US 12,122,379 B2
Automated valet parking system, control method for automated valet parking system, and autonomous driving vehicle
Tatsuya Sugano, Shizuoka-ken (JP); and Koji Morita, Gotemba (JP)
Assigned to TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed by TOYOTA JIDOSHA KABUSHIKI KAISHA, Toyota (JP)
Filed on Sep. 14, 2022, as Appl. No. 17/944,599.
Claims priority of application No. 2021-154073 (JP), filed on Sep. 22, 2021.
Prior Publication US 2023/0087852 A1, Mar. 23, 2023
Int. Cl. B60W 30/165 (2020.01); B60W 30/06 (2006.01); B60W 30/18 (2012.01)
CPC B60W 30/165 (2013.01) [B60W 30/06 (2013.01); B60W 30/181 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/80 (2020.02)] 6 Claims
OG exemplary drawing
 
1. An automated valet parking system that causes a first vehicle and a second vehicle that are autonomous driving vehicles to perform automated valet parking comprising one or more processors configured to:
cause the second vehicle to perform follow-up traveling to follow the first vehicle in a parking place, the follow-up traveling being included in automated valet parking;
set a stop position between the first vehicle and the second vehicle when the second vehicle is performing the follow-up traveling to follow the first vehicle in the parking place;
calculate, based on a position of the second vehicle, a vehicle speed of the second vehicle, and the stop position, a deceleration start distance between the stop position and a position where the second vehicle starts deceleration to stop at the stop position;
set a target vehicle-to-vehicle distance of the second vehicle from the first vehicle in the follow-up traveling; and
set, as the target vehicle-to-vehicle distance, a distance longer than a sum of the deceleration start distance and a margin distance from the stop position to the first vehicle.