JP7264271B2 - PARKING ASSIST DEVICE, PARKING SYSTEM, AND PARKING ASSIST METHOD - Google Patents

Description

Cross-reference to related applications

This international application claims priority based on Japanese Patent Application No. 2019-190333 filed with the Japan Patent Office on October 17, 2019, and Japanese Patent Application No. 2019-190333 The entire contents are incorporated by reference into this international application.

The present disclosure relates to technology for realizing parking assistance using an automatic valet parking function.

Patent Literature 1 describes a mixed parking facility. Mixed parking facilities use automated guided vehicles to transport vehicles that do not have automated valet parking capabilities to parking locations. A hybrid parking facility transmits a signal indicating a parking position and a signal indicating a guidance route to the parking position to a vehicle equipped with an automatic valet parking function. A vehicle with automatic valet parking capability drives to a parking position based on the received signal.

JP 2018-204373 A

However, as a result of detailed studies by the inventors, the following problems were found in the prior art described in Patent Document 1.

That is, the automatic valet parking function is realized by functional cooperation with a control device that controls the movement of vehicles equipped with the automatic valet parking function and unmanned guided vehicles in the parking lot. For this reason, a problem was found that automatic valet parking cannot be realized unless the functional arrangement between the vehicle and the control device is consistent. The function layout includes a function that generates a route from the current position of the vehicle to the parking position, a function that estimates the position of the vehicle, a function that recognizes the vehicle's surroundings, and a detailed route that corresponds to the surrounding conditions. It refers to which of the vehicle side or the control device side has the function to generate.

In addition, since vehicles are developed independently for each manufacturer, there is a possibility that the communication protocol and data format used for communication with the control device will differ for each manufacturer. Therefore, even if a vehicle that employs a communication protocol or data format that is not supported by a control device is equipped with an automatic valet parking function, automatic valet parking using that function cannot be realized.

One aspect of the present disclosure is to provide a technique for realizing automatic valet parking even for a vehicle equipped with an automatic valet parking function that causes a mismatch in function or method with a control device.

One aspect of the present disclosure is a parking assistance device that includes a first control unit, a second control unit, a vehicle determination unit, a function determination unit, and a control command unit.

The first control unit executes a first control of transporting a target vehicle for parking assistance to a target position using an unmanned guided vehicle. The second control unit uses the automatic valet parking function of the target vehicle to execute the second control of transporting the target vehicle to the target position. The vehicle determination unit determines whether or not the target vehicle has an automatic valet parking function. The function determination unit determines whether or not the automatic valet parking function of the target vehicle matches the function of the second control unit. When the vehicle determination unit determines that the vehicle does not have the automatic valet parking function, or when the function determination unit determines that the automatic valet parking function does not match, the control command unit instructs the first control unit to 1 control is executed. Further, when the vehicle determination unit determines that the vehicle has the automatic valet parking function and the function determination unit determines that the automatic valet parking function matches, the control command unit instructs the second control unit to perform the second control. let it run.

According to such a configuration, the parking assistance device not only determines whether or not the target vehicle has the automatic valet parking function, but also determines whether the target vehicle and the parking assistance device are compatible in function. determine whether Then, when the automatic valet parking function is provided and the function is consistent, the automatic valet parking function is used to move the target vehicle into and out of the garage. If the automatic valet parking function is not provided, or if the function is provided but the function is inconsistent, the automatic guided vehicle is used to move the target vehicle into and out of the garage. Therefore, the user can apply the parking assistance system without being aware of whether the own vehicle has the automatic valet parking function and whether the automatic valet parking function of the own vehicle is compatible with the parking assistance system. Parking system available.

One aspect of the present disclosure is a parking lot system that includes an automated guided vehicle, a first control unit, a second control unit, a function determination unit, and a control command unit.

An unmanned guided vehicle places and conveys a target vehicle to be a target of parking assistance in a parking lot. The first control unit executes first control to transport the target vehicle to the target position using the automatic guided vehicle. The second control unit uses the automatic valet parking function of the target vehicle to execute the second control of transporting the target vehicle to the target position. The function determination unit determines whether or not the automatic valet parking function of the target vehicle matches the function of the second control unit. The control command section causes the first control section or the second control section to be executed based on the determination result of the function determination section.

According to such a configuration, the user can use the parking lot system without being conscious of whether or not the automatic valet parking function of the own vehicle is compatible with the functions of the parking lot system.

One aspect of the present disclosure is a parking assistance method using a parking assistance device configured to perform first control and second control. The first control is a control for transporting a target vehicle for parking assistance to a target position using an unmanned guided vehicle. The second control is a control for transporting the target vehicle to the target position using the automatic valet parking function of the target vehicle.

In the parking assistance method, it is determined whether or not the target vehicle has an automatic valet parking function, and it is determined whether or not the automatic valet parking function of the target vehicle matches the function of the parking assistance device. Then, when it is determined that the target vehicle does not have the automatic valet parking function, or when it is determined that the automatic valet parking function does not match between the target vehicle and the parking support device, the parking support device executes the first control. Let Further, when it is determined that the target vehicle has the automatic valet parking function and the automatic valet parking function is matched between the target vehicle and the parking support device, the parking support device is caused to perform the second control.

By executing such a parking assistance method, it is possible to obtain the same effects as those of the above-described parking assistance device and parking lot system.

It is an explanatory view showing composition of a parking lot system. 1 is a block diagram showing the configuration of a vehicle having a parking assistance device, an automatic guided vehicle, and an automatic valet parking function; FIG. It is a block diagram showing the functional composition of the control part with which a parking assistance device is provided. FIG. 3 is a block diagram showing the functional configuration of a control unit provided in an unmanned guided vehicle and a vehicle having an automatic valet parking function; 4 is a flow chart showing a selection process at the time of warehousing executed by the parking assistance device; It is a flow chart of the first warehousing control using the automatic guided vehicle. FIG. 10 is a sequence diagram showing an operation example when an automatic guided vehicle is used at the time of warehousing; FIG. 10 is a flow chart of second parking control using a vehicle with automatic valet parking function; FIG. FIG. 10 is a sequence diagram showing an operation example when a vehicle having an automatic valet parking function is used when entering the parking lot; 4 is a flowchart showing a selection process when leaving the parking lot, which is executed by the parking assistance device; It is a flow chart showing selection processing at the time of warehousing in a 2nd embodiment. It is a flow chart showing selection processing at the time of warehousing in a 3rd embodiment.

