JP6944422B2 - Mechanical parking device - Google Patents

Description

The present invention relates to a mechanical parking device that stores a mixture of self-driving vehicles and ordinary vehicles.

As a conventional mechanical parking device, Japanese Patent No. 5551410 (Patent Document 1) is known. In Patent Document 1, a vehicle with a self-propelled function is a vehicle side having a vehicle side communication device and an operation controller. A control device is provided, and the parking device is a mechanical parking device. A turntable as an attitude control device, which is a drop-off space, is provided in front of the parking space of the parking device, and is provided in the vicinity of the attitude control device. A vehicle measuring device for detecting the front-rear, position, orientation, and size of a vehicle that enters and stops on the attitude control device is provided, and a receiving-side control device is provided. Based on the external communication device that wirelessly communicates with the vehicle-side communication device and the vehicle detection result by the vehicle measurement device, the front-rear, position, orientation, and size of the vehicle are calculated, and a turning command is given to the attitude control device to give the vehicle a turning command. Along with turning the front-back direction of the parking device toward the parking space, the track for moving the vehicle on the posture control device whose front-rear direction is adjusted is calculated and along the calculated track. It has an arithmetic controller that gives a warehousing command for warehousing a vehicle on the attitude control device into the parking space to the operation controller of the vehicle side control device via an external communication device, and enters the attitude control device from the outside. The vehicle that stops at the parking lot is detected by the vehicle measuring device, and the front / rear, position, orientation, and size of the vehicle are calculated by the arithmetic controller of the receiving side controller, and the arithmetic controller controls the operation of the vehicle side controller by wireless communication. A command is issued to the vehicle side control device to obtain approval for parking the vehicle from the device and to keep the vehicle in a state in which the vehicle can automatically run, and further to the attitude control device based on the front-rear and orientation of the vehicle calculated by the arithmetic controller. A turning command is given to turn the front and rear of the vehicle toward the stop space, and a warehousing command is given from the receiving side control device to the vehicle side control device, and the operation controller follows the trajectory calculated by the calculation controller. Described is a drop-off parking device for a vehicle with a self-propelled function, which is characterized in that the vehicle is automatically driven and the vehicle on the attitude control device is stored in a stop space.

Japanese Patent No. 5551410

However, even if there is no problem in the case where the conventional mechanical parking device is configured only for the self-driving vehicle, when the normal vehicle and the self-driving vehicle are mixed and used, smooth storage processing is performed. It was not possible to prevent the deterioration of safety.

An object of the present invention is a mechanical parking device that can be configured as a mixed type of a normal vehicle and an autonomous driving vehicle, and can prevent a decrease in safety due to a mixture of a normal vehicle and an autonomous driving vehicle. To provide.

In order to achieve the above object, the present invention has an operation panel arranged near the entrance of the boarding room, and a normal configuration processing unit having a normal configuration that mainly targets a normal vehicle and performs processing corresponding to the operation on the operation panel. And mechanical parking provided with an automatic driving vehicle processing unit configured on the mechanical parking device side and performing movement processing to the boarding room for the automatic driving vehicle by wireless communication with the automatic driving vehicle. In the device, the automatic driving vehicle processing unit is determined to be received by the permission signal determination unit that detects the permission signal for parking by automatic driving from the permission signal transmission unit provided in the automatic driving vehicle and the permission signal determination unit. Following the detection of the permission signal, the warehousing operation determination unit that detects the warehousing operation signal for which the operation corresponding to the warehousing is performed from the operation panel, and the AND condition detected by the permission signal determination unit and the warehousing operation determination unit It is characterized by including an automatic driving movement processing unit that moves to the final position of a predetermined process in the boarding room by the automatic driving of the automatic driving vehicle when it is established.

According to the mechanical parking device according to the present invention, it is possible to obtain a mechanical parking device that can store a mixture of a normal vehicle and an automatically driven vehicle without complicating the configuration of the mechanical parking device. When a following parked vehicle witnesses a driver operating the operation panel or a parked vehicle located near the entrance of the boarding room, it usually continues the conventional method of waiting until the processing is completed. It is possible to prevent a decrease in safety due to a mixture of vehicles and self-driving vehicles.

