Parking management system, vehicle control device, and control center

A parking management system comprising:

• a parked vehicle database that records a size and a position of each parked vehicle in a parking lot;
• a parking lot map database that records a position and a size of each parking block in the parking lot, a position of an empty vehicle space, a position and a width of each passage, and positions of an entrance and an exit of the parking lot;
• a vehicle specification database that records a size and a minimum turning radius of an own vehicle;
• a target parking position determination unit that determines a target parking position based on the size of each parking block and the position of the empty vehicle space acquired from the parking lot map database and the size of the own vehicle acquired from the vehicle specification database;
• a route generation unit that generates a guidance route from the entrance to the target parking position or a guidance route from a parking position of the own vehicle to the exit;
• and
• a vehicle control unit that automatically drives the own vehicle according to the guidance route generated by the route generation unit,
• wherein the route generation unit includes:
• a route candidate generation unit that generates a route candidate from the entrance to the target parking position or a route candidate from the parking position of the own vehicle to the exit based on a position of the entrance or the exit acquired from the parking lot map database, and
• a turning point generation unit that generates a turning point on the route candidate generated by the route candidate generation unit and determines the route candidate as the guidance route when it is determined that the own vehicle is allowed to pass the route candidate by turning back at the turning point based on the size and the position of each parked vehicle acquired from the parked vehicle database and the size and the minimum turning radius of the own vehicle acquired from the vehicle specification database.