JP7186686B2 - Management system, management device, management method, and program - Google Patents

Description

The present invention relates to a management system, management device, management method, and program.

Conventionally, in a parking lot or the like, there is a technique of moving a vehicle to a predetermined position using a conveying device instead of making the vehicle run by itself (see, for example, Patent Document 1). In addition, there is a technique for preventing vehicles other than automatically driving vehicles from entering the exclusive road when there is a dedicated road for automatically driving vehicles (see, for example, Patent Document 2). In addition, there is a technique of moving an automatically driven vehicle and parking it in a predetermined parking space in a predetermined parking area (see Patent Document 3, for example).

JP 2016-216936 A JP-A-2002-163758 JP 2017-182230 A

In the technique disclosed in Patent Document 1, there is a problem in how to move the vehicle to be transported and the automatically driven vehicle when the vehicle transported by the transport device and the automatically driven vehicle coexist.

The present invention has been made in consideration of such circumstances, and when a vehicle transported by a transport device and an automatically driving vehicle coexist, a management system and a management device that can move both appropriately. , management method and program.

A management system, a management device, a management method, and a program according to the present invention employ the following configuration.
(1): A management system according to one aspect of the present invention includes a transport device that transports a vehicle that has entered a management area, and a management device that manages the management area, wherein the management device a determination unit that determines whether or not a target vehicle that has entered an area needs to be transported, and if the determination unit determines that the target vehicle needs to be transported, the transport device is controlled to target the target vehicle. and a first control unit for transporting to a transport point.

(2): In the aspect of (1) above, the determination unit determines that transportation of the target vehicle is unnecessary when the target vehicle is self-propelled under the control of the management device, and the management device and a second control unit that controls the target vehicle to move it to a target movement point when the determination unit determines that the target vehicle does not need to be transported.

(3): In the aspect of (2) above, the first control unit controls the vehicle transport device to transport the target vehicle to a target transport point within the range of the first area near the entrance/exit of the management area. The second control unit controls and moves the target vehicle to the target movement point within the range of the second area that is not near the entrance of the management area.

(4): In the aspect (2) or (3) above, the first control unit designates the target transport point in order from the closest position to the entrance/exit of the management area, and the second control unit designates the The target movement point is designated in order from the farthest position from the entrance/exit of the management area.

(5): In any one of the above aspects (2) to (4), the management device limits a travel area in which the vehicle transport device can travel, and the first control unit controls the travel area in the travel area. A position where the packing density of vehicles is high is specified as the target transfer point, and the second control unit specifies a position where the efficiency of vehicle entry/exit is high as the target movement point.

(6): A management device according to an aspect of the present invention is a management device that manages a management area, and includes a determination unit that determines whether or not a target vehicle that has entered the management area needs to be transported; a first control unit that controls a vehicle transport device that transports a vehicle that has entered a management area to transport the target vehicle to a target transport point when the determination unit determines that transport of the vehicle is necessary; A management system comprising:

(7): In the management method according to one aspect of the present invention, the computer of the management device determines whether or not the target vehicle that has entered the management area needs to be transported, and determines that the target vehicle needs to be transported. In this case, the management method controls a vehicle transport device that transports a vehicle that has entered the management area to transport the target vehicle to a target transport point.

(8): The program according to one aspect of the present invention causes the computer of the management device to determine whether or not the target vehicle that has entered the management area needs to be transported, and when it is determined that the target vehicle needs to be transported. and executing a process of controlling a vehicle transport device for transporting a vehicle that has entered the management area and transporting the target vehicle to a target transport point.

According to (1) to (8), when a vehicle transported by a transport device and an automatically driving vehicle coexist, both can be moved appropriately.
According to (3), the transportation time can be shortened.
According to (4), the conveying distance can be suppressed.
According to (5), the inside of the area can be efficiently used.

1 is a configuration diagram of a vehicle management system S using a vehicle transport device 1; FIG. 1 is a schematic diagram showing an example of a vehicle transport device; FIG. FIG. 10 is a diagram showing an example of operations of the first transport robot 10A and the second transport robot 10B when transporting the vehicle M; FIG. 10 is a diagram showing an example of operations of the first transport robot 10A and the second transport robot 10B when transporting the vehicle M; It is a figure which shows an example of the structure of the 1st transfer robot 10A. It is a figure which shows an example of the structure of the 1st transfer robot 10A. 3 is a diagram showing an example of the functional configuration of the first transport robot 10A; FIG. 2 is a diagram showing an outline of a parking lot PA managed by a vehicle management server 200; FIG. 2 is a block diagram showing an example of a vehicle management server 200; FIG. It is a figure which shows an example of 1st parking area PE1 of parking lot PA. It is a figure which shows an example of 2nd parking area PE2 of parking lot PA. 4 is a flowchart showing an example of processing in a vehicle management server 200; 5 is a flow chart showing an example of processing of the transport control device 100 in the vehicle transport device 1; It is a flowchart which shows an example of the process of the vehicle control part in the vehicle M which is an automatic driving vehicle. It is a figure which shows another example of 1st parking area PE1.

Embodiments of a management system, a management device, a management method, and a program according to the present invention will be described below with reference to the drawings.

[overall structure]
FIG. 1 is a configuration diagram of a vehicle management system S using a vehicle transport device 1. As shown in FIG. A vehicle management system S (management system) performs a warehousing process by transporting the vehicle M to be transported to a parking position in a parking space (parking space), and transports the vehicle M to be transported from the parking position to the exit position. Delivery processing is performed by transporting. Thereby, the vehicle management system S manages the parking of the vehicle. In addition, the vehicle M is not limited to a specific vehicle, and the vehicle management system S can make any vehicle to be transported. In the following description, the vehicle M has two steered front wheels and two non-steered rear wheels. The vehicle management system S includes, for example, a vehicle transport device 1 and a vehicle management server 200 (management device). The vehicle management server 200 manages the entry of a vehicle into a parking space and the exit of the vehicle from the parking space. Based on a request from a user H (for example, an occupant of the vehicle M) who wishes to park the vehicle M via the terminal device HD, the vehicle transfer apparatus 1 is caused to perform the warehousing process and the leaving process of the vehicle M. The terminal device HD, the vehicle transport device 1, and the vehicle management server 200 can communicate with each other via the network NW. The network NW includes the Internet, WAN (Wide Area Network), LAN (Local Area Network), public lines, provider devices, leased lines, wireless base stations, and the like.

