Method for automated valet parking and method for operating an infrastructure supporting its service

Abstract

The present disclosure relates to a method for automated valet parking and an operation method of an infrastructure supporting the service thereof. Systems and methods for supporting automated valet parking, as well as an infrastructure and a vehicle for automated valet parking, are provided. The operation method of the infrastructure includes: starting an automated valet parking program of a vehicle, determining a target position of the vehicle and a guiding route leading to the target position, determining a display range of the guiding route based on at least one of vehicle information, driving information, and environmental information, and providing the guiding route based on the display range.

Description

[0001] Cross - reference to related applications

[0002] This application claims priority to Korean Patent Application No. 10 - 2019 - 0179905, filed on December 31, 2019, the entire contents of which are incorporated herein by reference for all purposes. Technical Field

[0003] The present disclosure relates to an automated valet parking system, an automated valet parking method, and an automated valet parking infrastructure, as well as a vehicle having automated valet parking features. The present disclosure enables a vehicle to automatically move and park in a designated parking space by communicating with a parking infrastructure. The present disclosure also enables a vehicle to automatically move from a parking space to a pickup area by communicating with a parking infrastructure. Background Art

[0004] The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

[0005] Many modern cities suffer from various problems related to parking. For example, there is a risk of vehicle collisions in parking lots. When parking in a crowded place (such as a large shopping mall), due to traffic congestion, people spend a lot of time entering the parking lot around the destination. In addition, even after entering the parking lot, it takes time to locate an empty parking space. Moreover, it is inconvenient that the driver has to move to the location where his or her vehicle is parked when leaving the visiting area, or it is often difficult to retrieve his or her vehicle because the driver forgets the parking space where the vehicle is parked. Summary of the Invention

[0006] The present disclosure provides an automated valet parking service through which a driver can leave his or her vehicle in a predetermined drop - off area when going to a certain place, and the vehicle autonomously moves and parks in an empty parking space in a parking lot.

[0007] The present disclosure also implements an automated valet parking service through which a parked vehicle automatically moves from a parking space to a predetermined pickup area so that the driver can conveniently leave the parking lot.

[0008] The present disclosure also implements an automated valet parking service that provides a part of the entire path of a guiding route to a target location based on at least one of vehicle information, driving information, and environmental information.

[0009] The technical problems to be solved by the present disclosure are not limited to the above problems, and other technical problems not mentioned above will be clearly understood by those skilled in the art from the following description.

[0010] According to an embodiment of the present disclosure, an operation method of an infrastructure supporting an automated valet parking service includes: starting an automated valet parking program of a vehicle; determining a target position of the vehicle and a guiding route leading to the target position; determining a display range of the guiding route based on at least one of vehicle information, driving information, and environmental information; and providing the guiding route based on the determined display range.

[0011] An automated valet parking method according to an embodiment of the present disclosure includes: starting an automated valet parking program of a vehicle; determining, by an infrastructure, a target position of the vehicle and a guiding route leading to the target position; determining, by the infrastructure, a display range of the guiding route based on at least one of vehicle information, driving information, and environmental information; providing, by the infrastructure, the guiding route to the vehicle based on the determined display range; and performing automated valet parking by the vehicle according to the guiding route.

[0012] An automated valet parking system according to an embodiment of the present disclosure provides a part of an entire path of a guiding route along which a vehicle needs to move to reach a target position based on at least one of vehicle information, driving information, and environmental information, thereby reducing power consumption of the guiding route and preventing interference of the guiding route of the vehicle by another guiding route of another vehicle.

[0013] The effects and advantages that can be achieved by the present disclosure are not limited to those described above, and through the following description, those skilled in the art can clearly understand other effects and advantages not mentioned above but that can be achieved by the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 is a diagram showing an automated valet parking system in a form of the present disclosure;

[0015] Figure 2 is a diagram showing an automated valet parking device in a form of the present disclosure;

[0016] Figure 3 is a conceptual diagram showing an automated valet parking system and an automated valet parking method in a form of the present disclosure;

[0017] Figure 4A and Figure 4B is a diagram showing operations performed by a vehicle and an infrastructure for automated valet parking in a form of the present disclosure;

[0018] Figure 5 is a diagram showing a communication process performed by a vehicle and an infrastructure for automated valet parking in a form of the present disclosure;

[0019] Figure 6 is a diagram showing a communication process performed by a vehicle and an infrastructure for automated valet parking in a form of the present disclosure;

[0020] Figure 7 is a diagram showing a communication process performed by a vehicle and infrastructure for automated valet parking in one form of the present disclosure;

[0021] Figure 8 is a flowchart showing a method of operating infrastructure supporting automated valet parking in one form of the present disclosure;

[0022] Figure 9A and Figure 9B is a diagram showing an operation of determining a display range of a guidance route based on environmental information in one form of the present disclosure;

[0023] Figure 10A and Figure 10B is a diagram showing an operation of determining a display range of a guidance route based on environmental information in one form of the present disclosure;

[0024] Figure 11A and Figure 11B is a diagram showing an operation of determining a display range of a guidance route in the case of navigating a vehicle based on an accurate map in one form of the present disclosure;

[0025] Figure 12A and Figure 12B is a diagram showing an operation of determining a display range of a guidance route display based on vehicle information in one form of the present disclosure; and

[0026] Figure 13A and Figure 13B is a diagram showing an operation of determining a display range of a guidance route based on driving information in one form of the present disclosure. DETAILED DESCRIPTION

[0027] Hereinafter, exemplary embodiments of the present disclosure will be described in detail with reference to the drawings. The configuration and operational effects of the present disclosure will be clearly understood from the following detailed description. Before describing the exemplary embodiments of the present disclosure in detail, it should be noted that in all the drawings, when feasible, the same components will be denoted by the same reference numerals, and detailed descriptions of existing components and functions will be omitted when the subject matter of the present disclosure may be described ambiguously.

