vehicle 11, the user only needs to place the vehicle 11 in the check-in 61 when parking and board the vehicle 11 moved to the check-out 62 when leaving the garage.
  • the user is freed from troublesome tasks such as searching for an empty space, parking at the parking position, leaving the parking position, and searching for the position where the vehicle 11 is parked.
  • the user uses the information terminal 12 associated with the vehicle 11 to communicate with the control device 13 .
  • the information terminal 12 may transmit to the control device 13 the movement-impossible notification signal and the leaving schedule notification signal for the associated vehicle 11 .
  • the information terminal 12 may receive the parking required time notification signal and the parking position notification signal from the control device 13 .
  • the user may converse with a staff member of the control device 13 to inform them of the impossibility of movement of the vehicle 11 and the scheduled time to leave the parking lot, or to ask about the required time to enter the parking lot and the parking position.
  • the user may use the input unit 206 of the control device 13 to input the movement impossibility of the vehicle 11 and the scheduled time to leave the parking lot, or check the required time to enter the parking lot and the parking position displayed on the output unit 208.
  • the vehicle control unit 263 of the control device 13 classifies the vehicle 11 into a movable vehicle or a non-movable vehicle based on information from the vehicle 11 (remote control authorization signal or non-movable notification signal). is shown, other methods may be used for classification.
  • the vehicle control unit 263 receives information (for example, a remote control authorization signal or a movement impossibility notification signal) from the information terminal 12 associated with the vehicle 11, the vehicle 11 is classified as a movable vehicle or a non-movable vehicle. may be classified into
  • the vehicle control unit 263 may classify the vehicle 11 based on the parking history of the vehicle 11 in the past. For example, the vehicle control unit 263 classifies a vehicle 11 that has a history of being parked as a movable vehicle in the past as a movable vehicle, and classifies a vehicle 11 that has a history of being parked as a non-moving vehicle in the past as a non-moving vehicle. can be
  • the vehicle 11 may be classified as a non-movable vehicle.
  • the movable vehicle may be parked in the non-movement target space 64B.
  • the planning unit 262 predicts the parking time of the vehicle 11 (hereinafter referred to as the scheduled parking time) based on the scheduled leaving time of the vehicle 11 or the past parking history of the vehicle 11 .
  • the planning unit 262 may assign the parking position of the vehicle 11 to the non-moving space 64B when the expected parking time is equal to or longer than a predetermined threshold.
  • the configuration of the parking space 64 in FIG. 2 is an example, and can be changed as appropriate. Specifically, by moving the vehicle 11 parked in the parking space, the condition is satisfied that the vehicle 11 parked in either the parking space or the non-moving space can exit the parking space. Within the range, it is possible to freely change the arrangement of parking spaces.
  • the vehicles 11 may be parked in two rows.
  • the planning unit 262 may dynamically change the configuration of the parking space according to the parking situation within the range that satisfies the above conditions. For example, the planning unit 262 may change part of the movement target space to the non-movement space when the non-movement target space is running low. Conversely, the planning unit 262 may, for example, change part of the non-moving space to the moving space when the movement target space is running low.
  • a retreat space for moving the parking position of the vehicle 11 may be provided.
  • the vehicle control unit 263 may move the movable vehicle to the charging station 66 by remote control while the vehicle is parked, and charge the battery of the movable vehicle. Further, for example, the vehicle control unit 263 may charge the battery of the movable vehicle only when the movable vehicle is moved while parked. Furthermore, the vehicle control unit 263 may charge the battery of the movable vehicle by an amount corresponding to the amount of movement of the parked movable vehicle.
  • the vehicle control unit 263 may replenish the power source of the movable vehicle by remote control while the vehicle is parked.
  • the parking fee for movable vehicles may be lower than the parking fee for non-movable vehicles.
  • the privilege granting unit 266 may grant points to the point card of the commercial facility in which the parking lot 51 is installed, owned by the user of the movable vehicle.
  • the privilege granting unit 266 may grant a privilege to the user according to the amount of movement of the parked movable vehicle.
  • the benefits may be upgraded as the amount of movement during parking increases.
  • the privilege granting unit 266 may grant a privilege when a movable vehicle is allocated to a space to be moved, and may not grant a privilege when a movable vehicle is allocated to a non-movable space. good.
