JP6967400B2 - Mixed three-dimensional parking system - Google Patents

Description

The present invention relates to a mixed three-dimensional parking system.

In recent years, the development of self-driving cars that can freely travel without the involvement of occupants has been rapidly progressing, and is expected to become widespread in the future.

As a general technical level related to an autonomous vehicle, for example, Patent Document 1 is available.

JP-A-2015-75899

By the way, in future parking systems, it is expected that not only self-driving cars but also non-self-driving cars driven by users will coexist, but self-driving cars and non-self-driving cars will coexist. In the type parking system, the user must drive and park the vehicle that does not support autonomous driving.

However, if the user himself drives a car that does not support autonomous driving and parks, not only is the parking act troublesome, but the user also has to enter the inside of the parking facility and get on and off the car. It was necessary to install multiple sensors, etc., which could lead to an increase in cost.

The present invention has been made in view of the above-mentioned conventional problems, and is a mixed type three-dimensional parking that can smoothly realize unmanned parking and improve the accommodation efficiency in an environment where autonomous vehicles and vehicles that do not support autonomous driving coexist. It is intended to provide a system.

In order to achieve the above object, the mixed-type three-dimensional parking system of the present invention stores a self-driving car that can be automatically driven and a non-self-driving car that the user drives in a parking place of the parking space. It is a type three-dimensional parking system
An automatic transfer device that can freely transport vehicles that do not support automatic driving,
It is equipped with a control device that sends and receives signals related to warehousing and delivery to and from the automatic guided vehicle and the automatic transfer device .
The control device determines whether or not the self-driving car is capable of automatic driving, and if the self-driving car is not capable of automatic driving, outputs a transport instruction signal to the automatic transport device as the signal. be able to.
Further, the mixed-type three-dimensional parking system of the present invention is a mixed-type three-dimensional parking system in which an autonomous driving vehicle that can be automatically driven and a vehicle that does not support automatic driving are stored in a parking place in a parking space. hand,
An automatic transfer device that can freely transport vehicles that do not support automatic driving,
With a control device that sends and receives signals related to warehousing and delivery between the automatic guided vehicle and the automatic transfer device.
Equipped with
As for the control device, the user selects between an automatic driving parking mode in which an autonomous driving vehicle automatically travels and enters and exits, and an automatic transportation device parking mode in which an autonomous driving non-compatible vehicle or an autonomous driving vehicle is loaded and unloaded by an automatic transport device. It can also be configured to be flexible.
In the mixed three-dimensional parking system, the parking space is formed in a plurality of layers.
It is also possible to provide an ascending / descending transport device for ascending / descending and transporting the automatic driving vehicle and a vehicle that does not support automatic driving and which is conveyed by the automatic transport device between a plurality of layers.

In the mixed type three-dimensional parking system, the control device determines whether or not there is a delivery reserved vehicle at the warehousing destination and determines whether or not the warehousing reserved vehicle is an autonomous driving vehicle, and the warehousing reserved vehicle automatically determines whether or not the warehousing reserved vehicle is an autonomous driving vehicle. In the case of a driving vehicle, the designated position indicating signal and the activation permission signal can be output to the autonomous driving vehicle as the signal.

In the mixed three-dimensional parking system, the control device determines whether or not there is a reserved vehicle for delivery at the warehousing destination, and determines whether or not the reserved vehicle for delivery is an autonomous driving vehicle, and the reserved vehicle for delivery is automatically operated. In the case of a vehicle that does not support driving, a transport instruction signal can be output as the signal to the automatic transport device that transports the vehicle that does not support automatic driving.

In the mixed three-dimensional parking system, a door that can be opened and closed to separate the entrance / exit section from the outside and a partition gate that separates the entry / exit section from the inside of the parking space are provided, and the user can park by the entrance door or the partition gate. It can be configured to be isolated from operation.

In the mixed three-dimensional parking system, the control device reconfirms the unmanned in the warehousing / delivery section only when the user exits from the warehousing / delivery section after getting off and confirms that the warehousing / delivery section is unmanned. Can be performed to start the goods receipt sequence.

In the mixed three-dimensional parking system, the control device can check the state of the vehicle to see if it exceeds the allowable range size, and can start the warehousing sequence only when it is determined that the warehousing is possible.

According to the mixed three-dimensional parking system of the present invention, it is possible to achieve an excellent effect that unmanned parking can be smoothly realized and the accommodation efficiency can be improved in an environment in which an autonomous driving vehicle and a vehicle not compatible with autonomous driving are mixed.

