JP6943025B2 - Parking support system and parking support method - Google Patents

Description

The present disclosure relates to a system that assists in parking a vehicle capable of autonomous driving.

Conventionally, a server computer has been proposed for determining a parking lot whose dimensions are adjusted based on the width and length of a vehicle, a boarding position, and the like in an existing parking lot (see, for example, Patent Document 1).

Japanese Unexamined Patent Publication No. 2016-143393

For example, in places where parking lots are not maintained, such as venues for outdoor events, or in existing parking lots that do not have a system to support automatic parking of vehicles that can be driven automatically (hereinafter, also referred to as self-driving vehicles). There is a demand for a technique for easily providing a parking lot in which an automatic driving vehicle can be parked by automatic driving.

The present disclosure has been made to solve the above-mentioned problems, and can be realized in the following forms.

According to one form of the present disclosure, a parking support system (10, 10A, 10B) is provided. This parking support system is a parking support system that supports parking by automatic driving of an automatically driven vehicle, and is a first moving body (100, 110) that specifies a parking area (R) in which a plurality of the automatically driven vehicles can park. ), And a first management unit (200, 200B, 210a) that supports the automatic driving of the automatically driving vehicle in the parking area specified by the first moving body, and the first moving body is a plurality. The parking area information including the index detection unit (102) for detecting the index (400) of the above, specifying the parking area with the positions of the plurality of indexes as a part of the outer edge of the parking area, and information indicating the parking area. A first warehousing request receiving unit that receives a warehousing request requesting warehousing from the parking area specifying unit (104) that creates the parking area and the automatically driving vehicle that is outside the parking area after creating the parking area information. (106, 106a) and the first vehicle rating information acquisition unit (108, 108a) that acquires the first vehicle rating information including the total length and the vehicle width of the first automatically driven vehicle that is the automatically driven vehicle that transmitted the warehousing request. ), And the first management unit includes a warehousing information storage unit (202, 202a) in which warehousing information indicating the warehousing status of the parking area is stored, at least the parking area information, and the first vehicle. Using the case information and the warehousing information, first route information including information indicating a warehousing route including the parking position of the first automatically driven vehicle in the parking area is created, and the first automatically driven vehicle is subjected to the first route information. The first route creation unit (204, 204a) to be transmitted, the warehousing information creation unit (201,) that creates the warehousing information using the parking area information, and updates the warehousing information using the first route information. and 201a), provided with, as a condition of the reception of the receipts request by the first movable body, and create and send the first path information, and updating of the warehousing information, repeatedly execute the.

According to this form of the parking support system, since the first moving body includes an index detecting unit and a parking area specifying unit, the area of the parking lot for automatic parking can be specified by detecting the index. Then, since the first moving body includes the first warehousing request receiving unit and the first vehicle class information acquisition unit, and the first management unit includes the warehousing information storage unit and the first route creating unit, the first management unit becomes the first. 1 The first route information when the autonomous driving vehicle enters the garage by automatic driving is created and transmitted to the first autonomous driving vehicle. Therefore, parking by automatic driving is required in places where parking lots are not maintained (for example, land where entrance / exit gates, parking lots, etc. are not provided) or existing parking lots that do not have a system to support automatic parking. The parking lot that enables it can be easily provided.

The present disclosure can also be realized in various forms other than the parking support system. For example, the present disclosure can be realized in the form of a mobile body, a management device, a parking support method, a computer program for realizing such a method, a storage medium on which such a computer program is recorded, and the like.

It is a schematic diagram which shows typically the parking support system as the 1st Embodiment of this disclosure. It is a block diagram which shows the schematic structure of the parking support system. It is a flowchart which shows the flow of the automatic warehousing support processing in a parking support system. It is a flowchart which shows the flow of the automatic warehousing support processing in a parking support system. It is a schematic diagram which shows typically the parking support system as a 2nd Embodiment. It is a block diagram which shows the schematic structure of the parking support system of 2nd Embodiment. It is a flowchart which shows the flow of the automatic warehousing support processing in the parking support system of 2nd Embodiment. It is a flowchart which shows the flow of the vehicle follow-up processing in the moving body of 2nd Embodiment. It is a flowchart which shows the flow of the automatic delivery support processing in the parking support system of 2nd Embodiment. It is a schematic diagram which shows typically the parking support system as a 3rd Embodiment. It is a block diagram which shows the schematic structure of the parking support system of 3rd Embodiment. It is a flowchart which shows the flow of the automatic warehousing support processing in the parking support system of 3rd Embodiment. It is a flowchart which shows the flow of the vehicle follow-up process in the moving body of 3rd Embodiment, and the route creation change process in management part. It is a flowchart which shows the flow of the automatic delivery support processing in the parking support system of 3rd Embodiment.

A. First Embodiment:
The parking support system 10 shown in FIG. 1 includes a moving body 100 that specifies a parking area R in which a plurality of automatically driving vehicles 300 can park, a management unit 200 that supports the automatic driving of the vehicle 300 in the parking area R, and a management unit 200. To be equipped. In this embodiment, an unmanned aerial vehicle, a so-called drone, is used as the moving body 100. In addition, a vehicle can be used as the moving body 100. The moving body 100 includes a camera 148, and detects a plurality of indexes 400 to identify the parking area R by flying in the air and analyzing the captured image captured by the camera 148. The mobile body 100 creates parking area information including information indicating the parking area R and transmits the parking area information to the management unit 200. Further, the mobile body 100 receives the warehousing request from the vehicle 300, acquires the vehicle class information of the vehicle 300, and transmits the vehicle class information to the management unit 200. The moving body 100 in the present embodiment is also referred to as a "first moving body", the vehicle 300 is also referred to as an "autonomous driving vehicle" and a "first autonomous driving vehicle", and the management unit 200 is also referred to as a "first management unit".

The management unit 200 creates warehousing route information including the warehousing route including the parking position of the vehicle 300 based on the parking area information received from the moving body 100 and the vehicle class information, and transmits the warehousing route information to the vehicle 300. Further, the management unit 200 receives the delivery request from the vehicle 300, creates the delivery route information including the information indicating the delivery route, and transmits the delivery route information to the vehicle 300. The warehousing route and the warehousing route in the present embodiment are also referred to as "traveling routes". Further, the warehousing route information and the warehousing route information are also simply referred to as "route information".

The vehicle 300 has a function of transmitting a warehousing request and a warehousing request, and a function of acquiring route information and automatically traveling according to the acquired route information. The vehicle 300 receives route information from the management unit 200, automatically travels in the parking area R according to the received route information, and automatically parks. In the present embodiment, the automatic driving includes both a case where the driver is on board the vehicle 300 (also referred to as manned automatic driving) and a case where the driver is not on board the vehicle 300 (also referred to as unmanned automatic driving). include.

As shown in FIG. 2, the moving body 100 has a control unit 142 that controls its own operation, an index detection unit 102, a camera 148, a GPS receiver 149, and a parking area identification unit 104 that specifies the parking area R. The warehousing request receiving unit 106 that receives the warehousing request from the vehicle 300, the vehicle class information acquiring unit 108 that acquires the vehicle class information indicating the vehicle class of the vehicle 300, and the first wireless communication I / F unit 146. To be equipped. The mobile 100 includes a computer and has a CPU, ROM and RAM (not shown). The CPU realizes the functions of the above parts by expanding the control program stored in the ROM in advance into the RAM and executing the control program.

The index detection unit 102 uses the captured image obtained by capturing the land including the parking area R by the camera 148 while the moving body 100 is flying and the positioning data by the GPS receiver 149, and uses a pattern matching technique or the like to perform an index. Detects the position of 400. The index detection unit 102 may detect the index 400 instead of the camera 148 or together with the camera 148 using a sensor such as a millimeter wave radar. In this embodiment, a so-called pylon (also referred to as a color cone (registered trademark)) is used as the index 400. The index detection unit 102, the camera 148, and the GPS receiver 149 in the present embodiment are also collectively referred to as an "index detection unit".

