Automated Valet Parking System, and infrastructure and vehicle thereof

Abstract

The present invention relates to a system and method for supporting autonomous valet parking, and to infrastructure and a vehicle for the same. According to the present invention, by utilizing communication between the infrastructure and the vehicle, the vehicle moves to an empty parking space without a driver and performs parking. Additionally, according to the present invention, by utilizing communication between the infrastructure and the vehicle, the vehicle moves from the parked space to a pickup area without a driver.

Description

Technology Field

[0001] The present invention relates to a system and method for supporting autonomous valet parking, and to infrastructure and a vehicle for the same. According to the present invention, by utilizing communication between the infrastructure and the vehicle, the vehicle moves to an empty parking space without a driver and performs parking. Additionally, according to the present invention, by utilizing communication between the infrastructure and the vehicle, the vehicle moves from the parked space to a pickup area without a driver. Background Technology

[0002] In modern society, there are numerous social issues related to parking. First, the likelihood of accidents occurring within parking lots is very high. Furthermore, when attempting to park at facilities such as large supermarkets or department stores, a significant amount of time and energy is consumed. Even after entering the parking lot, a considerable amount of time and energy is required to find an empty space. Additionally, drivers face the inconvenience of having to travel back to their parked vehicles after completing their business at the facility, and in some cases, they may even forget where their car is parked. The problem to be solved

[0003] The present invention is intended to solve the aforementioned problem, and the autonomous valet parking according to the present invention allows the vehicle to move autonomously to an empty parking space and complete parking when the driver stops the vehicle in a drop-off area and gets out of the vehicle.

[0004] In addition, in the autonomous valet parking according to the present invention, when a driver calls, the parked vehicle moves autonomously to the pick-up area, and the driver boards the vehicle in the pick-up area and exits the facility. means of solving the problem

[0005] The present invention provides a method for performing autonomous valet parking, the method comprising: a step of initiating autonomous valet parking of a vehicle; a step of the vehicle receiving a target position and a guide route from an infrastructure; a step of performing autonomous valet parking based on the received target position and guide route; and a step of terminating autonomous valet parking after the vehicle has parked at the target position.

[0006] The step of initiating the autonomous valet parking described above includes: the step of the infrastructure recognizing the driver of the vehicle and the vehicle.

[0007] The above infrastructure recognizes the driver of the vehicle using an ID and password entered by the driver of the vehicle, and recognizes the vehicle using the unique number of the vehicle.

[0008] The step of initiating the autonomous valet parking includes: turning off the engine of the vehicle; determining whether a human or animal is present inside the vehicle; and locking the doors of the vehicle.

[0009] *9 The step of initiating the autonomous valet parking above includes: the step of transferring the driving authority of the vehicle from the vehicle to the infrastructure.

[0010] The driving authority of the above vehicle includes the authority to execute operations of the above vehicle, and the operations of the above vehicle include steering operations, acceleration operations, braking operations, gear shifting operations, operations to turn the vehicle's ignition on / off, and operations to lock / unlock the vehicle's doors.

[0011] Among the driving rights of the above vehicle, the authority to execute the braking action of the above vehicle is held by both the infrastructure and the vehicle.

[0012] Prior to the step of initiating the autonomous valet parking, the method comprises: a step of determining whether the autonomous valet parking of the vehicle performing autonomous driving outside the parking lot is scheduled; a step of determining the state of the vehicle when the autonomous valet parking of the vehicle is scheduled; a step of determining whether the determined state of the vehicle is suitable for the autonomous valet parking; a step of controlling the state of the vehicle to be suitable for the autonomous valet parking when the state of the vehicle is not suitable for the autonomous valet parking; and a step of starting the performance of the scheduled autonomous valet parking when the state of the vehicle is suitable for the autonomous valet parking.

[0013] The step of determining whether the autonomous valet parking is scheduled to be performed includes the step of determining whether a command for executing the autonomous valet parking is stored.

[0014] The state of the vehicle includes at least one of the speed of the vehicle, the acceleration of the vehicle, and the driving state of the vehicle.

[0015] The step of determining whether the state of the vehicle is suitable for autonomous valet parking includes a step of comparing the state of the vehicle with the autonomous valet parking start condition, and the autonomous valet parking start condition includes a condition regarding at least one of a sensor for performing autonomous valet parking, a reference speed for performing autonomous valet parking, and a reference acceleration for performing autonomous valet parking.

[0016] The step of determining whether the condition of the vehicle is suitable for autonomous valet parking includes the step of determining whether the vehicle is malfunctioning.

[0017] The step of controlling the state of the vehicle to be suitable for autonomous valet parking includes controlling at least one of the vehicle's speed, the vehicle's acceleration, and the vehicle's driving state to be suitable for autonomous valet parking.

[0018] Prior to the step of determining whether it is suitable for autonomous valet parking, it further includes a step of determining whether autonomous valet parking is possible.

[0019] The step of determining whether autonomous valet parking is possible comprises: a step of determining at least one of the end time of the currently performed autonomous driving and the end point of the currently performed autonomous driving; and a step of determining whether autonomous valet parking is possible when the current time is close to the end time or the current location of the vehicle is close to the end point.