[Overview of Vehicle Transfer Device]
FIG. 2 is a schematic diagram showing an example of the vehicle transport device 1. As shown in FIG. The vehicle transport apparatus 1 transports the vehicle M to a desired target position by moving the vehicle M, which is a target vehicle to be transported, in an arbitrary direction. The vehicle transport device 1 can move the vehicle M forward, backward, leftward, and rightward with respect to the vehicle body of the vehicle M. As shown in FIG. In addition, the vehicle transport device 1 can change the direction of the vehicle body of the vehicle M (rotate) without moving the vehicle M position.

The vehicle transport apparatus 1 includes, for example, a set of transport robots 10 (first transport robot 10A, second transport robot 10B) capable of autonomously traveling in a predetermined area. During transportation, the first transport robot 10A enters under the vehicle M, lifts the front wheels of the vehicle M, and travels autonomously. The second transport robot 10B enters under the vehicle M, lifts the rear wheels of the vehicle M, and travels autonomously. The structures of the first transport robot 10A and the second transport robot 10B may be the same. One of the first transfer robot 10A and the second transfer robot 10B may be the master machine, and the other may be the slave machine.

3 and 4 are diagrams showing an example of operations of the first transport robot 10A and the second transport robot 10B when transporting the vehicle M. FIG. As shown in FIG. 3, when the vehicle M is transported, the first transport robot 10A enters under the vehicle M from the front of the vehicle M. As shown in FIG. When transporting the vehicle M, the second transport robot 10B enters under the vehicle M from behind.

As shown in FIG. 4, the first transport robot 10A that has entered under the vehicle M moves to a position where a right contact portion 11R and a left contact portion 11L, which will be described later, contact the front portions of the front wheels, and then stops. Next, the first transport robot 10A moves the right lift arm 12R and the left lift arm 12L, which have been stored in a later-described storage section, to a position where they come into contact with the rear portion of the front wheel. Then, the first transfer robot 10A further moves the right lift arm 12R toward the right contact portion 11R, thereby lifting the right front wheel with the right contact portion 11R and the right lift arm 12R and moving it to the left contact portion 11L. By moving the left lift arm 12L further, the left front wheel is lifted by the left contact portion 11L and the left lift arm 12L.

As shown in FIG. 4, the second transport robot 10B that has entered under the vehicle M moves to a position where a right contact portion 13R and a left contact portion 13L, which will be described later, contact the rear wheels of the rear wheels, and then stops. Next, the second transport robot 10B moves the right lift arm 14R and the left lift arm 14L, which have been stored in a storage section to be described later, to a position where they come into contact with the front portions of the rear wheels. Then, the second transport robot 10B further moves the right lift arm 14R toward the right contact portion 13R, thereby lifting the right rear wheel with the right contact portion 13R and the right lift arm 14R, and moving the left contact portion 13L. By further moving the left lift arm 14L toward the left rear wheel, the left rear wheel is lifted by the left contact portion 13L and the left lift arm 14L. After that, the first transport robot 10A and the second transport robot 10B cooperate with each other to autonomously travel (self-propell) by the drive mechanism, whereby the vehicle M can be moved. In addition, instead of lifting the wheels of the vehicle M, the vehicle conveying apparatus 1 may lift a part of the vehicle body of the vehicle M (for example, a front cross member or a rear cross member).

[Conveyor robot structure]
Next, the structure b) of the transport robot 10 (the first transport robot 10A and the second transport robot 10B) will be described. Since the structures of the first transport robot 10A and the second transport robot 10B are the same, the first transport robot 10A will be described below, and the description of the second transport robot 10B will be omitted as appropriate.

5 and 6 are diagrams showing an example of the structure of the first transport robot 10A. FIG. 5 shows the first transport robot 10A with the top cover covering the top of the main body 15 removed. In this specification, for convenience of explanation, each direction based on the first transport robot 10A is defined as follows. The direction in which the right contact portion 11R and the left contact portion 11L are arranged with respect to the right lift arm 12R and the left lift arm 12L is defined as the Y direction. The direction in which the right cargo handling mechanism 20R, which will be described later, is arranged with respect to the center position (hereinafter referred to as center line C) in the width direction of the first transport robot 10A is defined as the X direction. Also, the height direction of the first transfer robot 10A, which is orthogonal to the plane formed by the X direction and the Y direction, is defined as the Z direction.

The first transport robot 10A includes, for example, a main body 15, four driving mechanisms 16 arranged inside the main body 15, and a cargo handling mechanism 20. As shown in FIG. The cargo handling mechanism 20 includes, for example, a right cargo handling mechanism 20R and a left cargo handling mechanism 20L. The right cargo handling mechanism 20R is arranged on the right side (+X direction) of the center line C as a reference. The left cargo handling mechanism 20L is arranged on the left side (-X direction) of the center line C as a reference. The four drive mechanisms 16 are arranged between the right cargo handling mechanism 20R and the left cargo handling mechanism 20L. The main body 15 is a frame that supports each part of the first transfer robot 10A.

Each drive mechanism 16 includes, for example, a travel motor 17 , a drive-side reduction gear 18 , and wheels 19 . The four driving mechanisms 16 are divided into two sets and arranged on the left and right sides (−X direction and +X direction) of the center line C as a boundary. The two sets of drive mechanisms 16 on the left side and the two sets of drive mechanisms 16 on the right side are arranged so as to be symmetrical about the center line C as an axis. The two sets of driving mechanisms 16 on the front side (+Y direction) and the two sets of driving mechanisms 16 on the rear side (−Y direction) are symmetrical about a parallel line D parallel to the width direction of the first transport robot 10A. are arranged so that

The travel motor 17 is, for example, an electric motor. The output shaft of the traveling motor 17 is connected to the input shaft of the drive side reduction gear 18 . The drive-side speed reducer 18 has an input shaft and an output shaft on the same line, and has, for example, a planetary gear speed reducer. An output shaft of the drive-side reduction gear 18 is connected to wheels 19 .

The wheels 19 are, for example, Mecanum wheels. The mecanum wheels provided in each drive mechanism 16 can move the main body 15 in all directions by being driven in cooperation with each other. In addition, the drive mechanism 16 may have other wheels that enable movement in all directions. For example, the drive mechanism 16 may be replaced with an omni wheel or a vehicle with a steering function.

