Automatic valet parking system, infrastructure thereof and vehicle

Abstract

Disclosed is an automatic valet parking vehicle including: a sensor unit configured to acquire image data related to an environment around the vehicle; a controller configured to control at least one function of the vehicle; a communication device configured to communicate with a server related to automatic valet parking; and a processor configured to receive a movement request message from a server, the movement request message including a control command for at least one of acceleration, braking, or steering; controlling the vehicle to drive to the service space based on the control command; identifying a code marker corresponding to the service selection information based on the image data; and controlling an automatic parking operation of the vehicle based on the code marker to park the vehicle in the service space.

Description

[0001] Cross-references to related applications

[0002] This patent document claims priority and benefit to Korean Patent Application No. 10-2024-0070619, filed on May 30, 2024, the entire contents of which are incorporated herein by reference as part of the disclosure of this patent document. Technical Field

[0003] Various embodiments of the disclosed technology relate to autonomous driving systems, and more specifically, to systems that support automated valet parking. Background Technology

[0004] An automated valet parking system refers to a system that allows a driver to move a vehicle to an available parking space in a parking lot after the driver has parked and gotten out of the vehicle in the drop-off area when the driver is not in the car or has finished parking.

[0005] In addition, when a driver calls for a vehicle, the automated valet parking system can automatically move the parked vehicle to the pick-up area and allow the driver to take over vehicle control within the pick-up area.

[0006] For vehicles capable of autonomous driving, automated valet parking systems can park the vehicle in an empty parking space.

[0007] When parking lots that provide automated valet parking use various services, it is more convenient to move a vehicle to a designated location than to have the service provider (e.g., an operator) locate and move the vehicle.

[0008] If the service provider only checks the parking space or the appearance of the vehicle in the parking lot that provides automated valet parking, there may be problems such as another driver parking the vehicle in the parking space first, the vehicle in front not leaving the corresponding parking space, or the target vehicle being parked in another parking space due to a vehicle sensor malfunction. Summary of the Invention

[0009] Therefore, various embodiments disclose a system and its operation method that can provide seamless service by using code tags in parking lots to accurately match vehicles with service providers, and that provides automated valet parking.

[0010] The technical problems to be solved by this disclosure are not limited to those described above. Other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

[0011] According to one or more exemplary embodiments of this disclosure, a vehicle may include: a sensor configured to acquire image data relating to the vehicle's surrounding environment; a controller configured to control at least one function of the vehicle; a communication device configured to communicate with a server related to automated valet parking; and a processor. The processor may be configured to: receive a movement request message from the server, the movement request message including a control command for at least one of acceleration, braking, or steering; control the vehicle to move toward a service space based on the control command; identify code markers corresponding to service selection information based on the image data; and control the vehicle's automated parking operation based on the code markers to park the vehicle in the service space.

[0012] The processor can also be configured to: receive available service information from the server. The available service information may include information about at least one of delivery service, maintenance service, car wash service, or charging service; and send service selection information to the server.

[0013] The processor can also be configured to receive service spatial location information corresponding to service selection information and marker image information corresponding to service selection information from the server.

[0014] The processor can be configured to identify coded markers by recognizing coded markers corresponding to coded image information based on image data.

[0015] Image data can be acquired in the first instance. The sensor can be mounted on the side of the vehicle. The processor can be configured to identify the code mark by controlling the vehicle to perform forward or reverse parking in the service space; and, in a second instance later than the first instance, to identify the code mark based on second image data acquired via a second sensor mounted in one of the front or rear sections of the vehicle.

[0016] The processor can also be configured to send a parking completion notification message to the server based on the second identification code marker.

[0017] The processor can also be configured to receive service completion notification messages, vehicle exit request messages, and reparking location information from the server.

[0018] The processor can also be configured to send a re-parking completion notification message to the server based on the re-parking location information after the vehicle has moved to the re-parking position.

[0019] According to one or more example embodiments of this disclosure, the computing device may include: a data storage device configured to store code tag information; a communication device configured to communicate with a vehicle; and a processor configured to: send a movement request message to the vehicle, the movement request message including a control command for at least one of acceleration, braking, or steering; identify code tags corresponding to service selection information based on image data related to the vehicle's surrounding environment; and cause the vehicle to perform an automatic parking operation based on the code tags to park the vehicle in a service space.

[0020] The processor may also be configured to: send available service information to the vehicle. The available service information may include information about at least one of delivery service, maintenance service, car wash service, or charging service; and receive service selection information from the vehicle. The computing device may include at least one server associated with automated valet parking.

[0021] The processor can also be configured to send service appointment information and vehicle information to the service provider.

[0022] Image data can be acquired via sensors mounted on the side of the vehicle. The processor can be configured to recognize coded markers based on stored coded image information.

[0023] The processor can be configured to cause the vehicle to perform an automatic parking operation to park the vehicle in a service space by sending the vehicle a message requesting it to park forward or backward in the service space; and after a time following the identification of a code mark based on image data, identifying a code mark based on second image data acquired via a second sensor installed in one of the front or rear sections of the vehicle.

[0024] The processor can also be configured to: receive a service completion notification message from the service provider; and send a service completion notification message, a vehicle exit request message, and reparking location information to the vehicle.

[0025] According to one or more example embodiments of this disclosure, a method performed by a vehicle's apparatus may include receiving available service information from a server associated with automated valet parking; sending service selection information to the server; receiving a movement request message from the server, the movement request message including a control command for at least one of acceleration, braking, or steering, and marker image information corresponding to the service selection information; controlling the vehicle to move toward a service space based on the control command; identifying code markers corresponding to the marker image information based on image information related to the vehicle's surrounding environment; and controlling the vehicle's automated parking operation based on the code markers to park the vehicle in the service space.

[0026] Image information relating to the vehicle’s surroundings may include first image data acquired via a first sensor mounted on the side of the vehicle.

[0027] The identification code marker may include: prompting the vehicle to perform forward or reverse parking at the service space; and identifying the code marker based on second image data acquired via a second sensor installed in one of the front or rear of the vehicle.

[0028] The method may further include: sending a parking completion notification message to the server based on the identification code marker using the second image data.

[0029] The method may also include receiving a service completion notification message, a vehicle exit request message, and reparking location information from the server.

[0030] The method may further include: after the vehicle moves to the reparking position, sending a reparking completion notification message to the server based on the reparking position information. Attached Figure Description

[0031] Figure 1 An automated valet parking system according to an embodiment of the present disclosure is shown.

[0032] Figure 2 This is a block diagram of a vehicle and an automated valet parking server according to various embodiments of the present disclosure.

[0033] Figure 3 This is a conceptual diagram used to describe an automated valet parking system and its operation method according to embodiments of the present disclosure.

[0034] Figure 4 This is a view illustrating an example of a sign installed in a parking lot.

[0035] Figure 5 This is a view illustrating examples of unique and anonymous tags.

[0036] Figure 6 This is a view illustrating examples of signs, text or symbols provided on the ground, directional signs, or billboards that can be seen in a parking lot.

[0037] Figure 7 This is a view of a system configured to generate a digital map, which includes unique markers for parking lots as anonymous markers.

[0038] Figure 8 This is a flowchart illustrating a method for generating a digital map that includes unique markers for parking lots as anonymous markers.

[0039] Figure 9 This is an example configuration of a digital map with five layers.

[0040] Figure 10 This is an example of identifying vehicle location information by using both unique and anonymous tags simultaneously.

[0041] Figure 11 This is an example of a situation where the symbol in the diagram is changed.

[0042] Figures 12 to 14 This is an example of a scenario where code markers are provided in a dedicated service space.

[0043] Figure 15 This is a view used to describe automated valet parking methods that use code markers when providing services in a parking lot. Detailed Implementation

[0044] The embodiments of this disclosure will now be described in more detail with reference to the accompanying drawings.

[0045] The configuration and advantages of this disclosure will become more apparent from the following detailed description. Whenever possible, the same reference numerals are used in all the figures to refer to the same elements, even in another figure. It should be noted that detailed descriptions of known techniques will be omitted if it is determined that such descriptions would mislead this disclosure.