[0020] The method further includes a step of canceling the scheduled autonomous valet parking when the condition of the vehicle is not suitable for the autonomous valet parking until the current time is close to the start time of the autonomous valet parking or the current location of the vehicle is close to the start point of the autonomous valet parking. Brief explanation of the drawing

[0021] FIG. 1 shows an autonomous valet parking system according to embodiments of the present invention. FIG. 2 shows an autonomous valet parking device according to embodiments of the present invention. FIG. 3 is a conceptual diagram illustrating an autonomous valet parking system and method according to an embodiment of the present invention. FIGS. 4a and 4b are block diagrams illustrating the operation performed by the infrastructure and vehicle for autonomous valet parking according to the present invention. FIG. 5 is a diagram illustrating communication between an infrastructure and a vehicle performing autonomous valet parking according to the present invention. FIG. 6 is a diagram illustrating communication between an infrastructure and a vehicle performing autonomous valet parking according to the present invention. FIG. 7 is a diagram illustrating communication between an infrastructure and a vehicle performing autonomous valet parking according to the present invention. FIG. 8 is a flowchart for explaining a method of performing autonomous valet parking according to the present invention. Specific details for implementing the invention

[0022] Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings. The structure of the present invention and the resulting effects will be clearly understood through the following detailed description. Prior to the detailed description of the present invention, it should be noted that identical components are indicated by the same reference numerals whenever possible, even if they are shown in different drawings, and that specific descriptions of known components are omitted if it is determined that such descriptions may obscure the essence of the present invention.

[0023] Prior to a detailed description of the present invention, the terms used in the present invention may be defined as follows.

[0024] The driver is a human being who uses a vehicle and receives the service of an autonomous valet parking system.

[0025] Driving authority is the authority to execute vehicle actions. Vehicle actions include, for example, steering, acceleration, braking, gear shifting, turning the vehicle's ignition on or off, and locking or unlocking the vehicle's doors.

[0026] The vehicle is a vehicle equipped with the function of performing autonomous valet parking.

[0027] The control center is a facility that monitors vehicles within a parking facility, determines target positions, guide routes, and allowed driving areas, and can transmit driving start commands or emergency stop commands to vehicles.

[0028] Infrastructure can be parking facilities or sensors deployed within the parking facilities. Additionally, infrastructure can refer to parking gates or control centers that manage vehicles.

[0029] The target position may refer to an empty parking space where the vehicle will be parked. Additionally, when the vehicle leaves the parking lot, the target position may refer to the area where the driver will get in, that is, the pickup area.

[0030] A guide route may refer to the route a vehicle takes to reach a target position. For example, in a parking situation, it is the route from the drop-off area to an empty space. For example, a guide route may be in the form of moving forward 50 m, turning left at a corner, etc.

[0031] A driving route can refer to the route that a vehicle follows.

[0032] A permitted driving area may refer to an area within a parking lot where driving is allowed, such as a driving path. A permitted driving area can be defined by partitions, parked vehicles, and parking lines.

[0033] FIG. 1 illustrates an autonomous valet parking system according to an embodiment of the present invention. Referring to FIG. 1, the autonomous valet parking system (10) may include infrastructure (100) and an autonomous valet parking device (200).

[0034] *34 The infrastructure (100) may refer to a device or system for operating, managing, and performing an autonomous valet parking system, as described above. For example, the infrastructure (100) may be a parking facility. According to embodiments, the infrastructure (100) may include sensors, communication devices, alarm devices, display devices, and a server that controls the aforementioned devices. Additionally, the infrastructure may refer to a parking gate and a control center that controls vehicles.

[0035] The autonomous valet parking device (200) may refer to a vehicle that performs autonomous valet parking. According to embodiments, the autonomous valet parking device (200) may refer to a component or a set of components included in a vehicle capable of performing autonomous valet parking.

[0036] FIG. 2 illustrates an autonomous valet parking device according to an embodiment of the present invention. Referring to FIG. 2, the autonomous valet parking device (e.g., vehicle; 200) may include a sensor unit (210), a judgment unit (220), a vehicle control unit (230), and a communication unit (240).

[0037] The sensor unit (210) can detect the surrounding environment of the autonomous valet parking device (200). According to embodiments, the sensor unit (210) can measure the distance between the autonomous valet parking device (200) and a specific object, or detect objects around the autonomous valet parking device (200). For example, the sensor unit (210) may include at least one of an ultrasonic sensor, a radar sensor, a lidar sensor, a camera, an infrared sensor, a thermal sensor, and a millimeter wave sensor.

[0038] The sensor unit (210) can transmit data generated according to the detection result to the communication unit (220) or the vehicle control unit (230).

[0039] The communication unit (220) can exchange data with the infrastructure (100). This communication is referred to as Vehicle to Infra (V2I) communication. Additionally, the communication unit (220) can exchange data with other vehicles. This communication is referred to as Vehicle to Vehicle (V2V) communication. Furthermore, V2I communication and V2V communication are combined and referred to as Vehicle to Everything (V2X) communication. According to embodiments, the communication unit (220) can receive data transmitted from the infrastructure (100) (e.g., target position, guide route, driving route, or command, etc.), process the received data, and transmit it to the judgment unit (230). Additionally, the communication unit (220) can transmit data generated from the vehicle (200) to the infrastructure (100). According to embodiments, the communication unit (220) can exchange data with the driver's terminal of the vehicle (200).

[0040] The communication unit (220) can transmit or receive data using a wireless communication protocol or a wired communication protocol. For example, the above wireless communication protocols include Wireless LAN (WLAN), DLNA (Digital Living Network Alliance), WiBro (Wireless Broadband), WiMAX (World Interoperability for Microwave Access), GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), CDMA2000 (Code Division Multi Access 2000), EV-DO (Enhanced Voice-Data Optimized or Enhanced Voice-Data Only), WCDMA (Wideband CDMA), HSDPA (High Speed ​​Downlink Packet Access), HSUPA (High Speed ​​Uplink Packet Access), IEEE 802.16, Long Term Evolution (LTE), LTE-A (Long Term Evolution-Advanced), Wireless Mobile Broadband Service (WMBS), Bluetooth, RFID (Radio Frequency Identification), and Infrared Data Association (IrDA). It may include UWB (Ultra-Wideband), ZigBee, Near Field Communication (NFC), Ultra Sound Communication (USC), Visible Light Communication (VLC), Wi-Fi, Wi-Fi Direct, etc.In addition, wired communication protocols may include wired LAN (Local Area Network), wired WAN (Wide Area Network), Power Line Communication (PLC), USB communication, Ethernet, serial communication, optical / coaxial cables, etc., and any protocol capable of providing a communication environment with other devices may be included, not limited thereto.