The right cargo handling mechanism 20R includes, for example, a right contact portion 11R, a right lift arm 12R, and a right rotational force transmission mechanism 21R. The left cargo handling mechanism 20L includes, for example, a left contact portion 11L, a left lift arm 12L, and a left rotational force transmission mechanism 21L. The right cargo handling mechanism 20R and the left cargo handling mechanism 20L are arranged symmetrically about the center line C as an axis. Since the right cargo handling mechanism 20R and the left cargo handling mechanism 20L have the same structure, the structure of the right cargo handling mechanism 20R will be described below, and the description of the left cargo handling mechanism 20L will be omitted as appropriate.

The right rotational force transmission mechanism 21R includes a drive device for moving the right lift arm 12R between the right retracted position P1 and the right unfolded position P2. The right rotational force transmission mechanism 21R rotates the right lift arm 12R along the XY plane between the right retracted position P1 and the right unfolded position P2, for example, with the Z-direction axis A1 as a fulcrum. The right rotational force transmission mechanism 21R includes, for example, a motor and a brake.

The right lift arm 12R is a rotating rod that includes a shaft member and a cylindrical member concentric with the shaft member and rotatable about the shaft member. The right lift arm 12R is controlled by the right rotational force transmission mechanism 21R to move the tip 22R toward the center in the width direction of the main body 15 (-X direction) at the right storage position P1 and to move the tip 22R to the outside in the width direction of the main body 15 (+X direction). ) to the right unfolded position P2.

The right retracted position P1 and the right unfolded position P2 are positions where the shaft member of the right lift arm 12R is parallel to the width direction. In other words, the right stowed position P1 is the position of the right lift arm 12R after the right lift arm 12R has been rotated 180 degrees along the XY plane from the right deployed position P2. Conversely, the right deployed position P2 is the position of the right lift arm 12R after the right lift arm 12R has been rotated 180 degrees along the XY plane from the right stowed position P1.

The right contact portion 11R is a rotary rod that includes a shaft member and a cylindrical member concentric with the shaft member and rotatable around the shaft member. Both ends of the shaft member of the right contact portion 11</b>R are fixed to the main body 15 .

[Functional configuration of transport robot]
Next, the functional configuration of the transport robot 10 will be described. FIG. 7 is a diagram showing an example of the functional configuration of the first transport robot 10A. The first transfer robot 10A includes, for example, a drive mechanism 16, a cargo handling mechanism 20, a sensor 30, a communication device 40, and a transfer control device 100.

Sensor 30 includes, for example, camera 32 and ranging sensor 34 . The camera 32 images the surroundings of the first transport robot 10A. The ranging sensor 34 is, for example, a PSD (Position Sensitive Detector) sensor, radar, LiDAR (Light Detection and Ranging), LRF (Laser Range Finder), TOF (Time of Flight) sensor, or the like. The distance measuring sensor 34 detects the distance to an object existing around the first transport robot 10A. The distance measuring sensor 34 detects, for example, the distance to the vehicle M to be transported. A plurality of cameras 32 and distance measuring sensors 34 are provided in order to detect all directions of the first transport robot 10A. Four sets of cameras 32 and ranging sensors 34 are mounted, for example, on the right front, left front, right rear, and left rear of the top cover.

The communication device 40 includes, for example, a device and an antenna for wireless communication with an external communication device. The external communication device is, for example, the vehicle management server 200, which is the communication device of the other paired transport robot 10 (second transport robot 10B). The communication device 40 includes a communication module for performing short-range wireless communication and a communication module for wireless communication via a public line.

The transport control device 100 includes, for example, a communication unit 110, a traveling control unit 120, an arm control unit 130, and a storage unit 140. Each of communication unit 110, travel control unit 120, and arm control unit 130 is implemented by a hardware processor such as a CPU (Central Processing Unit) (computer) executing a program (software). Some or all of these components are hardware (circuits) such as LSI (Large Scale Integration), ASIC (Application Specific Integrated Circuit), FPGA (Field-Programmable Gate Array), GPU (Graphics Processing Unit) (including circuitry), or by cooperation of software and hardware. The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as the HDD or flash memory of the transport control device 100, or may be stored in a removable storage such as a DVD or CD-ROM. It is stored in a medium, and may be installed in the HDD or flash memory of the transport control device 100 by loading the storage medium (non-transitory storage medium) into the drive device.

The communication unit 110 acquires various instructions transmitted by the vehicle management server 200 via the communication device 40 . The instructions transmitted by the vehicle management server 200 include, for example, an instruction to enter the vehicle into the parking space, an instruction to leave the vehicle from the parking space, an instruction to adjust the parking position of the vehicle parked in the parking space, and the like.

The travel control unit 120 controls the drive mechanism 16 based on the instruction acquired by the communication unit 110 so as to move the vehicle transport device 1 to the instructed position. For example, when the communication unit 110 acquires a warehousing instruction, the travel control unit 120 controls the drive mechanism 16 so as to move the vehicle transportation device 1 to the position of the vehicle M to be transported.

The arm control unit 130 controls the cargo handling mechanism 20 based on the instruction acquired by the communication unit 110 so as to lift the vehicle M to be transported or unload the vehicle M that has been lifted. For example, when the warehousing instruction is acquired by the communication unit 110, the arm control unit 130 causes the cargo handling mechanism 20 to lift the vehicle after the vehicle transport device 1 moves to the vehicle position under the control of the travel control unit 120. Control.

The storage unit 140 is realized by, for example, an HDD, flash memory, EEPROM (Electrically Erasable Programmable Read Only Memory), ROM (Read Only Memory), or RAM (Random Access Memory). The storage unit 140 stores, for example, information such as map information 142 within a management area (within a parking management section) in which the first transport robot 10A can travel.

FIG. 8 is a diagram showing an overview of the parking lot PA managed by the vehicle management server 200. As shown in FIG. The vehicle management system S causes the vehicle M that has entered the parking lot PA to be self-propelled or transported by the vehicle transport device 1 in the parking lot PA, which is the management area of the vehicle management server 200. The vehicle M is moved to the parking space to be used. As shown in FIG. 8, the parking lot PA is provided with a parking area PE partitioned into a large number of parking spaces PS, and an entrance/exit gate G is provided at the entrance of the parking lot PA. The entrance of the parking lot PA also serves as the exit of the parking lot PA. Between the parking area PE and the entrance/exit gate G, there is provided a boarding/alighting area RD where passengers of the vehicle M board/alight from the vehicle M. As shown in FIG. The parking area PE is divided into a first parking area PE1 near the entrance of the parking lot PA and a second parking area PE2 not near the entrance of the parking lot PA. The first parking area PE1 is an example of the first area, and the second parking area PE2 is an example of the second area. The second parking area PE2 may be located farther from the entrance of the parking lot PA than the first parking area PE1. The distance from the entrance of the parking lot PA to the first parking area PE1 or the second parking area PE2 may be, for example, the shortest distance between the entrance of the parking lot PA to the first parking area PE1 or the second parking area PE2. , the length of the shortest route when the vehicle travels between the entrance of the parking lot PA and the first parking area PE1 or the second parking area PE2.