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

[1. First Embodiment]
[1-1. composition]
The configuration of the parking lot system 1 will be described with reference to FIGS. 1 to 4. FIG. As shown in FIG. 1 , the parking lot system 1 includes an entry compartment 11 , an exit compartment 12 , and a parking lot 13 .

The parking compartment 11 is set as an alighting area, which is an area where the user alights. The exit compartment 12 is set as a boarding area where the user rides. Entry compartment 11 and exit compartment 12 are each provided with a plurality of compartments. Each section is a place where one vehicle 30 can be parked. The parking compartment 11 is connected to the outside of the parking lot system 1 via a vehicle entrance 14 . The vehicle 30 can enter the warehousing compartment 11 from the outside through the vehicle entrance 14 .

Vehicles 30 include a vehicle 30A with an automatic valet parking function and a vehicle 30B without an automatic valet parking function. It is sufficient for the vehicle 30A to be able to automatically drive in the entering compartment 11, the leaving compartment 12, and the parking lot 13, and the function of automatically operating in other locations is not essential.

In addition, the automatic valet parking function includes a parking entry function in which the vehicle is automatically driven from the parking lot 11 to the parking position in the parking lot 13 and parked, and a parking exit function in which the vehicle travels from the parking position in the parking lot 13 to the parking lot 12. Including functions. In the case of parking, the parking position corresponds to the target position, and in the case of leaving, the parking compartment 12 for parking corresponds to the target position.

The entering compartment 11 and the leaving compartment 12 are adjacent to a store entrance 16 that is an entrance to a facility 15 such as a store. An occupant of the vehicle 30 entering the parking compartment 11 can get off the vehicle 30 and proceed to the store entrance 16 on foot.

The exit compartment 12 is connected to the outside of the parking lot system 1 via a vehicle exit 17 . The vehicle 30 can proceed from the exit compartment 12 to the outside of the parking lot system 1 through the vehicle exit 17 . The leaving compartment 12 is adjacent to the store entrance 16. - 特許庁A crew member can proceed to the exit compartment 12 from the store entrance 16 on foot.

The parking lot 13 is a place where a plurality of vehicles 30 can be parked. A plurality of compartments are provided inside the parking lot 13 . Each section is an area in which one vehicle 30 can be parked. The parking lot 13 may be divided into a first parking space 13A and a second parking space 13B. The first parking space 13A is a space for parking a self-propelled vehicle, which is a vehicle 30A that moves within the parking lot 13 using the automatic valet parking function. The second parking space 13B is a space for parking a transported vehicle, which is a vehicle 30 that moves in the parking lot 13 using the unmanned guided vehicle 20 . The self-propelled vehicle is limited to the vehicle 30A indicated by the white square in FIG. Transported vehicles include a vehicle 30A and a vehicle 30B indicated by a hatched square in FIG.

The unmanned guided vehicle 20 is a carriage-like vehicle capable of self-propelled in a state where a vehicle to be transported is placed (hereinafter referred to as a placed state). The automatic guided vehicle 20 has an automatic valet parking function equivalent to that of the vehicle 30A, which is a self-propelled vehicle. A parking lot system 1 includes a plurality of automated guided vehicles 20 . Hereinafter, the self-propelled vehicle and the automatic guided vehicle 20 are also collectively referred to as a self-propelled vehicle or the like.

[1-2. Automatic valet parking function]
An overview of the automatic valet parking function will be described.

The automatic valet parking function includes a map acquisition function, a target setting function, an outline route function, a position acquisition function, a situation function, detailed route function, and vehicle control function.

The map acquisition function is a function for acquiring map information indicating the detailed positions of passage spaces and parking spaces in the parking lot 13 and the usage status of each parking space. The target setting function is a function of setting a target position (that is, a parking space or a garage 12 for leaving the garage) to which the vehicle is moved according to the map information. The general route function is a function for setting a guidance route to a target position according to map information. Note that the guidance route is a schematic route indicating directions such as at which point to turn right or left. The position acquisition function is a function for repeatedly acquiring the position of the vehicle. The situation acquisition function is a function for repeatedly acquiring the situation around the vehicle. The detailed route function is a function for setting a specific driving route based on the guide route, vehicle position, surrounding conditions, and map information. Note that the travel route is a detailed route that indicates, in units of several centimeters, where the vehicle actually travels along the guidance route, such as a lateral position in the route. The vehicle control function is a function of controlling the vehicle according to the travel route.

In the automatic valet parking function, whether the map acquisition function, target setting function, general route function, position acquisition function, situation acquisition function, detailed route function, and vehicle control function are assigned to the vehicle side or the parking lot side. That is, there are multiple types depending on how the functions are arranged.

For example, in the first type, the parking lot side is assigned a target setting function, and the vehicle side is assigned a general route function, a position acquisition function, a situation acquisition function, a detailed route function, and a vehicle control function. In the second type, the parking lot side is assigned a target setting function, a general route function, a location acquisition function, a situation acquisition function, and a detailed route function, and a vehicle side is assigned a vehicle control function. In the third type, the parking lot side is assigned a target setting function and a general route function, and the vehicle side is assigned a position acquisition function, a situation acquisition function, a detailed route function, and a vehicle control function.

Depending on the type of automatic valet parking function, the content of information sent and received between the vehicle side and the parking lot side also differs. In this embodiment, the parking lot side is configured to implement the third type of automatic valet parking function. Vehicles 30A include not only the first to third types, but also vehicles 30B that do not have an automatic valet parking function.

[1-3. Functional configuration]
As shown in FIG. 2 , the parking lot system 1 includes a parking assistance device 40 , an infrastructure 45 , a fixed terminal 50 and a mobile terminal 60 .

[1-3-1. Parking assistance device]
The parking assistance device 40 includes a control section 41 and a communication section 43 . The control unit 41 includes a microcomputer having a CPU 41A and a semiconductor memory such as RAM or ROM (hereinafter referred to as memory 41B).

Each function of the control unit 41 is implemented by the CPU 41A executing a program stored in a non-transitional substantive recording medium. In this example, the memory 41B corresponds to the non-transitional substantive recording medium storing the program. Also, by executing this program, a method corresponding to the program is executed. Note that the control unit 41 may be provided with one microcomputer, or may be provided with a plurality of microcomputers.

As shown in FIG. 3 , the control unit 41 includes a warehousing selection unit 411 , a warehousing selection unit 412 , a first control unit 413 , and a second control unit 414 . The operations of the units 411 to 414 belonging to the control unit 41 will be described later.