The parking area specifying unit 104 identifies the parking area R using the position of the index 400 (FIG. 1) detected by the index detecting unit 102, creates parking area information including information indicating the parking area R, and manages the management unit. Send to 200. In the present embodiment, four indexes 400 are set as vertices, and a square-shaped area connecting each apex with a straight line is specified as a parking area R. That is, the parking area specifying unit 104 specifies the parking area R with the position of the index 400 as a part of the outer edge of the parking area R. The parking area specifying unit 104 includes information indicating a warehousing position and information indicating a warehousing position in the parking area information. Although the parking area specifying unit 104 specifies the parking area R, it does not define a parking area for one vehicle in which each vehicle 300 is parked. When the management unit 200 calculates the warehousing route, the parking lot is determined by using the total length and the vehicle width of the vehicle 300 (described later).

The warehousing request receiving unit 106 is waiting for the warehousing request output by the vehicle 300 to be received. When the warehousing request receiving unit 106 receives the warehousing request, the warehousing request receiving unit 106 causes the vehicle class information acquisition unit 108 to acquire the vehicle class information of the vehicle 300 that has output the warehousing request. The vehicle class information acquisition unit 108 acquires the vehicle class information including the total length and the vehicle width of the vehicle 300 that outputs the warehousing request, and transmits the vehicle class information to the management unit 200. Specifically, when the warehousing request receiving unit 106 receives the warehousing request, the control unit 142 moves the moving body 100 over the vehicle 300 that outputs the warehousing request. Then, the vehicle class information acquisition unit 108 controls the camera 148 to image the vehicle 300, and analyzes the captured image to calculate the total length and the vehicle width of the vehicle 300. The warehousing request receiving unit 106 in the present embodiment is also referred to as a "first warehousing request receiving unit", the vehicle class information is also referred to as "first vehicle class information", and the vehicle class information acquisition unit 108 is referred to as a "first vehicle class information acquisition unit". Also called.

The first wireless communication I / F unit 146 demodulates the radio waves received via the antenna and generates data, and generates and modulates the radio waves transmitted via the antenna. Examples of wireless communication include various wireless LANs (Local Area Networks) defined in IEEE (The Institute of Electrical and Electronics Engineers) 802.11, Z-Wave (registered trademark), Zigbee (registered trademark), and the like. , Bluetooth (registered trademark) and other standardized communication methods, as well as wireless communication of any non-standardized communication method can be adopted.

The management unit 200 includes a warehousing information creation unit 201, a warehousing information storage unit 202, a route creation unit 204, a second wireless communication I / F unit 208, and a warehousing request receiving unit 206. The management unit 200 is composed of a computer and has a CPU, a ROM, and a RAM (not shown). The CPU realizes the functions of the above parts by expanding the control program stored in the ROM in advance into the RAM and executing the control program.

The warehousing information creation unit 201 creates warehousing information indicating the warehousing status of the parking area R using the parking area information received from the moving body 100, and stores the warehousing information in the warehousing information storage unit 202. In addition, the warehousing information creation unit 201 updates the warehousing information stored in the warehousing information storage unit 202 (described later).

The route creation unit 204 creates warehousing route information indicating the warehousing route including the parking position of the vehicle 300 and warehousing route information indicating the warehousing route of the vehicle 300, and transmits the warehousing route information indicating the warehousing route of the vehicle 300 to the vehicle 300. When the route creation unit 204 receives the vehicle class information from the moving body 100, it creates the warehousing route information, and when it receives the warehousing request from the vehicle 300, it creates the warehousing route information. The warehousing route information is also called "first route information", and the warehousing route information is also called "third route information". The route creation unit 204 is also referred to as a "first route creation unit" and a "third route creation unit".

When determining the parking position, the route creation unit 204 identifies a position in the empty space in the parking area R where the vehicle 300 can be stored by using the information indicating the total length and the vehicle width included in the vehicle class information. .. The route creation unit 204 determines a parking lot as a parking position. As described above, in the present embodiment, since the parking zone is not defined in advance in the parking area R, the route creation unit 204 temporarily determines the parking zone according to the vehicle class of the vehicle 300. That is, the size and arrangement of the parking lot can be changed while the plurality of vehicles 300 repeatedly enter and leave the garage. The parking support system 10 of the present embodiment targets both the manned automatic traveling vehicle 300 and the unmanned automatic traveling vehicle 300. In the case of manned autonomous driving, the door is opened and closed when the driver or other passengers get off, so a parking lot including the opening and closing space is required. Therefore, the route creation unit 204 determines the parking lot including the opening / closing space of the door. The opening / closing space of the door may be predetermined according to the vehicle class of the vehicle 300.

Further, the route creation unit 204 determines the warehousing direction when the vehicle 300 is warehousing, that is, forward parking or reverse parking. When determining the warehousing direction, the route creation unit 204 uses the warehousing information and the vehicle class information to make a determination based on a predetermined rule.

The delivery request receiving unit 206 is waiting for the delivery request output by the vehicle 300 to be received. When the issue request receiving unit 206 receives the issue request, the route creation unit 204 creates the issue route.

The second wireless communication I / F unit 208 has the same configuration as the first wireless communication I / F unit 146. The management unit 200 communicates with the mobile body 100 and the vehicle 300 via the second wireless communication I / F unit 208.

The vehicle 300 includes an automatic driving control unit 302 and a third radio I / F unit 304. The vehicle 300 includes an ECU (Electronic Control Unit) having a CPU, ROM, and RAM (not shown). The CPU realizes the functions of each part by expanding the control program stored in the ROM in advance into the RAM and executing the control program.

The automatic operation control unit 302 transmits a warehousing request and a warehousing request via the third radio I / F unit 304. For example, when the passenger of the vehicle 300 instructs the automatic warehousing via the automatic warehousing instruction button provided in the vehicle interior of the vehicle 300, the automatic driving control unit 302 outputs the warehousing request. Further, for example, when the user of the vehicle 300 receives a delivery instruction transmitted from a mobile terminal such as a smart phone via the third wireless I / F unit 304, the automatic operation control unit 302 outputs a delivery request. do. Further, the automatic driving control unit 302 controls the automatic traveling of the own vehicle by using the warehousing route information and the warehousing route information received from the management unit 200 via the third radio I / F unit 304 to perform automatic warehousing / delivery. conduct.

Similar to the first wireless communication I / F unit 146, the third radio I / F unit 304 demodulates and generates data of radio waves received via the antenna, and generates and modulates radio waves transmitted via the antenna. I do. The third wireless I / F unit 304 is configured to enable communication via a wide area network in addition to the above-mentioned communication method. Examples of the wide area network include communication networks owned by various telecommunications carriers such as mobile phone communication networks, LANs (Local Area Networks) connected to these communication networks, and the Internet.

The provision of a parking lot capable of parking by automatic driving on land where the parking lot is not maintained using the parking support system 10 of the present embodiment will be described with reference to FIGS. 2 and 3. As the land where the parking lot is not maintained, for example, a vacant lot at the venue of the outdoor event can be exemplified. The user who is the manager of the parking lot arranges a plurality of indexes 400, the mobile body 100, and the management unit 200 on the land where the parking lot is not maintained (hereinafter, also referred to as a vacant lot). The user appropriately arranges the plurality of indicators 400 on the outer edge of the parkable area. For example, as shown in FIG. 1, four indicators 400 are arranged at the edge of the vacant lot. When the user inputs an instruction to provide a parking lot to the moving body 100, the moving body 100 starts the process of specifying the parking area. For example, the user can input an instruction to provide a parking lot via a start button, a touch panel, or the like included in the moving body 100. Hereinafter, the "parking lot capable of parking by automatic driving" will be referred to as a "parking lot for automatic parking".

As shown in FIG. 3, in step S102, the moving body 100 flies over the vacant lot and scans the entire vacant lot, and the index detection unit 102 (FIG. 2) detects a plurality of indexes 400 (FIG. 1). Then, the parking area specifying unit 104 (FIG. 2) identifies the parking area R (FIG. 1) by using the position of the index 400 detected by the index detecting unit 102.

In step S104, the moving body 100 flies over the parking area R specified in step S102, scans the entire parking area R, and the parking area specifying portion 104 cannot park in the parking area R. Identify the area. For example, the parking area specifying unit 104 detects unevenness or obstacles on the ground, determines whether or not the vehicle 300 can be parked, and if it is determined that parking is not possible, specifies the area as a non-parking area.