[0028] It should also be noted that the following terms are defined for use in the detailed description of the present disclosure.

[0029] The term "driver" refers to a person who uses the automated valet parking service provided by the automated valet parking system.

[0030] The term "driving authority" refers to the authority to control vehicle operation. The term "vehicle operation" refers to operations such as steering, accelerating, braking, shifting gears, starting / stopping the engine, and locking / unlocking the doors.

[0031] The term "vehicle" refers to a vehicle having the characteristics of automatic valet parking.

[0032] The term "control center" refers to a facility that can monitor vehicles parked in parking spaces. The control center determines the target position, guidance route, permitted driving area, etc., and sends various instructions including a driving start command and an emergency stop command to the vehicle.

[0033] The term "infrastructure" includes parking facilities and sensors installed in the parking facilities. Alternatively, in some cases, the term "infrastructure" may refer to a control center that controls the doors of parking spaces, vehicles present in the parking spaces, etc.

[0034] The term "target position" refers to a parking space available for parking. Alternatively, in the case where the driver leaves the parking lot, the term "target position" may refer to the pick-up area where the driver retrieves their vehicle and leaves the parking lot.

[0035] The term "guidance route" refers to a route that guides a vehicle to the target position. For example, in a parking session, the guidance route is a route that guides a vehicle from the drop-off area to an empty parking space. For example, the guidance route is provided in the form of instructions. Specifically, it will include instructions such as "Drive straight for 50m" and "Turn left at the next corner".

[0036] The term "driving route" refers to the driving path that a vehicle needs to travel along.

[0037] The term "permitted driving area" refers to the area within a parking lot where a vehicle can drive. For example, the permitted driving area includes driving lanes. The permitted driving area is defined by partition walls, parked vehicles, lines, etc.

[0038] Figure 1 is a diagram showing an automatic valet parking system according to an embodiment of the present disclosure. Refer to Figure 1 , the automatic valet parking system 10 includes an infrastructure 100 and an automatic valet parking device 200.

[0039] The infrastructure 100 refers to a device or system for operating, managing, and controlling the constituent elements involved in automatic valet parking. For example, the infrastructure 100 may be a facility in a parking lot. According to these embodiments, the infrastructure 100 includes sensors, communication devices, alarm devices, display devices, and a server device that controls those devices. Alternatively, in some cases, the term "infrastructure" may refer to a control center that controls the doors of parking spaces, vehicles present in the parking spaces, etc.

[0040] The automated valet parking device 200 refers to a vehicle that can perform automated valet parking. Alternatively, the automated valet parking device 200 may refer to a component or a set of components of a vehicle required to perform automated valet parking.

[0041] Figure 2 is a diagram showing an automated valet parking device according to an embodiment of the present disclosure. Refer to Figure 2 , the automated valet parking device (e.g., a vehicle) 200 includes a sensor unit 210, a communication unit (e.g., a transceiver) 220, a determination unit (e.g., a processor) 230, and a vehicle control unit 240.

[0042] The sensor unit 210 monitors the surroundings of the automated valet parking device 200. According to an embodiment, the sensor unit 210 measures the distance between the automated valet parking device 200 and a specific object, or senses nearby objects around the automated valet parking device 200. For example, the sensor unit 210 includes at least one sensor selected from an ultrasonic sensor, a radar sensor, a LiDAR sensor, a camera, an infrared sensor, a thermal sensor, and a millimeter wave sensor.

[0043] The sensor unit 210 is configured to send the collected data to the communication unit 220 or the vehicle control unit 240.

[0044] The communication unit 220 performs data communication with the infrastructure 100. This communication is called vehicle-to-infrastructure (V2I) communication. This communication is called "vehicle-to-infrastructure (V2I)" communication. The communication unit 220 communicates data with other vehicles. This communication is called vehicle-to-vehicle (V2V) communication. V2I communication and V2V communication are collectively referred to as vehicle-to-everything (V2X) communication. According to an embodiment, the communication unit 220 receives data such as a target location, a guidance route, a driving route, an instruction, etc. from the infrastructure 100, processes the received data, and sends the data generated by the processing to the determination unit 230. The communication unit 220 sends the data collected and generated by the automated valet parking device 200 to the infrastructure 100. According to an embodiment, the communication unit 220 exchanges data with the automated valet parking device 200.

[0045] The communication unit 220 receives and transmits data according to a wireless communication protocol or a cable communication protocol. Examples of the wireless communication protocol include, but are not limited to, Wireless Local Area Network (WLAN), Digital Living Network Alliance (DLNA), Wireless Broadband (Wibro), Worldwide Interoperability for Microwave Access (Wimax), Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), Code Division Multiple Access 2000 (CDMA2000), Enhanced Voice Data Optimized or Enhanced Voice Data Only (EV-DO), Wideband CDMA (WCDMA), High-Speed Downlink Packet Access (HSPDA), High-Speed Uplink Packet Access (HSUPA), IEEE802.16, Long-Term Evolution (LTE), Long-Term Evolution Advanced (LTE-A), Wireless Mobile Broadband (WMB), Bluetooth, Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC), Ultrasonic Communication (USC), Visible Light Communication (VLC), Wi-Fi, and Wi-Fi Direct mode. Examples of the cable communication protocol include, but are not limited to, Wired Local Area Network (LAN), Wired Wide Area Network (WAN), Power Line Communication (PLC), USB communication, Ethernet communication, serial communication, and optical / coaxial cable communication. Other protocols that support communication between devices fall within the definition of the communication protocols used in this disclosure.

[0046] The determination unit 230 controls the overall operation of the automatic valet parking device 200. The determination unit 230 controls the vehicle control unit 240 based on the data transmitted from the sensor unit 210 and the communication unit 220. According to an embodiment, the determination unit 230 generates a control signal for adaptively controlling the vehicle control unit 240 based on the data transmitted from the infrastructure 100, and transmits the control signal to the vehicle control unit 240.