Map information inside the parking lot system 1 is stored in the memory 41B. The map information also includes information representing the state of the sections in the parking lot 13 . The state of a section includes a state of being vacant (hereinafter referred to as vacant state) and a state of being occupied by vehicles 30 (hereinafter referred to as occupied state).

The memory 41B stores registration information about users of the parking system 1 . The registration information is information in which a user ID for identifying a user is associated with vehicle information and reservation information. A user ID is identification information for specifying a user, a password, and the like. The vehicle information is information for specifying a vehicle to be parked (hereinafter referred to as the target vehicle), and includes the contents of the license plate, the model of the target vehicle, and the like. The model of the target vehicle is information that can specify the type of automatic valet parking function that the target vehicle has. The reservation information is information related to the reservation of the parking lot. Reservation information may be registered via the mobile terminal 60 . The reservation information may include request information regarding whether or not to designate the use of the automatic guided vehicle 20 at the time of entry and exit. That is, the memory 41B that stores registration information corresponds to the information storage unit.

The communication unit 43 is used for communication with the automatic guided vehicle 20 and the vehicle 30 . The communication interface for the automatic guided vehicle 20 and the communication interface for the vehicle 30, which the communication unit 43 has, may be the same or different.

The infrastructure 45 may include a device that acquires information representing the internal situation of the parking lot system 1 (hereinafter referred to as parking lot information) and supplies the parking lot information to the parking assistance device 40 . The infrastructure 45 may include a camera, a lidar, etc. that captures the inside of the parking lot system 1 . The infrastructure 45 may include sensors such as infrared sensors and ultrasonic sensors that detect the inside of the parking lot system 1 . Infrastructure 45 may include markers installed in parking system 1 .

The parking lot information includes, for example, information representing the position of an obstacle, information representing the state of a section in the parking lot 13, position information of the vehicle 30 existing inside the parking lot system 1, and the like.

[1-3-2. fixed terminal]
The fixed terminal 50 is installed near the parking compartment 11, as shown in FIG. The fixed terminal 50 accepts an input operation by the user of the parking lot system 1 . Fixed terminal 50 outputs a signal corresponding to the input operation to parking assistance device 40 .

The fixed terminal 50 outputs a warehousing request signal, for example, in response to an input operation. The warehousing request signal is a signal requesting that the vehicle 30 in the warehousing compartment 11 be conveyed to the parking lot 13 and parked. In addition, the fixed terminal 50 outputs the identification information of the vehicle 30 to be parked when outputting the signal corresponding to the input operation to the parking assistance device 40 . The identification information is information for uniquely identifying the vehicle 30. For example, license plate information or a user ID registered in advance as registration information can be used.

The fixed terminal 50 outputs, for example, an exit request signal or the like in response to an input operation. The leaving request signal is a signal requesting that the vehicle 30 parked in the parking lot 13 be transported to the leaving compartment 12 . In addition, the fixed terminal 50 outputs the identification information of the vehicle 30 to be taken out according to the input operation.

[1-3-3. mobile terminal]
The mobile terminal 60 includes a control section 61 , a communication section 63 , an input section 65 and a notification section 67 . The mobile terminal 60 is a device possessed by the user of the parking lot system 1 and configured to be able to communicate with the parking assistance device 40 . The mobile terminal 60 is configured as a smart phone, for example. In mobile terminal 60 , control unit 61 performs the same functions as fixed terminal 50 described above. That is, the control unit 61 has a function of outputting an entry request signal in response to an input operation to the input unit 65, a function of outputting a delivery request signal from the control unit 61 in response to an input operation to the input unit 65, and the like.

In particular, the mobile terminal 60 acquires the position of the mobile terminal 60 using a built-in positioning system when transmitting the parking assistance device 40 an entry request signal or an exit request signal, and transmits the location of the mobile terminal 60 to the parking assistance device 40. Send 60 locations.

The notification unit 67 is configured as a display and a speaker, and notifies the user with an image or sound in accordance with a command from the control unit 61 .

[1-3-4. unmanned guided vehicle]
The automatic guided vehicle 20 includes a control unit 21 , a sensor group 23 , a position information acquisition unit 25 and a communication unit 27 .

The controller 21 controls each part of the automatic guided vehicle 20 . The automatic driving function is realized by the control performed by the control unit 21 . The control unit 21 holds map information inside the parking system 1 . The control unit 21 may be configured to acquire map information from the parking assistance device 40 . The map information is used when the automatic guided vehicle 20 performs automatic driving.

The sensor group 23 acquires peripheral information representing the situation around the automatic guided vehicle 20 . Contents of the peripheral information include, for example, the positions of obstacles existing around the automatic guided vehicle 20 . The sensor group 23 may include, for example, a camera, a lidar, and the like. The peripheral information is used when the automatic guided vehicle 20 performs automatic operation.

The position information acquisition unit 25 acquires position information of the automatic guided vehicle 20 . The position information acquisition unit 25 is, for example, a GPS system. The position information is used when the automatic guided vehicle 20 performs automatic operation. The communication unit 27 communicates with the parking assistance device 40 .

The control unit 21 includes a position transmission unit 211 and a driving execution unit 213, as shown in FIG. The operation of each part 211, 213 belonging to the control part 21 will be described later.

[1-3-5. vehicle]
As described above, the vehicles 30 include the vehicle 30A with the automatic valet parking function and the vehicle 30B without the automatic valet parking function. Vehicle 30 includes control unit 31 , sensor group 33 , position information acquisition unit 35 , and communication unit 37 .

The control section 31 controls each section of the vehicle 30 . The automatic driving function that is essential for the vehicle 30</b>A is realized by the control performed by the control unit 31 . The vehicle 30 acquires the map information inside the parking lot system 1 from the parking assistance device 40 . The map information is used when the vehicle 30 automatically drives.

The sensor group 33 acquires peripheral information representing the situation around the vehicle 30 . The content of the peripheral information includes, for example, the positions of obstacles existing around the vehicle 30 . The sensor group 33 includes, for example, a camera, a lidar, and the like. The position information is used when the vehicle 30 performs automatic driving.

The position information acquisition unit 35 acquires position information of the vehicle 30 . The position information acquisition unit 35 is, for example, a position estimation system using a rider and a map. Also, the position information acquisition unit 35 may be a position estimation system using an inertial navigation device, a camera, or a combination thereof. For example, the position information acquisition unit 35 may estimate the position of the vehicle 30 using information obtained by photographing markers of the infrastructure 45 with a camera. The vehicle 30 uses position information when performing automatic driving. The communication unit 37 communicates with the parking assistance device 40 .

