Patent Publication Number: US-11654894-B2

Title: Automatic parking management apparatus

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
     This application is based upon and claims the benefit of priority of the prior Japanese Patent Application No. 2019-005051, filed on Jan. 16, 2019, the entire contents of which are incorporated herein by reference. 
     BACKGROUND 
     1. Technical Field 
     Embodiments of the present disclosure relate to an automatic parking management apparatus, which is applied to a parking lot that allows automatic parking or automated parking. 
     2. Description of the Related Art 
     For this type of apparatus, there is known an apparatus configured to manage the parking of a vehicle by automatic or automated travel (hereinafter referred to as “automatic parking” as occasion demands). For example, Japanese Patent Application Laid Open No. 2014-227021 (Patent Literature 1) discloses an apparatus configured to generate a path or route to a designated target parking position and configured to enable a vehicle to perform the automatic parking. 
     In order to perform the automatic parking with precision, it is necessary to accurately detect a current position of a vehicle (in other words, a position when the automatic parking is started). For this purpose, a policy of setting a sensor-rich area only in a partial area of a parking lot (e.g., near a start position of the automatic parking) is adopted in many cases, because it costs a lot to provide a high-precision position sensor on a vehicle side. 
     Not all the vehicles that are intended to automatically park, however, stop in the sensor-rich area. For example, even if the sensor-rich area is set as the start position of the automatic parking, it is considered that there are some vehicles that stick out of the area and stop. In such a case, the positions of the vehicles cannot be accurately detected, so that it is hardly possible to perform the automatic parking with precision (in other words, it is hardly possible to normally start the automatic parking), which is technically problematic. 
     SUMMARY 
     In view of the aforementioned problem, it is therefore an object of embodiments of the present disclosure to provide an automatic parking management apparatus that can perform a high-precision automatic parking control by accurately detecting a vehicle position. 
     An aspect of an automatic parking management apparatus according to the present disclosure is an automatic parking management apparatus, which is applied to a parking lot that allows an automatic parking control of automatically parking a vehicle, which is stopped at a start position, into a parking space, the automatic parking management apparatus provided with: a determinator configured to determine whether or not the vehicle is stopped in a predetermined range for defining the start position, when the automatic parking control is intended to be started; and an instructor configured to output an instruction to move into the predetermined range, to the vehicle, if it is determined that the vehicle is not stopped in the predetermined range. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
         FIG.  1    is a block diagram illustrating a configuration of an automatic parking management apparatus according to an embodiment; 
         FIG.  2    is a plan view illustrating an example of a parking lot, which is provided with the automatic parking management apparatus according to the embodiment; 
         FIG.  3    is a flowchart illustrating a flow of operations of the automatic parking management apparatus according to the embodiment; 
         FIG.  4    is a plan view illustrating an example of a start area and an allowed area; 
         FIG.  5    is a flowchart illustrating a flow of an operation of storing an initial position and a movement history; and 
         FIG.  6    is a flowchart illustrating a flow of an operation of generating a movement path by automatic travel. 
     
    
    
     DETAILED DESCRIPTION OF THE EMBODIMENT 
     Hereinafter, an automatic parking management apparatus according to an embodiment of the present disclosure will be explained with reference to the drawings. 
     &lt;Configuration of Apparatus&gt; 
     Firstly, a configuration of the automatic parking management apparatus according to the embodiment will be explained with reference to  FIG.  1   .  FIG.  1    is a block diagram illustrating the configuration of the automatic parking management apparatus according to the embodiment. 
     In  FIG.  1   , an automatic parking management apparatus  20  according to the embodiment may be an apparatus that is applied to a parking lot that allows an automatic or automated parking control (i.e., a so-called automated valet parking lot), and is configured, for example, as a part of a parking lot administrative or management server. The automatic parking management apparatus  20  is configured to perform the automatic parking control on a vehicle  30  by using recognition information obtained from an external recognition apparatus  10 , which includes, for example, a camera. The automatic parking management apparatus  20  is provided with a recognition information acquisition device  210 , a stop position determination device  220 , a vehicle position estimation device  230 , a movement instruction output device  240 , an automatic parking prohibition device  250 , and an automatic parking execution device  260 , as logical processing blocks or physical processing circuits to realize functions thereof. 
     The recognition information acquisition device  210  is configured to obtain the recognition information (e.g., a position or posture of a vehicle, identification information, etc.) from the external recognition apparatus  10 . The recognition information obtained by the recognition information acquisition device  210  may be outputted to each of the stop position determination device  220  and the vehicle position estimation device  230 . 
