JP7830166B2 - Automated valet parking management system and automated valet parking management method - Google Patents

Description

This invention relates to a vehicle control device and system for a parking lot equipped with an automated valet parking service.

Recently, automated valet parking services, where vehicles are automatically parked in designated spaces within parking lots, have become a reality. However, continuous improvement of the software for autonomous vehicles and other systems is necessary to ensure accurate and automated operation.

Patent Document 1 discloses an information rewriting system that enables efficient rewriting of a vehicle control program provided remotely within the vehicle, and efficiently notifies the user of information regarding the rewriting of the vehicle control program. This system receives a correction program for modifying the program from an external information provision center and rewrites the vehicle control program using the received correction program. The system includes a rewriting determination unit that, upon receiving a program rewriting request from the information provision center, determines whether the vehicle control program can be rewritten based on the vehicle's operating state, and a notification means that, based on the determination result of the rewriting determination unit, notifies the vehicle user's mobile phone of information regarding the rewriting.

Patent Document 2 discloses a software rewriting device that enables appropriate test operations to be performed on a mobile device after its software has been rewritten. This device includes a rewriting processing unit that executes a rewriting process to rewrite the vehicle's software when the vehicle is parked in a parking lot, and a verification processing unit that, after the rewriting process by the rewriting processing unit, causes the vehicle to perform test operations using the rewritten software within the parking lot.

Japanese Patent Publication No. 2007-065856 Japanese Patent Publication No. 2021-149700

Patent Document 1 describes a system where, in response to a software program rewrite request from an information provision center, the vehicle determines whether or not the existing program can be rewritten. However, it completely lacks any consideration of how the new software will affect the vehicle's performance and behavior.

In this regard, Patent Document 2 describes a test operation using the rewritten software, in which a vehicle is made to move between parking spaces within a parking lot. However, it does not consider test operations that involve interaction with other vehicles or are affected by the layout of the parking lot, such as performance and behavior.

When conducting operational simulations in parking lots used by both autonomous and non-autonomous vehicles, especially when implementing software rewriting, it is desirable to consider improving convenience for users of autonomous vehicles.

This invention relates to an automated valet parking management system that performs operational simulations corresponding to software rewriting in a parking lot equipped with an automated valet parking service.

An automated valet parking management system relating to one form of this disclosure is
A parking management device that determines the autonomous driving test operations that an autonomous vehicle should perform within the parking lot and creates a plan for said autonomous driving test operations,
Based on the aforementioned plan, an automated valet control device outputs commands to the autonomous vehicle for performing the autonomous driving test operation within the parking lot,
It is equipped with.

The aforementioned parking management device is
Determine the software version of the aforementioned autonomous vehicle,
The autonomous vehicle may decide to perform one or more of the autonomous driving test operations associated with the aforementioned version that it has not yet performed.

The aforementioned parking management device is
The autonomous driving test operation to be performed may be determined based on whether or not the autonomous driving vehicle can perform the unperformed autonomous driving test operation in the environment of the parking lot.

The aforementioned parking management device is
The autonomous driving test operation to be performed may be determined based on the type and/or size of the autonomous vehicle.

The aforementioned parking management device is
When the autonomous driving test operation to be performed by the autonomous vehicle is a vehicle-to-vehicle test operation,
The participating vehicles, which are autonomous vehicles located within the aforementioned parking lot and participating in the aforementioned vehicle-to-vehicle test operation, are determined.
The automated valet control device may be instructed to output commands to the autonomous vehicle and the participating vehicles to perform the vehicle-to-vehicle test operation within the parking lot.

The parking management device may cause the automatic valet control device to output commands to the participating vehicles for them to behave as pseudo-non-autonomous vehicles.

The aforementioned parking management device is
If the autonomous vehicle has already performed the vehicle-to-vehicle test operation on a first type of participating vehicle, but has not yet performed it on a second type of participating vehicle that is different from the first type, and it determines that a second type of participating vehicle is present in the parking lot, it may decide to perform the vehicle-to-vehicle test operation on the second type of participating vehicle.

The aforementioned type may include vehicle type, size, vehicle manufacturer, body color, and/or software update details.

The aforementioned parking management device is
The autonomous vehicle that has performed the aforementioned vehicle-to-vehicle test operation,
The owner of the participating vehicle has authorized the autonomous vehicle to participate in the vehicle-to-vehicle test operation.
Autonomous vehicles used as shared cars or rental cars,
Any autonomous vehicle covered by valid vehicle insurance may be designated as a participating vehicle.

The aforementioned parking management device is
When the autonomous driving test operation to be performed by the autonomous vehicle is an automated valet parking test operation,
When there are three consecutive empty parking spaces, the central empty space is used.
When there are no three consecutive empty parking spaces but there are two consecutive empty parking spaces, one of the empty spaces will be used.
When there are no two consecutive empty parking spaces but there is one empty parking space, and the distance between a vehicle parked in an adjacent empty parking space and the said one empty parking space is greater than or equal to a predetermined value, the said one empty parking space,
If no available parking spaces are available, a plan may be created to execute the automated valet parking test operation to park in the test parking space, which is the available parking space, once one becomes available.

The aforementioned test parking space may be a parking space dedicated solely to test parking.

The width and/or length of the test parking space for the autonomous vehicle are variable.
The aforementioned parking management device is
The test parking space is controlled to be of multiple different sizes,
A plan may be created for performing the automated valet parking test operation to park in multiple empty spaces of different sizes.

The aforementioned parking management device is
When the autonomous driving test operation to be performed by the autonomous vehicle is a human-centered test operation,
Commands for performing walking movements are output to the humanoid robot.
A plan may be created for performing the person-to-person test operation within the aforementioned parking lot.

The aforementioned parking management device is
The test results of the autonomous driving test operation performed by the autonomous vehicle may be generated.

The aforementioned parking management device is
If the test results are satisfactory, the automated valet control device may instruct the automated vehicle to output a command to park the automated vehicle in a parking space within the parking lot by autonomous driving.

The test results may include images captured by one or more cameras installed in the parking lot and/or images captured by the on-board cameras of the autonomous vehicle.

The aforementioned parking management device is
The test results may be output to an external device.

The aforementioned parking management device is
The test results may be output to the external device in order to be stored in a database as big data.

An automated valet parking management method relating to one form of this disclosure is:
Determine the autonomous driving test operations that the autonomous vehicle should perform within the parking lot and create a plan for said autonomous driving test operations.
Based on the aforementioned plan, a command for executing the autonomous driving test operation within the parking lot is output to the autonomous vehicle.

