Patent Publication Number: US-11661053-B2

Title: Vehicle and vehicle control method

Description:
CROSS-REFERENCE TO RELATED APPLICATION 
     This application claims priority to Japanese Patent Application No. 2020-204422 filed on Dec. 9, 2020, incorporated herein by reference in its entirety. 
     BACKGROUND 
     1. Technical Field 
     The present disclosure relates to a vehicle adapted to an automated valet parking (AVP) service in a parking lot, and a method of controlling the vehicle. 
     2. Description of Related Art 
     Japanese Patent No. 6342076 (JP 6342076 B) discloses, as a technique related to automated valet parking services in a parking lot, providing additional services such as cleaning, refueling, inspection, repair, tire replacement, and the like, to vehicles parked in a parking lot. 
     Japanese Unexamined Patent Application Publication (Translation of PCT Application) No. 2018-515828 (JP 2018-515828 A) discloses a technique for updating software stored in a processing device of a vehicle while the vehicle is parked in a parking lot. 
     SUMMARY 
     Automated valet parking services in parking lots are known. A vehicle adapted to the automated valet parking service has a self-position estimation (localization) function, and executes vehicle traveling control while specifying its own vehicle position in the parking lot. When the parking to the parking space in the parking lot is completed, the vehicle terminates the vehicle traveling control and stores the final stop position. At the time of exit from the parking lot, the vehicle reads the stored final stop position as the latest own vehicle position and restarts the vehicle traveling control. 
     As a part of the automated valet parking service in parking lots, additional services such as car washing, inspection, and repair have been proposed. Such additional services are implemented on the vehicle during the period in which the vehicle is left in the parking lot. However, when the additional service is implemented on the vehicle, there is a possibility that the vehicle position deviates from the final stop position. For example, with jack-up, the vehicle position deviates from the final stop position. When the vehicle position deviates from the stored final stop position, it is not appropriate to restart the vehicle traveling control using the stored final stop position after completion of the additional service. This is because the accuracy of the vehicle traveling control is lowered. 
     One object of the present disclosure is to provide a technique capable of restarting the vehicle traveling control appropriately even after completion of the additional service for a vehicle adapted to the automated valet parking service in the parking lot. 
     A first aspect relates to a vehicle adapted to an automated valet parking service in a parking lot. The vehicle includes: a recognition sensor that recognizes a mark around the vehicle; and a processor. The processor is configured to execute: a self-position estimation process for identifying a vehicle position that is a position of the vehicle in the parking lot based on an installation position of the mark and a recognition result of the mark by the recognition sensor; and vehicle traveling control for causing the vehicle to automatically travel in the parking lot based on the vehicle position. The automated valet parking service includes an additional service implemented on the vehicle during a period in which the vehicle is left in the parking lot. When restarting the vehicle traveling control after completion of the additional service, the processor executes the self-position estimation process in a return space in which the mark is installed to acquire a latest vehicle position, and restarts the vehicle traveling control based on the latest vehicle position. 
     A second aspect has the following features in addition to the first aspect. The processor stores, in a storage device, a final stop position that is the vehicle position at an end of the vehicle traveling control. When restarting the vehicle traveling control after the completion of the additional service, the processor executes the self-position estimation process in the return space to acquire the latest vehicle position, without using the final stop position stored in the storage device. 
     A third aspect has the following features in addition to the second aspect. When restarting the vehicle traveling control at a time the vehicle exits from the parking lot, the processor acquires the final stop position stored in the storage device as the latest vehicle position and restarts the vehicle traveling control based on the latest vehicle position. 
     A fourth aspect relates to a vehicle control method for controlling a vehicle adapted to an automated valet parking service in a parking lot. The vehicle control method includes: a process of recognizing a mark around the vehicle using a recognition sensor mounted on the vehicle; a self-position estimation process for identifying a vehicle position that is a position of the vehicle in the parking lot based on an installation position of the mark and a recognition result of the mark by the recognition sensor; and vehicle traveling control for causing the vehicle to automatically travel in the parking lot based on the vehicle position. The automated valet parking service includes an additional service implemented on the vehicle during a period in which the vehicle is left in the parking lot. The vehicle control method further includes a first restart process for restarting the vehicle traveling control after completion of the additional service. The first restart process executes the self-position estimation process in a return space in which the mark is installed to acquire a latest vehicle position, and restarts the vehicle traveling control based on the latest vehicle position. 
