阅读说明：本技术 自主代客泊车系统以及自主代客泊车方法 (Autonomous passenger-riding parking system and autonomous passenger-riding parking method ) 是由 今津贵雅 于 2021-05-20 设计创作，主要内容包括：提供能够不受自主代客泊车(AVP)用的停车场的构造上的限制而实施后向泊车的技术。AVP系统具有停车场和管理中心。停车场包括用于车辆的乘员上下车的上下车空间、用于车辆行驶的通路、以及用于将车辆进行泊车的停车位。管理中心对停车场中的车辆的AVP进行管理。管理中心配置为,实施计算停车场中的车辆的行驶路径的行驶路径计算处理。在行驶路径计算处理中,计算的行驶路径包含：从上下车空间至泊车预定空间为止的节点的位置数据、和实施车辆的车头摆动或转向的节点的位置数据。实施转向的节点的位置数据包含泊车预定空间之外的空闲停车位的节点的位置数据。(Provided is a technique capable of performing backward parking without being restricted by the structure of a parking lot for Autonomous Virtual Parking (AVP). The AVP system has a parking lot and a management center. The parking lot includes an entering and exiting space for an occupant of the vehicle to enter and exit, a passage for the vehicle to travel, and a parking space for parking the vehicle. The management center manages the AVPs of the vehicles in the parking lot. The management center is configured to perform a travel route calculation process of calculating a travel route of a vehicle in the parking lot. In the travel route calculation process, the calculated travel route includes: position data of a node from the boarding/alighting space to the planned parking space, and position data of a node for performing the swing or steering of the head of the vehicle. The position data of the nodes where steering is performed includes position data of nodes of vacant parking spaces outside the predetermined space for parking.)

1. An autonomous valet parking system, comprising:

a parking lot including a boarding/alighting space for a passenger of a vehicle to get on/off the vehicle, a passage for the vehicle to travel, and a parking space for parking the vehicle; and

a management center that manages autonomous valet parking of the vehicle in the parking lot,

the management center is configured to perform a travel path calculation process of calculating a travel path of the vehicle in the parking lot,

the management center calculates the travel route in the travel route calculation process, the calculated travel route including: position data of a node from the space for getting on and off the vehicle to a parking reservation space representing the parking space reserved for the parking of the vehicle, and position data of a node performing a head swing or steering of the vehicle,

the position data of the node implementing the steering includes position data of a node of an empty parking space outside the parking reservation space.

2. The autonomous valet parking system of claim 1, wherein,

the management center is configured to further perform position data setting processing of setting position data of nodes in the parking lot,

the management center, in the position data setting process,

determining whether or not a node to be set matches a node in a front swing avoidance space indicating the parking space avoiding the garage entering operation including the front swing,

and setting position data of a node of an empty parking space other than the nose swing avoidance space as position data of a node for performing the steering, when it is determined that the node to be set matches the node of the nose swing avoidance space.

3. The autonomous valet parking system of claim 2, wherein,

in the position data setting process, the management center selects 1 from the plurality of candidates according to a predetermined criterion when the plurality of candidates for the empty parking space are plural.

4. An autonomous valet parking method in a parking lot having an entering/exiting space for an occupant of a vehicle to enter/exit, a passage for the vehicle to travel, and a parking space for parking the vehicle,

the autonomous valet parking method includes a travel path calculation process of calculating a travel path of the vehicle in the parking lot,

the travel route calculation processing includes processing for calculating a travel route including node position data indicating a position of a node from the boarding/alighting space to a parking reservation space indicating the parking space reserved for the parking of the vehicle, and node position data indicating a position of a node for performing a swing or steering of the head of the vehicle,

the position data of the node implementing the steering includes position data of a node of an empty parking space outside the parking reservation space.

5. The autonomous valet parking method according to claim 4, wherein,

the autonomous valet parking method further has position data setting processing of setting position data of nodes in the parking lot,

the position data setting process includes:

processing of determining whether or not a node of a setting target coincides with a node of a vehicle-head swing avoidance space indicating the parking space for avoiding the garage entering action including the vehicle-head swing; and

and a processing of setting, when it is determined that the node to be set matches the node in the front swing avoidance space, position data of a node in an empty parking space other than the front swing avoidance space as position data of a node to which the steering is to be performed.

