System and method supporting automatic valet parking and infrastructure and vehicle therefor

Abstract

According to the present invention, there is provided a method for performing automatic valet parking, the method comprising: starting the automatic valet parking; transmitting a target position and a guide path from an infrastructure to a vehicle; the vehicle automatically drives along the guide path; measuring the position of the vehicle; calculating the accuracy of the vehicle position measurement; the vehicle automatically parks at the target position; and ending the automatic valet parking. According to the present invention, the error level of the vehicle's own position measured by the vehicle is measured, and the error level of the vehicle's position measured by the infrastructure is measured, so that when performing the automatic valet parking of the vehicle, position information with a lower error level can be used.

Description

Technical Field

[0001] The present invention relates to a system and method for supporting automatic valet parking, and an infrastructure and a vehicle for automatic valet parking. According to the present invention, a vehicle uses communication between an infrastructure and a vehicle to move to a parking space with an empty space and park without a driver. Also, according to the present invention, a vehicle uses communication between an infrastructure and a vehicle to move from a parking space to a pick-up area without a driver. In addition, according to the present invention, before moving to an empty parking space, the vehicle autonomously moves to a parking space capable of wireless vehicle charging and performs wireless vehicle charging, and after completing wireless vehicle charging, moves to an empty parking space. Background Art

[0002] In modern society, there are many social problems regarding parking. First, there is a high probability of accidents in parking lots. In addition, when parking in places such as large supermarkets or department stores, the time and effort spent on parking is very large. Moreover, after entering the parking lot, it also takes a lot of time and effort to find an empty parking space. In addition, after completing the parking and handling the task in the venue, the driver has to move to the parked vehicle and sometimes forgets where the vehicle is parked.

[0003] On the other hand, the vehicle can measure its own position, and the infrastructure can also measure the position of the vehicle. However, the position measured by the vehicle itself may have errors, and the position of the vehicle measured by the infrastructure may also have errors. Summary of the invention

[0004] Technical problem to be solved by the invention

[0005] The present invention is used to solve the above-mentioned problem. The purpose of the automatic valet parking involved in the present invention is to measure the error degree of the vehicle's own position measured by the vehicle and the error degree of the vehicle's position measured by the infrastructure, so as to use the position information with lower error degree when executing the automatic valet parking of the vehicle.

[0006] Technical solutions for solving technical problems

[0007] According to the present invention, there is provided a method for performing automatic valet parking, the method comprising: a step of starting automatic valet parking; a step of transmitting a target position and a guide path from an infrastructure to a vehicle; a step of the vehicle performing automatic driving along the guide path; a step of determining a position of the vehicle; a step of calculating the accuracy of the vehicle position determination; a step of the vehicle performing automatic parking toward the target position; and a step of ending automatic valet parking.

[0008] According to the present invention, a method for operating a vehicle capable of performing automatic valet parking is provided, the method comprising: a step of starting automatic valet parking; a step of receiving a target position and a guide path from an infrastructure; a step of the vehicle performing automatic driving along the guide path; a step of determining a first vehicle position of the vehicle; a step of calculating the accuracy of the first vehicle position of the vehicle; a step of the vehicle performing automatic parking toward the target position; and a step of ending automatic valet parking. BRIEF DESCRIPTION OF THE DRAWINGS

[0009] Figure 1 An automatic valet parking system according to an embodiment of the present invention is shown.

[0010] Figure 2 An automatic valet parking apparatus according to an embodiment of the present invention is shown.

[0011] Figure 3 FIG. 1 is a conceptual diagram for explaining an automatic valet parking system and method according to an embodiment of the present invention.

[0012] Figure 4a and Figure 4b FIG. 1 is a block diagram for explaining actions performed by an infrastructure and a vehicle for performing automatic valet parking according to the present invention.

[0013] Figure 5 FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle for performing automatic valet parking according to the present invention.

[0014] Figure 6 FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle for performing automatic valet parking according to the present invention.

[0015] Figure 7 FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle for performing automatic valet parking according to the present invention.

[0016] Figure 8 FIG. 1 is a diagram showing a method of determining a vehicle's own position according to the present invention.

[0017] Fig. 9 The figure shows the manner in which the accuracy of the vehicle position result determined by the infrastructure is calculated according to the present invention.

[0018] Fig.10 FIG. 1 is a flow chart for illustrating an automatic valet parking method according to the present invention. DETAILED DESCRIPTION

[0019] Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. The configuration of the present invention and the effects obtained therefrom can be clearly understood through the following detailed description. Before the detailed description of the present invention, it is to be noted that the same components are represented by the same symbols as much as possible even if they are shown in different drawings. In addition, for well-known configurations, the specific description is omitted when it is considered that it will confuse the purpose of the present invention.

[0020] Before describing the present invention in detail, the terms used in the present invention are defined as follows.

[0021] The "driver" is the person who uses the vehicle and receives the service of the automatic valet parking system.

[0022] “Driving authority” is authority for executing vehicle actions. Examples of vehicle actions include steering, accelerating, braking, shifting, turning on / off the vehicle start, and locking / unlocking the vehicle doors.

[0023] A “vehicle” is a vehicle having a function to perform automatic valet parking.

[0024] An electric vehicle is a vehicle that is driven by an electric motor and is charged by plugging in a wire or by wireless charging.

[0025] The “control center” is a facility that monitors vehicles in a parking facility, determines target positions, guidance routes, permitted driving areas, and can transmit a driving start command or an emergency stop command to the vehicle.

[0026] The "infrastructure" may be a parking facility or a sensor disposed in the parking facility. In addition, the "infrastructure" may also refer to a parking gate or a control center for controlling vehicles.

[0027] The "target location" may be an empty parking space where the vehicle is to be parked. In addition, when the vehicle leaves the parking lot, the "target location" may be an area where the driver is to board, i.e., a pick-up area. In addition, the target location may be a parking space equipped with facilities capable of wireless charging. For example, it may be a parking space where an electromagnetic induction coil is embedded or arranged in the ground of the parking space.

[0028] The "guidance path" may refer to the path that the vehicle takes to reach the target location. For example, in the case of parking, it refers to the path from the drop-off area to the space with a parking space. For example, the guidance path may be in the form of going forward 50m and turning left at the corner. In addition, the guidance path may be the path to the parking space where wireless charging can be performed.

[0029] A "driving route" may refer to a path that a vehicle follows.

[0030] A "permitted driving area" may refer to an area where driving is permitted, such as a driving path in a parking lot. The "permitted driving area" may be defined by a partition wall, a parked vehicle, a parking line, and the like.

[0031] Figure 1 FIG. 2 shows an automatic valet parking system according to an embodiment of the present invention. Figure 1 The automatic valet parking system (10) may include an infrastructure (100) and an automatic valet parking device (200).

[0032] As described above, the infrastructure (100) may refer to a device or system for operating, managing, and executing an automatic valet parking system. For example, the infrastructure (100) may be a parking facility. According to an embodiment, the infrastructure (100) may include a sensor, a communication device, an alarm device, a display device, and a server for controlling the above devices. In addition, the infrastructure may refer to a parking door, a control center for controlling a vehicle.

