JP6976084B2 - Mixed parking facilities - Google Patents

Description

The present invention relates to a mixed parking facility.

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.

Japanese Unexamined Patent Publication No. 2015-75899

By the way, in future parking facilities, 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 facility, 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 an object of the present invention is to provide a mixed parking facility capable of smoothly realizing unmanned parking in an environment in which an autonomous driving vehicle and an autonomous driving non-compatible vehicle coexist. Is.

In order to achieve the above object, the mixed parking facility of the present invention is a mixed type in which an autonomous driving vehicle that can freely drive and a vehicle that does not support autonomous driving that the user drives are mixed and stored in the same parking place. It ’s a parking facility,
An automatic transport device that transports vehicles that do not support automatic driving between the warehousing / delivery section and the parking lot.
It is equipped with the automatic transfer device and a control device for automatically traveling the automatic driving vehicle by transmitting and receiving signals related to warehousing and delivery between the automatic transfer device and the automatic driving vehicle.
At the time of warehousing by the automatic transport device of the vehicle that does not support automatic driving, the signal is transmitted from the control device to the automatic transport device and indicates a travel route signal from the warehousing / delivery unit to the parking place, and the automatic transport. It has a parking completion signal transmitted from the device to the control device and indicating that the automatic transport device has put a vehicle that does not support automatic driving into the parking place.
At the time of delivery by the automatic transport device of the vehicle that does not support automatic driving, the signal is transmitted from the control device to the automatic transport device and indicates a travel route from the parking place to the warehousing / delivery section, and the automatic transport. It has a delivery completion signal that is transmitted from the device to the control device and indicates that the automatic transfer device has transported a vehicle that does not support automatic driving to the entry / exit section.
At the time of warehousing of the self-driving car, the signal has a travel route signal transmitted from the control device to the autonomous vehicle and indicating a travel route from the warehousing / delivery unit to the parking place.
At the time of leaving the autonomous vehicle, the signal has a travel route signal transmitted from the control device to the autonomous vehicle and indicating a travel route from the parking place to the entry / exit section.

According to the mixed parking facility of the present invention, it is possible to achieve an excellent effect that unmanned parking can be smoothly realized 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 1st Embodiment of the mixed type parking facility of this invention. It is a top view which shows the 1st Embodiment of the mixed type parking facility 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 1st Embodiment of the mixed type parking equipment of this invention. It is a flowchart which shows the operation at the time of warehousing in 1st Embodiment of the mixed type parking equipment of this invention. It is a flowchart which shows the operation at the time of leaving a warehousing in 1st Embodiment of the mixed type parking equipment of this invention. It is a top view which shows the 2nd Embodiment of the mixed type parking facility of this invention. It is a side view which shows an example of the pallet with an automatic traveling function as an automatic transport device in the 2nd Embodiment of the mixed type parking equipment of this invention, (a) is the automatic traveling on the front end of the warehousing slope installed in the warehousing part. The figure which shows the state which connected the rear end of the pallet with a function, (b) is the figure which shows the state which connected the front end of the pallet with an automatic traveling function to the rear end of the delivery slope installed in the delivery section. It is a flowchart which shows the operation at the time of warehousing in the 2nd Embodiment of the mixed type parking equipment of this invention. It is a flowchart which shows the operation at the time of delivery in the 2nd Embodiment of the mixed type parking equipment of this invention.

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

1 to 5 are the first embodiment of the mixed parking facility of the present invention, in which the self-driving car 1 capable of self-driving and the non-self-driving car 2 driven by the user are in the same parking place 3. It is designed to be mixed and stored in (see FIG. 2).

As shown in FIG. 1, the mixed type parking facility 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 transport device. It is equipped with the automatic transfer device 5 and a control device 6 for automatically traveling the automatic driving vehicle 1 by transmitting and receiving signals related to warehousing and delivery between the automatic driving vehicle 1 and the automatic driving vehicle 1.

In the first embodiment, as shown in FIG. 2, the mixed parking facility is provided with a warehousing / delivery section 4 (warehousing section 4a and warehousing section 4b), a traveling path 7, and a parking place 3, and the automatic transport device 5 is provided. As a transport trolley 15 with an automatic traveling function, a transport trolley 15 with an automatic traveling function is used. The warehousing / delivery section 4 is divided into a warehousing section 4a and a warehousing section 4b, and the disembarkation area and the boarding area are separately formed. Needless to say, it is okay to have one delivery section 4.

