JP2020051116A - Automatic parking support system for mechanical parking equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic parking support system for a mechanical parking facility in which an autonomous vehicle can automatically park at an appropriate position in an entrance / exit section of the mechanical parking facility without requiring advanced automatic driving technology. SOLUTION: This is an automatic parking support system for a mechanical parking facility capable of automatically parking an autonomous vehicle that the driver does not operate, and the autonomous vehicle has an automatic driving and steering function and a vehicle parking mark. The mechanical parking facility is equipped with a parking function that recognizes and temporarily parks, and the mechanical parking facility is equipped with an entry / exit section that allows the autonomous driving vehicle that has been temporarily parked to enter and park at the vehicle parking mark, and the vehicle parking mark is inside the entry / exit section. It is provided in front of the regular position of the vehicle and in a position where the autonomous vehicle can move by autonomous driving. [Selection diagram] Fig. 1

Description

  The present invention relates to an automatic parking assistance system for a mechanical parking facility that can automatically park an automobile that can be automatically driven without a user performing a driving operation.

  2. Description of the Related Art In recent years, research has been conducted on an automobile (hereinafter, referred to as an “autonomous driving vehicle”) in which a user can perform an automatic driving without performing a driving operation (in this specification and the documents in the claims). In addition, a technique has been proposed in which an automatic driving vehicle is used to enter and exit a parking lot using an automatic driving function. For example, as a prior art of this type, there is a technology in which after an occupant gets off at an entrance of a building, an automatic driving vehicle is automatically driven and stored in a mechanical parking device (for example, see Patent Document 1).

  Further, as another prior art, in a parking assist device including automatic parking, when the vehicle is parked in a white line portion of a parking frame recognized by a camera behind the vehicle, when the posture of the vehicle is shifted with respect to the white line, There is one that guides by sound or image (for example, see Patent Document 2).

JP-A-2017-214800 JP 2012-51487 A

  However, in the above-mentioned Patent Document 1, after the occupant gets off the vehicle, the self-driving vehicle is caused to enter the mechanical parking device by the function of the self-driving vehicle. Automatic driving technology is required, and the automatic driving vehicles that can automatically park are limited.

  Further, Patent Document 2 described above is for parking a vehicle in a parking frame provided in a flat parking lot, and automatically travels and parks at a predetermined position such as a pallet in an entrance / exit section of a mechanical parking facility. Difficult to apply to cases.

  On the other hand, the mechanical parking equipment prepares the same conditions as the parking frame of a flat parking lot because there are irregularities in the entrance / exit section that is the parking position and obstacles such as structural members and various devices around the entrance / exit section. It may be difficult, and it is also difficult to unify these conditions for each parking facility.

  Therefore, an object of the present invention is to provide an automatic parking assist system for a mechanical parking facility that enables an automatic driving vehicle to automatically park at a regular position in the entrance / exit section of the mechanical parking facility without requiring advanced automatic driving technology. And

  In order to achieve the above object, an automatic parking assistance system for a mechanical parking facility according to the present invention includes an automatic parking assistance system for a mechanical parking facility that can automatically park an automatic driving vehicle in which a driver does not perform a driving operation. Wherein the self-driving vehicle includes an automatic driving and steering function, and a parking function for temporarily parking by recognizing a vehicle parking mark, wherein the mechanical parking facility temporarily parks at the vehicle parking mark. The vehicle parking mark is provided at a position in front of a regular position in the storage and retrieval section, where the self-driving car can move in the automatic driving traveling. I have. The "regular position" in the specification and claims refers to a position where the self-driving vehicle after parking does not affect the mechanical operation of the mechanical parking facility. Further, the “position that can be moved by the automatic driving traveling” includes a position where the vehicle center line coincides with the center line of the entrance / exit unit in one turn during the forward or backward movement, and the turning back is not required.

  With this configuration, the automatic driving vehicle is temporarily parked at the vehicle parking mark provided in front of the entrance / exit section of the mechanical parking facility, and then the automatic driving vehicle is moved to the normal position of the entrance / exit section by automatic driving. In addition, the self-driving vehicle can be stored in the normal position of the storage and retrieval section without requiring advanced automatic driving technology.

