JP6976084B2 - Mixed parking facilities - Google Patents

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JP6976084B2
JP6976084B2 JP2017113248A JP2017113248A JP6976084B2 JP 6976084 B2 JP6976084 B2 JP 6976084B2 JP 2017113248 A JP2017113248 A JP 2017113248A JP 2017113248 A JP2017113248 A JP 2017113248A JP 6976084 B2 JP6976084 B2 JP 6976084B2
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克之 高橋
博之 篠塚
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IHI Transport Machinery Co Ltd
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Description

本発明は、混在型駐車設備に関するものである。 The present invention relates to a mixed parking facility.

近年、乗員が関与せずに自動走行自在な自動運転車の開発が急速に進められており、今後、普及が見込まれている。 In recent years, the development of self-driving cars that can freely travel without the involvement of occupants has been rapidly progressing, and is expected to become widespread in the future.

尚、自動運転車と関連する一般的技術水準を示すものとしては、例えば、特許文献１がある。 As a general technical level related to an autonomous vehicle, for example, Patent Document 1 is available.

特開２０１５−７５８９９号公報Japanese Unexamined Patent Publication No. 2015-75899

ところで、将来の駐車設備では、自動運転車だけではなく、利用者が運転を行う自動運転非対応車も混在することが想定されるが、自動運転車と自動運転非対応車とが混在する混在型駐車設備では、自動運転非対応車は、利用者自らが運転して駐車しなければならない。 By the way, in future parking facilities, it is expected that not only self-driving cars but also non-self-driving cars driven by users will coexist, but self-driving cars and non-self-driving cars will coexist. In the type parking facility, the user must drive and park the vehicle that does not support autonomous driving.

しかしながら、利用者自らが自動運転非対応車を運転して駐車を行うのでは、駐車行為が煩わしくなるばかりでなく、利用者が駐車設備の内部まで立ち入って自動車に乗降する必要があり、人感センサ等を複数設置しなければならず、コストアップにもつながる虞があった。 However, if the user himself drives a car that does not support autonomous driving and parks, not only is the parking act troublesome, but the user also has to enter the inside of the parking facility and get on and off the car. It was necessary to install multiple sensors, etc., which could lead to an increase in cost.

本発明は、上記従来の問題点に鑑みてなしたもので、自動運転車と自動運転非対応車とが混在する環境において無人駐車を円滑に実現し得る混在型駐車設備を提供しようとするものである。 The present invention has been made in view of the above-mentioned conventional problems, and an object of the present invention is to provide a mixed parking facility capable of smoothly realizing unmanned parking in an environment in which an autonomous driving vehicle and an autonomous driving non-compatible vehicle coexist. Is.

上記目的を達成するために、本発明の混在型駐車設備は、自動走行自在な自動運転車と、利用者が運転を行う自動運転非対応車とを同じ駐車場所に混在させて格納する混在型駐車設備であって、
前記自動運転非対応車を入出庫部と駐車場所との間で搬送する自動搬送装置と、
該自動搬送装置及び自動運転車との間で入出庫に関する信号の送受信を行うことで前記自動搬送装置及び自動運転車を自動走行させる管制装置とを備え、
前記自動運転非対応車の自動搬送装置による入庫時、前記信号は、前記管制装置から自動搬送装置へ送信され且つ前記入出庫部から駐車場所への走行経路を示す走行経路信号と、前記自動搬送装置から管制装置へ送信され且つ前記自動搬送装置が自動運転非対応車を駐車場所に入庫させたことを示す駐車完了信号とを有し、
前記自動運転非対応車の自動搬送装置による出庫時、前記信号は、前記管制装置から自動搬送装置へ送信され且つ前記駐車場所から入出庫部への走行経路を示す走行経路信号と、前記自動搬送装置から管制装置へ送信され且つ前記自動搬送装置が自動運転非対応車を入出庫部に搬送したことを示す出庫完了信号とを有し、
前記自動運転車の入庫時、前記信号は、前記管制装置から前記自動運転車へ送信され且つ前記入出庫部から駐車場所への走行経路を示す走行経路信号を有し、
前記自動運転車の出庫時、前記信号は、前記管制装置から前記自動運転車へ送信され且つ前記駐車場所から入出庫部への走行経路を示す走行経路信号を有している。 In order to achieve the above object, the mixed parking facility of the present invention is a mixed type in which an autonomous driving vehicle that can freely drive and a vehicle that does not support autonomous driving that the user drives are mixed and stored in the same parking place. It ’s a parking facility,
An automatic transport device that transports vehicles that do not support automatic driving between the warehousing / delivery section and the parking lot.
It is equipped with the automatic transfer device and a control device for automatically traveling the automatic driving vehicle by transmitting and receiving signals related to warehousing and delivery between the automatic transfer device and the automatic driving vehicle.
At the time of warehousing by the automatic transport device of the vehicle that does not support automatic driving, the signal is transmitted from the control device to the automatic transport device and indicates a travel route signal from the warehousing / delivery unit to the parking place, and the automatic transport. It has a parking completion signal transmitted from the device to the control device and indicating that the automatic transport device has put a vehicle that does not support automatic driving into the parking place.
At the time of delivery by the automatic transport device of the vehicle that does not support automatic driving, the signal is transmitted from the control device to the automatic transport device and indicates a travel route from the parking place to the warehousing / delivery section, and the automatic transport. It has a delivery completion signal that is transmitted from the device to the control device and indicates that the automatic transfer device has transported a vehicle that does not support automatic driving to the entry / exit section.
At the time of warehousing of the self-driving car, the signal has a travel route signal transmitted from the control device to the autonomous vehicle and indicating a travel route from the warehousing / delivery unit to the parking place.
At the time of leaving the autonomous vehicle, the signal has a travel route signal transmitted from the control device to the autonomous vehicle and indicating a travel route from the parking place to the entry / exit section.