The automatic transport device 5 can be, for example, a transport trolley 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.

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

At the time of warehousing of the vehicle 2 that does not support automatic driving, the user stops the vehicle 2 that does not support automatic driving at the warehousing / delivery section 4 (stocking section 4a) of the mixed parking facility (see step S10 in FIG. 4), and then disembarks. Then, the warehousing start operation is performed (see step S11 in FIG. 4). The warehousing start operation is performed, for example, by the user pressing a warehousing button (not shown) provided in the warehousing / delivery section 4 (stocking section 4a). The warehousing start operation can also be performed from a smartphone owned by the user.

When the warehousing start operation is performed by the user, the transport trolley 15 with an automatic traveling function receives the warehousing start signal A (see step S12 in FIG. 4), and the control device 6 of the mixed parking facility receives the warehousing start signal A. (See step S13 in FIG. 4).

When the control device 6 of the mixed parking facility receives the warehousing start signal A, the parking place signal B indicating the parking place 3 to be warehousing and the traveling route from the warehousing / delivery section 4 (stocking section 4a) to the parking place 3 The travel route signal C indicating the above is transmitted from the control device 6 of the mixed parking facility to the transport carriage 15 with the automatic travel function (see step S14 in FIG. 4).

When the transport vehicle 15 with an automatic travel function receives the parking location signal B and the travel route signal C (see step S15 in FIG. 4), the transport vehicle 15 with an automatic travel function lifts up the vehicle 2 that does not support automatic driving (see step S15 in FIG. 4). (See step S16 in FIG. 4), the automatic driving to the parking place 3 is started (see step S17 in FIG. 4).

When the transport vehicle 15 with an automatic travel function automatically travels on the travel path 7 (see step S18 in FIG. 4) and arrives at the parking place 3 to be stored (see step S19 in FIG. 4), the transport vehicle with an automatic travel function Reference numeral 15 lifts down the vehicle 2 that does not support automatic driving (see step S20 in FIG. 4), and transmits a parking completion signal D to the control device 6 of the mixed parking facility (see step S21 in FIG. 4).

When the control device 6 of the mixed parking facility receives the parking completion signal D (see step S22 in FIG. 4), the warehousing section standby signal E is transmitted to the transport trolley 15 with the automatic traveling function (see step S23 in FIG. 4). ).

When the transport trolley 15 with an automatic traveling function receives the warehousing unit standby signal E (see step S24 in FIG. 4), the transport trolley 15 with an automatic traveling function automatically travels (see step S25 in FIG. 4), and the warehousing unit After arriving at 4a, the state shifts to the standby state (see step S26 in FIG. 4).

When the transport trolley 15 with an automatic traveling function arrives at the warehousing unit 4a and shifts to the standby state, a standby completion signal F is transmitted from the transport trolley 15 with an automatic traveling function to the control device 6 of the mixed parking facility (FIG. 4). (See step S27), the standby completion signal F is received by the control device 6 of the mixed parking facility (see step S28 in FIG. 4).

As a result, the warehousing of the vehicle 2 that does not support automatic driving is completed.

On the other hand, when the vehicle 2 that does not support automatic driving is delivered, the user performs a delivery start operation (see step S100 in FIG. 5). The warehousing start operation is performed, for example, by the user pressing a warehousing button (not shown) provided on the warehousing / delivery unit 4 (delivery unit 4b). The delivery start operation can also be performed from a smartphone owned by the user.

When the warehousing start operation is performed, the transport trolley 15 with an automatic traveling function receives the warehousing start signal G (see step S101 in FIG. 5), and the control device 6 of the mixed parking facility receives the warehousing start signal G. (See step S102 in FIG. 5).

When the control device 6 of the mixed parking facility receives the exit start signal G, the exit vehicle signal H indicating the vehicle 2 that does not support automatic driving to be discharged and the parking place 3 of the vehicle 2 that does not support automatic driving to be discharged A travel route signal I indicating a travel route to the warehousing / delivery unit 4 (delivery unit 4b) is transmitted from the control device 6 of the mixed parking facility to the transport vehicle 15 with an automatic travel function (see step S103 in FIG. 5).