  The vehicle parking mark may be provided such that the center of the self-driving vehicle in the width direction is located on an extension of a center line in the width direction of the entrance / exit section.

  According to this structure, the center in the width direction of the self-driving vehicle temporarily parked at the vehicle parking mark is substantially on the center line in the width direction of the entrance / exit section. Therefore, the self-driving vehicle can enter the regular position of the entrance / exit section by a simple straight-line automatic driving traveling.

  Further, the vehicle parking mark may be a parking frame that can be recognized by a parking function of the self-driving vehicle, and the parking frame may be provided at a position in front of and near a movable part in the entrance / exit section.

  With this configuration, the distance that the self-driving vehicle temporarily parked in the parking frame moves to the regular position of the entrance / exit unit can be shortened. Therefore, automatic driving of the self-driving vehicle can be easily performed.

  The automatic driving vehicle further includes a vehicle-side communication unit that communicates with the mechanical parking unit, and the mechanical parking unit further includes a parking-unit communication unit that communicates with the vehicle-side communication unit. The parking system transmits a parking permission signal to the self-driving vehicle parked at the vehicle parking mark at least when the parking is possible, and the self-driving vehicle automatically drives when the parking permission signal is received. It may be configured to enter the above-mentioned entry / exit section by a function.

  With such a configuration, when the mechanical parking facility can enter the parking area, the mechanical parking facility transmits a parking permit signal to the automatic driving vehicle to allow the automatic driving vehicle to enter the entrance / exit section. Can be.

  Further, the vehicle includes a vehicle position detecting device that detects a position of the self-driving vehicle entering the storage and retrieval section, wherein the vehicle position detecting device is based on at least a sensor that detects the self-driving vehicle and information from the sensor. A control device for calculating at least one of the position and the attitude of the self-driving vehicle.

  According to this structure, the vehicle position detection device appropriately calculates at least one of the position and the attitude of the self-driving vehicle entering the entrance / exit unit, and guides the self-driving vehicle to park at the proper position in the entrance / exit unit. can do.

  The self-driving vehicle may further include a vehicle parking marker search mode for automatically traveling to the vicinity of the vehicle parking marker, a vehicle parking marker parking mode for automatically parking at the vehicle parking marker after detecting the vehicle parking marker, and An entry / exit section entry mode for automatically traveling from a mark to the entry / exit section.

  With this configuration, the self-driving vehicle performs an appropriate operation for each of the operation of finding the vehicle parking marker, the operation of temporarily parking at the vehicle parking marker, and the operation of entering from the vehicle parking marker into the entrance / exit section. Can control.

  According to the present invention, the self-driving vehicle is temporarily parked in the entrance / exit section of the mechanical parking facility at a position where the self-driving car can be moved by automatic driving, so that the self-driving vehicle can be moved into and out of the entrance / exit section without requiring advanced automatic driving technology. Can be stored in the normal position of the vehicle by automatic driving.

FIG. 1 is a plan view showing an automatic parking assistance system for mechanical parking equipment according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating functions of the mechanical parking facility and the self-driving vehicle. FIGS. 3A to 3C are plan views showing examples of vehicle parking marks in the automatic parking assistance system shown in FIG. FIG. 4 is a drawing showing the first half of a flowchart when a self-driving vehicle is parked by the automatic parking assistance system for mechanical parking equipment shown in FIG. 1. FIG. 5 is a drawing showing the latter half of the flowchart when the automatic driving vehicle is parked by the automatic parking assistance system for the mechanical parking equipment shown in FIG. 1. FIG. 6 is a plan view showing an example of a vehicle parking mark according to another embodiment of the present invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the following embodiment, an elevator-type mechanical parking facility 10 will be described as an example. Further, a rectangular parking frame will be described as an example of the vehicle parking mark 20, and a white line frame 21 will be described as an example in the following embodiments. The concept of the front, rear, left, and right directions in the specification and the claims is the same as the concept of the front, rear, left, and right directions shown in FIG.

(Configuration of mechanical parking facilities)
FIG. 1 is a plan view showing an automatic parking assistance system of a mechanical parking facility 10 according to one embodiment. FIG. 2 is a block diagram illustrating functions of the mechanical parking facility 10 and the self-driving vehicle AC. FIGS. 3A to 3C are plan views showing examples of the vehicle parking mark 20 in the automatic parking assistance system shown in FIG.