     A fifth aspect has the following features in addition to the fourth aspect. The vehicle control method further includes a process of storing, in a storage device, a final stop position that is the vehicle position at an end of the vehicle traveling control. The first restart process executes the self-position estimation process in the return space to acquire the latest vehicle position, without using the final stop position stored in the storage device. 
     A sixth aspect has the following features in addition to the fifth aspect. The vehicle control method further includes a second restart process for restarting the vehicle traveling control at a time the vehicle exits from the parking lot. The second restart process acquires the final stop position stored in the storage device as the latest vehicle position, and restarts the vehicle traveling control based on the latest vehicle position. 
     According to the present disclosure, when restarting the vehicle traveling control after completion of the additional service, the self-position estimation process is executed in the return space where the mark is installed. Thus, even when the vehicle position deviates during the additional service, the latest vehicle position can be obtained with high accuracy. Therefore, it is possible to appropriately restart the vehicle traveling control. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Features, advantages, and technical and industrial significance of exemplary embodiments of the disclosure will be described below with reference to the accompanying drawings, in which like signs denote like elements, and wherein: 
         FIG.  1    is a conceptual diagram illustrating an overview of an automated valet parking system according to an embodiment of the present disclosure; 
         FIG.  2    is a block diagram showing a configuration example of an automated valet parking (AVP) vehicle according to the embodiment of the present disclosure; 
         FIG.  3    is a conceptual diagram illustrating an additional service according to the embodiment of the present disclosure; 
         FIG.  4    is a flowchart showing a process related to the additional service according to the embodiment of the present disclosure; 
         FIG.  5    is a conceptual diagram illustrating restart of vehicle traveling control after completion of the additional service according to the embodiment of the present disclosure; 
         FIG.  6    is a flowchart showing a restart process for restarting the vehicle traveling control of the AVP vehicle according to the embodiment of the present disclosure; and 
         FIG.  7    is a schematic diagram showing a configuration example of the automated valet parking system according to the embodiment of the present disclosure. 
     
    
    
     DETAILED DESCRIPTION OF EMBODIMENTS 
     An embodiment of the present disclosure will be described with reference to the accompanying drawings. 
     1. Overview of Automated Valet Parking System 
       FIG.  1    is a conceptual diagram illustrating an overview of an automated valet parking system  100  according to the present embodiment. The automated valet parking system  100  controls and provides an automated valet parking (AVP) service in a parking lot  1 . 
     A vehicle adapted to the automated valet parking service is hereinafter referred to as “AVP vehicle  10 ”. The AVP vehicle  10  is capable of communicating with the automated valet parking system  100 . Further, the AVP vehicle  10  can travel without depending on the driving operation by the driver at least in the parking lot  1 . The AVP vehicle  10  may be an autonomous driving vehicle. 
     The parking lot  1  is used by at least the AVP vehicle  10 . The parking lot  1  may be used for parking general vehicles other than the AVP vehicle  10 . 
     The parking lot  1  includes a boarding and alighting area  2 , a passage  3 , and a plurality of parking spaces  4 . The AVP vehicle  10  that is parked in the parking lot  1  or the AVP vehicle  10  that exits from the parking lot  1  stops in the boarding and alighting area  2 . An occupant gets off the AVP vehicle  10  or gets on the AVP vehicle  10  in the boarding and alighting area  2 . The passage  3  is an area where vehicles such as the AVP vehicle  10  and general vehicles travel. The parking space  4  is a space in which the AVP vehicle  10  and general vehicles are parked. For example, the parking spaces  4  are separated by marking lines. 
     Marks (Landmarks)  5  may be disposed at predetermined positions in the parking lot  1 . The marks  5  are used to guide the AVP vehicle  10  in the parking lot  1 . Examples of the marks  5  include markers, columns, and the like. Typically, a plurality of marks  5  are distributed in the parking lot  1 . 
     Hereinafter, an example of a flow when a certain user X uses the automated valet parking service will be described. Member information of the user X is assumed to be registered in advance in the automated valet parking system  100 . A vehicle registration number of the AVP vehicle  10  used by the user X (the number described in the license plate) may be registered in advance in the automated valet parking system  100 , together with the member information of the user X. 
     A terminal device  200  is a terminal device operated by the user X. Typically, the terminal device  200  is owned by the user X. Examples of the terminal device  200  include a smartphone, a tablet, a personal computer, a human-machine interface (HMI) mounted on the AVP vehicle  10 , and the like. The terminal device  200  is capable of communicating with the automated valet parking system  100 . 