A vehicle M parked in the parking lot PA enters through an entrance/exit gate G and then stops in the boarding/alighting area RD. When the vehicle M stops in the boarding/alighting area RD, the occupants of the vehicle M get off. Subsequently, the vehicle management server 200 designates a parking space PS for the vehicle M. The vehicle management server 200 transmits to the vehicle M or the vehicle transport device 1 a parking space PS designated by the vehicle management server 200, to the vehicle M or the vehicle transport device 1. (hereinafter referred to as "designated parking space PSD") to move the vehicle M from the boarding/alighting area RD. The vehicle management server 200 transmits to the vehicle M or the vehicle transport device 1 a leaving instruction to cause the vehicle M to drive itself or to have the vehicle M transported by the vehicle transport device 1 to leave the garage, and the vehicle M is moved from the parking space PS to the boarding/alighting area RD. move up to The vehicle management server 200 may cause the vehicle M to be transported by the vehicle transport device 1 from a position other than the boarding/alighting area RD.

A warehouse DE capable of accommodating a plurality of vehicle transport devices 1 is provided in the vicinity of the boarding/alighting area RD, and the plurality of vehicle transport devices 1 are housed in the warehouse DE. Based on the information transmitted by the vehicle management server 200, the vehicle transport apparatus 1 housed in the warehouse DE moves from the warehouse DE to the position of the vehicle M stopped in the boarding/alighting area RD, and loads the vehicle M thereon. Transport to designated parking space PSD.

FIG. 9 is a block diagram showing an example of the vehicle management server 200. As shown in FIG. As shown in FIG. 9, the vehicle management server 200 includes, for example, a communication device 220, a control section 240, and a storage section 260. The communication device 220 includes, for example, a device for wirelessly communicating with external communication devices such as the vehicle transport device 1 and the vehicle M, and an antenna. The communication device 220 has a communication module that performs wireless communication via a public line.

The control unit 240 includes, for example, a communication unit 242, a determination unit 244, a first control unit 246, and a second control unit 248. The communication unit 242, the determination unit 244, the first control unit 246, and the second control unit 248 are implemented by, for example, a hardware processor such as a CPU (computer) executing a program (software). Also, some or all of these components may be realized by hardware (circuitry) such as LSI, ASIC, FPGA, GPU, etc., or by cooperation of software and hardware may be The program may be stored in advance in a storage device (a storage device having a non-transitory storage medium) such as the HDD or flash memory of the vehicle management server 200, or may be stored in a removable storage such as a DVD or CD-ROM. It is stored in a medium, and may be installed in the HDD or flash memory of the vehicle management server 200 by attaching the storage medium (non-transitory storage medium) to the drive device. The storage unit 260 is configured by these storage devices and the like, for example. The storage unit 260 stores map information 261 regarding a map in the parking lot PA and parking information 262 indicating the parking situation in the parking space PS.

The communication unit 242 transmits and receives signals to and from the vehicle M located in the boarding/alighting area RD and the parking space PS and the vehicle transport apparatus 1 via the communication device 220 . The communication unit 242 receives vehicle information transmitted by the vehicle M in the boarding/alighting area RD via the communication device 220, for example. The vehicle information includes automatic driving vehicle information and vehicle specification information. The automatic driving information is information indicating that the vehicle M has an automatic driving function capable of self-driving, and is transmitted only by the automatically driving vehicle. The vehicle specification information is information relating to the specification of the vehicle M, such as its weight, wheelbase, and vehicle height. The communication unit 242 communicates, for example, an entry instruction to move the vehicle M from the boarding/alighting area RD to the specified parking space PSD or a leaving instruction to move the vehicle M from the parking space PS to the boarding/alighting area RD to the vehicle M or the vehicle transport apparatus 1. Transmit via device 220 .

The determination unit 244 determines whether or not the target vehicle that has entered the parking lot PA needs to be transported. Therefore, the determining unit 244 determines whether the vehicle M is an automatically driving vehicle based on whether the vehicle information transmitted by the vehicle M and received by the communication unit 242 includes automatic driving vehicle information. . If the determination unit 244 determines that the vehicle M is an automatically driving vehicle and does not need to be transported, it determines that the vehicle M is not transported by the vehicle transporting apparatus 1, and determines that the vehicle M is not an automatically driving vehicle. When determined, it is determined that the vehicle M is transported by the vehicle transport apparatus 1 .

When the determination unit 244 determines that the vehicle M is not an automatically driven vehicle and needs to be transported, the first control unit 246 designates one of the parking spaces PS in the first parking area PE1 as the designated parking space PSD. Specify as After designating the designated parking space PSD within the first parking area PE1, the first control unit 246 sets the designated parking space PSD as the target transport point, and causes the vehicle transport device 1 to transport the vehicle M toward the designated parking space PSD. . Therefore, the first control unit 246 determines the vehicle transport device 1 that transports the vehicle M from among the plurality of vehicle transport devices 1, and the communication unit 242 determines the information on the target transport point. It is transmitted to the vehicle transport device 1 . The first control unit 246 transmits the vehicle specification information included in the vehicle information to the vehicle transportation apparatus 1 together with the information on the target transportation point. Note that the vehicle management system S may include only one vehicle transport device 1 .

The first control unit 246 refers to, for example, the map information 261 and the parking information 262 stored in the storage unit 260 when designating the designated parking space PSD from among the plurality of parking spaces PS in the first parking area PE1. Then, an empty space in which the vehicle M can be parked is searched among the plurality of parking spaces PS. The first control unit 246 designates designated parking spaces PSD in order from the position closest to the entrance of the parking lot PA among the plurality of searched parking spaces PS.

For example, as shown in FIG. 10, when the parking spaces are designated as a first parking space PS1, a second parking space PS2, . , the first parking space PS1 can be designated as the designated parking space PSD. For example, when the vehicle is parked in the first parking space PS1 or when the first parking space PS1 has already been designated as the designated parking space PSD of another vehicle, the first control unit 246 controls the first parking space. It is determined that the space PS1 cannot be designated as the designated parking space PSD, and in other cases, it is determined that the first parking space PS1 can be designated as the designated parking space PSD.