6. The autonomous valet parking method according to claim 5,

the position data setting process may further include a process of, when there are a plurality of candidates for the empty parking space, selecting 1 from the plurality of candidates on a predetermined basis.

Technical Field

The invention relates to a system and a method for managing Autonomous Valet Parking (AVP) in a Parking lot.

Background

Japanese patent laid-open publication No. 2017-182263 discloses a system for managing AVPs in a parking lot. In this conventional system, when entering a parking space attached to a facility, a parking space for parking the vehicle is determined based on predetermined information of an occupant of the vehicle in the facility.

Patent document 1: japanese patent laid-open publication No. 2017-182263

Patent document 2: japanese patent laid-open publication No. 2019-182154

Disclosure of Invention

Consider the situation that the parking action to the parking lot includes the vehicle head swing. The 'headstock swing' means: in order to perform backward parking, a vehicle is operated in which the front portion of the vehicle is swung in a direction away from a parking space in a space in front of the parking space. By parking backward, the vehicle operation when leaving the parking lot becomes easy. Therefore, it is expected that the AVP also performs a parking operation including the head swing.

However, if there is a limitation in the structure of the parking lot for AVP, the following problems are expected. For example, when a parking space is designed near the end of a passage, a space for performing nose swing is likely to be narrowed. Therefore, the option of not designing such parking spaces may also be considered. However, in this case, the maximum number of the parking lots is sacrificed, which is not preferable. Therefore, an improvement is desired in which backward parking is possible in a parking lot with insufficient space for performing the vehicle head swing.

An object of the present invention is to provide a technique for enabling backward parking regardless of structural restrictions of an APV parking lot.

The first invention is an autonomous valet parking system having a parking lot and a management center.

The parking lot includes an entering and exiting space for an occupant of a vehicle to enter and exit, a passage for the vehicle to travel, and a parking space for parking the vehicle.

And the management center manages the autonomous passenger-riding parking of the vehicles in the parking lot.

The management center is configured to perform a travel route calculation process of calculating a travel route of the vehicle in the parking lot.

The management center calculates the travel route in the travel route calculation process, the calculated travel route including: and position data of a node from the space for getting on and off the vehicle to a parking reservation space, and position data of a node that performs swinging or steering of a head of the vehicle, the parking reservation space indicating the parking space reserved for the vehicle to enter the garage.

The position data of the node implementing the steering includes position data of a node of an empty parking space outside the parking reservation space.

The second invention has the following features in the first invention.

The management center is configured to further perform position data setting processing of setting position data of nodes in the parking lot.

The management center, in the position data setting process,

determining whether or not a node to be set matches a node in a front swing avoidance space indicating the parking space avoiding the garage entering operation including the front swing,

and setting position data of a node of an empty parking space other than the nose swing avoidance space as position data of a node for performing the steering, when it is determined that the node to be set matches the node of the nose swing avoidance space.

The third invention has the following features in the second invention.

In the position data setting process, the management center selects 1 from the plurality of candidates according to a predetermined criterion when the plurality of candidates for the empty parking space are plural.

The fourth invention is an autonomous valet parking method of a vehicle in a parking lot.

The parking lot includes an entering and exiting space for an occupant of a vehicle to enter and exit, a passage for the vehicle to travel, and a parking space for parking the vehicle.

The autonomous valet parking method has a travel path calculation process of calculating a travel path of the vehicle in the parking lot.

The travel route calculated by the travel route calculation process includes: and position data of a node from the space for getting on and off the vehicle to a parking reservation space, and position data of a node that performs swinging or steering of a head of the vehicle, the parking reservation space indicating the parking space reserved for the vehicle to enter the garage.

The position data of the node implementing the steering includes position data of a node of an empty parking space outside the parking reservation space.

The fifth invention has the following features in the fourth invention.

The autonomous valet parking method further has position data setting processing of setting position data of nodes in the parking lot.

The position data setting process includes:

processing of determining whether or not a node of a setting target coincides with a node of a vehicle-head swing avoidance space indicating the parking space for avoiding the garage entering action including the vehicle-head swing; and

and a processing of setting, when it is determined that the node to be set matches the node in the front swing avoidance space, position data of a node in an empty parking space other than the front swing avoidance space as position data of a node to which the steering is to be performed.

The sixth invention further has the following features in the fifth invention.