The control unit 31, like the control unit 21 of the automatic guided vehicle 20, includes a position transmission unit and an operation execution unit.

[1-4. process]
[1-4-1. Selection process at the time of warehousing]
Entry selection processing executed by the parking assistance device 40 will be described with reference to the flowchart of FIG. 5 . The parking selection process is started when the power of the parking assistance device 40 is turned on, and then repeatedly executed. The selection process at the time of warehousing is a process for realizing the function of the selection unit 411 at the time of warehousing.

In S<b>11 , the parking assistance device 40 determines whether or not an entry request signal has been received from the fixed terminal 50 or the mobile terminal 60 . If the parking assistance device 40 determines that it has not received an entry request signal, it waits by repeating the same step, and if it determines that it has received an entry request signal, it advances the process to S12.

The warehousing request signal is transmitted when the user performs a warehousing request operation using the fixed terminal 50 or the mobile terminal 60 . Unique information, user ID, vehicle information, user information, request information, and the like may be added to the entry request signal. The unique information is an identification ID or the like for specifying the input terminal. The user ID, vehicle information, and request information are information similar to the contents of the registration information stored in memory 41B. The user can leave the parking lot and go to a desired destination after operating the parking request.

In S12, the parking assistance device 40 determines whether or not there is a request to use the automatic guided vehicle 20. If there is a request for use, the process proceeds to S16, and if there is no request for use, the process proceeds to S13. Transition. Whether or not there is a request to use the automatic guided vehicle 20 is first determined by referring to the added request information when request information is added to the warehousing request signal. If no request information is added to the warehousing request signal, the user ID added to the warehousing request signal is used to search the registration information in the memory 41B. This determination is made by referring to the request information indicated in the reservation information. Here, in determining the use request, priority is given to the request information added to the warehousing request signal, but priority may be given to the request information indicated in the reservation information.

In S13, the parking assistance device 40 determines whether or not the target vehicle is equipped with an automatic valet parking function. Move to S14. Whether or not the automatic valet parking function is installed is determined by referring to the model of the target vehicle included in the vehicle information.

If the vehicle information is added to the entry request signal, the added vehicle information may be referred to, or the user ID added to the entry request signal may be used to search for registered information to match the user ID. You may refer to the attached vehicle information. If the vehicle information is not added to the warehousing request signal, the vehicle information may be received from the target vehicle in S13.

The parking assistance device 40 may determine that the automatic valet parking function is not installed when communication with the target vehicle in the parking compartment 11 cannot be established within a predetermined time after receiving the parking request signal. Further, the parking assistance device 40 may determine that the automatic valet parking function is not installed when communication cannot be established as a result of trying communication with the target vehicle in the parking compartment 11 for a predetermined number of times.

In S<b>14 , the parking assistance device 40 confirms whether or not the target vehicle and the parking lot system 1 are consistent in automatic valet parking function. Specifically, it is checked whether the type of automatic valet parking function in the target vehicle matches the type supported by the parking lot system 1 .

For example, the parking assistance device 40 may receive version information of the automatic valet parking function from the vehicle 30A equipped with the automatic valet parking function. The version information is an example of identification information of the automatic valet parking function. The parking assistance device 40 collates the received version information with the version information of the functions that the parking system 1 has, and confirms whether or not the automatic valet parking function is consistent. In other words, the parking assistance device 40 acquires the identification information of the automatic valet parking function from the target vehicle, and if the acquired identification information matches the function of the second control unit 414, the automatic valet parking function is matched. It is judged that the quality is taken.

The parking assistance device 40 receives vehicle type information from the vehicle 30A equipped with the automatic valet parking function, and based on the received vehicle type information, the automatic valet parking function is consistent between the target vehicle and the parking system 1. You may check whether or not The vehicle type information is information related to the vehicle type, and includes, for example, the vehicle type name and model year.

Information indicating the type of automatic valet parking function may be added to the entry request signal. In addition, at S14, the parking assistance device 40 may receive information indicating the type of automatic valet parking function in the target vehicle. In these cases, the parking assistance device 40 checks whether the automatic valet parking function is consistent based on the information indicating the type of the automatic valet parking function.

Furthermore, the parking assistance device 40 confirms whether the protocol and data format of communication between the target vehicle and the parking lot system 1 match. Information necessary for this confirmation may be included in the vehicle information. Alternatively, the information may be requested from the target vehicle through communication, and the information may be confirmed by whether or not the communication is successful. Successful communication depends on, for example, whether necessary information was obtained, whether an expected response was obtained in the communication protocol, or whether information in a processable data format was obtained. You can check the gender.

In subsequent S15, the parking assistance device 40 determines whether or not there is compatibility in function between the target vehicle and the parking lot system 1 according to the result of confirmation in S14. to S16, and if there is functional consistency, the process proceeds to S18. If the functions are not compatible, the parking assistance device 40 notifies the user that the target vehicle and the parking lot system 1 are not matched and that the target vehicle is parked using the unmanned guided vehicle 20. good.

In S16, the parking assistance device 40 stores the results of the determinations in S12, S13, and S15, ie, the execution of the parking control using the automatic guided vehicle 20, in association with the target vehicle or the user ID.

In subsequent S17, the parking assistance device 40 executes first warehousing control, which is warehousing control using the automatic guided vehicle 20, and ends the process.

In S18, the parking assistance device 40 stores the results of the determinations made in S12, S13, and S15, that is, the execution of parking control using the automatic valet parking function of the target vehicle, in association with the target vehicle or the user ID. .

In subsequent S19, the parking assistance device 40 executes the second warehousing control, which is the warehousing control using the automatic valet parking function of the target vehicle, and ends the process.

S12 corresponds to the designation reception section, S13 corresponds to the vehicle determination section, S14 to S15 correspond to the function determination section, S16 and S18 correspond to the result storage section, and S17 and S19 correspond to the control command section. Equivalent to.

[1-4-2. First warehousing control]
The first warehousing control executed in S17 will be described with reference to the flowchart of FIG. 6 and the sequence diagram of FIG.

In S31, the parking assistance device 40 moves one of the unused automatic guided vehicles 20 to the parking compartment 11 in which the target vehicle is stopped, and transmits a lift-up instruction to the automatic guided vehicle 20. .