[0047] That is to say, the determination unit 230 refers to a device that performs a series of calculations or makes a series of determinations to control the automatic valet parking device 200 for the purpose of automatic valet parking. For example, the determination unit 230 may be a processor capable of executing a software program including instructions for performing automatic valet parking of a vehicle. Examples of the determination unit 230 include, but are not limited to, a Central Processing Unit (CPU), a Microprocessor Unit (MPU), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA), and a Graphics Processing Unit (GPU).

[0048] The vehicle control unit 240 controls the automated valet parking device 200 according to the control of the determination unit 230. According to some embodiments, the vehicle control unit 240 controls the automated valet parking device 200 in response to a control signal transmitted from the determination unit 230. Specifically, the vehicle control unit 240 controls various vehicle operations such as driving, parking, re-driving, steering, accelerating, decelerating, stopping, lighting, flashing, alarm sounds, etc.

[0049] That is, note that the vehicle control unit 240 can perform all functions required to control the operation of the automated valet parking device 200. Specifically, the vehicle control unit 240 controls the drive unit, brake unit, steering unit, acceleration unit, alarm unit, and flashing device of the automated valet parking device 200.

[0050] On the other hand, although not explicitly described herein, it should be noted that the operation and / or function of the automated valet parking device 200 is performed by the combination of one or more components selected from the sensor unit 210, communication unit 220, determination unit 230, and vehicle control unit 240.

[0051] Figure 3 is a conceptual diagram showing an automated valet parking system and an automated valet parking method according to an embodiment of the present disclosure.

[0052] Referring to Figure 3 , in step (1), the driver drives the vehicle (e.g., Figure 1 the automated valet parking device 200) into the parking lot and arrives at the drop-off area of the parking lot.

[0053] In step (2), when the driver arrives at the drop-off area, the driver leaves the vehicle and delegates the authority to drive or control the vehicle to the infrastructure (e.g., Figure 1 the infrastructure 100).

[0054] In step (3), the infrastructure searches for available parking spaces in the parking lot and assigns an available parking space to the vehicle. The infrastructure determines the guiding route to the assigned parking space. After determining the parking space and the guiding route, the vehicle automatically drives along the guiding route until it reaches the assigned parking space and performs automatic parking at the assigned parking space.

[0055] In step (4), the driver moves to the pick-up area, where the vehicle is returned to the driver to leave the parking lot.

[0056] In step (5), the infrastructure determines a suitable target location. Specifically, in this step, the suitable target location can be an empty parking space within the passenger boarding area. Additionally, the infrastructure determines a guiding route for guiding the vehicle to the target location. After determining the target location and the guiding route and sending them to the vehicle, the vehicle automatically drives along the guiding route until it reaches the target location and performs automatic parking at the target location.

[0057] In step (6), the driver arrives at the passenger boarding area and takes over the authority to control the vehicle. The driver drives the vehicle towards the exit of the parking lot.

[0058] Figure 4A and Figure 4B is a diagram showing operations performed by a vehicle and infrastructure for automated valet parking according to an embodiment of the present disclosure.

[0059] Step (1) describes the operations of the infrastructure (e.g., Figure 1 the infrastructure 100) and the vehicle (e.g., Figure 1Operation of the Automated Valet Parking Equipment 200). The infrastructure identifies the driver and the vehicle and determines whether the driver and the vehicle are eligible to park in a specific parking space. For example, the infrastructure determines whether the driver is eligible by reading the identification number (ID) or password provided by the driver. The infrastructure determines whether the vehicle is eligible by reading the vehicle identification number which is the unique number of the vehicle. The vehicle can start and stop the engine by itself. The vehicle can turn on and off the power supply by itself. The state where the vehicle engine is stopped and the power supply is turned on is called the accessory-on (ACC-On) state. The start / stop of the engine and the on / off operation of the power supply can be performed according to external instructions received from the infrastructure or can be performed without relying on external instructions. The vehicle can lock and unlock the doors by itself. The locking and unlocking of the doors can be performed according to external instructions received from the infrastructure or can be performed without relying on external instructions. Preferably, the vehicle locks the doors before performing automated parking. Preferably, the driving authority of the vehicle is delegated from the vehicle to the infrastructure. The driving authority refers to the authority to control the operation of the vehicle. Vehicle operations include steering, acceleration, braking, gear shifting, engine start / stop, and door lock / unlock. Since the driving authority of the vehicle is delegated to the infrastructure, during the automated valet parking process of the vehicle, the infrastructure will completely control the vehicle. Therefore, accidental operations of the vehicle are prevented, thus reducing accidents in the parking lot. However, in some cases, the driving authority may be partially delegated to the infrastructure so that the vehicle can still control some vehicle operations, or the driving authority can be shared by the vehicle and the infrastructure. For example, when an emergency occurs during the automated valet parking procedure, a braking operation needs to be performed. Therefore, when the vehicle detects danger with the help of ADAS sensors, the vehicle applies the brakes without infrastructure intervention. In addition, the vehicle checks whether there are still people or animals in the vehicle. Since the vehicle is usually parked in the parking lot for a long time, if a person or an animal is accidentally left in the vehicle during parking, the person or the animal will be in danger. Therefore, it is important to ensure that the vehicle is empty before starting the automated valet parking process. The check for determining whether there are people or animals in the vehicle is performed with the help of sensors installed in the vehicle. After the automated valet parking is completed, the driving authority is automatically returned from the infrastructure to the driver.

