JP7201566B2 - mechanical parking device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a mechanical parking device for storing automatically-operated vehicles and manned-operated vehicles.

Japanese Patent No. 5551410 (Patent Document 1) is known as a conventional mechanical parking device. A control device is provided, the parking device is a mechanical parking device, a turntable as a posture control device that is a drop-off space is provided in front of the parking space of the parking device, and a turntable is provided in the vicinity of the posture control device. A vehicle measuring device for detecting the front and rear, position, direction, and size of a vehicle entering and stopping on the posture control device is provided, and a receiving side control device is provided, and the receiving side control device is provided. an external communication device that wirelessly communicates with the vehicle-side communication device; and calculates the front, rear, position, orientation, and size of the vehicle based on the detection result of the vehicle by the vehicle measurement device, and gives a turning command to the attitude control device to move the vehicle. The vehicle on the attitude control device whose front and rear directions are adjusted to the direction of the parking space is calculated, and along the calculated trajectory. and an arithmetic controller that gives an operation controller of the vehicle-side control device via an external communication device a parking command for the vehicle on the attitude control device to enter the parking space, and an operation controller that enters the attitude control device from the outside. Vehicles stopped by the vehicle are detected by the vehicle measuring device, and the front and rear, position, direction and size of the vehicle are calculated by the arithmetic controller of the receiving side control device, and the arithmetic controller controls the operation of the vehicle side control device by wireless communication. Approval for parking the vehicle is obtained from the device, and a command is issued to the vehicle side control device to maintain the vehicle in a state where it can automatically travel. A turning command is given to turn the front and back of the vehicle in the direction of the parking space, and a parking command is given from the receiving side control device to the vehicle side control device, and the operation controller so that it follows the trajectory calculated by the arithmetic controller. A drop-off parking system for a vehicle equipped with a self-propelled function is described, which is characterized by automatically driving the vehicle to park the vehicle on the attitude control device in a parking space.

Japanese Patent No. 5551410

However, even if there is no problem with the conventional mechanical parking system when it is configured only for automated driving vehicles, it will be increasingly used in a state where manned vehicles and automated driving vehicles are mixed. As the number of self-driving vehicles increases, there is a growing demand for a smoother storage process.

SUMMARY OF THE INVENTION An object of the present invention is to provide a mechanical parking system that can avoid unnecessary traffic jams and perform efficient warehousing processing while ensuring the safety of drivers of manned and self-driving vehicles. It is in.

A mechanical parking device according to a first aspect includes a boarding room, a control panel disposed near an entrance to the boarding room, and a process corresponding to the operation on the control panel for a manned vehicle. and an automatic driving vehicle processing unit for moving the automatic driving vehicle to the boarding room, the doorway for guiding the manned driving vehicle. It has a manned vehicle entrance road leading to a part and an automated driving vehicle entrance road leading to another entrance part to guide the automatic driving vehicle, and has an approach direction different from each other by about 180 degrees in the common boarding room. The entrance/exit portion and the other entrance/exit portion are respectively formed at positions corresponding to the above.

According to the mechanical parking device according to the first aspect, it is possible to avoid unnecessary traffic jams and perform efficient warehousing processing while ensuring the safety of drivers of manned vehicles and self-driving vehicles. In addition, while simplifying the configuration of the mechanical parking system, manned vehicles and automatically driven vehicles can be separated and stored from a manned vehicle approach road or an automatically driven vehicle approach road using a common boarding room.

A mechanical parking apparatus according to a second aspect is the mechanical parking apparatus according to the first aspect, wherein a timing determination unit determines to use the two entrances at different timings, and the timing is determined by the timing determination unit. An entrance/exit opening/closing processing unit for closing the other entrance/exit before opening the other entrance/exit is provided.

According to the mechanical parking device according to the second aspect, although the common boarding room 3 is used to simplify the configuration, the automatic driving vehicle processing unit on the mechanical parking device side Taking advantage of the feature of automatic operation, the driver can get off the vehicle earlier than the manned vehicle 5, and after that, the manned vehicle and the automatically driven vehicle can be efficiently separated at suitable timing to handle the warehousing process.

A mechanical parking device according to a third aspect is the mechanical parking device according to the first aspect , wherein a common turntable is configured in the boarding room, and the two entrances leading to the boarding room are common. are formed in directions different by approximately 180 degrees when viewed from the rotation center of the turntable.

According to the mechanical parking device according to the third aspect, when the manned vehicle entrance path and the automatically driven vehicle entrance path are formed in accordance with the entrance and other entrances, the manned vehicle and the automatically driven vehicle can easily become chaotic. Mixing can be avoided, and smooth movement processing can be performed between the entrance and other entrances.