[0033] The automatic valet parking device (200) may refer to a vehicle that performs automatic valet parking. According to an embodiment, the automatic valet parking device (200) may refer to a component or a set of components included in a vehicle that can perform automatic valet parking.

[0034] Figure 2 FIG. 2 shows an automatic valet parking device according to an embodiment of the present invention. Figure 2 , an automatic valet parking device (eg, vehicle: 200) may include a sensor unit (210), a communication unit (220), a determination unit (230), and a vehicle control unit (240).

[0035] The sensor unit (210) can sense the surrounding environment of the automatic valet parking device (200). According to an embodiment, the sensor unit (210) can measure the distance from the automatic valet parking device (200) to a specific object, or sense an object around the automatic 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 sensing sensor, a millimeter wave sensor, and a GPS receiver.

[0036] The sensor unit (210) can transmit data generated according to the sensing result to the communication unit (220) or the determination unit (230).

[0037] The communication unit (220) can exchange data with the infrastructure (100). This type of communication is called vehicle-to-infrastructure communication (V2I: Vehicle to Infra). In addition, the communication unit (220) can exchange data with other vehicles. This type of communication is called vehicle-to-vehicle communication (V2V: Vehicle to Vehicle). In addition, V2I communication and V2V communication are collectively referred to as V2X communication (Vehicle to everything). According to an embodiment, the communication unit (220) can receive data (e.g., target location, guidance path, driving path, or instructions, etc.) transmitted from the infrastructure (100), and after processing the received data, transmit it to the judgment unit (230). In addition, the communication unit (220) can transmit data generated by the vehicle (200) to the infrastructure (100). According to an embodiment, the communication unit (220) can exchange data with a terminal of a driver of the vehicle (200).

[0038] The communication unit (220) can transmit or receive data using a wireless communication protocol or a wired communication protocol. For example, the above-mentioned wireless communication protocols may include: Wireless LAN (WLAN), DLNA (Digital Living Network Alliance), Wireless Broadband (Wireless Broadband: Wibro), World Interoperability for Microwave Access (Wimax), GSM (Global System for Mobile communication), CDMA (Code Division MultiAccess), 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 Advanced), and LTE-D (LTE-D). Evolution-Advanced, Advanced Long Term Evolution), Wireless Mobile Broadband Service (Wireless Mobile Broadband Service: WMBS), Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (Infrared Data Association: IrDA), UWB (Ultra-Wideband, ultra-wideband), ZigBee, Near Field Communication (Near Field Communication: NFC), Ultrasonic Communication (Ultra Sound Communication: USC), Visible Light Communication (Visible Light Communication: VLC), Wi-Fi (Wi-Fi), Wi-Fi Direct (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 cable, etc., and are not limited to these, and may include all protocols that can provide a communication environment with other devices.

[0039] The judgment unit (230) can control various operations of the vehicle (200). The judgment unit (230) can control the vehicle control unit (240) based on the data transmitted through the sensor unit (210) and the communication unit (220). According to an embodiment, the judgment unit (230) can generate a control signal for controlling the vehicle control unit (240) based on the data transmitted from the infrastructure (100), and transmit the generated control signal to the vehicle control unit (240).

[0040] That is, the determination unit (230) may mean a device capable of executing a series of calculations or determinations for controlling the vehicle (200) and performing automatic valet parking. For example, the determination unit (230) may be a processor that runs a program including instructions for performing automatic valet parking.

[0041] The vehicle control unit (240) can control the vehicle (200) according to the control of the judgment unit (230). According to an embodiment, 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, stop, restart of movement, steering, acceleration, deceleration, parking, flashing, alarm, etc. of the vehicle (200).

[0042] 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.

[0043] On the other hand, even without additional description, the operations or functions of the vehicle (200) described in this specification should be understood as being capable of being appropriately performed through a combination of one or more of the sensor unit (210), the communication unit (220), the judgment unit (230) and the vehicle control unit (240).

[0044] Figure 3 1 is a conceptual diagram for explaining an automatic valet parking system and method according to an embodiment of the present invention.

[0045] Reference Figure 3,In (1), the driver drives the vehicle into the parking lot and moves the vehicle to the drop-off area.

[0046] In (2), the driver who arrives at the disembarkation area disembarks from the vehicle and driving authority is transferred from the driver to the infrastructure.

[0047] In (3), the infrastructure searches for empty parking spaces among a plurality of parking spaces existing in the parking lot, and determines an empty parking space suitable for parking the vehicle. Furthermore, the infrastructure determines a guidance path to the determined empty parking space. After the parking space and the guidance path are determined, the vehicle automatically travels along the guidance path, and after reaching the vicinity of the parking space, performs automatic valet parking at the parking space.

[0048] In (4), the driver decides to leave the garage and moves his vehicle to the pick-up area.

[0049] In (5), the infrastructure determines a suitable target location. For example, the suitable target location may be an empty parking space among a plurality of parking spaces existing in the pick-up area. Furthermore, the infrastructure determines a guidance path to the determined target location. After the target location and the guidance path are determined, the vehicle automatically travels along the guidance path, and after reaching the vicinity of the parking space, performs automatic valet parking at the parking space.

[0050] In (6), the driver arrives at the pick-up area, and the driving authority is transferred from the infrastructure to the driver. The driver drives the vehicle to the exit of the parking lot.

[0051] Figure 4a and Figure 4b FIG. 1 is a block diagram for explaining actions performed by an infrastructure and a vehicle for performing automatic valet parking according to the present invention.

[0052] exist <1> , the actions of the infrastructure and the vehicle for starting automatic valet parking are described. The infrastructure identifies the driver and the vehicle and determines whether they are eligible drivers and vehicles. For example, the infrastructure uses the ID and password input by the driver to determine whether the driver is an eligible driver. In addition, the infrastructure uses the inherent serial number of the vehicle to determine whether the vehicle is an eligible vehicle. The vehicle is able to start / stop the engine. In addition, the vehicle is able to turn the power on / off. For example, the state in which the vehicle's engine is stopped but the power is on can be the state in which ACC is on (accessory is on). Regarding the vehicle's engine start / stop and power on / off, it can be executed by receiving instructions from the infrastructure, or it can be executed autonomously by the vehicle without instructions from the infrastructure. The vehicle can lock / unlock the doors. Regarding the locking and unlocking of the vehicle's doors, it can be executed by receiving instructions from the infrastructure, or it can be executed autonomously by the vehicle without instructions from the infrastructure. When the vehicle performs the automatic parking steps, it is preferred to lock the vehicle's doors. In addition, the driving authority of the vehicle is transferred from the vehicle to the infrastructure. The driving authority is the authority for executing the actions of the vehicle, and the actions of the vehicle include steering actions, acceleration actions, braking actions, gear shifting actions, actions of opening / closing the vehicle's start, and actions of locking / unlocking the vehicle's doors. By transferring the authority of the vehicle to the infrastructure, the infrastructure can fully control the vehicle during the vehicle's automatic valet parking. As a result, the possibility of unintended actions of the vehicle is reduced, and vehicle accidents in the parking lot can be prevented. However, depending on the situation, part of the driving authority may not be transferred from the vehicle to the infrastructure but may remain on the vehicle, or the vehicle and the infrastructure may have part of the driving authority together. This is because of the following reasons: for example, for the braking action, when an emergency occurs during automatic valet parking, the braking action needs to be performed, and when the vehicle autonomously senses danger using ADAS sensors, etc., it is preferred to autonomously perform braking without being controlled by the infrastructure. In addition, the vehicle determines whether there are people or animals inside the vehicle. This is because of the following reasons: that is, it takes a considerable amount of time from the completion of the automatic valet parking according to the present invention to the vehicle leaving the parking lot, so it is necessary to eliminate the danger that may occur when there are people or animals inside the vehicle. The sensor mounted on the vehicle can be used to determine whether there are people or animals inside the vehicle.