     First, the user X makes reservations for automated valet parking. For example, the user X operates the terminal device  200  and inputs the identification (ID) information of the user X, the desired parking lot  1 , the desired use date, the desired use time (desired entry time and desired exit time), and the like. The user X may input the vehicle registration number of the AVP vehicle  10 . The terminal device  200  transmits reservation information including the input information to the automated valet parking system  100 . The automated valet parking system  100  performs a reservation process based on the reservation information, and transmits the reservation completion notification to the terminal device  200 . Further, the automated valet parking system  100  transmits the authentication information corresponding to the reservation information to the terminal device  200 . The terminal device  200  receives the authentication information and keeps the received authentication information. 
     Entry of the AVP vehicle  10  to the parking lot  1  is performed as follows. The AVP vehicle  10  carrying the user X arrives at and stops at the boarding and alighting area  2  of the parking lot  1 . In the boarding and alighting area  2 , the user X (and possibly other occupants) gets off the AVP vehicle  10 . Then, the user X requests the entry of the AVP vehicle  10  using the authentication information kept in the terminal device  200 . For example, the user X transmits the authentication information from the terminal device  200  to the automated valet parking system  100 . Alternatively, the user X may cause a reader installed in the boarding and alighting area  2  to read the authentication information (e.g., QR code (registered trademark)). 
     In response to the entry request, the automated valet parking system  100  authenticates the user X. For example, the automated valet parking system  100  authenticates the user X by matching the authentication information with the reservation information. The automated valet parking system  100  may also read the vehicle registration number described in the license plate of the AVP vehicle  10  using a camera installed in the boarding and alighting area  2 . Then, the automated valet parking system  100  may authenticate the AVP vehicle  10  by matching the read vehicle registration number with the vehicle registration number registered in advance or included in the reservation information. 
     Upon completion of the authentication, the operating authority of the AVP vehicle  10  shifts from the user X to the automated valet parking system  100 . The automated valet parking system  100  performs entry process related to the AVP vehicle  10 . 
     In the entry process, the automated valet parking system  100  communicates with the AVP vehicle  10  to activate the AVP vehicle  10  (ignition ON). 
     Further, the automated valet parking system  100  assigns an unoccupied parking space  4  to the AVP vehicle  10  by referring to the use status of the parking lot  1 . Then, the automated valet parking system  100  communicates with the AVP vehicle  10  to provide entry guidance information to the AVP vehicle  10 . The entry guidance information includes information of the assigned parking space  4  and the map information of the parking lot  1 . The automated valet parking system  100  may specify a traveling route from the boarding and alighting area  2  to the assigned parking space  4 . In that case, the entry guidance information includes information of the specified traveling route. 
     Thereafter, the automated valet parking system  100  communicates with the AVP vehicle  10  to permit entry. 
     Upon receipt of the entry permission, the AVP vehicle  10  starts the vehicle traveling control. Specifically, the AVP vehicle  10  automatically travels along the passage  3  from the boarding and alighting area  2  to the assigned parking space  4 , and is automatically parked in the assigned parking space  4 , based on the entry guidance information. At this time, the AVP vehicle  10  may travel along the traveling route specified by the automated valet parking system  100 . The automated valet parking system  100  may communicate with the AVP vehicle  10  and remotely control the travel of the AVP vehicle  10 . 
     Upon completion of parking, the AVP vehicle  10  notifies the automated valet parking system  100  of the completion of parking. Alternatively, the automated valet parking system  100  may detect that the parking of the AVP vehicle  10  is completed using an infrastructure sensor installed in the parking lot  1 . After parking is completed, the automated valet parking system  100  communicates with the AVP vehicle  10  to stop the operation of the AVP vehicle  10  (ignition OFF). The automated valet parking system  100  keeps the information of the parking space  4  of the AVP vehicle  10  in association with the user X. 
     Exit of the AVP vehicle  10  from the parking lot  1  is performed as follows. The user X requests the exit of the AVP vehicle  10  using the terminal device  200 . The exit request includes the authentication information, information of the boarding and alighting area  2  specified by the user X, and the like. In response to the exit request, the automated valet parking system  100  authenticates the user X and performs the exit process related to the AVP vehicle  10 . 