[0060] The arrival process in which a vehicle enters a parking lot and parks at a specific parking space in the parking lot is similar to the departure process in which a parked vehicle leaves the parking lot. Specifically, the vehicle receives a departure request. The driver (i.e., the owner or user of the vehicle) issues a departure request using a communication device (e.g., a smartphone or a mobile terminal) that can communicate with the infrastructure. When the driver issues a departure request, the driver uses the communication device to send vehicle information and driver information to the infrastructure. The infrastructure determines whether the target vehicle of the departure request is actually parked in the parking lot based on the received vehicle information and the received driver information, and checks whether the driver is an eligible driver. When the vehicle receives a departure request, the vehicle or the infrastructure checks whether there are passengers in the vehicle. When it is determined that there are no passengers in the vehicle, the next step is executed. When the driver requests to leave, the driving authority is delegated from the driver to the vehicle or the infrastructure. That is, when the driver issues a departure request, the driver loses the authority to control the vehicle. In this case, the vehicle can be self-controlled by an in-built controller or controlled by the infrastructure. For example, the vehicle is controlled by the in-built controller or the infrastructure so that when the vehicle leaves the parking space, the doors are locked, and when the vehicle arrives at the passenger boarding area, the doors are unlocked. When the vehicle arrives at the passenger boarding area, the driving authority is returned from the vehicle or the infrastructure to the driver.

[0061] However, as described above, there are cases where the driving authority is partially owned by the vehicle rather than delegating all the driving authority to the infrastructure, or there are cases where the driving authority of the vehicle is shared by the vehicle and the infrastructure. After receiving the departure request, the vehicle performs an operation to pick up the driver and leave the parking lot. That is, the vehicle leaves the parking space when it receives a departure signal. To this end, the infrastructure can control the vehicle to start the vehicle's engine. The infrastructure notifies the driver that the vehicle has left the parking space.

[0062] In step (2), the target location, the guiding route, and the driving route are determined. The determination of the target location, the guiding route, and the driving route is executed by the infrastructure. The target location, the guiding route, and the driving route determined by the infrastructure are sent to the vehicle. That is, in both the arrival process and the departure process, the target location, the guiding route, and the driving route are transmitted to the vehicle.

[0063] The target position is the final destination that the vehicle is to reach. For example, in the case where the vehicle enters a parking lot, the target position can be an empty parking space in the parking area of the parking lot. In a different case where the vehicle leaves the parking lot, the target position can be an empty parking space in the pick-up area of the parking lot. However, those are merely exemplary target positions, and embodiments of the present disclosure are not limited thereto. For example, the target position can be a specific position near the empty parking space. For example, when there are multiple consecutive empty parking spaces in a specific area of the parking lot, the target position can be a specific position near that specific area. In this case, the vehicle automatically travels to the specific position, and the automatic parking function of the Advanced Driver Assistance System (ADAS) installed in the vehicle is activated, so that the vehicle can be parked in a desired parking space near the specific position. The automatic parking function of the ADAS can be a Partial Automatic Parking System (PAPS). In this case, the management efficiency of the parking capacity of the parking lot can be improved. In this case, the infrastructure does not have to precisely calculate the target position. That is, only a rough estimate of the target position is required. Therefore, the computing resources for data processing can be reduced.

[0064] The guidance route is the path that the vehicle needs to automatically travel in the parking lot. The guidance route is provided to the vehicle in the form of a series of instructions (e.g., "Go straight ahead 10 meters", "Turn right at the corner", "Go straight ahead 20 meters", "Turn left", etc.). Alternatively, the guidance route is provided to the vehicle in the form of lines including straight lines and curves drawn on the parking lot map. These lines represent the driving lanes extending from the vehicle's current position to the target position. Alternatively, the guidance route consists of multiple waypoints marked on the parking lot map and a target position. For example, the guidance route includes three pillars A1, B2, and C3 as multiple waypoints and a parking space D23 as the target position. When the guidance route is represented in the form of multiple waypoints and a target position, information about straight lines and / or curves and distances (e.g., 10m) is not required. Therefore, this guidance route reduces the amount of information in V2I communication.

[0065] Each guidance route can be indicated by a lighting device. The lighting device can be an LED lamp. When the lighting device is lit, the guidance route is displayed on the ground. In this case, the lighting device is an LED lamp buried underground in the parking lot. Alternatively, the lighting device can be a laser lamp that emits a laser beam towards the ground of the parking lot, and this laser lamp is installed on the ceiling, wall surface, or pillar. The vehicle uses built-in sensors to detect the light emitted from the lighting device, thereby receiving or identifying the guidance route. For example, the vehicle detects the lighting of each lighting device by using a front camera sensor.

[0066] According to various embodiments of the present disclosure, the entire movement path from the current position of the vehicle to the target position in the parking lot map is provided as a guidance route. According to another embodiment, only a part of the entire movement path from the current position of the vehicle to the target position in the parking lot map is provided as a guidance route. In this case, the power consumption for providing the guidance route is reduced. In this case, as will be described later with reference to Figures 9A to 13B as described, a part of the entire movement path set as the guidance route is determined based on at least one of vehicle information, driving information, and environmental information. For example, among all the LED lights buried in the ground of the parking lot, the LED lights that need to emit light are determined based on at least one of vehicle information, driving information, and environmental information.

[0067] In step (3), the vehicle automatically travels in the parking lot. The automatic travel of the vehicle consists of driving, parking, and resuming driving. The automatic travel of the vehicle is executed according to the instructions of the infrastructure. Alternatively, the automatic travel of the vehicle can be executed without relying on the instructions of the infrastructure. The vehicle can automatically travel to the target position along the guidance route that falls within the permitted driving area. During the automatic travel of the vehicle, the vehicle is controlled to travel at a preset limit speed or below the limit speed. This speed limit can be a value sent from the infrastructure to the vehicle, or it can be a value stored in the vehicle. In addition, when the vehicle travels along the guidance route, the vehicle is controlled not to deviate from the error tolerance of the given guidance route. This preset error tolerance can be a value sent from the infrastructure to the vehicle, or it can be a value stored in the vehicle. Additionally, when a turn must be made during the automatic travel along the guidance route, the vehicle turns with a predetermined minimum turning radius. This preset minimum turning radius can be a value sent from the infrastructure to the vehicle, or it can be a value stored in the vehicle. When traveling along the guidance route, the vehicle is controlled not to exceed the preset maximum acceleration value. This preset maximum acceleration value can be a value sent from the infrastructure to the vehicle, or it can be a value stored in the vehicle.