It is a block diagram which shows the Example of the mixed type three-dimensional parking system of this invention. It is a top view which shows the Example of the mixed type three-dimensional parking system of this invention. It is a side view which shows the Example of the mixed type three-dimensional parking system of this invention. It is a top view which shows an example of the transport trolley with an automatic traveling function as an automatic transport device in the Example of the mixed type three-dimensional parking system of this invention. It is a flowchart which shows the operation at the time of warehousing in the Example of the mixed type three-dimensional parking system of this invention. It is a flowchart which shows the operation at the time of warehousing following FIG. It is a flowchart which shows the operation at the time of warehousing following FIG. It is a flowchart which shows the operation at the time of warehousing following FIG. It is a flowchart which shows the operation at the time of delivery in the Example of the mixed type three-dimensional parking system of this invention. It is a flowchart which shows the operation at the time of delivery following FIG. It is a flowchart which shows the operation at the time of delivery following FIG. It is a flowchart which shows the front side vehicle movement sequence in FIG.

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

1 to 12 are examples of the mixed three-dimensional parking system of the present invention, in which an autonomous driving vehicle 1 capable of autonomous driving and an autonomous driving non-compatible vehicle 2 driven by a user are formed in a plurality of layers. It is designed to be stored in the parking place 3 of the parking space.

As shown in FIG. 1, the mixed-type three-dimensional parking system includes an automatic transport device 5 that transports a vehicle 2 that does not support automatic driving between a warehousing / delivery unit 4 (see FIG. 2) and a parking place 3, and the automatic driving. An elevating and transporting device 7 that elevates and transports a vehicle 1 and a vehicle 2 that does not support automatic driving and is transported by the automatic transportation device 5 between a plurality of layers (see FIG. 3), and the automatic driving vehicle 1, the automatic transportation device 5, and the elevating and transporting It is provided with a control device 6 for transmitting and receiving signals related to warehousing and delivery to and from the device 7.

In the case of the present embodiment, as shown in FIG. 2, a door 8 that can be opened and closed to separate the warehousing / delivery section 4 from the outside, and a partition gate 9 to separate the warehousing / delivery section 4 from the inside of the parking space are provided. A turning device 10 such as a turntable is provided on the inside of the parking space of the partition gate 9. The swivel device 10 is driven by a signal output from the control device 6. However, the swivel device 10 should not necessarily be deployed and may be omitted.

Further, in the parking space, a buffer 11 (see FIG. 2) is formed to temporarily evacuate the reserved delivery vehicle when there is a reserved delivery vehicle.

The automatic transfer device 5 can be, for example, a transfer vehicle 15 with an automatic traveling function as shown in FIG. The transport trolley 15 with an automatic traveling function includes a trolley main body 16 and a lifter 17. The bogie body 16 is self-propelled by the traveling drive device 18 and can enter the lower part of the vehicle 2 that does not support automatic driving. The lifter 17 has a retracted position along the side surface of the bogie frame 16a and each wheel 20 of the vehicle 2 that does not support automatic driving on the lifter frame 17a attached to the bogie frame 16a of the bogie body 16 via a connecting member 19. It is formed by pivotally attaching a pair of lift bars 17b that are rotatable between the lift bar 17b and the deployment position that lifts up while supporting the vehicle so as to be sandwiched from the front and rear so as to correspond to the wheels 20 of the vehicle 2 that does not support automatic driving. There is.

As the transport carriage 15 with an automatic traveling function, for example, those disclosed in Japanese Patent Application Laid-Open No. 2013-19210 can be adopted. However, the transport carriage 15 with an automatic traveling function is not limited to the format shown in FIG. Incidentally, those disclosed in Japanese Patent Application Laid-Open No. 2017-95926 may be adopted.

Next, the operation of the above embodiment will be described.

First, the control at the time of warehousing of the vehicle will be described with reference to FIGS. 5 to 8.

At the time of warehousing of the vehicle, when the user puts the vehicle into the warehousing section 4 of the mixed three-dimensional parking system through the opened doorway 8 and gets off (see step S501 in FIG. 5), the control device of the mixed three-dimensional parking system. In No. 6, it is determined whether or not the vehicle is the automatic driving vehicle 1 (see step S502 in FIG. 5), and when the vehicle is the automatic driving vehicle 1, the automatic driving parking mode setting is required. Whether or not it is determined (see step S503 in FIG. 5).

Here, the automatic driving parking mode setting means that the automatic driving vehicle 1 and the control device 6 of the mixed three-dimensional parking system are set in a communicable state. In general, the self-driving car 1 having weak security may be hacked, so that communication with an external device is blocked. Therefore, it is necessary to set the self-driving car 1 having weak security so as to be able to communicate with the control device 6 of the mixed three-dimensional parking system by setting the self-driving parking mode. On the other hand, since the self-driving car 1 having strong security is always in a state of being able to communicate with an external device, it is not necessary to set the self-driving parking mode in particular.

When the vehicle requires the automatic driving parking mode setting, the automatic driving parking mode setting is performed (see step S504 in FIG. 5), and the automatic driving vehicle 1 can communicate with the control device 6 of the mixed three-dimensional parking system. Is set to the above state.