According to the parking management system described above, convenience for users of autonomous vehicles will be improved in parking lots equipped with automated valet parking.

Furthermore, the effects described herein are not necessarily limited and may include any of the effects described in this disclosure.

This is a schematic diagram showing an example configuration of an automated valet parking management system according to one embodiment of the present invention. This is a schematic diagram illustrating an example of a parking lot configuration that supports automated valet parking services. This is a schematic diagram showing an example configuration of a vehicle with autonomous driving capabilities. This is an explanatory diagram showing an example of a member database. This is a block diagram outlining the functions of a parking control system. This diagram illustrates an example of an automated valet parking test operation, including a test drive operation. This shows the operation flow of the automated valet parking management system. This figure illustrates another example of an automated valet parking test operation, including a test drive operation. This is an explanatory diagram showing an example of a vehicle database.

The embodiments of this disclosure will be described below with reference to the drawings.

1. Configuration of the Automated Valet Parking Management System

Figure 1 is a schematic diagram showing an example configuration of an automated valet parking management system according to one embodiment of the present invention.

The automated valet parking management system 500 can perform various tasks related to parking, such as managing reservations submitted by users, monitoring parking status, and calculating various fees related to parking use.

The automated valet parking management system 500 includes a parking server 7, a parking management device 5, an automated valet control device 37, a payment server device (not shown) owned by a payment institution 9, and an ETC (Electronic Toll Collection System) management server device (not shown) owned by an ETC management institution 10.
These terminals and devices are connected to each other via network 1, enabling them to communicate with one another. Network 1 is constructed, for example, by the internet or a wide-area communication network.
In addition, any WAN (Wide Area Network) or LAN (Local Area Network) may be used, and the protocol for constructing network 1 is not limited.

The parking management device 5 and the automatic valet control device 37 are installed in each parking lot 11. As will be explained later, in this embodiment, the automatic valet parking management system according to the present invention is constructed centered on the parking management device 5 and the automatic valet control device 37.
The parking management device 5 is capable of comprehensively controlling the operation of each device installed within the parking lot 11.
Furthermore, the parking management device 5 can collect various information from each device installed within the parking lot 11 and transmit it to the parking server 7 and the automatic valet control device 37, etc. The parking management device 5 can receive various information from the parking server 7, etc., and perform various operations.

The parking management device 5 has hardware necessary for a computer configuration, such as a CPU (Central Processing Unit), ROM (Read Only Memory), RAM (Random Access Memory), and HDD (Hard Disk Drive).
The parking management device 5 also has a communication unit for communicating with other devices via the network 1. The communication unit may include, for example, a wireless LAN module such as Wi-Fi (registered trademark), or communication equipment such as a modem or router.
Any computer, such as a PC (Personal Computer), can be used as the parking management device 5.

The parking management device 5 may be able to communicate with an external device that manages a database of big data. This big data could be, for example, big data from a city-state, experimental municipality, or community that stores a large amount of vehicle data. The parking management device 5 may also be able to communicate with an external device accessible to users, manufacturers, etc.

In the example shown in Figure 1, each parking lot 11 is equipped with a gate device 28 (entrance gate device 28a and exit gate device 28b). The gate device 28 can restrict the entry and exit of vehicles. Instead of the gate device 28, a flap device (locking device) or the like may be installed to restrict the exit of parking spaces without payment.
Furthermore, the present invention can also be applied to so-called gateless/flapless parking lots where gate devices or flap devices are not installed.

The user terminal device 6 is a terminal used by users of each parking lot 11. The user terminal device 6 may be any computer, such as a smartphone, tablet, various PDAs (Personal Digital Assistants), or a notebook PC (Personal Computer).

The parking server 7 can provide the automated valet parking service according to this embodiment as a web service. In this embodiment, the parking server 7 is composed of multiple server devices (not shown) and a database (DB).

Each server unit of the parking lot server 7 has the necessary hardware for a computer, such as a CPU, ROM, RAM, and HDD. Each server unit also has a communication unit for communicating with other devices via the network 1. The communication unit can be, for example, a wireless LAN module such as Wi-Fi, or communication equipment such as a modem or router. Any computer, such as a PC, can be used as the server unit.

The database (DB) of the parking server 7 functions as a storage unit, storing various information related to this automated valet parking service. For example, the DB of the parking server 7 may contain various databases, such as a member DB 101 (Figure 4), a vehicle DB 102 (Figure 9), a reservation information DB, a vehicle occupancy DB, a parking lot DB, a partner store DB, a discount DB, a departure information DB, an owner information DB, various history DBs, a management information DB, and a test results DB (described later). These various DBs are comprehensively managed by the DB server within the parking server 7, which performs tasks such as member registration and withdrawal for users of the automated valet parking service, registration, modification, and deletion of reservation information received from each user, registration and storage of owner information for each parking lot 11, and recording and storage of operational revenue and expenditure information.

Figure 4 shows an example of a member database.

The Member Database 101 stores, for each member using Parking Lot 11, associated and stored information such as membership number, membership type, vehicle ID, vehicle information, vehicle name, vehicle color, autonomous driving type, insurance type, email address, and credit card information. The vehicle information includes the vehicle identification number and model, allowing for detailed vehicle specifications to be determined.

Insurance types include, for example, property damage and bodily injury coverage in the event of an accident during autonomous driving, and whether or not comprehensive vehicle insurance is included. If insurance is in place, simultaneous shared driving (possibility of passing) with non-autonomous vehicles may be permitted. The driver's or user's intentions may also be confirmed. Insurance types and insurance information are registered by the user in a list of coverage types, etc. Vehicles without accident coverage during autonomous driving may not be eligible for automated valet parking. The insurance expiration date may be checked, and the user may be notified at the entrance whether automated valet parking is available.

Furthermore, the parking server 7 provides the automated valet parking service according to this embodiment, for example, using a WWW (World Wide Web) system. For example, the web server creates various web pages consisting of HTML documents. These web pages contain hyperlinks to other web pages and link information (for example, executable file names, URLs, etc.) for executing various processes.
Furthermore, the Web/API server within the parking server 7 performs various processes in response to various requests. For example, the Web/API server collects and outputs information on the occupancy status of each parking lot 11.
Web pages generated within the parking server 7 are displayed on the screen by the web browsers provided in each device shown in Figure 1. For example, users of the parking lot 11 can access various web pages and use various web applications by operating the user terminal device 6.