     In the exit process, the automated valet parking system  100  communicates with the AVP vehicle  10  to activate the AVP vehicle  10  (ignition ON). 
     The automated valet parking system  100  also communicates with the AVP vehicle  10  to provide exit guidance information to the AVP vehicle  10 . The exit guidance information includes information of the boarding and alighting area  2  specified by the user X and the map information of the parking lot  1 . The automated valet parking system  100  may specify a traveling route from the parking space  4  to the specified boarding and alighting area  2 . In that case, the exit guidance information includes the information of the specified traveling route. 
     Thereafter, the automated valet parking system  100  communicates with the AVP vehicle  10  and permits the exit. 
     Upon receipt of the exit permission, the AVP vehicle  10  starts the vehicle traveling control. Specifically, the AVP vehicle  10  automatically travels along the passage  3  from the parking space  4  to the specified boarding and alighting area  2  based on the exit guidance information. At this time, the AVP vehicle  10  may travel along the traveling route specified by the automated valet parking system  100 . The automated valet parking system  100  may communicate with the AVP vehicle  10  and remotely control the travel of the AVP vehicle  10 . 
     The AVP vehicle  10  arrives at and stops at the boarding and alighting area  2  specified by the user X. The operating authority of the AVP vehicle  10  shifts from the automated valet parking system  100  to the user X. The user X (and possibly other occupants) gets on the AVP vehicle  10 . The AVP vehicle  10  departs toward the next destination. 
     2. AVP Vehicle 
     2-1. Configuration Example 
       FIG.  2    is a block diagram showing a configuration example of the AVP vehicle  10  according to the present embodiment. The AVP vehicle  10  includes a communication device  20 , a vehicle state sensor  30 , a recognition sensor  40 , a traveling device  50 , and a control device  60 . 
     The communication device  20  communicates with the outside of the AVP vehicle  10 . For example, the communication device  20  communicates with the automated valet parking system  100 . 
     The vehicle state sensor  30  detects the state of the AVP vehicle  10 . Examples of the vehicle state sensor  30  include a vehicle speed sensor, a steering angle sensor, a yaw rate sensor, a lateral acceleration sensor, and the like. 
     The recognition sensor  40  recognizes (detects) the situation around the AVP vehicle  10 . Examples of the recognition sensor  40  include a camera, a laser imaging detection and ranging (LIDAR), a radar, a sonar, and the like. 
     The traveling device  50  includes a steering device, a driving device, and a braking device. The steering device steers the wheels of the AVP vehicle  10 . For example, the steering device includes a power steering (an electric power steering (EPS)) system. The driving device is a power source that generates driving power. Examples of the driving device include an engine, an electric motor, an in-wheel motor, and the like. The braking device generates braking power. 
     The control device  60  controls the AVP vehicle  10 . The control device  60  is also referred to as an electronic control unit (ECU). The control device  60  includes one or more processors  70  and one or more storage devices  80 . The processor  70  executes various processes. Various types of information are stored in the storage device  80 . Examples of the storage device  80  include a volatile memory, a non-volatile memory, a hard disk drive (HDD), a solid state drive (SSD), and the like. When the one or more processors  70  execute a control program that is a computer program, various processes executed by the control device  60  are realized. The control program is stored in the storage device  80  or recorded on a computer-readable storage medium. 
     2-2. Information Acquisition Process 
     The processor  70  (control device  60 ) executes an information acquisition process for acquiring various types of information. The various types of information include parking lot map information MAP, vehicle state information STA, surrounding situation information SUR, localization information LOC, and the like. The acquired information is stored in the storage device  80 . 
     The parking lot map information MAP is the map information of the parking lot  1 . Specifically, the parking lot map information MAP indicates the boarding and alighting area  2 , the passage  3 , the parking spaces  4 , and the arrangement of the marks  5  in the parking lot  1 . For example, the marks  5  are installed at predetermined positions in the parking lot  1 . The parking lot map information MAP indicates the predetermined positions of the marks  5 . The parking lot map information MAP is provided by the automated valet parking system  100 . The processor  70  acquires the parking lot map information MAP from the automated valet parking system  100  via the communication device  20 . 
     The vehicle state information STA is information indicating the state of the AVP vehicle  10 , and indicates the detection result by the vehicle state sensor  30 . Examples of the state of the AVP vehicle  10  include a vehicle speed, a steering angle (turned angles of the wheels), a yaw rate, a lateral acceleration, and the like. The processor  70  acquires the vehicle state information STA from the vehicle state sensor  30 . 