When the vehicle does not require the automatic driving parking mode setting, the automatic driving vehicle 1 is in a state of waiting as it is in the automatic driving parking mode (see step S505 in FIG. 5). Incidentally, it recognizes that the autonomous vehicle 1 has arrived near the parking lot based on the GPS information, and automatically waits for communication with the control device 6 of the mixed three-dimensional parking system, that is, the automatic driving parking mode standby state. It is also possible to set to migrate to.

After getting off the vehicle, the user exits from the warehousing / delivery section 4 (see step S506 in FIG. 5), confirms that the warehousing / delivery section 4 is unmanned, and then performs a warehousing start instruction operation (step in FIG. 5). See S507). The warehousing start instruction operation is performed, for example, by the user operating an operation panel (not shown) provided on the outside of the door 8 of the warehousing / delivery unit 4. The warehousing start instruction operation can also be performed from a smartphone owned by the user.

The control device 6 of the mixed three-dimensional parking system waits until the user gives an instruction to start warehousing (see step S508 in FIG. 5), and when the user performs the warehousing start instruction operation, monitoring (not shown) is performed. Based on the image of the camera and the detection signals from various sensors, the unmanned confirmation (reconfirmation) in the warehousing / delivery unit 4 and the state check of the vehicle are performed (see step S509 in FIG. 5). The state check of the vehicle may be performed before the unmanned confirmation (reconfirmation) in the warehousing / delivery unit 4. In the unlikely event that it is confirmed that there are people in or around the vehicle, or if it is confirmed that the vehicle exceeds the allowable range, an error notification is issued (see step S510 in FIG. 5). , A warehousing error is displayed on the operation panel or the smartphone (see step S511 in FIG. 5).

When the unmanned confirmation in the warehousing / delivery unit 4 and the condition check of the vehicle are performed and it is determined that the warehousing is possible without any particular problem, the warehousing sequence is started (see step S512 in FIG. 5), and the warehousing is normally performed. The start is displayed on the operation panel or the smartphone (see step S513 in FIG. 5), the doorway 8 is closed (see step S514 in FIG. 5), and the partition gate 9 is opened (step in FIG. 5). See S515).

Subsequently, in the control device 6 of the mixed three-dimensional parking system, it is determined whether or not the warehousing mode is the automatic transfer device parking mode (see step S516 in FIG. 5). The automatic guided vehicle parking mode is basically a parking mode in which a vehicle 2 that does not support automatic driving is loaded and unloaded by the automatic guided vehicle 5. On the other hand, in the automatic driving parking mode, the automatic driving vehicle 1 automatically travels and enters and exits the garage. However, even in the case of the automatic guided vehicle 1, when the amount of fuel or battery charge is low, the user may dare to select the automatic guided vehicle parking mode and use the automatic guided vehicle 5 to move the automatic guided vehicle 1 in and out. It is possible. Further, the user may dare to select the automatic guided vehicle parking mode because he / she wants to shorten the mileage as much as possible and minimize the damage of the automatic guided vehicle 1. Furthermore, if the self-driving car 1 has an extremely low ground clearance due to the attachment of a special muffler, aero parts, etc., and if the automatic transport device 5 is used, there is a possibility of contact. , It is also possible to select the automatic driving parking mode and set not to shift to the automatic transport device parking mode.

In step S502 of FIG. 5, when the vehicle is not the automatic driving vehicle 1, that is, the vehicle 2 that does not support automatic driving, the automatic transport device parking mode is applied (see step S517 of FIG. 5).

When the warehousing mode is the automatic transfer device parking mode, the mode shifts to the automatic transfer device parking mode (see step S601 in FIG. 6).

When the warehousing mode is not the automatic transportation device parking mode, that is, the automatic driving parking mode, the vehicle state check is performed by the control device 6 of the mixed three-dimensional parking system to see if the automatic driving parking is possible (FIG. 6). Step S602). Along with this, the self-driving car 1 determines whether or not self-driving parking is possible by self-diagnosis (see step S603 in FIG. 6). If it is determined by the self-diagnosis that the autonomous driving parking is possible, the autonomous driving vehicle 1 notifies the control device 6 of the mixed three-dimensional parking system that the autonomous driving parking is possible (see step S604 in FIG. 6). On the other hand, if it is determined by the self-diagnosis that automatic driving parking is not possible, an automatic driving parking error may occur in which automatic driving parking is not possible from the automatic driving vehicle 1 to the control device 6 of the mixed three-dimensional parking system. Notified (see step S605 of FIG. 6).

In the control device 6 of the mixed three-dimensional parking system, it is determined whether or not information indicating whether automatic parking is possible or an automatic parking error has occurred is received (see step S606 in FIG. 6). When the information is received, it is determined again whether or not automatic driving parking is possible (see step S607 in FIG. 6), and if automatic driving parking is possible, the automatic driving parking mode is performed. Is notified to the operation panel or the smartphone (see step S608 in FIG. 6), and the operation panel or the smartphone is displayed to start automatic driving parking (see step S609 in FIG. 6). Recognizes this.