[0041] The judgment unit (230) can control the overall operation of the vehicle (200). The judgment unit (230) can control the vehicle control unit (240) based on data transmitted through the sensor unit (210) and the communication unit (220). According to embodiments, the judgment unit (230) can generate a control signal to control the vehicle control unit (240) based on data transmitted from the infrastructure (100) and transmit the generated control signal to the vehicle control unit (240).

[0042] That is, the judgment unit (230) may refer to a device capable of controlling the vehicle (200) and performing a series of operations or judgments for performing autonomous valet parking. For example, the judgment unit (230) may be a processor in which a program including commands for performing autonomous valet parking is executed.

[0043] The vehicle control unit (240) can control the vehicle (200) according to the control of the judgment unit (230). According to embodiments, the vehicle control unit (240) can control the vehicle (200) in response to a control signal transmitted from the judgment unit (230). For example, the vehicle control unit (240) can control the movement, stopping, restarting movement, steering, acceleration, deceleration, parking, flashing, alarm, etc. of the vehicle (200).

[0044] That is, it should be understood that the vehicle control unit (240) is capable of performing all functions for controlling the operation of the vehicle (200) described in this specification.

[0045] Meanwhile, even without separate explanation, it should be understood that the operation or function of the vehicle (200) described in this specification is appropriately performed by a combination of at least one of the sensor unit (210), the communication unit (220), the judgment unit (230), and the vehicle control unit (240).

[0046] FIG. 3 is a conceptual diagram illustrating an autonomous valet parking system and method according to an embodiment of the present invention.

[0047] Referring to Fig. 3, in (1), the driver drives the vehicle into the parking lot and moves the vehicle to the drop-off area.

[0048] (2) When the driver reaches the drop-off area, he / she gets out of the vehicle and the driving authority is transferred from the driver to the infrastructure.

[0049] In (3), the infrastructure searches for an empty parking space among multiple parking spaces existing in the parking lot and determines an empty parking space suitable for parking the vehicle. Additionally, the infrastructure determines a guide route to the determined empty parking space. Once the parking space and guide route are determined, the vehicle autonomously drives along the guide route and, after reaching the vicinity of the parking space, performs autonomous valet parking to the parking space.

[0050] (4) The driver decides to exit their vehicle and moves to the pickup area.

[0051] In (5), the infrastructure determines a suitable target position. For example, the suitable target position may be an empty parking space among the multiple parking spaces existing within the pickup area. Additionally, the infrastructure determines a guide route to the determined target position. Once the target position and guide route are determined, the vehicle autonomously drives along the guide route and, after reaching the vicinity of the parking space, performs autonomous valet parking to the parking space.

[0052] In (6), the driver reaches the pickup area, and driving authority is transferred from the infrastructure to the driver. The driver drives the vehicle to the exit of the parking lot.

[0053] FIGS. 4a and 4b are block diagrams illustrating the operation performed by the infrastructure and vehicle for autonomous valet parking according to the present invention.

[0054] (1) describes the operation of the infrastructure and vehicle for initiating autonomous valet parking. The infrastructure recognizes the driver and the vehicle and determines whether they are the appropriate driver and vehicle. For example, the infrastructure determines whether the driver is the appropriate driver by using the ID and password entered by the driver. Additionally, the infrastructure determines whether the vehicle is the appropriate vehicle by using the vehicle's unique number. The vehicle can turn the engine on / off. Additionally, the vehicle can turn the power on / off. For example, the vehicle's engine may be off, but the power may be on, which is the ACC ON (Accessory ON) state. The vehicle's engine turning on / off and power turning on / off can be performed by receiving a command from the infrastructure, or the vehicle can perform them autonomously without a command from the infrastructure. The vehicle can lock / unlock the doors. Locking and unlocking the vehicle doors can be performed by receiving a command from the infrastructure, or the vehicle can perform them autonomously without a command from the infrastructure. When the vehicle proceeds to the autonomous parking stage, it is desirable to lock the vehicle's doors. Additionally, the driving authority of the vehicle is transferred from the vehicle to the infrastructure. Driving authority refers to the authorization to execute vehicle actions, which include steering, acceleration, braking, gear shifting, turning the engine on / off, and locking / unlocking the doors. By transferring vehicle authority to the infrastructure, the infrastructure can fully control the vehicle while it performs autonomous valet parking. Consequently, the likelihood of unintended vehicle actions is reduced, and vehicle accidents within the parking lot can be prevented. However, in some cases, a portion of the driving authority may remain in the vehicle without being transferred to the infrastructure, or a portion may be jointly held by the vehicle and the infrastructure.For example, braking is required to be performed in the event of an emergency while autonomous valet parking is in progress. This is because it is desirable for the vehicle to perform braking autonomously without infrastructure control when it detects danger using ADAS sensors or the like. Additionally, the vehicle determines whether a person or animal is present inside the vehicle. Since a significant amount of time is required for the autonomous valet parking according to the present invention to be completed and the vehicle to be released, this is intended to eliminate the risk that may arise if a person or animal is present inside the vehicle. The presence of a person or animal inside the vehicle can be determined using sensors mounted on the vehicle.

[0055] In (2), the target position, guide route, and driving route can be determined. The determination of the target position, guide route, and driving route can be performed by the infrastructure. The target position, guide route, and driving route determined by the infrastructure can be transmitted from the infrastructure to the vehicle.