The position data setting process may further include a process of, when there are a plurality of candidates for the empty parking space, selecting 1 from the plurality of candidates on a predetermined basis.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the first or fourth aspect of the invention, in the travel path calculation process, the travel path including the position data of the node that performs the vehicle nose swing or steering is calculated. When the former traveling path is calculated, backward parking using the swing of the front can be realized. When the latter travel path is calculated, the position data of the node performing the steering includes the position data of the node of the vacant parking space outside the predetermined space for parking. Therefore, when the latter travel path is calculated, backward parking using steering in an empty parking space can be realized. Therefore, backward parking can be performed without structural restrictions on the APV parking lot.

According to the second or fifth aspect of the invention, in the position data setting process, when it is determined that the node to be set coincides with the front sway avoiding space, the position data of the node in the vacant parking space other than the front sway avoiding space is set as the position data of the node to which steering is performed. Therefore, in the travel route calculation process, the travel route including the position data of the node performing the steering can be calculated.

According to the third or sixth aspect of the invention, in the position data setting process, when there are a plurality of candidates for an empty parking space other than the nose swing avoidance space, 1 of the plurality of candidates is selected according to the predetermined criterion. The status of an empty parking space in a parking lot may vary according to an entry action into the parking lot and an exit action from the parking lot. Therefore, by selecting 1 empty parking space according to a predetermined criterion, a travel route including position data of a node of an empty parking space suitable for performing steering can be calculated in the subsequent travel route calculation process.

Drawings

Fig. 1 is a diagram showing an example of an AVP system.

Fig. 2 is a diagram showing another example of the AVP system.

Fig. 3 is a diagram for explaining an example of the travel route set in the travel route calculation process.

Fig. 4 is a diagram illustrating an example of a travel route when a garage entering operation including the vehicle head swing is performed.

Fig. 5 is a diagram illustrating an example of a travel path when a garage entering operation including steering is performed.

Fig. 6 is a diagram illustrating another example of a travel route when the garage entering operation including steering is performed.

Fig. 7 is a block diagram showing an example of the configuration of the management center 20 related to the travel route setting process.

Fig. 8 is a block diagram showing an example of the functional configuration of the management device 21 relating to the travel route calculation process and the position data setting process.

Fig. 9 is a flowchart showing the flow of the position data setting processing.

Fig. 10 is a flowchart showing the flow of the position data selection processing executed in the processing of step S5 shown in fig. 9.

Detailed Description

An AVP system and an APV method according to an embodiment of the present invention will be described below with reference to the drawings. The APV method according to the embodiment is realized by computer processing performed in the AVP system according to the embodiment. Note that the same components in the AVP system are denoted by the same reference numerals, and description thereof will be omitted as appropriate.

1. Summary of the invention

1-1. formation of AVP System

Fig. 1 is a diagram showing an example of an AVP system. The AVP system 100 shown in fig. 1 is a system that manages AVPs in the parking lot 10. The AVP system 100 includes a parking lot 10 and a management center 20.

Parking lot 10 is used at least for parking of vehicle VH corresponding to AVP. The parking lot 10 may be used for parking of general vehicles other than the vehicle VH. The parking lot 10 includes an entrance/exit space 11, a passage 12, parking spaces P11 to P18, and landmarks M11 to M38.

The boarding/alighting space 11 is a space in which passengers of the vehicle VH get on/off the vehicle. The entrance/exit space 11 may be provided at 2 or more positions. The boarding and alighting space 11 may be divided into a boarding space and an alighting space.

The passage 12 is a space in which the vehicle VH travels. One end of the passage 12 is connected to the boarding and alighting space 11. The other end of the passage 12 becomes the end 13. The dead end 13 is created by a structure (e.g., wall, fence, pillar, diagonal pillar) of the parking lot 10. The end 13 may be formed by an obstacle other than the structure (for example, a mark indicating a region where the vehicle is prohibited from traveling).

Landmarks M11-M38 are provided on the passageway 12. Landmarks M11 to M38 are position references for guiding the vehicle VH. The position data DM of the landmarks M11 to M38 are expressed by numerical values (X, Y) in a relative coordinate system, respectively. In the example shown in fig. 1, landmarks M31 to M38 are provided respectively corresponding to parking spaces P11 to P18.