According to the mechanical parking device according to the present invention, it is possible to avoid unnecessary traffic jams and perform efficient parking processing while ensuring the safety of the drivers of manned and self-driving vehicles. While simplifying the configuration of the parking system, the manned vehicle and the automatically driven vehicle can be stored separately from the manned vehicle approach road or the automatically driven vehicle approach road using a common boarding room.

1 is a plan view showing a schematic configuration of a mechanical parking device according to one embodiment of the present invention; FIG. 2 is a block configuration diagram showing a control system of the mechanical parking device shown in FIG. 1; FIG. FIG. 3 is a plan view showing a state of communication between the automatically driven vehicle shown in FIG. 2 and an automatically driven vehicle control unit; 3 is a flow chart showing a storage processing operation by the control system shown in FIG. 2;

Embodiments of the present invention will be described below with reference to the drawings.

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

The mechanical parking device includes an entrance portion 1A, an entrance door 2A for opening and closing the entrance portion 1A, a boarding room 3 formed on the back side of the entrance door 2A, and an operation panel arranged on a wall surface near the entrance portion 1A. A board 4 is constructed.

Of the parked vehicles, a manned vehicle approach road 6 is formed to guide a manned vehicle 5, which is operated by itself for parking, to the boarding room 3 through the entrance 1A. there is

When the manned vehicle 5 enters from the manned vehicle approach road 6, the manned vehicle 5 is temporarily stopped in front of the doorway 1A like the manned vehicle 5A shown in the figure, and then the driver moves in front of the operation panel 4. get moved. When the driver performs the parking operation from the operation panel 4, the entrance door 2A of the boarding room 3 automatically opens, so that the driver again gets into the manned vehicle 5A and drives it, and is placed in the boarding room 3. The vehicle is parked at a predetermined position on the tray 10, like the manned vehicle 5B. After that, the driver gets off the manned vehicle 5B, moves to the front of the operation panel 4 again, operates the operation panel 4 again, and closes the entrance door 2A of the boarding room 3. - 特許庁After that, the manned vehicle 5B is automatically transported to a predetermined storage space and stored by the mechanical parking device.

On the other hand, on the opposite side of the entrance 1A in the boarding compartment 3, there are another entrance 1B formed in the boarding compartment 3, an entrance door 2B for opening and closing the entrance 1B, and the vicinity of the entrance 1A. A wireless communication unit 11 is arranged on the wall surface of the vehicle and performs wireless communication and wireless guidance with the automatic driving vehicle 7 . The automatically driven vehicle 7 is moved along the automatically driven vehicle approach road 8 formed separately from the manned vehicle approach road 6 described above. The length and shape of the entrance path 8 for automated driving vehicles are not limited, but in the vicinity of the passenger compartment 3, the traveling direction of the automated vehicle 7 along the entrance path 8 is the direction of entry into the passenger compartment 3. It is formed to be

When the automatic driving vehicle 7 is prompted by a voice or display to get into the automatic driving vehicle entrance road 8, when the vehicle is stopped at the planned stop position, the wireless communication unit of the automatic driving vehicle 7 and the wireless communication unit 11 A radio communication is performed between the mechanical parking device and a confirmation is made as to whether or not to give permission to the method of parking by automatic driving by radio guidance on the mechanical parking device side. If the driver has given permission or registered the permission in advance, the automatic driving vehicle 7 is in a state where automatic driving is possible in the automatic driving vehicle 7, and then the driver gets off at the automatic driving vehicle approach road 8. The automatic driving vehicle 7 is handed over to the mechanical parking device side.

The automatically driven vehicle 7 that is automatically driven by the mechanical parking device side is transported to the storage space using the same boarding room 3 as the manned vehicle 5 . However, in addition to the entrance 1A and the entrance door 2A for the manned vehicle 5, the boarding room 3 also has a doorway 8 for the manned vehicle 5A so as to reach the boarding room 3. The entrance section 1B and the entrance door 2B are configured so that an entrance path is formed that is different from the boarding direction by approximately 180 degrees. In order to guide the automatic driving vehicle 7 into the boarding room 3 from the entrance part 1B, the floor part of the boarding room 3 is provided with a turntable 12 that can turn on a horizontal plane about a central rotation axis. ing.

A tray 10 arranged in the boarding room 3 is mounted on a turntable 12, and when the manned vehicle 5A is welcomed into the boarding room 3, the longitudinal direction of the tray 10 coincides with the entry direction of the manned vehicle 5. It is configured so that the turntable 12 can be driven to rotate. On the other hand, when the automatically operated vehicle 7 is welcomed into the boarding compartment 3, the turntable 12 can be rotated so that the longitudinal direction of the tray 10 coincides with the entering direction of the automatically operated vehicle 7. .