本発明の混在型駐車設備によれば、自動運転車と自動運転非対応車とが混在する環境において無人駐車を円滑に実現し得るという優れた効果を奏し得る。 According to the mixed parking facility of the present invention, it is possible to achieve an excellent effect that unmanned parking can be smoothly realized in an environment in which an autonomous driving vehicle and a vehicle not compatible with autonomous driving are mixed.

本発明の混在型駐車設備の第一実施例を示すブロック図である。It is a block diagram which shows the 1st Embodiment of the mixed type parking facility of this invention. 本発明の混在型駐車設備の第一実施例を示す平面図である。It is a top view which shows the 1st Embodiment of the mixed type parking facility of this invention. 本発明の混在型駐車設備の第一実施例における自動搬送装置としての自動走行機能付搬送台車の一例を示す平面図である。It is a top view which shows an example of the transport trolley with an automatic traveling function as an automatic transport device in the 1st Embodiment of the mixed type parking equipment of this invention. 本発明の混在型駐車設備の第一実施例における入庫時の作動を示すフローチャートである。It is a flowchart which shows the operation at the time of warehousing in 1st Embodiment of the mixed type parking equipment of this invention. 本発明の混在型駐車設備の第一実施例における出庫時の作動を示すフローチャートである。It is a flowchart which shows the operation at the time of leaving a warehousing in 1st Embodiment of the mixed type parking equipment of this invention. 本発明の混在型駐車設備の第二実施例を示す平面図である。It is a top view which shows the 2nd Embodiment of the mixed type parking facility of this invention. 本発明の混在型駐車設備の第二実施例における自動搬送装置としての自動走行機能付パレットの一例を示す側面図であって、（ａ）は入庫部に設置された入庫スロープの前端に自動走行機能付パレットの後端を接続した状態を示す図、（ｂ）は出庫部に設置された出庫スロープの後端に自動走行機能付パレットの前端を接続した状態を示す図である。It is a side view which shows an example of the pallet with an automatic traveling function as an automatic transport device in the 2nd Embodiment of the mixed type parking equipment of this invention, (a) is the automatic traveling on the front end of the warehousing slope installed in the warehousing part. The figure which shows the state which connected the rear end of the pallet with a function, (b) is the figure which shows the state which connected the front end of the pallet with an automatic traveling function to the rear end of the delivery slope installed in the delivery section. 本発明の混在型駐車設備の第二実施例における入庫時の作動を示すフローチャートである。It is a flowchart which shows the operation at the time of warehousing in the 2nd Embodiment of the mixed type parking equipment of this invention. 本発明の混在型駐車設備の第二実施例における出庫時の作動を示すフローチャートである。It is a flowchart which shows the operation at the time of delivery in the 2nd Embodiment of the mixed type parking equipment of this invention.

以下、本発明の実施の形態を添付図面を参照して説明する。 Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings.

図１〜図５は本発明の混在型駐車設備の第一実施例であって、自動走行自在な自動運転車１と、利用者が運転を行う自動運転非対応車２とを同じ駐車場所３（図２参照）に混在させて格納するようになっている。 1 to 5 are the first embodiment of the mixed parking facility of the present invention, in which the self-driving car 1 capable of self-driving and the non-self-driving car 2 driven by the user are in the same parking place 3. It is designed to be mixed and stored in (see FIG. 2).

前記混在型駐車設備は、図１に示す如く、前記自動運転非対応車２を入出庫部４（図２参照）と駐車場所３との間で搬送する自動搬送装置５と、該自動搬送装置５及び自動運転車１との間で入出庫に関する信号の送受信を行うことで前記自動搬送装置５及び自動運転車１を自動走行させる管制装置６とを備えている。 As shown in FIG. 1, the mixed type parking facility includes an automatic transport device 5 that transports a vehicle 2 that does not support automatic driving between a warehousing / delivery unit 4 (see FIG. 2) and a parking place 3, and the automatic transport device. It is equipped with the automatic transfer device 5 and a control device 6 for automatically traveling the automatic driving vehicle 1 by transmitting and receiving signals related to warehousing and delivery between the automatic driving vehicle 1 and the automatic driving vehicle 1.

第一実施例において、前記混在型駐車設備は、図２に示す如く、入出庫部４（入庫部４ａ及び出庫部４ｂ）と走行路７と駐車場所３とが設けられ、前記自動搬送装置５としては、自動走行機能付搬送台車１５が用いられている。尚、前記入出庫部４は、入庫部４ａと、出庫部４ｂとに分けられ、降車エリアと乗車エリアとが分割形成されているが、前記降車エリアと乗車エリアとを一つにまとめて入出庫部４を一つとしても良いことは言うまでもない。 In the first embodiment, as shown in FIG. 2, the mixed parking facility is provided with a warehousing / delivery section 4 (warehousing section 4a and warehousing section 4b), a traveling path 7, and a parking place 3, and the automatic transport device 5 is provided. As a transport trolley 15 with an automatic traveling function, a transport trolley 15 with an automatic traveling function is used. The warehousing / delivery section 4 is divided into a warehousing section 4a and a warehousing section 4b, and the disembarkation area and the boarding area are separately formed. Needless to say, it is okay to have one delivery section 4.

前記自動搬送装置５は、例えば、図３に示すような自動走行機能付搬送台車１５とすることができる。前記自動走行機能付搬送台車１５は、台車本体１６とリフター１７とを備えている。前記台車本体１６は、走行駆動装置１８により自走可能で且つ自動運転非対応車２下部に進入可能となっている。前記リフター１７は、前記台車本体１６の台車フレーム１６ａに連結部材１９を介して取り付けられるリフターフレーム１７ａに、前記台車フレーム１６ａの側面に沿う格納位置と前記自動運転非対応車２の各車輪２０を前後から挟み付けるように支持しつつリフトアップする展開位置との間で回動自在な一対のリフトバー１７ｂを、前記自動運転非対応車２の車輪２０に対応させて枢着することによって形成されている。 The automatic transport device 5 can be, for example, a transport trolley 15 with an automatic traveling function as shown in FIG. The transport trolley 15 with an automatic traveling function includes a trolley main body 16 and a lifter 17. The bogie body 16 is self-propelled by the traveling drive device 18 and can enter the lower part of the vehicle 2 that does not support automatic driving. The lifter 17 has a retracted position along the side surface of the bogie frame 16a and each wheel 20 of the vehicle 2 that does not support automatic driving on the lifter frame 17a attached to the bogie frame 16a of the bogie body 16 via a connecting member 19. It is formed by pivotally attaching a pair of lift bars 17b that are rotatable between the lift bar 17b and the deployment position that lifts up while supporting the vehicle so as to be sandwiched from the front and rear so as to correspond to the wheels 20 of the vehicle 2 that does not support automatic driving. There is.