If the information is not received even after a lapse of a certain period of time (see step S610 in FIG. 6), it is considered that some problem has occurred, and the system shifts to the automatic transport device parking mode (see step S611 in FIG. 6). The operation panel or smartphone is notified that the automatic transfer device parking mode is started (see step S612 in FIG. 6), and the operation panel or smartphone is displayed to indicate that the automatic transfer device parking is started (FIG. 6). (See step S613), the user recognizes this. It should be noted that the determination as to whether or not the automatic driving parking is possible is performed (see step S607 in FIG. 6), and even if the automatic driving parking is not possible, the mode shifts to the automatic transport device parking mode (step S611 in FIG. 6). reference).

When the operation panel or the smartphone is notified that the automatic driving parking mode is started in step S608 of FIG. 6, the automatic driving sequence is started from the control device 6 of the mixed three-dimensional parking system to the automatic driving vehicle 1. Is notified (see step S701 in FIG. 7), and the autonomous driving vehicle 1 receives that the automatic driving sequence is started and outputs a start confirmation signal (see step S702 in FIG. 7). The control device 6 of the mixed three-dimensional parking system is waiting for a response from the autonomous driving vehicle 1 (see step S703 in FIG. 7), and if there is a response, the vehicle is sent to the elevating and transporting device 7 (or the turning device 10). Judgment as to whether or not it is necessary to ride is performed in the control device 6 of the mixed three-dimensional parking system (see step S704 in FIG. 7). When the vehicle does not need to get on the elevating and transporting device 7 (or the turning device 10), the designated position instruction signal and the start permission signal are output from the control device 6 of the mixed three-dimensional parking system to the autonomous driving vehicle 1 (FIG. 7). (Refer to step S705), the self-driving car 1 starts automatic running toward the designated position (parking place 3) and also starts automatic running to the designated position (parking place 3). No. 6 is notified (see step S706 in FIG. 7), and the vehicle automatically runs (see step S707 in FIG. 7).

In the determination in step S704 of FIG. 7, when the vehicle needs to get on the elevating transport device 7 (or the swivel device 10), the position is from the control device 6 of the mixed three-dimensional parking system to the elevating transport device 7 (or the swivel device 10). An instruction signal and a start permission signal are output (see step S708 in FIG. 7). Here, when the device on which the vehicle needs to ride is the elevating and transporting device 7, the elevating and transporting device 7 moves up and down to a predetermined level based on the position indicating signal and the start permission signal, and waits for the arrival of the vehicle. .. When the device on which the vehicle needs to ride is the turning device 10, the turning device 10 turns at a predetermined angle and waits for the arrival of the vehicle. The self-driving car 1 starts automatic traveling toward the elevating transport device 7 (or the swivel device 10) that has moved based on the position instruction signal and the start permission signal, and at the same time, toward the elevating transport device 7 (or the swivel device 10). Notifying the control device 6 of the mixed three-dimensional parking system that the automatic driving has started (see step S709 in FIG. 7), the vehicle automatically runs (see step S710 in FIG. 7).

In step S703 of FIG. 7, if the response from the self-driving car 1 does not elapse for a certain period of time (see step S711 of FIG. 7), it is determined that some trouble has occurred in the self-driving car 1 and the mixture is mixed. A transport instruction signal is output from the control device 6 of the type three-dimensional parking system to the automatic transport device 5 (see step S712 in FIG. 7), and transport is performed by the automatic transport device 5 (see step S713 in FIG. 7).

Even when "shifting to the automatic transfer device parking mode" in step S601 of FIG. 6 or "notifying the start of the automatic transfer device parking mode" in step S612 of FIG. 6, the control device 6 of the mixed three-dimensional parking system is automatic. A transfer instruction signal is output to the transfer device 5 (see step S712 in FIG. 7), and transfer is performed by the automatic transfer device 5 (see step S713 in FIG. 7).

Following step S706 in FIG. 7, the self-driving car 1 automatically travels (see step S707 in FIG. 7), and when it arrives at the designated position (parking place 3), the self-driving car 1 moves to the designated position (parking place). Notifying the control device 6 of the mixed three-dimensional parking system that the vehicle has arrived at 3) (see step S801 in FIG. 8).

The control device 6 of the mixed three-dimensional parking system determines whether or not there is a reserved vehicle for delivery at the warehousing destination (see step S802 in FIG. 8), and if there is no reserved vehicle for warehousing, the warehousing vehicle arrives at the parking place 3. It is determined whether or not the parking has been done (see step S803 in FIG. 8), and if the warehousing vehicle has arrived at the parking place 3, the operation panel or smartphone is notified of the completion of warehousing (see step S804 in FIG. 8). ), It is displayed on the operation panel or the smartphone that the warehousing is completed (see step S805 in FIG. 8).