The payment institution 9 is, for example, a bank or a credit company, and processes the payment (settlement) of parking fees via bank transfer, credit card payment (including transportation card payments and QR code payments), etc. The parking server 7 issues instructions to the payment server device of the payment institution 9 for the settlement of parking fees, and queries for settlement information such as whether the settlement has been completed.

The ETC management organization 10 is the organization responsible for implementing the ETC system and manages information on users of the ETC system, ETC card information, payment information, and vehicle information. For example, an ETC card is inserted into the ETC on-board unit installed in the vehicle. This enables the use of ETC-compatible (specifically ETC 2.0 compatible) parking lots 11 equipped with ETC antennas, using ETC payment.

There are multiple vehicle manufacturers 12, each providing software update information for autonomous driving-related functions in their genuine vehicles and parts. Third parties providing control programs for non-genuine parts and units are also included within the scope of vehicle manufacturers 12. Insurance organizations may also be added.

2. Automatic Valet Parking System

This invention is applicable to a parking lot 11 that provides an automated valet parking service. The automated valet parking system is a system capable of performing automated valet operation (automated valet parking, i.e., automated valet entry and automated valet exit) using a vehicle with an automated driving function (autonomous driving function). A parking lot 11 equipped with an automated valet parking system can also be described as a parking lot 11 that supports automated valet parking services.

For example, a user operates the user terminal device 6 to access the application that provides the automated valet parking service. By entering the necessary information and registering as a member, the user can then use the automated valet parking service.
In this embodiment, an automated valet parking system is constructed as a system included in the automated valet parking management system 500 shown in Figure 1. That is, the automated valet parking service is provided as a service included in the parking management service provided by the parking server 7. Various databases related to the automated valet parking system are constructed in the database of the parking server 7.
The system is not limited to this, and an automated valet parking system may be constructed as a separate system from the automated valet parking management system 500. For example, an automated valet parking system may be constructed using another management device, etc., not shown in Figure 1, and a separate contract may be made with the parking lot 11.
Furthermore, the configuration and methods for constructing the automated valet parking system are not limited.

For example, a user operates the user terminal device 6 to make a reservation for automated valet parking. Then, at the reserved time, they manually drive a vehicle with an autonomous driving function (manual driving mode) into the parking lot 11. Of course, it can also be driven autonomously.
Users park their vehicles in designated parking spaces within the parking lot 11 that are compatible with the automated valet parking service (hereinafter referred to as automated valet drop-off/pick-up spaces). After the user exits the vehicle, they are instructed to initiate automated valet parking. This instruction is given, for example, via the user terminal device 6. Alternatively, a dedicated terminal or similar device set up within the parking lot 11 may be operated.
In response to the instruction, the vehicle will move to a designated parking space in the parking lot 11 using unmanned, automated driving (autonomous driving mode) and park itself (automatic valet parking operation). It is also possible to enter the parking lot 11 at any time without making a reservation and have the automatic valet parking performed.
When a user returns to the parking lot, instructions are entered, for example, to move the vehicle equipped with autonomous driving capabilities to the automated valet drop-off/pick-up area within the parking lot in a certain number of minutes. In response to these instructions, the vehicle moves from the parking space to the automated valet drop-off/pick-up area and parks itself in unmanned, autonomous driving mode (automated valet drop-off operation).
The following description of this embodiment will use a parking lot 11 equipped with an automated valet parking service as an example.

3. Example of a parking lot configuration

Figure 2 is a schematic diagram showing an example of a parking lot configuration compatible with automated valet parking services.

The parking lot 11 includes an entrance 15, an exit 16, an internal passageway 17, multiple parking spaces 18, an automated valet pick-up/drop-off area 19 (boarding area), stairs 20, an elevator 21 (elevator hall), a pre-payment machine 22, and an information display (not shown).

An entrance lane is formed leading from the entrance gate 15 into the parking lot 11. The entrance lane 27 is equipped with an entrance loop coil 27a, an entrance gate device 28a, and an entrance camera 29a.
Based on the signal output from the entrance loop coil 27a, the entry of vehicle 3 into the entrance lane 27 is detected.
The entrance gate device 28a appropriately restricts the entry of vehicles 3 from the entrance lane 27 into the parking lot 11.
The entrance camera 29a can capture images of vehicles 3 entering the entrance lane 27.
The specific configuration of each device is not limited, and any configuration may be adopted.

An exit lane 29 is formed from inside the parking lot 11 towards the exit entrance 16. The exit lane 29 is equipped with an exit loop coil 27b, an exit gate device 28b, and an exit camera 29b.
Based on the signal output from the exit loop coil 27b, the entry of vehicle 3 into the exit lane 29 is detected.
The exit gate device 28b appropriately restricts the exit of vehicles 3 from the exit lane 29 to the outside of the parking lot 11.
The exit camera 29b makes it possible to photograph the vehicle 3 as it enters the exit lane 29.
The specific configuration of each device is not limited, and any configuration may be adopted.

Although not shown in Figure 2, entrance lane 27 and exit lane 29 are equipped with entrance ETC antennas 30a and exit ETC antennas 30b (Figure 1), respectively, to detect vehicles 3 equipped with ETC onboard units. The entrance ETC antennas 30a and exit ETC antennas 30b are connected to roadside units 34 (Figure 1).

The premises passageway 17 is a passageway used by vehicles 3 that have entered the parking lot 11.
In this disclosure, a vehicle 3 with an autonomous driving function that is operating in autonomous driving mode will be referred to as an autonomous driving vehicle 3a. On the other hand, a vehicle 3 that is being driven manually by a driver will be referred to as a non-autonomous driving vehicle 3b. For example, a vehicle 3 with an autonomous driving function that is operating in manual driving mode will also be a non-autonomous driving vehicle 3b. Autonomous driving vehicles that participate in test runs, as described later, will be referred to as pseudo-non-autonomous driving vehicles.
In Figure 2, the autonomous vehicle 3a and the pseudo-non-autonomous vehicle are illustrated by a double, roughly rectangular shape. The non-autonomous vehicle 3b is illustrated by a single, roughly rectangular shape.
As shown in Figure 2, signs (arrows, etc.) indicating the direction of travel for vehicles 3 may be provided on the internal passageway 17. In Figure 2, vehicles travel on the left side of the internal passageway in a two-way direction. In addition, a path for pedestrians may be provided.