[0046] Before describing this disclosure in detail, the terms used in this disclosure may be defined as follows.

[0047] According to the Society of Automotive Engineers (SAE), the automation levels of autonomous vehicles can be classified as follows: At Level 0, the SAE classification corresponds to "No Automation," where the autonomous driving system temporarily handles emergency situations (e.g., automatic emergency braking) and / or only provides warnings (e.g., blind spot warning, lane departure warning, etc.), and the driver is expected to operate the vehicle. At Level 1, the SAE classification corresponds to "Driver Assistance," where the system performs some driving functions (e.g., steering, acceleration, braking, lane centering, adaptive cruise control, etc.) while the driver operates the vehicle within normal operating ranges, and the driver is expected to determine the system's operating status and / or timing, perform other driving functions, and respond to (e.g., resolve) emergency situations. At Level 2, the SAE classification corresponds to "Partial Automation," where the system performs steering, acceleration, and / or braking under driver supervision, and the driver is expected to determine the system's operating status and / or timing, perform other driving functions, and respond to (e.g., resolve) emergency situations. At Level 3 of autonomous driving, the SAE classification standard may correspond to "conditional automation," where the system drives the vehicle under limited conditions (e.g., performing driving functions such as steering, acceleration, and / or braking), but transfers driving control to the driver when the required conditions are not met, and expects the driver to determine the system's operating state and / or timing, and to take over control in emergency situations, but without operating the vehicle (e.g., steering, acceleration, and / or braking). At Level 4 of autonomous driving, the SAE classification standard may correspond to "high automation," where the system performs all driving functions, and the driver only controls the vehicle in emergency situations. At Level 5 of autonomous driving, the SAE classification standard may correspond to "full automation," where the system performs all driving functions without any driver assistance, including in emergency situations, and expects no driver to perform any driving functions other than determining the system's operating state. Although this disclosure applies the SAE classification standard to autonomous driving classification, other classification methods and / or algorithms may be used in one or more configurations described herein. One or more features associated with autonomous driving control may be activated based on the configured autonomous driving control settings (one or more) (e.g., based on at least one of autonomous driving classification, selection of the vehicle's autonomous driving level, etc.).

[0048] Based on one or more of the features described herein (e.g., communication with an automated valet parking server, and identification of code markers), vehicle operation can be controlled. Vehicle control may include various operational controls related to the vehicle (e.g., automated driving control, sensor control, braking control, braking time control, acceleration control, rate of change of acceleration control, alarm timing control, forward collision warning timing control, etc.).

[0049] One or more auxiliary devices (e.g., engine brakes, exhaust brakes, hydraulic reducers, electric reducers, regenerative brakes, etc.) may also be controlled based on one or more features described herein (e.g., communication with the automated valet parking server and identification of code tags, etc.). One or more communication devices (e.g., modems, network adapters, radio transceivers, antennas, etc.) capable of communicating via one or more wired or wireless communication protocols, such as Ethernet, Wi-Fi, Near Field Communication (NFC), Bluetooth, Long Term Evolution (LTE), 5G New Radio (NR), Vehicle-to-Everything (V2X), etc., may also be controlled, for example, based on one or more features described herein (e.g., communication with the automated valet parking server and identification of code tags, etc.).

[0050] Minimum Risk Maneuvering (MRM) operations (one or more) can also be controlled based on one or more features described herein (e.g., communication with an automated valet parking server and identification of code tags, etc.). Minimum Risk Maneuvering operations (e.g., minimum risk maneuver, minimum risk control) can be maneuvers of the vehicle to minimize (e.g., reduce) the risk of collision with surrounding vehicles, thereby achieving a reduced (e.g., minimum) risk state. Minimum Risk Maneuvering can be an operation activated during autonomous driving when the driver is unable to respond to an intervention request. During Minimum Risk Maneuvering, one or more processors of the vehicle can control the driving operations of the vehicle for a set time period.

[0051] Biased driving operations can also be controlled based on one or more features described herein (e.g., communication with an automated valet parking server and identification of code tags). The drive control unit can perform biased driving control. To perform biased driving, the drive control unit can control the vehicle to stay within the lane by maintaining the lateral distance between the vehicle's center position and the lane center. For example, the drive control unit can control the vehicle to remain in the lane rather than in the center of the lane.

[0052] The drive control unit can identify a target lateral distance bias that influences the drive control. For example, the target lateral distance bias may include an intentionally adjusted lateral distance that, during maneuvers such as lane changes, aims to maintain a lateral distance from a reference point (e.g., the center of the lane or another vehicle). Such adjustments can be made to improve vehicle stability, safety, and / or performance under various driving conditions. For instance, during a lane change, the drive control system may bias the lateral distance to maintain a safer distance from adjacent vehicles, taking into account factors such as vehicle speed, road conditions, and / or the presence of obstacles.

[0053] One or more sensors (e.g., IMU sensor, camera, LIDAR, RADAR, blind spot monitoring sensor, lane departure warning sensor, parking sensor, light sensor, rain sensor, traction control sensor, anti-lock braking system sensor, tire pressure monitoring sensor, seat belt sensor, airbag sensor, fuel sensor, emission sensor, throttle position sensor, inverter, converter, motor controller, power distribution unit, high-voltage wiring and connectors, auxiliary power module, charging interface, etc.) may also be controlled based on one or more features described herein (e.g., in communication with an automated valet).

[0054] The operation control of autonomous driving can include various driving controls of the vehicle by the vehicle control equipment (e.g., acceleration, deceleration, steering control, gear shifting control, braking system control, traction control, stability control, cruise control, lane keeping assist control, collision avoidance system control, emergency braking assist control, traffic sign recognition control, adaptive headlight control, etc.).

[0055] The vehicle may be equipped with an automated driving system (ADS) and be capable of autonomous driving. For example, through ADS, the vehicle can perform at least one of steering, acceleration, deceleration, lane changing, and stopping (or brief stopping) without driver intervention. For example, ADS may include at least one of Pedestrian Detection and Collision Mitigation System (PDCMS), Lane Change Decision Assist System (LCDAS), Land Departure Warning System (LDWS), Adaptive Cruise Control (ACC), Lane Keeping Assist System (LKAS), Road Boundary Departure Prevention System (RBDPS), Curve Speed ​​Warning System (CSWS), Forward Vehicle Collision Warning System (FVCWS), and Low-Speed ​​Follow (LSF).

[0056] The driver can be anyone using the vehicle, and the service is equipped with an autonomous driving system.

[0057] A vehicle control mechanism is a mechanism that controls at least one component of a vehicle and / or at least one function of the vehicle. At least one function of the vehicle may include, for example, at least one of steering, acceleration, deceleration (or braking), lane changing, lane detection, lateral control, obstacle recognition and distance detection, powertrain control, safe zone detection, engine on / off, power on / off, and vehicle locking / unlocking. The listed vehicle functions are merely examples to aid understanding, and embodiments of this disclosure are not limited thereto.

[0058] The vehicle may be equipped with the function of automatic valet parking.

[0059] Automated valet parking services can monitor vehicles in parking facilities, determine a guide route to move the vehicle to a target location in a parking space (e.g., a designated parking space), identify permitted driving areas, instruct the vehicle to drive autonomously by sending control commands to the vehicle, and send emergency stop commands to stop the vehicle in emergency situations.

[0060] The infrastructure may be a parking facility, or it may be sensors installed within the parking facility. Furthermore, the infrastructure may include parking gates, and according to embodiments, the infrastructure may be a concept including an automated valet parking server.

[0061] The target location (e.g., target destination, designated location) can refer to an empty parking space available for parking. Additionally, the target location can refer to the area where the driver boards the vehicle after it has left the parking lot, i.e., the boarding area.

[0062] A guidance route refers to the path a vehicle takes to reach its destination. For example, in the case of parking, it is the route from the drop-off area to an empty parking space. Guidance routes could take the form of '50m forward' or 'turn left at the corner'.

[0063] The driving route can refer to the route the vehicle travels.

[0064] Permitted driving areas can refer to the areas within a parking lot where driving is allowed, such as driving routes. Permitted driving areas can be defined using partitions, parked vehicles, and parking lines.