     The surrounding situation information SUR is information indicating the situation around the AVP vehicle  10 , and indicates the recognition result by the recognition sensor  40 . For example, the surrounding situation information SUR includes image information that is captured by the camera. As another example, the surrounding situation information SUR includes measurement information indicating the measurement result by the radar or the LIDAR. In addition, the surrounding situation information SUR includes information (e.g., location, relative velocity) related to objects around the AVP vehicle  10 . Examples of the objects around the AVP vehicle  10  include the passage  3 , the parking spaces  4 , the marks  5 , white lines, other vehicles, structures (e.g., walls and columns), and the like. Based on at least one of the image information and the measurement information described above, it is possible to recognize an object around the AVP vehicle  10 , and also to calculate the relative position and the relative speed of the recognized object. Furthermore, by combining the relative position of the object and the vehicle position to be described later, it is possible to calculate the position (absolute position) of the object in the parking lot  1 . Thus, the processor  70  can acquire (generate) the surrounding situation information SUR based on the recognition result by the recognition sensor  40 . 
     Further, the processor  70  (control device  60 ) executes a “self-position estimation process (localization)” for identifying the position and orientation of the AVP vehicle  10  in the parking lot  1 . The position and orientation of the AVP vehicle  10  in the parking lot  1  is hereinafter referred to as “vehicle position”. The processor  70  identifies the vehicle position using the recognition result of the mark  5  by the recognition sensor  40 , that is, the surrounding situation information SUR described above. More specifically, the processor  70  calculates the movement amount of the AVP vehicle  10  based on the vehicle state information STA (vehicle speed, steering angle), thereby roughly calculating the vehicle position. Furthermore, the processor  70  corrects the vehicle position by matching the installation position of the mark  5  indicated by the parking lot map information MAP with the recognition position of the mark  5  indicated by the surrounding situation information SUR. Thereby, the vehicle position can be identified (estimated) with high accuracy. By repeating the calculation of the movement amount and the correction of the vehicle position, it is possible to continuously obtain a highly accurate vehicle position. 
     The localization information LOC indicates the vehicle position identified by the self-position estimation process. As described above, the self-position estimation process is executed based on the surrounding situation information SUR, that is, the recognition result by the recognition sensor  40 . That is, the localization information LOC is generated based on the recognition result by the recognition sensor  40 , similarly to the surrounding situation information SUR. 
     2-3. Communication Process 
     The processor  70  (control device  60 ) communicates with the automated valet parking system  100  via the communication device  20 . For example, the processor  70  receives the entry guidance information and exit guidance information described above from the automated valet parking system  100 . Further, the processor  70  periodically transmits the vehicle state information STA and the localization information LOC described above to the automated valet parking system  100 . 
     2-4. Vehicle Traveling Control 
     The processor  70  (control device  60 ) executes “vehicle traveling control” that controls the travel of the AVP vehicle  10  without depending on the driving operation of the driver. The vehicle traveling control includes steering control, acceleration control, and deceleration control. The processor  70  executes the vehicle traveling control by controlling the traveling device  50 . Specifically, the processor  70  executes the steering control by controlling the steering device. Further, the processor  70  executes the acceleration control by controlling the driving device. Furthermore, the processor  70  executes the deceleration control by controlling the braking device. 
     In the parking lot  1 , the processor  70  executes the vehicle traveling control to cause the AVP vehicle  10  to travel autonomously. Specifically, the processor  70  grasps the map of the parking lot  1  and the vehicle position in the parking lot  1  based on the parking lot map information MAP and the localization information LOC. For example, the processor  70  executes the vehicle traveling control so that the AVP vehicle  10  automatically travels toward the destination. 
     For example, in the case of the entry process described above, the departure point is the boarding and alighting area  2 , and the destination is the assigned parking space  4 . The processor  70  executes the vehicle traveling control so that the AVP vehicle  10  automatically travels from the boarding and alighting area  2  to the assigned parking space  4  and is automatically parked in the assigned parking space  4 . The position of the assigned parking space  4  is acquired from the parking lot map information MAP. The processor  70  may execute the vehicle traveling control so that the AVP vehicle  10  travels along a traveling route specified by the automated valet parking system  100 . When parking the AVP vehicle  10  in the parking space  4 , it is also possible to grasp the parking situation of the parking space  4  and the surroundings by referring to the surrounding situation information SUR. The vehicle traveling control may be executed to avoid collision with other vehicles or structures by referring to the surrounding situation information SUR. 