In step S106, the parking area specifying unit 104 excludes the non-parking area specified in step S104 from the parking area R specified in step S102, and sets the parking area R as the parking area R. In other words, in step S106, the parking area specifying unit 104 updates the parking area R specified in step S102 by using the non-parking area specified in step S104. Then, the parking area specifying unit 104 creates parking area information including information indicating the updated parking area R, and transmits the parking area information to the management unit 200.

After performing step S106, the moving body 100 moves to a predetermined waiting place and stands by (step S107). The waiting area is preferably near the warehousing gate in the parking area R. The warehousing gate can be arranged arbitrarily. The user may appropriately determine the position of the warehousing gate and instruct the moving body 100. Further, the index 400 may be arranged in advance at the warehousing position, and the parking area specifying unit 104 may specify the warehousing gate in step S102. Similarly, the delivery position and the delivery gate can be arbitrarily set.

In step S202, the warehousing information creation unit 201 (FIG. 2) of the management unit 200 creates warehousing information using the parking lot area information received from the moving body 100 and stores it in the warehousing information storage unit 202.

In step S302, the vehicle 300 broadcasts a warehousing request. The warehousing request includes identification information of the vehicle 300 and current position information.

In step S108, the warehousing request receiving unit 106 of the mobile body 100 receives the warehousing request transmitted in step S302.

In step S110, the vehicle class information acquisition unit 108 of the moving body 100 identifies the vehicle 300 that has transmitted the warehousing request and creates the vehicle class information by using the identification information and the current position information of the vehicle 300 included in the warehousing request. do. Specifically, the control unit 142 of the first mobile body 110 identifies the position of the vehicle 300 by using the current position information of the vehicle 300 included in the warehousing request, and moves from the waiting area to the sky of the vehicle 300. It moves using the GPS receiver 149. The vehicle class information acquisition unit 108 of the mobile body 100 communicates with the vehicle 300 that has transmitted the warehousing request to identify the vehicle 300. The vehicle class information acquisition unit 108 causes the camera 148 to image the vehicle 300, analyzes the captured image by the camera 148, calculates the total length and the vehicle width of the vehicle 300, and creates the vehicle class information.

In step S112, the vehicle class information acquisition unit 108 of the moving body 100 transmits the vehicle class information to the management unit 200 together with the identification information of the vehicle 300.

In step S204, the route creation unit 204 of the management unit 200 receives the vehicle class information, and uses the received vehicle class information and the warehousing information stored in the warehousing information storage unit 202 to park the vehicle 300. And create route information indicating the route from the warehousing gate to the parking position. Further, when the route information is created, the route creation unit 204 creates the route information so as to avoid the place already stored in the warehousing information. Obstacles such as unevenness of the ground are not included in the route created by the route creation unit 204 because they are already excluded from the parking area in the parking area information.

In step S206, the route creation unit 204 of the management unit 200 transmits the route information to the vehicle 300 by using the identification information of the vehicle 300 included in the vehicle class information.

In step S208, the warehousing information creation unit 201 of the management unit 200 uses the warehousing information stored in the warehousing information storage unit 202 and the information indicating the parking position included in the route information created in step S204. The warehousing information is updated, and the updated warehousing information is stored in the warehousing information storage unit 202. The updated warehousing information shows that the vehicle 300 has been warehousing at the parking position. After that, the process returns to step S204 and waits for the vehicle class information.

In step S304, the automatic driving control unit 302 of the vehicle 300 receives the route information, controls its own automatic driving using the received route information, travels on the route indicated by the route information, and parks indicated by the route information. Park at the position and the automatic warehousing process is completed. In addition, automatic warehousing is also called automatic parking, and automatic driving is also called automatic driving.

The flow of the warehousing process in the parking lot for automatic parking configured by using the parking support system 10 will be described with reference to FIGS. 2 and 4. As shown in FIG. 4, in step S306, the exit request is broadcast from the vehicle 300 parked in the parking area R. The warehousing request includes identification information of the vehicle 300 and information indicating a parking position. The vehicle 300 that has transmitted the delivery request is also referred to as a "third autonomous driving vehicle".

In step S212, the issue request receiving unit 206 (FIG. 2) of the management unit 200 receives the issue request.

In step S214, the route creation unit 204 of the management unit 200 uses the received warehousing request and the warehousing information included in the warehousing information storage unit 202 to transmit the warehousing request from the parking position of the vehicle 300 to the warehousing gate. Create issue route information indicating the issue route.

In step S216, the route creation unit 204 of the management unit 200 transmits the delivery route information to the vehicle 300 that has transmitted the delivery request, using the identification information of the vehicle 300 included in the delivery request.

In step S218, the management unit 200 updates the warehousing information using the warehousing route information created in step S214. That is, the warehousing information is updated so that the parking position of the vehicle 300 included in the warehousing route information is vacant.

In step S308, the automatic driving control unit 302 of the vehicle 300 receives the delivery route information, controls each part of itself using the received delivery route information, automatically travels on the route indicated by the delivery route information, and leaves the vehicle. The automatic delivery process is completed after the automatic delivery from the gate.

As described above, according to the parking support system 10 of the present embodiment, as the first effect, it is possible to easily configure and provide a parking lot capable of autonomous driving parking by using a vacant lot. ..

Further, in the parking support system 10 of the present embodiment, the management unit 200 calculates the warehousing route and the warehousing route, and the computer mounted on the mobile body 100 does not calculate the warehousing route and the warehousing route. Therefore, as a computer mounted on the mobile body 100, a computer having relatively low performance can be adopted, and as a second effect, the cost of the computer mounted on the mobile body 100 can be suppressed. Further, by adopting a small and lightweight computer as the computer mounted on the mobile body 100, it is possible to keep the required performance of the drone as the mobile body 100 low, and as a third effect, the mobile body 100 The cost can be suppressed.

B. Second embodiment:
As shown in FIG. 5, the parking support system 10A of the second embodiment includes three mobile bodies, that is, a first mobile body 110, a second mobile body 120, and a third mobile body 130. When the first moving body 110, the second moving body 120, and the third moving body 130 are not distinguished, they are also referred to as a moving body 100. The parking support system 10A shown in FIG. 5 differs from the parking support system 10 (FIG. 1) of the first embodiment in the following three points.
1) A point including a plurality of moving bodies 100 (three machines in this embodiment)
2) Each moving body has a management unit (described later).
3) The point that each moving body moves with the corresponding vehicle 300 and updates the route information according to the appearance of an obstacle.

In FIG. 5, a plurality of vehicles 300 are illustrated. In FIG. 5 and the following description, three of the plurality of vehicles 300 are described separately from the first vehicle 310, the second vehicle 320, and the third vehicle 330. The first vehicle 310, the second vehicle 320, and the third vehicle 330 are self-driving vehicles similar to the vehicle 300 in the first embodiment. When the first vehicle 310, the second vehicle 320, and the third vehicle 330 are not distinguished, they are also simply referred to as "vehicle 300". The first vehicle 310 is also referred to as a "first autonomous driving vehicle", and the second vehicle 320 is also referred to as a "second autonomous driving vehicle". In FIG. 5, the first moving body 110 moves with the first vehicle 310, the second moving body 120 moves with the second vehicle 320, and the third moving body 130 moves with the third vehicle 330. It shows how to do it.

In the present embodiment, the first mobile body 110 identifies the parking area R and provides route information to the vehicle 300, while the second mobile body 120 and the third mobile body 130 specify the parking area R. Do not do. The first mobile body 110, the second mobile body 120, and the third mobile body 130 share route information and warehousing information by communicating with each other.

As shown in FIG. 6, the first mobile body 110 has the same configuration as the mobile body 100 in the first embodiment, and also includes a first management unit 210a. The first management unit 210a has the same configuration as that of the management unit 200 (FIG. 2) of the first embodiment except for the second wireless communication I / F unit 208. The first mobile body 110 further includes a first obstacle detection unit 109a. The same configuration as in the first embodiment is designated by the same number as a part of the reference numerals, and the preceding description is referred to. In the present embodiment, since the parking support system 10A includes a plurality of moving bodies 100, in the following description, in order to distinguish between the configuration provided by the first moving body 110 and the configuration provided by the other moving bodies 100, the first A "first" is added to the beginning of a part of the name of the configuration included in the mobile body 110, and an is added to the end of the code.