[0053] exist <2> In the example, a target position, a guide path, and a driving path can be determined. The determination of the target position, the guide path, and the driving path can be performed by the infrastructure. The target position, the guide path, and the driving path determined by the infrastructure can be transmitted from the infrastructure to the vehicle.

[0054] The target location is the final destination that the vehicle needs to move and reach. When the vehicle enters the parking lot, the target location is an empty parking space in the parking lot where the vehicle is to be parked. When the vehicle is to exit the parking lot, the target location is an empty parking space in the pick-up area. Alternatively, instead of an empty parking space, the target location may be a specific location around the empty parking space. For example, when there are multiple empty parking spaces continuously or adjacently in a specific area in the parking lot, the target location may be composed of specific locations around these multiple empty parking spaces. In this case, after the vehicle moves to the corresponding specific location, the automatic parking function in the driver assistance system (ADAS) mounted on the vehicle is activated, so that the vehicle can be parked in the desired parking space. Regarding the automatic parking function in the ADAS, for example, it can be PAPS (Partially Automated Parking System). According to this example, the efficiency of managing the parking space can be further increased. In other words, from the perspective of infrastructure, it is only necessary to identify the rough location without calculating the correct target location, so that the energy required for processing can be reduced.

[0055] The guidance path is the path that the vehicle follows in order to perform automatic driving. For example, the guidance path may be composed of a form such as going straight for 10 meters, turning right at the first corner, turning left after going 20 meters, etc. Alternatively, the guidance path may be composed of a straight line, a curve, or a combination thereof connecting the current position to the target position in the parking lot map. Alternatively, the guidance path may be composed of multiple passing positions and a target position in the parking lot map. For example, the guidance path may include the A1 column, the B2 column, the C3 column as multiple passing positions and the D23 parking area as the target position. In this way, in the case where the guidance path is not composed of a straight line or a curve but is composed of a passing position and a target position, information about the straight line, the curve, or the distance (10 meters, etc.) is not required, and therefore, the amount of information required for communication between the vehicle and the infrastructure (V2I, etc.) can be reduced.

[0056] exist <3> In the embodiment, the automatic driving of the vehicle can be performed in the parking lot. The automatic driving of the vehicle includes moving, stopping, and restarting the movement of the vehicle. The automatic driving of the vehicle can be performed by the vehicle according to the instructions transmitted from the infrastructure to the vehicle. Alternatively, the automatic driving of the vehicle can be performed autonomously by the vehicle without relying on the instructions from the infrastructure. The vehicle can automatically drive along the guide path to the target location within the allowed driving area. When the automatic driving is performed without a driver, the vehicle can be controlled to drive at a speed less than a preset speed. This preset speed can be a value transmitted from the infrastructure to the vehicle, or it can be a value stored in the vehicle. In addition, the vehicle can be controlled so that when it automatically drives along the guide path, it drives in a manner that does not exceed a preset error from a given guide path. This preset error can be a value transmitted from the infrastructure to the vehicle, or it can be a value stored in the vehicle. In addition, when the vehicle needs to perform a turn during the automatic driving along the guide path, it can be performed according to a preset minimum turning radius. This preset minimum turning radius can be a value transmitted from the infrastructure to the vehicle, or it can be a value stored in the vehicle. The vehicle can be controlled so that it does not exceed a preset maximum acceleration when it automatically drives along the guide path. This preset maximum acceleration may be a value communicated to the vehicle from the infrastructure, or may be a value stored in the vehicle.

[0057] exist <4> In the process, position determination can be performed. The object of position determination can be a vehicle that is performing parking, an obstacle in the parking lot, or a vehicle that has completed parking. The infrastructure can determine the position of the vehicle or obstacle, and store the position of the vehicle in a database. The infrastructure can identify and detect the vehicle or obstacle, and monitor the safety of each of the multiple vehicles that are performing parking. In addition, the infrastructure can monitor the actions of the vehicle that has reached the target location and is performing parking and transmit instructions. The vehicle can determine its own position. The vehicle can transmit the determined position of its own to the infrastructure. The error of the vehicle's own position determined by the vehicle is within a predetermined error range, and the predetermined error can be a value determined by the infrastructure. The vehicle can sense the surroundings and determine the position of the existing obstacles, and can transmit the determined position of the obstacles to the infrastructure. The frequency used for communication between the vehicle and the infrastructure can be a predetermined frequency.

[0058] According to the present invention, the position of the vehicle can be determined by the vehicle itself. The position of the vehicle determined by the vehicle can be referred to as the first vehicle position. The vehicle can communicate with infrastructure sensors such as AP (Access Point) set in the parking lot to determine its own position. For example, the vehicle can perform wireless communication with the AP, and use the time from when the wireless communication signal is transmitted to when it is received to determine the distance between the AP and the vehicle. When performing such a measurement with three APs, triangulation can be used to determine the relative position of the vehicle relative to the AP in the parking lot. Since the AP in the parking lot is part of the infrastructure, its position can be known in advance, and therefore, the absolute position of the vehicle (i.e., the first vehicle position) can be determined. Depending on the situation, the vehicle can also determine its own position by communicating with two APs. This is because, for example, in the case where there is an area restricted by the outer wall of the parking lot, even when two candidate positions are determined by communication with two APs, one position is a restricted area, not an actual position.

[0059] In addition, according to the present invention, the accuracy of the vehicle position (i.e., the accuracy of the position measurement) can be calculated. The accuracy of the first vehicle position is the degree to which the first vehicle position measured by the vehicle itself is consistent with the actual position. Specifically, the vehicle can use wireless communication with the first AP to measure the distance to the first AP (first distance). And, the vehicle can use wireless communication with the second AP to measure the distance to the second AP (second distance). And, the distance between the first AP and the second AP (third distance) can be calculated based on the first distance and the second distance using the Pythagorean theorem. Since the first AP and the second AP are part of the infrastructure, the distance between them can be known in advance (fourth distance), therefore, the measured distance (third distance) is compared with the actual distance (fourth distance), so that the accuracy of the first vehicle position can be calculated. For example, the accuracy of the first vehicle position is calculated as (third distance) / (fourth distance), and the closer it is to 1, the higher the accuracy can be represented.