Multiple parking spaces 18 are provided within the parking lot 11. In the example shown in Figure 2, multiple parking spaces 18 are arranged with space numbers A1-A6, B1-B6, C1-C6, D1-D6, E1-E6, F1-F6, G1-G6, J1-J9, and K1-K18. Of these, A1-A6 are allocated as test parking spaces.
Parking space 18 is a space where both an automated vehicle 3a performing automatic valet parking and a non-autonomous vehicle 3b can park. In other words, in this embodiment, both automated vehicles 3a (including pseudo-non-autonomous vehicles) and non-autonomous vehicles 3b will travel together in the premises passageway 17.

The automated valet pick-up/drop-off space 19 is a parking space compatible with the automated valet parking service. In other words, the automated valet pick-up/drop-off space 19 is a space for the driver and passengers to get in and out of the vehicle 3 that operates the automated valet parking service.
In the example shown in Figure 2, two automated valet drop-off/pick-up spaces 19, with space numbers V1 and V2, are provided near the entrance 15 and exit 16. For example, a user of the automated valet parking service enters the parking lot 11 from the entrance 15, turns right, and parks vehicle 3 in the automated valet drop-off/pick-up space 19. Then, at the automated valet drop-off/pick-up space 19, the user gets out of vehicle 3 and instructs the automated valet parking service to be performed. In response to this instruction, the automated vehicle 3a moves from the automated valet drop-off/pick-up space 19 to one of the parking spaces 18.
The parking space 18 where the autonomous vehicle 3a is parked may be predetermined or selected on a case-by-case basis. For example, a parking space 18 located in the furthest corner of the parking lot 11 and not very convenient may be preferentially allocated for automated valet parking.
When a user of the automated valet parking service returns to parking lot 11, the automated vehicle 3a moves from parking space 18 to automated valet pick-up/drop-off space 19 at that time. The user gets into vehicle 3 and manually drives the vehicle 3 out of the exit 16.

The pre-payment machine 22 is a device that allows users of the parking lot 11 to make a pre-payment before exiting the parking lot 11 with their vehicle 3. For example, a device with a touch panel or the like may be installed as the pre-payment machine 22.
The guidance device (not shown) is a device for providing various information regarding the parking lot 11 and the automated valet parking management system 500 (including the automated valet parking system). For example, a device having a display device or the like that can display guidance information may be used as the guidance device.

As a system to monitor the parking lot and support the automated valet service, the following devices are installed in the parking lot, as shown in Figure 2.

The on-site camera 32 (white circle in the figure), which mainly photographs the on-site passageway 17, the parking space camera 33 (black circle in the figure), which mainly photographs the parking spaces 18, the entrance camera 29a, the exit camera 29b, the on-site camera 32, and the parking space camera 33 each function as multiple control cameras in the automated valet parking management system (hereinafter, unless otherwise described individually, these will be collectively referred to as cameras). As the various cameras described in this disclosure, for example, monocular digital cameras equipped with image sensors such as CMOS (Complementary Metal-Oxide Semiconductor) sensors or CCD (Charge Coupled Device) sensors are used. Other types of cameras, such as infrared cameras, may also be used.

The automated valet parking management system 500 can output monitoring information as a result of monitoring the parking lot 11. In this embodiment, images captured by various cameras and audio acquired by various microphones are output as monitoring information.
In this disclosure, images include both still images and moving images (video).
The on-site cameras 32 and parking space cameras 33 are positioned to cover as much of the entire parking lot 11 as possible. In other words, multiple on-site cameras 32 and multiple parking space cameras 33 are appropriately positioned to minimize blind spots.

4. Automated Valet Parking Control System

Referring to Figure 1, an example configuration of the automated valet parking management system 500 will be explained.
The automated valet parking management system 500 is a system that is implemented for the parking lot 11.
The automated valet parking management system 500 illustrated in Figure 1 includes a parking management device 5, a pre-payment machine 22, an automated valet control device 37, an entrance gate device 28a, an exit gate device 28b, a roadside unit 34, an entrance ETC antenna 30a, an exit ETC antenna 30b, as well as an entrance camera 29a, an exit camera 29b, an in-parking camera 32, and a parking space camera 33.
Each block shown in Figure 1 is connected to each other via an internal LAN (not shown) installed within the premises of, for example, the parking lot 11, enabling communication between them. Alternatively, any communication technology via wireless or wired connections may be used.

The automatic valet control device 37 is a device for constructing an automatic valet parking system. In this embodiment, the automatic valet control device 37 works in cooperation with the parking server 7 and the parking management device 5 to manage automatic valet operation and test runs by the autonomous vehicle 3a.
For example, the automatic valet control device 37 controls the automatic driving operation of the automatic driving vehicle 3a. For example, it may instruct the vehicle to drive automatically from the automatic valet pick-up/drop-off space 19 to a designated parking space 18. Alternatively, it may instruct the vehicle to drive automatically from the designated parking space 18 to the automatic valet pick-up/drop-off space 19. In addition, as a test run, it may instruct the vehicle to drive automatically from the automatic valet pick-up/drop-off space 19 to a test parking space, or from a designated test parking space to a designated parking space.
In addition, various other processes are performed, such as managing reservations for automated valet parking.
The automatic valet control device 37 has hardware necessary for a computer configuration, such as a CPU, ROM, RAM, and HDD. The automatic valet control device 37 is also equipped with a communication unit for communicating with other devices via the network 1. As the communication unit, for example, a wireless LAN module such as Wi-Fi, or communication equipment such as a modem or router may be used.
Any computer, such as a PC, can be used as the automatic valet control device 37.

The database of the parking management device 5 stores various data related to the parking lot 11, and arbitrary databases such as an occupancy database and a history database are constructed. Of course, data stored in the database of the parking server 7 may also be shared.
Furthermore, various information related to automated valet parking is stored in the database of the parking management device 5. Note that the aforementioned vehicle information may be stored in the database of the parking server 7 instead of the database of the parking management device 5.

5. Autonomous Vehicles

Figure 3 is a schematic diagram showing an example of the configuration of a vehicle with autonomous driving capabilities.