The first obstacle detection unit 109a causes the camera 148 to image the inside of the parking area R while the first moving body 110 is executing the vehicle tracking process described later, and uses the captured image to capture the inside of the parking area R. Detect obstacles. Here, the obstacle is an obstacle that hinders the running of the vehicle 300, and is, for example, an obstacle that appears after a parking area identification process (step S120 described later) such as a person, an animal, or garbage.

The second moving body 120 has a configuration in which the parking area specifying unit 104 and the index detecting unit 102 are excluded from the configuration of the first moving body 110. As described above, the second mobile body 120 does not specify the parking area. Among the configurations included in the second mobile body 120, for the configuration to be distinguished from the first mobile body 110 in the following description, "second" is added to the beginning of the name and b is added to the end of the code. Since the configuration of the third mobile body 130 is the same as the configuration of the second mobile body 120, the illustrations in FIGS. 6 and 7 and the description of the configuration and processing will be omitted. In the following description, when it is not necessary to distinguish between the configuration included in the first moving body 110 and the configuration provided in the second moving body 120, the "first" and "second" at the beginning of the name of the configuration are used. The description will be made using the names excluded and the symbols excluding the "a" and "b" at the end of the reference numerals.

The first vehicle 310, the second vehicle 320, and the third vehicle 330 have the same configuration as the vehicle 300 of the first embodiment. Therefore, the same reference numerals are given to each configuration, and the preceding description is referred to. The third vehicle 330 is not shown in FIG. 6 due to space limitations.

Here, since each of the three mobile bodies 100 includes a warehousing request receiving unit 106, each of the three mobile bodies 100 can receive a warehousing request. Since the vehicle 300 broadcasts the warehousing request, the first warehousing request transmitted by the first vehicle 310 is received by the first mobile body 110, the second mobile body 120, and the third mobile body 130. The three mobile bodies 100 have priorities such that the vehicle tracking process (including the acquisition of vehicle class information), which will be described later, is performed in the order of the first mobile body 110, the second mobile body 120, and the third mobile body 130. It is predetermined. The priority order can be set by a known method such as a master-slave method. The warehousing request receiving unit 106 of each moving body 100 determines whether or not to acquire the vehicle class information by the vehicle class information acquisition unit 108 by using the received warehousing request or the like, and if it is determined to do so, the vehicle class Have the information acquisition unit 108 perform the acquisition process of the vehicle class information. For example, when each of the three moving bodies 100 receives the first warehousing request from the first vehicle 310 as the first warehousing request, the first warehousing request receiving unit 106a of the first moving body 110 receives the first warehousing request. The first vehicle class information acquisition unit 108a is made to acquire the first vehicle class information including the information indicating the vehicle class of the vehicle 310. When each of the three mobile units 100 receives the second warehousing request from the second vehicle 320 as the second warehousing request, the second warehousing request receiving unit 106b of the second mobile body 120 receives the warehousing request. Is the second warehousing request, which is a warehousing request from the second vehicle 320, which is different from the first vehicle 310. Therefore, the second vehicle class information acquisition unit 108b is made to acquire the second vehicle class information. That is, when the second warehousing request receiving unit 106b receives a warehousing request from a vehicle 300 different from the vehicle 300 that the first moving body 110 is following, the second vehicle class information acquisition unit 108b receives the different vehicle 300. The second vehicle class information including the information indicating the vehicle class of the vehicle is acquired. When the first warehousing request receiving unit 106a of the first moving body 110 receives the warehousing request, it transmits an instruction to acquire the vehicle class information to the second moving body 120 or the third moving body 130 and receives the warehousing request. The unit 106 may receive the instruction and have the vehicle class information acquisition unit 108 acquire the vehicle class information. In addition, various known methods can be used to cause the three mobile bodies 100 to perform vehicle class information acquisition processing in order of priority.

Similar to the first embodiment, the flow of the automatic parking support process in the second embodiment will be described with reference to FIGS. 6 and 7, taking the case of providing a parking lot for automatic parking in a vacant lot as an example.

In step S120 shown in FIG. 7, the first moving body 110 performs the parking area identification (step S102) and parking area sensing (step S104) shown in FIG. 3 as the parking area identification process. While the first moving body 110 is performing the parking area specifying process (step S120), the second moving body 120 is waiting at the waiting place (step S172).

In step S132, the parking area specifying unit 104 (FIG. 6) of the first moving body 110 transmits the parking area information to the second moving body 120.

In step S134, the first warehousing information creation unit 201a of the first mobile body 110 creates warehousing information and stores it in the first warehousing information storage unit 202a of the first management unit 210a. In step S136, the first mobile body 110 moves to the waiting place and stands by.

In step S174, the second warehousing information creation unit 201b of the second mobile body 120 receives the parking area information from the first mobile body 110, creates the warehousing information in the same manner as the first mobile body 110, and creates the warehousing information. 2 Stored in the warehousing information storage unit 202b of the management unit 210b. The first mobile body 110 may transmit the warehousing information created by itself in step S134, and the warehousing information received by the second mobile body 120 may be stored in its own warehousing information storage unit 202.

The automatic driving control unit 302 of the first vehicle 310 broadcasts the first warehousing request in step S312. Then, the first warehousing request receiving unit 106a of the first mobile body 110 receives the first warehousing request in step S138, and the second warehousing request receiving unit 106b of the second mobile body 120 receives the first warehousing request in step S176. Receive the request. As described above, the first moving body 110, the second moving body 120, and the third moving body 130 perform the vehicle tracking process described later in the order of the first moving body 110, the second moving body 120, and the third moving body 130. Priorities are set in advance to do so. Therefore, the first moving body 110 performs the vehicle follow-up process (step S140), and the second moving body 120 and the third moving body 130 stand by at the waiting place. The vehicle tracking process (step S140) will be described later. The first warehousing request receiving unit 106a of the first moving body 110 does not receive the warehousing request while the first moving body 110 is performing the vehicle tracking process (step S140). While the first mobile body 110 is performing the vehicle follow-up process (step S140), the first warehousing request receiving unit 106a still receives the warehousing request from the other vehicle 300, but the first moving body 110 has a vehicle. The follow-up process (step S140) may not be executed.

The first mobile body 110 creates first route information indicating the warehousing route of the first vehicle 310 (described in detail later) in the vehicle follow-up process (step S140), and the first vehicle 310 and the second mobile body 120. , And to the third mobile body 130.

The automatic driving control unit 302 of the first vehicle 310 receives the first route information from the first moving body 110 in step S314, controls the automatic traveling of the first vehicle 310 using the first route information, and parks the vehicle. ..

When the second vehicle 320 broadcasts the second warehousing request in step S322 while the first mobile body 110 is performing the vehicle follow-up process S140, the second warehousing request receiving unit 106b of the second mobile body 120 steps. The second warehousing request is received in S178, and the third moving body receives the second warehousing request.

As described above, since the second moving body 120 has a higher priority of the vehicle following processing, the second moving body 120 performs the vehicle following processing (step S140) described later, and the third moving body 130 is at the waiting place. stand by.

In step S179, the second mobile body 120 receives the first route information from the first mobile body 110, and updates the warehousing information using the received first route information. In FIG. 7, the warehousing information update process (step S179) is described between the second warehousing request reception process (step S178) and the vehicle follow-up process (step S140), but is not limited to this, and the warehousing is not limited to this. The information update process (step S179) may be performed when route information is received from another mobile body 100, that is, the first mobile body 110 or the third mobile body 130.

In step S140, the second moving body 120 performs the same processing as the vehicle following processing in the first moving body 110.

The automatic driving control unit 302 of the second vehicle 320 receives the second route information from the second moving body 120 in step S324, controls the automatic traveling of the second vehicle 320 using the second route information, and parks the vehicle. ..

The flow of the vehicle follow-up process in the first moving body 110 will be described with reference to FIGS. 6 and 8. The flow of the vehicle tracking process performed by the second moving body 120 and the third moving body 130 is the same as the flow of the vehicle following processing in the first moving body 110. This is because, in the present specification, the "third route information" is the route information indicating the delivery route.