When the transport vehicle 15 with an automatic travel function receives the exit vehicle signal H and the travel route signal I (see step S104 in FIG. 5), the transport vehicle 15 with an automatic travel function starts automatic travel toward the parking place 3. (See step S105 in FIG. 5).

When the transport trolley 15 with an automatic traveling function automatically travels (see step S106 in FIG. 5) and arrives at the parking place 3 (see step S107 in FIG. 5), the transport trolley 15 with an automatic traveling function should be delivered. The corresponding vehicle 2 is lifted up (see step S108 in FIG. 5), and automatic driving is started toward the warehousing / delivery section 4 (delivery section 4b) (see step S109 in FIG. 5).

When the transport trolley 15 with an automatic traveling function automatically travels (see step S110 in FIG. 5) and arrives at the warehousing / delivery unit 4 (delivery unit 4b) (see step S111 in FIG. 5), the transport trolley 15 with an automatic traveling function Lifts down the vehicle 2 that does not support autonomous driving (see step S112 in FIG. 5), and transmits a delivery completion signal J to the control device 6 of the mixed parking facility (see step S113 in FIG. 5).

When the control device 6 of the mixed parking facility receives the delivery completion signal J (see step S114 in FIG. 5), the delivery permission signal K is transmitted to the user (see step S115 in FIG. 5). This delivery permission signal K is output to a display (not shown) of the warehousing / delivery unit 4 (delivery unit 4b) to indicate that the warehousing is permitted. It is also possible to send the delivery permission signal K to a smartphone owned by the user to notify the user that the delivery is permitted.

When the delivery permission signal K is transmitted to the user, the user leaves the vehicle 2 that does not support automatic driving from the entry / exit section 4 (delivery section 4b) of the mixed parking facility (see step S116 in FIG. 5).

As a result, the delivery of the vehicle 2 that does not support automatic driving is completed.

In the case of the first 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 car. There is no need to install multiple motion sensors, etc., and cost reduction is possible.

Regarding the warehousing of the self-driving car 1, when the user gets off at the warehousing / delivery section 4 (stocking section 4a) and performs the warehousing start operation, the warehousing is performed from the control device 6 of the mixed parking facility to the self-driving car 1. A parking place signal B indicating a parking place to be parked 3 and a travel route signal C indicating a travel route from the warehousing / delivery unit 4 (warehousing unit 4a) to the parking place 3 are transmitted, and the self-driving car 1 automatically travels. It will be in the form of going to the parking place 3 to be stored.

Regarding the exit of the autonomous vehicle 1, when the user performs the exit start operation at the entry / exit section 4 (delivery section 4b), the control device 6 of the mixed parking facility moves to the autonomous vehicle 1 and the parking place 3 A travel route signal I indicating a travel route to the warehousing / delivery unit 4 (delivery unit 4b) is transmitted, and the self-driving car 1 automatically travels toward the warehousing / delivery unit 4 (delivery unit 4b).

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

6 to 9 are the second embodiments of the mixed parking facility of the present invention, and in the drawings, the parts having the same reference numerals as those in FIGS. 1 to 5 represent the same objects, and have a basic configuration. Is the same as that of the first embodiment shown in FIGS. 1 to 5.

In the second embodiment, the pallet 25 with an automatic traveling function is used as the automatic transfer device 5. Along with this, the warehousing section 4a as the warehousing / delivery section 4 of the mixed parking facility is divided into a disembarkation area dedicated to the autonomous driving vehicle 1 and a disembarkation area dedicated to the autonomous driving non-compatible vehicle 2. As shown in FIGS. 6 and 7 (a), a warehousing slope 30 is installed in the disembarkation area dedicated to the corresponding vehicle 2, and the rear end of the pallet 25 with an automatic traveling function is connected to the front end of the warehousing slope 30. , The vehicle 2 that does not support automatic driving can get on the pallet 25 with an automatic traveling function from the road surface. Further, the warehousing section 4b as the warehousing / delivery section 4 of the mixed parking facility is divided into a boarding area dedicated to the autonomous driving vehicle 1 and a riding area dedicated to the autonomous driving non-compliant vehicle 2, and the autonomous driving non-compliant vehicle. As shown in FIGS. 6 and 7 (b), a delivery slope 31 is installed in the boarding area dedicated to 2, and the delivery slope 31 is automatically connected to the rear end of the pallet 25 with an automatic traveling function. The non-driving vehicle 2 can get off the road surface from the pallet 25 with an automatic traveling function.