The control device 6 of the mixed three-dimensional parking system notifies the operation panel or the smartphone of the completion of warehousing in step S804 of FIG. 8, and then notifies the automatic driving vehicle 1 that the warehousing sequence is completed (step of FIG. 8). (See S806), when the automatic driving vehicle 1 receives that the warehousing sequence is completed, it shifts to the warehousing standby state (see step S807 in FIG. 8).

Following step S709 in FIG. 7, the self-driving car 1 automatically travels (see step S710 in FIG. 7), and when it arrives at the position of the elevating and transporting device 7 (or the turning device 10), the self-driving car 1 moves. Notifying the control device 6 of the mixed three-dimensional parking system that the position of the elevating transfer device 7 (or the swivel device 10) has been reached (see step S808 in FIG. 8). The control device 6 of the mixed three-dimensional parking system outputs a transport instruction signal to the elevating and transporting device 7 (or the swivel device 10) (see step S809 in FIG. 8), and the elevating and transporting device 7 (or the swivel device 10) is a vehicle. (See step S810 in FIG. 8). After that, in the control device 6 of the mixed type three-dimensional parking system, it is determined whether or not the warehousing vehicle needs continuous automatic driving (see step S811 in FIG. 8), and when automatic driving is required. Returns to the "notification of the start of the automatic driving sequence" in step S701 of FIG. 7, and the control is continued. On the other hand, if the automatic driving is not necessary, it is determined whether or not the warehousing vehicle has arrived at the parking place 3. We (see step S812 in FIG. 8), when the warehousing vehicle has arrived at the parking place 3, control is performed in a manner leading to "notification of warehousing completion" in step S804 of FIG. When the warehousing vehicle has not arrived at the parking place 3, the control is performed so as to lead to the determination of "whether there is a warehousing reserved vehicle at the warehousing destination" in step S802 of FIG.

In step S803 of FIG. 8, it is determined whether or not the warehousing vehicle has arrived at the parking place 3, and if the warehousing vehicle has not arrived at the parking place 3, is the warehousing vehicle the autonomous driving vehicle 1? Whether or not it is determined (see step S813 in FIG. 8), and if the warehousing vehicle is the autonomous driving vehicle 1, the control is continued by returning to the "notification of the start of the automatic driving sequence" in step S701 in FIG. On the other hand, when the warehousing vehicle is not the autonomous driving vehicle 1, the control is performed in a form connected to the "transport instruction signal to the automatic transport device 5" in step S712 of FIG.

The control device 6 of the mixed three-dimensional parking system needs to return the elevating and transporting device 7 (or the turning device 10) to the initial position after notifying the automatic driving vehicle 1 that the warehousing sequence is completed in step S806 of FIG. If it is not necessary to return the elevating and transporting device 7 (or the swivel device 10) to the initial position after determining whether or not there is (see step S814 in FIG. 8), the control regarding warehousing is terminated. When it is necessary to return the elevating and transporting device 7 (or the swivel device 10) to the initial position, the control device 6 of the mixed three-dimensional parking system gives an instruction signal to return the elevating and transporting device 7 (or the swivel device 10) to the initial position. Is output (see step S815 in FIG. 8), the elevating and transporting device 7 (or the swivel device 10) returns to the initial position (see step S816 in FIG. 8), and the control regarding warehousing is terminated.

In step S802 of FIG. 8, it is determined whether or not there is a delivery reserved vehicle at the warehousing destination, and if there is a warehousing reserved vehicle at the warehousing destination, it is determined whether or not the warehousing reserved vehicle is the autonomous driving vehicle 1. We (see step S714 of FIG. 7), when the delivery reservation vehicle is the autonomous driving vehicle 1, it is determined whether or not the delivery reservation vehicle can automatically travel (see step S715 of FIG. 7). When the delivery reserved vehicle is capable of automatic driving, the control is continued by returning to the "notification of automatic driving sequence start" in step S701 of FIG. 7, while the delivery reserved vehicle is not automatically traveling, FIG. Control is performed in a form connected to the "transport instruction signal to the automatic transfer device 5" in step S712 of 7. Even if the delivery reservation vehicle is not the autonomous driving vehicle 1, that is, the vehicle 2 that does not support automatic driving, as determined in step S714 of FIG. 7, the “transport instruction signal to the automatic transport device 5” in step S712 of FIG. Control is performed in a way that leads to.

Next, the control at the time of leaving the vehicle will be described with reference to FIGS. 9 to 12.

At the time of leaving the vehicle, the user inputs a leaving instruction from the operation panel or a smartphone (see step S901 in FIG. 9).

The control device 6 of the mixed three-dimensional parking system waits until the user gives a delivery instruction (see step S902 in FIG. 9), and when the user performs the delivery instruction operation, the delivery sequence is started. Is notified to the operation panel or the smartphone (see step S903 in FIG. 9), and the operation panel or the smartphone is displayed to indicate that the delivery sequence is started (see step S904 in FIG. 9).