If the first parking space PS1 cannot be designated as the designated parking space PSD, it is determined whether the second parking space PS2 can be designated as the designated parking space PSD, and if the second parking space PS2 cannot be designated as the designated parking space PSD. determines whether the third parking space PS3 can be designated as the designated parking space PSD. Thereafter, it is similarly determined whether or not the fourth parking space PS4, the fifth parking space PS5, . Appoint to PSD. The first control unit 246 determines a parking space PS large enough to park the vehicle M based on the vehicle specification information transmitted from the vehicle M, and determines the parking space PS large enough to park the vehicle M. You may designate the designated parking space PSD from.

The second control unit 248 designates one of the parking spaces PS in the second parking area PE2 as the designated parking space PSD when the determination unit 244 determines that the vehicle M is an automatically driven vehicle. After designating the designated parking space PSD within the second parking area PE2, the second control unit 248 designates the designated parking space PSD as the target movement point, and causes the vehicle M to travel toward the designated parking space PSD. Therefore, the communication unit 242 transmits information on the target movement point to the vehicle M. FIG.

The second control unit 248 refers to, for example, the map information 261 and the parking information 262 stored in the storage unit 260 when designating the designated parking space PSD from among the plurality of parking spaces PS within the second parking area PE2. Then, an empty space in which the vehicle M can be parked is searched among the plurality of parking spaces PS. The second control unit 248 designates designated parking spaces PSD in order from the farthest position from the entrance of the parking lot PA among the plurality of searched parking spaces PS. For example, as shown in FIG. 11, when the parking spaces are designated as a first parking space PS21, a second parking space PS22, . , the first parking space PS21 can be designated as the designated parking space PSD. For example, when the vehicle is parked in the first parking space PS21 or when the first parking space PS21 has already been designated as the designated parking space PSD of another vehicle, the second control unit 248 controls the first parking space. It is determined that the space PS21 cannot be designated as the designated parking space PSD, and in other cases, it is determined that the first parking space PS21 can be designated as the designated parking space PSD.

If the first parking space PS21 cannot be designated as the designated parking space PSD, it is determined whether the second parking space PS22 can be designated as the designated parking space PSD, and if the second parking space PS22 cannot be designated as the designated parking space PSD. determines whether the third parking space PS23 can be designated as the designated parking space PSD. Thereafter, it is similarly determined whether or not the fourth parking space PS24, the fifth parking space PS25, . Appoint to PSD. The second control unit 248 determines a parking space PS large enough to park the vehicle M based on the vehicle specification information transmitted from the vehicle M, and determines the parking space PS large enough to park the vehicle M. You may designate the designated parking space PSD from.

Vehicles that enter the parking lot PA include automatically driven vehicles and vehicles other than automatically driven vehicles (hereinafter referred to as "non-automatically driven vehicles"). An automatic driving vehicle includes, for example, a vehicle control unit including a transmission/reception unit, an autonomous driving control unit, a navigation device, and an action plan generation unit. An automatic driving vehicle stores vehicle information, for example. The transmitting/receiving unit transmits vehicle information of the own vehicle to vehicle management server 200 and receives information transmitted from vehicle management server 200 . The self-propelled control unit controls the self-propelled vehicle. A navigation device determines a route from a point of departure (or current location) to a point of arrival. The action plan generation unit generates a target trajectory along which the vehicle M automatically travels along the determined route in the future (without relying on the driver's operation).

The vehicle control unit transmits vehicle information to the vehicle management server 200 when the vehicle M arrives at the boarding/alighting area RD of the parking lot PA in the transmitting/receiving unit. When the vehicle management server 200 transmits the information of the target movement point, the vehicle control unit generates a target trajectory from the boarding/alighting area RD to the designated parking space PSD by the self-propelled control unit, and drives the vehicle along the target trajectory. M is driven and moved to the designated parking space PSD. In the embodiment, the control by the second control unit 248 is not for determining the route of the vehicle M or generating the target trajectory, but for providing information on the target movement point to the vehicle M as control for causing the vehicle M to run. However, the second control unit 248 may perform control such as determining the route of the vehicle M and generating the target trajectory.

For example, similarly to the automatic driving vehicle, the travel control unit 120 in the vehicle transport device 1 determines the target trajectory from the boarding/alighting area RD to the designated parking space PSD when the vehicle management server 200 transmits information on the target transport point. Then, the vehicle transport device 1 is caused to travel along the target trajectory to move the vehicle M to the designated parking space PSD. In the embodiment, the control by the first control unit 246 does not determine the route of the vehicle transport device 1 or generate the target trajectory as control for causing the vehicle transport device 1 to travel and move the vehicle M. Although the information of the target transportation point is transmitted to the vehicle transportation device 1, the first control unit 246 may perform control such as determining the route of the vehicle transportation device 1 and generating the target trajectory.

The non-self-driving vehicle includes a transmission/reception unit of the self-driving vehicle that transmits vehicle information of the self-driving vehicle to the vehicle management server 200 . The non-automatic vehicle includes a storage unit that stores vehicle information, for example. The transmission/reception unit of the vehicle M, which is a non-automatic vehicle, transmits vehicle information stored in the storage unit to the vehicle management server 200 .

Next, processing in the vehicle management server 200 will be described. FIG. 12 is a flow chart showing an example of processing in the vehicle management server 200. As shown in FIG. As shown in FIG. 12, the vehicle management server 200 receives vehicle information transmitted from the vehicle M by the communication unit 242 via the communication device 220 (step S101). For example, the vehicle M transmits vehicle information to the vehicle management server 200 while passing through the entrance/exit gate G and stopping in the boarding/alighting area RD. When the vehicle M does not have a function of transmitting vehicle information to the vehicle management server 200, the terminal device HD of the user of the vehicle M acquires and transmits the vehicle information of the vehicle M, and the vehicle management server 200 , the vehicle information transmitted by the terminal device HD may be received. In this case, the terminal device HD may acquire the vehicle information of the vehicle M from the vehicle M by short-range wireless communication or the like, or may be acquired by the user of the vehicle M or the like inputting the information to the terminal device HD. good.