[0060] In addition, the position of the vehicle can be determined by the vehicle itself, and the vehicle can use a specific image set in the parking lot. Specifically, the vehicle can use the camera it is equipped with to capture a specific image, and the distance to the image can be calculated based on the actual area of ​​the image and the area of ​​the captured image. When this image measurement is performed on three images, triangulation can be used to determine the relative position of the vehicle relative to the image in the parking lot. Since the image in the parking lot is part of the infrastructure, its position can be known in advance, so that the absolute position of the vehicle can be determined. Depending on the situation, the vehicle can also determine its own position by capturing two images. This is because, for example, in the case where there is an area restricted by the outer wall of the parking lot, even if the result of capturing two images determines two candidate positions, one of the positions is a restricted area, not an actual position.

[0061] In addition, according to the present invention, the accuracy of the first vehicle position can be calculated. The accuracy of the first vehicle position is the degree to which the first vehicle position measured by the vehicle itself is consistent with the actual position. Specifically, the vehicle can take a first image to measure the distance to the first image (first distance). And, the vehicle can take a second image to measure the distance to the second image (second distance). And, the distance between the first image and the second image (third distance) can be calculated based on the first distance and the second distance using the Pythagorean theorem. Since the first image and the second image are part of the infrastructure, the distance between them can be known in advance (fourth distance), therefore, the measured distance (third distance) is compared with the actual distance (fourth distance), so that the accuracy of the first vehicle position can be calculated. For example, the accuracy of the first vehicle position is calculated as (third distance) / (fourth distance), and the closer it is to 1, the higher the accuracy can be represented. Such an image can be, for example, a landmark painted on the ground near the parking area of ​​a parking lot.

[0062] When the accuracy determined by the vehicle is higher than the accuracy determined by the infrastructure described below, the result determined by the vehicle can be used to perform automatic valet parking, that is, automatic driving in the parking lot and automatic parking at the target location. If the accuracy determined by the vehicle is lower than a certain level (that is, lower than a preset threshold), an accident can be prevented in advance by performing emergency braking of the vehicle, and error control can also be performed.

[0063] In addition, according to the present invention, the position of the vehicle can be measured by the infrastructure. The position of the vehicle measured by the infrastructure can be referred to as the second vehicle position. Specifically, the infrastructure can communicate with the vehicle using an AP provided in the parking lot, thereby measuring the second vehicle position of the vehicle. Specifically, the second vehicle position of the vehicle can be measured using wireless communication between three APs and the vehicle. Depending on the circumstances, the position of the vehicle can also be measured using only two APs in the area where the outer wall of the parking lot exists. In addition, the infrastructure can measure the second vehicle position using a camera provided in the parking lot. For example, a portion of the parking lot including the vehicle can be photographed by a camera that is part of the infrastructure, and the second vehicle position can be determined in the captured image.

[0064] In addition, according to the present invention, the accuracy of the second vehicle position measured by the infrastructure can be calculated. The accuracy of the second vehicle position is the degree to which the second vehicle position of the vehicle measured by the infrastructure is consistent with the actual vehicle position. Specifically, the accuracy of the second vehicle position can be determined in the early stage of setting up the infrastructure in the parking lot. For example, due to obstacles such as columns and exterior walls in the parking lot, the accuracy of the position measurement of the infrastructure using the AP may be reduced, and the degree to which such obstacles change in real time is small. Therefore, in the early stage of setting up the infrastructure (for example, AP or camera) in the parking lot, the accuracy of the position measurement of the infrastructure can be pre-calculated in units of each area of ​​the parking lot, and then the accuracy can be used, thereby reducing the complexity of the operation and only generating an error of an allowable (tolerance) degree.

[0065] When the accuracy measured by the infrastructure is higher than the position measurement accuracy of the vehicle as described above, the measurement result of the infrastructure can be used to perform automatic valet parking (i.e., automatic driving in the parking lot and automatic parking at the target location). If the accuracy measured by the infrastructure is lower than a certain level (i.e., lower than a preset threshold), an accident can be prevented in advance by performing emergency braking of the vehicle, or error control can be performed.

[0066] exist <5> In the process of automatic parking, the vehicle can perform automatic parking. Automatic parking means that the vehicle that has reached the target location automatically parks in an empty parking space. The vehicle can perform automatic parking by using its own distance sensor to sense obstacles or vehicles parked in the surrounding area. The distance sensor carried by the vehicle may include, for example, an ultrasonic sensor, a radar sensor, a laser radar (LIDAR) sensor, and a camera.

[0067] exist <6> In the example, the vehicle can be subjected to emergency braking. The vehicle's emergency braking can be performed according to an instruction transmitted from the infrastructure, or can be performed autonomously when the vehicle detects an obstacle. The infrastructure can instruct the vehicle to perform emergency braking when it is determined that the surroundings of the vehicle are unsafe. After the vehicle performs emergency braking, when the infrastructure determines that the surroundings of the vehicle are safe, the vehicle can be instructed to restart automatic driving or automatic parking. When the vehicle detects an obstacle, the emergency braking can be performed. In addition, the vehicle can report the execution of emergency braking to the infrastructure, and can report the type or position of the obstacle that caused the emergency braking to the infrastructure. The magnitude of deceleration when the vehicle performs emergency braking can be performed according to a predetermined deceleration value, which can be a value determined by the infrastructure or a value stored in the vehicle. The predetermined deceleration value can be determined according to the type of obstacle, the location of the obstacle, and the distance between the vehicle and the obstacle. When the vehicle receives an instruction to restart automatic driving or automatic parking from the infrastructure, it can restart automatic driving or automatic parking. Alternatively, when the vehicle determines that the surrounding obstacles have been eliminated, it can restart automatic driving or automatic parking. The vehicle can report the restart of automatic driving or automatic parking and the elimination of surrounding obstacles to the infrastructure.

[0068] In addition, according to the present invention, when the accuracy of the vehicle position measured by the vehicle is lower than a certain level and the accuracy of the vehicle position measured by the infrastructure is lower than a certain level, emergency braking can be performed. This is because the automatic driving and automatic parking of the vehicle are performed based on the position of the vehicle measured in real time, and in the parking lot, the distance between vehicles can be within 1m, so if the error of the position measurement is large, accidents such as vehicle collision may occur.

[0069] exist <7> After the vehicle completes the automatic driving and automatic parking, the infrastructure transmits a control release command to the vehicle. The vehicle can start / stop the engine or turn the power on / off by receiving a command from the infrastructure or independently of a command from the infrastructure. In addition, the vehicle can lock the vehicle door by receiving a command from the infrastructure or independently of a command from the infrastructure. In addition, the vehicle can apply the parking brake by receiving a command from the infrastructure or independently of a command from the infrastructure.