[0065] Figure 1 An automated valet parking system according to an embodiment of the present disclosure is shown.

[0066] refer to Figure 1 The automated valet parking system 10 may include infrastructure 11, automated valet parking devices 13, and service providers 15.

[0067] Infrastructure 11 can refer to equipment or systems used to operate, manage, and perform the automated valet parking system 10. For example, infrastructure 11 can be a parking facility. According to embodiments, infrastructure 11 may include sensors, communication devices, alarms, display devices, and servers configured to control equipment and devices. Furthermore, infrastructure 11 may include parking doors and automated valet parking servers configured to control vehicles.

[0068] The automated valet parking device 13 may refer to a vehicle that performs automated valet parking. According to an embodiment, the automated valet parking device 13 may refer to a component or a group of components included in a vehicle capable of performing automated valet parking.

[0069] Service provider 15 may refer to the operator terminal of a service provider that provides services to users (e.g., delivery services for goods or food, maintenance services, car wash services, charging services, etc.), service provision equipment (e.g., unattended robots, unattended equipment), or service provision system.

[0070] Figure 2 This is a block diagram of a vehicle and an automated valet parking server according to various embodiments of the present disclosure.

[0071] Figure 2 The vehicle and automated valet parking server shown are configured as one embodiment, and each component may be configured as a chip, a component, or an electronic circuit, or a combination of a chip, a component, and / or an electronic circuit. According to this embodiment, Figure 2 Some of the components shown can be divided into multiple components and configured as different chips, different components, or different electronic circuits, and some components can be combined to form a chip, a component, or an electronic circuit. According to this embodiment, [details omitted]. Figure 2 Some components are shown in the figures, or other components not shown may be added. See the accompanying figures for further description. Figure 2 At least some of the components.

[0072] refer to Figure 2 The automated valet parking server 50 may include a processor 51, a storage unit 53 (e.g., also referred to as a memory or data storage) and a communication device 55.

[0073] Storage unit 53 can store digital maps of parking lots that can automatically provide valet parking.

[0074] In addition, storage unit 53 can statically or temporarily store all information required for automated valet parking, including information about vehicles parked in the parking lot and infrastructure components. According to an embodiment, the information can be stored as information included in a digital map.

[0075] Storage unit 53 can store code tag information for each service. For example, if the service type is a delivery service for goods or food, the information on the code tag includes a sign reminding delivery; if the service type is a maintenance service, the information on the code tag includes a sign reminding maintenance; if the service type is a car wash service, the information on the code tag includes a sign reminding car wash; and if the service type is a paid service, the information on the code tag includes a sign reminding payment.

[0076] A logo can consist of individual symbols, emblems, marks, characters, graphics, or a combination thereof.

[0077] refer to Figure 2The vehicle 100 may include a sensor unit 110 (also referred to as a sensor), a controller 120, a processor 130, a display 140, and a communication device 150.

[0078] According to various embodiments, sensor unit 110 may use at least one sensor to sense the surrounding environment of vehicle 100 and generate data related to the surrounding environment based on the sensing results. For example, sensor unit 110 may acquire information about objects around the vehicle (e.g., other vehicles, people, objects, curbs, guardrails, lanes, obstacles) based on sensing data acquired from at least one sensor. Information about objects around the vehicle may include at least one of, for example, the position of the object, the size of the object, the shape of the object, the distance to the object, and the relative speed to the object. As another example, sensor unit 110 may use at least one sensor to measure the position of vehicle 100. Sensor unit 110 may include at least one selected from, for example, a camera, a light detection and ranging (LIDAR) sensor, a radio detection and ranging (RADAR) sensor, an ultrasonic sensor, an infrared sensor, and a position measurement sensor. The listed sensors are merely examples to aid understanding, and the sensors included in sensor unit 110 of this disclosure are not limited thereto.

[0079] According to this embodiment, by capturing images around the vehicle, the camera can generate image data including objects located in front of, behind, and to the sides of the vehicle 100. According to this embodiment, a lidar can use light (or laser) to generate information about objects located in front of, behind, and / or to the sides of the vehicle 100. According to this embodiment, a radar can use electromagnetic waves (or radio waves) to generate information about objects located in front of, behind, and / or to the sides of the vehicle 100. According to this embodiment, an ultrasonic sensor can use ultrasonic waves to generate information about objects located in front of, behind, and / or to the sides of the vehicle 100. According to this embodiment, an infrared sensor can use infrared light to generate information about objects located in front of, behind, and / or to the sides of the vehicle 100.

[0080] According to this embodiment, the position measurement sensor can measure the current position of vehicle 100. The position measurement sensor may include at least one of a Global Positioning System (GPS) sensor, a Differential Global Positioning System (DGPS) sensor, and a Global Navigation Satellite System (GNSS) sensor. The position measurement sensor can generate vehicle position data based on signals generated by at least one of the GPS sensor, DGPS sensor, and GNSS sensor.

[0081] According to various embodiments, the controller 120 can control the operation of at least one component of the vehicle 100 and / or at least one function of the vehicle under the control of the processor 130. The at least one function may be, for example, at least one of the following: steering function, acceleration function (or longitudinal acceleration function), deceleration function (or longitudinal deceleration function, braking function), lane changing function, lane detection function, obstacle recognition and distance detection function, lateral control function, powertrain control function, safe zone detection function, engine on / off, power on / off, and vehicle locking / unlocking function.

[0082] According to this embodiment, the controller 120 can control at least one component and / or at least one function of the vehicle, under the control of the processor 130, to automate the driving of the vehicle 100. For example, for autonomous driving, the controller 120 can control the operation of at least one of the following functions: steering, acceleration, deceleration, lane changing, lane detection, lateral control, obstacle recognition and distance detection, powertrain control, and safe zone detection.

[0083] According to various embodiments, the display 140 can visually display information related to the vehicle 100. For example, under the control of the processor 130, the display 140 can provide the driver of the vehicle 100 with various information related to the state of the vehicle 100. The various information related to the vehicle state may include at least one of information indicating whether various components included in the vehicle and / or at least one function of the vehicle are operating normally and information indicating the driving status of the vehicle. However, in the case of performing automated valet parking without a driver, the display 140 may be in a turned-off state, displaying no information.

[0084] According to various embodiments, communication device 150 can send or receive data via infrastructure 11. Communication device 150 may be referred to as vehicle-to-infrastructure (V2I) communication. Furthermore, communication device 150 can send or receive data with other vehicles. This communication may be referred to as vehicle-to-vehicle (V2V) communication. Furthermore, V2I and V2V communication may be collectively referred to as vehicle-to-everything (V2X) communication. According to embodiments, communication device 150 can receive data (e.g., target location, guidance route, or commands) sent from infrastructure 11, process the received data, and send the processed data to processor 130. Furthermore, communication device 150 can send data generated by vehicle 100 to infrastructure 11. According to embodiments, communication device 150 can send or receive data with the terminal of the driver of vehicle 100. Infrastructure 11 may include an automated valet parking server 50 configured to control parking doors and vehicles.

[0085] The communication device 150 can receive or transmit data using either a wireless communication protocol or a wired communication protocol. Examples of wireless communication protocols may include Wireless LAN (WLAN), Digital Living Network Alliance (DLNA), Wireless Broadband (Wibro), Global Microwave Access Interoperability (WiMAX), Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), Code Division Multiple Access 2000 (CDMA2000), Enhanced Voice Data Optimized or Enhanced Voice Data Only (EV-DO), Wideband CDMA (WCDMA), High-Speed ​​Downlink Packet Access (HSDPA), High-Speed ​​Uplink Packet Access (HSUPA), IEEE 802.16, Long Term Evolution (LTE), Advanced Long Term Evolution (LTE-A), Wireless Mobile Broadband Service (WMBS), Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra-Wideband (UWB), Zigbee, Near Field Communication (NFC), Ultrasonic Communication (USC), Visible Light Communication (VLC), Wi-Fi, and Wi-Fi Direct. In addition, examples of wired communication protocols may include, but are not limited to, wired local area networks (LANs), wired wide area networks (WANs), power line communication (PLCs), USB communication, Ethernet, serial communication, optical / coaxial cable, etc., and may include any and all protocols that can provide an environment for communicating with other devices.