     The stop position determination device  220  is configured to determine a stop position of the vehicle  30  on the basis of the recognition information obtained by the recognition information acquisition device  210 . Specifically, the stop position determination device  220  is configured to determine whether the vehicle  30  is stopped in a start area, in an allowed area, or in another area. The start area and the allowed area will be explained in detail later. A determination result of the stop position determination device  220  may be outputted to each of the movement instruction output device  240  and the automatic parking prohibition device  250 . The stop position determination device  220  is a specific example of the “determinator” in Supplementary Notes described later. 
     The vehicle position estimation device  230  is configured to estimate a current position of the vehicle  30  (which is particularly a position in the allowed area) on the basis of an initial position and a movement history, which are obtained from the vehicle  30 . A specific position estimation method performed by the vehicle position estimation device  230  will be explained in detail later. An estimation result of the vehicle position estimation device  230  may be outputted to the movement instruction output device  240 . 
     The movement instruction output device  240  is configured to output an instruction to move into the start area, to the vehicle  30  that is stopped outside the start area. A specific movement instruction method performed by the movement instruction output device  240  will be explained in detail later. The movement instruction output device  240  is a specific example of the “instructor” in Supplementary Notes described later. 
     The automatic parking prohibition device  250  is configured to allow the start of the automatic parking control for the vehicle  30  that is stopped in the start area, and is configured to prohibit the start of the automatic parking control for the vehicle  30  that is stopped outside the start area. Specifically, the automatic parking prohibition device  250  is configured to allow and prohibit the automatic parking control by controlling the operation of the automatic parking execution device  260 . The automatic parking prohibition device  250  is a specific example of the “prohibitor” in Supplementary Notes described later. 
     The automatic parking execution device  260  is configured to perform the automatic parking control on the vehicle  30  by controlling the travel of the vehicle  30 . More specifically, the automatic parking execution device  260  may output an instruction to control an accelerator actuator, a brake actuator, a steering actuator, or the like, to the vehicle  30 , thereby performing the automatic parking control on the vehicle  30 . A more detailed explanation of the automatic parking control will be omitted herein because the existing technologies/techniques can be applied, as occasion demands. 
     &lt;Technical Problem&gt; 
     Next, with reference to  FIG.  2   , an explanation will be given to a configuration of the parking lot provided with the automatic parking management apparatus  20  according to the embodiment, and a technical problem that can occur in the parking lot.  FIG.  2    is a plan view illustrating an example of the parking lot, which is provided with the automatic parking management apparatus according to the embodiment. 
     As illustrated in  FIG.  2   , a camera  110  configured to image a situation near an entrance and a camera  120  configured to image a situation near the start area are placed in the parking lot provided with the automatic parking management apparatus  20  according to the embodiment. The cameras  110  and  120  may constitute a part of the external recognition apparatus  10 . In the parking lot, another camera, whose illustration is omitted herein, may be also placed, other than the cameras  110  and  120   
     The vehicle  30  that enters the parking lot may firstly stop in the start area. The start area may be an area for defining a start position of the automatic parking control, and is a specific example of the “predetermined range” in Supplementary Notes described later. Since the camera  120  is placed near the start area, the position or posture (or direction) of the vehicle  30  in the start area can be detected with high precision. Here, a target parking position (i.e., a position to park the vehicle  30 ) by the automatic parking control may be outputted as information indicating a relative position to the position of the vehicle  30  at a start time point of the automatic parking control. It is thus possible to improve control accuracy by starting the automatic parking control from inside the start area, which has high detection accuracy. More specifically, it is possible to reduce the deviation of a travel path or route to a parking space in which the vehicle  30  is intended to be parked, the deviation of a parking position in the parking space, or the like. 
     Not all the vehicles  30 , however, stop in the start area. Since the vehicle travels to the start position due to a driving operation of an occupant, the vehicle may significantly deviate from the start area and stop, as illustrated in  FIG.  2   , depending on the driving operation. In such a case, the vehicle  30  deviates from an angle of view of the camera  120  (or the vehicle  30  is at a position at which there is a significant influence of distortion of the camera  120 ), and it is thus hard to accurately detect the position or posture of the vehicle  30 . There is thus a possibility that the automatic parking control cannot be performed with precision. The start of the automatic parking control without a change may cause a significant deviation, which may also cause a risk of a collision between the vehicle  30  and another vehicle, an obstacle, or the like. 
     In order to solve the aforementioned technical problem, the automatic parking management apparatus  20  according to the embodiment is configured to perform the operations explained below. 
