CN-121995814-A - Control device

Abstract

Provided is a control device capable of running a vehicle conveyance device in a parking lot where manual driving by a driver and automatic driving by the vehicle conveyance device coexist, so that safety can be ensured. The control device includes a processor configured to calculate a device travel path when a vehicle travel device that travels by automated driving changes a parking position of a vehicle in a parking lot, calculate a vehicle travel path when a manually driven vehicle manually driven by a driver enters the parking lot, travel the manually driven vehicle from an entrance of the parking lot to a specified parking position, determine whether there is a risk of collision between the manually driven vehicle and the vehicle travel device when the manually driven vehicle deviates from the vehicle travel path, and change the device travel path when it is determined that there is the risk of collision.

Inventors

• Fifty Jin Ping
• NISHINO HIROAKI
• ONO HIRONAGA
• HANDA MANABU
• ONO YOUHEI
• Xi Cunlv
• Guang Laixue
• Chino kohei

Assignees

• 丰田自动车株式会社

Dates

Publication Date

20260508

Application Date

20251028

Priority Date

20241108

Claims (5)

1. 1.A control device is provided with a processor configured to: calculating a device travel path when a vehicle transport device that transports a vehicle by traveling by automatic driving changes a parking position of the vehicle in a parking lot; Calculating a vehicle travel path of a manually driven vehicle that is driven manually by a driver from an entrance of the parking lot to a specified parking position when the manually driven vehicle enters the parking lot; Determining whether there is a risk of collision of the manually driven vehicle with the vehicle transporting device when the manually driven vehicle deviates from the vehicle travel path, and And when the collision risk is determined to exist, changing the running path of the device.
2. 2. The control device according to claim 1, wherein, When it is determined that the collision risk exists, the processor temporarily stops the vehicle transporting device, temporarily evades the vehicle transporting device, or recalculates the device travel path.
3. 3. The control device according to claim 1, wherein, The processor alters the device travel path so as to minimize the operation of the vehicle handling device.
4. 4. The control device according to claim 1, wherein, The processor changes the device travel path so as to minimize a time until the vehicle transporting device completes transporting the vehicle.
5. 5. The control device according to claim 1, wherein, The processor determines whether the collision risk exists based on a distance between the manually driven vehicle and the vehicle handling device, a traveling direction of the manually driven vehicle and the vehicle handling device, and speeds of the manually driven vehicle and the vehicle handling device.

Description

Control device Technical Field The present disclosure relates to a control device. Background Patent document 1 discloses a vehicle conveyance system capable of efficiently operating a charging space provided at a charging point. In this technique, after a vehicle is parked in a parking space, a transfer robot transfers the vehicle from the parking space to the parking space. Patent document 1, japanese patent application laid-open No. 2023-9063. Disclosure of Invention Problems to be solved by the invention If the vehicle can be directly parked in the parking space by manual driving by the driver, the trouble of the transfer robot transferring the vehicle from the warehouse-in space to the parking space can be eliminated. In this case, since the manual driving of the driver and the automatic driving of the vehicle transporting device coexist in the parking lot, it is necessary to make the vehicle transporting device travel so that the safety can be ensured. The present disclosure has been made in view of the above-described circumstances, and an object thereof is to provide a control device capable of causing a vehicle transporting device to travel in a parking lot where manual driving by a driver and automatic driving by the vehicle transporting device coexist, so that safety can be ensured. Means for solving the problems A control device according to the present disclosure includes a processor configured to calculate a device travel path when a vehicle travel device that travels by automated driving changes a parking position of a vehicle in a parking lot, calculate a vehicle travel path when a manually driven vehicle manually driven by a driver enters the parking lot, calculate a vehicle travel path when the manually driven vehicle travels from an entrance of the parking lot to a specified parking position, determine whether there is a risk of collision between the manually driven vehicle and the vehicle travel device when the manually driven vehicle deviates from the vehicle travel path, and change the device travel path when it is determined that there is the risk of collision. In the control device according to the present disclosure, the processor may temporarily stop the vehicle transporting device, temporarily avoid the vehicle transporting device, or recalculate the device travel path when it is determined that the collision risk exists. In the control device according to the present disclosure, the processor changes the device travel path so as to minimize the operation of the vehicle transporting device. In the control device according to the present disclosure, the processor changes the device travel path so as to minimize a time until the vehicle transporting device completes transporting the vehicle. In the control device according to the present disclosure, the processor determines whether or not the collision risk exists based on a distance between the manual driving vehicle and the vehicle transporting device, a traveling direction of the manual driving vehicle and the vehicle transporting device, and a speed of the manual driving vehicle and the vehicle transporting device. ADVANTAGEOUS EFFECTS OF INVENTION According to the present disclosure, a control device is realized that can run a vehicle transporting device in a parking lot where manual driving by a driver and automatic driving by the vehicle transporting device coexist so as to ensure safety. Drawings Fig. 1 is a block diagram showing the structure of a charge management system including a control device. Fig. 2 is a diagram showing a schematic configuration of a parking lot having a charging point managed by a control device. Fig. 3 is a flowchart showing a process performed by the control apparatus. Fig. 4 is a diagram showing an example of data managed by the database management server. Fig. 5 is a diagram showing an example of data managed by the charge management server. Detailed Description A control device according to an embodiment of the present disclosure will be described with reference to the drawings. The constituent elements in the following embodiments include elements that can be replaced by those skilled in the art and that can be easily replaced, or substantially the same elements. (Embodiment) Fig. 1 is a block diagram showing the structure of a charge management system including a control device. As shown in fig. 1, the charge management system 100 includes a control device 1, a warehouse management server 2, a charge management server 3, a terminal device 4, a vehicle conveyance device A1, and a vehicle conveyance device A2. The control device 1, the warehouse management server 2, the charge management server 3, the terminal device 4, the vehicle transporting device A1, and the vehicle transporting device A2 each have a communication function, and are configured to be capable of communicating with each other via the network N to exchange various information. The network N is constituted by a public line netwo