[0086] According to various embodiments, processor 130 can control the overall operation of vehicle 100. According to this embodiment, processor 130 may include an electronic control unit (ECU) capable of overall control of components in vehicle 100. For example, processor 130 may include a central processing unit (CPU) or microprocessor unit (MCU) capable of performing arithmetic operations.

[0087] The processor 130 can control the controller 120 based on data received from the sensor unit 110 and the communication device 150. According to an embodiment, the processor 130 can generate control signals for controlling the vehicle 100 based on data received from the infrastructure 11, and send the generated control signals to the controller 120.

[0088] Processor 130 may refer to a device capable of controlling vehicle 100 and performing a series of operations or determinations to perform automated valet parking. For example, processor 130 may be part of automated valet parking device 13, wherein a program including instructions for performing automated valet parking is executed.

[0089] As a component of the automated valet parking device 13, the processor 130 controls autonomous driving, enabling the vehicle 100 to cooperate with the infrastructure 11 to park at a target location in the parking lot. The processor 130 can provide commands to the controller 120, causing the controller 120 to perform autonomous driving.

[0090] The processor 130 can control the vehicle to move according to the guidance route based on the guidance route information received from the infrastructure 11.

[0091] In the above Figure 2 In this document, controller 120 and processor 130 are described as separate components; however, according to different embodiments, controller 120 and processor 130 may be integrated into a single component.

[0092] Figure 3 This is a conceptual diagram used to describe an automated valet parking system and its operation method according to embodiments of the present disclosure.

[0093] refer to Figure 3 At location (1), the driver may drive vehicle 100 into the parking lot and move the vehicle to the drop-off area.

[0094] At location (2), the driver can park the vehicle in the drop-off area, get off the vehicle, and transfer the vehicle driving rights to the infrastructure.

[0095] At location (3), the infrastructure 11 or the automated valet parking server 50 included in the infrastructure 11 can search for available parking spaces among multiple parking spaces in the parking lot and determine a suitable parking space (target location) for the vehicle to be parked. In addition, the infrastructure 11 can determine a guide route to the determined target location. When the target location and guide route are determined, the vehicle 100 can drive autonomously or under the control of the infrastructure 11 according to the guide route, and perform automated valet parking at the target location after arriving in the vicinity of the target location.

[0096] At position (4), the driver confirms that the vehicle has left the parking lot and has moved to the pick-up area.

[0097] At location (5), the infrastructure 11 or the automated valet parking server 50 included in the infrastructure 11 can determine an appropriate target location. For example, a suitable target location could be an empty parking space among multiple parking spaces appearing in the pickup area. Furthermore, the infrastructure 11 or the automated valet parking server 50 can determine a guide route to the determined target location. Once the target location and guide route are determined, the vehicle 100 travels along the guide route under the control of the infrastructure 11 or autonomously, and performs automated valet parking to park at the target location after reaching the vicinity of the target location.

[0098] At location (6), the driver arrives at the boarding area, receives vehicle driving permission for vehicle 100 from infrastructure 11, and drives the vehicle toward the parking lot exit.

[0099] like Figure 3As shown, vehicle 100 or infrastructure 11 must have a parking lot map in order to drive along the guide route under the control of infrastructure 11 or autonomously, and must identify the position of vehicle 100 on the map and whether vehicle 100 is driving accurately along the guide route. To do this, vehicle 100 needs to use sensors with cameras to capture the surrounding environment and identify its position based on the captured images.

[0100] Therefore, according to an embodiment, a tag can be used. The tag can be a physical marker that allows identification of a unique identifier (ID), which can be detected by the vehicle and installed in the parking lot to support the location verification of vehicle 100.

[0101] Figure 4 This is a view illustrating an example of a sign installed in a parking lot.

[0102] like Figure 4 As shown, it is possible to identify the exact location in the parking lot by installing markers 410 and 411 at specific locations detectable by vehicle 100. Markers 410 and 411 include a unique ID and allow vehicle 100 to identify the markers and extract the unique ID, thereby enabling the location corresponding to the unique ID to be found in the digital map and the exact location in the parking lot to be identified.

[0103] In this case, there are two types of tags: unique tags and anonymous tags.

[0104] According to an embodiment, the unique identifier can be a physical marker that allows a vehicle to identify one of 1 to 250 unique identifiers, and only one of these 1 to 250 unique identifiers may exist in the parking lot. Therefore, the location corresponding to the unique ID of a vehicle identified by the unique marker can be accurately calculated on a digital map. Furthermore, according to laws or standards, the unique marker must be installed in a specific location, such as the entrance to the parking lot from the drop-off area or the exit from the parking lot to the pick-up area. In this case, the unique ID marked on the unique marker can be pre-set.

[0105] According to an embodiment, the size of the unique marker can be determined according to regulations, and the display method of displaying the unique ID in the unique marker can be predetermined.

[0106] For unique markings, a mark with a specific shape or design drawn within it must be used, and it must be installed in a specific location (e.g., entrance and exit). Therefore, it is difficult to freely install unique markings, and as... Figure 4 As shown, installing multiple unique markers can make a parking lot look unsightly.

[0107] If anonymous tags are used, the aforementioned limitations on unique tags may not apply. According to this embodiment, an anonymous tag can have an ID ranging from 251 to 255, and the complexity of the corresponding ID can differ from the complexity of a unique tag. According to this embodiment, the ID displayed in the anonymous tag can be simpler than that of the unique tag. (See reference...) Figure 5 When representing IDs, the unique tag 511 can be designed to be more complex than the anonymous tag 521.

[0108] Furthermore, anonymous markers can be installed at random locations as needed. That is, unlike unique markers, anonymous markers can be installed randomly, taking into account the size and structure of each parking lot. For example, in a large parking lot, multiple anonymous markers can be installed between unique markers to correct for vehicle position errors. In other words, using a first unique marker, the vehicle's accurate current position can be calculated; however, when the vehicle moves from the position of the first unique marker to the position of the second unique marker, it is difficult to track the vehicle's position with an absolute accuracy of 50 centimeters. In such cases, using multiple anonymous markers can potentially improve the accuracy of vehicle position. According to this embodiment, anonymous markers can be used to help unique markers accurately identify vehicle positions. Vehicles can recognize unique markers and set their position information according to the positions corresponding to the unique markers. Furthermore, vehicles can recognize anonymous markers and can use the position information corresponding to the anonymous markers to correct their own position information.

[0109] However, as Figure 5 As shown, the unique tag 511 and the anonymous tag 521 must be encoded to include ID information such as a QR code and installed in a specific location. That is, tags 511 and 521 must be manufactured and installed in a way that performs the tag's unique function.

[0110] Based on the above background, this disclosure may use signs already installed in parking lots, such as signs that are mandatory to be installed in parking lots, words or symbols provided on the ground, directional signs or billboards as markings.

[0111] Figure 6 This is a view illustrating examples of signs, text or symbols provided on the ground, directional signs, or billboards that can be seen in a parking lot.

[0112] like Figure 6 As shown, various signs can be placed in the parking lot. Furthermore, each sign includes different symbols and characters and is sufficiently distinguishable. Thus, by acquiring and differentiating the signs already provided in the parking lot, they can be used as anonymous markers for location. In this case, the ID of the anonymous marker can be specified in the signs set up for location.

[0113] When using signs already provided in the parking lot as anonymous markers, it is necessary to predetermine the characteristics of the first sign and the second sign that replaces the anonymous marker, as well as the location of the first sign in the parking lot digital map, and input the characteristics and location into the digital map.

[0114] Figure 7 This is a view of a system configured to generate a digital map, which includes unique markers for parking lots as anonymous markers, and Figure 8 This is a flowchart illustrating a method for generating a digital map that includes unique markers for parking lots as anonymous markers.

[0115] refer to Figure 7 and Figure 8 The marker acquisition device 710 may include an image acquisition unit 711, a positioning information acquisition unit 713, and a communication unit 715. The digital map generation device 720 may include a communication unit 721 and a processor 723.