In the mixed parking facility shown in FIG. 6, two systems of the warehousing gate 32 and two systems of the warehousing gate 33 are provided.

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

At the time of warehousing of the vehicle 2 that does not support automatic driving, the user causes the vehicle 2 that does not support automatic driving to ride on the pallet 25 with the automatic driving function from the warehousing slope 30 at the warehousing / delivery section 4 (stocking section 4a) of the mixed parking facility. After the vehicle is stopped (see step S210 in FIG. 8), the vehicle gets off and the warehousing start operation is performed (see step S211 in FIG. 8). The warehousing start operation is performed, for example, by the user pressing a warehousing button (not shown) provided in the warehousing / delivery section 4 (stocking section 4a). The warehousing start operation can also be performed from a smartphone owned by the user.

When the warehousing start operation is performed by the user, the pallet 25 with an automatic traveling function receives the warehousing start signal A (see step S212 in FIG. 8), and the control device 6 of the mixed parking facility receives the warehousing start signal A. Receive (see step S213 in FIG. 8).

When the control device 6 of the mixed parking facility receives the warehousing start signal A, the parking place signal B indicating the parking place 3 to be warehousing and the traveling route from the warehousing / delivery section 4 (stocking section 4a) to the parking place 3 The travel route signal C indicating the above is transmitted from the control device 6 of the mixed parking facility to the pallet 25 with the automatic travel function (see step S214 in FIG. 8).

When the pallet 25 with the automatic driving function receives the parking place signal B and the traveling route signal C (see step S215 in FIG. 8), the pallet 25 with the automatic traveling function starts automatic driving toward the parking place 3 (FIG. 8). See step S217).

When the pallet 25 with an automatic traveling function automatically travels on the traveling path 7 (see step S218 in FIG. 8) and arrives at the parking place 3 to be stored (see step S219 in FIG. 8), the pallet 25 with an automatic traveling function The parking completion signal D is transmitted to the control device 6 of the mixed parking facility (see step S221 in FIG. 8), and the parking completion signal D is transmitted to the control device 6 of the mixed parking facility. 6 receives the parking completion signal D (see step S222 in FIG. 8).

As a result, the warehousing of the vehicle 2 that does not support automatic driving is completed.

On the other hand, when the vehicle 2 that does not support automatic driving is delivered, the user performs a delivery start operation (see step S2100 in FIG. 9). The warehousing start operation is performed, for example, by the user pressing a warehousing button (not shown) provided on the warehousing / delivery unit 4 (delivery unit 4b). The delivery start operation can also be performed from a smartphone owned by the user.

When the warehousing start operation is performed, the pallet 25 with an automatic traveling function receives the warehousing start signal G (see step S2101 in FIG. 9), and the control device 6 of the mixed parking facility receives the warehousing start signal G (see step S2101 in FIG. 9). See step S2102 in FIG. 9).

When the control device 6 of the mixed parking facility receives the delivery start signal G, the delivery permission signal H'for the pallet 25 with the automatic driving function on which the vehicle 2 that does not support automatic driving to be delivered is mounted, and the automatic operation to be delivered. A travel route signal I indicating a travel route from the parking place 3 of the non-compliant vehicle 2 to the entry / exit unit 4 (delivery unit 4b) is transmitted from the control device 6 of the mixed parking facility to the pallet 25 with an automatic driving function ( See step S2103 in FIG. 9).

When the pallet 25 with an automatic traveling function receives the delivery permission signal H'and the traveling route signal I (see step S2104 in FIG. 9), the pallet 25 with an automatic traveling function starts automatic traveling toward the parking place 3 (see step S2104 in FIG. 9). See step S2105 in FIG. 9).