[0056] (3) Autonomous driving of the vehicle can be performed within the parking lot. Autonomous driving of the vehicle includes moving, stopping, and restarting movement of the vehicle. Autonomous driving of the vehicle can be performed by the vehicle according to commands transmitted from the infrastructure to the vehicle. Alternatively, autonomous driving of the vehicle can be performed autonomously by the vehicle without relying on commands from the infrastructure. The vehicle can autonomously drive to a target position along a guide route within an allowed driving area. In the case of driverless autonomous driving, the vehicle can be controlled to drive below a preset speed. This preset speed may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle. Additionally, when autonomous driving along the guide route, the vehicle can be controlled to drive without deviating from a preset error in a given guide route. This preset error may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle. Additionally, when the vehicle needs to perform a curve while autonomous driving along the guide route, it can follow a preset minimum turning radius. This preset minimum turning radius may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle. The vehicle may be controlled so as not to exceed a preset maximum acceleration while autonomously driving along the guide route. This preset maximum acceleration may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle.

[0057] (4) Position measurement can be performed. The target of the position measurement may be a vehicle performing parking, an obstacle present in the parking lot, or a vehicle that has already completed parking. The infrastructure may measure the position of the vehicle or obstacle and store the vehicle's position in a database. The infrastructure may identify and detect the vehicle or obstacle and monitor the safety of each of the multiple vehicles performing parking. Additionally, the infrastructure may monitor the movement of the vehicle performing parking after reaching the target position and transmit commands. The vehicle may measure its own position. The vehicle may transmit its measured position to the infrastructure. The error of the vehicle's position measured by the vehicle is within a predetermined error range, and the predetermined error may be a value determined by the infrastructure. The vehicle may sense its surroundings to measure the position of an existing obstacle and transmit the measured position of the obstacle to the infrastructure. The frequency used for communication between the vehicle and the infrastructure may be a predetermined frequency.

[0058] Autonomous parking can be performed in (5). Autonomous parking refers to a vehicle that has reached the vicinity of a target position and parks itself autonomously in an empty parking space. The vehicle can perform autonomous parking by using a distance sensor mounted on it to sense obstacles or vehicles parked nearby. The distance sensor mounted on the vehicle may include, for example, an ultrasonic sensor, a radar sensor, a lidar sensor, or a camera.

[0059] In (6), the vehicle may perform an emergency brake. The vehicle may perform an emergency brake in response to a command transmitted from the infrastructure, or it may perform the emergency brake on its own if the vehicle detects an obstacle. The infrastructure may command the vehicle to perform an emergency brake if it determines that the area around the vehicle is unsafe. After the vehicle performs the emergency brake, if the infrastructure determines that the area around the vehicle is safe, it may command the vehicle to restart autonomous driving or autonomous parking. The vehicle may perform an emergency brake if it detects an obstacle. Additionally, the vehicle may report the performance of the emergency brake to the infrastructure and may report to the infrastructure the type or location of the obstacle that caused the emergency brake. The magnitude of deceleration when the vehicle performs the emergency brake may be determined by a predetermined deceleration value, which may be a value determined by the infrastructure or a value stored in the vehicle. The predetermined deceleration value may be determined based on the type of obstacle, the location of the obstacle, and the distance between the vehicle and the obstacle. The vehicle may restart autonomous driving or autonomous parking when it receives a command to restart autonomous driving or autonomous parking from the infrastructure. Alternatively, the vehicle may restart autonomous driving or autonomous parking if it determines that surrounding obstacles have been removed. The vehicle may report the restart of autonomous driving or autonomous parking, or the removal of surrounding obstacles, to the infrastructure.

[0060] Autonomous valet parking is terminated at (7). After the vehicle completes autonomous driving and autonomous parking, the infrastructure transmits a control release command to the vehicle. The vehicle can turn the engine on / off or the power on / off by receiving the command from the infrastructure or without relying on the command from the infrastructure. Additionally, the vehicle can lock the vehicle doors by receiving the command from the infrastructure or without relying on the command from the infrastructure. Additionally, the vehicle can engage the vehicle's parking brake by receiving the command from the infrastructure or without relying on the command from the infrastructure.

[0061] Error control may be performed in (8). Error control includes communication errors between the vehicle and the infrastructure or mechanical errors of the vehicle. The infrastructure may monitor communication with the vehicle to detect whether a communication error is occurring. The vehicle may monitor communication with the infrastructure to detect whether a communication error is occurring. The vehicle may monitor the operational status of accessories, including sensors mounted on it, to detect whether a mechanical error is occurring. The vehicle may sense whether a human or animal is present inside the vehicle and, if it determines that a human or animal is present inside the vehicle, perform an emergency brake. After performing the emergency brake, the vehicle may receive a command from the infrastructure to restart autonomous parking or autonomous driving. Alternatively, the vehicle may determine whether the cause of the emergency brake has been removed and, if removed, restart autonomous parking or autonomous driving.

[0062] FIG. 5 is a diagram illustrating communication between an infrastructure and a vehicle performing autonomous valet parking according to the present invention.

[0063] In (1), vehicle qualification information can be transmitted from the vehicle to the infrastructure. The vehicle qualification information includes an identifier that can distinguish each vehicle from other vehicles. For example, the vehicle qualification information may be the unique number of the vehicle. The vehicle qualification information can be transmitted at the step where the vehicle enters the parking lot and autonomous valet parking is initiated (see (1) in FIG. 4a).

[0064] (2) An autonomous valet parking preparation command can be transmitted from the infrastructure to the vehicle. The autonomous valet parking preparation command can be transmitted before autonomous driving begins.

[0065] In (3), vehicle information can be transmitted from the vehicle to the infrastructure. The vehicle information may include vehicle status information and vehicle location information. The vehicle status information may include whether the vehicle is driving, whether the vehicle is stopped, or whether the vehicle has stopped in an emergency. The vehicle information may be transmitted periodically and may be transmitted at a specific frequency (e.g., once every second, i.e., 1 Hz). Thus, the vehicle information can be used as a parameter to determine whether a communication error has occurred between the vehicle and the infrastructure. For example, if the vehicle information does not reach the infrastructure at a scheduled time depending on the communication frequency, the infrastructure can determine that a communication error has occurred between the vehicle and the infrastructure.