Here, we will describe the autonomous vehicle 3a in a state where the autonomous driving mode is selected. Pseudo-non-autonomous vehicles participating in test runs are also included in autonomous vehicle 3a.
The autonomous vehicle 3a includes a communication unit 41, on-board cameras 42, an image processing device 43, an ETC antenna 44, an ETC on-board unit 45, a control unit 46, in-vehicle and out-of-vehicle sensors 59, a car navigation system 60, and a GPS receiver/beacon receiver 61.
The communication unit 41 is a device for communicating with other devices. In this embodiment, various information, including instructions from the automatic valet control device 37, is acquired via the communication unit 41.
For the communication unit 41, for example, communication equipment such as DSRC (dedicated short-range communication) may be used. In addition, any communication device conforming to recent connected car standards may be used.

The on-board cameras 42 are capable of capturing images of the area around the autonomous vehicle 3a and of the occupants inside the autonomous vehicle 3a. The on-board cameras 42 may also include a drive recorder camera.
As the in-vehicle cameras 42, digital cameras such as CCD cameras are used. In addition, distance measuring devices such as ToF cameras and stereo cameras may be used. Infrared cameras may also be used.
The image processing device 43 recognizes the surrounding environment of the autonomous vehicle 3a based on images captured by the in-vehicle cameras 42. The algorithm for situation recognition is not limited.
The ETC antenna 44 and the ETC onboard unit 45 enable the use of the parking lot 11 via ETC payment.

The control unit 46 has the necessary hardware for a computer, such as a CPU, ROM, RAM, and HDD. In the example shown in Figure 3, the control unit 46 implements the following software blocks: a driving route generation unit 47, a driving control unit 48, a vehicle/person recognition unit 57, an electrical equipment control unit 58, and an update management unit 62.
The driving route generation unit 47 determines a driving route for automated driving based on instructions from the automatic valet control device 37, recognition results from the image processing device 43, map information of the parking lot 11, etc.
The driving control unit 48 appropriately controls the drive system (not shown) and other components of the autonomous vehicle 3a in order to achieve autonomous driving along the determined driving route.
For example, as illustrated in Figure 3, the driving control unit 48 outputs control signals to the engine/motor control device 49, brake control device 50, headlight control device 51, hazard lamp (turn signal) control device 52, and horn control device 53, etc. This enables automatic driving along a driving route and emergency avoidance maneuvers.
In addition, other well-known technologies for realizing autonomous driving may be used as appropriate.

As described later, this automated valet parking management system 500 is configured to identify, track, and follow individual vehicles passing through the parking lot 11, thereby enabling monitoring of each vehicle's location, parking position, and other relevant information.

The vehicle/person recognition unit 57 recognizes the faces of occupants and pedestrians from images of occupants inside and outside the autonomous vehicle 3a, captured by the on-board cameras 42, and also recognizes parked and moving vehicles around the autonomous vehicle 3a.

The electrical control unit 58 outputs control signals to the door lock control device 54, the window operation control device 55, and the air conditioning control device 56.

6. Overview of Parking Management System Functions

Figure 5 is a block diagram illustrating the overview of the functions of the parking management system and the automated valet control system.

The parking management device 5 has a parking space management function 77, a parking control function 78, a parking fee management function 79, a parking management device communication function 80, an automatic valet parking acceptance function 81, a vehicle software version confirmation function 71, a vehicle software version update function 72, a reference vehicle selection function 73, a driving route setting function 74, a test setting function 75, a test recording function 76, and a test record output function 82.
These blocks are formed when the CPU of the parking management device 5 executes a predetermined program and cooperates with hardware resources within the device, thereby realizing the parking control method according to this embodiment.
The method of installing the program on the parking management device 5 is not limited.

The timing of the software update can be while parked at home or while driving. However, testing the software update content may not necessarily be possible at home or on public roads. Software update notifications may be displayed on the car navigation system or console screen. After the download is complete, the update should normally be performed while parked at home, or the user can choose to update or instruct the system to update. The driver (user) may also indicate whether they wish to perform a test run after the update at the time of parking guidance.

The parking control function 78 performs various processes related to the control of the parking lot 11.
For example, it performs various processes related to the control of the parking lot 11, such as detecting vehicle 3, controlling the gate device 28, controlling each device included in the monitoring system 24, controlling the pre-payment machine 22, controlling the guidance device (not shown), confirming pre-payment, communicating with other devices on the network 1 shown in Figure 1, writing and reading information to and from the parking lot DB, and other related operations. Of these functions, the automatic valet control device 37 controls the operation of the autonomous vehicle 3a, but for simplicity, the parking management device 5 and the automatic valet control device 37 are assumed to operate as a single unit.

Furthermore, the automated valet parking management system 500 illustrated in Figure 1 may be implemented with the parking server 7 omitted. For example, the automated valet parking management system 500 may be implemented using only the parking management device 5.

7. Automatic Valet Parking Test Operation

Figure 6 illustrates an example of an automated valet parking test operation, including a test drive. Figure 7 shows the basic operation flow of the automated valet parking test operation, including the test drive.

A vehicle 3a equipped with autonomous driving capabilities enters the parking lot 11 by manual driving and parks in the automated valet drop-off/pick-up space 19. Upon entry, the parking management device 5 obtains the vehicle ID (license plate number, WCN, etc.) of the entering vehicle from the recognition results of the entrance camera 29a and the entrance ETC antenna 30a.

The parking management device 5 determines the autonomous driving test operations that the autonomous vehicle 3a will perform within the parking lot 11 upon entering the parking lot 11, and creates a plan for these autonomous driving test operations. The specific method is as follows:

The parking management device 5 queries the vehicle database 102 (Figure 9) of the parking server 7 and reads information about the corresponding vehicle 3a, as well as the history of completed autonomous driving test operations and automated valet parking history. The vehicle database 102 stores software update items for each vehicle 3a. If vehicle 3a is an autonomous driving vehicle 3a and is registered as a member, the parking management device 5 communicates with vehicle 3a via wireless communication and reads software version information, the history of completed autonomous driving test operations, and automated valet parking history from the vehicle 3a's update management unit 62. The parking management device 5 determines the software version of the autonomous driving vehicle 3a (step S11). The software update program for the autonomous driving vehicle 3a contains descriptions of the update items.

The parking management device 5 checks the software version information of vehicle 3a and the history of completed autonomous driving test operations and automated valet parking history as appropriate, and extracts any unexecuted autonomous driving test operations (step S12). The parking management device 5 extracts any autonomous driving test operations that have not yet been executed by autonomous driving vehicle 3a from among the one or more autonomous driving test operations linked to the software version of autonomous driving vehicle 3a.