Parking spaces P11 to P18 are spaces for parking the vehicle VH and the general vehicle. The parking spaces P11 to P18 are partitioned by partition lines. Landmarks are provided inside the parking spaces P11 to P18, respectively.

The management center 20 grasps the usage status (e.g., free status, tension status) of the parking lot 10. The management center 20 monitors the operation and state of the vehicle VH in the parking lot 10 using a recognition device (e.g., a camera or a sensor) provided in the parking lot 10. Further, the management center 20 communicates with the vehicle VH to manage a parking operation from the boarding/alighting space 11 to the space reserved for parking and a leaving operation from the actual parking space to the boarding/alighting space 11. The "parking reservation space" is a parking space in which the parking of the vehicle VH is reserved. The "actual parking space" is a parking space in which the vehicle VH is actually parked.

The management of the warehousing and ex-warehousing operations by the management center 20 also includes the management of automatic travel of the vehicle VH on the passage 12. The process for automatic traveling is basically performed by an AVP assist device (not shown) mounted on the vehicle VH. However, the management center 20 may remotely operate the vehicle VH via the communication device. In this case, the management center 20 may perform the process for automatic traveling.

Fig. 2 is a diagram showing another example of the AVP system. The AVP system 200 shown in fig. 2 is different from the AVP 100 shown in fig. 1 in the configuration of the parking lot. Specifically, the AVP system 200 includes a parking lot 30. Parking lot 30 includes parking spaces P21 to P26 in addition to the configuration of parking lot 10 described with reference to fig. 1. Further, landmarks M23 to M28 are provided on the passage 12 of the parking lot 30. The landmarks M23 to M28 are provided corresponding to the parking spaces P23 to P26, respectively.

1-2. travel route

As part of the management of the automatic travel of vehicle VH on pathway 12, management center 20 performs "travel route calculation processing" for calculating a travel route of vehicle VH in parking lot 10 (or parking lot 30. the same applies hereinafter). The travel route TR when entering the parking lot 10 is configured by position data NOD of the node N from the boarding/alighting space 11 to the planned parking space. The position data NOD are respectively represented by numerical values (X, Y) of a relative coordinate system. The travel route when leaving the parking lot 10 is composed of position data NOD from the actual parking space to the boarding/alighting space 11.

Fig. 3 is a diagram for explaining an example of the travel route set in the travel route calculation process. The travel route TR1 shown in fig. 3 is a travel route TR when the vehicle is taken out from the parking lot 10. The actual parking space in the travel path TR1 is a parking space P16. The travel route TR1 includes position data NOD of the nodes N11 to N15.

The node N11 is a node N showing a position at which the vehicle VH starts turning right from the parking space P16. Node N12 is node N showing a position where the right turn is ended and straight ahead is started. Node N13 is node N showing the position where the straight line ends and a left turn begins. Node N14 is node N showing a position where the left turn is ended and straight line is started. Node N15 is node N showing the position where the straight line ends and stops.

The position data NOD of the nodes N11 to N15 includes at least position data DM of 1 landmark M around each node N. The position data NOD of the nodes N11 to N15 also include position data DBD of the driving boundary BD around each node N. The position data DBD is represented by numerical values (X, Y) with respect to a coordinate system. Typically, the position data DBD around the node N is represented as a set of at least 2 values (X, Y).

For example, the position data NOD of the node N11 includes the position data DM of the landmark M36, and at least 2 position data DBD around the parking space P16. The position data NOD of the node N12 includes the position data DM of the landmark M35, and at least 2 position data DBD around the landmark M35. The position data NOD of the node N15 includes the position data DM of the landmarks M11 and M12, and at least 2 position data DBD around the boarding/alighting space 11.

Here, the traveling boundary BD is typically formed by the outer edge of the passage 12. When the entire length of vehicle VH parked in the parking space is long, driving boundary BD may be formed inside the outer edge. The position data DBD is updated by the management center 20, for example, each time a vehicle (i.e., vehicle VH, general vehicle) enters the parking lot 10 or each time the vehicle ends its exit from the parking lot 10. The update uses data from the identification means.

1-3. travel route for performing garage-in action including vehicle head swing

The travel route TR1 illustrated in fig. 3 is realized by performing backward parking when parking into the parking lot 10. In the embodiment, it is considered that the front Swing (Swing) of the vehicle VH is performed for backward parking. Next, a case will be described in which a travel route for performing a garage entering operation including the hunting of the vehicle head is calculated in the travel route calculation process.