It is a top view which shows the schematic structure of the mechanical parking device by one Example of this invention. It is a block block diagram of the control system including the operation panel of the mechanical parking device and the self-driving vehicle shown in FIG. It is an enlarged view which shows the vicinity of the front which shows an example of the self-driving vehicle shown in FIG. It is a flowchart which shows the warehousing processing operation by the storage processing program of the control system shown in FIG. It is a top view which shows the movement route when the self-driving vehicle is parked by the automatic driving in the boarding room by the mechanical parking device shown in FIG. It is a flowchart which shows the issue process operation by the issue process program.

Hereinafter, examples of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view showing a schematic configuration of a mechanical parking device according to an embodiment of the present invention.

The mechanical parking device includes a parking building 1, an entrance / exit door 2 that can open and close the entrance / exit of the parking building 1, an operation panel 3 arranged on the wall surface of the parking building 1 in the vicinity of the entrance / exit door 2, and not shown. Is configured to have a control system or the like that takes in an operation signal or the like from the operation panel 3 and controls and drives the drive system of the parking device.

The illustrated mechanical parking device shows a flat configuration in which a plurality of storage spaces are formed in the boarding room 4 in the parking building 1, but the plurality of storage spaces are on a floor different from the boarding room 4. The present invention can also be applied to a multi-storey mechanical parking device in which a lift device or the like is formed between the boarding room 4 and the storage space. Regardless of which type of mechanical parking device is used, the normal vehicle 5 and the self-driving vehicle can be mixedly stored as the parked vehicle.

In the normal usage mode, the driver who stops the normal vehicle 5 in front of the doorway 2 and gets off the vehicle performs an operation for warehousing from the operation panel 3. Then, since the door 2 is automatically opened, the driver gets into the normal vehicle 5 again to drive forward into the boarding room 4, and gets into the empty storage space 6 of the storage spaces to stop. After that, the driver goes out from the doorway of the parking building 1 and closes the doorway 2 from the operation panel 3.

However, since this mechanical parking device is a mixed type of a normal vehicle and an autonomous driving vehicle, when the parked vehicle is an autonomous driving vehicle, the storage process is performed in a different form. For this purpose, the operation panel 3 and its control system are configured as follows.

FIG. 2 is a block configuration diagram of a control system including an operation panel 3 and an autonomous driving vehicle.
The automatic driving vehicle 7 to be parked includes a vehicle-side transmission / reception unit 9 that communicates with the automatic-driving vehicle processing unit 16 on the parking device side, which will be described in detail later, through an antenna 8, and a mechanical parking device through the vehicle-side transmission / reception unit 9. The permission signal transmission unit 10 that gives permission for parking by automatic driving to the automatic driving vehicle processing unit 16 side on the side, and the driving unit of the automatic driving vehicle 7 that is already mounted on the automatic driving vehicle 7 are controlled by automatic driving, and at the same time. It has an automatic driving control unit 11 and the like that can be controlled and driven from the automatic driving vehicle processing unit 16 side as well as by automatic driving.

The operation panel 3 is connected to a normal configuration processing unit 12 having a normal configuration that mainly targets the normal vehicle 5 and an automatic driving vehicle processing unit 16 that mainly targets the automatic driving vehicle 7. ing. The normal configuration processing unit 12 has a configuration known for a normal mechanical parking device, and opens the doorway door 2 to open the doorway door 2 when the driver performs an operation for opening the doorway door 2. The processing unit 13, the entrance / exit door closing processing unit 14 that closes the entrance / exit door 2 when the driver performs an operation for closing the entrance / exit door 2, and the parking vehicle in the multi-story configuration on another floor. It is configured to have another floor moving storage processing unit 15 and the like for moving to and storing the storage space of the door.