  As shown in FIG. 1, there is a wall 3 in front of the mechanical parking facility 10 of this embodiment, and a lane 2 toward the mechanical parking facility 10 is provided to bend so as to avoid the wall 3 in plan view. Have been. The mechanical parking facility 10 includes an entry / exit unit 11 for automatically parking the self-driving vehicle AC. Since the loading / unloading section 11 of this embodiment is of an elevator type, a pallet 12 is arranged. In the case where the mechanical parking facility 10 is of a vertical circulation type, a pallet 12 suspended from a hanger is arranged in the loading / unloading section 11. When the mechanical parking facility 10 is of a berth type, a vehicle transporting means such as a conveyor or a truck with wheels is arranged in the loading / unloading section 11.

  As shown in FIG. 2, the mechanical parking facility 10 includes a parking facility side communication unit 14 that communicates with the vehicle side communication unit 30 of the self-driving car AC. The parking facility side communication means 14 includes various wireless communication means such as a wireless LAN (Wi-Fi) and a mobile communication system (3G, 4G (LTE), 5G). Further, as shown in FIG. 1, the mechanical parking facility 10 includes a vehicle position detecting device 15 (a camera, an ultrasonic sensor, a range sensor, a photoelectric sensor 16 and the like) for detecting the position of the self-driving vehicle AC. Including a plurality of sensors). The vehicle position detection device 15 may be any device that can detect at least the position of the self-driving vehicle AC. The position of the self-driving vehicle AC may include the attitude (the direction in the left-right direction) of the self-driving vehicle AC. For example, as a range sensor, a sensor provided in the mechanical parking facility 10 or the lane 2 that detects the position of the body or tires of the self-driving vehicle AC and the presence or absence of the self-driving vehicle AC can be used. . The position of the self-driving vehicle AC detected by the vehicle position detection device 15 is notified to the mechanical parking facility 10. The mechanical parking facility 10 calculates the position of the self-driving vehicle AC by the parking facility-side control device 17 based on the notified information of the self-driving car AC.

  The parking facility control device 17 of the mechanical parking facility 10 includes an automatic driving command unit that generates a signal for instructing the self-driving vehicle AC to drive. The automatic driving command unit outputs, for example, operation commands such as “forward”, “reverse”, “right steering / left steering”, and “brake”, and an operation permission signal such as “forward / stop” to the automatic driving vehicle AC. In order to instruct the self-driving vehicle AC on the driving state and to make corrections. With such various sensors, the automatic driving vehicle AC in which the driver does not perform the driving operation can be automatically parked in the entrance / exit section 11 of the mechanical parking facility 10.

  Furthermore, in this embodiment, a boarding / alighting area 5 is provided at a predetermined position on the lane 2. The boarding / alighting area 5 is provided at a position away from the mechanical parking facility 10. The boarding / alighting area 5 may be separated by a gate or the like. A waiting area 6 is provided on the side of the getting-on / off area 5. Further, in this embodiment, a terminal 7 described later is provided in the waiting area 6.

  On the other hand, the self-driving vehicle AC includes a self-position detecting device 31 including a camera, a sensor, and the like mounted on the self-driving vehicle AC. The camera can capture an image of the white line frame 21 provided on the roadway 2 and the like. The self-position detecting device 31 includes a white line frame recognition unit that recognizes the vehicle parking mark 20 such as the white line frame 21. The self-driving vehicle AC can recognize the white line frame 21 by the white line frame recognition unit based on the image captured by the camera of the self-position detection device 31. The self-driving vehicle AC can detect the distance to the wall 3 of the lane 2, the structure of the mechanical parking facility 10, and other obstacles by the self-position detecting device 31. The self-driving vehicle AC has an automatic running and steering function, a parking function for parking at the vehicle parking mark 20, a vehicle-side communication unit 30 (on-vehicle unit) for communicating with the mechanical parking facility 10, and a vehicle-side control device 32. And The parking function of parking at the vehicle parking mark 20 refers to a function of automatically moving to and parking at the vehicle parking mark 20 such as the white line frame 21 recognized by the white line frame recognition unit of the self-position detecting device 31. The vehicle-side communication unit 30 includes, for example, various wireless communication units such as a wireless LAN (Wi-Fi) and a mobile communication system (3G, 4G (LTE), 5G). The vehicle-side control device 32 includes a processor, a volatile memory, a nonvolatile memory, an I / O interface, and the like.