     The same applies to the exit process. In the case of the exit process, the departure point is the assigned parking space  4 , and the destination is the boarding and alighting area  2 . The processor  70  executes the vehicle traveling control so that the AVP vehicle  10  automatically travels from the parking space  4  to the boarding and alighting area  2  and automatically stops in the boarding and alighting area  2 . 
     3. Additional Service 
     It is also conceivable that the “additional services” other than the parking service are provided to the AVP vehicle  10  by effectively utilizing the period during which the AVP vehicle  10  is left in the parking lot  1  (i.e., the period during which the occupant is not on the AVP vehicle  10 ). Examples of the additional services include car washing, inspection, repair, refueling, charging, tire replacement, and the like of the AVP vehicle  10 . Such additional services are part of the automated valet parking service. 
       FIG.  3    is a conceptual diagram illustrating the additional service according to the present embodiment. An additional service facility  7  is a facility for implementing the additional service on the AVP vehicle  10 . The additional service facility  7  is provided in the parking lot  1  or is attached to the parking lot  1 . 
     The user X of the AVP vehicle  10  considers using additional service information ASV during the period in which the AVP vehicle  10  is left in the parking lot  1 . The automated valet parking system  100  may transmit information that proposes the additional service to the terminal device  200 . When it is determined that the additional service is to be used, the user X operates the terminal device  200  to send an additional service request REQ to the automated valet parking system  100 . The additional service request REQ is information requesting the use of the additional service. 
       FIG.  4    is a flowchart showing a process related to the additional service according to the present embodiment. 
     In step S 100 , the automated valet parking system  100  determines whether the additional service request REQ has been received from the terminal device  200 . When the automated valet parking system  100  receives the additional service request REQ (step S 100 ; Yes), the process proceeds to step S 110 . 
     In step S 110 , the automated valet parking system  100  performs a movement process of moving the AVP vehicle  10  to the additional service facility  7  (see  FIG.  3   ). This movement process is performed in the same manner as the entry process and the exit process. The departure point is the parking space  4  where the AVP vehicle  10  is parked, and the destination is the additional service facility  7 . The automated valet parking system  100  specifies a destination and instructs the AVP vehicle  10  to move to that destination. The AVP vehicle  10  (processor  70 ) executes the vehicle traveling control so that the AVP vehicle  10  automatically travels from the parking space  4  to the additional service facility  7 . Then, the process proceeds to step S 120 . 
     In step S 120 , the automated valet parking system  100  instructs the operator to implement the additional service. The operator implements the additional service on the AVP vehicle  10 . Upon completion of the additional service, the operator notifies the automated valet parking system  100  of the completion of the additional service. Then, the process proceeds to step S 130 . 
     In step S 130 , the automated valet parking system  100  performs a movement process of moving the AVP vehicle  10  to the original parking space  4 . This movement process is performed in the same manner as the entry process and the exit process. The departure point is the additional service facility  7 , and the destination is the original parking space  4 . The automated valet parking system  100  specifies a destination and instructs the AVP vehicle  10  to move to that destination. The AVP vehicle  10  (processor  70 ) executes the vehicle traveling control so that the AVP vehicle  10  automatically travels from the additional service facility  7  to the parking space  4  and is automatically parked in the parking space  4 . The automated valet parking system  100  may transmit information indicating completion of the additional service to the terminal device  200 . 
     When the automated valet parking service includes the additional service, the convenience and usefulness of the automated valet parking service is further improved. 
     4. Restart Process 
     As described above, the processor  70  of the AVP vehicle  10  performs the vehicle traveling control while specifying the vehicle position by performing the self-position estimation process. Upon completion of parking to the assigned parking space  4 , the processor  70  terminates the vehicle traveling control and stores the localization information LOC at the end of the vehicle traveling control in the storage device  80 . The vehicle position indicated by the localization information LOC at the end of the vehicle traveling control is referred to as the “final stop position” for convenience. 
     It is necessary to restart the vehicle traveling control at the time of exit from the parking lot  1 . This process is hereinafter referred to as “restart process”. In the normal restart process, the processor  70  reads the localization information LOC stored in the storage device  80  and acquires the final stop position indicated by the localization information LOC as the latest vehicle position. Then, the processor  70  restarts the vehicle traveling control based on the latest vehicle position. 