In step S142 shown in FIG. 8, the first vehicle class information acquisition unit 108a of the first moving body 110 uses the image captured by its own camera 148 as in step S110 (FIG. 3) of the first embodiment. The vehicle class of the first vehicle 310 is calculated, and the first vehicle class information is created. In other words, the first vehicle class information acquisition unit 108a of the first mobile body 110 acquires the first vehicle class information.

In step S144, the first route creation unit 204a of the first mobile body 110 uses the warehousing information and the first vehicle class information in the same manner as in step S204 (FIG. 3) in the management unit 200 of the first embodiment. The first route information including the information indicating the parking position of the first vehicle 310 is created.

In step S146, the first route creation unit 204a of the first mobile body 110 transmits the first route information to the first vehicle 310. As described above, the first vehicle 310 starts automatic traveling when it receives the first route information. Further, the first route creation unit 204a of the first mobile body 110 transmits the first route information to the second mobile body 120 and the third mobile body 130. As a result, the first route information is shared among the first mobile body 110, the second mobile body 120, and the third mobile body 130. The second mobile body 120 and the third mobile body 130 use the received first route information to update the warehousing information provided by the second mobile body 120 and the third mobile body 130.

In step S148, the first mobile body 110 starts following the first vehicle 310. The first mobile body 110 uses, for example, a millimeter-wave radar or the like to maintain a distance from the first vehicle 310 and uses the first route information, so that the first moving body 110 accompanies the traveling of the first vehicle 310. Fly over vehicle 310. The position, flight altitude, etc. of the first mobile body 110 with respect to the first vehicle 310 are such that the camera 148 of the first mobile body 110 can image an obstacle in front of the first vehicle 310 in the traveling direction. However, it is not particularly limited.

In step S150, the first warehousing information creation unit 201a updates the warehousing information using the first route information. That is, the warehousing information is updated so that the first vehicle 310 is warehousing at the parking position of the first vehicle 310 indicated by the first route information.

In step S152, the first obstacle detection unit 109a detects an obstacle in front of the first vehicle 310 in the traveling direction. If an obstacle is detected by the first obstacle detection unit 109a, the process proceeds to step S154, and if no obstacle is detected, the process proceeds to step S162.

In step S154, the first route creation unit 204a changes the first route information by using the information indicating the detection position of the obstacle detected by the first obstacle detection unit 109a. That is, the first vehicle 310 changes the route of the first vehicle 310 so as to avoid obstacles.

In step S156, the first route creation unit 204a transmits the changed first route information to the first vehicle 310, the second mobile body 120, and the third mobile body 130. The first vehicle 310 automatically travels on the route indicated by the received first route information. As a result, the first vehicle 310 has changed the warehousing route.

The first warehousing information creation unit 201a is waiting for the reception of the second route information or the third route information. In step S158, when the first warehousing information creation unit 201a of the first mobile body 110 receives the second route information or the third route information, in step S160, the received second route information or the third route information is transmitted. Use to update warehousing information. If the second route information and the third route information are not received in step S158, the process proceeds to step S162. Here, the second route information is information indicating the warehousing route of the second vehicle 320 and the third vehicle 330, and the third route information is information indicating the warehousing route of the vehicle 300.

In step S162, the first route creation unit 204a determines the completion of warehousing of the first vehicle 310, and when the warehousing is completed, ends the vehicle follow-up process and moves the first moving body 110 to the waiting place ( Step S136 shown in FIG. 7). If the first route creation unit 204a determines that the warehousing has not been completed, the process returns to step S152. For example, the first route creating unit 204a periodically receives the positioning information of the first vehicle 310 from the first vehicle 310, and the received positioning information substantially matches the information indicating the parking position included in the first route information. In this case, it can be determined that the warehousing is completed.

As described above, in the first moving body 110, the processes of steps S152 to S162 are repeated until the warehousing of the first vehicle 310 is completed. That is, when the first moving body 110 starts following the first vehicle 310 (step S148), the first obstacle detection unit 109a starts detecting obstacles until the warehousing of the first vehicle 310 is completed. , Obstacles are continuously detected.

The flow of the warehousing process in the parking lot for automatic parking configured by using the parking support system 10A of the present embodiment will be described with reference to FIGS. 6 and 9. Although the process in the first mobile body 110 is shown in FIG. 9, the same process can be performed in the second mobile body 120 and the third mobile body 130. In step S402 shown in FIG. 9, the first mobile body 110 is waiting at the waiting place.

In step S312, the exit request is broadcast from the vehicle 300 parked in the parking area R. The warehousing request includes identification information of the vehicle 300 and information indicating a parking position.

In step S404, the first issue request receiving unit 206a (FIG. 6) of the first mobile 110 receives the issue request.

In step S406, the first moving body 110 starts following. Specifically, the control unit 142 of the first mobile body 110 uses the parking position information of the vehicle 300 included in the warehousing request to identify the position of the vehicle 300 that has transmitted the warehousing request, and from the waiting place to the vehicle 300. Move to the sky.

In step S408, the first route creation unit 204a uses the warehousing request and the warehousing information included in the first warehousing information storage unit 202a from the parking position of the vehicle 300 that has transmitted the warehousing request to the warehousing gate. Create a third route information indicating the delivery route.

In step S410, the first route creation unit 204a of the first mobile body 110 transmits the third route information to the vehicle 300 that has transmitted the warehousing request by using the identification information of the vehicle 300 included in the warehousing request. .. At this time, the first route creation unit 204a also transmits the third route information to the second mobile body 120 and the third mobile body 130. Upon receiving the third route information, the second mobile body 120 and the third mobile body 130 update the current parking position of the vehicle 300 included in the warehousing information of the second mobile body 120 and the third mobile body 130 to a vacant position.

In step S314, the automatic driving control unit 302 of the vehicle 300 receives the third route information, controls each part of itself using the received third route information, and automatically travels on the route indicated by the third route information. Begin to.

In step S412, the first warehousing information creation unit 201a updates the warehousing information using the third route information. That is, the warehousing information is updated so that the parking position of the vehicle 300 included in the third route information is vacant.

In step S414, the first obstacle detection unit 109a detects an obstacle in front of the vehicle 300 in the traveling direction in the same manner as in step S152 (FIG. 8) described above. If an obstacle is detected by the first obstacle detection unit 109a of the first moving body 110, the process proceeds to step S416, and if no obstacle is detected, the process proceeds to step S426.

In step S416, the first route creation unit 204a changes the third route information so that the vehicle 300 can avoid the obstacle by using the information indicating the detection position of the obstacle detected by the first obstacle detection unit 109a. do.

In step S418, the first route creation unit 204a of the first mobile 110 transmits the changed third route information to the vehicle 300, the second mobile 120, and the third mobile 130.

The first warehousing information creation unit 201a is waiting for the reception of the second route information or the third route information. In step S422, when the first warehousing information creation unit 201a receives the second route information or the third route information, in step S424, the first warehousing information creation unit 201a receives the second route information or the third route information. The warehousing information is updated using the route information. If the second route information and the third route information are not received in step S422, the process proceeds to step S426.

In step S426, the first route creation unit 204a determines that the delivery of the vehicle 300 is completed, and when the delivery is completed, the vehicle follow-up process is terminated (step S428), and the control unit 142 sets the first moving body 110. Move to the waiting area (step S402). If the first route creation unit 204a determines that the delivery has not been completed, the process returns to step S414. For example, the first route creation unit 204a periodically receives the positioning information of the vehicle 300 from the vehicle 300, and when the received positioning information substantially matches the information indicating the delivery gate included in the third route information, the first route creation unit 204a issues the goods. Can be determined to be complete. The first route creation unit 204a and the second route creation unit 204b in the present embodiment are also referred to as a "third route creation unit".

When the vehicle 300 arrives at the exit gate of the parking area R, the automatic exit is completed (step S316), and the automatic exit process in the vehicle 300 ends. When the vehicle 300 passes through the exit gate and is parked in the waiting area of the vehicle 300 outside the parking area R, the exit may be completed. In addition, the completion of shipping can be determined as appropriate.

As described above, the parking support system 10A of the present embodiment can also obtain the same effect as the first effect of the first embodiment.