  • the vehicle control unit 263 may move the vehicle that cannot be parked from the check-in 61 to the parking position by remote control during parking. Further, the vehicle control unit 263 may move the parking prohibited vehicle from the parking position to the checkout 62 by remote control when leaving the garage. On the other hand, the vehicle control unit 263 prevents the unmovable vehicle from moving while it is parked.
  • this technology can be applied, for example, to parking multiple vehicles within a predetermined area such as a warehouse or building, in addition to general parking lots.
  • the types of vehicles to which this technology can be applied are not particularly limited.
  • the present technology can also be applied to parking vehicles such as motorcycles, bicycles, personal mobility vehicles, construction machinery, and agricultural machinery (tractors) within a predetermined area.
  • this technology can also be applied when moving objects other than vehicles, such as ships and airplanes, are parked within a predetermined area.
  • the CPU 201 loads a program stored in the storage unit 209 into the RAM 203 via the input/output interface 205 and the bus 204 and executes it, thereby performing a series of processes.
  • the program executed by the control device 13 can be provided by being recorded on removable media 212 such as package media, for example. Also, the program can be provided via a wired or wireless transmission medium such as a local area network, the Internet, or digital satellite broadcasting.
  • the program can be installed in the storage unit 209 via the input/output interface 205 by loading the removable medium 212 into the drive 211 . Also, the program can be received by the communication unit 210 and installed in the storage unit 209 via a wired or wireless transmission medium. In addition, programs can be installed in the ROM 202 and the storage unit 209 in advance.
  • the programs executed by the vehicle 11 and the control device 13 may be programs in which processing is performed in chronological order, or programs in which processing is performed in parallel or at necessary timing such as when a call is made. can be
  • a system means a set of multiple components (devices, modules (parts), etc.), and it does not matter whether all the components are in the same housing. Therefore, a plurality of devices housed in separate housings and connected via a network, and a single device housing a plurality of modules in one housing are both systems. .
  • this technology can take the configuration of cloud computing in which one function is shared by multiple devices via a network and processed jointly.
  • each step described in the flowchart above can be executed by a single device, or can be shared by a plurality of devices.
  • one step includes multiple processes
  • the multiple processes included in the one step can be executed by one device or shared by multiple devices.
  • a vehicle control unit that classifies the first vehicle parked in the parking space into a movable vehicle that can move while parked or an unmovable vehicle that cannot move while parked; When the first vehicle is classified as the movable vehicle, among the parking spaces, a non-movable space for a vehicle to be moved while parked is allocated to the first vehicle; and a planning unit that allocates a movement target space for a vehicle that is not moved while parked or the non-movement space among the parking spaces to the first vehicle when the vehicle is classified as a non-movable vehicle.
  • the vehicle control unit classifies the first vehicle into the movable vehicle or the non-movable vehicle based on information received from the first vehicle or an information terminal associated with the first vehicle.
  • the information processing apparatus according to (1).
  • the vehicle control unit classifies the first vehicle into the movable vehicle or the non-movable vehicle based on the past parking history of the first vehicle. Information according to (1) or (2) above. processing equipment. (4) When the first vehicle is parked in the movement target space and it is necessary to move the first vehicle in order to park or leave the second vehicle, the vehicle control unit performs remote control to move the first vehicle. When the first vehicle is moved and the first vehicle is parked in the non-moving space, the first vehicle is not moved until leaving the garage. information processing equipment. (5) The information processing apparatus according to (4), wherein the vehicle control unit replenishes the power source of the first vehicle when the first vehicle is moved while the vehicle is parked.
  • the information processing apparatus wherein the vehicle control unit charges a battery of the first vehicle when the first vehicle is moved while parked. (7) The vehicle control unit parks the first vehicle in a parking position assigned in the movement target space or the non-movement space by remote control, and causes the first vehicle to leave the parking position by remote control. The information processing device according to any one of (6). (8) The planning unit determines which of the moving space and the non-moving space to allocate to the first vehicle based on the scheduled parking time of the movable vehicle. The information processing device according to any one of . (9) The planning unit predicts the scheduled parking time based on information received from the first vehicle or an information terminal associated with the first vehicle, or based on a past parking history of the movable vehicle.
  • the information processing apparatus according to (8) above.
  • (10) The information processing according to any one of (1) to (9) above, further comprising a privilege granting unit that grants a privilege to the user of the first vehicle when the first vehicle is classified as the movable vehicle.