[0070] exist <8> In the process, error control can be performed. Error control includes communication errors between the vehicle and the infrastructure or mechanical errors of the vehicle. The infrastructure can monitor the communication with the vehicle to detect whether a communication error occurs. The vehicle can monitor the communication with the infrastructure to detect whether a communication error occurs. The vehicle can monitor the operating state of its accessories including sensors to detect whether a mechanical error occurs. When the vehicle determines that there are people or animals inside the vehicle by sensing whether there are people or animals inside the vehicle, emergency braking can be performed. After the vehicle performs emergency braking, it can receive instructions from the infrastructure to restart automatic parking or automatic driving. Alternatively, the vehicle determines whether the reason for performing emergency braking has been eliminated, and if it has been eliminated, automatic parking or automatic driving can be restarted.

[0071] In addition, according to the present invention, when the accuracy of the vehicle position measured by the vehicle is lower than a certain level and the accuracy of the vehicle position measured by the infrastructure is lower than a certain level, error control can be performed. This is because the automatic driving and automatic parking of the vehicle are performed based on the position of the vehicle measured in real time, and in the parking lot, the distance between vehicles may be within 1m, so if the error in position measurement is large, accidents such as vehicle collisions may occur.

[0072] Figure 5 FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle for performing automatic valet parking according to the present invention.

[0073] In (1), vehicle qualification information can be transmitted from the vehicle to the infrastructure. The vehicle qualification information includes an identification code that can distinguish each vehicle from other vehicles. For example, the vehicle qualification information can be a unique serial number of the vehicle. The vehicle qualification information can be transmitted in the step of the vehicle entering the parking lot and starting the automatic valet parking (refer to Figure 4a of <1> ) for transmission.

[0074] In (2), an automatic valet parking preparation instruction can be transmitted from the infrastructure to the vehicle. The automatic valet parking preparation instruction can be transmitted before starting the automatic driving.

[0075] In (3), vehicle information can be transmitted from the vehicle to the infrastructure. The vehicle information may include the status information of the vehicle and the location information of the vehicle. The status information of the vehicle may include whether the vehicle is driving, whether the vehicle is in a stopped state, and whether the vehicle is in an emergency stop state. The vehicle information may be transmitted periodically and at a specific frequency (for example, once per second, i.e., 1 Hz). Therefore, the vehicle information may be used as a parameter to determine whether a communication error occurs between the vehicle and the infrastructure. For example, if the vehicle information does not arrive at the infrastructure at a time point predetermined according to the communication frequency, the infrastructure may determine that an error has occurred in the communication between the vehicle and the infrastructure.

[0076] In (4), a vehicle information response may be transmitted from the infrastructure to the vehicle. The vehicle information response is a response to the vehicle information in (3) and may be transmitted at the same frequency as the vehicle information. Therefore, the vehicle information response may be used as a parameter for determining whether a communication error has occurred between the vehicle and the infrastructure. For example, in the case where the vehicle information response does not arrive at the vehicle at a time point predetermined according to the communication frequency, the vehicle may determine that an error has occurred in the communication between the vehicle and the infrastructure.

[0077] In (5), the target position and the guidance path may be transmitted from the infrastructure to the vehicle. The transmission of the target position and the guidance path may be performed before or after the automatic valet parking start instruction is transmitted from the infrastructure to the vehicle.

[0078] In (6), the driving boundary may be transmitted from the infrastructure to the vehicle. The driving boundary may include landmarks that demarcate the boundary from the permitted driving area (e.g., parking lines, center lines, road boundary lines). The transmission of the driving boundary may be performed after the transmission of the automatic valet parking preparation instruction. Such driving boundary may be transmitted from the infrastructure to the vehicle in the form of a parking lot map.

[0079] In (7), the automatic valet parking start command may be transmitted from the infrastructure to the vehicle. The transmission of the automatic valet parking start command may be performed after the guidance path and the driving boundary are transmitted. In addition, the automatic valet parking start command may be transmitted after the emergency braking of the vehicle is performed and the safety of the surrounding area of ​​the vehicle is confirmed.

[0080] In (8), an emergency braking command may be transmitted from the infrastructure to the vehicle.

[0081] In (9), a vehicle control release command may be transmitted from the infrastructure to the vehicle. The transmission of the vehicle control release command may be performed after the vehicle completes automatic valet parking in the parking space.

[0082] Figure 6A diagram for explaining communication between an infrastructure (100) and a vehicle (200) for performing automatic valet parking according to the present invention.

[0083] In (1), a vehicle (200) enters a parking lot passage and stops at a stop position. Such a stop position may be a door at the entrance of the parking lot. The vehicle (200) reports to the infrastructure (100) that it has arrived at the stop position. In (2), the infrastructure (100) authenticates the size of the vehicle (200) and the serial number of the vehicle (200). In (3), the infrastructure (100) transmits an authentication ID request to the vehicle (200), and in (4), the vehicle (200) transmits the authentication ID to the infrastructure (100). In (5), the infrastructure (100) determines whether to approve entry into the parking lot based on the received authentication ID. In (6), the infrastructure (100) informs whether to approve entry into the parking lot based on the received authentication ID. For example, the infrastructure (100) may display approval or disapproval through a monitor arranged around the stop position. When approval to enter the parking lot is granted, the driver of the vehicle (200) moves the vehicle (200) to a disembarkation area. In (7), the driver turns off the start of the vehicle (200), gets off the vehicle (200), locks the door of the vehicle (200), and then leaves the get-off area. In (8), the authority of the vehicle (200) is transferred from the vehicle (200) (or the driver) to the infrastructure (100). In addition, in (9), the infrastructure (100) notifies the driver that the authority of the vehicle (200) has been received. This notification can be transmitted to the driver's smart device via a mobile communication network.

[0084] Figure 7 A diagram for explaining communication between an infrastructure (100) and a vehicle (200) for performing automatic valet parking according to the present invention.

[0085] In (1), the infrastructure (100) may transmit a request indicating that the vehicle (200) is turned on to the vehicle (200). In (2), the vehicle (200) may turn on the vehicle (200) in response to the request from the infrastructure (100). In (3), after the vehicle (200) turns on the vehicle (200), the response to the above-mentioned turn-on may be transmitted to the infrastructure (100). In (4), the infrastructure (100) may transmit a request indicating that automatic valet parking is prepared to the vehicle (200). In (5), the vehicle (200) may respond to the above-mentioned request for automatic valet parking preparation and transmit a response indicating that the above-mentioned automatic valet parking is ready (OK) or not ready (NG) to the infrastructure (100). In (6), the infrastructure (100) may transmit a synchronization request to the vehicle (200). The above-mentioned synchronization request may be a request indicating synchronization of the time of the infrastructure (100) and the time of the vehicle (200). For example, the synchronization request may include information about the time of the infrastructure (100). In (7), the vehicle (200) performs synchronization in response to the synchronization request, and in (8), a response indicating completion of the synchronization may be transmitted to the infrastructure (100). 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 map information to the vehicle (200). Such parking map information may include landmark information. In (10), the vehicle (200) may infer (or calculate) the position of the vehicle (200) based on the transmitted landmark information, and the vehicle (200) may transmit the inferred position of the vehicle (200) to the infrastructure (100). In (11), the infrastructure (100) may determine a target position (parking position). In (12), the infrastructure (100) may transmit information about a permitted driving area to the vehicle (200). For example, the infrastructure (100) may transmit the boundaries of the permitted driving area to the vehicle (200). In (13), the infrastructure (100) may transmit the guidance path to the vehicle (200). In (14), the infrastructure (100) may transmit an instruction to start automatic valet parking to the vehicle (200).