[0066] In (4), a vehicle information response can be transmitted from the infrastructure to the vehicle. The vehicle information response can be transmitted at the same frequency as the vehicle information as a response to the vehicle information in (3). Therefore, the vehicle information response can be used as a parameter to determine whether a communication error has occurred between the vehicle and the infrastructure. For example, if the vehicle information response does not reach the vehicle at a scheduled time depending on the communication frequency, the vehicle can determine that a communication error has occurred between the vehicle and the infrastructure.

[0067] In (5), the target position and guide route can be transmitted from the infrastructure to the vehicle. The transmission of the target position and guide route can be performed before or after the autonomous valet parking start command is transmitted from the infrastructure to the vehicle.

[0068] In (6), driving boundaries can be transmitted from the infrastructure to the vehicle. Driving boundaries may include landmarks (e.g., parking lines, center lines, road boundary lines) that define the boundaries of the allowed driving area. The transmission of driving boundaries can be performed after the autonomous valet parking preparation command is transmitted. These driving boundaries can be transmitted from the infrastructure to the vehicle in the form of a parking map.

[0069] (7) An autonomous valet parking start command can be transmitted from the infrastructure to the vehicle. The transmission of the autonomous valet parking start command can be performed after the guide route and driving boundary have been transmitted. Additionally, it can be transmitted after the vehicle's emergency braking has been performed and safety around the vehicle has been confirmed.

[0070] (8) An emergency brake command can be transmitted from the infrastructure to the vehicle.

[0071] In (9), a vehicle control release command can be transmitted from the infrastructure to the vehicle. The transmission of the vehicle control release command can be performed after the vehicle has completed autonomous parking into the parking space.

[0072] FIG. 6 is a diagram illustrating communication between an infrastructure (100) and a vehicle (200) that perform autonomous valet parking according to the present invention.

[0073] In (1), the vehicle (200) enters the parking lot passage and stops at a stopping location. This stopping location may be a parking lot entrance gate. The vehicle (200) reports to the infrastructure (100) that it has arrived at the stopping location. In (2), the infrastructure (100) verifies the size and number of the vehicle (200). In (3), the infrastructure (100) sends an authentication ID request to the vehicle (200), and in (4), the vehicle (200) sends an authentication ID to the infrastructure (100). In (5), the infrastructure (100) determines whether entry into the parking lot is approved based on the received authentication ID. In (6), the infrastructure (100) informs whether entry into the parking lot of the vehicle (200) is approved based on the received authentication ID. For example, the infrastructure (100) may display approval or disapproval through a monitor placed around the stopping location. When entry into the parking lot is approved, the driver of the vehicle (200) moves the vehicle (200) to the drop-off area. In (7), the driver turns off the engine of the vehicle (200), exits the vehicle (200), locks the doors of the vehicle (200), and then leaves the drop-off area. In (8), the authority of the vehicle (200) is transferred from the vehicle (200) (or driver) to the infrastructure (100). Additionally, in (9), the infrastructure (100) notifies the driver that it has received the authority of the vehicle (200). This notification may be transmitted to the driver's smart device via a mobile communication network.

[0074] FIG. 7 is a diagram illustrating communication between an infrastructure (100) and a vehicle (200) that perform autonomous valet parking according to the present invention.

[0075] (1) In the above, the infrastructure (100) can send a request to the vehicle (200) instructing it to turn on the engine of the vehicle (200). (2) In the above, the vehicle (200) can turn on the engine of the vehicle (200) in response to the request from the infrastructure (100). (3) In the above, after turning on the engine, the vehicle (200) can send a response to the infrastructure (100) indicating that the engine is turned on. (4) In the above, the infrastructure (100) can send a request to the vehicle (200) instructing it to prepare for autonomous valet parking. (5) In the above, the vehicle (200) can send a response to the infrastructure (100) indicating whether the autonomous valet parking is prepared (OK) or not prepared (NG) in response to the request for preparation for autonomous valet parking. (6) In the above, the infrastructure (100) can send a synchronization request to the vehicle (200). The above synchronization request may be a request instructing the synchronization of the time of the infrastructure (100) and the time of the vehicle (200). For example, the above synchronization request may include information regarding the time of the infrastructure (100). In (7), the vehicle (200) may perform synchronization in response to the above synchronization request and in (8), may transmit a response to the infrastructure (100) indicating that the synchronization is complete. For example, until the synchronization between the infrastructure (100) and the vehicle (200) is completed, multiple synchronization requests may be transmitted from the infrastructure (100) to the vehicle (200). In (9), the infrastructure (100) may transmit parking lot map information to the vehicle (200). This parking lot map information may include landmark information. In (10), the vehicle (200) may estimate (or calculate) the location of the vehicle (200) based on the transmitted landmark information, and the vehicle (200) may transmit the estimated location of the vehicle (200) to the infrastructure (100). In (11), the infrastructure (100) can determine the target position (parking location). In (12), the infrastructure (100) can transmit information about the allowed driving area to the vehicle (200).For example, the infrastructure (100) can transmit the boundaries of the allowed driving area to the vehicle (200). In (13), the infrastructure (100) can transmit a guide route to the vehicle (200). In (14), the infrastructure (100) can transmit a command to the vehicle (200) instructing the start of autonomous valet parking.

[0076] FIG. 8 is a flowchart for explaining a method for performing autonomous valet parking according to the present invention. A series of steps included in the method for performing autonomous valet parking according to the present invention may be performed under the control of infrastructure (100) or by the vehicle (200) itself.