     &lt;Explanation of Operation&gt; 
     Next, a flow of the operations of the automatic parking management apparatus  20  according to the embodiment will be explained with reference to  FIG.  3   .  FIG.  3    is a flowchart illustrating the flow of the operations of the automatic parking management apparatus according to the embodiment. 
     As illustrated in  FIG.  3   , in operation of the automatic parking management apparatus  20  according to the embodiment, the stop position determination device  220  firstly obtains the position of the vehicle  30  that is intended to start the automatic parking control (step S 101 ). More specifically, when a new vehicle  30  enters the parking lot, the vehicle position estimation device  230  may obtain the position of the vehicle  30  on the basis of the recognition information obtained by the recognition information acquisition device  210  (which is mainly information that can be recognized from images taken by the camera  120 ). 
     The stop position determination device  220  then determines whether or not the position of the vehicle  30  is in the start area (step S 102 ). In other words, the stop position determination device  220  may determine whether or not the vehicle  30  is stopped in an area in which the position or posture can be detected with high precision. If the position of the vehicle  30  is not in the start area, as already described above, it is hard to accurately detect the position or posture of the vehicle  30  from the images taken by the camera  120 . However, even if the position or posture of the vehicle  30  is not accurately detected, it is possible to determine whether or not the position of the vehicle  30  is in the start area, as long as a position relation between the vehicle  30  and the start area is recognized from the images taken by the camera  120 . 
     If it is determined that the vehicle  30  is stopped in the start area (the step S 102 : YES), the automatic parking prohibition device  250  allows the start of the automatic parking control (step S 103 ). Thus, in this case, the automatic parking control is started by the automatic parking execution device  260 . 
     On the other hand, if it is determined that the vehicle  30  is not stopped in the start area (the step S 102 : NO), the stop position determination device  220  obtains an allowed area set value (step S 104 ). The allowed area set value may be a value for determining the magnitude of the allowed area. 
     Now, the allowed area will be specifically explained with reference to  FIG.  4   .  FIG.  4    is a plan view illustrating an example of the start area and the allowed area. 
     As illustrated in  FIG.  4   , the allowed area may be an area set around the start area, and may be set as an area in which the vehicle can safely travel to the start area by automatic or automated travel. The magnitude of the allowed area, as explained above, may be determined by the allowed area set value. For example, the width of the allowed area (i.e., a width from an edge of the start area) may correspond to the allowed area set value. The allowed area set value may be a fixed value, which is set in advance, for example, on the basis of a structure of the parking lot or the like, and in this case, the magnitude of the allowed area may be fixed. On the other hand, the allowed area set value may be a variable value, which varies depending on the position of another vehicle that is in the parking lot, or the like, and in this case, the magnitude of the allowed area may vary depending on situations. For example, if there is another vehicle near the start area, it can be determined that there is a high possibility of collision, and thus, the allowed area set value may be set as a relatively small value (i.e., the allowed area may be set as a relatively small area). On the other hand, if there is no obstacle near the start area, it can be determined that there is a low possibility of collision, and thus, the allowed area set value may be set as a relatively large value (i.e., the allowed area may be set as a relatively large area). 
     Back in  FIG.  3   , the stop position determination device  220  that obtains the allowed area set value determines whether or not the vehicle  30  is stopped in the allowed area (step S 105 ). For the same reason as those when it is determined whether or not the position of the vehicle  30  is in the start area, even if the position or posture of the vehicle  30  is not accurately detected, it is possible to determine whether or not the vehicle  30  is in the allowed area, as long as a position relation between the vehicle  30  and the allowed area is recognized from the images taken by the camera  120 . In this case, however, all (or a part in some cases) of the allowed area is preferably included in the angle of view of the camera  120 . If it is determined that the vehicle  30  is stopped in the allowed area (the step S 105 : YES), the automatic parking prohibition device  250  prohibits the start of the automatic parking control (step S 106 ). Then, the movement instruction output device  240  outputs a movement instruction to the vehicle  30  to move into the start area by automatic travel (step S 107 ). 
     On the other hand, if it is determined that the vehicle  30  is not stopped in the allowed area (in other words, if it is determined that the vehicle  30  is parked outside the allowed area) (the step S 105 : NO), the automatic parking prohibition device  250  prohibits the start of the automatic parking control (step S 108 ). Then, the movement instruction output device  240  outputs a movement instruction to the vehicle  30  to move into the start area by manual travel (step S 109 ). 