  The white line frame 21 of this embodiment is provided in the lane 2 located in front of the mechanical parking facility 10. The white line frame 21 is a square frame, and has a size such that the self-driving vehicle AC can temporarily park in the frame. Further, the white line frame 21 is provided at a position where the automatic driving vehicle AC can move by a simple straight-line automatic driving traveling from the front of the entrance / exit unit 11 toward the regular position of the entrance / exit unit 11. The white line frame 21 of this embodiment is provided so that the center line C in the width direction is an extension of the center line in the width direction of the pallet 12 arranged in the loading / unloading section 11. Thereby, when the self-driving vehicle AC moves from the white line frame 21 to the entrance / exit unit 11, it can be performed only by simple steering and forward or backward movement. In addition, by providing the white line frame 21 at a position close to the front of the entrance / exit unit 11, the moving distance from the white line frame 21 to the normal position of the entrance / exit unit 11 is shortened.

  As shown in FIG. 3, as the vehicle parking mark 20, in addition to the square white line frame 21 shown in (A), parallel lines 22 provided only at the left and right positions as shown in (B), and (C) As shown in FIG. 7, corner marks 23 provided only at four corners may be used. The white line frame 21 is not limited to white, but may be any color that can be recognized by the white line frame recognition unit of the self-driving vehicle AC due to a difference in color from the road 2. These are examples, and the vehicle parking mark 20 is not limited to these examples. Further, the position where the white line frame 21 (vehicle parking mark 20) is provided is not limited to the position close to the front of the entrance / exit unit 11 shown in FIG. 1, but the pallet 12 and the entrance door 13 of the mechanical parking facility 10. Any position may be used as long as it does not affect the operation of the movable part. In other words, the white line frame 21 (vehicle parking mark 20) is located in front of the entrance / exit unit 11 and can be moved to the regular position of the entrance / exit unit 11 (parking position of the pallet 12) by automatic driving such as simple straight ahead. It is sufficient if it is provided in.

(Example of self-driving car parking)
FIG. 4 is a diagram illustrating a first half of a flowchart when the automatic driving vehicle AC is stored by the automatic parking assistance system of the mechanical parking facility 10 illustrated in FIG. 1. FIG. 5 is a drawing illustrating the latter half of the flowchart when the automatic driving vehicle AC is stored by the automatic parking assistance system of the mechanical parking facility 10 illustrated in FIG. 1. Hereinafter, a flow of storing the self-driving vehicle AC in the storage and retrieval section 11 of the mechanical parking facility 10 by automatic driving will be described with reference to the above-mentioned reference numerals. In the flowchart, the vehicle parking mark 20 will be described as a white line frame 21.

  As shown in FIG. 4, when the self-driving vehicle AC is automatically parked in the mechanical parking facility 10, the self-driving vehicle AC is stopped in the getting on / off area 5 provided on the lane 2 and automatically driven by a terminal mounted on the vehicle. The vehicle AC is switched to the "parking standby mode" (S1). Then, all the persons including the driver in the self-driving car AC get off (S2). In the case where the terminal 7 is not mounted on the vehicle but is provided in the waiting area 6 near the getting on / off area 5, after all the members get off in the getting on / off area 5, the terminal 7 provided in the waiting area 6 is operated. The self-driving vehicle AC is shifted to the “parking standby mode”.