In subsequent S32, the parking assistance device 40 determines whether or not the lift-up by the automatic guided vehicle 20 is completed. If not completed, the same step is repeated to wait. proceed. Whether or not lift-up is completed is determined by whether or not a lift-up completion notification has been received from the automatic guided vehicle 20 . When the lift-up is completed, the automatic guided vehicle 20 becomes ready to transport the target vehicle.

In S<b>33 , the parking assistance device 40 transmits a parking start instruction to the automatic guided vehicle 20 . Note that the automatic guided vehicle 20 that has received the instruction to start entering the vehicle returns position information indicating its own vehicle position.

In subsequent S34, the parking assistance device 40 determines whether or not the position information has been received from the automatic guided vehicle 20. If the position information has not been received, the same step is repeated to wait. Proceed to S35.

In S35, the parking assistance device 40 selects one of the vacant parking spaces in the second parking space 13B as the parking position for the target vehicle using the information representing the state of the parking spaces in the parking lot 13. do. The state of the parking space may be determined based on the history of entry control and exit control, or may be determined based on image information in the parking lot 13 supplied from the infrastructure 45 . In addition, as a method of selecting a parking section, the section closest to the entering compartment 11 may be selected from among the vacant parking sections, or the section closest to the leaving compartment 12 may be selected. Alternatively, a section in an area where vacant sections are concentrated may be selected. If there is no vacant space in the second parking space 13B, a parking position may be selected from the first parking space 13A.

In subsequent S36, the parking assistance device 40 uses the map information to set a guidance route from the current position of the automatic guided vehicle 20 to the parking position selected in S35.

In subsequent S<b>37 , the parking assistance device 40 transmits information representing the guide route set in S<b>36 (hereinafter referred to as guide route information) to the automatic guided vehicle 20 . The guidance route information may include identification information of the parking section selected in S35.

Upon receiving the guide route information, the automated guided vehicle 20 generates information representing a detailed travel route (hereinafter referred to as travel route information) used when actually traveling based on the guide route information and the map information, and calculates the travel route. Start automatic driving according to the information. The automatic guided vehicle 20 that has started automatic operation periodically transmits position information representing the current position of the own vehicle to the parking assistance device 40 .

In subsequent S<b>38 , the parking assistance device 40 receives the position information from the automatic guided vehicle 20 and transmits management information to the automatic guided vehicle 20 . The management information is provided to the automatic guided vehicle 20 and the self-propelled vehicle 30A to ensure safety based on the traffic flow in the parking lot 13 grasped from the positional information of the automatic guided vehicle 20 and the self-propelled vehicle 30A. It is information that is The management information includes guide route information that is reset according to changes in circumstances, as well as instructions such as temporary stop and resumption of movement.

In subsequent S39, the parking assistance device 40 determines whether or not the automatic guided vehicle 20 has completed entering the warehouse. If not completed, the process returns to S38, and if completed, the process proceeds to S40. Whether or not warehousing has been completed is determined by whether or not a warehousing completion notification has been received from the automatic guided vehicle 20 . In other words, the parking assistance device 40 repeats the reception of the position information and the transmission of the management information until the parking is completed.

In S40, the parking assistance device 40 transmits a warehousing completion notification to the stationary terminal 50 or the mobile terminal 60 that has sent the warehousing request, and ends the first warehousing control.

After transmitting the warehousing completion notification, the unmanned guided vehicle 20 lifts the target vehicle down to the parking space and moves to a predetermined standby position.

[1-4-3. Second warehousing control]
The second warehousing control executed in S19 will be described with reference to the flowchart of FIG. 8 and the sequence diagram of FIG.

In S51, the parking assistance device 40 executes IG confirmation processing. The IG confirmation process is a process of confirming the state of the ignition of the target vehicle, switching the ignition to ON if the ignition is OFF, and putting the target vehicle into a state in which automatic driving is possible. Specifically, the parking assistance device 40 communicates with the target vehicle to check the ignition state and instruct the target vehicle to switch the state.

In subsequent S52, the parking assistance device 40 transmits the map information of the parking lot 13 and the entry start instruction to the target vehicle. The target vehicle that has received the warehousing start instruction returns position information indicating its own vehicle position, like the automatic guided vehicle 20 .

Subsequent S53 to S59 are the same as S34 to S40 in the first warehousing control, except that the communication partner of the parking assistance device 40 is the target vehicle instead of the automatic guided vehicle 20. FIG.

Note that the target vehicle turns off the ignition after transmitting the warehousing completion notification to the parking assistance device 40 .

That is, the second warehousing control differs from the first warehousing control in that the automatic guided vehicle 20 is moved to the warehousing compartment 11, the target vehicle is placed on the automatic guided vehicle 20, and the vehicle is automatically transported at the parking position. Control for unloading the target vehicle from the vehicle 20 and moving the automatic guided vehicle 20 to the standby position is unnecessary. Instead, control to turn on the ignition of the target vehicle at the start of automatic driving and control to turn off the ignition of the target vehicle at the end of automatic driving are added.

[1-4-4. Selection process at delivery]
Departure selection processing executed by the parking assistance device 40 will be described with reference to the flowchart of FIG. 10 . The selection process when leaving the parking lot is a process that is started when the power of the parking assistance device 40 is turned on, and then repeatedly executed.

In S<b>21 , the parking assistance device 40 determines whether or not a parking exit request signal has been received from the fixed terminal 50 or the mobile terminal 60 . If the parking assistance device 40 determines that the exit request signal has not been received, it waits by repeating the same step, and if it determines that the exit request signal has been received, the process proceeds to S22.

Note that the retrieval request signal is transmitted when the user performs a retrieval request operation using the fixed terminal 50 or the mobile terminal 60 in the same manner as the retrieval request signal. Specific information, vehicle information, request information, and the like may be added to the leaving request signal.

In S22, the parking assistance device 40 determines whether or not there is a request to use the automatic guided vehicle 20. If there is a request for use, the process proceeds to S24, and if there is no request for use, the process proceeds to S23. Transition. Whether or not there is a request to use the automatic guided vehicle 20 may be determined by referring to the request information added to the delivery request signal.

In S23, the parking assistance device 40 uses the user ID added to the leaving request signal to search the determination result stored in the previous S16 or S18, and uses the automatic guided vehicle 20 according to the stored determination result. Determine the necessity of Specifically, if the determination result indicates that the first warehousing control was performed at the time of warehousing, it is determined that the automatic guided vehicle 20 needs to be used, and the process proceeds to S24. If the determination result indicates that the second warehousing control was performed at the time of warehousing, it is determined that the use of the automatic guided vehicle 20 is unnecessary, and the process proceeds to S25.