[0086] Figure 8 FIG. 1 is a diagram showing a method of determining a vehicle's own position according to the present invention.

[0087] Reference Figure 8 , the figure shows a vehicle (1) and a vehicle (2) that are autonomously driving in a parking lot.

[0088] The vehicle (1) performs wireless communication with three APs. As a result of the wireless communication, the distance to each AP can be calculated. The distance to the first AP is referred to as D1, the distance to the second AP is referred to as D2, and the distance to the third AP is referred to as D3. The vehicle can use the three distances (D1, D2, D3) measured in this way to determine its own relative position relative to the three APs (first AP, second AP, third AP). That is, the relative position of the vehicle can be determined by triangulation using the three distances. In addition, the three APs are equivalent to components constituting the infrastructure, and their installation positions are known, so the vehicle can determine its own absolute position in the parking lot. Depending on the situation, the vehicle can also determine its own position by communicating with two APs. This is because, for example, in the case where there is an area restricted by the outer wall of the parking lot, even if two candidate positions are determined by communication with two APs, one position is a restricted area, not an actual position. In addition, according to the present invention, the accuracy of the first vehicle position can be calculated. The accuracy of the first vehicle position measurement is the degree to which the first vehicle position measured by the vehicle itself is consistent with the actual position. Specifically, the vehicle can use wireless communication with the first AP to measure the distance to the first AP (first distance). And, the vehicle can use wireless communication with the second AP to measure the distance to the second AP (second distance). And, the distance between the first AP and the second AP (third distance) can be calculated based on the first distance and the second distance using the Pythagorean theorem. Since the first AP and the second AP are part of the infrastructure, the distance between them can be known in advance (fourth distance), so the measured distance (third distance) is compared with the actual distance (fourth distance) to calculate the accuracy of the first vehicle's position. For example, the accuracy of the first vehicle's position is calculated as (third distance) / (fourth distance), and the closer it is to 1, the higher the accuracy.

[0089] The vehicle (2) can use its own mounted camera to capture landmarks (images) in the surrounding area. As a result of the capture, the distance to each landmark can be calculated. The distance to the first landmark is referred to as D1, the distance to the second landmark is referred to as D2, and the distance to the third landmark is referred to as D3. The vehicle can use the three distances (D1, D2, D3) thus measured to determine its own relative position relative to the three landmarks. That is, the relative position of the vehicle can be determined by triangulation using the three distances. In addition, the three landmarks are equivalent to components constituting the infrastructure, and their installation positions are known, so the vehicle can determine its own absolute position in the parking lot. Depending on the situation, the vehicle can also determine its own position by capturing two landmarks. This is because, for example, in the case where there is an area restricted by the outer wall of the parking lot, even if the result of capturing two landmarks determines two candidate positions, one of the positions is a restricted area, not an actual position. In addition, according to the present invention, the accuracy of the vehicle position measured by the vehicle can be calculated. The accuracy of the vehicle position measurement is the degree to which the position measured by the vehicle itself is consistent with the actual position. Specifically, the vehicle can photograph a first landmark to measure the distance to the first landmark (first distance). Furthermore, the vehicle can photograph a second landmark to measure the distance to the second landmark (second distance). Furthermore, the distance between the first landmark and the second landmark (third distance) can be calculated based on the first distance and the second distance using the Pythagorean theorem. Since the first landmark and the second landmark are part of the infrastructure, the distance between them can be known in advance (fourth distance). Therefore, the measured distance (third distance) is compared with the actual distance (fourth distance), so that the accuracy of the position of the first vehicle can be calculated. For example, the accuracy of the vehicle position is calculated as (third distance) / (fourth distance). The closer it is to 1, the higher the accuracy.

[0090] Fig. 9 The figure shows the manner in which the accuracy of the vehicle position result determined by the infrastructure is calculated according to the present invention.

[0091] First, the infrastructure can determine the location of the vehicle by communicating with the vehicle using three APs, similar to how the vehicle determines its own location. Additionally, the infrastructure can determine the second vehicle location of the vehicle using a camera disposed within the parking lot. For example, a portion of the parking lot including the vehicle can be photographed by a camera that is part of the infrastructure, and the second vehicle location of the vehicle can be determined within the photographed image.

[0092] In this way, the accuracy of the vehicle position measurement determined by the infrastructure can be calculated. The accuracy of the position measurement of the infrastructure is the degree to which the second vehicle position of the vehicle measured by the infrastructure is consistent with the actual vehicle position. Specifically, the accuracy can be determined at the initial stage of setting the infrastructure in the parking lot. For example, due to obstacles such as columns and exterior walls in the parking lot, the accuracy of the position measurement of the infrastructure using the AP may be reduced, and the degree to which such obstacles change in real time is small. Therefore, at the initial stage of setting the infrastructure (for example, AP or camera) in the parking lot, the accuracy of the position measurement of the infrastructure can be pre-calculated in units of each area of ​​the parking lot, and then the accuracy can be used, thereby reducing the complexity of the calculation and only generating an error of an allowable (tolerance) degree. For example, when the vehicle is in area A, the accuracy of the infrastructure measurement can be calculated as 0.8, and when the vehicle is in area B, the accuracy of the infrastructure measurement can be calculated as 0.7.

[0093] Reference Figure 8 and Fig. 9 The vehicle measurement accuracy and the infrastructure measurement accuracy have been described. According to the present invention, the vehicle measurement accuracy and the infrastructure measurement accuracy can be compared, so that the vehicle position with higher accuracy can be used for automatic valet parking. This is because, for example, when the vehicle measurement accuracy is 0.9 and the infrastructure measurement accuracy is 0.7, the vehicle's own position measured by the vehicle is information with higher reliability, and therefore it is more preferable to use this information to perform automatic valet parking (i.e., automatic driving and automatic parking).

[0094] If both the vehicle's measurement accuracy and the infrastructure's measurement accuracy are below a certain level, emergency braking of the vehicle may be performed, or error control may be performed.

[0095] Fig.10 FIG. 1 is a flow chart for illustrating an automatic valet parking method according to the present invention.

[0096] The step of starting automatic valet parking (S1010) is executed. The start of automatic valet parking can be performed after the vehicle is parked in the get-off area and the driver gets off the vehicle. Specifically, the infrastructure identifies the driver and the vehicle and determines whether they are eligible drivers and vehicles. In addition, the vehicle can start / stop the engine. In addition, the vehicle can turn the power on / off. In addition, the vehicle can lock / unlock the doors. In addition, the control authority of the vehicle can be transferred from the vehicle to the infrastructure. In addition, it is possible to determine whether there are people or animals inside the vehicle.