When the pallet 25 with an automatic traveling function automatically travels (see step S2106 in FIG. 9) and arrives at the warehousing / delivery unit 4 (delivery unit 4b) (see step S2111 in FIG. 9), the pallet 25 with an automatic traveling function is set. When the front end is connected to the rear end of the delivery slope 31, the delivery completion signal J is transmitted to the control device 6 of the mixed parking facility and the user (see step S2113 in FIG. 9), and the mixture is described. The control device 6 of the type parking facility receives the delivery completion signal J (see step S2114 in FIG. 9). The delivery completion signal J is transmitted to the smartphone owned by the user to notify the user that the delivery is permitted.

When the delivery completion signal J is transmitted to the user, the user transfers the vehicle 2 that does not support automatic driving from the pallet 25 with the automatic traveling function of the entry / exit section 4 (delivery section 4b) of the mixed parking facility to the delivery slope 31. (See step S2116 in FIG. 9).

As a result, the delivery of the vehicle 2 that does not support automatic driving is completed.

In the case of the second embodiment, as in the case of the first 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. There is no need to enter the inside of the parking facility to get on and off the car, and it is not necessary to install multiple motion sensors, etc., which makes it possible to reduce costs.

Regarding the warehousing of the autonomous vehicle 1 in the second embodiment, as in the first embodiment, when the user gets off at the warehousing / delivery section 4 (stocking section 4a) and performs the warehousing start operation, the mixed parking facility The parking place signal B indicating the parking place 3 to be stored and the traveling route signal C indicating the traveling route from the warehousing / delivery unit 4 (storage unit 4a) to the parking place 3 from the control device 6 of the above to the autonomous driving vehicle 1. It is transmitted, and the self-driving car 1 automatically travels toward the parking place 3 to be stored.

Further, regarding the delivery of the autonomous driving vehicle 1 in the second embodiment, as in the first embodiment, when the user performs the delivery start operation in the entry / exit section 4 (delivery section 4b), the control device for the mixed parking facility. A travel route signal I indicating a travel route from the parking place 3 to the warehousing / delivery unit 4 (delivery unit 4b) is transmitted from 6 to the self-driving car 1, and the self-driving car 1 automatically travels to the warehousing / delivery unit 4 (delivery unit 4b). It will be in the form of going to the delivery section 4b).

In this way, even if the pallet 25 with an automatic traveling function is used as the automatic transport device 5 as in the second embodiment, unmanned parking is smoothly realized in an environment where the autonomous driving vehicle 1 and the autonomous driving non-compatible vehicle 2 coexist. Can be.

It should be noted that the mixed parking facility 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 part 4a warehousing part 4b warehousing part 5 Automatic transport device 6 Control device 15 Transport trolley with automatic driving function 25 Pallet with automatic driving function A warehousing start signal B Parking place Signal C Driving route signal D Parking completion signal E Parking completion signal F Standby completion signal G Exit start signal H Exit vehicle signal H'Exit permission signal I Travel route signal J Exit completion signal K Exit permission signal

Claims (1)

It is a mixed parking facility that stores an autonomous vehicle that can freely drive and a vehicle that does not support autonomous driving that the user drives in the same parking place.
An automatic transport device that transports vehicles that do not support automatic driving between the warehousing / delivery section and the parking lot.
It is equipped with the automatic transfer device and a control device for automatically traveling the automatic driving vehicle by transmitting and receiving signals related to warehousing and delivery between the automatic transfer device and the automatic driving vehicle.
At the time of warehousing by the automatic transport device of the vehicle that does not support automatic driving, the signal is transmitted from the control device to the automatic transport device and indicates a travel route signal from the warehousing / delivery unit to the parking place, and the automatic transport. It has a parking completion signal transmitted from the device to the control device and indicating that the automatic transport device has put a vehicle that does not support automatic driving into the parking place.
At the time of delivery by the automatic transport device of the vehicle that does not support automatic driving, the signal is transmitted from the control device to the automatic transport device and indicates a travel route from the parking place to the warehousing / delivery section, and the automatic transport. It has a delivery completion signal that is transmitted from the device to the control device and indicates that the automatic transfer device has transported a vehicle that does not support automatic driving to the entry / exit section.
At the time of warehousing of the self-driving car, the signal has a travel route signal transmitted from the control device to the autonomous vehicle and indicating a travel route from the warehousing / delivery unit to the parking place.
When the self-driving car leaves the garage, the signal is transmitted from the control device to the self-driving car and has a traveling route signal indicating a traveling route from the parking place to the warehousing / delivery section. Facility.

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