According to such a configuration, even if the driver of the automatic driving vehicle 7 leaves the automatic driving vehicle 7 after stopping the automatic driving vehicle 7 at a predetermined position on the automatic driving vehicle approach road 8, the wireless guidance 13 The automatic driving vehicle 7 can be stored while being moved to a predetermined position. In addition, the mechanical parking device side automatically operates while taking into consideration the congestion situation of the manned vehicles 5 entering from the side of the manned vehicle approach road 6 and while maintaining the balance between the manned vehicles 5 and the automatically driven vehicles 7. A storage plan for the vehicle 7 can be made.

FIG. 2 is a block configuration diagram showing a control system including the automatic driving vehicle 7. As shown in FIG.
The automatic driving vehicle 7 to be parked is provided with a vehicle-side transmitting/receiving unit 16 that communicates with the automatic driving vehicle processing unit 15 side through the antenna 14, and a permission signal that gives permission for parking by automatic driving on the mechanical parking device side. It has a transmission unit 17 and an automatic driving control unit 18 already installed in the automatic driving vehicle 7 .

The operation panel 4 includes a normal configuration processing unit 19 that performs processing corresponding to normal operation for the manned vehicle 5 and an automatic vehicle processing unit 15 that performs processing for the automatic vehicle 7. is connected. The normal configuration processing unit 19 has a configuration known from a conventional mechanical parking device, and when the driver of the manned vehicle 5 who has gotten into the boarding room 3 performs an operation to close the entrance door 2A. It includes an entrance door closing processing unit 20 that performs closing processing of the entrance door 2A, and a storage processing unit 21 that performs a series of storage processing after the entrance door closing processing unit 20 completes the closing operation of the entrance door 2A. . As will be described later, when the automatically operated vehicle 7 is moved into the boarding compartment 3 by automatic operation using wireless communication, the entrance door closing processing unit 20 closes the entrance door 2A on the side of the manned vehicle 5. , the function of opening the entrance door 2B on the side of the automatic driving vehicle 7 is added.

On the other hand, the automatically driving vehicle processing unit 15 includes an automatically driving vehicle detecting unit 22 that detects the automatically driving vehicle 7 that has entered the automatically driving vehicle approach road 8 using a sensor or the like, and an automatically driving vehicle detection unit 22 that detects the automatically driven vehicle 7 is detected, between the permission application signal generating unit 23 that generates an application signal requesting permission for parking processing by automatic driving on the mechanical parking device side and the vehicle side transmitting/receiving unit 16 of the automatically driving vehicle 7. After transmitting the permission application signal from the parking device side transmitting/receiving unit 25 that transmits and receives the signal through the parking device side transmitting/receiving unit 24 and the permission application signal generating unit 23 to the vehicle side transmitting/receiving unit 16 of the automatic driving vehicle 7, the vehicle side transmitting/receiving unit 16 It has a permission signal determination unit 26 for detecting a permission signal.

Furthermore, the automatic driving vehicle processing unit 15 includes a timing determination unit 27 that determines the timing of parking processing by automatic driving by judging the congestion status of the manned vehicle entrance road 6 and the automatic driving vehicle entrance road 8, and the timing determination unit 27. A turntable orientation adjustment unit 28 that rotates the turntable 12 so as to align the orientation of the tray 10 with the approach direction of the automatically driven vehicle 7 when receiving the timing signal, and automatic operation when the timing signal is received by the timing determination unit 27. and an automatic operation movement processing unit 29 that performs movement processing to the boarding room 3 and gives a completion signal to the entrance door opening/closing processing unit 20 as an entrance door closing operation signal.

Each part of these control systems performs each process by the control part 31 based on a stored processing program stored in the storage part 30 or the like.

FIG. 3 is a plan view showing a state of communication between the autonomous vehicle 7 and the autonomous vehicle control unit 15. As shown in FIG.

Before starting movement by automatic driving by guidance from the mechanical parking device side, a permission application is made from the mechanical parking device side, and the permission button is operated on the automatic driving vehicle 7 side to consent or register consent in advance. is being performed, movement by automatic operation is started by guidance from the mechanical parking device side.

FIG. 4 is a flow chart showing the storage processing operation by the control system described above.