     &lt;Instruction to Move by Automatic Travel&gt; 
     In the case of the instruction to move by automatic travel (refer to the step S 107  in  FIG.  3   ), it is necessary to know an accurate position of the vehicle  30  to move the vehicle  30  into the start area with precision. In the allowed area, however, the accuracy of the position information or recognition information recognized by the external recognition apparatus  10  is not high. Thus, the vehicle position estimation device  230  may estimate the current position of the vehicle  30  by using the initial position and the movement history of the vehicle  30 . 
     Firstly, with reference to  FIG.  5   , an explanation will be given to an operation of storing the initial position and the movement history of the vehicle  30 .  FIG.  5    is a flowchart illustrating a flow of the operation of storing the initial position and the movement history. Steps explained below in the flowchart illustrated in  FIG.  5    may be performed when the vehicle  30  enters the parking lot, i.e., before the vehicle  30  stops in the start area or in its vicinity with an intention to start the automatic parking control. 
     As illustrated in  FIG.  5   , the vehicle position estimation device  230  firstly determines whether or not there is the vehicle  30  at the entrance of the parking lot (step S 201 ). Whether or not there is the vehicle  30  at the entrance of the parking lot can be determined from images taken by the camera  110  (refer to  FIG.  2   ) or the like. If it is determined that there is no vehicle  30  at the entrance of the parking lot (the step S 201 : NO), the subsequent process is omitted, and a series of steps is ended. In this case, the step S 201  may be started after a lapse of a predetermined period. 
     If it is determined that there is the vehicle  30  at the entrance of the parking lot (the step S 201 : YES), the vehicle position estimation device  230  obtains identification information of the vehicle  30  (step S 202 ). The identification information of the vehicle  30  may be, for example, information about a number plate, and can be obtained from the images taken by the camera  110 , or the like. 
     Then, the vehicle position estimation device  230  compares the obtained identification information and information about reservation of the parking lot (step S 203 ), and determines whether or not the vehicle  30  that is at the entrance is a vehicle that is scheduled to start the automatic parking control (step S 204 ). The parking lot that allows the automatic parking control may be used on the premise that a reservation is made in advance, and it is necessary to input the identification information in the reservation. It is thus possible to determine whether or not the vehicle  30  is scheduled to start the automatic parking control by comparing the identification information obtained in the step S 202  and the identification information inputted in the reservation. 
     If it is determined that the vehicle  30  is not scheduled to start the automatic parking control (the step S 204 : NO), the subsequent process is omitted, and a series of steps is ended. On the other hand, if it is determined that the vehicle  30  is scheduled to start the automatic parking control (the step S 204 : YES), the vehicle position estimation device  230  outputs an instruction, to the vehicle  30 , to store the current position of the vehicle  30  (i.e., the position near the entrance) as the initial position (step S 205 ). Then, the vehicle position estimation device  230  further outputs an instruction, to the vehicle  30 , to store the subsequent movement history of the vehicle  30  (i.e., information about a vehicle speed, information about a steering angle, etc.) (step S 206 ). 
     The initial position of the vehicle  30  described above is not necessarily the position of the vehicle  30  at the entrance of the parking lot. In other words, any position that is passed by the vehicle  30  that enters the parking lot may be stored as the initial position. 
     Next, with reference to  FIG.  6   , an explanation will be given to an operation of generating a movement path by automatic travel from the initial position and the movement history of the vehicle  30 .  FIG.  6    is a flowchart illustrating a flow of the operation of generating the movement path by automatic travel. Steps explained below in the flowchart illustrated in  FIG.  6    may be performed if it is determined to give an instruction to move by automatic travel. 
     As illustrated in  FIG.  6   , when it is determined to give the instruction to move by automatic travel, the vehicle position estimation device  230  firstly obtains the movement history stored in the vehicle  30  (step S 301 ). The vehicle position estimation device  230  then estimates a movement amount of the vehicle  30  from information about the movement history obtained (step S 302 ). A detailed explanation of a specific method of calculating the movement amount from the movement history is omitted herein because the existing technologies/techniques can be applied, as occasion demands. 
     Then, the vehicle position estimation device  230  obtains the initial position stored in the vehicle  30  (step S 303 ). The vehicle position estimation device  230  then estimates the current position of the vehicle  30  from the initial position and the movement amount (step S 304 ). Specifically, the vehicle position estimation device  230  may estimate the current position of the vehicle  30  by adding the movement amount to the initial position. 