[0068] In step (4), position measurement is performed. The object of position measurement can be a vehicle performing an automatic parking operation, any obstacle present in the parking lot, or another vehicle parked in the parking lot. The infrastructure measures the position of the vehicle or the obstacle and stores the measured position in a database. The infrastructure identifies and detects the vehicle or the obstacle and monitors each vehicle in the parking lot to ensure vehicle safety. Specifically, the infrastructure monitors the vehicle during automatic parking at the target position and issues appropriate instructions for the vehicle. The vehicle can measure its own position. In this case, the vehicle sends the measured position to the infrastructure. The position of the vehicle needs to be within a predetermined position error tolerance. The predetermined position error tolerance is a value determined by the infrastructure. The vehicle detects obstacles present around the vehicle, measures the positions of the obstacles, and sends the measured positions of the respective obstacles to the infrastructure. The communication frequency between the vehicle and the infrastructure can be a predetermined frequency.

[0069] In step (5), an automatic parking operation is performed. The automatic parking performed in this step refers to the operation of the vehicle entering an available parking space after reaching the target position. With the help of distance sensors installed on the vehicle, the vehicle performs automatic parking by sensing nearby obstacles or other vehicles parked nearby. Examples of distance sensors installed on the vehicle include ultrasonic sensors, radar sensors, LiDAR sensors, and cameras.

[0070] In step (6), an emergency braking operation is performed. The emergency braking of the vehicle is performed according to an instruction from the infrastructure or based on its own decision when the vehicle detects an obstacle. When it is determined that the surrounding things of the vehicle are unsafe, the infrastructure will instruct the vehicle to apply emergency braking. When the infrastructure determines that the surrounding things of the vehicle become safe after entering the emergency stop state, the infrastructure instructs the vehicle to resume autonomous driving or autonomous parking. When the vehicle detects an obstacle, the vehicle will apply emergency braking based on its own decision. In this state, the vehicle notifies the infrastructure of the emergency stop event or the type or position of the obstacle that is the cause of the emergency stop. The vehicle reduces its speed according to a predetermined deceleration value preset for emergency braking. The predetermined deceleration value is a value determined by the infrastructure or a value stored in the vehicle. The predetermined deceleration value varies according to the type of the obstacle, the position of the obstacle, and the distance between the vehicle and the obstacle. Once a restart instruction is received from the infrastructure, the vehicle resumes autonomous driving or autonomous parking. Alternatively, when the vehicle self-confirms that the obstacle has been removed, the vehicle resumes autonomous driving or autonomous parking. The vehicle reports the restart of autonomous driving, or parking, and the removal of the obstacle to the infrastructure. The vehicle detects the presence of a person or an animal in the vehicle and applies emergency braking when detecting the presence of a person or an animal. When the vehicle is in the emergency stop state, the vehicle resumes autonomous parking or driving according to an instruction received from the infrastructure. Alternatively, the vehicle itself determines whether the cause of the emergency stop has been removed, and resumes autonomous parking or driving when it is confirmed that the cause of the emergency stop has been removed.

[0071] In step (7), the automated valet parking procedure ends. After the vehicle has completed autonomous driving and autonomous parking, the infrastructure issues a control release instruction. The vehicle can start and stop the engine or power supply according to an instruction received from the infrastructure or an instruction independent of the infrastructure. The vehicle can lock and unlock the doors according to an instruction received from the infrastructure or an instruction independent of the infrastructure. The vehicle can apply the parking brake according to an instruction received from the infrastructure or an instruction independent of the infrastructure.

[0072] In step (8), an error control operation is performed. Error control is performed when an error occurs in the communication between the vehicle and the infrastructure and / or when a mechanical failure occurs in the vehicle. The infrastructure checks whether there is an error in the communication between the infrastructure and the vehicle. The vehicle detects a communication error by monitoring the communication between the infrastructure and the vehicle. The vehicle detects whether a mechanical failure has occurred by monitoring the operating state of built-in accessories (including sensors installed thereon).

[0073] Figure 5 It is a diagram showing a communication process performed by a vehicle and an infrastructure for automated valet parking according to an embodiment of the present disclosure.

[0074] In step (1), vehicle qualification information is transferred from the vehicle to the infrastructure. The vehicle qualification information includes an identifier that differentiates each vehicle from other vehicles. For example, the vehicle qualification information can be the unique number of the vehicle. In the stage where the automatic valet parking process starts after the vehicle enters the parking lot (see Figure 4A (1)), the vehicle qualification information is sent.

[0075] In step (2), an automatic valet parking preparation instruction is sent from the infrastructure to the vehicle. The automatic valet parking preparation instruction is sent before the vehicle starts its automatic driving.

[0076] In step (3), vehicle information is sent from the vehicle to the infrastructure. The vehicle information includes the status information and the location information of the vehicle. The status information includes whether the vehicle is in a driving state, a parking stopped state, or an emergency stop state. The vehicle information is sent regularly at a specific frequency (e.g., 1 Hz, i.e., once per second). The vehicle information is used as a parameter to determine whether a communication error has occurred between the vehicle and the infrastructure. For example, when the vehicle information does not reach the infrastructure at a specific time estimated based on the communication frequency, the infrastructure determines that an error has occurred in the communication between the vehicle and the infrastructure.