When it is notified that the delivery sequence is started in step S903 of FIG. 9, the control device 6 of the mixed three-dimensional parking system determines whether or not there is a vehicle in front of the delivery vehicle (FIG. 9). (See step S905), if there is a vehicle on the front side of the leaving vehicle, the front side vehicle movement sequence (see step S906 in FIG. 9) is started. The vehicle movement sequence on the front side will be described later with reference to FIG.

If there is no vehicle in front of the exiting vehicle in step S905 of FIG. 9, it is determined whether or not the exiting vehicle is the autonomous driving vehicle 1 (see step S1001 of FIG. 10). When the exiting vehicle is the autonomous driving vehicle 1, it is determined whether or not the autonomous driving vehicle 1 can be directly exited (see step S1002 in FIG. 10), and when the autonomous driving vehicle 1 can be directly exited. The control device 6 of the mixed three-dimensional parking system notifies the autonomous vehicle 1 that the delivery sequence is started (see step S1003 in FIG. 10), and the autonomous vehicle 1 receives that the delivery sequence is started. And outputs a start confirmation signal (see step S1004 in FIG. 10). The control device 6 of the mixed three-dimensional parking system waits for a response from the autonomous vehicle 1 within a certain period of time (see step S1005 in FIG. 10), and if there is a response, the vehicle moves up and down and conveys the vehicle 7 (or turns). Judgment as to whether or not it is necessary to get on the device 10) is performed in the control device 6 of the mixed three-dimensional parking system (see step S1006 in FIG. 10). When the vehicle does not need to get on the elevating and transporting device 7 (or the turning device 10), the delivery position instruction signal and the start permission signal are output from the control device 6 of the mixed three-dimensional parking system to the autonomous driving vehicle 1 (FIG. 10). (Refer to step S1007), the self-driving car 1 has started automatic driving toward the warehousing position (warehousing / delivery unit 4) and has started automatic driving to the warehousing position (warehousing / delivery unit 4). Notify the control device 6 (see step S1008 in FIG. 10) and automatically drive (see step S1009 in FIG. 10).

When the control device 6 of the mixed three-dimensional parking system detects that the self-driving car 1 automatically traveled in step S1009 of FIG. 10 has passed a specific position (see step S1010 of FIG. 10), the unmanned confirmation of the warehousing / delivery unit 4 is confirmed. This is done (see step S1011 in FIG. 10) and the partition gate 9 is opened (see step S1012 in FIG. 10). When the self-driving car 1 confirms that the partition gate 9 has been opened (see step S1013 in FIG. 10), it automatically travels (see step S1014 in FIG. 10), and when it arrives at the warehousing / delivery unit 4, the warehousing / delivery unit 1 The arrival at 4 is notified to the control device 6 of the mixed three-dimensional parking system (see step S1015 in FIG. 10).

When it is necessary to get on the elevating and transporting device 7 (or the swivel device 10) in step S1006 of FIG. A signal is output (see step S1016 in FIG. 10). The self-driving car 1 starts automatic traveling toward the elevating transport device 7 (or the swivel device 10) that has moved based on the position instruction signal and the start permission signal, and at the same time, toward the elevating transport device 7 (or the swivel device 10). Notifying the control device 6 of the mixed three-dimensional parking system that the automatic driving has started (see step S1017 in FIG. 10), the vehicle automatically runs (see step S1018 in FIG. 10).

When the self-driving car 1 arrives at the position of the elevating transport device 7 (or the swivel device 10), it notifies the control device 6 of the mixed three-dimensional parking system that it has arrived at the position of the elevating transport device 7 (or the swivel device 10). (See step S1019 in FIG. 10). The control device 6 of the mixed three-dimensional parking system outputs a transport instruction signal to the elevating and transporting device 7 (or the swivel device 10) (see step S1020 in FIG. 10), and the elevating and transporting device 7 (or the swivel device 10) is a vehicle. (See step S1021 in FIG. 10). After that, in the control device 6 of the mixed three-dimensional parking system, it is determined whether or not the leaving vehicle needs continuous automatic driving (see step S1022 in FIG. 10), and when automatic driving is required. Returns to the "notification of delivery sequence start" in step S1003 of FIG. 10, and control is continued, while when automatic driving is not required, unmanned confirmation of the warehousing / delivery unit 4 is performed (see step S1023 of FIG. 10). ), The partition gate 9 is opened (see step S1024 in FIG. 10), and control is performed in a manner leading to "notification of arrival at the warehousing / delivery unit 4" in step S1015 in FIG.

If the leaving vehicle is not the self-driving car 1 in step S1001 of FIG. 10, or if there is no response from the self-driving car 1 within a certain period of time in step S1005 of FIG. A transfer instruction signal is output to the transfer device 5 (see step S1025 in FIG. 10), and transfer is performed by the automatic transfer device 5 (see step S1026 in FIG. 10).