Further, the parking support system 10A of the present embodiment includes a plurality of moving bodies 100, and each moving body 100 is configured to be movable along with the vehicle 300. Further, each moving body 100 includes an obstacle detection unit 109, that is, a first obstacle detection unit 109a, a second obstacle detection unit 109b, and the like. Therefore, when an obstacle such as an animal appears in front of the path of the vehicle 300 while the vehicle 300 is automatically traveling, the moving body 100 can detect the obstacle. Then, when the moving body 100 detects an obstacle, it changes the route so as to avoid the obstacle and transmits it to the vehicle 300. Therefore, as a second effect, the vehicle 300 comes into contact with the obstacle, or the like. Accidents can be suppressed.

In the parking support system 10A, the route information is shared among the plurality of moving bodies 100. Therefore, as a third effect, the route creating unit 204 of each moving body 100 is a vehicle that the other moving bodies 100 are following. It is possible to create an entry route and an exit route for the vehicle 300 that the vehicle 300 is following so as not to interfere with the route of the 300.

C. Third Embodiment:
As shown in FIG. 10, the parking support system 10B of the third embodiment includes three mobile bodies 100, that is, a first mobile body 110B, a second mobile body 120B, and a third mobile body 130B. Hereinafter, when the first moving body 110B, the second moving body 120B, and the third moving body 130B are not distinguished, they are also referred to as the moving body 100. The parking support system 10B shown in FIG. 10 differs from the parking support system 10A (FIG. 5) of the second embodiment in that it includes a management unit 200B and that the three mobile bodies 100 do not create route information. Is. In the present embodiment, the first mobile body 110B, the second mobile body 120B, and the third mobile body 130B acquire route information and warehousing information by communicating with the management unit 200B. In FIG. 10, the first moving body 110B moves with the first vehicle 310, the second moving body 120B moves with the second vehicle 320, and the third moving body 130 moves with the third vehicle 330. It shows how to do it.

In the present embodiment as well, as in the second embodiment, the first moving body 110B specifies the parking area R, and the second moving body 120B and the third moving body 130B do not specify the parking area R.

As shown in FIG. 11, the first mobile body 110B includes a configuration in which the first management unit 210a is excluded from the configuration of the first mobile body 110 (FIG. 6) in the second embodiment. The second mobile body 120B includes a configuration in which the second management unit 210b is excluded from the configuration of the second mobile body 120 (FIG. 6) in the second embodiment. That is, in the parking support system 10B of the present embodiment, the management unit 200B fulfills the function of the management unit 210 that each mobile body 100 has in the parking support system 10A of the second embodiment. In each mobile body 100, the same components as those in the second embodiment are designated by the same reference numerals, and the preceding description will be referred to.

The first vehicle 310, the second vehicle 320, and the third vehicle 330 have the same configuration as the vehicle 300 of the first embodiment. Therefore, in each vehicle 300, the same reference numerals are given to the same configurations as those of the first embodiment, and the preceding description will be referred to. The third mobile body 130B and the third vehicle 330 are not shown in FIG. 11 due to space limitations.

The management unit 200B has the same configuration as the management unit 200 in the first embodiment. Therefore, the same reference numerals are given to the same configurations as those of the first embodiment, and the preceding description will be referred to. That is, the management unit 200B indicates a warehousing route including the parking position of the first vehicle 310 based on the parking area information received from the first mobile body 110B and the vehicle class information received from the first mobile body 110B. Route information is created and transmitted to the first vehicle 310 and the first mobile 110B. Similarly, the management unit 200B creates route information indicating the warehousing route including the parking positions of the second vehicle 320 and the third vehicle 330, and the second vehicle 320, the second mobile body 120B, and the third vehicle 330. It is transmitted to the third mobile body 130B, respectively. One of the differences between the management unit 200B of the present embodiment and the management unit 200 of the first embodiment is that it receives vehicle class information from a plurality of moving bodies 100. Further, in the second embodiment, a plurality of mobile bodies 100 share a plurality of route information by communicating differently, whereas in the present embodiment, the route information is aggregated in the management unit 200B. .. Each mobile body 100 flies according to the route information received from the management unit 200B. The management unit 200B does not provide the route information to the moving body 100, and the moving body 100 is configured to fly over the following vehicle 300 by using the position information from the following vehicle 300. You may. The route creation unit 204 in the present embodiment is also referred to as a "first route creation unit" and a "third route creation unit".

Similar to the first embodiment, the flow of the automatic parking support process in the third embodiment will be described with reference to FIGS. 11 to 14, taking as an example a case where a parking lot for automatic parking is provided in a vacant lot. Since the second moving body 120B and the third moving body 130B perform the same processing as the first moving body 110B except for the processing related to the identification of the parking area, FIGS. 12 to 14 illustrate the processing of the first moving body 110B. doing. In the following description, "first to third" are read as "second to second" in the second mobile body 120 and "third to" in the third mobile body 130. However, the route information is also read as "second route information" in the case of the third mobile body 130.

The process executed in the parking support system 10B of the present embodiment includes the same process as the process executed in the parking support system 10 of the first embodiment and the parking support system 10A of the second embodiment. Therefore, in FIGS. 12 to 14, the same processes as those in the first embodiment and the second embodiment are assigned the same step numbers as those shown in FIGS. 3, 4, 7, 8 and 9. See the preceding description.

In steps S102 to S106 shown in FIG. 12, the first mobile body 110B identifies the parking area R and transmits the parking area information to the management unit 200B in the same manner as in steps S102 to S106 of the first embodiment. In step S136, the first mobile body 110B moves to the waiting place and stands by. While the first moving body 110B performs steps S102 to S106, the second moving body 120B and the third moving body 130B are waiting at the waiting place.

In step S202, the warehousing information creation unit 201 (FIG. 11) of the management unit 200B creates warehousing information and stores it in the warehousing information storage unit 202, as in the first embodiment (FIG. 3).

In step S302, the first vehicle 310 broadcasts a warehousing request.

In step S138, the first warehousing request receiving unit 106a of the first mobile body 110B receives the warehousing request. In the present embodiment, similarly to the second embodiment, when the first mobile body 110B, the second mobile body 120B, and the third mobile body 130B receive the warehousing request, the vehicle tracking process (step S500) described later is executed. The priority to be done is set. When the first moving body 110B receives the warehousing request in step S138, the first moving body 110B performs the vehicle follow-up process (step S500). The follow-up process (step S500) in this embodiment will be described later.

When the management unit 200B receives the vehicle class information indicating the vehicle class of the first vehicle 310 from the first mobile body 110B, the management unit 200B performs a route creation / change process (step S600).

When the first vehicle 310 receives the warehousing route information from the management unit 200B, the first vehicle 310 performs an automatic warehousing process (step S324).

The flow of the vehicle follow-up process in the first mobile body 110B and the route creation / change process in the management unit 200B will be described with reference to FIGS. 11 and 13. The flow of the vehicle tracking process performed by the second moving body 120B and the third moving body 130B is the same as the flow of the vehicle following processing in the first moving body 110B.

In step S110 shown in FIG. 13, the first mobile body 110B acquires the vehicle class information of the first vehicle 310 as in the first embodiment.

In step S204, the management unit 200B creates the warehousing route information as in the first embodiment. In step S205, the management unit 200B transmits the warehousing route information to the first vehicle 310 and the first mobile body 110B. In the present embodiment, unlike the first embodiment, the first mobile body 110B follows the first vehicle 310, so that the management unit 200B also transmits the route information to the first mobile body 110B.

When the first mobile body 110B receives the warehousing route information from the management unit 200B, in step S148, the first mobile body 110B starts following the first vehicle 310 as in the second embodiment. When the first vehicle 310 receives the warehousing route information from the management unit 200B, the automatic warehousing in the first vehicle 310 is started (step S334).

In step S208, the management unit 200B updates the warehousing information using the warehousing route information created in step S205. That is, the warehousing information is updated so that the first vehicle 310 is warehousing at the parking position of the first vehicle 310 indicated by the warehousing route information.

In step S152, the first obstacle detection unit 109a of the first moving body 110B detects an obstacle in front of the first vehicle 310 in the traveling direction. If an obstacle is detected by the obstacle detection unit 109 of the first moving body 110, the process proceeds to step S153, and if no obstacle is detected, the process proceeds to step S162.

In step S153, the first obstacle detection unit 109a of the first mobile body 110B creates obstacle information indicating the detection position of the detected obstacle and transmits it to the management unit 200B.