尚、前記自動走行機能付搬送台車１５としては、例えば、特開２０１３−１９２１０号公報に開示されているようなものを採用することができる。但し、前記自動走行機能付搬送台車１５は図３に示される形式に限定されるものではない。 As the transport carriage 15 with an automatic traveling function, for example, those disclosed in Japanese Patent Application Laid-Open No. 2013-19210 can be adopted. However, the transport carriage 15 with an automatic traveling function is not limited to the format shown in FIG.

次に、上記第一実施例の作用を説明する。 Next, the operation of the first embodiment will be described.

自動運転非対応車２の入庫時、利用者は、自動運転非対応車２を混在型駐車設備の入出庫部４（入庫部４ａ）で停止させた後（図４のステップＳ１０参照）、降車して入庫スタート操作を行う（図４のステップＳ１１参照）。前記入庫スタート操作は、例えば、入出庫部４（入庫部４ａ）に設けられた入庫ボタン（図示せず）を利用者が押すことによって行われる。尚、前記入庫スタート操作は、利用者が所有するスマートフォンから行うことも可能である。 At the time of warehousing of the vehicle 2 that does not support automatic driving, the user stops the vehicle 2 that does not support automatic driving at the warehousing / delivery section 4 (stocking section 4a) of the mixed parking facility (see step S10 in FIG. 4), and then disembarks. Then, the warehousing start operation is performed (see step S11 in FIG. 4). The warehousing start operation is performed, for example, by the user pressing a warehousing button (not shown) provided in the warehousing / delivery section 4 (stocking section 4a). The warehousing start operation can also be performed from a smartphone owned by the user.

利用者によって前記入庫スタート操作が行われると、自動走行機能付搬送台車１５が入庫スタート信号Ａを受信すると共に（図４のステップＳ１２参照）、混在型駐車設備の管制装置６が入庫スタート信号Ａを受信する（図４のステップＳ１３参照）。 When the warehousing start operation is performed by the user, the transport trolley 15 with an automatic traveling function receives the warehousing start signal A (see step S12 in FIG. 4), and the control device 6 of the mixed parking facility receives the warehousing start signal A. (See step S13 in FIG. 4).

前記混在型駐車設備の管制装置６が入庫スタート信号Ａを受信すると、入庫すべき駐車場所３を示す駐車場所信号Ｂと、前記入出庫部４（入庫部４ａ）から駐車場所３への走行経路を示す走行経路信号Ｃとが混在型駐車設備の管制装置６から自動走行機能付搬送台車１５へ送信される（図４のステップＳ１４参照）。 When the control device 6 of the mixed parking facility receives the warehousing start signal A, the parking place signal B indicating the parking place 3 to be warehousing and the traveling route from the warehousing / delivery section 4 (stocking section 4a) to the parking place 3 The travel route signal C indicating the above is transmitted from the control device 6 of the mixed parking facility to the transport carriage 15 with the automatic travel function (see step S14 in FIG. 4).

前記駐車場所信号Ｂと走行経路信号Ｃとを自動走行機能付搬送台車１５が受信すると（図４のステップＳ１５参照）、自動走行機能付搬送台車１５が自動運転非対応車２をリフトアップし（図４のステップＳ１６参照）、駐車場所３へ向け自動走行をスタートする（図４のステップＳ１７参照）。 When the transport vehicle 15 with an automatic travel function receives the parking location signal B and the travel route signal C (see step S15 in FIG. 4), the transport vehicle 15 with an automatic travel function lifts up the vehicle 2 that does not support automatic driving (see step S15 in FIG. 4). (See step S16 in FIG. 4), the automatic driving to the parking place 3 is started (see step S17 in FIG. 4).

前記自動走行機能付搬送台車１５が走行路７を自動走行し（図４のステップＳ１８参照）、入庫すべき駐車場所３に到着すると（図４のステップＳ１９参照）、前記自動走行機能付搬送台車１５は、自動運転非対応車２をリフトダウンし（図４のステップＳ２０参照）、駐車完了信号Ｄを混在型駐車設備の管制装置６へ送信する（図４のステップＳ２１参照）。 When the transport vehicle 15 with an automatic travel function automatically travels on the travel path 7 (see step S18 in FIG. 4) and arrives at the parking place 3 to be stored (see step S19 in FIG. 4), the transport vehicle with an automatic travel function Reference numeral 15 lifts down the vehicle 2 that does not support automatic driving (see step S20 in FIG. 4), and transmits a parking completion signal D to the control device 6 of the mixed parking facility (see step S21 in FIG. 4).

前記混在型駐車設備の管制装置６が駐車完了信号Ｄを受信すると（図４のステップＳ２２参照）、入庫部待機信号Ｅが自動走行機能付搬送台車１５へ送信される（図４のステップＳ２３参照）。 When the control device 6 of the mixed parking facility receives the parking completion signal D (see step S22 in FIG. 4), the warehousing section standby signal E is transmitted to the transport trolley 15 with the automatic traveling function (see step S23 in FIG. 4). ).