Fig. 4 is a diagram illustrating an example of a travel route when a garage entering operation including the vehicle head swing is performed. The travel route TR2 shown in fig. 4 is a travel route TR when parking into the parking lot 10. The parking predetermined space on the travel path TR2 is a parking space P16. The travel route TR2 includes position data NOD of the nodes N21 to N26.

Node N21 is node N showing the entry to pathway 12. Node N22 is a node N showing a position at which the vehicle VH starts turning right. Node N23 is node N showing a position where the right turn is ended and straight ahead is started. Node N24 is node N showing the position where the straight line ends and the nose swing starts. Node N25 is node N showing a location where the nose swing is ended and backward parking is started. The node N26 is a node N showing a position where the backward parking is ended and stopped.

The principle method of considering the position data NOD of the nodes N21 to N26 is the same as the position data NOD of the nodes N11 to N15 illustrated in fig. 3. For convenience of explanation, the position data NOD corresponding to the position where the nose swing starts is referred to as "position data NOD_SW". At the set position data NOD_SWIn the case of (2), the position data NOD_SWAs data specific to the travel path TR. Specifically, the position data NOD of the node N24 illustrated in fig. 4 belongs to the unique data in the case of calculating the travel path TR 2.

1-4. features of embodiments

In the front swing described in fig. 4, a space in front of the parking space P17 (that is, a part of the passage 12) is used. However, since the area of the passage 12 is limited, it is expected that it is difficult to secure a space for performing the nose swing. In particular, in parking spaces P17 and P18 near the end 13, nose swaying may not be implemented. In the embodiment, in order to perform backward parking in such a parking space, a node N indicating a position where steering (Turn) is performed is set.

Here, "steering" generally refers to re-determining the traveling position of the vehicle by advancing or reversing. However, the "steering" in the present embodiment is a vehicle operation including a first half operation of entering at least a part of the vehicle VH to the inside of an empty parking space different from the planned parking space while advancing forward and a second half operation of moving backward toward the planned parking space while retracting backward. Next, a case will be described in which a travel route for performing a garage entering operation including steering is calculated in the travel route calculation process.

Fig. 5 is a diagram illustrating an example of a travel path when a garage entering operation including steering is performed. The travel route TR3 shown in fig. 5 is a travel route TR when parking into the parking lot 10. In the example shown in fig. 5, parking spaces P12, P17, and P18 coincide with empty parking spaces. However, the parking space P17 is selected as the predetermined parking space on the travel path TR 3. The travel route TR3 includes position data NOD of the nodes N31 to N36.

Node N31 is node N showing the entry to pathway 12. Node N32 is node N showing the position at which the first half of the steering operation is initiated. This first half operation is a vehicle operation to bring the vehicle VH into an empty parking space (i.e., parking space P12). Node N33 is node N showing the position where the first-half operation ends and the second-half operation starts. The latter half operation is an operation of moving the rear portion of vehicle VH backward while swinging in a direction approaching the planned parking space (i.e., parking space P17). The node N34 is a node N showing a position at which the steering operation is ended in the latter half operation. The node N35 is a node N showing a position where backward parking is started. The node N36 is a node N showing a position where the backward parking is ended and stopped.

The principle method of considering the position data NOD of the nodes N31 to N36 is the same as that of the nodes N11 to N15 described in fig. 3. For convenience of explanation, the position data NOD corresponding to the steering position is referred to as "position data NOD_TW". Position data NOD_TWMean and position data NOD of_SWThe same is true. That is, the position data NOD of the nodes N32 to N34 illustrated in fig. 5 belongs to the specific data in the case of calculating the travel path TR 3.

Fig. 6 is a diagram illustrating another example of a travel route when the garage entering operation including steering is performed. The travel route TR4 shown in fig. 6 is a travel route TR at the time of garage entering. The example shown in fig. 5 is different from the example of fig. 6 in the configuration of a parking lot and an empty parking space used in steering. In the example shown in fig. 6, the parking spaces P12, P17, P18, P22, and P26 coincide with empty parking spaces. However, the parking space P17 is selected as the predetermined parking space on the travel path TR 4. The travel route TR4 includes position data NOD of the nodes N41 to N47.