In step S602, if the management unit 200B receives the obstacle information, the process proceeds to step S154, and if not, the process proceeds to step S616.

In step S154, the route creation unit 204 of the management unit 200B uses the obstacle information to store the first vehicle 310, similarly to the first route creation unit 204a of the first mobile body 110 of the second embodiment. Change the route information indicating the route.

In step S155, the route creation unit 204 of the management unit 200B transmits the changed warehousing route information to the first vehicle 310 and the first mobile body 110B. In the present embodiment, since the management unit 200B creates the route information and manages the warehousing information, the route information is not transmitted to the second mobile body 120B and the third mobile body 130B. The first vehicle 310 automatically travels according to the changed warehousing route information, and the first mobile body 110B flies over the first vehicle 310 according to the changed warehousing route information.

In step S616, the route creation unit 204 of the management unit 200B determines the completion of warehousing of the first vehicle 310, and when the warehousing is completed, ends the route creation / change process. The determination of the completion of warehousing is the same as in the first and second embodiments.

The flow of the warehousing process in the parking lot for automatic parking configured by using the parking support system 10B of the present embodiment will be described with reference to FIGS. 11 and 14. In step S402, the first mobile body 110B is waiting at the waiting area.

In step S306, as in the first embodiment, the exit request is broadcast from the vehicle 300 parked in the parking area R.

In steps S212 to 218, the management unit 200B creates the third route information using the warehousing request, transmits it to the vehicles 300 and 110B, and updates the warehousing information, as in the first embodiment.

In step S704, the first mobile body 110B starts following the vehicle 300 as in the second embodiment.

After that, as in the case of warehousing of the vehicle described above (FIG. 13), the first mobile body 110B detects obstacles and transmits obstacle information in steps S152 and S153, and the management unit 200B steps. In S602, S154, and S155, the third route information is changed and transmitted.

The vehicle 300 automatically leaves the garage using the changed third route information transmitted from the management unit 200B.

In the parking support system 10B of the present embodiment as well, the first mobile body 110B continues to detect obstacles until the delivery of the vehicle 300 is completed, as in the second embodiment. Further, the management unit 200B changes the third route information every time the obstacle information is received until the delivery of the vehicle 300 is completed, and the changed third route information is used for the first mobile body 110B and the vehicle 300. Send to.

If the management unit 200B receives a warehousing request from the other vehicle 300 while the first mobile body 110B is executing the follow-up process, the management unit 200B takes the warehousing route of the other vehicle 300. The indicated third route information is transmitted to the second mobile body 120B. If the management unit 200B receives a warehousing request from yet another vehicle 300 while the first mobile body 110B and the second mobile body 120B are executing the follow-up process, the management unit 200B receives the delivery request from the vehicle 300. The third route information indicating the delivery route is transmitted to the third mobile body. If the management unit 200B receives a delivery request from another vehicle 300 while all of the first mobile body 110B, the second mobile body 120B, and the third mobile body 130B are executing the follow-up process, the management unit 200B , The third route information indicating the exit route of the vehicle 300 is not transmitted to either the vehicle 300 or the mobile body 100. Therefore, the automatic warehousing of the vehicle 300 is not started. Then, among the first moving body 110B, the second moving body 120B, and the third moving body 130B, the management unit 200B transmits the third route information to the moving body 100 for which the tracking process has been completed, and requests the delivery. The third route information is transmitted to the vehicle 300 that has transmitted the above. Then, the automatic warehousing of the vehicle 300 is started, and the follow-up process by the moving body 100 is started.

As described above, the parking support system 10B of the present embodiment can also obtain the same effects as the first effect and the second effect of the second embodiment.

Further, in the parking support system 10B, since the management unit 200B creates the route information and manages the warehousing information, each of the plurality of mobile bodies 100 does not calculate the warehousing route and the warehousing route. That is, since the computer mounted on the mobile body 100 does not create the route information, it is possible to obtain the same effect as the second and third effects of the first embodiment.

D. Other embodiments:
(1) In the above embodiment, the automatic parking support system and the automatic parking support method have been described by taking as an example the case where a parking lot for automatic parking is provided in a vacant lot. It is also possible to apply the automatic parking support method to an existing parking lot that does not have a system for supporting parking by automatic driving.

(2) In the above embodiment, an example in which the parking area R is specified by using a pylon as the index 400 is shown, but the index 400 is not limited to the pylon. For example, in an existing parking lot that does not have a system for supporting automatic parking, a pillar or the like in the parking lot may be used as an index 400. Further, a specific position on the map may be used as the index 400. For example, a geographic information system may be used to instruct the moving body 100 to indicate the index 400.

(3) In the above embodiment, an example is shown in which four indexes 400 are used as vertices and a square area connecting extension points with a straight line is specified as a parking area R, but the number of indexes 400 is not limited to this. A number of 2 or more can be appropriately selected. When the parking area R is specified by the two indexes 400, for example, a rectangle having two diagonal vertices may be specified as the parking area R. Further, the indexes 400 may not be connected by a straight line, but may be connected by a curved line, for example.

(4) In the above embodiment, an example is shown in which the moving body 100 acquires the vehicle class information of the vehicle 300 by using the image captured by the camera 148 provided by the moving body 100, but the present invention is not limited to this, and for example, the vehicle 300. The warehousing request sent by the company may be configured to include its own vehicle class information. In this case, it is preferable to include the door opening / closing space in the vehicle class information. Further, the moving body 100 or the management unit 200 stores the vehicle class information including the total length, the vehicle width, the vehicle height, the opening / closing space of the door, etc. in association with the information indicating the vehicle type, and the vehicle 300 responds to the warehousing request by the vehicle type. The vehicle class information may be acquired by the moving body 100 or the management unit 200 by transmitting the information including the information indicating the above.

(5) In the above embodiment, an example is shown in which both the parking support systems 10, 10A, and 10B, the manned automatic traveling vehicle 300, and the unmanned automatic traveling vehicle 300 are targeted, but only one of them is targeted. May be good. For example, when only the vehicle 300 that automatically travels unmanned is targeted, the opening / closing space of the door may not be included when the route creation unit 204 determines the parking zone. In this way, more vehicles 300 can be parked.

(6) In the above embodiment, when the route creation unit 204 determines the parking zone, an example is shown in which the parking zone including the opening / closing space of the door is determined regardless of the presence or absence of the driver of the vehicle 300. The size of the parking lot may be changed according to the presence or absence of a driver. Further, the size of the parking lot may be changed according to the presence or absence of other passengers. For example, the warehousing request may be configured to include information on the presence or absence of the driver and passengers, or the moving body 100 may be configured to determine the presence or absence of the driver and passengers using the image captured by the camera 148. ..

(7) In the above embodiment, the parking area specifying unit 104 of the moving body 100 performs a process (step S104) for detecting unevenness or obstacles on the ground in the parking area R, but the process of step S104 is performed. It may be configured without. For example, in the second and third embodiments, when step S104 is omitted, the moving body 100 follows the vehicle 300, detects an obstacle in front of the vehicle 300 in the traveling direction, and guides the automatic traveling route of the vehicle 300. Can be changed. Therefore, even if the configuration does not include step S104, it is possible to suppress an accident such as the vehicle 300 coming into contact with an obstacle.

(8) In the second and third embodiments, the first moving bodies 110 and 110B specify the parking area R and move along with the vehicle 300 to detect obstacles. , The first moving bodies 110 and 110B may be configured to only specify the parking area R.

(9) In the above embodiment, the route information may include information indicating the traveling speed of the vehicle 300. By including the information indicating the traveling speed in the route information, it is possible to smoothly perform automatic warehousing and automatic warehousing of the plurality of vehicles 300.

(10) The management unit 200 and the management unit 200B may be configured as, for example, a server computer or cloud computing. In such a configuration, the second wireless communication I / F unit 208 is configured to enable communication via a wide area network as in the case of the third wireless I / F unit 304.

(11) Although the example in which the parking area R is specified by one moving body 100 is shown, the parking area R may be specified by using two or more moving bodies 100. By dividing a wide area and scanning with a plurality of moving bodies 100, it is possible to specify the parking area R in a shorter time than specifying the parking area R by one moving body 100.