The parking management device 5 determines, if there are any unexecuted autonomous driving test operations by the autonomous vehicle 3a, whether the extracted autonomous driving test operations can be executed within the environment of the parking lot 11 (i.e., whether the environment in the parking lot 11 is suitable for testing) (step S13).

For example, the parking lot database of the parking lot server 7 stores the test items and test content for each parking lot 11 in the form of update test codes assigned by, for example, the vehicle manufacturer 12. In other words, parking lot 11 with a large number of corresponding update test codes can provide a large variety of autonomous driving test operations. The parking lot management device 5 should determine whether or not an autonomous driving test operation can be performed in the environment of parking lot 11 based on the test items and test content (update test codes) in the parking lot database. Furthermore, the parking lot management device 5 may also determine whether or not an autonomous driving test operation can be performed in the environment of parking lot 11 based on the current environment within parking lot 11 (e.g., brightness, time of day, congestion level, presence or absence of pedestrians, etc.). Furthermore, the parking lot management device 5 may also determine which autonomous driving test operation should be performed based on the vehicle type and/or size of the autonomous driving vehicle 3a.

The parking management device 5 determines which automated driving test operations (one or more) should be executed from among the unexecuted automated driving test operations (step S14). For example, if the software for improving the operational stability of automated parking has been updated, and neither the automated parking test operation nor the actual automated valet parking operation has been performed, the parking management device 5 will determine that the automated valet parking test operation should be performed before the current (actual) automated valet parking operation.

In detail, the parking management device 5 determines an available parking space that can be used as a test parking space 90. Preferably, the central space of three available parking spaces, with no vehicles parked on either side, is selected as the test parking space 90. If there are only two available parking spaces, one of the two spaces is selected as the test parking space 90. In addition, the size and parking condition of the vehicles parked on the other side are taken into consideration, and the test parking space 90 that ensures the safest possible distance is selected. In other words, the parking management device 5 creates a plan to execute an automated valet parking test operation to park in the test parking space 90, which is the available space, once any available space becomes available. If there are three consecutive vacant spaces, the central vacant space is used. If there are no consecutive vacant spaces but there is one available space, and the distance between the adjacent vacant space and the available space is greater than a predetermined value, the single available space is used. If there are no available spaces, the device creates a plan to execute an automated valet parking test operation to park in that available space (test parking space 90) once any available space becomes available.

If the parking management device 5 selects the central space of three empty parking spaces as the test parking space 90, it creates a plan for the vehicle to move forward along the shortest distance and then reverse to park in the test parking space 90. If the parking management device 5 selects either of the two empty parking spaces as the test parking space 90, it creates a plan for the vehicle to move forward and then reverse to park in the space furthest from the two spaces in the direction of travel. If there is only one empty parking space available as the test parking space 90, the parking management device 5 either does not perform the test operation at that time, or it selects an empty parking space where the size of the vehicles on both sides are relatively small and where the safest possible distance can be ensured, and then creates a plan for the vehicle to move forward and then reverse to park in that space. The parking management device 5 also considers the vehicle type and/or size of the autonomous vehicle 3a itself that will perform the automatic valet parking test operation when deciding whether or not to perform the test operation.

The automated valet control device 37 outputs a command to the automated vehicle 3a to perform an automated driving test operation (in this example, an automated valet parking test operation 91) within the parking lot 11, based on the plan created by the parking management device 5 (step S15).

Based on the command output from the automatic valet control device 37, the autonomous vehicle 3a executes an automatic valet parking test operation 91 with the test parking space 90 as its destination.

The parking management device 5 records the status of the autonomous driving test operation (autonomous valet parking test operation 91) performed by the autonomous vehicle 3a and generates test results. The test results include images captured by one or more cameras installed in the parking lot 11 (parking space camera 33, in-park camera 32, and other cameras if any) and/or images captured by the on-board cameras 42 of the autonomous vehicle 3a. The test results further include parking position data, steering rotation information, whether or not reversals were performed, the time required for parking, the closest approach distance (distance to the space boundary), etc. The parking management device 5 records the test results in the test results DB (not shown) of the parking server 7.

The parking management device 5 outputs the test results to an external device (not shown) (step S16). For example, the parking management device 5 notifies the user's mobile terminal device 6 of the test results via email or other means. Alternatively, it may output the results to an external device for storage in a database as big data. Big data could be, for example, big data from a city-state, experimental municipality, or community that stores a large amount of vehicle data. The parking management device 5 may also output the test results to an external device accessible to users, manufacturers, etc.

If the automated vehicle 3a completes the automated valet parking test operation 91 and the test result is satisfactory, the parking management device 5 instructs the automated valet control device 37 to output a command to the automated vehicle 3a to park the automated vehicle 3a in the final parking space 92 within the parking lot 11 by automated driving. The automated valet control device 37 then outputs a command to the automated vehicle 3a to execute the automated valet parking operation 93 for the initially selected final parking space 92. On the other hand, if there is a problem with the test result, the automated valet control device 37 does not output a command to the automated vehicle 3a to execute the automated valet parking operation 93, and the automated vehicle 3a continues to park in its current position.

If the test results are unsatisfactory and the operation of the autonomous vehicle 3a is unstable or its performance is degraded, the parking management device 5 may downgrade the software of the autonomous vehicle 3a.

Furthermore, the width and/or length of the test parking space 90 for the autonomous vehicle 3a may be variable. For example, the white lines separating the test parking space 90 can be composed of multiple rows of LED lights arranged continuously on the floor. By illuminating two rows of LED lights of a predetermined width and turning off the LED lights in the other rows, the size of the empty space can be made variable. The parking management device 5 can control the test parking space 90 to be of multiple different sizes and create a plan for executing the automated valet parking test operation 91 for parking in multiple test parking spaces of different sizes 90. This allows the system to determine whether all tests passed when the same test operation was performed in multiple test parking spaces of different sizes 90 (or conversely, whether there were any test parking spaces 90 of a size that the system struggled with).

8. Examples of other test operation methods

Figure 8 illustrates an example of an automated valet parking test operation 96, including other test driving operations.

Detailed explanations are omitted if the operation is the same as that shown in Figure 6.

The parking management device 5 determines the software version of the autonomous vehicle 3a (step S11) and extracts any autonomous driving test operations that the autonomous vehicle 3a has not yet performed (step S12). The parking management device 5 then determines whether the extracted autonomous driving test operations can be executed within the environment of the parking lot 11 (step S13).