On the other hand, the automatic driving vehicle processing unit 16 is a parking device side transmission / reception unit 18 provided with an antenna 17 for transmitting / receiving a signal to / from the antenna 8 of the vehicle side transmission / reception unit 9 in the automatic driving vehicle 7, and the automatic driving vehicle 7. The permission signal determination unit 19 that detects the parking permission signal by automatic driving from the permission signal transmission unit 10, the permission signal that is determined to be received by the permission signal determination unit 19, and then the operation panel 3 performs an operation corresponding to warehousing. It has a warehousing operation determination unit 20 for detecting the damage, an automatic operation movement processing unit 21, and the like.

The automatic operation movement processing unit 21 processes the door opening process when the AND condition for detecting both the permission signal received and determined by the permission signal determination unit 19 and the warehousing operation signal detected by the warehousing operation determination unit 20 is satisfied. After confirming the open state by the unit 13, the autonomous driving vehicle 7 is moved to the storage space 6 of the parking building 1 by automatic operation, and the appropriate timing, for example, the completion signal is used as the entrance / exit door closing operation signal. Perform processing such as giving to 14. These control systems are performed by the control unit 23 that performs processing based on a storage processing program stored in the storage unit 22 or the like.

FIG. 3 is an enlarged view showing the vicinity of the front showing an example of the autonomous driving vehicle 7.

In the vicinity of the front of the autonomous driving vehicle 7, a permission button operated by the driver to transmit a signal permitting storage by automatic driving control from the mechanical parking device side to the mechanical parking device side, etc. The permission signal generation unit 24 is configured. When the driver operates the permission signal generation unit 24, the automatic driving control unit 11 is held in a state where the automatic driving vehicle 7 can be automatically driven from the automatic driving vehicle processing unit 16 on the mechanical parking device side. It is desirable to have a function.

When the driver of the automatic driving vehicle 7 chooses to perform the storage by the automatic driving control from the mechanical parking device side, the driver operates the permission signal generation unit 24. Then, the permission signal from the permission signal transmission unit 10 is transmitted from the antenna 8 of the vehicle side transmission / reception unit 9 shown in FIG. 2, received by the antenna 17 of the parking device side transmission / reception unit 18, and detected by the permission signal determination unit 19. Will be done.

FIG. 4 is a flowchart showing a warehousing processing operation by the storage processing program.

The self-driving vehicle processing unit 16 monitors whether or not the parked vehicle has entered a predetermined position in step S1. This monitoring is performed by a parked vehicle detection unit such as a sensor (not shown).

When the parked vehicle detection unit detects a parked vehicle in step S1, the automatic driving vehicle processing unit 16 stores the parked vehicle in step S2 by the normal vehicle 5 or the automatic driving control from the parking device side. An output prompting a measure for determining whether or not the number is 7. This output is produced by a display (not shown), voice guidance, or other means located near the current position of the parked vehicle. After that, the permission signal determination unit 19 in the autonomous driving vehicle processing unit 16 shown in FIG. 2 monitors the reception of the permission signal from the parked vehicle in step S3.

When the driver of the parked vehicle selects to store by automatic operation control from the mechanical parking device side and operates the permission signal generation unit 24 shown in FIG. 3, the permission signal from the permission signal transmission unit 10 Is transmitted from the antenna 8 of the vehicle-side transmission / reception unit 9 shown in FIG. 2, received by the antenna 17 of the parking device-side transmission / reception unit 18, and detected by the permission signal determination unit 19.

Therefore, it is determined that the parked vehicle is the autonomous driving vehicle 7, and the warehousing operation determination unit 20 shown in FIG. 2 monitors the warehousing operation from the operation panel 3 subsequently performed by the driver in step S4. When the driver who got off the autonomous driving vehicle 7 moves to the operation panel 3 and performs the warehousing operation, the warehousing operation determination unit 20 receives the permission signal received and determined by the permission signal determination unit 19 and the warehousing operation determination unit 20. It is determined that the AND condition of the warehousing operation signal detected in 1 is satisfied, and an operation signal is given to the automatic operation movement processing unit 21.