[0077] In step (4), the confirmation of the vehicle information is sent from the infrastructure to the vehicle. The confirmation of the vehicle information is sent at the same frequency as the sending frequency of the vehicle information sent in step (3). Therefore, the confirmation of the vehicle information is used as a parameter to determine whether an error has occurred in the communication between the vehicle and the infrastructure. For example, when the vehicle information does not reach the infrastructure at a specific time estimated based on the communication frequency, the infrastructure determines that an error has occurred in the communication between the vehicle and the infrastructure.

[0078] In step (5), the target location and the guidance route are sent from the infrastructure to the vehicle. The sending of the target location and the guidance route is performed before or after the automatic valet parking start instruction is sent from the infrastructure to the vehicle.

[0079] In step (6), the driving area boundary information is sent from the infrastructure to the vehicle. The driving area boundary information includes markers indicating the boundaries of the permitted driving areas (e.g., lines dividing parking spaces, center lines, and lane boundary lines dividing driving lanes). After the automatic valet parking preparation instruction is sent, the sending of the driving area boundary information is performed. The driving area boundary information is sent from the infrastructure to the vehicle in the form of a parking lot map.

[0080] In step (7), the automatic valet parking start instruction is sent from the infrastructure to the vehicle. After the guidance route and the driving area boundary information are sent, the sending of the automatic valet parking start instruction is performed. Alternatively, when the cause of the emergency braking is removed, the automatic valet parking start instruction is sent.

[0081] In step (8), an emergency braking instruction is sent from the infrastructure to the vehicle.

[0082] In step (9), a vehicle control release instruction is sent from the infrastructure to the vehicle. After automatically parking the vehicle in the designated parking space, the sending of the vehicle control release instruction is executed.

[0083] Figure 6 is a diagram showing the communication process executed between the vehicle 200 and the infrastructure 100 for automated valet parking.

[0084] In step (1), the vehicle 200 arrives at the parking lot and stops at a predetermined position. This stop position can be located at the entrance gate of the parking lot. The vehicle 200 reports its arrival to the infrastructure 100. In step (2), the infrastructure 100 measures the dimensions of the vehicle 200 and authenticates the vehicle 200 based on the authentication ID of the vehicle 200. In step (3), the infrastructure 100 sends an authentication ID submission request to the vehicle 200. In step (4), the vehicle 200 sends the authentication ID to the infrastructure 100. In step (5), the infrastructure 100 determines whether to allow the vehicle 200 to enter the parking lot based on the received authentication ID. In step (6), the infrastructure 100 provides a notification to the vehicle 200 indicating whether the vehicle 200 is allowed or not allowed to enter the parking lot based on the authentication result. For example, the infrastructure 100 displays a message indicating approval or disapproval of the vehicle's entry into the parking lot on a display board installed near the stop position. When the vehicle is allowed to enter the parking lot, the driver drives the vehicle 200 to the drop-off area inside the parking lot. In step (7), the driver turns off the ignition of the vehicle 200, leaves the vehicle 200, locks the vehicle doors, and leaves the drop-off area. In step (8), the driving authority to control the vehicle 200 is delegated from the vehicle 200 (or the driver) to the infrastructure 100. In step (9), the infrastructure 100 notifies the driver that it has accepted the authority to control the vehicle 200 in the parking lot. Such a notification is sent to the driver's smart device via a mobile communication network.

[0085] Figure 7 is a diagram showing the communication process executed between the vehicle 200 and the infrastructure 100 for automated valet parking.

[0086] In step (1), the infrastructure 100 sends an engine start request to the vehicle 200. In step (2), the vehicle 200 starts the engine according to the request sent from the infrastructure 100. In step (3), the vehicle 200 starts the engine and then notifies the infrastructure 100 that the engine has been started. In step (4), the infrastructure 100 sends an automated valet parking preparation request to the vehicle 200. In step (5), the vehicle 200 sends a reply to the automated valet parking preparation request to the infrastructure 100. The reply is a message OK indicating that the automated valet parking preparation work has been completed, or a message NG indicating that the automated valet parking preparation work has not been completed. In step (6), the infrastructure 100 sends a synchronization request to the vehicle 200. The synchronization request is a request for indicating time synchronization so that the timer of the infrastructure 100 is synchronized with the timer of the vehicle 200. For example, the synchronization request includes information about the time indicated by the timer of the infrastructure 100. In step (7), the vehicle 200 performs synchronization according to the synchronization request. In step (8), the vehicle 200 sends a reply indicating that the synchronization has been completed to the infrastructure 100. For example, multiple synchronization requests can be sent from the infrastructure 100 to the vehicle 200 until the synchronization between the infrastructure 100 and the vehicle 200 is completed. In step (9), the infrastructure 100 sends parking lot map information to the vehicle 200. The parking lot map information includes marking information. In step (10), the vehicle 200 estimates or calculates the position of the vehicle 200 based on the sent marking information, and the vehicle 200 sends the estimated position of the vehicle 200 to the infrastructure 100. In step (11), the infrastructure 100 determines a target position (e.g., a parking space). In step (12), the infrastructure 100 sends information about the permitted driving area to the vehicle 200. For example, the infrastructure 100 sends boundary information of the permitted driving area to the vehicle 200. In step (13), the infrastructure 100 sends a guiding route to the vehicle 200. In step (14), the infrastructure 100 sends an automated valet parking start instruction to the vehicle 200.

[0087] Figure 8 is a flowchart showing an operation method of an infrastructure supporting automated valet parking according to an embodiment of the present disclosure. Figures 9A to 13B is a diagram showing an operation of a display range change for changing a guiding route according to an embodiment of the present disclosure. The operations described below relate to Figure 4A the steps (1) to (3) shown.