前記自動走行機能付搬送台車１５が入庫部待機信号Ｅを受信すると（図４のステップＳ２４参照）、該自動走行機能付搬送台車１５は、自動走行し（図４のステップＳ２５参照）、入庫部４ａに到着した後、待機状態に移行する（図４のステップＳ２６参照）。 When the transport trolley 15 with an automatic traveling function receives the warehousing unit standby signal E (see step S24 in FIG. 4), the transport trolley 15 with an automatic traveling function automatically travels (see step S25 in FIG. 4), and the warehousing unit After arriving at 4a, the state shifts to the standby state (see step S26 in FIG. 4).

前記自動走行機能付搬送台車１５が入庫部４ａに到着して待機状態に移行すると、自動走行機能付搬送台車１５から混在型駐車設備の管制装置６へ待機完了信号Ｆが送信され（図４のステップＳ２７参照）、該待機完了信号Ｆを混在型駐車設備の管制装置６が受信する（図４のステップＳ２８参照）。 When the transport trolley 15 with an automatic traveling function arrives at the warehousing unit 4a and shifts to the standby state, a standby completion signal F is transmitted from the transport trolley 15 with an automatic traveling function to the control device 6 of the mixed parking facility (FIG. 4). (See step S27), the standby completion signal F is received by the control device 6 of the mixed parking facility (see step S28 in FIG. 4).

これにより、前記自動運転非対応車２の入庫が完了する。 As a result, the warehousing of the vehicle 2 that does not support automatic driving is completed.

一方、自動運転非対応車２の出庫時、利用者は出庫スタート操作を行う（図５のステップＳ１００参照）。前記出庫スタート操作は、例えば、入出庫部４（出庫部４ｂ）に設けられた出庫ボタン（図示せず）を利用者が押すことによって行われる。尚、前記出庫スタート操作は、利用者が所有するスマートフォンから行うことも可能である。 On the other hand, when the vehicle 2 that does not support automatic driving is delivered, the user performs a delivery start operation (see step S100 in FIG. 5). The warehousing start operation is performed, for example, by the user pressing a warehousing button (not shown) provided on the warehousing / delivery unit 4 (delivery unit 4b). The delivery start operation can also be performed from a smartphone owned by the user.

前記出庫スタート操作が行われると、自動走行機能付搬送台車１５が出庫スタート信号Ｇを受信すると共に（図５のステップＳ１０１参照）、混在型駐車設備の管制装置６が出庫スタート信号Ｇを受信する（図５のステップＳ１０２参照）。 When the warehousing start operation is performed, the transport trolley 15 with an automatic traveling function receives the warehousing start signal G (see step S101 in FIG. 5), and the control device 6 of the mixed parking facility receives the warehousing start signal G. (See step S102 in FIG. 5).

前記混在型駐車設備の管制装置６が出庫スタート信号Ｇを受信すると、出庫すべき自動運転非対応車２を示す出庫車両信号Ｈと、前記出庫すべき自動運転非対応車２の駐車場所３から入出庫部４（出庫部４ｂ）への走行経路を示す走行経路信号Ｉとが混在型駐車設備の管制装置６から自動走行機能付搬送台車１５へ送信される（図５のステップＳ１０３参照）。 When the control device 6 of the mixed parking facility receives the exit start signal G, the exit vehicle signal H indicating the vehicle 2 that does not support automatic driving to be discharged and the parking place 3 of the vehicle 2 that does not support automatic driving to be discharged A travel route signal I indicating a travel route to the warehousing / delivery unit 4 (delivery unit 4b) is transmitted from the control device 6 of the mixed parking facility to the transport vehicle 15 with an automatic travel function (see step S103 in FIG. 5).

前記出庫車両信号Ｈと走行経路信号Ｉとを自動走行機能付搬送台車１５が受信すると（図５のステップＳ１０４参照）、該自動走行機能付搬送台車１５は駐車場所３へ向け自動走行をスタートする（図５のステップＳ１０５参照）。 When the transport vehicle 15 with an automatic travel function receives the exit vehicle signal H and the travel route signal I (see step S104 in FIG. 5), the transport vehicle 15 with an automatic travel function starts automatic travel toward the parking place 3. (See step S105 in FIG. 5).

前記自動走行機能付搬送台車１５が自動走行し（図５のステップＳ１０６参照）、駐車場所３に到着すると（図５のステップＳ１０７参照）、自動走行機能付搬送台車１５が出庫すべき自動運転非対応車２をリフトアップし（図５のステップＳ１０８参照）、入出庫部４（出庫部４ｂ）へ向け自動走行をスタートする（図５のステップＳ１０９参照）。 When the transport trolley 15 with an automatic traveling function automatically travels (see step S106 in FIG. 5) and arrives at the parking place 3 (see step S107 in FIG. 5), the transport trolley 15 with an automatic traveling function should be delivered. The corresponding vehicle 2 is lifted up (see step S108 in FIG. 5), and automatic driving is started toward the warehousing / delivery section 4 (delivery section 4b) (see step S109 in FIG. 5).

前記自動走行機能付搬送台車１５が自動走行し（図５のステップＳ１１０参照）、入出庫部４（出庫部４ｂ）に到着すると（図５のステップＳ１１１参照）、前記自動走行機能付搬送台車１５は、自動運転非対応車２をリフトダウンし（図５のステップＳ１１２参照）、出庫完了信号Ｊを混在型駐車設備の管制装置６へ送信する（図５のステップＳ１１３参照）。 When the transport trolley 15 with an automatic traveling function automatically travels (see step S110 in FIG. 5) and arrives at the warehousing / delivery unit 4 (delivery unit 4b) (see step S111 in FIG. 5), the transport trolley 15 with an automatic traveling function Lifts down the vehicle 2 that does not support autonomous driving (see step S112 in FIG. 5), and transmits a delivery completion signal J to the control device 6 of the mixed parking facility (see step S113 in FIG. 5).