[0097] In addition, a step of transmitting a target position and a guide path from the infrastructure to the vehicle is performed (S1020). The determination of the target position and the guide path may be performed by the infrastructure, and the target position and the guide path determined by the infrastructure are transmitted to the vehicle. The target position is a final destination to which the vehicle needs to move. When entering a parking lot, the final destination may be an empty parking space, and when leaving the parking lot, the final destination may be a pick-up area. The guide path is a path that the vehicle needs to travel in order to reach the target position.

[0098] In addition, a step of automatically driving the vehicle along the guidance path is performed (S1030). The automatic driving of the vehicle includes moving, stopping, and restarting the movement of the vehicle. The automatic driving of the vehicle can be performed by the vehicle according to the instructions transmitted from the infrastructure to the vehicle. Alternatively, it can also be performed autonomously by the vehicle without relying on the instructions from the infrastructure.

[0099] In addition, a step of measuring the position of the vehicle is performed (S1040). The object of measuring the position may be a vehicle that is performing automatic valet parking, an obstacle in the parking lot, or a vehicle that has completed parking.

[0100] According to the invention, the position determination of the vehicle can be performed by the vehicle or can be performed by the infrastructure.

[0101] When the vehicle performs the position measurement of the vehicle, the vehicle can use the wireless communication with the AP installed in the parking lot. In addition, the vehicle can use the camera installed in the vehicle to measure the landmarks installed in the parking lot.

[0102] In the case where the location of the vehicle is determined by the infrastructure, the infrastructure may determine the location of the vehicle by wireless communication using an AP installed in the parking lot. Alternatively, the infrastructure may determine the location of the vehicle using a camera installed in the parking lot. In this case, the infrastructure may transmit the determined location to the vehicle.

[0103] In addition, a step of calculating the accuracy of the vehicle position measurement is performed (S1050).

[0104] According to the present invention, regarding the accuracy of the position measurement determined by the vehicle, a first distance between the first AP and the vehicle is measured, and a second distance between the second AP and the vehicle is measured, and the distance between the first AP and the second AP (third distance) is calculated based on the first distance and the second distance. Since the actual distance between the first AP and the second AP is known in advance (fourth distance), the accuracy of the vehicle position can be calculated by comparing the third distance with the fourth distance.

[0105] In addition, according to the present invention, regarding the accuracy of the position measured by the vehicle, a first distance between the first landmark and the vehicle is measured, and a second distance between the second landmark and the vehicle is measured, and the distance between the first landmark and the second landmark (third distance) is calculated based on the first distance and the second distance. Since the actual distance between the first landmark and the second landmark is known in advance (fourth distance), the accuracy of the vehicle position can be calculated by comparing the third distance with the fourth distance.

[0106] Furthermore, according to the present invention, the accuracy of the vehicle position measured by the infrastructure can be calculated based on the position measurement accuracy set in advance for each area in the parking lot.

[0107] In addition, the vehicle's measurement accuracy and the infrastructure's measurement accuracy can be compared, and automatic valet parking can be performed based on the position information with higher accuracy. On the other hand, when both the vehicle's measurement accuracy and the infrastructure's measurement accuracy are lower than a certain standard, emergency braking or error control can be performed.

[0108] In addition, a step of automatically parking the vehicle at the target location is performed (S1060). The automatic parking may be performed by the vehicle that has reached the vicinity of the target location autonomously parking at an empty parking space. In this case, the vehicle may sense obstacles or vehicles parked in the vicinity using a distance sensor mounted on the vehicle.

[0109] In addition, the step of ending automatic valet parking is performed (S1070). In one or more exemplary embodiments, the functions described can be implemented by hardware, software, firmware, or any combination thereof. When implemented by software, the function can be stored or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable media include all of communication media and computer storage media, which contain any media that facilitates the transfer of computer programs from one place to another. The storage medium can be any available medium that can be accessed by a computer. As a non-limiting example, such a computer-readable medium may include: RAM, ROM, EEPROM, CD-ROM or other optical disk storage, disk storage or other magnetic storage device, or any other medium that can be used to transfer or store the required program code in the form of instructions or data structures and can be accessed by a computer. In addition, any connection can be appropriately referred to as a computer-readable medium. For example, if the 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 ultra-high frequency, then the coaxial cable, fiber optic cable, twisted pair, DSL or wireless technologies such as infrared, radio and ultra-high frequency are also included in the definition of medium. Disk and disc as used herein include compact disc (CD), laser disc, optical disc, digital versatile disc (DVD), floppy disk and Blu-ray disc. Compared to disks, which generally use magnetism to reproduce data, discs use lasers to reproduce data optically. Combinations of the above media should also be included in the scope of computer-readable media.

[0110] When the embodiment is implemented by program code or code segment, it should be considered that the code segment can be any combination of process (procedure), function, subroutine, program, routine, subroutine, module, software package, class (class) or instruction, data structure or program command string. Code segment can be connected with other code segments or hardware circuits by transmitting and / or receiving information, data, variable (argument), parameter (parameter) or memory content. Information, variable, parameter, data etc. can be transmitted, sent or transmitted by any appropriate mode including shared memory, message transmission, token transmission, network transmission etc. In addition, in some aspect, the step and / or action of method or algorithm can reside on the machine-readable medium and / or computer-readable medium that can be classified as computer program product as one or their arbitrary combination or set (set) in code and / or instruction.

[0111] When implemented by software, the techniques described herein may be implemented by modules (e.g., procedures, functions, etc.) for performing the functions described herein. The software code may be stored in a memory unit and may be executed by a processor. The memory unit may be configured within the processor or may be configured outside the processor. In this case, as is known, the memory unit may be connected to the processor in a communicative manner by a variety of means.

[0112] When implemented by hardware, 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 a combination thereof.

[0113] The above situations include examples of more than one embodiment. Of course, in order to illustrate the above embodiments, it is impossible to record all possible combinations of its components or methods. Those skilled in the art should be able to understand that for various embodiments, many additional combinations and substitutions can be made. Therefore, the described embodiments include all alternatives, deformations and modifications within the true meaning and scope of the attached claims for protection. In addition, in the specific implementation method or the scope of the claims for protection, with respect to the scope of the use of the expression "including", this expression is interpreted as the expression "consisting of..." when used as a transitional word in the scope of the claims for protection, and means to include in a manner similar to "consisting of...".

[0114] As used herein, the expression "making inferences" or "inference" generally means the process of judging or inferring the state of a system, environment, and / or user based on a set of observations captured using events and / or data. Inferences can be used to identify specific conditions or actions, or, for example, can generate a probability distribution for a state. Inferences can be probabilistic, that is, they can be calculations of a probability distribution for the state based on an examination of data and events. Inferences can also refer to techniques for constructing superordinate events from a set of events and / or data. Such inferences infer a set of observed events and / or new events or actions derived from stored event data, whether events are closely related in time, and whether events and data come from one or more event and data sources.