[0116] According to this embodiment, the sign acquisition device 710 may be a vehicle, or a device temporarily installed in a vehicle and using sensors attached to the vehicle. According to another embodiment, the sign acquisition device 710 may be an autonomous driving robot, different from a vehicle, or a smart device carried and moved by an operator, such as a smartphone.

[0117] The digital map generation device 720 may be an automated valet parking server, but may be a different device from the automated valet parking server according to another embodiment. According to another embodiment, the digital map generation device 720 may be an automated valet parking server, or a computer program executable in a general-purpose computing device.

[0118] refer to Figure 7 and Figure 8 In operation S801, the sign acquisition device 710 can acquire images of the parking lot using the image acquisition unit 711, while the location information acquisition unit 713 can acquire location information and acquire each image at that location. According to this embodiment, the image acquisition unit 711 can be a camera or mobile phone installed in the vehicle, and the location information acquisition unit 713 can be a GPS system. However, according to another embodiment, the location information acquisition unit 713 can be a separate positioning measurement device capable of accurately measuring the location of the sign using facilities designed for precise positioning.

[0119] The marker acquisition device 710 can send the acquired image information and positioning information to the digital map generation device 720 via the communication unit 715.

[0120] In operation S803, the digital map generation device 720 can detect signs from image information received via the communication unit 721 and extract the characteristics of each sign. According to an embodiment, the digital map generation device 720 can identify and detect signs, signboards, words, or symbols shown in some images or the entire image.

[0121] Signage may include symbolic information, such as disability symbols displayed in signs and on the ground, identification numbers marked on walls or posts to identify parking surfaces, notices of various shapes and containing various content, etc.

[0122] The digital map generation device 720 can detect signs and then extract characteristics corresponding to each sign. In this case, the characteristics corresponding to each sign may include, but are not limited to, the type of sign, the components contained in the sign, the colors included in the sign, and the relative positional information between the components of the sign. In this case, components may include Korean characters, English characters, symbols, etc.

[0123] According to this embodiment, the digital map generating device 720 can extract at least one of the following: information and location of English characters, information and location of Korean characters, information and location of symbols, and location-related characteristics, each of which is included in each symbol.

[0124] by Figure 6 Taking sign 610 as an example, the digital map generating device 720 can detect sign 610 from the image and extract information and location of Korean characters and symbols from the detected sign 610. The digital map generating device 720 can extract the feature of providing the words "Elderly Priority Parking Zone" at the top of sign 610. Furthermore, the digital map generating device 720 can extract the feature of the symbol 'P' and the symbol indicating elderly people being placed side-by-side in a large size at the center of sign 610.

[0125] When obtaining the identification number 620 of the parking surface from the image, the digital map generation device 720 can detect the identification number 620 of the parking surface from the image and obtain information and the position of English characters from the detected identification number 620. The digital map generation device 720 can extract the identification number of the parking surface, namely "C3" and "MF", from the image, and extract the information that "C3" and "MF" are placed vertically parallel to each other. In addition, the characteristics provided by "C3" at a larger size than "MF" can also be extracted.

[0126] According to this embodiment, the above-mentioned mark detection and feature extraction of each mark can be performed based on artificial intelligence.

[0127] Refer again Figure 7 and Figure 8In operation S805, the digital map generation device 720 can, based on the positioning information of each image acquired from the sign acquisition device 710 via the communication unit 721, correlate the position of the detected sign in each image of the digital map with the characteristics of the sign, and include it in the digital map. According to an embodiment, the digital map generation device 720 can indicate the location of the detected sign in the digital map corresponding to the positioning information. Furthermore, the digital map generation device 720 can include information in the digital map that corresponds to the matching of the position of the location information in the digital map and the characteristics of the detected sign.

[0128] According to another embodiment, marker-based location information can be additionally used in the digital map. Existing parking lots may already have unique or anonymous markers installed therein to indicate location information, and the digital map may contain related markers and location information stored therein. However, vehicles can obtain their location information based on these markers. However, due to limitations in marker installation, markers may not be installed at every required location within the parking lot. Alternatively, it may be difficult to identify the precise location required by standards or regulations using only the existing markers. In such cases, markers can be used to replace the markers at the required locations, or markers can be used to improve the accuracy of location information.

[0129] As mentioned above, the marking information can be included in the digital map. For automated valet parking systems, the digital map must include not only specific information about the actual static structure of the parking lot for location and navigation, but also additional information for performing various tasks, such as vehicle entry and exit, and relocation.

[0130] Thus, in order to include various information in the digital map, the digital map disclosed herein can be configured with five layers, such as... Figure 9 As shown.

[0131] The first layer 910 of the digital map may include physical three-dimensional spatial information. Furthermore, the first layer 910 includes information that allows checking whether automated valet parking services are available for various types of vehicles. For example, in a parking lot constructed with multiple levels, the height information of each level may be included in the first layer 910, and the first layer 910 can provide information for determining whether a vehicle can be parked in the parking lot based on its height. Additionally, the first layer may include information on the size of the parking spaces in the parking lot and can provide information for determining whether a vehicle cannot be parked in a particular parking space but can be parked in another.

[0132] The second layer 920 in the digital map may include static information. The second layer 920 may define the role of each space within the parking lot. For example, the second layer 920 may define each area, such as a drop-off area, a pick-up area, and a parking area, and the role of each area may already be defined. After markers are installed, or if signs are set up to be used as markers, the second layer 920 may include information about the corresponding markers or signs. For example, in the case of markers, information about the ID and location represented by each marker may be included in the second layer 920. In the case of signs, characteristics that distinguish the sign from other signs and the location information of the corresponding sign may be included in the second layer 920.

[0133] The third layer 930 of the digital map may include temporary static information. For example, the third layer 930 may include information indicating whether a vehicle is parked in a specific parking space, and thus this information can be used to check available parking spaces.

[0134] The fourth layer 940 of the digital map may include dynamic information. For example, the fourth layer 940 may include information representing the maximum speed and real-time movement of vehicles performing entry, exit, and relocation. In the case of parking lots that allow pedestrian access, pedestrian movement information may be included in the fourth layer 940.

[0135] The fifth layer 950 of the digital map can include unknown dynamic information. For example, in a parking lot where no one is supposed to enter, the movement of pedestrians or electric scooters can be included in the fifth layer 950 as unknown dynamic information. Furthermore, the fifth layer 950 can include unknown objects (boxes, pieces of wood, objects that have fallen from vehicles) that were not previously installed but have been temporarily detected for some reason.

[0136] Unlike traditional maps used to provide navigation for autonomous vehicles, digital maps used in parking lots can include all information about the parking lot. These digital maps can be actively updated and used by automated valet parking servers.

[0137] Figure 10 This is an example of identifying vehicle location information by using both unique and anonymous tags simultaneously.

[0138] refer to Figure 10 The parking lot may contain multiple unique markers, including five markers: ①, ②, ③, ④, and ⑤. Furthermore, the sign acquisition device 710 and the digital map generation device 720 can detect signs A, B, and C in the parking lot and store the sign information in the digital map by associating the signs with location information.

[0139] If a unique or anonymous marker exists nearby, or if another marker is registered nearby when adding a marker to the digital map, the digital map generating device 720 may not add the corresponding marker. For example, Figure 8 In this map, marker A is positioned similarly to marker ④, and marker A may not be necessary for obtaining vehicle location information. Therefore, the digital map generation device 720 may not include the location information of marker A in the digital map.

[0140] Similarly, the digital map generating device 720 may have already acquired the location information of sign B and included it in the digital map. In this case, sign C is positioned similarly to sign B, therefore, sign C may not be necessary when acquiring the vehicle's location information. Thus, the digital map generating device 720 may not include the location information of sign C in the digital map.

[0141] See Figure 10 The driver can park the vehicle in drop-off area 1010. The vehicle can then be driven autonomously by infrastructure 11 or automated valet parking server 50 to proceed to the target location P2.

[0142] When a vehicle is driving autonomously under the control of the automated valet parking server 50, the automated valet parking server can provide the vehicle with a guide route and instruct the vehicle to drive autonomously, or it can provide the vehicle with a series of control commands based on the guide route.