The parking management device 5 determines which automated driving test operations (one or more) should be executed from among the unexecuted automated driving test operations (step S14). For example, if the software for improving safety assurance operations related to automated driving has been updated, and vehicle-to-vehicle test operations have not yet been performed, the device determines that vehicle-to-vehicle test operations should be performed before or simultaneously with the current automated valet parking operation 96.

In detail, the parking management device 5 determines which autonomous vehicles (participating vehicles 3c) are located within the parking lot 11 and will participate in the vehicle-to-vehicle test operation. The parking management device 5 determines participating vehicles 3c to be any of the following: autonomous vehicles that have already performed vehicle-to-vehicle test operations, autonomous vehicles whose owners have authorized their participation in the vehicle-to-vehicle test operation, autonomous vehicles used as shared cars or rental cars, or autonomous vehicles that are covered by valid vehicle insurance. The owner may be, for example, an individual member, especially an individual member who has authorized participation and received a reward, a leasing institution, or a car-sharing administrator. The parking management device 5 also determines participating vehicles 3c according to the vehicle type. The vehicle type includes the make, model, size, vehicle manufacturer 12, body color, and/or software update details.

Furthermore, if the parking management device 5 determines that the autonomous vehicle 3a has previously performed a vehicle-to-vehicle test operation on a first type (e.g., small) participating vehicle, but has not yet performed it on a second type (e.g., large) participating vehicle 3c, and that a second type (large) participating vehicle 3c is present in the parking lot, it will decide to perform the vehicle-to-vehicle test operation on the second type (large) participating vehicle 3c. This allows the device to determine whether the same test operation passed all tests when performed on multiple different types of vehicles (or conversely, whether there are any vehicle types that the vehicle struggles with).

The parking management device 5 creates a plan for the autonomous vehicle 3a under test to first execute an automated valet parking test operation 96 with the final parking space 92 as its destination. The parking management device 5 instructs the automated valet control device 37 to output commands to the autonomous vehicle 3a and the participating vehicle 3c to execute vehicle-to-vehicle test operations within the parking lot 11. The parking management device 5 instructs the automated valet control device 37 to output commands to the participating vehicle 3c to behave as a pseudo-non-autonomous vehicle (step S15). For example, the participating vehicle 3c is instructed to continue driving without stopping even when passing other vehicles. Furthermore, after confirming safety, it may be instructed to perform unstable driving such as sudden acceleration, sudden braking, or slight swerving.

The automated valet control system 37 treats the test participant vehicle 3c as a simulated non-autonomous vehicle and outputs a notification (false information notification) to the test target autonomous vehicle 3a indicating that a non-autonomous vehicle is approaching. Based on the command output from the automated valet control system 37, the test participant vehicle 3c travels along the route 94 determined by the parking management system 5, passing the test target autonomous vehicle 3a. For safety reasons, the test target autonomous vehicle 3a pulls over to the left side 95 of the premises pathway and stops temporarily. Once the test participant vehicle 3c has passed, the test target autonomous vehicle 3a resumes the automated valet parking test operation 96.

Furthermore, depending on the software update content, the parking management device 5 creates a plan and controls the test vehicle 3c to determine when it will pass the test vehicle 3c. Immediately after the test is completed, the test vehicle 3c will automatically park in its original parking position (automatic valet parking). The parking management device 5 records the test parking situation and outputs the results (step S16).

9. Regarding other additional features and functions

The parking management device 5 may, when the autonomous driving test operation to be performed by the autonomous vehicle 3a is a person-facing test operation, output a command to a humanoid robot (not shown) to perform a walking motion and create a plan for performing the person-facing test operation within the parking lot.

The parking management device 5 may notify the owner of an autonomous vehicle 3a whose software affecting the performance and/or functionality of automatic valet parking and automatic valet retrieval has not yet been rewritten, prompting them to perform the rewriting and verification process. Depending on the owner's response, the device may perform the software rewriting process and verification operation (autonomous driving test operation and recording) while the vehicle is parked.

The parking management device 5 may perform an automated driving test operation on an automated driving vehicle 3a that is not being valet parked (i.e., an automated driving vehicle 3a with automated parking and pick-up functions that has been manually parked in the parking lot). In this case, the parking management device 5 may perform the automated driving test operation if instructed by the owner.

Owners participating in the test as a simulated non-autonomous vehicle (3c) may receive rewards such as a reduction or offset of service fees related to the test operation of their vehicle.

The timing of the autonomous driving test operation may be controlled by the parking management device 5 according to the congestion level of the parking lot 11. The autonomous driving test may also involve first performing automated valet parking, followed by the test operation.

Although various embodiments and modifications of this technology have been described above, this technology is not limited to the embodiments described above, and various modifications can be made without departing from the gist of this technology.

This invention is designed to improve convenience for users of parking lots equipped with automated valet parking services.

Autonomous vehicle 3a
Non-autonomous vehicle 3b
Parking Server 7
Parking management device 5
Automatic valet control system 37
Automated valet parking management system 500

Claims (19)