[0115] In addition, as used in the present invention, expressions such as "component", "module", "system" include but are not limited to computer-related entities such as hardware, firmware, a combination of hardware and software, software or software being executed. For example, a component can also be a process executed on a processor, a processor, an object, an executable execution thread, a program and / or a computer, but is not limited to this. As an example, both an application driven on a computing device and a computing device can be a component. One or more components can reside in a process and / or an execution thread, and the components can be concentrated in one computer and / or can be distributed between more than two computers. In addition, these components can be executed by various computer-readable media that store various data structures. The components can communicate through local and / or remote processes based on signals having more than one data packet (for example, data from other components of a local system, a distributed system, and / or a component that interacts with other systems based on signals).

Claims

1. A method for performing automatic valet parking, characterized in that: include: Steps to start automated valet parking; The step of transmitting a target location and a guidance path from the infrastructure to the vehicle; The vehicle performs automatic driving along the guide path; The step of determining the position of said vehicle; The step of calculating the accuracy of the position determination of said vehicle; The vehicle performs automatic parking at the target location; and End the steps of automatic valet parking, The step of calculating the accuracy of the vehicle position measurement comprises: Determining a first distance between a first access point and the vehicle or between a first landmark and the vehicle; determining a second distance between a second access point and the vehicle or between a second landmark and the vehicle; Calculating a third distance between the first access point and the second access point or between the first landmark and the second landmark based on the first distance and the second distance; and The calculated third distance is compared with a pre-known fourth distance between the first access point and the second access point or between the first landmark and the second landmark.

2. The method for performing automatic valet parking as claimed in claim 1, characterized in that: The step of determining the position of the vehicle comprises: the step of determining the position of the vehicle itself, The step of measuring the position of the vehicle includes the step of measuring the position of the vehicle by wireless communication with an access point installed in the parking lot.

3. The method for performing automatic valet parking as claimed in claim 1, characterized in that: The step of determining the position of the vehicle comprises: the step of determining the position of the vehicle itself, The step of measuring the position of the vehicle includes measuring the position of the vehicle by measuring a landmark installed in the parking lot using a camera mounted on the vehicle.

4. The method for performing automatic valet parking as claimed in claim 1, characterized in that: The step of determining the position of the vehicle comprises: determining the position of the vehicle by the infrastructure, The step of determining the position of the vehicle by the infrastructure comprises: The step of determining the position of the vehicle by wireless communication at an access point provided in the parking lot; or The infrastructure comprises a step of determining the position of the vehicle using a camera installed in the parking lot.

5. The method for performing automatic valet parking as claimed in claim 4, characterized in that: The step of calculating the accuracy of the vehicle's position determination comprises: The step of calculating the accuracy of the position measurement of the vehicle based on the accuracy of the position measurement preset for each area in the parking lot.

6. The method for performing automatic valet parking as claimed in claim 1, characterized in that: The step of determining the position of the vehicle includes: a step of determining the position of the vehicle itself and a step of determining the position of the vehicle by the infrastructure. The step of calculating the accuracy of the position determination of the vehicle comprises the step of comparing the accuracy of the determination made by the vehicle with the accuracy of the determination made by the infrastructure.

7. The method for performing automatic valet parking as claimed in claim 6, characterized in that: When the accuracy of the measurement by the vehicle is higher than the accuracy of the measurement by the infrastructure, the automatic driving of the vehicle and the automatic parking of the vehicle are performed based on the position measured by the vehicle, When the accuracy of the measurement by the infrastructure is higher than the accuracy of the measurement by the vehicle, the automatic driving of the vehicle and the automatic parking of the vehicle are performed based on the position measured by the infrastructure.

8. The method for performing automatic valet parking as claimed in claim 7, characterized in that: Also includes: When the accuracy measured by the vehicle is lower than a preset threshold and the accuracy measured by the infrastructure is lower than a preset threshold, at least one of emergency braking and error control of the vehicle is performed.

9. A vehicle operating method, characterized in that: It is a working method of a vehicle capable of performing automatic valet parking, The working method of the vehicle comprises: Steps to start automated valet parking; the step of receiving a target location and a guidance path from an infrastructure; The vehicle performs automatic driving along the guide path; the step of determining a first vehicle position of said vehicle; the step of calculating an accuracy of a first vehicle position of said vehicle; The vehicle performs automatic parking at the target location; and End the steps of automatic valet parking, The step of calculating the accuracy of the first vehicle position comprises: Determining a first distance between a first access point and the vehicle or between a first landmark and the vehicle; determining a second distance between a second access point and the vehicle or between a second landmark and the vehicle; Calculate a third distance between the first access point and the second access point or between the first landmark and the second landmark based on the first distance and the second distance; and The calculated third distance is compared with a pre-known fourth distance between the first access point and the second access point or between the first landmark and the second landmark.

10. The vehicle operating method according to claim 9, characterized in that: The step of measuring the first vehicle position of the vehicle includes the step of measuring the first vehicle position by wireless communication with an access point provided in a parking lot.

11. The vehicle operating method according to claim 9, characterized in that: The step of measuring the first vehicle position includes the step of measuring the first vehicle position by measuring a landmark installed in a parking lot using a camera mounted on the vehicle.

12. The vehicle operating method according to claim 9, characterized in that: The method further comprises the step of receiving a second vehicle position of the vehicle from the infrastructure, The second vehicle position is a position measured by the infrastructure using at least one of an access point disposed in a parking lot and a camera disposed in the parking lot.

13. The vehicle operating method according to claim 12, characterized in that: The method further comprises the step of obtaining the accuracy of the second vehicle position, The accuracy of the second vehicle position is an accuracy calculated based on the accuracy of position measurement set in advance for each area in the parking lot.

14. The vehicle operating method according to claim 9, characterized in that: The method further comprises: the step of receiving a second vehicle position of said vehicle from said infrastructure; The step of obtaining the accuracy of the second vehicle position; and The step of comparing the accuracy of the first vehicle position and the accuracy of the second vehicle position.

15. The vehicle operating method according to claim 14, characterized in that: When the accuracy of a first vehicle position determined by the vehicle is higher than the accuracy of the second vehicle position received from the infrastructure, automatic driving of the vehicle and automatic parking of the vehicle are performed based on the first vehicle position.

16. The vehicle operating method according to claim 14, characterized in that: When the accuracy of the second vehicle position is higher than the accuracy of the first vehicle position, automatic driving of the vehicle and automatic parking of the vehicle are performed based on the second vehicle position.

17. The vehicle operating method according to claim 14, characterized in that: Also includes: When the accuracy of the first vehicle position is lower than a preset threshold and the accuracy of the second vehicle position is lower than a preset threshold, a step of performing at least one of emergency braking and error control of the vehicle is performed.

18. A computer-readable storage medium, characterized in that: A program for executing the working method according to claim 9 is stored.

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