[0143] The automated valet parking server 50 can detect markers or signs placed at the vehicle's transit points to determine whether the vehicle is traveling along the guidance route and can acquire its location information. For example, when marker ① is identified while controlling autonomous driving to park the vehicle, the automated valet parking server 50 can recognize that the vehicle has entered autonomous driving mode after leaving the drop-off area. Furthermore, when the automated valet parking server 50 identifies and detects markers ② and ③, it can recognize that the vehicle is traveling along the guidance route. Similarly, the automated valet parking server 50 can recognize that the vehicle has moved precisely along the guidance route to the target location P2, which is marker B, and identifies markers ④ and ⑤.

[0144] According to another embodiment, the marking information can be updated in real time.

[0145] Figure 11 This is an example of a situation where the symbols in the illustration are changed.

[0146] Will Figure 10 and Figure 11During comparison, symbols A, B, and C can be deleted, and symbol D can be added. The autonomous vehicle can acquire images while traveling along the parking guidance route and can send these images to the automated valet parking server 50. The server or digital map generation device 720 providing automated valet parking can detect the disappearance of existing symbols A, B, and C, and the appearance of a new symbol D. The digital map generation device 720 can identify that symbol A, B, or C is not detected in the images captured by the autonomous vehicle and can determine that the symbol has been removed. According to another embodiment, when no corresponding symbol is detected in images acquired from multiple vehicles, the digital map generation device 720 can determine that the symbol has been removed. Thus, if it is determined that a symbol used for location detection has been removed, the digital map generation device 720 can remove symbol information and location information previously included in the digital map.

[0147] Conversely, the digital map generation device 720 can identify newly detected marker D from images captured by the autonomous vehicle, determine whether to use the new marker D as a marker for location detection, and if the new marker D is determined to be used as a marker for location detection, the marker D can be associated with its characteristics and location information and can be stored in the digital map.

[0148] The digital map generation device 720 can update the information of markers and signs used for location detection included in an existing digital map based on image information obtained from parked and moving vehicles.

[0149] This can be applied to markers in the same way. When no unique marker, anonymous marker, or sign used for location detection previously included in the digital map is detected based on image information obtained from a moving or parked vehicle, the digital map generation device 720 can immediately update the digital map by issuing an alarm or indicating that the corresponding marker or sign has disappeared.

[0150] Figures 12 to 14 This is an example of a scenario where code markers are provided in a dedicated service space.

[0151] refer to Figure 12 Considering the size of the parking lot and the purpose of the space, service spaces 7 can be set up in some parking spaces to provide services, and code markers can be set in the corresponding service spaces 7.

[0152] The code markers can be installed in easily identifiable locations within the service space 7 (e.g., ceiling, walls, etc.). Although the code markers can be installed on the ground, identifying them can be difficult because they can be hidden by vehicles, etc. Therefore, it can be advantageous to install the code markers in locations such as ceilings or walls where they will not be hidden by vehicles.

[0153] refer to Figure 12 Service spaces 7 are grouped into specific spaces within the parking lot. Locations near service spaces may refer to nearby access routes used to move to the corresponding service space.

[0154] See Figure 13 The code tag can be a unique tag or an anonymous tag, or a combination thereof.

[0155] If the code is a unique identifier, one of 1 to 250 unique IDs can be provided for each service space. Unique ID information may include location information and service type information from the digital map.

[0156] For example, in Figure 13 In this system, a unique identifier can be installed in each area of ​​the service space. One of the unique identifiers, from 1 to 250, can serve as the unique identifier for each area. Each unique identifier may include location information and service type information from a digital map. Vehicle 100 or automated valet parking server 50 may store code tagging information corresponding to each unique ID. The code tagging information may include location information and service type information from a digital map.

[0157] If the code is marked as anonymous, an ID can be provided for each service space, one of the tags 251 to 255. The ID information may include location information and service type information from the digital map.

[0158] For example, in Figure 13 In this context, anonymous tags can be installed in each area within the service space. The anonymous tag for each area can be one of the provided tags 251 to 255, and the ID information can include location information and service type information from the digital map.

[0159] Vehicle 100 or anonymous valet parking server 50 can store code tag information corresponding to unique or anonymous tags installed in service space 7. The code tag information may include location information and service type information from a digital map.

[0160] refer to Figure 14 The code marker can be an image marker, including service-related images, text, symbols, etc. Image markers can be configured to be dualized by color or text, making them recognizable by the sensor unit 110 of vehicle 100 or the driver. In parking lots where drivers are permitted or where the parking environment service provider is a human-only parking lot, image markers offer the advantage of easier recognition compared to bit-based code configurations.

[0161] Each distinct number can be provided to the same image marker, and the location and service type in the digital map can be provided to each image marker.

[0162] Vehicle 100 or anonymous valet parking server 50 can store code tag information corresponding to image markers installed in service space 7. The code tag information may include location information and service type information from a digital map.

[0163] The code marking information may include additional information related to the requirement to park the vehicle in the service space. This additional information is one example and may include at least one of information requesting forward or backward parking and information requesting parking within the parking lines (e.g., within a parking space) in a specific direction (e.g., tilted). For example, in the service space, one may request only forward or backward parking, or one may request parking in a specific direction among forward, backward, left, and right within the parking lines.

[0164] Vehicle 100 can recognize code markers and then automatically park based on the additional information included in the code markers.

[0165] like Figure 14 As shown, viewed from the left, the image marker installed in the first area of ​​the service space is a marker related to delivery services, and provides an image of a delivery vehicle and the number 1 to distinguish this marker from similar image markers. Code marking information regarding the corresponding image marker may include location information in a digital map (e.g., GPS coordinates, area code, etc.) and service type information (e.g., delivery service).

[0166] like Figure 14 As shown, viewed from the left, the image marker installed in the third area of ​​the service space is a marker related to car wash services, and provides an image reminding you of water flow during the car wash, along with the number 1 to distinguish this marker from similar image markers. The code marker information for the corresponding image marker may include location information on a digital map (e.g., GPS coordinates, area code, etc.) and service type information (e.g., delivery service).

[0167] Figure 15 This is a view describing an automated valet parking method that uses code tags when providing services in a parking lot.

[0168] refer to Figure 15 In operation S1501, infrastructure 11 can send information about available services to vehicles 100 or driver terminals (not shown) entering the parking lot. The information about available services is one example and may include information about goods or food delivery services, maintenance services, car wash services, charging services, etc. Infrastructure 11 may be a parking facility and may be sensors deployed within the parking facility. Furthermore, infrastructure 11 may include parking doors, and the infrastructure may be a concept including an automated valet parking server 50.

[0169] For example, infrastructure 11 can send available service information and additional information to vehicles 100 or driver terminals (not shown) entering the parking lot. The information about available services is one example and may include the reservation status of each service and the time required for each service.

[0170] In operation S1502, vehicle 100 or driver terminal (not shown) may send service selection information to infrastructure 11. Service selection information is an example and may include service type information, expected time information, and information about the driver's consent to vehicle control (e.g., vehicle start-up, driving, door locking / unlocking).

[0171] In operation S1503, when the infrastructure receives service selection information from vehicle 100 or driver terminal (not shown), the infrastructure 11 can send the service reservation information and vehicle information of vehicle 100 to service provider 15. The service reservation information is an example and may include service type information and expected time information.

[0172] In operation S1504, service provider 15 may send a confirmation message regarding whether it can provide services to infrastructure 11.

[0173] In operation S1505, if the service provider 15 is able to provide the service, the infrastructure 11 may approve the service reservation request of the vehicle 100 or the driver terminal (not shown) and may send a payment request message to the vehicle 100 or the driver terminal (not shown).

[0174] In operation S1506, if payment is completed for vehicle 100 or driver terminal (not shown), infrastructure 11 may send a settlement completion notification message to service provider 15.

[0175] In operation S1507, service provider 15 may send a service notification message to infrastructure 11 before the service appointment time (e.g., 30 minutes in advance). Service provider 15 may also send a message requesting vehicle movement before the service appointment time (e.g., 10 minutes in advance).