Then, the automatic operation movement processing unit 21 gives an operation signal to the door opening processing unit 13 of the normal configuration processing unit 12 in step S5. After that, the automatic driving movement processing unit 21 confirms the open state of the doorway 2 by the doorway door opening processing unit 13, and then performs wireless communication between the parking device side transmission / reception unit 18 and the vehicle side transmission / reception unit 9 in step S6. The automatic driving control unit 11 is controlled to move the automatic driving vehicle 7 to the empty storage space 6 of the parking building 1 by automatic driving.

Next, when the automatic operation movement processing unit 21 gives an entrance / exit door closing operation signal to the entrance / exit door closing processing unit 14 in step S7 at an appropriate timing, the entrance / exit door 2 is automatically closed. Before and after that, the automatic driving movement processing unit 21 makes the automatic driving vehicle 7 board and stop at the final position in the boarding room 4 which is an empty storage space 6 as shown in FIG. 1 in step S8, and completes the warehousing. Let me.

FIG. 5 is a plan view showing a movement route when the autonomous driving vehicle 7 is parked in the boarding room 4 by automatic driving.

As described above, when the autonomous driving vehicle 7 is to be retracted by automatic driving, the driver gets off from the autonomous driving vehicle 7 and performs a warehousing operation from the operation panel 3. Then, the warehousing operation determination unit 20 determines that the AND condition of the permission signal received and determined by the warehousing operation determination unit 19 and the warehousing operation signal detected by the warehousing operation determination unit 20 is satisfied, and the automatic operation movement processing unit 20 An operation signal is given to 21.

At this point, the driver of the self-driving vehicle 7 does not have to stop near the doorway of the parking building 1, and may leave the place. After that, the automatic driving movement processing unit 21 shown in FIG. 2 confirms the open state of the doorway 2 by the doorway door opening processing unit 13, and then performs wireless communication between the transmission / reception unit 18 on the parking device side and the transmission / reception unit 9 on the vehicle side. While doing so, the automatic driving control unit 11 is controlled and first moved into the boarding room 4 as shown as the automatic driving vehicle 7A, and then automatically driven to the empty storage space 6 of the parking building 1 as shown as the automatic driving vehicle 7B. Perform move processing.

Along with this automatic operation, when the automatic operation movement processing unit 21 gives an entrance / exit door closing operation signal to the entrance / exit door closing processing unit 14 at an appropriate timing, the entrance / exit door 2 is automatically closed. Even if the autonomous driving vehicle 7B is moving by automatic driving, the following parked vehicle will not be unintentionally entered into the boarding room 4 by closing the doorway 2.

On the other hand, when it is detected in step S3 shown in FIG. 4 that the permission signal is not received from the parked vehicle and that the normal configuration processing unit 12 has performed the warehousing operation from the operation panel 3, the above-mentioned The warehousing process is different from the processed process. It is determined that the parked vehicle is not the self-driving vehicle 7 but the normal vehicle 5, or even if the self-driving vehicle 7 is not entrusted to the automatic driving process from the mechanical parking device side, the driver takes the initiative. Determined to be stored.

In this case, the doorway opening processing unit 13 in the normal configuration processing unit 12 receives the warehousing operation from the operation panel 3 in step S9 and opens the doorway door 2. Then, since the doorway 2 is automatically opened, the driver gets into the parked vehicle again in the same manner as in the normal case, and advances into the boarding room 4 by his own driving or automatic driving by the autonomous driving vehicle 7, and the storage space. Get into the empty storage space 6 and stop it. After that, the driver who has completed the storage performs an operation of exiting from the entrance / exit of the parking building 1 and closing the entrance / exit door 2 from the operation panel 3.

Then, since the entrance / exit door closing processing unit 14 in the normal configuration processing unit 12 shown in FIG. 2 monitors the operation for closing the entrance / exit door 2 from the operation panel 3 in step S10, the entrance / exit door 2 is monitored in the following step S11. Is closed automatically.