     Next, the case where the additional service described above is implemented on the AVP vehicle  10  is considered. When the additional service is implemented on the AVP vehicle  10 , the vehicle position may deviate from the final stop position. For example, with jack-up, the vehicle position deviates from the final stop position. When the vehicle position deviates from the stored final stop position, it is not appropriate to restart the vehicle traveling control using the stored final stop position after completion of the additional service. This is because the accuracy of the vehicle traveling control is lowered. 
     Therefore, according to the present embodiment, when restarting the vehicle traveling control after completion of the additional service, a method different from the normal restart process is used. 
       FIG.  5    is a conceptual diagram illustrating the restart of the vehicle traveling control after completion of the additional service. The additional service facility  7  includes a workspace  8  and a return space  9 . When the additional service is implemented, the AVP vehicle  10  is located in the workspace  8 . The operator implements the additional service on the AVP vehicle  10  located in the workspace  8 . Upon completion of the additional service, the operator moves the AVP vehicle  10  to a predetermined return space  9 . Then, the operator notifies the automated valet parking system  100  of completion of the additional service. 
     Marks  5 X similar to the marks  5  in the parking lot  1  are installed in the return space  9 . The installation positions of the marks  5 X are included in the parking lot map information MAP. The processor  70  can execute the self-position estimation process using the marks  5 X installed in the return space  9  to acquire the latest vehicle position. 
     More particularly, the processor  70  acquires a “reference vehicle position”, which is a rough vehicle position. The reference vehicle position is, for example, a position of the return space  9 . As another example, the reference vehicle position may be the position of the AVP vehicle  10  calculated from the imaging result by an infrastructure camera. Such a reference vehicle position is notified from the automated valet parking system  100  to the processor  70 . Further, the processor  70  recognizes the marks  5 X using the recognition sensor  40 . Then, the processor  70  corrects the vehicle position by matching the installation position of the marks  5 X indicated by the parking lot map information MAP and the recognition position of the marks  5 X recognized by the recognition sensor  40 . 
     Thus, by using the marks  5 X installed in the return space  9 , even after completion of the additional service, it is possible to acquire the latest vehicle position with high accuracy. The processor  70  restarts the vehicle traveling control based on the acquired latest vehicle position. The restart process after completion of the additional service is referred to as the “first restart process” hereinafter. 
       FIG.  6    is a flowchart showing the restart process according to the present embodiment. When it is a restart process after completion of the additional service (step S 200 ; Yes), the first restart process is performed (step S 210 ). In other cases (step S 200 ; No), the second restart process (the normal restart process) is performed (step S 220 ). 
     In the first restart process, the processor  70  executes the self-position estimation process in a predetermined return space  9  where the marks  5 X are installed. Specifically, the processor  70  recognizes the marks  5 X using the recognition sensor  40 , and executes the self-position estimation process based on the recognition result of the marks  5 X to acquire the latest vehicle position. Note that in this first restart process, the final stop position stored in the storage device  80  is not used. That is, the processor  70  executes the self-position estimation process to acquire the latest vehicle position without using the final stop position stored in the storage device  80 . Then, the processor  70  restarts the vehicle traveling control based on the acquired latest vehicle position. 
     In the second restart process (normal restart process), the processor  70  reads the localization information LOC stored in the storage device  80  and acquires the final stop position indicated by the localization information LOC as the latest vehicle position. Then, the processor  70  restarts the vehicle traveling control based on the acquired latest vehicle position. 
     As described above, according to the present embodiment, when restarting the vehicle traveling control after completion of the additional service, the self-position estimation process is executed in the return space  9  where the marks  5 X are installed. Thus, even when the vehicle position deviates during the additional service, the latest vehicle position can be obtained with high accuracy. Therefore, it is possible to appropriately restart the vehicle traveling control. 
     5. Example of Automated Valet Parking System 
       FIG.  7    is a schematic diagram showing a configuration example of the automated valet parking system  100  according to the present embodiment. The automated valet parking system  100  includes a vehicle management center  110 , a control center  120 , and an infrastructure camera  130 . The control center  120  is installed for each parking lot  1 . Thus, the number of the control centers  120  is same as that of the parking lots  1 . The vehicle management center  110  oversees all control centers  120 . The infrastructure camera  130  is installed in the parking lot  1  and recognizes the situation in the parking lot  1 . For example, the infrastructure camera  130  capture images of the AVP vehicle  10  in the parking lot  1 . 
