| CPC B60W 30/06 (2013.01) [B60W 30/165 (2013.01); B60W 60/001 (2020.02); B60W 2530/201 (2020.02); B60W 2552/05 (2020.02)] | 16 Claims |
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1. An automated valet parking system that causes an autonomous driving vehicle in a parking place to autonomously travel toward a target parking space and causes the autonomous driving vehicle to be automatically parked in the target parking space, the system comprising:
a vehicle information acquisition unit configured to acquire vehicle information of the autonomous driving vehicle through communication with the autonomous driving vehicle in the parking place, the vehicle information includes a vehicle turning radius, a vehicle size, and a vehicle width of the autonomous driving vehicle;
a parking plan generation unit configured to generate a parking plan and set the target parking space corresponding to the acquired vehicle information of the autonomous driving vehicle;
a first movement permission area setting unit configured to set a movement permission area for autonomous traveling that includes a part of a traveling path along which the autonomous driving vehicle reaches the target parking space and does not include the target parking space, based on positional information of the autonomous driving vehicle, positional information of the target parking space, and parking place map information;
a first movement permission area instruction unit configured to, when the movement permission area for autonomous traveling is set, instruct the autonomous driving vehicle about the movement permission area for autonomous traveling;
a second movement permission area setting unit configured to, when it is determined that the autonomous driving vehicle has arrived near the target parking space or when notification of a start of the automated valet parking for the target parking space is sent from the autonomous driving vehicle, set a movement permission area for automated valet parking that includes the target parking space and a part of the traveling path near the target parking space based on the positional information of the autonomous driving vehicle, the positional information of the target parking space, and the parking place map information; and
a second movement permission area instruction unit configured to, when the movement permission area for automated valet parking is set, instruct the autonomous driving vehicle about the movement permission area for automated valet parking,
wherein the parking place includes:
a camera configured to detect a position of the autonomous driving vehicle in the parking place;
an empty parking space sensor configured for detecting whether or not there is a parked vehicle in the target parking space, the empty parking space sensor is a pressure sensor, a radar sensor or a sonar sensor using radio waves configured to detect whether or not there is the parked vehicle in the target parking space, and
a server positioned at parking place or remotely located from the parking place, the server configured to receive a plurality of captured images transmitted from the camera and the detection of whether there or not there is the parked vehicle in the target parking space from the empty parking space sensor and is further configured to continuously acquire the vehicle information from the vehicle and determine a status of the vehicle, the status including a vehicle speed of the vehicle and a yaw rate of the vehicle.
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