前記混在型駐車設備の管制装置６が出庫完了信号Ｊを受信すると（図５のステップＳ１１４参照）、出庫許可信号Ｋが利用者へ送信される（図５のステップＳ１１５参照）。この出庫許可信号Ｋは、入出庫部４（出庫部４ｂ）の図示していない表示器に出力されて出庫が許可されたことを表示する。尚、前記出庫許可信号Ｋは、利用者が所有するスマートフォンに送信して出庫が許可されたことを利用者に通知することも可能である。 When the control device 6 of the mixed parking facility receives the delivery completion signal J (see step S114 in FIG. 5), the delivery permission signal K is transmitted to the user (see step S115 in FIG. 5). This delivery permission signal K is output to a display (not shown) of the warehousing / delivery unit 4 (delivery unit 4b) to indicate that the warehousing is permitted. It is also possible to send the delivery permission signal K to a smartphone owned by the user to notify the user that the delivery is permitted.

前記出庫許可信号Ｋが利用者へ送信されると、利用者は自動運転非対応車２を混在型駐車設備の入出庫部４（出庫部４ｂ）から出庫する（図５のステップＳ１１６参照）。 When the delivery permission signal K is transmitted to the user, the user leaves the vehicle 2 that does not support automatic driving from the entry / exit section 4 (delivery section 4b) of the mixed parking facility (see step S116 in FIG. 5).

これにより、前記自動運転非対応車２の出庫が完了する。 As a result, the delivery of the vehicle 2 that does not support automatic driving is completed.

第一実施例の場合、利用者自らが自動運転非対応車２を運転して駐車を行う必要がなくなり、煩わしい駐車行為を行わなくて済み、利用者が駐車設備の内部まで立ち入って自動車に乗降する必要がなく、人感センサ等を複数設置しなくて済み、コスト削減が可能となる。 In the case of the first embodiment, the user does not have to drive the vehicle 2 that does not support automatic driving to park, and the user does not have to perform troublesome parking actions, and the user enters the inside of the parking facility and gets on and off the car. There is no need to install multiple motion sensors, etc., and cost reduction is possible.

尚、自動運転車１の入庫に関しては、利用者が入出庫部４（入庫部４ａ）で降車して入庫スタート操作を行うと、混在型駐車設備の管制装置６から自動運転車１へ、入庫すべき駐車場所３を示す駐車場所信号Ｂと、入出庫部４（入庫部４ａ）から駐車場所３への走行経路を示す走行経路信号Ｃとが送信され、該自動運転車１が自動走行して入庫すべき駐車場所３に向かう形となる。 Regarding the warehousing of the self-driving car 1, when the user gets off at the warehousing / delivery section 4 (stocking section 4a) and performs the warehousing start operation, the warehousing is performed from the control device 6 of the mixed parking facility to the self-driving car 1. A parking place signal B indicating a parking place to be parked 3 and a travel route signal C indicating a travel route from the warehousing / delivery unit 4 (warehousing unit 4a) to the parking place 3 are transmitted, and the self-driving car 1 automatically travels. It will be in the form of going to the parking place 3 to be stored.

又、自動運転車１の出庫に関しては、利用者が入出庫部４（出庫部４ｂ）で出庫スタート操作を行うと、混在型駐車設備の管制装置６から自動運転車１へ、駐車場所３から入出庫部４（出庫部４ｂ）への走行経路を示す走行経路信号Ｉが送信され、該自動運転車１が自動走行して入出庫部４（出庫部４ｂ）に向かう形となる。 Regarding the exit of the autonomous vehicle 1, when the user performs the exit start operation at the entry / exit section 4 (delivery section 4b), the control device 6 of the mixed parking facility moves to the autonomous vehicle 1 and the parking place 3 A travel route signal I indicating a travel route to the warehousing / delivery unit 4 (delivery unit 4b) is transmitted, and the self-driving car 1 automatically travels toward the warehousing / delivery unit 4 (delivery unit 4b).

こうして、自動運転車１と自動運転非対応車２とが混在する環境において無人駐車を円滑に実現し得る。 In this way, unmanned parking can be smoothly realized in an environment in which the autonomous driving vehicle 1 and the autonomous driving non-compatible vehicle 2 coexist.

図６〜図９は本発明の混在型駐車設備の第二実施例であって、図中、図１〜図５と同一の符号を付した部分は同一物を表わしており、基本的な構成は図１〜図５に示す第一実施例と同様である。 6 to 9 are the second embodiments of the mixed parking facility of the present invention, and in the drawings, the parts having the same reference numerals as those in FIGS. 1 to 5 represent the same objects, and have a basic configuration. Is the same as that of the first embodiment shown in FIGS. 1 to 5.

第二実施例において、前記自動搬送装置５としては、自動走行機能付パレット２５が用いられている。これに伴い、前記混在型駐車設備の入出庫部４としての入庫部４ａは、自動運転車１専用の降車エリアと、自動運転非対応車２専用の降車エリアとに分割され、該自動運転非対応車２専用の降車エリアには、図６及び図７（ａ）に示す如く、入庫スロープ３０が設置され、該入庫スロープ３０の前端に自動走行機能付パレット２５の後端を接続した状態で、自動運転非対応車２が路面から自動走行機能付パレット２５上に乗り込めるようにしてある。又、前記混在型駐車設備の入出庫部４としての出庫部４ｂは、自動運転車１専用の乗車エリアと、自動運転非対応車２専用の乗車エリアとに分割され、該自動運転非対応車２専用の乗車エリアには、図６及び図７（ｂ）に示す如く、出庫スロープ３１が設置され、該出庫スロープ３１の後端に自動走行機能付パレット２５の前端を接続した状態で、自動運転非対応車２が自動走行機能付パレット２５上から路面に降りられるようにしてある。 In the second embodiment, the pallet 25 with an automatic traveling function is used as the automatic transfer device 5. Along with this, the warehousing section 4a as the warehousing / delivery section 4 of the mixed parking facility is divided into a disembarkation area dedicated to the autonomous driving vehicle 1 and a disembarkation area dedicated to the autonomous driving non-compatible vehicle 2. As shown in FIGS. 6 and 7 (a), a warehousing slope 30 is installed in the disembarkation area dedicated to the corresponding vehicle 2, and the rear end of the pallet 25 with an automatic traveling function is connected to the front end of the warehousing slope 30. , The vehicle 2 that does not support automatic driving can get on the pallet 25 with an automatic traveling function from the road surface. Further, the warehousing section 4b as the warehousing / delivery section 4 of the mixed parking facility is divided into a boarding area dedicated to the autonomous driving vehicle 1 and a riding area dedicated to the autonomous driving non-compliant vehicle 2, and the autonomous driving non-compliant vehicle. As shown in FIGS. 6 and 7 (b), a delivery slope 31 is installed in the boarding area dedicated to 2, and the delivery slope 31 is automatically connected to the rear end of the pallet 25 with an automatic traveling function. The non-driving vehicle 2 can get off the road surface from the pallet 25 with an automatic traveling function.