     The vehicle management center  110  includes an information processing device (vehicle management server). The information processing device includes a processor  111  and a storage device  112 . Various types of information are stored in the storage device  112 . Examples of the storage device  112  include a volatile memory, a non-volatile memory, an HDD, an SSD, and the like. The processor  111  executes various kinds of processing by executing the computer program stored in the storage device  112 . Further, the processor  111  communicates with the control center  120 , the AVP vehicle  10 , and the terminal device  200 . 
     The control center  120  includes an information processing device (control device). The information processing device includes a processor  121  and a storage device  122 . Various types of information are stored in the storage device  122 . Examples of the storage device  122  include a volatile memory, a non-volatile memory, an HDD, an SSD, and the like. The processor  121  executes various kinds of processing by executing the computer program stored in the storage device  122 . Further, the processor  121  communicates with the vehicle management center  110 , the AVP vehicle  10 , and the infrastructure camera  130 . 
     Processing by the automated valet parking system  100  according to the present embodiment is executed by at least one of the processor  111  of the vehicle management center  110  and the processor  121  of the control center  120 . That is, processing by the automated valet parking system  100  according to the present embodiment is executed by one or more processors ( 111 ,  121 ). Further, information necessary for processing is stored in at least one of the storage device  112  of the vehicle management center  110  and the storage device  122  of the control center  120 . That is, the information necessary for processing is stored in one or more storage devices ( 112 ,  122 ). 
     For example, one or more processors ( 111 ,  121 ) of the automated valet parking system  100  execute processing associated with the additional service shown in  FIG.  4   . 
     In step S 100 , the processor  111  of the vehicle management center  110  receives the additional service request REQ from the terminal device  200 . In response to the additional service request REQ, the process proceeds to step S 110 . 
     In step S 110 , the processor  111  of the vehicle management center  110  communicates with the AVP vehicle  10  to activate the AVP vehicle  10  (ignition ON). Further, the processor  111  communicates with the control center  120  and instructs the control center  120  to execute the movement process. The processor  121  of the control center  120  transmits the movement process instruction information to the AVP vehicle  10 . The movement process instruction information indicates the additional service facility  7  that is the destination. In response to the movement process instruction information, the AVP vehicle  10  automatically travels from the parking space  4  to the additional service facility  7 . 
     Upon arrival at the destination (additional service facility  7 ), the AVP vehicle  10  transmits an arrival notification to the control center  120 . The processor  121  of the control center  120  receives the arrival notification from the AVP vehicle  10 . The processor  121  transfers the arrival notification to the vehicle management center  110 . The processor  111  of the vehicle management center  110  receives an arrival notification from the control center  120 . Then, the processor  111  communicates with the AVP vehicle  10  to stop the operation of the AVP vehicle  10  (ignition OFF). 
     In step S 120 , the processor  121  of the control center  120  instructs the operator to implement the additional service. The operator implements the additional service on the AVP vehicle  10 . Upon completion of the additional service, the operator arranges the AVP vehicle  10  in the return space  9  described above. Then, the operator notifies completion of the additional service to the control center  120 . The processor  121  of the control center  120  notifies the vehicle management center  110  of completion of the additional service. 
     In step S 130 , the processor  111  of the vehicle management center  110  communicates with the AVP vehicle  10  to activate the AVP vehicle  10  (ignition ON). Further, the processor  111  communicates with the control center  120  and instructs the control center  120  to execute the movement process. The processor  121  of the control center  120  transmits the movement process instruction information to the AVP vehicle  10 . The movement process instruction information indicates the original parking space  4  that is the destination. 
     In the timing after completion of the additional service, the movement process instruction information indicates instruction of the execution of the “first restart process” described above to the AVP vehicle  10 . Furthermore, the movement process instruction information indicates the reference vehicle position. For example, the reference vehicle position is the position of the return space  9 . Alternatively, the reference vehicle position may be the position of the AVP vehicle  10  calculated from the imaging results by the infrastructure camera  130 . 
     The AVP vehicle  10  executes the first restart process. That is, the AVP vehicle  10  recognizes the marks  5 X installed in the return space  9  and executes the self-position estimation process based on the recognition result of the marks  5 X to acquire the latest vehicle position. Then, the AVP vehicle  10  restarts the vehicle traveling control and automatically travels from the return space  9  to the original parking space  4 .