The determination unit 244 in the vehicle management server 200 determines whether or not the vehicle M stopped in the boarding/alighting area RD is an automatically driven vehicle based on the vehicle information received by the communication unit 242 (step S103). When determining that the vehicle stopped in the boarding/alighting area RD is not an automatically driven vehicle (is a non-automatically driven vehicle), the first control unit 246 designates the designated parking space PSD within the first parking area PE1, and The designated parking space PSD is designated as the target transport point (step S105). The first control unit 246 designates the parking space PS closest to the entrance of the parking lot PA among the parking spaces PS in the first parking area PE1 as the target transport point.

Subsequently, the first control unit 246 determines the vehicle transporting device 1 that transports the vehicle M from among the plurality of vehicle transporting devices 1, and transmits the information of the target transportation point to the determined vehicle transporting device 1 ( step S107). The vehicle transport device 1 that transports the vehicle M may be determined in any way. For example, it may be determined in order from the vehicle transport devices 1 remaining in the warehouse DE, or may be determined in order of low frequency of use. Alternatively, based on the vehicle specification information transmitted from the vehicle M, information such as the vehicle type and tire type of the vehicle M may be acquired, and determination may be made according to this information. At this time, the first control unit 246 transmits the vehicle specification information included in the vehicle information to the vehicle transportation apparatus 1 together with the information on the target transportation point. Thus, the vehicle management server 200 terminates the processing shown in FIG.

Further, in step S103, when it is determined that the vehicle stopped in the boarding/alighting area RD is an automatically driven vehicle, the second control unit 248 designates the designated parking space PSD within the second parking area PE2, and this designation The parking space PSD is designated as the target movement point (step S109). The second control unit 248 designates the parking space PS farthest from the entrance of the parking lot PA among the parking spaces PS of the second parking area PE2 as the designated parking space PSD.

Subsequently, the second control unit 248 transmits information on the target travel point to the vehicle M (step S111). Thus, the vehicle management server 200 terminates the processing shown in FIG.

Next, processing in the vehicle transport device 1 will be described. FIG. 13 is a flow chart showing an example of processing of the transport control device 100 in the vehicle transport device 1. As shown in FIG. As shown in FIG. 13, the transportation control device 100 in the vehicle transportation device 1 determines whether or not the communication unit 110 has received the information of the target transportation point transmitted by the vehicle management server 200 (step S201). When determining that the communication unit 110 has not received the information on the target transportation point, the vehicle transportation device 1 repeats the process of step S201.

When the communication unit 110 determines that the information on the target transportation point has been received, the transportation control device 100 controls the drive mechanism 16 by the traveling control unit 120 to move the vehicle transportation device 1 to the position of the vehicle M in the boarding/alighting area RD. Move (step S203). Subsequently, the transfer control device 100 causes the vehicle transfer device 1 to approach the vehicle M, causes the first transfer robot 10A to lift the front wheels of the vehicle M, and causes the second transfer robot 10B to lift the rear wheels of the vehicle M (step S205). Subsequently, the transport control device 100 determines whether or not the vehicle M has been lifted (step S207). If it is determined that the vehicle M has not been lifted, the process returns to step S205 to continue the process of lifting the vehicle M. .

If it is determined that the vehicle M has been lifted, the transport control device 100 transports the vehicle M to the designated designated parking space PSD according to the target transport point information transmitted by the vehicle management server 200 (step S209). Subsequently, the transport control device 100 determines whether or not the target transport point has been reached (step S211). If it is determined that the target transportation point has not been reached, the transportation control device 100 returns to step S209 and continues transportation of the vehicle M.

When determining that the target transport point has been reached, the transport control device 100 unloads the lifted vehicle M (step S213). After unloading the vehicle M, the transportation control device 100 moves the vehicle transportation device 1 toward the warehouse DE (step S215). When the transport control device 100 receives new target transport point information before the vehicle transport device 1 arrives at the warehouse DE, the transport control device 100 moves directly to the boarding/alighting area RD without heading to the warehouse DE. Thus, the processing shown in FIG. 13 ends.

Next, processing of the vehicle control unit in the vehicle M will be described. FIG. 14 is a flow chart showing an example of processing of the vehicle control unit in the vehicle M, which is an automatic driving vehicle. As shown in FIG. 14, the vehicle control unit in the vehicle M determines whether or not the vehicle has stopped in the boarding/alighting area RD (step S301). When determining that the vehicle is not stopped in the boarding/alighting area RD, the vehicle control unit repeats the process of step S301. When determining that the vehicle has stopped in the boarding/alighting area RD, the vehicle control unit transmits vehicle information to the vehicle management server 200 (step S303).

Subsequently, the vehicle control unit uses the navigation device to determine the route to the target movement point transmitted by the vehicle management server 200, and uses the action plan generation unit to generate the target trajectory for traveling along the route. do. Then, the vehicle control unit uses the self-running control unit to move the vehicle M toward the target movement point (step S305).

Subsequently, the vehicle control unit determines whether or not the vehicle M has reached the target movement point (step S307). If it is determined that the target travel point has not been reached, the vehicle control unit returns to step S305 until the target travel point is reached, and continues to drive the vehicle M. When determining that the target travel point has been reached, the vehicle control unit terminates the processing shown in FIG. 14 .

Moreover, when the vehicle M is a non-automatic vehicle, the vehicle control unit performs the processes of steps S301 and S303 shown in FIG. 14 . Subsequently, the vehicle control unit terminates the processing shown in FIG. 14 . Thereafter, transportation of the vehicle M is entrusted to the vehicle transportation device 1, and the vehicle M is transported to the target transportation point by the vehicle transportation device 1. FIG.

The vehicle management system S of the embodiment determines whether the vehicle M that has entered the parking lot PA is an automated vehicle or a non-automatic vehicle, and if the vehicle is a non-automatic vehicle, the vehicle transport device 1 is used to transport the vehicle M to the designated parking space PSD. Therefore, even if the vehicle M is a non-automatic driving vehicle, the vehicle M can be moved to the parking space with a function equivalent to the automatic driving function. Therefore, when the vehicle conveyed by the conveying device and the automatically driven vehicle coexist, both can be moved appropriately. Moreover, when the vehicle M is an automatically driven vehicle, the vehicle M is moved to the designated parking space PSD under the control of the vehicle management server 200 . Therefore, when the vehicle conveyed by the conveying device and the automatically driven vehicle coexist, both can be moved more appropriately.

Further, in the vehicle management system S of the embodiment, for non-automatically driven vehicles, the vehicle transport device 1 designates a designated parking space PSD within the range of the first parking area PE1 near the entrance of the parking lot PA, and automatically drives the vehicle. For the vehicle, a designated parking space PSD is designated within the range of the second parking area PE2 which is not near the entrance of the parking lot PA. The vehicle transport apparatus 1 often does not have high running performance compared to an automatically driven vehicle, and often has a slower moving speed and a shorter movable distance than an automatically driven vehicle. In this regard, in the vehicle management system S of the embodiment, non-automatically driven vehicles are transported to the first parking area PE1 where the travel distance is short. The time required can be shortened.