  Thereafter, in this embodiment, a start button is pressed on the terminal 7 in the waiting area 6 (S3). Thereby, the start signal is transmitted from the terminal device 7 to the parking facility side communication means 14 of the mechanical parking facility 10 (S4). In this example, the start signal is transmitted in the terminal 7, but the terminal that transmits the start signal may be any automatic driving start instruction means that can be operated by the driver. The automatic driving start instruction means includes a wireless terminal independent of the mechanical parking facility 10 such as a smartphone. As another automatic driving start instruction means, a start signal is transmitted to the parking facility side communication means 14 in accordance with the operation (S1) of switching the automatic driving vehicle AC to the "parking standby mode" by the above-mentioned in-vehicle terminal or the like. It may be so. The automatic operation start instructing means may include an operation unit (button, touch panel, etc.) and a communication unit. The start operation by the automatic driving start instruction means includes an operation of touching a start button on a touch screen of a smartphone, in addition to an operation of pressing a start button of the terminal device 7. By operating the start button, a start signal is transmitted from the communication unit to the parking facility side communication unit 14 of the mechanical parking facility 10, and the mechanical parking facility 10 is started. When the automatic driving start instruction means is provided in the mechanical parking facility 10, the start signal is transmitted through a circuit in the mechanical parking equipment 10 by operating the automatic driving start instruction means.

  When the mechanical parking facility 10 receives the activation signal (S5), it is confirmed whether or not there is an empty storage space (parking shelf) (S6). If there is no empty space, the entry is rejected (S7), and the entry flow ends. If there is no empty space in the storage space (parking shelf), it is determined whether or not there is an empty space (S6). May be made to be able to wait.

  If there is a vacancy in the storage space, the mechanical parking facility 10 starts calling for an empty pallet 12 (S8). Then, a start signal is transmitted from the parking facility communication means 14 of the mechanical parking facility 10 to the vehicle communication means 30 of the self-driving car AC (S9). Here, when there is a preceding vehicle waiting for entry on the lane 2, the transmission of the activation signal may be made to wait. The self-driving vehicle AC already recognizes the white line frame 21 when receiving the start signal, and if the recognition state is continued (S10), when the start signal is received, the "white line frame parking mode" shown in FIG. (S14).

  On the other hand, when the automatic driving vehicle AC does not recognize the white line frame 21, the process transits to "white line frame search mode (vehicle parking mark search mode)" (S11). Then, the automatic driving vehicle AC automatically travels to the vicinity of the white line frame 21 by the automatic traveling and steering functions (S12). The automatic driving of the self-driving vehicle AC is performed by information obtained from a sign or a white line displayed on a road surface or a wall surface around the mechanical parking facility 10 by the self-position detecting device 31 (the information indicating the traveling direction such as an arrow, For example, the vehicle traveling toward the white line frame 21 can be recognized by recognizing the traveling distance such as "m forward". In addition, the automatic driving of the automatic driving vehicle AC is set, for example, from the parking facility-side communication means 14 of the mechanical parking facility 10 to the vehicle-side communication means 30, to the peripheral map of the mechanical parking facility 10 and the white line frame 21. The information on the target position is transmitted, and the self-driving vehicle AC can travel toward the white line frame 21 according to the information. The self-driving vehicle AC recognizes the white line frame 21 by traveling to the vicinity of the white line frame 21 (S13). Here, if the vehicle catches up with the preceding vehicle waiting for entry on the lane 2 before recognizing the white line frame 21, the vehicle is caused to perform following travel or standby using functions included in normal automatic driving control. Is also good.

  Next, a flow after the white line frame 21 is recognized will be described with reference to FIG. When the white line frame 21 is recognized (after detection) by the white line frame recognition unit from the image captured by the camera, the self driving vehicle AC transits to the "white line frame parking mode (vehicle parking mark parking mode)" (S14). ). Then, the automatic driving vehicle AC automatically parks at a predetermined position of the white line frame 21 (S15). At this time, the vehicle position detection device 15 may detect that the traveling of the automatic driving vehicle AC has stopped. The self-driving vehicle AC detects whether parking has been completed at a predetermined position of the white line frame 21 (S16). For example, in the case of a square white line frame 21, it is detected whether or not the vehicle is stopped at the center of the white line frame 21. When the automatic driving vehicle AC determines that it cannot stop at the predetermined position of the white line frame 21, the automatic parking at the predetermined position of the white line frame 21 is repeated. At this time, the mechanical parking facility 10 detects the position of the self-driving vehicle AC with the vehicle position detection device 15, and transmits a retry signal to the self-driving vehicle AC if the self-driving vehicle AC is not within the white line frame 21. Thus, the automatic driving vehicle AC may retry automatic parking in the white line frame 21.