[0176] In operation S1508, infrastructure 11 can determine vehicle status, such as whether the vehicle is drivable, based on vehicle information received from vehicle 100.

[0177] In operation S1509, when there are no abnormalities, infrastructure 11 may send marked image information corresponding to digital map information, route information, service space location information, and service selection information to vehicle 100. At this time, infrastructure 11 may send a movement request message to vehicle to request movement to a service space location. The movement request message may include at least one control command among acceleration, braking, and steering.

[0178] When vehicle 100 begins to move, infrastructure 11 can send vehicle movement information back and forth (e.g., service progress information, vehicle location information). Tagging image information is one example and can include images, text, and symbols.

[0179] In operation S1510, infrastructure 11 can send vehicle information (e.g., model, color, license plate number) to service provider 15.

[0180] In operation S1511, after vehicle 100 moves around the service space based on a movement request message including at least one control command such as acceleration, braking, and steering, vehicle 100 can identify code markers corresponding to service selection information from image data surrounding vehicle 100 (e.g., image data related to the environment surrounding vehicle 100). As an example, vehicle 100 can identify unique markers from captured image data while moving around the service space, and can set the vehicle 100's position information to the position corresponding to the unique marker. As an example, vehicle 100 can identify anonymous markers from captured image data while moving around the service space, and can correct the vehicle's position information by using the position information corresponding to the anonymous marker.

[0181] The vehicle moves around the service space based on a movement request message, which includes at least one control command among acceleration, braking, and steering, digital map information, route information, and service space location information, and generates first image data via a camera mounted on the vehicle 100 (e.g., on one side of the vehicle 100). As a primary perception process, the vehicle 100 may use a pre-stored algorithm to identify coded markers from the first image data captured on one side of the vehicle 100 based on tagged image information received from the infrastructure 11.

[0182] When a code marker is identified from the first image data, vehicle 100 can park forward or backward within the service space and can generate second image data via cameras installed in front of or behind vehicle 100. As a second perception process, vehicle 100 can use a pre-stored algorithm to re-identify the code marker from the second image data captured in front of or behind vehicle 100 based on the marker image information received from infrastructure 11.

[0183] If the code marker is not re-identified, vehicle 100 may move to enable side-view capture and may re-execute the main perception process. When moving to enable side-view capture, if an interruption is expected due to the movement of nearby vehicles, vehicle 100 may generate a route for circling around that location and re-execute the main perception process.

[0184] In operation S1512, when the code marker is re-identified from the second image data, vehicle 100 may send a parking completion notification message to infrastructure 11.

[0185] For example, starting from the point in time when vehicle 100 recognizes the code tag, vehicle 100 (not infrastructure 11) can have control of the vehicle based on the code tag translation result. As an example, if infrastructure 11 controls the movement of vehicle 100, which is different from the code tag recognition result, then the code tag translation result can precede it.

[0186] In operation S1513, if infrastructure 11 receives a parking completion notification message from vehicle 100, infrastructure 11 may send vehicle arrival information to service provider 15.

[0187] In operation S1514, service provider 15 arrives at the service space and sends a service space arrival notification message to infrastructure 11. Service provider 15 can determine whether the vehicle corresponds to the service target based on the code tag located in the service space and the vehicle information received from the infrastructure.

[0188] If the vehicle is identified as the service target, the service provider 15 can perform the service and send a service completion notification message to the infrastructure 11.

[0189] If the vehicle is not the service target, the service provider 15 may send an inspection request message to the infrastructure 11.

[0190] In operation S1515, when infrastructure 11 receives a service completion notification message from service provider 15, infrastructure 11 can determine the vehicle status, such as whether the vehicle is drivable, based on the vehicle information received from vehicle 100. When the vehicle status is normal, infrastructure 11 can send a service completion notification message, a vehicle exit request message, and re-parking location information to vehicle 100 or driver terminal (not shown).

[0191] Infrastructure 11 can send vehicle movement information back and forth (e.g., information about whether the service is completed, vehicle location information).

[0192] In operations S1516 and S1517, vehicle 100 can move to the re-parking position according to the re-parking position information and send a re-parking completion notification message to infrastructure 11 or driver terminal (not shown).

[0193] As an example, operation S1511 can be performed by infrastructure 11. Infrastructure 11 can identify code markers corresponding to service selection information from image data of the vehicle's surroundings received by the vehicle, which has moved to a location in the service space.

[0194] As the primary sensing process, the infrastructure 11 can use a pre-stored algorithm to identify code markers from the first image data captured on one side of the vehicle 100 based on the marker image information.

[0195] When a code marker is identified from the first image data, the infrastructure 11 can send a message to the vehicle 100 requesting it to stop forward or backward at the service space location. When the infrastructure 11 receives a complete notification message from the vehicle 100 requesting it to stop forward or backward, the infrastructure 11 can use a pre-stored algorithm to re-identify the code marker from the second image data captured in front of or behind the vehicle 100, based on the marker image information, as a secondary perception process.

[0196] As described above, according to this disclosure, when providing services in parking lots that offer automated valet parking, the code tags can be used to accurately and quickly match vehicles with service providers through primary and secondary code tagging perception processes, thereby enabling smooth service provision.

[0197] In one or more exemplary embodiments, the functionality may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, these functions may be stored or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media include computer storage media and communication media, including any medium that facilitates the transfer of a computer program from one place to another. Storage media may be any available medium accessible to a computer. By way of example and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and is accessible to a computer.

[0198] When embodiments are implemented in program code or code segments, it should be understood that a code segment may represent any combination of procedures, functions, subroutines, programs, routines, modules, software packages, classes, or instructions, data structures, or program statements. A code segment may be coupled to another code segment or hardware circuit by passing and / or receiving information, data, arguments, parameters, or memory contents. Any suitable means, including memory sharing, messaging, token passing, network transmission, etc., may be used to pass, forward, or send information, arguments, parameters, data, etc. Furthermore, in some aspects, the steps and / or actions of a method or algorithm may reside as one or any combination or set of code and / or instructions on a machine-readable and / or computer-readable medium, which may be incorporated into a computer program product.

[0199] For software implementations, the techniques described herein can be implemented through modules (e.g., procedures, functions, etc.) that perform the functions described herein. Software code can be stored in memory units and executed by a processor. The memory units can be implemented inside or outside the processor, in which case they can be communicatively coupled to the processor by various means known in the art.

[0200] In a hardware implementation, the processing unit may be implemented in one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions described herein, or combinations thereof.

[0201] One embodiment is an automated valet parking vehicle, comprising: a sensor unit configured to acquire image data of the vehicle's surroundings using at least one sensor; a controller configured to control at least one function of the vehicle; a communication device configured to communicate with an automated valet parking server; and a processor configured to control the operation of the vehicle, and after the vehicle moves to the vicinity of a service space based on a movement request message received from the automated valet parking server, including at least one control command among acceleration, braking, and steering, the processor can identify code markers corresponding to service selection information from the image data of the vehicle's surroundings, and can perform parking at a location within the service space.

[0202] The processor can receive available service information from the automated valet parking server and send service selection information to the automated valet parking server.

[0203] The processor can receive service location information and marker image information corresponding to the service selection information from the automated valet parking server.

[0204] The processor can identify code markers corresponding to the tagged image information from the first image data captured on the side of the vehicle.

[0205] When a code marker is identified, the processor can stop the vehicle forward or backward at the location within the service space and re-identify the code marker from second image data captured in front of or behind the vehicle.

[0206] When the code marker is re-identified, the processor can send a parking completion notification message to the automated valet parking server.

[0207] The processor can receive service completion notification messages, vehicle exit request messages, and reparking location information from the automated valet parking server.

[0208] After the vehicle moves to the reparking location based on the reparking location information, the processor can send a reparking completion notification message to the automated valet parking server.

[0209] Another embodiment is an automated valet parking server, comprising: a storage unit configured to store code tag information; a communication device configured to communicate with a vehicle; and a processor capable of sending a movement request message to the vehicle including at least one control command among acceleration, braking, and steering, and identifying code tags corresponding to service selection information from image data surrounding the vehicle as it moves to the vicinity of the service space.

[0210] The processor can send available service information to the vehicle and receive service selection information from the vehicle.