A parking management device that determines the autonomous driving test operations that an autonomous vehicle should perform within the parking lot and creates a plan for said autonomous driving test operations,
Based on the aforementioned plan, an automated valet control device outputs commands to the autonomous vehicle for performing the autonomous driving test operation within the parking lot,
It is equipped with ,
The aforementioned parking management device is
When the autonomous driving test operation to be performed by the autonomous vehicle is a vehicle-to-vehicle test operation,
The participating vehicles, which are autonomous vehicles located within the aforementioned parking lot and participating in the aforementioned vehicle-to-vehicle test operation, are determined.
The automated valet control system is instructed to output commands to the autonomous vehicle and the participating vehicles for performing the vehicle-to-vehicle test operation within the parking lot.
Automated valet parking management system. A parking management device that determines the autonomous driving test operations that an autonomous vehicle should perform within the parking lot and creates a plan for said autonomous driving test operations,
Based on the aforementioned plan, an automated valet control device outputs commands to the autonomous vehicle for performing the autonomous driving test operation within the parking lot,
It is equipped with,
The aforementioned parking management device is
When the autonomous driving test operation to be performed by the autonomous vehicle is an automated valet parking test operation,
When there are three consecutive empty parking spaces, the central empty space is used.
When there are no three consecutive empty parking spaces but there are two consecutive empty parking spaces, one of the empty spaces will be used.
When there are no two consecutive empty parking spaces but there is one empty parking space, and the distance between a vehicle parked in an adjacent empty parking space and the said one empty parking space is greater than or equal to a predetermined value, the said one empty parking space,
If there are no available parking spaces, then you can wait until one becomes available before parking in that space.
Create a plan to perform the automated valet parking test operation to park in the test parking space.
Automated valet parking management system. A parking management device that determines the autonomous driving test operations that an autonomous vehicle should perform within the parking lot and creates a plan for said autonomous driving test operations,
Based on the aforementioned plan, an automated valet control device outputs commands to the autonomous vehicle for performing the autonomous driving test operation within the parking lot,
It is equipped with,
The aforementioned parking management device is
When the autonomous driving test operation to be performed by the autonomous vehicle is a human interaction test operation,
Commands for performing walking movements are output to the humanoid robot.
Create a plan for performing the aforementioned person-to-person test operation within the aforementioned parking lot.
Automated valet parking management system. An automated valet parking management system according to any one of claims 1 to 3 ,
The aforementioned parking management device is
Determine the software version of the aforementioned autonomous vehicle,
An automated valet parking management system that determines that, among one or more automated driving test operations associated with the aforementioned version, the automated driving vehicle will perform an automated driving test operation that it has not yet performed. An automated valet parking management system according to any one of claims 1 to 4 ,
The aforementioned parking management device is
An automated valet parking management system that determines whether the automated driving test operation to be performed is possible in the environment of the parking lot for the automated driving vehicle that has not yet performed the test operation. An automated valet parking management system according to any one of claims 1 to 5 ,
The aforementioned parking management device is
An automated valet parking management system that determines the automated driving test operation to be performed based on the type and/or size of the automated driving vehicle. An automated valet parking management system according to claim 1 ,
The parking management device is an automated valet parking management system that causes the automated valet control device to output commands to the participating vehicles to behave as pseudo-non-autonomous vehicles. An automated valet parking management system according to claim 1 or 7 ,
The aforementioned parking management device is
An automated valet parking management system that, when the autonomous vehicle has performed the vehicle-to-vehicle test operation on a first type of participating vehicle but has not yet performed it on a second type of participating vehicle that is different from the first type, determines that a second type of participating vehicle is present in the parking lot and decides that it should perform the vehicle-to-vehicle test operation on the second type of participating vehicle. An automated valet parking management system according to claim 8 ,
The aforementioned type is an automated valet parking management system that includes vehicle type, size, vehicle manufacturer, body color, and/or software update details. An automated valet parking management system according to claim 1, 7, 8, or 9 ,
The aforementioned parking management device is
The autonomous vehicle that has performed the aforementioned vehicle-to-vehicle test operation,
The owner of the participating vehicle has authorized the autonomous vehicle to participate in the vehicle-to-vehicle test operation.
Autonomous vehicles used as shared cars or rental cars,
An automated valet parking management system that determines which of the self-driving vehicles with valid vehicle insurance will be the participating vehicle. An automated valet parking management system according to claim 2 ,
The aforementioned test parking space is a parking space dedicated to test parking, and is part of an automated valet parking management system. An automated valet parking management system according to claim 2 or 11,
The width and/or length of the test parking space for the autonomous vehicle are variable.
The aforementioned parking management device is
The test parking space is controlled to be of multiple different sizes,
An automated valet parking management system creates a plan for performing the automated valet parking test operation to park in multiple vacant spaces of different sizes. An automated valet parking management system according to any one of claims 1 to 12 ,
The aforementioned parking management device is
An automated valet parking management system that generates test results of the autonomous driving test operations performed by the autonomous vehicle. An automated valet parking management system according to claim 13 ,
The aforementioned parking management device is
An automated valet parking management system that, if the test results are satisfactory, causes the automated valet control device to output a command to the automated vehicle to park the automated vehicle in a parking space within the parking lot by autonomous driving. An automated valet parking management system according to claim 13 or 14 ,
The test results include images taken by one or more cameras installed in the parking lot and/or images taken by an on-board camera of the autonomous vehicle. Automated valet parking management system. An automated valet parking management system according to any one of claims 13 to 15 ,
The aforementioned parking management device is
An automated valet parking management system that outputs the aforementioned test results to an external device for storage in a database as big data. The parking management system determines the autonomous driving test operations that the autonomous vehicle should perform within the parking lot and creates a plan for the autonomous driving test operations.
An automated valet parking management method comprising an automated valet control device that outputs a command to the automated vehicle to perform the automated driving test operation within the parking lot based on the plan,
The aforementioned parking management device
When the autonomous driving test operation to be performed by the autonomous vehicle is a vehicle-to-vehicle test operation,
The participating vehicles, which are autonomous vehicles located within the aforementioned parking lot and participating in the aforementioned vehicle-to-vehicle test operation, are determined.
The automated valet control system is instructed to output commands to the autonomous vehicle and the participating vehicles for performing the vehicle-to-vehicle test operation within the parking lot.
Automated valet parking management method. The parking management system determines the autonomous driving test operations that the autonomous vehicle should perform within the parking lot and creates a plan for the autonomous driving test operations.
The automated valet control system outputs a command to the autonomous vehicle to perform the autonomous driving test operation within the parking lot, based on the plan.
An automated valet parking management method,
The aforementioned parking management device
When the autonomous driving test operation to be performed by the autonomous vehicle is an automated valet parking test operation,
When there are three consecutive empty parking spaces, the central empty space is used.
When there are no three consecutive empty parking spaces but there are two consecutive empty parking spaces, one of the empty spaces will be used.
When there are no two consecutive empty parking spaces but there is one empty parking space, and the distance between a vehicle parked in an adjacent empty parking space and the said one empty parking space is greater than or equal to a predetermined value, the said one empty parking space,
If there are no available parking spaces, then you can wait until one becomes available before parking in that space.
Create a plan to perform the automated valet parking test operation to park in the test parking space.
Automated valet parking management method. The parking management system determines the autonomous driving test operations that the autonomous vehicle should perform within the parking lot and creates a plan for the autonomous driving test operations.
The automated valet control system outputs a command to the autonomous vehicle to perform the autonomous driving test operation within the parking lot, based on the plan.
An automated valet parking management method,
The aforementioned parking management device
When the autonomous driving test operation to be performed by the autonomous vehicle is a human interaction test operation,
Commands for performing walking movements are output to the humanoid robot.
Create a plan for performing the aforementioned person-to-person test operation within the aforementioned parking lot.
Automated valet parking management method.