In step S1, the automatically driven vehicle detection unit 22 monitors the automatically driven vehicle entering the warehouse. When the automatically driving vehicle detection unit 22 detects the entering automatically driving vehicle 7, the permission application signal generation unit 23 generates an automatic operation permission application signal in step S2. The permission application signal generation unit 23 gives an automatic operation permission application signal to the automatic operation vehicle 7 through the parking device side transmission/reception unit 25, and wirelessly communicates between the automatic operation vehicle 7 and the automatic operation vehicle processing unit 15 as shown in FIG. Communication 13 is initiated.

The automatic driving vehicle 7 receives the automatic driving permission application signal at the vehicle-side transmitting/receiving unit 16, and when the driver operates a permission button or the like incorporated in the automatic driving vehicle 7 for permission, the permission signal transmitting unit 17 transmits the signal to the vehicle side. A permission signal is transmitted to the parking device side transmitter/receiver 25 through the transmitter/receiver 16 .

Then, in step S3, the permission signal determination unit 26 determines that the automatic operation permission signal has been detected. As shown in FIG. 1, the driver is urged to get out of the automatically driven vehicle 7 and leave the automatically driven vehicle 7 to the mechanical parking device side. Furthermore, in the case of the automatically driven vehicle 7 that has been registered with prior consent, similarly, the automatically driven vehicle 7 is entrusted to the mechanical parking device side.

After that, the automatic driving movement processing unit 28 communicates between the parking device side transmitting/receiving unit 25 and the vehicle side transmitting/receiving unit 16 at an appropriate timing while cooperating with the entering/leaving situation on the side of the manned vehicle entrance road 6 by the timing determination unit 27. While controlling the automatic driving control unit 18, the automatic driving vehicle 7 is moved.

Around this time, in step S6, the entrance door opening/closing processing unit 20 closes the entrance door 2A of the boarding room 3 and then opens the entrance door 2B. The turntable orientation adjustment unit 28 changes the orientation of the turntable 12 so that the tray 10 is prepared in accordance with the boarding direction of the autonomous vehicle 7 . After that, in step S7, the automatic operation control unit 18 places the automatic operation vehicle 7 on the tray 10 in the boarding room 3 through the opened entrance/exit 1B.

When this operation is completed, the automatic operation movement processing unit 29 gives a completion signal, which is a closing signal, to the entrance door opening/closing processing unit 20 . Upon receipt of this, the entrance/exit door closing processing unit 20 closes the entrance/exit door 2B of the boarding room 3 in step S8.

After that, in step S9, the storage processing unit 21 performs a series of storage processing to move the automatically driven vehicle 7 to the storage space after the closing operation of the entrance door is completed, as in the normal storage processing. In this way, the storage processing of the automatic driving vehicle 7 is completed.

As shown in FIG. 1, a manned vehicle entrance road 6 used to guide a manned vehicle 5 among parked vehicles, and an automatically operated vehicle used to guide an automatically operated vehicle 7 among parked vehicles. Since the approach road 8 is separated in 180 degrees different directions, the manned vehicle 5 and the automatically driven vehicle 7 are mixed in the automatically driven vehicle approach road 8, and the automatically driven vehicle processing unit on the mechanical parking device side Movement by automatic driving by 15 is not hindered.

Further, the entrance/exit 1A and the entrance/exit 1B leading to the passenger compartment 3 are formed in different directions by approximately 180 degrees when viewed from the rotation center of the common turntable 12. As shown in FIG. Therefore, when the timing determination unit 27 determines the situation of the manned vehicle approach road 6 and the automatically driven vehicle approach road 8 and determines the timing for moving the automatically driven vehicle 7 into the boarding room 3, the doorway section is determined. The manned vehicle 5 and the automatically driven vehicle 7 can be easily separated and moved according to 1A and the entrance/exit 1B, and smooth operation is possible.

The above description has been given for the time of warehousing.

In the above-described embodiment, the turntable 12 is configured in the boarding room 3, and when switching between boarding of the manned vehicle 5 from the entrance 1A and boarding of the automatically driven vehicle 7 from the entrance 1B, the turntable Although the direction adjustment unit 28 switches the direction of the turntable 12 by 180 degrees, the present invention is not limited to this. For example, such a 180-degree orientation adjustment can be made on the storage space side of the passenger compartment 3, and in such a configuration, the turntable 12 in the passenger compartment 3 can be omitted.