     After that, the vehicle position estimation device  230  outputs the estimated position of the vehicle  30  to the movement instruction output device  240  (step S 305 ). The operation described above allows the movement instruction output device  240  to accurately arithmetically operate a path or route to move into the start area from the current position of the vehicle  30 . 
     &lt;Technical Effect&gt; 
     Next, an explanation will be given to a technical effect obtained by the automatic parking management apparatus  20  according to the embodiment. 
     As explained in  FIG.  1    to  FIG.  5   , according to the automatic parking management apparatus  20  in the embodiment, when the vehicle  30  is not stopped in the start area of the automatic parking control, the movement instruction may be outputted to the vehicle  30  to move into the start area. Thus, the vehicle  30  is moved into the start area, and as a result, it is possible to normally start the automatic parking control. In other words, it is possible to accurately detect the position of the vehicle  30  and to perform the high-precision automatic parking control. Since the start of the automatic parking control is prohibited until the vehicle  30  moves into the start area, it is possible to prevent the automatic parking control from being started in an inappropriate condition. 
     Moreover, particularly in the embodiment, the instruction to move by automatic travel is outputted when the vehicle  30  is stopped in the allowed area. It is thus possible to start the automatic parking control without increasing an occupant&#39;s load. On the other hand, when the vehicle  30  is stopped outside the allowed area, the instruction to move by manual travel is outputted. It is thus possible to avoid a collision caused by that the position of the vehicle  30  cannot be accurately recognized, or the like. 
     &lt;Supplementary Notes&gt; 
     Various aspects of embodiments of the present disclosure derived from the embodiment explained above will be explained hereinafter. 
     (Supplementary Note 1) 
     An automatic parking management apparatus described in Supplementary Note 1 is an automatic parking management apparatus, which is applied to a parking lot that allows an automatic parking control of automatically parking a vehicle, which is stopped at a start position, into a parking space, the automatic parking management apparatus provided with: a determinator configured to determine whether or not the vehicle is stopped in a predetermined range for defining the start position, when the automatic parking control is intended to be started; and an instructor configured to output an instruction to move into the predetermined range, to the vehicle, if it is determined that the vehicle is not stopped in the predetermined range. 
     According to the automatic parking management apparatus described in Supplementary Note 1, when the vehicle is not stopped in the predetermined range for defining the start position (which is typically a range in which the position of the vehicle can be recognized with high precision), an instruction is given to the vehicle to move into the predetermined range. Specifically, a travel or cruise control instruction for moving the vehicle into the predetermined range by automatic travel, an information display for moving the vehicle into the predetermined range by manual travel, or the like may be performed. As a result, it is possible to start the automatic parking control from the start position even when the vehicle is not stopped in the predetermined range. 
     (Supplementary Note 2) 
     An automatic parking management apparatus described in Supplementary Note 2 is further provided with a prohibitor, (i) which is configured to allow a start of the automatic parking control of the vehicle if it is determined that the vehicle is stopped in the predetermined range, and (ii) which is configured to prohibit the start of the automatic parking control of the vehicle if it is determined that the vehicle is not stopped in the predetermined range. 
     According to the automatic parking management apparatus described in Supplementary Note 2, when the vehicle is not stopped in the predetermined range, the start of the automatic parking control is prohibited. It is thus possible to prevent the automatic parking control from being started in an inappropriate condition (e.g., in a condition in which the position or posture of the vehicle cannot be accurately known). 
     (Supplementary Note 3) 
     In an automatic parking management apparatus described in Supplementary Note 3, if it is determined that the vehicle is not stopped in the predetermined range, the instructor is configured (i) to output an instruction to move the vehicle into the predetermined range by automatic travel when the vehicle is stopped in an allowed area, which is set around the predetermined range, and (ii) to output an instruction to move the vehicle into the predetermined range by manual travel when the vehicle is stopped outside the allowed area. 
     According to the automatic parking management apparatus described in Supplementary Note 3, the “allowed area” in which the vehicle can be safely moved into the predetermined range by automatic travel is set around the predetermined range. The instruction to move the vehicle into the predetermined range by automatic travel is outputted when the vehicle is stopped in the allowed area, whereas the instruction to move the vehicle into the predetermined range by manual travel is outputted when the vehicle is stopped outside the allowed area. By outputting the instruction in this manner, it is possible to move the vehicle into the predetermined range, more preferably. 
     The present disclosure may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments and examples are therefore to be considered in all respects as illustrative and not restrictive, the scope of the disclosure being indicated by the appended claims rather than by the foregoing description and all changes which come in the meaning and range of equivalency of the claims are therefore intended to be embraced therein.