[0088] Referring to Figure 8 , in step S810, the infrastructure (e.g., Figure 1The infrastructure 100) shown determines a guidance route. The term "guidance route" refers to the route along which a vehicle moves to reach a target position. According to one embodiment, the infrastructure may determine at least one parking space among a plurality of parking spaces present in a parking lot as the target position, and determine a guidance route leading to the target position from the current position of the vehicle.

[0089] According to various embodiments, in step S820, the infrastructure acquires at least one of vehicle information, driving information, and environmental information.

[0090] The vehicle information includes at least one of vehicle type information of the vehicle and built-in sensor information. According to one embodiment, the vehicle information is sent from the vehicle to the infrastructure. According to another embodiment, the vehicle type information is obtained in such a way that the infrastructure identifies the vehicle length and vehicle height or photographs the exterior of the vehicle.

[0091] The driving information includes at least one of lane change information, speed change information (e.g., speed increase information and speed decrease information), and vehicle turning information. According to one embodiment, the infrastructure acquires the driving information by monitoring vehicles moving in the parking lot. According to another embodiment, the infrastructure checks the driving information based on at least one piece of data (e.g., Figure 2 control information of the vehicle control unit 240) collected by at least one sensor installed on the vehicle.

[0092] The environmental information includes at least one of parking lot information (e.g., parking lot size), road surface condition, road structure, and moving information of surrounding vehicles. According to one embodiment, the infrastructure obtains the environmental information by detecting vehicles, objects, and obstacles in the parking lot and by monitoring the safety of each vehicle in the parking lot. According to another embodiment, the infrastructure receives sensing information from at least one vehicle (e.g., a vehicle of interest or another vehicle) present in the parking lot to obtain the environmental information.

[0093] According to various embodiments, in step S830, the infrastructure determines a display range of the guidance route based on at least one of the vehicle information, driving information, and environmental information. The display range is a partial route of the entire movement path from the current position of the vehicle to the target position on the parking lot map, and this partial range is provided as the guidance route.

[0094] According to one embodiment, the display range is determined based on the environmental information. As described above, the environmental information includes at least one of parking lot information, road surface condition, road structure, and moving information of surrounding vehicles, and the infrastructure determines the display range corresponding to one or a combination of two of the above information.

[0095] For example, as Figure 9AAs shown, when the vehicle C parks in a first type of parking lot (e.g., a large parking lot), the infrastructure provides a guiding route (reference 910) corresponding to the first display range 912. Specifically, the first display range 912 has sufficient dimensions such that other objects present in the parking lot can identify the presence of the vehicle based on the guiding route. Additionally, as Figure 9B shown, when the vehicle C parks in a second type of parking lot (e.g., a small parking lot), the infrastructure provides a guiding route (reference 920) corresponding to the second display range 922. Specifically, the infrastructure provides a guiding route corresponding to the second display range 922 that is smaller than the first display range 912 in the second type of parking lot, thereby preventing the objects present in the parking lot from interfering with the guiding route. However, those display ranges are merely exemplary display ranges, and the embodiments of the present disclosure are not limited thereto. For example, the infrastructure can provide guiding routes to be displayed in different modes within the same display range based on vehicle information. For example, the mode includes at least one of lighting color, lighting pattern, lighting time period, lighting operation count, and lighting area.

[0096] Alternatively, as Figure 10A shown, when there are no other vehicles along the driving direction of the vehicle or around the vehicle, the infrastructure provides a guiding route, thereby displaying a guiding route (reference 1010) corresponding to the first display range 1012. Additionally, as Figure 10B shown, when there are other vehicles in the driving direction of the vehicle C or around the vehicle C, the infrastructure provides a guiding route such that a guiding route (reference 1020) corresponding to a second display range 1022 different from the first display range 1012 is displayed. Specifically, when there are other vehicles in the driving direction of the vehicle C or around the vehicle C, the infrastructure provides a guiding route corresponding to the second display range 1022 that is larger than the first display range 1012, and the objects in the parking lot can identify the presence of the vehicle C based on the guiding route. However, those display ranges are merely exemplary display ranges, and the embodiments of the present disclosure are not limited thereto. For example, the infrastructure adaptively adjusts the display range according to the degree of overlap between the guiding route of the vehicle and the guiding route of another vehicle. For example, as the overlap of the two guiding routes increases, the infrastructure expands the display area of the guiding route.

[0097] According to another embodiment, a display range is determined based on a request of a vehicle. The request may be a request for environmental information that may occur when the vehicle performs route guidance based on an accurate map. For example, the vehicle stores an accurate map and data related to the guidance route (e.g., the display position, display size, display status, etc. of the guidance route), and when matching the vehicle position obtained by a positioning technique such as GPS-based positioning technique with the position on the accurate map, requests environmental information. For example, as Figure 11A shown, in the case where the vehicle C does not request environmental information, that is, in the case where the position of the vehicle C matches the position on the accurate map, the infrastructure processes the guidance route such that the first display range 1112 is displayed as the guidance route (reference 1110). Alternatively, as Figure 11B shown, in the case where the vehicle C requests environmental information, that is, in the case where the position of the vehicle C does not match the position on the accurate map, the infrastructure processes the guidance route such that the first display range 1122 is displayed as the guidance route (reference 1120). For example, when the vehicle requests environmental information, the infrastructure provides a guidance route corresponding to a second display range 1122 larger than the first display range 1112, thereby obtaining the information required to match the position of the vehicle with the position on the accurate map.

[0098] According to another embodiment, the display range is determined based on vehicle information. The infrastructure determines the display range by using the sensor installation information of the vehicle as the vehicle information. For example, as Figure 12A shown, in the case where the vehicle C equipped with a first sensor for sensing an object in a first direction and a second sensor for sensing an object in a second direction performs parking, the infrastructure processes the guidance route such that the first display range 1212 (reference 1210) of the guidance route is displayed. Additionally, as Figure 12B shown, in the case where the vehicle C equipped with only a first sensor for sensing an object in a first direction (e.g., the forward direction) performs parking, the infrastructure processes the guidance route such that the second display range 1222 (reference 1220) is displayed.