(12) In the above embodiment, the moving body 100 or the management unit 200 shows an example of calculating both the warehousing route and the warehousing route, but at least the warehousing route may be calculated.

(13) In each of the above embodiments, a part of the configuration realized by the hardware may be replaced with software, and conversely, a part of the configuration realized by the software may be replaced with the hardware. You may. Further, when a part or all of the functions of the present disclosure are realized by software, the software (computer program) can be provided in a form stored in a computer-readable recording medium. "Computer readable recording medium" is not limited to portable recording media such as flexible disks and CD-ROMs, but is fixed to internal storage devices in computers such as various RAMs and ROMs, and computers such as hard disks. It also includes external storage devices that have been installed. That is, the term "computer-readable recording medium" has a broad meaning including any recording medium in which data packets can be fixed rather than temporarily.

The present disclosure is not limited to the above-described embodiment, and can be realized by various configurations within a range not deviating from the gist thereof. For example, the technical features in the embodiments corresponding to the technical features in each form described in the column of the outline of the invention may be used to solve some or all of the above-mentioned problems, or one of the above-mentioned effects. It is possible to replace or combine as appropriate to achieve part or all. Further, if the technical feature is not described as essential in the present specification, it can be deleted as appropriate.

10, 10A, 10B ... Parking support system, 100 ... Moving object, 102 ... Index detection unit, 104 ... Parking area identification unit, 106 ... Warehousing request receiving unit, 106a ... First warehousing request receiving unit, 106b ... Second warehousing request Receiving unit, 108 ... Vehicle rating information acquisition unit, 108a ... First vehicle rating information acquisition unit, 108b ... Second vehicle rating information acquisition unit, 109 ... Obstacle detection unit, 109a ... First obstacle detection unit, 110, 110B ... 1st mobile body, 120, 120B ... 2nd mobile body, 130, 130B ... 3rd mobile body, 142 ... Control unit, 146 ... 1st wireless communication I / F unit, 148 ... Camera, 149 ... GPS receiver, 200, 200B ... management unit, 201 ... warehousing information creation unit, 201a ... first warehousing information creation unit, 202 ... warehousing information storage unit, 202a ... first warehousing information storage unit, 202b ... warehousing information storage unit, 204 ... route creation Units, 204a ... 1st route creation unit, 206 ... Delivery request receiving unit, 206a ... 1st delivery request receiving unit, 208 ... Second wireless communication I / F unit, 210 ... Management unit, 210a ... 1st management unit, 210b … Second management department, 400… index, R… parking area

Claims (5)

It is a parking support system (10, 10A, 10B) that supports parking by automatic driving of autonomous vehicles.
A first moving body (100, 110, 110B) that identifies a parking area (R) in which the plurality of autonomous vehicles can park, and
A first management unit (200, 200B, 210a) that supports the automatic driving of the autonomous driving vehicle in the parking area specified by the first moving body is provided.
The first moving body is
An index detection unit (102) that detects a plurality of indexes (400),
A parking area identification unit (104) that specifies the parking area by using the positions of the plurality of indicators as a part of the outer edge of the parking area and creates parking area information including information indicating the parking area.
After creating the parking area information, the first warehousing request receiving unit (106, 106a) that receives the warehousing request requesting warehousing from the autonomous driving vehicle located outside the parking area, and the first warehousing request receiving unit (106, 106a).
The first vehicle class information acquisition unit (108, 108a) for acquiring the first vehicle class information including the total length and the vehicle width of the first autonomous driving vehicle, which is the autonomous driving vehicle that has transmitted the warehousing request, is provided.
The first management unit
A warehousing information storage unit (202, 202a) in which warehousing information indicating the warehousing status of the parking area is stored, and
At least, a first route including information indicating a warehousing route including a parking position of the first autonomous driving vehicle in the parking area using the parking area information, the first vehicle rating information, and the warehousing information. The first route creation unit (204, 204a) that creates information and transmits it to the first autonomous driving vehicle, and
It is provided with a warehousing information creation unit (201, 201a) that creates the warehousing information using the parking area information and updates the warehousing information using the first route information .
The condition of the reception of the receipts request by the first moving body, and create and send the first path information, and updating of the warehousing information, repeatedly perform the parking assistance system. The parking support system according to claim 1, further
The second vehicle rating information acquisition unit (the second vehicle rating information acquisition unit) that acquires the second vehicle rating information including the total length and the vehicle width of the second automatically driven vehicle that is different from the first automatically driven vehicle and that has transmitted the warehousing request. 108b) and the second warehousing request receiving unit that receives the warehousing request from the automatically driven vehicle, and when the warehousing request transmitted from the second automatically driven vehicle is received, the second vehicle rating information. A second moving body (120, 120, which is provided with a second warehousing request receiving unit (106b) for causing the acquisition unit to acquire the second vehicle rating information, and is configured to move with the second automatically driven vehicle. 120B) and
A second route including at least information indicating a traveling route including a parking position of the second autonomous driving vehicle in the parking area using the parking area information, the second vehicle rating information, and the warehousing information. A second management unit (210b), which includes a second route creation unit (204b) that creates information and transmits the information to the second autonomous driving vehicle, is provided.
The second moving body is
During the movement accompanying the second autonomous driving vehicle, in the traveling path of the second autonomous driving vehicle, an obstacle that hinders the traveling of the second autonomous driving vehicle is detected in front of the traveling direction of the second autonomous driving vehicle. 2 An obstacle detection unit (109b) is further provided.
When the second obstacle detection unit detects the obstacle, the second route creation unit of the second management unit changes the second route information and transmits it to the second autonomous driving vehicle.
The warehousing information creation unit of the first management unit is a parking support system that updates the warehousing information using the second route information. The parking support system according to claim 2.
The first moving body is configured to move with the first autonomous driving vehicle in the parking area, and is configured to move with the first autonomous driving vehicle.
During the movement accompanying the first autonomous driving vehicle, in the traveling path of the first autonomous driving vehicle, an obstacle that hinders the traveling of the first autonomous driving vehicle is detected in front of the traveling direction of the first autonomous driving vehicle. 1 An obstacle detection unit (109a) is further provided.
The first route creation unit is a parking support system that changes the first route information and transmits it to the first autonomous driving vehicle when the first obstacle detection unit detects the obstacle. In the parking support system according to claim 1,
The parking area specifying portion of the first moving body is
A part of the outer edge of the parking area is included in the parking area information as a delivery position.
The first management unit further
Receives a warehousing request from the third automatic driving vehicle parked in the parking area, which is a warehousing request requesting warehousing from the parking area and includes parking position information indicating the parking position of the third automotive vehicle. Withdrawal request receiving units (206, 206a)
At least, using the parking position information, the parking area information, and the warehousing information, a third route information indicating the exit route of the third autonomous driving vehicle is created and transmitted to the third autonomous driving vehicle. Third route creation unit (204, 204a)
With
The warehousing information creation unit is a parking support system that updates the warehousing information using the third route information. A first moving body that specifies a parking area in which a plurality of automatically driving vehicles can park, and a first management unit that supports automatic driving of the automatically driving vehicle in the parking area specified by the first moving body are used. It was a parking support method
A step in which the first moving body detects a plurality of indicators arranged on the outer edge of the parking area, and
A step in which the first moving body identifies the parking area by using the detected positions of the plurality of indicators as a part of the outer edge of the parking area and creates parking area information including information indicating the parking area.
A step in which the first management unit uses the parking area information to create warehousing information indicating the warehousing status of the parking area.
After creating the parking area information, the first moving body receives a warehousing request requesting warehousing from the self-driving vehicle located outside the parking area.
A step in which the first moving body acquires the first vehicle class information including the total length and the vehicle width of the first autonomous driving vehicle which is the autonomous driving vehicle to which the warehousing request is transmitted.
The first management unit includes at least information indicating a warehousing route including a parking position of the first autonomous driving vehicle in the parking area by using the parking area information and the first vehicle rating information. 1 The process of creating route information and transmitting it to the first autonomous driving vehicle,
A step in which the first management unit updates the warehousing information using the first route information, and
A step of repeatedly executing the creation and transmission of the first route information and the update of the warehousing information by the first management unit on condition that the warehousing request is received by the first mobile body.
Parking support method.

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