[0211] The processor can send vehicle service appointment information and vehicle information to the service provider.

[0212] The processor can identify code tags based on first image data captured on the side of the vehicle and pre-stored tag image information.

[0213] When a code marker is identified, the processor can send a message to the vehicle requesting it to stop forward or backward at the service space location, and re-identify the code marker from second image data captured in front of or behind the vehicle.

[0214] When the processor receives a service completion notification message from the service provider, the processor can send a service completion notification message, a vehicle exit request message, and reparking location information to the vehicle.

[0215] Another embodiment is a method for performing automated valet parking, comprising: a vehicle receiving available service information from an automated valet parking server; the vehicle sending service selection information to the automated valet parking server; the vehicle receiving a movement request message from the automated valet parking server, the movement request message including at least one control command of acceleration, braking, and steering, and marker image information corresponding to the service selection information; after the vehicle moves to the vicinity of a service space based on the movement request message, the vehicle identifying code markers corresponding to the marker image information from image data surrounding the vehicle; and when the code markers are identified, the vehicle parking at a location within the service space.

[0216] The identification code marker may include a code marker corresponding to the marked image information identified by the vehicle from first image data captured from the side of the vehicle.

[0217] The identification of code markers may also include: when a code marker is identified, the vehicle performing forward or backward parking at its location in the service space, and the vehicle re-identifying the code marker from second image data captured in front of or behind the vehicle.

[0218] The method may also include: when the code marker is re-identified, the vehicle sends a parking completion notification message to the automated valet parking server.

[0219] The method may also include: the vehicle receiving a service completion notification message, a vehicle exit request message, and reparking location information from the automated valet parking server.

[0220] The method may further include: after the vehicle moves to the reparking location based on the reparking location information, the vehicle sends a reparking completion notification message to the automated valet parking server.

[0221] The foregoing includes examples of one or more embodiments. It is certainly not possible to describe every possible combination of components or methods in order to describe the above embodiments, but those skilled in the art will recognize that many other combinations and substitutions of the various embodiments are possible. Therefore, the described embodiments are intended to include all such changes, modifications, and variations that fall within the spirit and scope of the appended claims. Furthermore, with regard to the term "includes" as used in the detailed description or claims, the term is intended to be inclusive in a manner similar to the term "comprising," as "comprising" is interpreted when used as a transitional word in the claims.

[0222] As used herein, the term "infer" or "inference" generally refers to the process of reasoning or inferring the state of a system, environment, and / or user based on a set of observations obtained through events and / or data. For example, inference can be used to identify specific contexts or actions, or to generate probability distributions of states. Inference can be probabilistic, i.e., calculating the probability distribution of states of interest based on considerations of data and events. Inference can also refer to techniques used to compose higher-level events from a set of events and / or data. Such inference results in the construction of new events or actions from a set of observed events and / or stored event data, regardless of whether the events are closely related in time or whether the events and data come from one or more event and data sources.

[0223] Furthermore, the terms "component," "module," and "system" as used in this application are intended to refer to computer-related entities, including hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable program, an execution thread, a program, and / or a computer. For illustration, applications running on computing devices and computing devices can both be components. One or more components may reside in an executing process and / or thread, and components may be located on a single computer and / or distributed across two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. These components can communicate via local and / or remote processes, such as according to signals having one or more data packets (e.g., data from one component interacts with another component in a local system, a distributed system, and / or with other systems via a network such as the Internet).

Claims

1. A vehicle comprising: Sensors are configured to acquire image data relating to the vehicle’s surrounding environment; The controller is configured to control at least one function of the vehicle; The communication device is configured to communicate with a server related to automated valet parking. as well as The processor is configured as follows: Receive a movement request message from the server, the movement request message including a control command for at least one of acceleration, braking or steering; Based on the control command, the vehicle is controlled to drive towards the service space; Based on the image data, identify code markers corresponding to service selection information; as well as The automatic parking operation of the vehicle is controlled based on the code markers to park the vehicle in the service space.

2. The vehicle according to claim 1, wherein the processor is further configured to: Receive available service information from the server, wherein the available service information includes information about at least one of delivery service, maintenance service, car wash service, or charging service; and Send the service selection information to the server.

3. The vehicle according to claim 2, wherein the processor is further configured to: Received from the server: Service spatial location information corresponding to the service selection information, and The labeled image information corresponding to the service selection information.

4. The vehicle of claim 3, wherein the processor is configured to recognize the code marker in the following manner: Based on the image data, identify the code markers corresponding to the marked image information.

5. The vehicle of claim 1, wherein the image data is acquired in a first-time manner, wherein the sensor is mounted on the side of the vehicle, and wherein the processor is configured to identify the code marker in such a way as: Control the vehicle to perform forward or reverse parking at the service space; and At a second time later than the first time, the code marker is identified based on second image data acquired via a second sensor installed in one of the front or rear parts of the vehicle.

6. The vehicle of claim 5, wherein the processor is further configured to: Based on the identification of the code marker in the second time period, a parking completion notification message is sent to the server.

7. The vehicle of claim 1, wherein the processor is further configured to: Receive service completion notification messages, vehicle exit request messages, and reparking location information from the server.

8. The vehicle of claim 7, wherein the processor is further configured to: After the vehicle moves to the re-parking position, a re-parking completion notification message is sent to the server based on the re-parking position information.

9. A computing device, comprising: The data storage device is configured to store code marker information; A communication device configured to communicate with the vehicle; as well as The processor is configured as follows: Send a movement request message to the vehicle, the movement request message including a control command for at least one of acceleration, braking or steering; Based on image data related to the vehicle's surrounding environment, identify code markers corresponding to service selection information; as well as Based on the code marker, the vehicle performs an automatic parking operation to park the vehicle in the service space.

10. The computing device of claim 9, wherein the processor is further configured to: Send available service information to the vehicle, wherein the available service information includes information about at least one of delivery service, maintenance service, car wash service, or charging service; and Receive the service selection information from the vehicle, and The computing device mentioned above includes at least one server related to automated valet parking.

11. The computing device of claim 9, wherein the processor is further configured to: Send service appointment information and vehicle information to the service provider.

12. The computing device of claim 9, wherein the image data is captured via a sensor mounted on the side of the vehicle, and The processor is configured to recognize the code markers based on stored marker image information.

13. The computing device of claim 12, wherein the processor is configured to cause the vehicle to perform the automatic parking operation to park the vehicle in the service space by: Send a message to the vehicle requesting to stop forward or backward within the service space; and After the code mark is identified based on the image data, the code mark is identified based on second image data acquired via a second sensor installed in one of the front or rear parts of the vehicle.

14. The computing device of claim 13, wherein the processor is further configured to: Receive service completion notification messages from service providers; and Send a service completion notification message, a vehicle exit request message, and reparking location information to the vehicle.

15. A method performed by a device of a vehicle, the method comprising the following steps: Receive available service information from servers related to automated valet parking; Send service selection information to the server; Received from the server: A movement request message, the movement request message including a control command for at least one of acceleration, braking, or steering, and The image information is labeled, and the labeled image information corresponds to the service selection information; Based on the control command, the vehicle is controlled to drive towards the service space; Based on image information related to the vehicle's surrounding environment, identify code markers corresponding to the marked image information; as well as The automatic parking operation of the vehicle is controlled based on the code markers to park the vehicle in the service space.

16. The method of claim 15, wherein the image information relating to the environment surrounding the vehicle includes first image data acquired via a first sensor mounted on the side of the vehicle.

17. The method of claim 16, wherein the step of identifying the code marker comprises: This enables the vehicle to perform forward or backward parking at the service space; as well as The code marker is identified based on second image data acquired via a second sensor installed at one of the front or rear of the vehicle.

18. The method of claim 17, further comprising the step of: Based on the identification of the code marker using the second image data, a parking completion notification message is sent to the server.

19. The method of claim 15, further comprising the step of: Receive service completion notification messages, vehicle exit request messages, and reparking location information from the server.

20. The method of claim 19, further comprising the step of: After the vehicle moves to the re-parking position, a re-parking completion notification message is sent to the server based on the re-parking position information.

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