In addition, the vehicle management system S of the embodiment designates designated parking spaces PSD for non-automatic vehicles in order from the position closest to the entrance of the parking lot PA. Therefore, the time required to transport the vehicle M can be shortened as a whole. In addition, for automatically driving vehicles, designated parking spaces PSD are designated in order from the position closest to the entrance of the parking lot PA. As a result, the transportation distance of the vehicle transportation device 1 can be reduced, so that traffic congestion of vehicles can be prevented in the vicinity of the entrance of the parking lot PA.

In the above embodiment, when a non-automatic vehicle is transported by the vehicle transport device 1, the specified parking space PSD is specified in order from the position closest to the entrance of the parking lot PA, but the specified parking space PSD is specified in another aspect. May be specified. For example, the travel area of the vehicle conveying apparatus 1 that conveys the vehicle M is limited to, for example, the first parking area PE1, and the packing density of the first parking area PE1 after parking the vehicle M is calculated. The space PS may be designated parking space PSD. The travel area can also be called a parking area. The filling density may be, for example, a numerical value for each subdivided area obtained by subdividing the parking available area. For example, as shown in FIG. 15, when the first parking area PE1 is divided into a first space group SC1 and a second space group SC2 each having ten parking spaces PS, the first space group has two parking spaces. are parked in the second space group, and four vehicles are parked in the second space group. A space PS may be specified. In this case, the vehicles parked in the parking lot PA can be concentrated in a narrow range, so that the parking lot PA can be used efficiently, and the parked vehicles can be collectively visually recognized. Crime prevention effect can be enhanced.

Further, in the above embodiment, when the autonomous vehicle is moved to the designated parking space PSD, the designated parking space PSD is designated in order from the farthest position from the entrance of the parking lot PA. may be specified. For example, a parking space where the efficiency of vehicle entry and exit is high may be designated as the designated parking space PSD. High efficiency in entering and leaving the parking lot means, for example, that it takes less time and effort to bring the vehicle into and out of the parking lot. Say things. By increasing the efficiency of entering and leaving the parking lot, it is possible to make the operation of the autonomous vehicle from entering the parking lot to leaving the parking space smoother. As the second parking area PE2, if there are a first parking space that is moved linearly from the entrance of the parking lot PA and a second parking space that is moved by repeating right and left turns several times, the second parking space The first parking space may be designated as the designated parking space PSD even if is closer than the second parking space. In this case, the efficiency of parking the vehicle in the parking lot PA can be enhanced.

In the above embodiment, the entrance and exit of the parking lot PA are provided in common, but the parking lot may have entrances and exits at different positions. In this case, the first parking area PE1 in which the vehicle transport device 1 transports the non-automatic vehicle is preferably provided in the vicinity of the passage connecting the exit and the entrance of the parking lot PA. Preferably, the path is the shortest distance between the exit and entrance of the. By providing the first parking area in the vicinity of the passage connecting the exit and the entrance of the parking lot PA, the vehicles can be transported efficiently by the vehicle transport apparatus 1 .

In the above embodiment, when the vehicle M is an automatically driving vehicle, the vehicle M is self-propelled. It is moved to PSD, but other modes are possible. For example, when the vehicle M is an automatically driving vehicle and is capable of self-driving under the control of the vehicle management server 200, the vehicle M is made automatic and is not self-driving under the control of the vehicle management server 200. In this case, for example, if the vehicle M is a non-automatically driven vehicle or an automatically driven vehicle that cannot be driven by the vehicle management server 200, the vehicle transporting apparatus 1 controls the vehicle M may be moved to the designated parking space PSD.

As described above, the mode for carrying out the present invention has been described using the embodiments, but the present invention is not limited to such embodiments at all, and various modifications and replacements can be made without departing from the scope of the present invention. can be added.

1 vehicle transfer device 10 transfer robot 10A first transfer robot 10B second transfer robot 100 transfer control device 110 communication unit 120 traveling control unit 130 arm control unit 140 storage unit 200 vehicle management server 220 communication device 240 control unit 242 communication unit 244 determination Part 246 First control part 248 Second control part 260 Storage part G Entrance/exit gate H User M Vehicle PA Parking lot PE Parking area PE1 First parking area PE2 Second parking area PS Parking space PSD Designated parking space RD Getting on/off area S Vehicle management system

Claims (12)