  Then, the automatic driving vehicle AC is temporarily parked at a predetermined position of the white line frame 21. As described above, by temporarily parking the self-driving vehicle AC in which the automatic driving has been started in the white line frame 21 provided in front of the entrance / exit unit 11, the self-driving vehicle AC before entering the entrance / exit unit 11 can be obtained. The position (posture) is adjusted so that subsequent entry into the entry / exit section 11 can be performed by a slight automatic driving. When determining that the automatic driving vehicle AC has completed parking at the predetermined position of the white line frame 21 (S16), the self-driving vehicle AC transits to the "entrance / exit section entry mode" (S17).

  On the other hand, in the mechanical parking facility 10, an empty pallet 12 is being conveyed toward the entrance / exit unit 11 by a call, and it is detected whether or not the empty pallet 12 has arrived at the entrance / exit unit 11 (S18). . When the empty pallet 12 has not arrived at the loading / unloading section 11, the self-driving vehicle AC is parked in the white line frame 21 and is put on standby (S19). When the empty pallet 12 arrives at the loading / unloading section 11, it is detected whether the entrance door 13 is open (S20). If the entrance door 13 is not open, it is opened (S21).

  In this embodiment, the entrance door 13 provided in the entrance / exit section 11 of the mechanical parking facility 10 is opened after the empty pallet 12 in the entrance / exit section 11 has completed waiting. The opening of the entrance door 13 may be performed irrespective of the completion of the parking of the self-driving vehicle AC in the white line frame 21 or may be performed when the self-driving vehicle AC is completely parked in the white line frame 21. Good. In the case where there is no possibility that a person enters the entrance / exit unit 11 (for example, when the entrance / exit unit 11 and the front thereof are isolated from the entry / exit area 5), the entrance door 13 is always turned on except during a fire. It may be open.

  When the empty pallet 12 arrives at the entrance / exit section 11 and the entrance / exit door 13 is opened to be able to enter the parking area, the mechanical parking facility 10 switches to the automatic driving vehicle AC temporarily parked in the white line frame 21. Then, a storage permission signal is transmitted (S22). When the self-driving vehicle AC receives the entry permission signal, the self-driving vehicle AC enters the entry / exit unit 11 by the automatic driving function (S23). It should be noted that, instead of starting the self-driving vehicle AC to enter the entrance / exit unit 11 by receiving the entrance permission signal from the mechanical parking facility 10, the fact that the entrance door 13 is opened is notified to the automatic driving vehicle AC. The self-driving vehicle AC may start to enter the entry / exit unit 11 in the automatic driving mode according to a command from the vehicle-side control device 32, by detecting with a mounted camera or the like. Thereafter, the self-driving vehicle AC travels to the normal position of the entrance / exit unit 11 by the automatic driving function. At this time, based on the position information of the automatic driving vehicle AC detected by the vehicle position detecting device 15, the automatic driving command section of the parking facility side control device 17 generates a driving command signal. The self-driving vehicle AC that transmits the signal to the communication unit 30 may correct the operation of the automatic driving according to the received driving command signal. As the driving command signal, for example, the left and right photoelectric sensors 16 (vehicle position detecting device 15) are shielded during automatic driving of the automatic driving vehicle AC, or the front and rear photoelectric sensors 16 (vehicle position detecting device 15) are turned on. For example, when light is shielded, signals for forward and backward movement and left and right steering are given in accordance with the respective light shielding states. Further, the parking permit signal may be transmitted (S22), and all the subsequent operations of the automatic driving vehicle AC may be performed based on the driving command signal from the automatic driving command unit of the parking facility side control device 17.

  In this embodiment, the self-driving vehicle AC that enters the entry / exit unit 11 in this embodiment is entered after being temporarily parked in the white line frame 21 provided at a position directly opposite the entry / exit unit 11. Can be made to enter the pallet 12 of the loading / unloading section 11 by automatic operation close to straight traveling (straight traveling or straight traveling automatic driving including a slight correction rudder). Therefore, the self-driving vehicle AC can be parked at the regular position of the loading / unloading part 11 (appropriate position of the pallet 12) by a simple self-driving operation close to straight traveling. That is, in order to cause the automatic driving vehicle AC to enter the entry / exit unit 11 by a simple automatic driving traveling nearly straight ahead, the automatic operation control for guiding the automatic driving vehicle AC entering the entry / exit unit 11 to an appropriate position on the pallet 12 is performed. It is possible with a simple steering control that makes the self-driving vehicle AC go straight ahead, and does not require advanced self-driving technology.