尚、図６に示す混在型駐車設備では、二系統の入庫ゲート３２と、二系統の出庫ゲート３３とが設けられている。 In the mixed parking facility shown in FIG. 6, two systems of the warehousing gate 32 and two systems of the warehousing gate 33 are provided.

次に、上記第二実施例の作用を説明する。 Next, the operation of the second embodiment will be described.

自動運転非対応車２の入庫時、利用者は、自動運転非対応車２を混在型駐車設備の入出庫部４（入庫部４ａ）で入庫スロープ３０から自動走行機能付パレット２５上に乗り上げさせて停止させた後（図８のステップＳ２１０参照）、降車して入庫スタート操作を行う（図８のステップＳ２１１参照）。前記入庫スタート操作は、例えば、入出庫部４（入庫部４ａ）に設けられた入庫ボタン（図示せず）を利用者が押すことによって行われる。尚、前記入庫スタート操作は、利用者が所有するスマートフォンから行うことも可能である。 At the time of warehousing of the vehicle 2 that does not support automatic driving, the user causes the vehicle 2 that does not support automatic driving to ride on the pallet 25 with the automatic driving function from the warehousing slope 30 at the warehousing / delivery section 4 (stocking section 4a) of the mixed parking facility. After the vehicle is stopped (see step S210 in FIG. 8), the vehicle gets off and the warehousing start operation is performed (see step S211 in FIG. 8). The warehousing start operation is performed, for example, by the user pressing a warehousing button (not shown) provided in the warehousing / delivery section 4 (stocking section 4a). The warehousing start operation can also be performed from a smartphone owned by the user.

利用者によって前記入庫スタート操作が行われると、自動走行機能付パレット２５が入庫スタート信号Ａを受信すると共に（図８のステップＳ２１２参照）、混在型駐車設備の管制装置６が入庫スタート信号Ａを受信する（図８のステップＳ２１３参照）。 When the warehousing start operation is performed by the user, the pallet 25 with an automatic traveling function receives the warehousing start signal A (see step S212 in FIG. 8), and the control device 6 of the mixed parking facility receives the warehousing start signal A. Receive (see step S213 in FIG. 8).

前記混在型駐車設備の管制装置６が入庫スタート信号Ａを受信すると、入庫すべき駐車場所３を示す駐車場所信号Ｂと、前記入出庫部４（入庫部４ａ）から駐車場所３への走行経路を示す走行経路信号Ｃとが混在型駐車設備の管制装置６から自動走行機能付パレット２５へ送信される（図８のステップＳ２１４参照）。 When the control device 6 of the mixed parking facility receives the warehousing start signal A, the parking place signal B indicating the parking place 3 to be warehousing and the traveling route from the warehousing / delivery section 4 (stocking section 4a) to the parking place 3 The travel route signal C indicating the above is transmitted from the control device 6 of the mixed parking facility to the pallet 25 with the automatic travel function (see step S214 in FIG. 8).

前記駐車場所信号Ｂと走行経路信号Ｃとを自動走行機能付パレット２５が受信すると（図８のステップＳ２１５参照）、自動走行機能付パレット２５が駐車場所３へ向け自動走行をスタートする（図８のステップＳ２１７参照）。 When the pallet 25 with the automatic driving function receives the parking place signal B and the traveling route signal C (see step S215 in FIG. 8), the pallet 25 with the automatic traveling function starts automatic driving toward the parking place 3 (FIG. 8). See step S217).

前記自動走行機能付パレット２５が走行路７を自動走行し（図８のステップＳ２１８参照）、入庫すべき駐車場所３に到着すると（図８のステップＳ２１９参照）、前記自動走行機能付パレット２５は、自動運転非対応車２を載せたまま駐車場所３に留まり、駐車完了信号Ｄを混在型駐車設備の管制装置６へ送信し（図８のステップＳ２２１参照）、該混在型駐車設備の管制装置６が駐車完了信号Ｄを受信する（図８のステップＳ２２２参照）。 When the pallet 25 with an automatic traveling function automatically travels on the traveling path 7 (see step S218 in FIG. 8) and arrives at the parking place 3 to be stored (see step S219 in FIG. 8), the pallet 25 with an automatic traveling function The parking completion signal D is transmitted to the control device 6 of the mixed parking facility (see step S221 in FIG. 8), and the parking completion signal D is transmitted to the control device 6 of the mixed parking facility. 6 receives the parking completion signal D (see step S222 in FIG. 8).

これにより、前記自動運転非対応車２の入庫が完了する。 As a result, the warehousing of the vehicle 2 that does not support automatic driving is completed.

一方、自動運転非対応車２の出庫時、利用者は出庫スタート操作を行う（図９のステップＳ２１００参照）。前記出庫スタート操作は、例えば、入出庫部４（出庫部４ｂ）に設けられた出庫ボタン（図示せず）を利用者が押すことによって行われる。尚、前記出庫スタート操作は、利用者が所有するスマートフォンから行うことも可能である。 On the other hand, when the vehicle 2 that does not support automatic driving is delivered, the user performs a delivery start operation (see step S2100 in FIG. 9). The warehousing start operation is performed, for example, by the user pressing a warehousing button (not shown) provided on the warehousing / delivery unit 4 (delivery unit 4b). The delivery start operation can also be performed from a smartphone owned by the user.