In S24, the parking assistance device 40 executes the first parking exit control, which is the parking exit control using the automatic guided vehicle 20, and ends the process.

In S25, the parking assistance device 40 executes the second exit control, which is the exit control using the automatic valet parking function of the target vehicle, and ends the process.

S22 corresponds to the designation receiving section, S23 corresponds to the vehicle determination section and the function determination section, and S24 and S25 correspond to the control command section.

[1-4-5. First Delivery Control/Second Delivery Control]
Note that the first warehousing control differs from the first warehousing control in that the position where the automatic guided vehicle 20 puts the target vehicle is the parking position, and the position at which the target vehicle is unloaded, that is, the target position is the warehousing compartment 12 . It is the same control as the control. However, for the exit compartment 12 serving as the target position, the compartment closest to the parking position may be selected from available compartments, or the compartment closest to the vehicle exit 17 may be selected. good too. Alternatively, the compartment closest to the fixed terminal 50 or the mobile terminal 60 where the operation of the leaving request is performed may be selected. Alternatively, the fixed terminal 50 or the mobile terminal 60 where the leaving request operation is performed may display empty compartments, and the user may select the leaving compartment 12 as the target position from the displayed empty compartments. .

The second warehousing control is similar to the second warehousing control, except that the target position is the warehousing compartment 12 .

The first warehousing control and the first warehousing control are processes for realizing the function of the first control unit 413, and the second warehousing control and the second warehousing control are processes for realizing the function of the second control unit 414. processing.

[1-4-6. Processing by automatic guided vehicle]
The position transmitting unit 211 estimates the position of the own vehicle and repeatedly transmits it to the parking assistance device 40 .

When the driving execution unit 213 acquires the guide route information from the parking assistance device 40, the driving execution unit 213 starts automatic driving. The driving execution unit 213 determines the travel route of the automatic guided vehicle 20 based on the guide route information, the map information, the position information of the automatic guided vehicle 20 , and the surrounding information of the automatic guided vehicle 20 . Based on the results of detection of obstacles and the like on the guidance route, the specific trajectory of the travel route is set according to the surrounding conditions. In other words, the travel route is appropriately reset according to changes in the situation. The automatic guided vehicle 20 travels along this travel route by automatic operation.

When the automatic guided vehicle 20 reaches the target position, the driving execution unit 213 lowers the target vehicle to the target position and transmits a parking completion notification to the parking assistance device 40 .

After that, the automatic guided vehicle 20 moves to a predetermined standby position having a charging facility and charges the vehicle, or executes the next transportation according to an instruction from the parking assistance device 40 .

[1-4-7. Processing by self-propelled vehicle]
In the case of a self-propelled vehicle that performs entry/exit control using the automatic valet parking function, automatic operation is started when map information and guidance route information are acquired from the parking assistance device 40 . It is the same as the unmanned guided vehicle 20 in that it sets a travel route according to the surrounding conditions and moves along the travel route.

When the self-propelled vehicle reaches the target position, the driving execution unit of the self-propelled vehicle transmits a parking completion notification to the parking assistance device 40 and terminates the process.

[1-5. motion]
An example of the operation at the time of entering and leaving the warehouse will be described with reference to the sequence diagrams of FIGS. 7 and 9. FIG.

As shown in FIGS. 7 and 9, when the parking assistance device 40 receives a parking request from the fixed terminal 50 or the mobile terminal 60 (hereinafter referred to as terminals 50 and 60), it confirms the user's request to use the automatic guided vehicle 20. do. If there is no use request, the parking assistance device 40 confirms consistency between the automatic valet parking function of the target vehicle 30 and the function of the parking assistance device 40 .

When the parking assistance device 40 determines that the functions are not consistent, as shown in FIG. 7, after selecting the parking position and calculating the guidance route, the guidance route information is transmitted to the unmanned guided vehicle 20. to instruct the start of warehousing control. After that, when the parking assistance device 40 receives the notification of completion of parking from the automatic guided vehicle 20, the parking assistance device 40 transmits the notification of completion of parking to the terminals 50 and 60 that have transmitted the parking request.

If the user does not request the use of the automatic guided vehicle 20, the parking assistance device 40 sets the parking position, calculates the guidance route, and controls the entry of the automatic guided vehicle 20 without checking the consistency of the functions. do.

On the other hand, when it is determined that the automatic valet parking function of the target vehicle and the function of the parking assistance device 40 are consistent, the parking assistance device 40 selects a parking position and guide route as shown in FIG. Calculate. Then, by transmitting the guide route information to the target vehicle 30, warehousing control using the automatic valet parking function of the target vehicle 30 is performed.

The operation at the time of leaving is the same as that at the time of entering, except for the following two points. That is, at the time of leaving the warehouse, if there is no user's request to use the automatic guided vehicle 20, instead of confirming the consistency of the functions, it is determined whether or not to use the automatic guided vehicle 20 using the determination result stored at the time of entering the warehouse. do. Also, when leaving the garage, the leaving compartment 12 is set as the target position for automatic driving instead of the parking position.

[1-6. effect]
According to 1st Embodiment detailed above, there exist the following effects.

(1a) In the parking lot system 1, the parking assistance device 40 not only determines whether the target vehicle 30 has an automatic valet parking function, but also determines whether the target vehicle 30 and the parking assistance device 40 are compatible with each other. determine whether or not there is Then, when the functions are consistent, the target vehicle 30 is moved into and out of the garage using the automatic valet parking function. If the automatic valet parking function is not provided, or if the function is inconsistent even if the automatic valet parking function is provided, the automatic guided vehicle 20 is used to move the target vehicle into and out of the garage.

Therefore, the user of the parking lot system 1 can use the parking lot without being conscious of whether or not the own vehicle has the automatic valet parking function and whether the automatic valet parking function of the own vehicle is compatible with the parking lot system 1 . System 1 is available.

(1b) In the parking lot system 1, regardless of the presence or absence of the automatic valet parking function, when the terminals 50 and 60 are used to request entry or exit from the parking lot to determine whether entry or exit from the parking lot by the automated guided vehicle 20 is desired. or when making a parking reservation in advance. Therefore, according to the parking lot system 1, it is possible to flexibly respond to user requests.

(1c) The parking lot system 1 stores whether or not the automatic guided vehicle 20 was used when entering the parking lot, and uses the stored information to determine whether or not the automatic guided vehicle 20 is used when leaving the parking lot. Simplify time control.