[0077] Referring to FIG. 8, the vehicle (200) performs autonomous driving outside a parking lot that supports autonomous valet parking (S810). That is, the vehicle (200) performs external autonomous parking, and external autonomous parking is a concept distinct from autonomous driving for autonomous valet parking inside the parking lot. In other words, the autonomous driving in step S810 is distinct from the autonomous valet parking step and refers to autonomous driving performed prior to the start of autonomous valet parking. For example, external autonomous driving may refer to urban autonomous driving (CDP) or highway autonomous driving (HDP), but is not limited thereto. According to embodiments, the external autonomous driving of the vehicle (200) may be performed under the control of the vehicle (200) itself, but is not limited thereto.

[0078] While the vehicle (200) is performing autonomous driving outside the parking lot, it is determined whether autonomous valet parking is scheduled to be performed after the currently performed autonomous driving (S820). According to embodiments, the determination of whether autonomous valet parking is scheduled to be performed may be made by referring to a memory in which commands for controlling the vehicle (200) are stored. According to embodiments, it may be determined whether autonomous valet parking is scheduled to be performed each time one autonomous driving is started. For example, it may be determined whether autonomous valet parking is scheduled to be performed after a certain amount of time has passed since one autonomous driving was started. For example, the memory of the infrastructure (100) may store a set of commands for performing autonomous functions of the vehicle (200) (e.g., highway autonomous driving command, subsequent urban autonomous driving command, and subsequent autonomous valet parking command), and the infrastructure (100) may refer to the memory to determine whether the execution of an autonomous valet parking command to be performed in the vehicle (200) is scheduled after a command corresponding to an autonomous function currently performed in the vehicle (200) (e.g., urban autonomous driving command). For example, the memory of the vehicle (200) may store a set of commands for performing autonomous functions of the vehicle (200) (e.g., highway autonomous driving command, urban autonomous driving command, and autonomous valet parking command), and the vehicle (200) may refer to the memory to determine whether the execution of an autonomous valet parking command to be performed in the vehicle (200) is scheduled after a command corresponding to an autonomous function currently performed in the vehicle (200) (e.g., urban autonomous driving command).

[0079] When the above autonomous valet parking is not scheduled to be performed (N of S820), the vehicle (200) can continue to perform the current autonomous driving.

[0080] When the autonomous valet parking is scheduled to be performed (Y of S820), the state of the vehicle (200) can be determined (S830). According to embodiments, the state of the vehicle may include at least one of the speed of the vehicle (200), the acceleration of the vehicle (200), and the driving state of the vehicle (200).

[0081] The speed of the vehicle (200) may be the instantaneous (current) speed of the vehicle (200) or the average speed measured over a certain period of time. The acceleration of the vehicle (200) may be the instantaneous (current) acceleration of the vehicle (200) or the average acceleration measured over a certain period of time. The driving state of the vehicle (200) may include the current location of the vehicle (200), the surrounding conditions of the vehicle (200), the components of the vehicle (200) (e.g., sensors mounted on the vehicle (200)), and whether the vehicle (200) is malfunctioning. According to embodiments, the infrastructure (100) or the vehicle (200) may determine the state of the vehicle (200). For example, the infrastructure (100) may receive information related to the state of the vehicle (200) from the vehicle (200) and determine the state of the vehicle (200) based on said information. For example, the vehicle (200) can determine the state of the vehicle (200) based on information regarding the state of the vehicle (200) transmitted from at least one component included in the vehicle (200).

[0082] It can be determined whether the state of the determined vehicle (200) is suitable for autonomous valet parking (S840). According to embodiments, the state of the vehicle and the autonomous valet parking start condition are compared, and based on the comparison result, it can be determined whether the state of the vehicle is suitable for the autonomous valet parking. The autonomous valet parking start condition may be transmitted from an external source, but is not limited thereto, and may be stored in advance. For example, the infrastructure (100) may read the stored autonomous valet parking start condition, compare the read autonomous valet parking start condition with the state of the determined vehicle (200), and determine whether the state is suitable for the autonomous valet parking based on the comparison result. Alternatively, the vehicle (200) may receive the autonomous valet parking start condition from the infrastructure (100), compare the received autonomous valet parking start condition with the state of the determined vehicle (200), and determine whether the state of the vehicle is suitable for the autonomous valet parking based on the comparison result.

[0083] The above autonomous valet parking start condition may include a condition regarding at least one of a sensor for performing the autonomous valet parking, a reference speed for performing the autonomous valet parking, and a reference acceleration for performing the autonomous valet parking. For example, the condition regarding the sensor for performing the autonomous valet parking may include at least one of the type, number, and performance of the sensor required to perform the autonomous valet parking.

[0084] For example, when the speed of the vehicle (200) is below the standard speed for performing the autonomous valet parking, or the acceleration of the vehicle (200) is within the standard acceleration for performing the autonomous valet parking, or when the sensor included in the vehicle (200) satisfies the type, number, and / or performance of the sensor required to perform the autonomous valet parking, the state of the vehicle may be determined to be suitable for the autonomous valet parking.

[0085] Additionally, according to the embodiments, whether the vehicle (200) is malfunctioning is determined based on the condition of the vehicle, and accordingly, whether the condition of the vehicle (200) is suitable for autonomous valet parking can be determined. That is, if at least one part (element) of the vehicle (200) is malfunctioning, the condition of the vehicle (200) can be determined not to be suitable for autonomous valet parking.

[0086] Before determining whether the vehicle's condition is suitable for autonomous valet parking (S840), it is determined whether autonomous valet parking is possible for the vehicle (200), and only when autonomous valet parking is possible can it be determined whether the vehicle's condition is suitable for autonomous valet parking. That is, it can be determined whether the parking lot where the vehicle (200) is the destination can support autonomous valet parking for the vehicle (200) at present.

[0087] According to embodiments, whether autonomous valet parking is possible can be determined based on at least one of map information of a parking lot that the vehicle (200) is a destination, parking location information of the parking lot, and already parked location information of the parking lot.