前記出庫スタート操作が行われると、自動走行機能付パレット２５が出庫スタート信号Ｇを受信すると共に（図９のステップＳ２１０１参照）、混在型駐車設備の管制装置６が出庫スタート信号Ｇを受信する（図９のステップＳ２１０２参照）。 When the warehousing start operation is performed, the pallet 25 with an automatic traveling function receives the warehousing start signal G (see step S2101 in FIG. 9), and the control device 6 of the mixed parking facility receives the warehousing start signal G (see step S2101 in FIG. 9). See step S2102 in FIG. 9).

前記混在型駐車設備の管制装置６が出庫スタート信号Ｇを受信すると、出庫すべき自動運転非対応車２を載せた自動走行機能付パレット２５に対する出庫許可信号Ｈ´と、前記出庫すべき自動運転非対応車２の駐車場所３から入出庫部４（出庫部４ｂ）への走行経路を示す走行経路信号Ｉとが混在型駐車設備の管制装置６から自動走行機能付パレット２５へ送信される（図９のステップＳ２１０３参照）。 When the control device 6 of the mixed parking facility receives the delivery start signal G, the delivery permission signal H'for the pallet 25 with the automatic driving function on which the vehicle 2 that does not support automatic driving to be delivered is mounted, and the automatic operation to be delivered. A travel route signal I indicating a travel route from the parking place 3 of the non-compliant vehicle 2 to the entry / exit unit 4 (delivery unit 4b) is transmitted from the control device 6 of the mixed parking facility to the pallet 25 with an automatic driving function ( See step S2103 in FIG. 9).

前記出庫許可信号Ｈ´と走行経路信号Ｉとを自動走行機能付パレット２５が受信すると（図９のステップＳ２１０４参照）、該自動走行機能付パレット２５は駐車場所３へ向け自動走行をスタートする（図９のステップＳ２１０５参照）。 When the pallet 25 with an automatic traveling function receives the delivery permission signal H'and the traveling route signal I (see step S2104 in FIG. 9), the pallet 25 with an automatic traveling function starts automatic traveling toward the parking place 3 (see step S2104 in FIG. 9). See step S2105 in FIG. 9).

前記自動走行機能付パレット２５が自動走行し（図９のステップＳ２１０６参照）、入出庫部４（出庫部４ｂ）に到着すると（図９のステップＳ２１１１参照）、前記自動走行機能付パレット２５は、その前端が出庫スロープ３１の後端に接続された状態となった時点で、出庫完了信号Ｊを混在型駐車設備の管制装置６及び利用者へ送信し（図９のステップＳ２１１３参照）、前記混在型駐車設備の管制装置６が出庫完了信号Ｊを受信する（図９のステップＳ２１１４参照）。尚、前記出庫完了信号Ｊは、利用者が所有するスマートフォンに送信されて出庫が許可されたことを利用者に通知する。 When the pallet 25 with an automatic traveling function automatically travels (see step S2106 in FIG. 9) and arrives at the warehousing / delivery unit 4 (delivery unit 4b) (see step S2111 in FIG. 9), the pallet 25 with an automatic traveling function is set. When the front end is connected to the rear end of the delivery slope 31, the delivery completion signal J is transmitted to the control device 6 of the mixed parking facility and the user (see step S2113 in FIG. 9), and the mixture is described. The control device 6 of the type parking facility receives the delivery completion signal J (see step S2114 in FIG. 9). The delivery completion signal J is transmitted to the smartphone owned by the user to notify the user that the delivery is permitted.

前記出庫完了信号Ｊが利用者へ送信されると、利用者は自動運転非対応車２を混在型駐車設備の入出庫部４（出庫部４ｂ）の自動走行機能付パレット２５上から出庫スロープ３１を介して路面に降ろすようにして出庫する（図９のステップＳ２１１６参照）。 When the delivery completion signal J is transmitted to the user, the user transfers the vehicle 2 that does not support automatic driving from the pallet 25 with the automatic traveling function of the entry / exit section 4 (delivery section 4b) of the mixed parking facility to the delivery slope 31. (See step S2116 in FIG. 9).

これにより、前記自動運転非対応車２の出庫が完了する。 As a result, the delivery of the vehicle 2 that does not support automatic driving is completed.

第二実施例の場合も、第一実施例の場合と同様、利用者自らが自動運転非対応車２を運転して駐車を行う必要がなくなり、煩わしい駐車行為を行わなくて済み、利用者が駐車設備の内部まで立ち入って自動車に乗降する必要がなく、人感センサ等を複数設置しなくて済み、コスト削減が可能となる。 In the case of the second embodiment, as in the case of the first embodiment, the user does not have to drive the vehicle 2 that does not support automatic driving to park, and the user does not have to perform troublesome parking. There is no need to enter the inside of the parking facility to get on and off the car, and it is not necessary to install multiple motion sensors, etc., which makes it possible to reduce costs.

尚、第二実施例における自動運転車１の入庫に関しては、第一実施例と同様、利用者が入出庫部４（入庫部４ａ）で降車して入庫スタート操作を行うと、混在型駐車設備の管制装置６から自動運転車１へ、入庫すべき駐車場所３を示す駐車場所信号Ｂと、入出庫部４（入庫部４ａ）から駐車場所３への走行経路を示す走行経路信号Ｃとが送信され、該自動運転車１が自動走行して入庫すべき駐車場所３に向かう形となる。 Regarding the warehousing of the autonomous vehicle 1 in the second embodiment, as in the first embodiment, when the user gets off at the warehousing / delivery section 4 (stocking section 4a) and performs the warehousing start operation, the mixed parking facility The parking place signal B indicating the parking place 3 to be stored and the traveling route signal C indicating the traveling route from the warehousing / delivery unit 4 (storage unit 4a) to the parking place 3 from the control device 6 of the above to the autonomous driving vehicle 1. It is transmitted, and the self-driving car 1 automatically travels toward the parking place 3 to be stored.