As described above, the present invention provides the boarding room 3, the operation panel 4 arranged near the entrance 1A to the boarding room 3, and the operation of the operation panel 4 for the manned vehicle 5. In a mechanical parking device equipped with a normal configuration processing unit 19 that performs processing and an automatic driving vehicle processing unit 15 that performs processing for moving an automatic driving vehicle 7 to a boarding room 3, the manned driving vehicle 5 is guided. In order to guide the automatic driving vehicle 7, it has a manned vehicle entrance road 6 leading to the entrance part 1A and an automatic driving vehicle entrance road 8 leading to the other entrance part 1B to guide the automatic driving vehicle 7. The entrance/exit portion 1A and the other entrance/exit portion 1B are formed at positions corresponding to approach directions different from each other by approximately 180 degrees.

With such a configuration, it is possible to avoid unnecessary traffic jams and perform efficient warehousing processing while ensuring the safety of the drivers of the manned vehicle 5 and the automatically driven vehicle 7. While simplifying the configuration of the parking device, the manned vehicle 5 and the automatically driven vehicle 7 can be separated and stored from the manned vehicle approach road 6 or the automatically driven vehicle approach road 8 using the common boarding room 3. .

In addition to the above-described configuration, the present invention also includes a timing determination unit 27 that determines to use the two entrances 1A or the other entrance 1B at different timings, and one of the entrances determined by the timing determination unit 27. It is characterized by providing an entrance opening/closing processing section 20 for closing the entrance door 2A of the other entrance portion 1A before opening the entrance door 2B of the entrance portion 1B.

Due to such a configuration, although the configuration is simplified by using the common boarding room 3, automatic driving of the automatic driving vehicle 7 by the automatic driving vehicle processing unit 15 on the mechanical parking device side. Taking advantage of the feature, the driver can get off the vehicle earlier than the manned vehicle 5, and after that, the manned vehicle 5 and the automatically driven vehicle 7 can be efficiently separated at suitable timing to handle the warehousing process.

In addition to the above-described configuration, the present invention configures a common turntable 12 in the boarding room 3, and the two entrances 1A and 1B leading to the boarding room 3 are the rotation center of the common turntable 12. It is characterized in that it is formed in a direction different by approximately 180 degrees when viewed from above.

Because of such a configuration, if the manned vehicle approach road 6 and the automatically driven vehicle approach road 8 are formed in accordance with the entrance section 1A and the entrance section 1B, the manned vehicle 5 and the automatically driven vehicle 7 can easily coexist in a chaotic manner. This makes it possible to smoothly move between the entrance/exit 1A and the entrance/exit 1B.

1A, 1B entrance section 3 boarding room 4 operation panel 5 manned vehicle 6 manned vehicle approach road 7 automatically driven vehicle 8 automatically driven vehicle approach road 12 turntable 15 automatically driven vehicle processing section 19 normal configuration processing section 20 entrance opening/closing processing Part 27 Timing determination part

Claims (2)

A boarding room, a control panel placed in the vicinity of two entrances arranged in the boarding room, and a normal configuration processing unit that performs processing corresponding to operations on the control panel for manned vehicles. And in a mechanical parking device equipped with an automatic driving vehicle processing unit that performs processing for moving an automatic driving vehicle to the boarding room,
The boarding room is a single one common to the manned-operated vehicle and the automatically-operated vehicle, and has a turntable commonly used for the manned-operated vehicle and the automatically-operated vehicle. having the two entrances and another entrance formed at positions in different directions of approach,
At the two entrances/exits, there are a manned vehicle entrance path dedicated to the manned vehicle connected to the entrance/exit part, and an automated driving vehicle entrance path dedicated to the automated driving vehicle connected to the other entrance/exit part. , wherein the manned vehicle approach path and the automated vehicle approach path are formed to face each other 180 degrees,
The normal configuration processing unit is provided in the mechanical parking apparatus when the driver of the manned vehicle performs an entry/exit operation on the control panel and causes the manned vehicle to enter the boarding room from the doorway. The storage processing unit is configured to perform storage processing,
The automated driving vehicle processing unit provides an automated driving permission signal to an automated driving control unit of the automated driving vehicle based on the detection of the automated driving vehicle by the automated driving vehicle detection unit arranged on the approach road for the automated driving vehicle, and drives the vehicle. After the vehicle gets off from the automatically driven vehicle, the automatically driven vehicle is stored by the storage processor provided in the mechanical parking device after the automatically driven vehicle enters the boarding compartment from the other entrance. It is configured to be processed,
Mechanical parking device. The automatic driving vehicle processing unit has a timing determination unit that determines to use the two entrances and exits at different timings, and the normal configuration processing communicated with the automatic driving movement processing unit of the automatic driving vehicle processing unit. 2. The mechanical parking apparatus according to claim 1, wherein the two entrance opening/closing processing units close the other entrance/exit determined by the timing determining unit before opening the other entrance/exit.

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