The nodes N41 to N43 are the same as the nodes N21 to N23 described in fig. 4. Node N44 is node N showing the position at which the first half of the steering operation is initiated. This first half operation is a vehicle operation to bring the vehicle VH into an empty parking space (i.e., parking space P25). Node N45 is node N showing the position where the first-half operation ends and the second-half operation starts. The latter half operation is an operation of moving the rear portion of vehicle VH backward while swinging in a direction approaching the planned parking space (i.e., parking space P17). The node N46 is a node N showing a position where steering in the latter half operation is ended and backward parking is started. The node N47 is a node N showing a position where the backward parking is ended and stopped.

The principle method of considering the position data NOD of the nodes N41 to N47 is the same as the position data NOD of the nodes N11 to N15 illustrated in fig. 3. The position data NOD of the nodes N44 to N46 described in fig. 6 belongs to the position data NOD specified when the travel route TR4 is calculated_TW。

As described above, in the travel route setting process, the travel route TR for performing the garage entering operation including the vehicle front swing or the steering is set. Therefore, for example, the former is set when there is a space for performing the nose swing, and the latter is set when there is no space. In another example, in the case where all the travel paths TR are set, the latter is set. That is, in this other example, the diversion is combined to all of the warehousing actions. By setting the travel route TR as described above, backward parking can be always performed without being restricted by the structure of the parking lot. Next, a configuration example of the management center 20 for setting the travel route TR and a processing example performed by the management center 20 will be described.

2. Management center

2-1. construction of management center

Fig. 7 is a block diagram showing an example of the configuration of the management center 20 related to the travel route setting process. In the example shown in fig. 7, the management center 20 includes a management apparatus 21 and a communication apparatus 22.

Typically, the management device 21 is a computer including a processing device, a storage device, and an input/output interface. Of these elements, a storage device 23 and a processing device 24 are depicted in fig. 7. The storage device 23 stores various data related to AVPs. The various data are exemplified by MAP data MAP of the parking lot 10, situation data PKG of the parking lot 10, and position data NOD.

As the MAP data MAP, position data of a structure of the parking lot 10 is exemplified. As the MAP data MAP, position data of devices (for example, the landmark M, the traveling boundary BD, and the recognition device 14) of the parking lot 10 is also exemplified. As the MAP data MAP, position data of a partition line of a parking space is also exemplified. These position data are represented by numerical values (X, Y) relative to a coordinate system. The position data may be added with data in the height direction.

As the status data PKG, data from the identification device 14 is exemplified. The data from the recognition device 14 includes position data of the vehicle VH on which AVP is performed, and position data of the vehicle VH stopped in the boarding/alighting space 11 or the parking space. These position data are also represented by numerical values (X, Y) relative to a coordinate system. The data from the identification means 14 also contains position data DBD.

The position data NOD is set for each node N. For convenience of explanation, an arbitrary node N at the time of setting the position data NOD or an arbitrary node N at which the position data NOD is set is collectively referred to as "node Ni". The position data NOD includes position data DM and position data DBD around the node Ni. The location data DM is extracted from the MAP data MAP and associated with the node Ni. That is, the location data DM is combined with the node Ni. The position data DBD is extracted from the MAP data MAP or the situation data PKG and associated with the node Ni. That is, the position data DBD is also combined with the node Ni.

The processing device 24 performs various data processing according to various programs stored in the storage device 23. The processing performed by the processing device 24 includes a travel route calculation process. The processing performed by the processing device 24 also includes "position data setting processing" for setting the position data NOD. The details of the position data setting process will be described later. The processing performed by the processing device 24 also includes reception/transmission of data with the vehicle VH via the communication device 22. The data transmitted to the vehicle VH includes the travel route TR calculated by the travel route calculation process.

Fig. 8 is a block diagram showing an example of the functional configuration of the management device 21 relating to the travel route calculation process and the position data setting process. As shown in fig. 8, the management device 21 includes a position data setting unit 25, a travel route calculation unit 26, and a data communication unit 27. These functions are realized by the processing device 24 illustrated in fig. 7 executing a predetermined program stored in the storage device 23.

