Automated valet parking system and service providing method

1. An automated valet parking system that provides an automated valet parking service in a parking lot, wherein a vehicle supporting the automated valet parking service comprises a recognition sensor that recognizes a situation around the vehicle,

the automated valet parking system comprising:

one or more processors; and

one or more memories configured to store recognition result information generated based on a result of recognition by the recognition sensor when the vehicle exists in the parking lot, wherein

the one or more processors are configured to:

identify a vehicle position being a position of the vehicle in the parking lot, based on a result of recognition by an infrastructure sensor installed in the parking lot;

acquire expected recognition result information that is the recognition result information expected to be obtained at the vehicle position;

compare the recognition result information with the expected recognition result information to calculate reliability of the recognition result information based on a difference between the recognition result information and the expected recognition result information; and

when the reliability is lower than a threshold, transmit notification information for notifying an abnormality of the recognition sensor to a terminal device operated by a user of the vehicle.

2. The automated valet parking system according to claim 1 , wherein

the automated valet parking service includes an additional service that performs at least one of car wash, inspection, and repair during a period in which the vehicle is left in the parking lot, and

the notification information includes additional service information that proposes to perform the additional service.

3. The automated valet parking system according to claim 1 , wherein

the recognition result information indicates the vehicle position estimated based on the result of recognition by the recognition sensor, and

the one or more processors acquire, as the expected recognition result information, information indicating the vehicle position identified based on the result of recognition by the infrastructure sensor.

4. The automated valet parking system according to claim 3 , wherein

the one or more processors calculate the reliability to be lower as a difference between the vehicle position indicated by the recognition result information and the vehicle position indicated by the expected recognition result information becomes larger.

5. The automated valet parking system according to claim 1 , wherein

a mark is placed at a predetermined position in the parking lot,

the recognition result information indicates a position of the mark calculated based on the result of recognition by the recognition sensor,

the one or more memories further store parking lot map information indicating an arrangement of marks in the parking lot, and

the one or more processors identify, based on the parking lot map information, the mark expected to be recognized by the recognition sensor of the vehicle existing at the vehicle position and acquire information indicating the predetermined position of the identified mark as the expected recognition result information.

6. The automated valet parking system according to claim 5 , wherein

the one or more processors calculate the reliability to be lower as a difference between the calculated position of the mark indicated by the recognition result information and the predetermined position of the identified mark indicated by the expected recognition result information becomes larger.

7. A service providing method that provides an automated valet parking service in a parking lot, wherein a vehicle supporting the automated valet parking service comprises a recognition sensor that recognizes a situation around the vehicle,

the service providing method comprising:

acquiring recognition result information generated based on a result of recognition by the recognition sensor when the vehicle exists in the parking lot,

identifying a vehicle position being a position of the vehicle in the parking lot, based on a result of recognition by an infrastructure sensor installed in the parking lot;

acquiring expected recognition result information that is the recognition result information expected to be obtained at the vehicle position;

comparing the recognition result information with the expected recognition result information to calculate reliability of the recognition result information based on a difference between the recognition result information and the expected recognition result information; and

when the reliability is lower than a threshold, transmitting notification information for notifying an abnormality of the recognition sensor to a terminal device operated by a user of the vehicle.

8. The service providing method according to claim 7 , wherein

the automated valet parking service includes an additional service that performs at least one of car wash, inspection, and repair during a period in which the vehicle is left in the parking lot, and

the notification information includes additional service information that proposes to perform the additional service.