  Thereafter, in the mechanical parking facility 10, the vehicle position detection device 15 provided in the entry / exit unit 11 detects whether the self-driving vehicle AC parked on the pallet 12 does not protrude from the normal position (S24). The protruding from the normal position means that the self-driving vehicle AC protrudes from a position that does not affect the mechanical operation of the mechanical parking facility 10. When it is detected by the vehicle position detection device 15 that the vehicle has protruded, a driving command signal is transmitted from the mechanical parking facility 10 to the automatic driving vehicle AC (S25). The operation command signal can include, for example, the direction of the protrusion and the amount of protrusion. When receiving the driving command signal, the self-driving vehicle AC is automatically driven to correct the position according to the signal (S26).

  Then, when the vehicle position detection device 15 detects that the self-driving vehicle AC has moved to a position that does not affect the mechanical operation of the mechanical parking facility 10 and has not protruded (S24), the parking of the mechanical parking facility 10 is performed. A stop signal is transmitted from the facility communication means to the self-driving vehicle AC (S27). When receiving the stop signal, the self-driving vehicle AC stops the automatic driving, activates the parking brake, switches the shift position to the P range, and turns off the power of the power unit (S28).

  Thereafter, the self-driving vehicle AC transmits a parking completion signal to the mechanical parking facility 10 (S29). Upon receiving the parking completion signal, the mechanical parking facility 10 activates the mechanical operation of the mechanical parking facility 10, conveys the self-driving vehicle AC to the storage space, and completes the parking (S30).

  If a predetermined process or operation cannot be performed normally in each of the above steps, a process such as waiting for a retry or notifying an administrator or a user can be appropriately provided.

(Other modifications)
In the above-described embodiment, an example has been described in which the self-driving vehicle AC is temporarily parked at the front vehicle parking mark 20 so as to face the entrance / exit section 11 of the mechanical parking facility 10, but the temporary parking posture of the self-driving vehicle AC is described. Is not limited to temporary parking facing the entrance / exit unit 11. For example, as shown in a plan view of an example of the vehicle parking mark 20 according to another embodiment shown in FIG. 6, the white line frame 21 as the vehicle parking mark 20 is at a predetermined angle with respect to the center line of the entrance / exit section 11. May be provided in an inclined state. The white line frame 21 has a radius equal to or greater than the minimum turning radius a of the self-driving vehicle AC (on the extension of the rear wheel center line) around the point x and １ ／ of the width of the rear wheel tread, and The self-driving vehicle AC is provided so as to advance in front of the entrance / exit unit 11 so as to coincide with the center line C of the entrance / exit unit 11 by turning b having a minimum turning radius or more. According to this example, the self-driving vehicle AC can enter the vehicle without turning over by turning the vehicle once while the vehicle center line coincides with the center line C of the entrance / exit unit 11 by one turn. The same is true for the reverse. The same components as those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted. Further, the vehicle position detecting device 15 in this example can be a range measurement sensor that scans a laser beam and detects a target object in two dimensions. When the vehicle position detection device 15 is a range sensor, two vehicle position detection devices 15 are provided at diagonal positions so that the automatic driving vehicle AC can be detected at each of the entrance / exit unit 11 and the vehicle parking mark 20. It may be provided for each. As described above, when the space in front of the mechanical parking facility 10 is limited, the self-driving vehicle AC is temporarily parked at a predetermined position and angle (for example, 15 degrees, 30 degrees) with respect to the entrance / exit section 11. A vehicle parking mark 20 may be provided. Even in this case, the subsequent steering control of the automatic driving vehicle AC can be performed relatively easily.

  Further, in the above-described embodiment, the white parking frame 21 has been described as an example of the vehicle parking mark 20, but the vehicle parking mark 20 is not limited to the white line frame 21. For example, a mark such as an arrow may be used, and the vehicle parking mark 20 is not limited to the above-described embodiment.