When the control device 6 of the mixed three-dimensional parking system detects that the automatic guided vehicle 5 for transporting the warehousing vehicle has passed a specific position in step S1026 of FIG. 10 (see step S1027 of FIG. 10), the unmanned warehousing / delivery unit 4 is unmanned. Confirmation is performed (see step S1028 in FIG. 10) and the partition gate 9 is opened (see step S1029 in FIG. 10). The automatic transfer device 5 confirms that the partition gate 9 has been opened (see step S1030 in FIG. 10), transports the vehicle to the warehousing / delivery section 4 (see step S1031 in FIG. 10), and transfers the vehicle to the warehousing / delivery section 4. Notifies the arrival of the vehicle to the control device 6 of the mixed three-dimensional parking system (see step S1032 in FIG. 10). After that, the automatic transfer device 5 retracts from the warehousing / delivery unit 4 (see step S1033 in FIG. 10) and moves to the parking place 3 or the buffer 11. After the partition gate 9 is opened in step S1024 of FIG. 10, control is performed so as to lead to "confirm the opening of the partition gate 9" in step S1030 of FIG.

After the automatic guided vehicle 1 has notified the arrival at the warehousing / delivery section 4 in step S1015 of FIG. 10, or after the automatic transfer device 5 has retracted from the warehousing / delivery section 4 in step S1033 of FIG. The control device 6 closes the partition gate 9 (see step S1101 in FIG. 11), and determines whether or not the delivery instruction was an operation from the operation panel (see step S1102 in FIG. 11).

When the delivery instruction is an operation from the operation panel, the control device 6 of the mixed three-dimensional parking system opens the doorway 8 (see step S1103 in FIG. 11) and notifies the operation panel of the completion of delivery (FIG. 11). (See step S1104 of FIG. 11), the operation panel displays the completion of delivery (see step S1105 of FIG. 11), and the user recognizes this.

When the delivery instruction is not an operation from the operation panel in step S1102 of FIG. 11, the control device 6 of the mixed multi-level parking system notifies the user's smartphone of the completion of delivery (see step S1106 of FIG. 11). The smartphone displays the completion of delivery (see step S1107 in FIG. 11), recognizes this, and then gives an instruction to open the doorway 8 (see step S1108 in FIG. 11). The control device 6 opens the doorway 8 (see step S1109 in FIG. 11), and notifies the operation panel of the completion of delivery in step S1104 in FIG.

After closing the partition gate 9 in step S1101 of FIG. 11, the control device 6 of the mixed three-dimensional parking system notifies the autonomous driving vehicle 1 that the delivery sequence is completed (see step S1110 of FIG. 11). The self-driving car 1 receives that the delivery sequence is completed (see step S1111 in FIG. 11).

The control device 6 of the mixed three-dimensional parking system determines whether or not it is necessary to return the elevating and transporting device 7 (or the swivel device 10) to the initial position after closing the partition gate 9 in step S1101 of FIG. If it is not necessary to return the elevating and transporting device 7 (or the swivel device 10) to the initial position (see step S1112 in FIG. 11), the control regarding the delivery is terminated. When it is necessary to return the elevating and transporting device 7 (or the swivel device 10) to the initial position, the control device 6 of the mixed three-dimensional parking system gives an instruction signal to return the elevating and transporting device 7 (or the swivel device 10) to the initial position. Is output (see step S1113 in FIG. 11), the elevating and transporting device 7 (or the swivel device 10) returns to the initial position (see step S1114 in FIG. 11), and the control regarding delivery is terminated.

Hereinafter, the front side vehicle movement sequence will be described in detail with reference to FIG.

When there is a vehicle on the front side of the leaving vehicle in step S905 of FIG. 9, it is determined whether or not the front side vehicle is the autonomous driving vehicle 1 (see step S1201 of FIG. 12).

When the front-side vehicle is the self-driving car 1, it is notified that the movement sequence is started from the control device 6 of the mixed three-dimensional parking system to the self-driving car 1 (see step S1202 in FIG. 12), and the self-driving car. 1 receives the start of the movement sequence and outputs a start confirmation signal (see step S1203 in FIG. 12). The control device 6 of the mixed three-dimensional parking system is waiting for a response from the self-driving car 1 (see step S1204 in FIG. 12), and if there is a response, the self-driving car from the control device 6 of the mixed three-dimensional parking system. A designated position instruction signal and a start permission signal are output to No. 1 (see step S1205 in FIG. 12), and the autonomous driving vehicle 1 starts automatic driving toward the designated position and starts automatic driving to the designated position. Notify the control device 6 of the mixed three-dimensional parking system (see step S1206 in FIG. 12), and automatically drive (see step S1207 in FIG. 12). When the self-driving car 1 arrives at the designated position, the self-driving car 1 notifies the control device 6 of the mixed three-dimensional parking system (see step S1208 in FIG. 12), and the front side vehicle movement sequence. Is finished.