又、第二実施例における自動運転車１の出庫に関しても、第一実施例と同様、利用者が入出庫部４（出庫部４ｂ）で出庫スタート操作を行うと、混在型駐車設備の管制装置６から自動運転車１へ、駐車場所３から入出庫部４（出庫部４ｂ）への走行経路を示す走行経路信号Ｉが送信され、該自動運転車１が自動走行して入出庫部４（出庫部４ｂ）に向かう形となる。 Further, regarding the delivery of the autonomous driving vehicle 1 in the second embodiment, as in the first embodiment, when the user performs the delivery start operation in the entry / exit section 4 (delivery section 4b), the control device for the mixed parking facility. A travel route signal I indicating a travel route from the parking place 3 to the warehousing / delivery unit 4 (delivery unit 4b) is transmitted from 6 to the self-driving car 1, and the self-driving car 1 automatically travels to the warehousing / delivery unit 4 (delivery unit 4b). It will be in the form of going to the delivery section 4b).

こうして、第二実施例のように自動搬送装置５として自動走行機能付パレット２５を用いるようにしても、自動運転車１と自動運転非対応車２とが混在する環境において無人駐車を円滑に実現し得る。 In this way, even if the pallet 25 with an automatic traveling function is used as the automatic transport device 5 as in the second embodiment, unmanned parking is smoothly realized in an environment where the autonomous driving vehicle 1 and the autonomous driving non-compatible vehicle 2 coexist. Can be.

尚、本発明の混在型駐車設備は、上述の実施例にのみ限定されるものではなく、本発明の要旨を逸脱しない範囲内において種々変更を加え得ることは勿論である。 It should be noted that the mixed parking facility of the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the gist of the present invention.

１ 自動運転車
２ 自動運転非対応車
３ 駐車場所
４ 入出庫部
４ａ 入庫部
４ｂ 出庫部
５ 自動搬送装置
６ 管制装置
１５ 自動走行機能付搬送台車
２５ 自動走行機能付パレット
Ａ 入庫スタート信号
Ｂ 駐車場所信号
Ｃ 走行経路信号
Ｄ 駐車完了信号
Ｅ 入庫部待機信号
Ｆ 待機完了信号
Ｇ 出庫スタート信号
Ｈ 出庫車両信号
Ｈ´ 出庫許可信号
Ｉ 走行経路信号
Ｊ 出庫完了信号
Ｋ 出庫許可信号 1 Self-driving car 2 Self-driving car 3 Parking place 4 Entry / exit part 4a warehousing part 4b warehousing part 5 Automatic transport device 6 Control device 15 Transport trolley with automatic driving function 25 Pallet with automatic driving function A warehousing start signal B Parking place Signal C Driving route signal D Parking completion signal E Parking completion signal F Standby completion signal G Exit start signal H Exit vehicle signal H'Exit permission signal I Travel route signal J Exit completion signal K Exit permission signal

Claims (1)

自動走行自在な自動運転車と、利用者が運転を行う自動運転非対応車とを同じ駐車場所に混在させて格納する混在型駐車設備であって、
前記自動運転非対応車を入出庫部と駐車場所との間で搬送する自動搬送装置と、
該自動搬送装置及び自動運転車との間で入出庫に関する信号の送受信を行うことで前記自動搬送装置及び自動運転車を自動走行させる管制装置とを備え、
前記自動運転非対応車の自動搬送装置による入庫時、前記信号は、前記管制装置から自動搬送装置へ送信され且つ前記入出庫部から駐車場所への走行経路を示す走行経路信号と、前記自動搬送装置から管制装置へ送信され且つ前記自動搬送装置が自動運転非対応車を駐車場所に入庫させたことを示す駐車完了信号とを有し、
前記自動運転非対応車の自動搬送装置による出庫時、前記信号は、前記管制装置から自動搬送装置へ送信され且つ前記駐車場所から入出庫部への走行経路を示す走行経路信号と、前記自動搬送装置から管制装置へ送信され且つ前記自動搬送装置が自動運転非対応車を入出庫部に搬送したことを示す出庫完了信号とを有し、
前記自動運転車の入庫時、前記信号は、前記管制装置から前記自動運転車へ送信され且つ前記入出庫部から駐車場所への走行経路を示す走行経路信号を有し、
前記自動運転車の出庫時、前記信号は、前記管制装置から前記自動運転車へ送信され且つ前記駐車場所から入出庫部への走行経路を示す走行経路信号を有することを特徴とする混在型駐車設備。
It is a mixed parking facility that stores an autonomous vehicle that can freely drive and a vehicle that does not support autonomous driving that the user drives in the same parking place.
An automatic transport device that transports vehicles that do not support automatic driving between the warehousing / delivery section and the parking lot.
It is equipped with the automatic transfer device and a control device for automatically traveling the automatic driving vehicle by transmitting and receiving signals related to warehousing and delivery between the automatic transfer device and the automatic driving vehicle.
At the time of warehousing by the automatic transport device of the vehicle that does not support automatic driving, the signal is transmitted from the control device to the automatic transport device and indicates a travel route signal from the warehousing / delivery unit to the parking place, and the automatic transport. It has a parking completion signal transmitted from the device to the control device and indicating that the automatic transport device has put a vehicle that does not support automatic driving into the parking place.
At the time of delivery by the automatic transport device of the vehicle that does not support automatic driving, the signal is transmitted from the control device to the automatic transport device and indicates a travel route from the parking place to the warehousing / delivery section, and the automatic transport. It has a delivery completion signal that is transmitted from the device to the control device and indicates that the automatic transfer device has transported a vehicle that does not support automatic driving to the entry / exit section.
At the time of warehousing of the self-driving car, the signal has a travel route signal transmitted from the control device to the autonomous vehicle and indicating a travel route from the warehousing / delivery unit to the parking place.
When the self-driving car leaves the garage, the signal is transmitted from the control device to the self-driving car and has a traveling route signal indicating a traveling route from the parking place to the warehousing / delivery section. Facility.
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