The position data setting unit 25 performs position data setting processing based on the MAP data MAP and the status data PKG. In the position data setting process, the position data DM and DBD are associated with the node Ni to be set as the position data NOD. In the position data setting process, the position data NOD is further processed_SWOr NOD_TWAssociated with the setting object. The position data setting unit 25 transmits the position data NOD set by the position data setting process to the storage device 23. An example of the processing of the position data setting processing will be described later.

The position data setting process is performed not only at the time of initial setting of the MAP data MAP but also at the time of updating the MAP data MAP. As already described, the MAP data MAP includes the position data DBD. In an embodiment, if an update of the location data DBD is implemented, the MAP data MAP is also updated. Therefore, if the update of the position data DBD is carried out, the position data setting process is carried out. The position data setting process is also performed when the status data PKG is updated.

All the nodes N in the parking lot 10 correspond to the setting targets in the position data setting process. However, when the update of the MAP data MAP or the situation data PKG is performed only in a partial area of the parking lot 10, only the node N in the area may be set to reduce the processing load. That is, the node N of the area of the parking lot 10 in which the MAP data MAP or the situation data PKG is not updated may be excluded from the setting targets.

The travel route calculation unit 26 performs travel route calculation processing based on the MAP data MAP and the situation data PKG. In the travel route calculation process, the travel route TR of the vehicle VH, which is the target of the garage exit or garage entrance operation, is calculated. In the travel path calculation process when parking into the parking lot 10, 1 of the vacant parking spaces is selected as the parking reservation space. The method for selecting the parking space is not particularly limited, and a known method can be applied. The travel route calculation unit 26 transmits the travel route TR calculated by the travel route calculation process to the data communication unit 27.

The data communication unit 27 receives data from the identification device 14. The data communication unit 27 receives and transmits data with the communication device 22. The data transmitted from the data communication unit 27 to the communication device 22 includes position data NOD constituting the travel route TR calculated by the travel route calculation processing. The data communication unit 27 stores the data received from the identification device 14 and the communication device 22 in the storage device 23. The data communication unit 27 may directly transmit the data received from the recognition device 14 and the communication device 22 to the position data setting unit 25 and the travel route calculation unit 26.

2-2. position data setting processing

Fig. 9 is a flowchart showing a flow of the position data setting process performed by the processing device 24. The routine shown in fig. 9 is executed at the time of initial setting of the MAP data MAP, at the time of updating the MAP data MAP, or at the time of updating the situation data PKG. The routine shown in fig. 9 is repeatedly executed until the position data NOD is set for all the nodes N in the parking lot 10. The execution of the routine shown in fig. 9 may be limited to the node N in the partial area of the parking lot 10 in which the MAP data MAP or the situation data PKG is updated.

In the routine shown in fig. 9, first, the position data DM is associated with the node Ni as the setting object (step S1). The position data whose distance from the setting object is equal to or less than the threshold THM matches the position data DM. The number of the position data DM associated with the setting object is at least 1.

Next to step S1, the position data DBD is associated with the node Ni as the setting object (step S2). The position data having a distance to the setting target equal to or less than the threshold THBD corresponds to the position data DBD. The number of position data DBDs associated with the setting object is at least 2.

Next, in step S2, it is determined whether or not the node Ni to be set matches the node N of the parking space (step S3). If node Ni is present in the parking space, then node Ni matches node N of the parking space. Whether or not the node Ni is located within the parking space is determined based on, for example, position data of a partition line of the parking space (i.e., MAP data MAP). If the determination result at step S3 is negative, the process proceeds to step S7.

If the determination result at step S3 is affirmative, it is determined whether or not the node Ni to be set matches the node N in the nose swing avoidance space (step S4). The "nose swing avoidance space" is a node N indicating a parking space in which a space for performing nose swing is insufficient. For example, when the area of the passage 12 in front of a parking space is equal to or smaller than the threshold THS, the parking space corresponds to the nose swing avoidance space. In another example, when THE distance from THE end 13 to THE parking space is equal to or less than THE threshold value tee, THE parking space corresponds to THE nose swing avoidance space. The determination at step S4 may be performed in accordance with the size (overall length and vehicle width) of vehicle VH as appropriate.