[2. Second Embodiment]
[2-1. Differences from First Embodiment]
Since the basic configuration of the second embodiment is the same as that of the first embodiment, differences will be described below. Note that the same reference numerals as in the first embodiment indicate the same configurations, and refer to the preceding description.

In the second embodiment, a part of the selection process at the time of parking executed by the parking assistance device 40 is different from that in the first embodiment.

[2-2. process]
Next, in the second embodiment, the parking assistance device 40 executes the parking selection process in place of the parking reception selection process of the first embodiment shown in FIG. 5, which will be described with reference to the flowchart of FIG. In the first embodiment, whether or not to use the automated guided vehicle 20 in warehousing control is selected according to the request information added to the warehousing request signal or the request information indicated in the reservation information of the target vehicle. On the other hand, in the second embodiment, the usage history of the automatic guided vehicle 20 is stored for each vehicle, and whether or not to use the automatic guided vehicle 20 in the warehousing control is determined by referring to the usage history. This is different from the first embodiment.

As shown in FIG. 11, in the second embodiment, the process of S121 is added between S12 and S13. Further, the determination result stored in the memory 41B in S16 or S18 is stored as the usage history of the target vehicle in the parking lot system 1. FIG. The usage history may be accumulated sequentially, or may be updated so that only the latest determination results remain.

The processing in S11 and S12 is the same as in the first embodiment. However, when it is determined in S12 that there is no request to use the automatic guided vehicle 20, the parking assistance device 40 shifts the process to S121.

In S121, the parking assistance device 40 refers to the usage history of the target vehicle stored in the memory 41B. If the determination result based on the usage history indicates that the first warehousing control was performed at the time of warehousing, the parking assistance device 40 determines that the automatic guided vehicle 20 needs to be used, and the process proceeds to S16. do.

If the determination result based on the usage history indicates that the second warehousing control was performed at the time of warehousing, the parking assistance device 40 determines that the use of the automatic guided vehicle 20 is unnecessary, and shifts the processing to S19. do.

If the usage history for the target vehicle is not stored, the parking assistance device 40 shifts the process to S13.

The processing of S13 to S19 is the same as in the first embodiment.

[2-3. effect]
According to the second embodiment described in detail above, the effects (1a) and (1b) of the first embodiment described above are obtained, and the following effects are also obtained.

(2a) In the parking lot system 1 of the second embodiment, whether or not the automated guided vehicle 20 was used when entering the parking lot in the past is stored as a usage history, and the usage history is used when the automated guided vehicle 20 is used when entering the parking space this time. It is used to determine whether or not to Therefore, the control at the time of warehousing can be simplified as the number of second and subsequent users (that is, repeaters) increases.

[3. Third Embodiment]
[3-1. Differences from First Embodiment] Note: Only the differences will be described below.

Since the basic configuration of the third embodiment is the same as that of the first embodiment, differences will be described below. Note that the same reference numerals as in the first embodiment indicate the same configurations, and refer to the preceding description.

The third embodiment differs from the first embodiment in part of the parking selection process executed by the parking assistance device 40 .

[3-2. process]
Next, in the third embodiment, the parking assistance device 40 performs a parking selection process in place of the parking reception selection process of the first embodiment shown in FIG. In the first embodiment, confirmation of whether there is compatibility in function between the target vehicle 30 and the parking assistance device 40 (hereinafter referred to as confirmation of functional compatibility) is performed when the parking assistance device 40 receives the parking request signal. going later. On the other hand, the third embodiment is different from the first embodiment in that the functional compatibility is confirmed after the target vehicle enters the parking lot 13 and before the entry request signal is received. do.

As shown in FIG. 12, in the third embodiment, instead of omitting S13 and S14, S111 to S113 are added after S11, and S141 is added between S12 and S15.

The communication unit 43 of the parking assistance device 40 establishes communication with the communication unit 37 of the vehicle 30 and acquires vehicle information and the like from the vehicle 30 when the vehicle 30 enters the communication range of the communication unit 43 .

The processing in S11 is the same as in the first embodiment. However, when it is determined in S11 that the parking request has not been received, the parking assistance device 40 shifts the process to S111.

In S111, the parking assistance device 40 determines whether or not information regarding the automatic valet parking function has been received from the vehicle 30. If not received, the process returns to S11, and if received, the process proceeds to S112. .

At S112, based on the information acquired at S111, the parking assistance device 40 determines whether the automatic valet parking function is consistent between the target vehicle and the parking lot system 1, similarly to the process at S14 described above. confirm whether or not

In subsequent S113, the parking assistance device 40 stores the consistency information, which is the confirmation result in S112, in the memory 41B, and returns the process to S11.

The processing of S12 is the same as in the first embodiment. However, if it is determined in S12 that there is no request to use the automatic guided vehicle 20, the process proceeds to S141.

In S141, the parking assistance device 40 reads the consistency information stored in the memory 41B, and advances the process to S15.

The processing of S15 to S19 is the same as in the first embodiment.

[3-3. effect]
According to the third embodiment described in detail above, the effects (1a) and (1b) of the first embodiment described above are obtained, and furthermore, the following effects are obtained.

(3a) In the parking lot system 1 of the third embodiment, the automatic valet parking function is automatically activated as soon as the communication between the parking assistance device 40 and the vehicle 30 is established without requiring an entry request. Consistency is checked. Therefore, the time from when the parking assist device 40 receives the parking request to when the first parking control or the second parking control is started can be shortened.

[4. Other embodiments]
Although the embodiments of the present disclosure have been described above, the present disclosure is not limited to the above-described embodiments, and various modifications can be made.

(4a) In the present disclosure, the process of setting the guidance route to the parking position is performed on the parking assistance device 40 side, but may be performed on the vehicle 30 side. Further, although the processing for setting the travel route is performed on the vehicle side, the processing may be performed on the parking assistance device 40 side.

(4b) When the mobile terminal 60 is used to request entry or exit, the position of the target vehicle 30 is confirmed and the parking assistance device 40 is within a predetermined range where automatic driving control can be performed. Only, it may be configured to start automatic operation.

(4c) In the present disclosure, the parking assist device 40 is configured to acquire information from the target vehicle when checking the consistency of the communication function in S14, but the present disclosure is limited to this. not a thing For example, instead of acquiring information from the target vehicle, it depends on whether the target vehicle receives a response indicating that the map information of the parking lot necessary for automatic valet parking has been transmitted to the target vehicle, and the target vehicle has successfully received the information. Consistency may be checked.