  • the privilege granting unit grants the privilege to the user when the movement target space is allocated to the first vehicle when the first vehicle is classified as the movable vehicle, and the non-moving vehicle
  • the information processing apparatus according to (10) wherein the privilege is not given to the user when the target space is allocated to the first vehicle.
  • (12) The information processing apparatus according to (10) or (11), wherein the privilege granting unit grants the privilege to the user in accordance with the amount of movement of the parked first vehicle.
  • the planning unit predicts the time required for warehousing of the first vehicle before warehousing,
  • the information processing apparatus according to any one of (1) to (12), wherein the vehicle control unit notifies the required time to the first vehicle or an information terminal associated with the first vehicle.
  • Classifying vehicles parked in a parking space into movable vehicles that can move while parked or non-movable vehicles that cannot move while parked When the vehicle is classified as the movable vehicle, in the parking space, a non-movable space for the vehicle to be moved while parked is allocated to the vehicle, and when the vehicle is classified as the non-movable vehicle, The information processing method of allocating, among the parking spaces, a movement target space for a vehicle that is not moved during parking or the non-movement space to the vehicle.
  • Classifying vehicles parked in a parking space into movable vehicles that can move while parked or non-movable vehicles that cannot move while parked When the vehicle is classified as the movable vehicle, in the parking space, a non-movable space for the vehicle to be moved while parked is allocated to the vehicle, and when the vehicle is classified as the non-movable vehicle, A program for causing a computer to execute a process of allocating a movement target space for a vehicle that is not moved while parked or the non-movement space among the parking spaces to the vehicle.
  • 1 parking control system 11-1 to 11-n vehicle, 12-1 to 12-n information terminal, 13 control device, 51 parking lot, 64 parking space, 64A, 64C moving space, 64B non-moving space, 100 Vehicle control system, 112 Automatic operation control unit, 113 Remote operation control unit, 201 CPU, 210 Communication unit, 251 Parking control unit, 261 Vehicle detection unit, 262 Planning unit, 263 Vehicle control unit, 264 Gate control unit, 265 Parking history Generating unit, 266 Privilege granting unit

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Abstract

Cette technologie concerne un dispositif de traitement d'informations, un procédé de traitement d'informations, et un programme qui permettent de stationner et dé-stationner de manière fluide des véhicules lorsqu'il existe à la fois des véhicules qui peuvent être déplacés pendant qu'ils sont stationnés et des véhicules qui ne peuvent pas être déplacés pendant qu'ils sont stationnés. Un dispositif de commande de véhicule selon la présente invention comprend : une unité de commande de véhicule qui classifie un premier véhicule à garer dans un espace de stationnement en tant que véhicule mobile qui peut être déplacé pendant qu'il est stationné ou en tant que véhicule immobile qui ne peut pas être déplacé pendant qu'il est stationné ; et une unité de planification qui, si le premier véhicule est classé comme véhicule mobile, attribue au premier véhicule un espace cible de non-déplacement, parmi des espaces de stationnement, pour un véhicule devant être déplacé pendant qu'il est stationné, et qui, si le premier véhicule est classé comme véhicule immobile, attribue au premier véhicule l'espace cible de non-déplacement ou un espace cible de mouvement, parmi les espaces de stationnement, pour un véhicule qui ne doit pas être déplacé pendant qu'il est stationné. Cette technologie peut être appliquée, par exemple, à un dispositif de commande pour un parc de stationnement.
PCT/JP2022/001720 2021-03-17 2022-01-19 Dispositif de traitement d'informations, procédé de traitement d'informations, et programme WO2022196082A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007219738A (ja) * 2006-02-15 2007-08-30 Fujitsu Ten Ltd 駐車管理システム、車載駐車制御装置、及び駐車制御装置
JP2016006603A (ja) * 2014-06-20 2016-01-14 住友電気工業株式会社 駐車管理システム、管理装置、及び駐車管理方法

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2007219738A (ja) * 2006-02-15 2007-08-30 Fujitsu Ten Ltd 駐車管理システム、車載駐車制御装置、及び駐車制御装置
JP2016006603A (ja) * 2014-06-20 2016-01-14 住友電気工業株式会社 駐車管理システム、管理装置、及び駐車管理方法

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