According to the parking device having such a configuration, the door 2 is opened by the driver who was driving the normal vehicle 5, which is a parked vehicle, operating the operation panel 3 arranged near the entrance of the boarding room 4. After that, there is no change in the way in which the driver gets into the normal vehicle 5 and stops at the final position of the predetermined process in the boarding room 4. On the other hand, after the driver of the automatic driving vehicle 7 operates the permission signal transmitting unit 10 provided in the automatic driving vehicle 7 and selects parking by automatic driving under the control from the mechanical parking device side, the driver selects parking by automatic driving. When the operation corresponding to the warehousing is similarly performed from the operation panel 3, the warehousing of the automatically driven vehicle 7 can be performed thereafter under the control from the mechanical parking device side.

For all parked vehicles, the common method is to temporarily stop the parked vehicle near the entrance of the boarding room 4 and operate the warehousing from the operation panel 3, so that the subsequent parked vehicle is the operation panel. When a driver operating 3 or a parked vehicle stopped near the entrance / exit of the boarding room 4 is witnessed, the conventional method of waiting until the processing is completed can be continued. In this way, it is possible to prevent a decrease in safety while mixing a normal vehicle 5 and an autonomous driving vehicle 7 as parked vehicles.

FIG. 6 is a flowchart showing the issue processing operation by the issue processing program.

When the driver performs a warehousing operation using the operation panel 3 shown in FIG. 2 in step S12, the target vehicle and the parking position that have already been warehousing are specified according to the warehousing processing program in step S13. Further, it is determined whether the target vehicle is the self-driving vehicle 7 and whether the vehicle has been warehousing by the parking device side by using the automatic driving function at the time of warehousing or another vehicle.

As a result, in the case of the automatic driving vehicle 7 which has been warehousing by the parking device side using the automatic driving function at the time of warehousing, the automatic driving movement processing unit 21 described above is performed by the parking device side in step S14. The autonomous driving vehicle 7 is moved to the vicinity of the front door 2 of the doorway 2 in the boarding room 4. After this movement is completed, the automatic operation movement processing unit 21 gives a signal to the doorway door opening processing unit 13 of the normal configuration processing unit 12 to open the doorway door 2 in step S15. At this point, the self-driving vehicle 7 is handed over to the driver who was operating the operation panel 3, and the driver gets into the self-driving vehicle 7 in step S16 and drives himself to leave the garage.

If the vehicle is determined to be another vehicle in step S13, a signal is given to the doorway opening processing unit 13 of the normal configuration processing unit 12 to open the doorway 2 in step S17. Therefore, in step S18, the driver who was operating the operation panel 3 enters the boarding room 4 in the same manner as in the normal case, gets into his / her normal vehicle 5, drives himself / herself, and leaves the garage.

After that, in any vehicle, the passage of the door 2 portion is detected by a sensor or the like, and a signal is given to the door closing processing unit 14 to close the door 2.

According to such a warehousing process, since the driver standing in front of the only operation panel 3 performs the warehousing operation, the warehousing or warehousing operation by another driver is not accepted from the operation panel 3 during the warehousing operation. So it's safe.

In the warehousing processing operation by the warehousing processing program described above, when the vehicle is stored in a predetermined parking position by using the automatic driving function of the autonomous driving vehicle 7 at the time of warehousing, when the autonomous driving vehicle 7 is warehousing, the entrance / exit door 2 is moved from the storage position. Although the vehicle is moved up to the front by using the automatic driving function of the automatic driving vehicle 7, the present invention is not limited to this method.

Since the normal configuration processing unit 12 shown in FIG. 2 includes a moving storage processing unit 15 on another floor, as briefly mentioned in the explanation of FIG. 1, a plurality of normal configuration processing units 12 are located on a floor different from the boarding room 4. The present invention can also be applied to a multi-storey mechanical parking device in which a storage space is formed and a lift device or the like is configured between the boarding room 4 and the storage space. In the mechanical parking device shown in FIG. 1, the final position of a predetermined process for moving up to the empty storage space 6 by automatic operation is set, but in the mechanical parking device having a multi-story configuration, the vehicle waits in the boarding room 4. Up to the lift device is the final position of the predetermined process for moving the automatic driving vehicle 7 by automatic driving. After that, the parked vehicle is moved to the storage space on the other floor by the other floor movement storage processing unit 15 in the normal configuration processing unit 12 shown in FIG.