(4d) the controllers 21, 31, 41, 61 and techniques described in this disclosure constitute a processor and memory programmed to perform one or more functions embodied by the computer program; It may be realized by a dedicated computer provided by Alternatively, the controllers 21, 31, 41, 61 and techniques described in this disclosure may be implemented by a dedicated computer provided by configuring the processor with one or more dedicated hardware logic circuits. Alternatively, the controllers 21, 31, 41, 61 and techniques described in this disclosure comprise a processor and memory and one or more hardware logic circuits programmed to perform one or more functions. may be implemented by one or more special purpose computers configured in combination with a dedicated processor. Computer programs may also be stored as computer-executable instructions on a computer-readable non-transitional tangible storage medium. The method of realizing the function of each part included in the control part 41 does not necessarily include software, and all the functions may be realized using one or a plurality of pieces of hardware.

(4e) A plurality of functions possessed by one component in the above embodiment may be realized by a plurality of components, or a function possessed by one component may be realized by a plurality of components. . Also, a plurality of functions possessed by a plurality of components may be realized by a single component, or a function realized by a plurality of components may be realized by a single component. Also, part of the configuration of the above embodiment may be omitted. Also, at least part of the configuration of the above embodiment may be added or replaced with respect to the configuration of the other above embodiment.

(4f) In addition to the above-described parking assistance device, a non-transitional system such as a system having the parking assistance device as a component, a program for causing a computer to function as a control unit of the parking assistance device, and a semiconductor memory in which this program is recorded The present disclosure can also be implemented in various forms such as a physical recording medium and a parking assistance method.

Claims (9)

a first control unit (413) configured to execute a first control of transporting a target vehicle to be parked assistance to a target position using an unmanned guided vehicle;
a second control unit (414) configured to execute a second control of transporting the target vehicle to a target position using an automatic valet parking function of the target vehicle;
a vehicle determination unit (411: S13, 412: S23) configured to determine whether the target vehicle has the automatic valet parking function;
a function determination unit (411: S14 to S15, 412: S23) configured to determine whether the automatic valet parking function of the target vehicle matches the function of the second control unit;
When the vehicle determination unit determines that the automatic valet parking function is not provided, or when the function determination unit determines that the automatic valet parking function does not match, the first control unit When the first control is executed, the vehicle determination unit determines that the automatic valet parking function is provided, and the function determination unit determines that the automatic valet parking function matches, the second control unit a control command unit (411: S17, S19, 412: S24, S25) that causes the second control to be executed;
an information storage unit (41B) in which the target vehicle and information capable of specifying functions of the target vehicle are stored in association with each other;
with
The function determination unit is configured to perform determination using information stored in the information storage unit for the target vehicle.
parking aid. The parking assistance device according to claim 1 ,
The parking assistance device, wherein the function determination unit determines whether or not there is consistency in communication with the target vehicle by the second control unit. The parking assistance device according to claim 2 ,
The function determination unit determines whether or not the communication is consistent, whether or not the communication is successful, whether or not necessary information is obtained from the communication partner through the communication, and expects from the communication partner through the communication. A parking assistance device configured to determine using at least one of whether a response has been obtained and whether information in a data format that can be processed has been obtained through the communication. The parking assistance device according to any one of claims 1 to 3 ,
Further comprising a result storage unit (411: S16, S18) configured to store determination results of the vehicle determination unit and the function determination unit performed at the time of parking of the target vehicle,
The control command unit is configured to cause either the first control unit or the second control unit to control the target vehicle according to the result stored in the result storage unit when the target vehicle leaves the garage. Parking assistance device. The parking assistance device according to any one of claims 1 to 3 ,
Further a designation reception unit (411: S12, 412: S22) configured to receive an input designating either the first control by the first control unit or the second control by the second control unit prepared,
The parking assistance device, wherein the control command unit is configured to cause either the first control unit or the second control unit to control the target vehicle according to the selection result received by the designation receiving unit. an unmanned guided vehicle (20) configured to place and convey a target vehicle to be a target of parking assistance in a parking lot;
a first control unit (413) configured to execute a first control for transporting the target vehicle to a target position using the automatic guided vehicle;
a second control unit (414) configured to execute a second control of transporting the target vehicle to a target position using an automatic valet parking function of the target vehicle;
a function determination unit (411: S14 to S15, 412: S23) configured to determine whether the automatic valet parking function of the target vehicle matches the function of the second control unit; ,
a control command unit (411: S17, S19, 412: S24, S25) that causes the first control unit or the second control unit to be executed based on the determination result of the function determination unit;
an information storage unit (41B) in which the target vehicle and information capable of specifying functions of the target vehicle are stored in association with each other;
with
The function determination unit is configured to perform determination using information stored in the information storage unit for the target vehicle.
parking system. The parking lot system according to claim 6 ,
Further comprising a vehicle determination unit (411: S13, 412: S23) configured to determine whether the target vehicle has the automatic valet parking function,
The control command unit is
When the vehicle determination unit determines that the automatic valet parking function is not provided, or when the function determination unit determines that the automatic valet parking function does not match, the first control unit Execute the first control,
When the vehicle determination unit determines that the vehicle has the automatic valet parking function and the function determination unit determines that the automatic valet parking function matches, the second control unit executes the second control. A parking system configured to allow The parking lot system according to claim 7 ,
After the target vehicle enters the parking lot, the function determination unit determines whether the target vehicle has the above-described A parking system configured to determine whether an automatic valet parking function and a function of the second control unit match. A first control for transporting a target vehicle to be a target of parking assistance to a target position using an unmanned guided vehicle, and a second control for transporting the target vehicle to the target position using an automatic valet parking function of the target vehicle. A parking assistance method using a parking assistance device configured to perform:
determining whether or not the target vehicle has the automatic valet parking function ; determining the function of the target vehicle using information stored in an information storage unit in which information that can be specified is stored in correspondence (411: S13 to S15; 412: S23);
When it is determined that the target vehicle does not have the automatic valet parking function, or when it is determined that the automatic valet parking function does not match between the target vehicle and the parking support device, the parking support device Execute the first control (411: S17, 412: S24),
When it is determined that the target vehicle has the automatic valet parking function, and when it is determined that the automatic valet parking function matches the target vehicle and the parking support device, the second control is performed on the parking support device. execute (411: S19, 412: S25),
Parking assistance method.

Images