[0088] For example, the infrastructure (100) can determine the parking location information (target position) of the parking lot and / or the already parked location information of the parking lot using at least one sensor, and determine whether autonomous valet parking is possible based on the determined information and map information of the parking lot that the vehicle (200) is destined for.

[0089] For example, a vehicle (200) receives from infrastructure (100) at least one of map information of a parking lot that the vehicle (200) is a destination, parking location information of the parking lot, and already parked location information of the parking lot, and can determine whether autonomous valet parking is possible based on at least one of the received information. Meanwhile, information related to the parking lot can be determined during the autonomous driving stage.

[0090] According to embodiments, at least one of the end time of the (currently performed) autonomous driving of the vehicle (200) and the end point of the autonomous driving is determined, and when the current time is close to the end time or the current location of the vehicle (200) is close to the end point, it can be automatically determined whether the autonomous valet parking is possible.

[0091] For example, the infrastructure (100) receives at least one of the end point and the end point from the vehicle (200), and can determine whether autonomous valet parking is possible based on the at least one received.

[0092] For example, the vehicle (200) can calculate (or predict) at least one of the above-mentioned end time and above-mentioned end point, and determine whether the above-mentioned autonomous valet parking is possible based on the at least one calculated.

[0093] According to embodiments, when autonomous valet parking is not possible, the vehicle (200) may schedule autonomous valet parking to a different parking lot other than the destination parking lot, or stop autonomous valet parking to the destination parking lot.

[0094] For example, the infrastructure (100) can schedule autonomous valet parking to another parking lot and transmit information regarding autonomous valet parking to another parking lot to the vehicle (200).

[0095] For example, the vehicle (200) can cancel the currently scheduled autonomous valet parking and schedule autonomous valet parking to another parking lot.

[0096] When the condition of the vehicle (200) is not suitable for autonomous valet parking (N of S840), the condition of the vehicle (200) can be controlled to be suitable for autonomous valet parking (S850).

[0097] For example, the infrastructure (100) may transmit a command to the vehicle (200) to control the state of the vehicle (200) to be suitable for the autonomous valet parking, and the vehicle (200) may control its own state based on the command. Alternatively, the vehicle (200) may control its own state to be suitable for the autonomous valet parking.

[0098] For example, at least one of the speed of the vehicle (200), the acceleration of the vehicle (200), and the driving state of the vehicle (200) may be controlled to be suitable for autonomous valet parking. According to the control, the speed of the vehicle (200) may be reduced to a reference speed or lower for performing autonomous valet parking, or the acceleration of the vehicle (200) may be reduced to a reference acceleration or lower for performing autonomous valet parking.

[0099] For example, when a component of the vehicle (200) fails, the infrastructure (100) can send a notification to the vehicle (200) indicating the failure of the component.

[0100] For example, when a component of the vehicle (200) fails, the vehicle (100) can repair the failure using a self-repair function or provide information about the failure to the driver.

[0101] After the state of the vehicle (200) is controlled to be suitable for autonomous valet parking (after S850), the state after control can be re-evaluated as to whether it is suitable for autonomous valet parking.

[0102] According to embodiments, when the state of the vehicle (200) is controlled by the vehicle (200) to be suitable for autonomous valet parking, the state of the vehicle after control may be determined by the infrastructure (100) whether it is suitable for autonomous valet parking, but is not limited thereto, and the state of the vehicle after control may be re-determined by the vehicle (200).

[0103] According to embodiments, when the vehicle state of the vehicle (200) is controlled by the infrastructure (100) to be suitable for autonomous valet parking, the vehicle state after control may be determined by the vehicle (200) whether it is suitable for autonomous valet parking, but is not limited thereto, and the vehicle state after control may be re-determined by the infrastructure (100).

[0104] At this time, when the vehicle state after control is not suitable for autonomous valet parking, the state of the vehicle (200) can be controlled again to be suitable for autonomous valet parking.

[0105] According to embodiments, when the condition of the vehicle (200) is not suitable for autonomous valet parking until the current time approaches the start time of the autonomous valet parking or until the current location of the vehicle (200) approaches the start point of the autonomous valet parking, the scheduled autonomous valet parking may be canceled.

[0106] According to embodiments, when the number of times the condition of the vehicle (200) is determined not to be suitable for autonomous valet parking exceeds a standard number, the scheduled autonomous valet parking may be canceled.

[0107] For example, the cancellation of the above autonomous valet parking can be performed by the infrastructure (100) or the vehicle (200), and the infrastructure (100) can cancel the scheduled autonomous valet parking and send a notification instructing the cancellation to the vehicle (200).

[0108] When the condition of the vehicle (200) is suitable for autonomous valet parking (Y of S840), the vehicle (200) can start scheduled autonomous valet parking (S860).

[0109] In one or more exemplary embodiments, the described functions 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 codes on a computer-readable medium. A computer-readable medium includes both communication media and computer storage media, which include any medium that facilitates the transfer of a computer program from one place to another. A storage medium may be any available medium accessible by a computer. By example, not limiting, such a computer-readable medium may include RAM, ROM, EEPROM, CD-ROM or other optical disc storage, magnetic disc storage or other magnetic storage devices, or any other medium accessible by a computer that can be used to transfer or store desired program code in the form of instructions or data structures. Additionally, any connection is appropriately referred to as a computer-readable medium. For example, if software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then coaxial cable, fiber optic cable, twisted pair, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of the medium. Discs as used herein include compact discs (CDs), laser discs, optical discs, digital multi-purpose discs (DVDs), floppy discs, and Blu-ray discs, and while discs usually play data magnetically, discs play data optically by a laser. The combinations mentioned above must also be included within the scope of computer-readable media.