If the determination result at step S4 is affirmative, it is estimated that the warehousing operation including the steering is appropriate. Therefore, the temperature of the molten metal is controlled,in this case, the position data NOD_TWIs associated with the node Ni as the setting object (step S5). Otherwise, the parking space is inferred to be the locomotive swing recommendation space. Thus, in this case, the position data NOD_SWIs associated with the node Ni as the setting object (step S6).

In step S7, the position data NOD associated with the node Ni in the present routine is transmitted to the storage device. That is, when the node Ni matches the node N in the vehicle head swing avoidance space, the node Ni includes the position data DM, DBD, and NOD_TWIs sent to the storage means. When the node Ni is consistent with the node N of the head swing recommendation space, the node Ni contains position data DM, DBD and NOD_SWIs sent to the storage means. If node Ni does not coincide with node N of the parking space, position data NOD including position data DM and DBD is transmitted to the storage device.

In addition, when the steering is set for all parking spaces, the processing in steps S4 and S6 may be omitted. In this case, the process of step S7 will be described below. That is, when node Ni matches node N of the parking space, position data DM, DBD, and NOD are included_TWIs sent to the storage means. If node Ni does not coincide with node N of the parking space, position data NOD including position data DM and DBD is transmitted to the storage device.

2-3. position data NOD_TWIs selected by

In the processing of step S5, the positional data NOD is explained_TWIs associated with the node Ni as the setting object. However, the status of the vacant parking spaces in parking lot 10 changes depending on the parking and leaving operations of vehicle VH. Therefore, in the processing of step S5, every time the position data setting processing is executed, the processing for setting the appropriate position data NOD is executed by the subroutine_TWProcessing associated with node Ni. This process will be explained below.

Fig. 10 is a diagram showing position data NOD executed in the process of step S5 of fig. 9_TWIs performed in the same manner as described above. In addition, to implement the packageThe parking space outside the preset parking space is needed to be parked when the garage entering action including steering is carried out. Therefore, when only 1 empty parking space remains when parking into the parking lot 10, the processing of the present routine is not executed.

In the routine shown in fig. 10, first, position data NOD is extracted_TWIs detected (step S51). When the process of step S5 is executed, all of the nodes N of the remaining empty parking spaces match the candidate. The node Ni as the setting target matches the node N in the planned parking space. Therefore, the node Ni as the setting target does not coincide with the vacant parking space in step S51.

Following step S51, position data NOD is determined_TWWhether or not there are a plurality of candidates (step S52). When the determination result at step S52 is negative, that is, when the number of extraction is 1, the extracted candidate position data NOD_TWIs associated with the node Ni as the setting object (step S53).

When the determination result at step S52 is affirmative, the location data NOD is implemented_TWThe list (step S54). The reduction of candidates is performed according to a predetermined criterion. The defining of the reference includes, for example, raising the priority of the following node N: the distance from the node N to the node Ni to be set is within a predetermined range. The predetermined range is set in consideration of the ease of vehicle operation before and after steering. In another example, defining the benchmark includes increasing the priority of the following node N: this node N reduces the number of other vehicles traversing the front of the vehicle VH in steering. The small number of other vehicles means that there are few obstacles around the vehicle VH. Therefore, the vehicle operation before and after steering becomes easy.

The processing of step S54 is performed until the candidates are reduced to 1. The reduced candidate becomes the final candidate. In step S55, the final candidate position data NOD_TWIs associated with the node Ni as the setting object (step S55).

3. Effect

According to the AVP system of the embodiment described above, the position data NOD is obtained by executing the position data setting process_SWOr NOD_TWPosition data NOD of a node Ni associated with the parking space. Therefore, in the travel route calculation process when parking in the parking lot 10, the travel route TR for performing the parking operation including the swinging or turning of the vehicle head can be set. Therefore, backward parking can be always performed without being restricted by the structure of the parking lot 10. Therefore, the vehicle operation at the time of departure from the parking lot 10 can be facilitated, and the time required for the departure operation can be shortened. This technique is expected to contribute to improvement in the utilization rate of AVP services.

Description of the reference numerals

10, 30 car park

11 space for getting on and off vehicle

12 channel

13 end

20 management center

21 management device

23 storage device

24 treatment device

25 position data setting unit

26 travel route calculation unit

27 data communication part

100, 200 AVP system

BD running boundary

M11-M38 landmarks

N11-N47 node

NOD position data

P11-P26 parking spaces

TR1 TR4 driving path

A VH vehicle.