As described above, the present invention is a normal configuration process having a normal configuration in which a process corresponding to an operation on the operation panel 3 is performed mainly on the operation panel 3 arranged near the entrance of the boarding room 4 and the normal vehicle 5. A self-driving vehicle processing unit 16 is provided, which is configured on the mechanical parking device side and performs a movement process to the boarding room 4 for the self-driving vehicle 7 by wireless communication between the unit 12 and the self-driving vehicle 7. In the mechanical parking device, the autonomous driving vehicle processing unit 16 has a permission signal determination unit 19 for detecting a permission signal for parking by automatic driving from a permission signal transmission unit 10 provided in the automatic driving vehicle 7, and a permission signal determination. The warehousing operation determination unit 20 that detects the warehousing operation signal for which the operation corresponding to the warehousing is performed from the operation panel 3 after the detection of the permission signal received and determined by the unit 19, the permission signal determination unit 19, and the warehousing operation determination unit 20 When the AND condition detected in the above is satisfied, the automatic driving movement processing unit 21 for moving the automatic driving vehicle 7 to the final position of a predetermined process in the boarding room 4 by automatic driving is provided.

According to such a configuration, the door 2 is opened by the driver who was driving the normal vehicle 5, which is a parked vehicle, by operating the operation panel 3 arranged near the entrance of the boarding room 4, and then the door 2 is opened. There is no change in the way the driver normally gets into the vehicle 5 and stops at the final position of the predetermined process in the boarding room 4. On the other hand, after the driver of the autonomous driving vehicle 7 gives a parking permission signal for automatic driving from the permission signal transmission unit 10 provided in the automatic driving vehicle 7, an operation corresponding to warehousing is similarly performed from the operation panel 3. After that, the self-driving vehicle 7 can be automatically stored. Therefore, it is possible to provide a mechanical parking device in which the normal vehicle 5 and the automatically driving vehicle 7 can be mixed and stored without complicating the configuration as the mechanical parking device, and the following parked vehicle can be used. When a driver operating the operation panel 3 or a parked vehicle located near the entrance of the boarding room 4 is witnessed, the conventional method of waiting until the processing is completed is continued, and the normal vehicle 5 and the automatic vehicle 5 are automatically used. It is possible to prevent a decrease in safety due to the mixture of driving vehicles 7.

3 Operation panel 4 Boarding room 5 Normal vehicle 7 Automatic driving vehicle 10 Permit signal transmission unit 12 Normal configuration processing unit 16 Autonomous driving vehicle processing unit 19 Permit signal judgment unit 20 Storage operation judgment unit 21 Automatic operation movement processing unit 21

Claims (1)

It is composed of an operation panel arranged near the entrance of the boarding room, a normal configuration processing unit having a normal configuration that mainly targets a normal vehicle and performs processing corresponding to the operation on the operation panel, and a mechanical parking device side. In a mechanical parking device provided with an automatic driving vehicle processing unit that performs movement processing to the boarding room for the automatic driving vehicle by wireless communication with the automatic driving vehicle.
The autonomous driving vehicle processing unit includes a permission signal determination unit that detects a permission signal for parking by automatic driving from a permission signal transmission unit provided in the autonomous driving vehicle, and a permission signal that is received and determined by the permission signal determination unit. When the warehousing operation determination unit that detects the warehousing operation signal for which the operation corresponding to the warehousing is performed from the operation panel following the detection of the above, and the AND condition detected by the permission signal determination unit and the warehousing operation determination unit are satisfied. A mechanical parking device including an automatic driving movement processing unit that moves to the final position of a predetermined process in the boarding room by the automatic driving of the automatic driving vehicle.

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