  Further, in the above-described embodiment, the pallet-type mechanical parking facility 10 has been described as an example. However, for example, the mechanical parking facility 10 such as a vertical circulation type and a berth type can also be applied. However, the present invention is not limited to this. The above-described embodiment is an example, and various changes can be made without departing from the spirit of the present invention, and the present invention is not limited to the above-described embodiment.

(Summary)
As described above, according to the automatic parking support system 1 for the mechanical parking facility 10 described above, the vehicle is automatically provided with the vehicle parking mark 20 (white line frame 21) in front of the entrance / exit section 11 of the mechanical parking facility 10. The vehicle AC is temporarily parked at the vehicle parking mark 20 before entering the vehicle, so that the posture of the self-driving vehicle AC is adjusted before entering the entrance / exit unit 11. Thereby, the movement of the automatic driving vehicle AC entering the predetermined position of the entrance / exit unit 11 and automatically parking can be changed to a simple automatic driving traveling. Therefore, without the need for advanced automatic driving technology, the parking of the mechanical parking facility 10 can be performed without human intervention by utilizing the function of recognizing the vehicle parking mark 20 provided on the automatic driving vehicle AC and automatically parking the vehicle. The self-driving vehicle AC can be automatically parked at a regular position in the exit unit 11.

  In addition, since the self-driving vehicle AC can enter the entry / exit unit 11 and be parked at a proper position by correcting a slight self-driving operation, it is possible to correct the position and orientation of the self-driving vehicle AC such as a turntable. The automatic parking of the self-driving vehicle AC in the mechanical parking facility 10 can be performed without using the vehicle.

1 automatic parking support system
2 lanes
7 Terminal Device 10 Mechanical Parking Equipment 11 Entry / Exit Section 12 Pallet 13 Entrance Door 14 Parking Facility Side Communication Means 15 Vehicle Position Detector 16 Photoelectric Sensor 17 Parking Facility Side Control Device 20 Vehicle Parking Mark 21 White Line Frame 30 Vehicle Side Communication Means 31 Self-position detection device 32 Vehicle-side control device

Claims (6)

An automatic parking support system for mechanical parking equipment capable of automatically parking an autonomous vehicle in which a driver does not perform a driving operation,
The self-driving vehicle has an automatic driving and steering function, and a parking function of temporarily parking by recognizing a vehicle parking mark,
The mechanical parking facility includes an entrance / exit unit that parks the self-driving vehicle temporarily parked at the vehicle parking mark to park.
The vehicle parking mark is provided at a position in front of a normal position in the entrance / exit section, where the self-driving vehicle can move by automatic driving.
An automatic parking support system for mechanical parking equipment. The vehicle parking mark is provided such that a center in the width direction of the self-driving vehicle is located on an extension of a center line in the width direction of the entrance / exit unit,
An automatic parking assistance system for a mechanical parking facility according to claim 1. The vehicle parking mark is a parking frame that can be recognized by the parking function of the self-driving car,
The parking frame is provided at a position near and in front of a movable part in the entrance / exit unit,
The automatic parking assistance system for a mechanical parking facility according to claim 1. The self-driving vehicle further includes a vehicle-side communication unit that communicates with the mechanical parking facility,
The mechanical parking equipment further includes a parking equipment communication means that communicates with the vehicle communication means,
The mechanical parking equipment transmits a parking permission signal to the self-driving vehicle parked at the vehicle parking mark at least when the vehicle is ready for parking,
The self-driving vehicle is configured to enter the storage and retrieval section by an automatic driving function upon receiving the storage permission signal,
An automatic parking assistance system for mechanical parking equipment according to claim 1. A vehicle position detection device that detects a position of the self-driving vehicle entering the entry / exit unit,
The vehicle position detection device includes a sensor that detects at least the self-driving vehicle, and a control device that calculates at least one of the position and the attitude of the self-driving vehicle based on information from the sensor.
The automatic parking assistance system for a mechanical parking facility according to claim 1. The self-driving vehicle has a vehicle parking mark search mode for automatically traveling to the vicinity of the vehicle parking mark, a vehicle parking mark parking mode for automatically parking at the vehicle parking mark after the detection of the vehicle parking mark, and a vehicle parking mark. An entry / exit section entry mode for automatically traveling to the entry / exit section,
An automatic parking assistance system for a mechanical parking facility according to claim 1.

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