a vehicle transport device for transporting a vehicle that has entered a management area;
a management device for managing the management area,
The management device
a determination unit that determines whether or not the target vehicle that has entered the management area needs to be transported;
a first control unit that controls the vehicle transport device to transport the target vehicle to a target transport point when the determination unit determines that the target vehicle needs to be transported ;
a second control unit that controls the target vehicle to move it to a target movement point when the determination unit determines that the target vehicle does not need to be transported;
with
The determination unit determines that transportation of the target vehicle is unnecessary when the target vehicle is self-propelled under the control of the management device,
The first control unit transports the target vehicle to the target transport point within the range of the first area near the entrance of the management area,
The second control unit controls and moves the target vehicle to the target movement point within the range of the second area that is not near the entrance/exit of the management area.
management system. a vehicle transport device for transporting a vehicle that has entered a management area;
a management device for managing the management area,
The management device
a determination unit that determines whether or not the target vehicle that has entered the management area needs to be transported;
a first control unit that controls the vehicle transport device to transport the target vehicle to a target transport point when the determination unit determines that the target vehicle needs to be transported;
a second control unit that controls the target vehicle to move it to a target movement point when the determination unit determines that the target vehicle does not need to be transported;
with
The determination unit determines that transportation of the target vehicle is unnecessary when the target vehicle is self-propelled under the control of the management device,
The first control unit designates the target transport point in order from the closest position to the entrance/exit of the management area,
The second control unit designates the target movement point in order from the farthest position from the entrance/exit of the management area.
management system. a vehicle transport device for transporting a vehicle that has entered a management area;
a management device for managing the management area,
The management device
a determination unit that determines whether or not the target vehicle that has entered the management area needs to be transported;
a first control unit that controls the vehicle transport device to transport the target vehicle to a target transport point when the determination unit determines that the target vehicle needs to be transported;
a second control unit that controls the target vehicle to move it to a target movement point when the determination unit determines that the target vehicle does not need to be transported;
with
The determination unit determines that transportation of the target vehicle is unnecessary when the target vehicle is self-propelled under the control of the management device,
The management device limits a travel area in which the vehicle transport device can travel,
The first control unit designates, as the target transport point, a position where the vehicle filling density in the travel area is high,
The second control unit designates a position where the efficiency of vehicle entry and exit is high as the target movement point.
management system. A management device for managing a management area,
a determination unit that determines whether or not the target vehicle that has entered the management area needs to be transported;
A first control unit for controlling a vehicle transport device for transporting a vehicle that has entered a management area to transport the target vehicle to a target transport point when the determination unit determines that the target vehicle needs to be transported. When,
a second control unit that controls the target vehicle to move it to a target movement point when the determination unit determines that the target vehicle does not need to be transported;
with
The determination unit determines that transportation of the target vehicle is unnecessary when the target vehicle is self-propelled under the control of the management device,
The first control unit transports the target vehicle to the target transport point within the range of the first area near the entrance of the management area,
The second control unit controls and moves the target vehicle to the target movement point within the range of the second area that is not near the entrance/exit of the management area.
management system. A management device for managing a management area,
a determination unit that determines whether or not the target vehicle that has entered the management area needs to be transported;
A first control unit for controlling a vehicle transport device for transporting a vehicle that has entered a management area to transport the target vehicle to a target transport point when the determination unit determines that the target vehicle needs to be transported. When,
a second control unit that controls the target vehicle to move it to a target movement point when the determination unit determines that the target vehicle does not need to be transported;
with
The determination unit determines that transportation of the target vehicle is unnecessary when the target vehicle is self-propelled under the control of the management device,
The first control unit designates the target transport point in order from the closest position to the entrance/exit of the management area,
The second control unit designates the target movement point in order from the farthest position from the entrance/exit of the management area.
management system. A management device for managing a management area,
a determination unit that determines whether or not the target vehicle that has entered the management area needs to be transported;
A first control unit for controlling a vehicle transport device for transporting a vehicle that has entered a management area to transport the target vehicle to a target transport point when the determination unit determines that the target vehicle needs to be transported. When,
a second control unit that controls the target vehicle to move it to a target movement point when the determination unit determines that the target vehicle does not need to be transported;
with
The determination unit determines that transportation of the target vehicle is unnecessary when the target vehicle is self-propelled under the control of the management device,
The management device limits a travel area in which the vehicle transport device can travel,
The first control unit designates, as the target transport point, a position where the vehicle filling density in the travel area is high,
The second control unit designates a position where the efficiency of vehicle entry and exit is high as the target movement point.
management system. The computer of the management device
determining whether or not transportation of the target vehicle that has entered the management area is necessary so as to determine that transportation of the target vehicle is unnecessary when the target vehicle is capable of self-propelled under the control of the management device;
When it is determined that the target vehicle needs to be transported, a vehicle transport device that transports a vehicle that has entered the management area is controlled to achieve the target transport within the range of a first area near the entrance of the management area. causing the target vehicle to be transported to a point ;
When it is determined that the target vehicle does not need to be transported, the target vehicle is controlled and moved to a target movement point within a range of a second area that is not near the entrance/exit of the management area.
Management method. The computer of the management device
determining whether or not transportation of the target vehicle that has entered the management area is necessary so as to determine that transportation of the target vehicle is unnecessary when the target vehicle is capable of self-propelled under the control of the management device;
When it is determined that the target vehicle needs to be transported, a target transportation point is designated in order from the closest position to the entrance/exit of the management area by controlling a vehicle transportation device that transports the vehicle that has entered the management area. to transport the target vehicle,
When it is determined that the target vehicle does not need to be transported, the target vehicle is controlled and moved to a designated target movement point in order from the farthest position to the entrance/exit of the management area;
Management method. The computer of the management device
limiting the travel area in which a vehicle transport device that transports a vehicle that has entered the processing area can travel,
determining whether or not transportation of the target vehicle that has entered the management area is necessary so as to determine that transportation of the target vehicle is unnecessary when the target vehicle is capable of self-propelled under the control of the management device;
When it is determined that the target vehicle needs to be transported, a target transport point is set at a position where the vehicle filling density in the travel area is high by controlling a vehicle transport device that transports the vehicle that has entered the management area. to transport the target vehicle,
When it is determined that the target vehicle does not need to be transported, the target vehicle is moved by designating a position where the efficiency of vehicle entry and exit is high as a target movement point.
Management method. On the computer of the management device,
making a determination as to whether or not transportation of a target vehicle that has entered a management area is necessary so as to determine that transportation of the target vehicle is unnecessary when the target vehicle is capable of self-propelled under the control of the management device;
When it is determined that the target vehicle needs to be transported, a vehicle transport device that transports a vehicle that has entered the management area is controlled to achieve the target transport within the range of a first area near the entrance of the management area. Execute a process for transporting the target vehicle to a point ,
When it is determined that the target vehicle does not need to be transported, executing a process of controlling and moving the target vehicle to a target movement point within the range of a second area that is not near the entrance/exit of the management area;
program. On the computer of the management device,
making a determination as to whether or not transportation of a target vehicle that has entered a management area is necessary so as to determine that transportation of the target vehicle is unnecessary when the target vehicle is capable of self-propelled under the control of the management device;
When it is determined that the target vehicle needs to be transported, a target transportation point is designated in order from the closest position to the entrance/exit of the management area by controlling a vehicle transportation device that transports the vehicle that has entered the management area. to execute the process of transporting the target vehicle,
When it is determined that the target vehicle does not need to be transported, executing a process of controlling and moving the target vehicle to a specified target movement point in order from the farthest position to the entrance/exit of the management area;
program. On the computer of the management device,
limiting the travel area in which a vehicle transport device that transports a vehicle that has entered the processing area can travel,
making a determination as to whether or not transportation of a target vehicle that has entered a management area is necessary so as to determine that transportation of the target vehicle is unnecessary when the target vehicle is capable of self-propelled under the control of the management device;
When it is determined that the target vehicle needs to be transported, a target transport point is set at a position where the vehicle filling density in the travel area is high by controlling a vehicle transport device that transports the vehicle that has entered the management area. to execute the process of transporting the target vehicle,
When it is determined that the target vehicle does not need to be transported, executing a process of moving the target vehicle by designating a position where the efficiency of vehicle entry and exit is high as a target movement point;
program.

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