US 12,122,361 B2
Automated valet parking system and method for controlling automated valet parking system
Tatsuya Sugano, Susono (JP); Ryuji Okamura, Gotemba (JP); and Koji Morita, Gotemba (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Apr. 18, 2022, as Appl. No. 17/722,694.
Claims priority of application No. 2021-079805 (JP), filed on May 10, 2021.
Prior Publication US 2022/0355790 A1, Nov. 10, 2022
Int. Cl. B60W 30/06 (2006.01); B60W 60/00 (2020.01); B62D 15/02 (2006.01); G08G 1/0967 (2006.01); G08G 1/0968 (2006.01); G08G 1/14 (2006.01)
CPC B60W 30/06 (2013.01) [B60W 60/001 (2020.02); B62D 15/0285 (2013.01); G08G 1/096811 (2013.01); G08G 1/14 (2013.01); G08G 1/146 (2013.01); G08G 1/096725 (2013.01); G08G 1/096775 (2013.01)] 4 Claims
OG exemplary drawing
 
1. An automated valet parking system comprising:
a parking place control server configured to instruct each automated driving vehicle in a parking place including a plurality of parking areas, in each of which a plurality of parking spaces is aligned at least in a parallel-parking direction, and that thus causes an automated-parking-target vehicle to park in one of the parking spaces,
a parking place sensor positioned within the parking place and configured to capture and transmit images to the parking place control server for determining a position of each automated driving vehicle in the parking place, and configured to detect and transmit data to the parking place control server related to whether or not a parked vehicle exists in a parking frame, wherein
the parking place control server includes
a parallel-parking number acquisition section that acquires, for each of the parking areas, a parallel-parking number that is a number of the parking spaces aligned in the parallel-parking direction,
a vacancy number acquisition section that acquires, for each of the parking areas, a vacancy number that is a number of the parking spaces that are vacant based on whether or not the parked vehicle exists in the parking frame detected by the parking place sensor,
a threshold value calculation section that calculates, based on the parallel-parking number, a vacancy number threshold value that is a threshold value of the vacancy number for calculating a priority of each of the parking areas, in one of which the automated-parking-target vehicle is to be parked,
a priority calculation section that calculates the priorities such that a priority of a parking area with the vacancy number that is equal to or larger than the vacancy number threshold value is higher than a priority of a parking area with the vacancy number that is smaller than the vacancy number threshold value, and
a vehicle instruction section that causes the automated-parking-target vehicle to park preferentially in one of the parking spaces in the parking area with a higher priority.