[0110] When embodiments are implemented as program code or code segments, a code segment should be recognized as capable of representing a procedure, function, subprogram, program, routine, subroutine, module, software package, class, or any combination of instructions, data structures, or program statements. A code segment may be connected to another code segment or hardware circuit by transmitting and / or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc., may be transmitted, sent, or sent using any suitable means including memory sharing, message passing, token passing, network transmission, etc. Additionally, in some aspects, steps and / or actions of a method or algorithm may reside as one or any combination or set of codes and / or instructions on a machine-readable medium and / or computer-readable medium that can be incorporated into a computer program object.

[0111] In software implementation, the techniques described herein may be implemented as modules (e.g., procedures, functions, etc.) that perform the functions described herein. Software code may be stored in memory units and executed by processors. Memory units may be implemented within the processor or outside the processor, in which case the memory units may be communicably connected to the processor by various means as known.

[0112] In a hardware implementation, processing units 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.

[0113] The foregoing includes examples of one or more embodiments. Of course, for the purpose of describing the foregoing embodiments, it is not possible to describe every possible combination of components or methods, and those skilled in the art will recognize that many additional combinations and substitutions of various embodiments are possible. Accordingly, the described embodiments include all alternatives, variations, and modifications within the true meaning and scope of the appended claims. Furthermore, regarding the scope in which the term “comprising” is used in the detailed description or claims, such term is included in a manner similar to “comprising” as the term “comprising” is interpreted when used as a transitional word in the claims.

[0114] As used herein, the term "infer" or "reasoning" generally refers to the process of making judgments or inferring about the state of a system, environment, and / or user from a set of observations captured by events and / or data. Inference can be used to identify specific situations or behaviors, or, for example, to generate probability distributions for states. Inference can be probabilistic; that is, it can be the calculation of probability distributions for relevant states based on an examination of data and events. Inference can also refer to techniques used to construct higher-level events from a set of events and / or data. Such inference enables the estimation of new events or behaviors from a set of observed events and / or stored event data, whether events are closely correlated in time, and whether events and data originate from one or multiple event and data sources.

[0115] Furthermore, as used in this application, terms such as “component,” “module,” “system,” etc. include, but are not limited to, hardware, firmware, combinations of hardware and software, software, or running software, computer-related entities. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable execution thread, a program, and / or a computer. For example, both an application running on a computing device and the computing device itself may be components. One or more components may reside within a process and / or execution thread, and components may be concentrated in a single computer and / or distributed among two or more computers. Additionally, these components may be executed from various computer-readable media storing various data structures. Components may communicate with local and / or remote processes, such as by following a signal having one or more data packets (e.g., data from a component interacting with other systems and / or other systems via a network such as the Internet by means of a signal).

Claims

Claim 1 A method for performing autonomous valet parking comprises: a step of determining whether autonomous valet parking is scheduled to be performed based on a pre-stored autonomous valet parking command of a vehicle performing autonomous driving outside a parking lot; a step of determining whether autonomous valet parking to a parking space is suitable by comparing the state of the vehicle with the autonomous valet parking start condition when autonomous valet parking of the vehicle is scheduled to be performed; a step of initiating autonomous valet parking of the vehicle; a step in which the vehicle receives a target position and a guide route from an infrastructure; and a step of performing autonomous valet parking based on the received target position and guide route. A method for performing autonomous valet parking, comprising: a step of terminating autonomous valet parking after the vehicle has parked at the target position; wherein the autonomous valet parking start condition includes a reference speed and reference acceleration for performing autonomous valet parking, and conditions regarding the type, number, and performance of sensors for performing autonomous valet parking, wherein the step of initiating autonomous valet parking of the vehicle further includes a step of delegating driving authority of the vehicle from the vehicle to the infrastructure, and the step of performing autonomous valet parking further includes a step of controlling the vehicle to drive at a speed below a preset speed based on the absence of a driver in the vehicle. Claim 2 A method for performing autonomous valet parking according to claim 1, wherein the step of initiating autonomous valet parking comprises: the step of transferring driving authority of the vehicle from the vehicle to the infrastructure. Claim 3 A method for performing autonomous valet parking according to claim 2, wherein the driving authority of the vehicle includes the authority to execute the operation of the vehicle, and the operation of the vehicle includes steering operation, acceleration operation, braking operation, gear shifting operation, operation of turning the vehicle's ignition on / off, and operation of locking / unlocking the vehicle's doors. Claim 4 A method for performing autonomous valet parking according to claim 3, wherein the authority to execute a braking operation of the vehicle among the driving authority of the vehicle is held in the infrastructure or the vehicle, or is held in both the infrastructure and the vehicle. Claim 5 A method for performing autonomous valet parking according to claim 1, further comprising a step of determining whether autonomous valet parking is possible prior to the step of determining whether it is suitable for autonomous valet parking. Claim 6 A method for performing autonomous valet parking according to claim 5, wherein the step of determining whether autonomous valet parking is possible comprises: a step of determining at least one of the end time of the currently performed autonomous driving and the end point of the currently performed autonomous driving; and a step of determining whether autonomous valet parking is possible when the current time is close to the end time or the current location of the vehicle is close to the end point. Claim 7 A system for performing autonomous valet parking, comprising: an infrastructure that transmits an autonomous valet parking start command to a vehicle and transmits a target position and a guide route to the vehicle; and a vehicle that performs autonomous valet parking based on the target position and the guide route received from the infrastructure; wherein the infrastructure determines whether autonomous valet parking is scheduled to be performed based on a pre-stored autonomous valet parking command of a vehicle performing autonomous driving outside a parking lot, and when autonomous valet parking is scheduled to be performed by the vehicle, determines whether it is suitable for autonomous valet parking into a parking space by comparing the state of the vehicle with the autonomous valet parking start conditions, and wherein the autonomous valet parking start conditions include a reference speed and reference acceleration for performing autonomous valet parking, and conditions regarding the type, number, and performance of sensors for performing autonomous valet parking, wherein the vehicle delegates driving authority to the infrastructure when autonomous valet parking is started, and the vehicle is controlled to drive at a speed below a preset speed based on the absence of a driver.

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