When the vehicle on the front side is not the self-driving car 1 in step S1201 of FIG. 12, a transport instruction signal is output from the control device 6 of the mixed three-dimensional parking system to the automatic transport device 5 (see step S1209 of FIG. 12). When the automatic transfer device 5 is used for transportation (see step S1210 in FIG. 12) and the automatic transfer device 5 arrives at the designated position, the automatic transfer device 5 arrives at the designated position in the control device 6 of the mixed three-dimensional parking system. (See step S1211 in FIG. 12), and the front side vehicle movement sequence ends.

Although not specified in the control at the time of leaving the vehicle, the automatic traveling parking (delivery) in the control device 6 of the mixed three-dimensional parking system is the same as the control at the time of entering the vehicle (for example, step S602 and step S603 in FIG. 6). In addition to checking the vehicle condition to see if it is possible, the self-driving car 1 may be determined by self-diagnosis whether or not it is possible to park the vehicle automatically.

In the case of this embodiment, the user does not have to drive the vehicle 2 that does not support automatic driving to park, and the user does not have to perform troublesome parking actions, and the user enters the inside of the parking facility and gets on and off the vehicle. There is no need to install multiple motion sensors, etc., and cost reduction is possible.

In this way, unmanned parking can be smoothly realized and the accommodation efficiency can be improved in an environment in which the autonomous driving vehicle 1 and the autonomous driving non-compatible vehicle 2 coexist.

It should be noted that the mixed three-dimensional parking system of the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

1 Self-driving car 2 Self-driving car 3 Parking place 4 Entry / exit section 5 Automatic transport device 6 Control device 7 Lifting transport device

Claims (8)

It is a mixed three-dimensional parking system that stores an autonomous vehicle that can freely drive and a vehicle that does not support autonomous driving that the user drives in the parking place of the parking space.
An automatic transfer device that can freely transport vehicles that do not support automatic driving,
It is equipped with a control device that sends and receives signals related to warehousing and delivery to and from the automatic guided vehicle and the automatic transfer device .
The control device determines whether or not the self-driving car is capable of automatic driving, and if the self-driving car is not capable of automatic driving, outputs a transport instruction signal to the automatic transport device as the signal. A mixed multi-level parking system featuring this. It is a mixed three-dimensional parking system that stores an autonomous vehicle that can freely drive and a vehicle that does not support autonomous driving that the user drives in the parking place of the parking space.
An automatic transfer device that can freely transport vehicles that do not support automatic driving,
With a control device that sends and receives signals related to warehousing and delivery between the automatic guided vehicle and the automatic transfer device.
Equipped with
As for the control device, the user selects between an automatic driving parking mode in which an autonomous driving vehicle automatically travels and enters and exits, and an automatic transportation device parking mode in which an autonomous driving non-compatible vehicle or an autonomous driving vehicle is loaded and unloaded by an automatic transport device. A mixed multi-level parking system characterized by being freely configured. The parking space is formed on multiple levels.
The mixed type three-dimensional parking system according to claim 1 or 2, further comprising an elevating and transporting device for ascending and descending and transporting the self-driving vehicle and a non-autonomous driving-compatible vehicle transported by the automatic transportation device between a plurality of layers. The control device determines whether or not there is a delivery reservation vehicle at the warehousing destination and determines whether or not the delivery reservation vehicle is an autonomous driving vehicle. If the delivery reservation vehicle is an autonomous driving vehicle, the control device determines whether or not the delivery reservation vehicle is an autonomous driving vehicle. The mixed type three-dimensional parking system according to any one of claims 1 to 3, which outputs a designated position instruction signal and a start permission signal to the autonomous driving vehicle as the signals. The control device determines whether or not there is a reserved vehicle for delivery at the warehousing destination and determines whether or not the reserved vehicle for delivery is an autonomous driving vehicle, and when the reserved vehicle for delivery is a vehicle that does not support automatic driving. Is the mixed type three-dimensional parking system according to any one of claims 1 to 3, wherein a transport instruction signal is output as the signal to an automatic transport device that transports a vehicle that does not support automatic driving. It is provided with a door that can be opened and closed to separate the entrance / exit section from the outside, and a partition gate that separates the entry / exit section from the inside of the parking space. The mixed type three-dimensional parking system according to any one of claims 1 to 5. The control device performs an unmanned reconfirmation in the warehousing / delivery section and starts a warehousing sequence only when the user exits from the warehousing / delivery section after getting off and confirms that the warehousing / delivery section is unmanned. The mixed three-dimensional parking system according to claim 6. The mixed three-dimensional parking system according to claim 6 , wherein the control device checks the state of the vehicle to see if it exceeds the allowable size, and starts the warehousing sequence only when it is determined that the warehousing is possible.

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