[0099] According to another embodiment, the display range is determined based on driving information. As described above, the driving information includes at least one of lane change information, speed increase / decrease information, and vehicle turning information, and the infrastructure determines a display range corresponding to a combination of one or more of the information items. For example, as Figure 13A shown, in the case where the vehicle C is traveling at a first speed (e.g., 20 kph), the infrastructure processes the guidance route such that the first display range 1312 (reference 1310) is displayed. Additionally, as Figure 13BAs shown, when the vehicle C is traveling at a second speed (e.g., 40 kph), the infrastructure processes the guiding route such that a second display range 1322 (reference 1320) different from the first display range 1312 is displayed.

[0100] According to another embodiment, the display range is determined based on a combination of vehicle information, driving information, and environmental information. For example, after determining an increment value (e.g., a predetermined increment value) for each of the vehicle information, driving information, and environmental information for the display range, the display range can be determined based on the sum of these increment values. In this case, the infrastructure can apply weights to the respective increment values based on the priorities of the vehicle information, driving information, and environmental information.

[0101] According to various embodiments of the present disclosure, in S840, the infrastructure provides a guiding route to the vehicle (e.g., Figure 1 the automated valet parking device 200 shown) based on the determined display range. According to one embodiment, the infrastructure provides some routes corresponding to the determined display range of the entire movement path from the current position of the vehicle to the target position as the guiding route.

[0102] According to various embodiments of the present disclosure, an operation method of an infrastructure supporting an automated valet parking service includes: starting an automated valet parking program of a vehicle; determining a target position of the vehicle and a guiding route leading to the target position; determining a display range of the guiding route based on at least one of vehicle information, driving information, and environmental information, and providing the guiding route based on the determined display range.

[0103] According to one embodiment, the display range is a part of the entire movement path from the current position of the vehicle to the target position.

[0104] According to one embodiment, the vehicle information includes at least one of vehicle type information and information about sensors installed in the vehicle. Additionally, determining the display range of the guiding route includes: providing a first display range of the guiding route or a second display range of the guiding route based on at least one piece of vehicle information, the second display range being different from the first display range.

[0105] According to one embodiment, the environmental information includes at least one of parking lot information, road surface conditions, and movement information of surrounding vehicles. Additionally, determining the display range of the guiding route includes: providing a first display range of the guiding route or a second display range of the guiding route based on at least one piece of environmental information, the second display range being different from the first display range.

[0106] According to one embodiment, the vehicle information includes at least one of lane change information, speed increase / decrease information, and vehicle turning information. Additionally, determining the display range of the guidance route includes: providing a first display range of the guidance route or a second display range of the guidance route based on at least one piece of environmental information, where the second display range is different from the first display range.

[0107] According to one embodiment, at least one of vehicle information, driving information, and environmental information (each being information for determining the display range) is assigned a corresponding weight.

[0108] According to one embodiment, determining the display range of the guidance route includes changing the display range according to a request of the vehicle.

[0109] According to one embodiment, the display range of the guidance route is determined based on a predetermined display range corresponding to vehicle information, driving information, or environmental information.

[0110] According to one embodiment, the display range includes the range of the illuminated LED lights among all the LED lights embedded in the parking lot floor.

[0111] According to various embodiments, an automated valet parking method includes: starting the automated valet parking program of the vehicle; determining, by the infrastructure, the target position of the vehicle and the guidance route leading to the target position; determining, by the infrastructure, the display range of the guidance route based on at least one of vehicle information, driving information, and environmental information; providing, by the infrastructure, the guidance route to the vehicle based on the determined display range; and performing automated valet parking by the vehicle based on the guidance route.

[0112] According to one embodiment, the display range is a part of the entire movement path from the current position of the vehicle to the target position.

[0113] According to one embodiment, the vehicle information includes at least one of vehicle type information and information about sensors installed in the vehicle. Additionally, determining the display range of the guidance route includes: providing a first display range of the guidance route or a second display range of the guidance route based on at least one piece of vehicle information, where the second display range is different from the first display range.

[0114] According to one embodiment, the environmental information includes at least one of parking lot information, road surface conditions, and movement information of surrounding vehicles. Additionally, determining the display range of the guidance route includes: providing a first display range of the guidance route or a second display range of the guidance route based on at least one piece of environmental information, where the second display range is different from the first display range.

[0115] According to one embodiment, the driving information includes at least one of lane change information, speed increase / decrease information, and vehicle turning information. Additionally, determining the display range of the guidance route includes providing a first display range of the guidance route or a second display range of the guidance route based on at least one piece of environmental information, the second display range being different from the first display range.

[0116] According to one embodiment, at least one of vehicle information, driving information, and environmental information (each being information for determining the display range) is assigned a corresponding weight.

[0117] According to one embodiment, determining the display range of the guidance route includes changing the display range according to a request of the vehicle.

[0118] According to one embodiment, the display range of the guidance route is determined based on a predetermined display range corresponding to vehicle information, driving information, or environmental information.

[0119] According to one embodiment, the display range includes the range of the illuminated LED lights among all the LED lights embedded in the parking lot floor.

[0120] According to one embodiment, the vehicle identifies the guidance route by means of sensors installed therein.

[0121] According to various embodiments of the present disclosure, the infrastructure supporting automated valet parking is configured to perform the following steps: initiate the automated valet parking program of the vehicle; determine the target position of the vehicle and the guidance route leading to the target position; determine the display range of the guidance route based on at least one of vehicle information, driving information, and environmental information; and provide the guidance route based on the determined display range.

[0122] In one or more exemplary embodiments, the described functionality may be implemented using hardware, software, firmware, or any combination thereof. When implemented in software, the functionality may be stored on or transmitted to a computer-readable medium in the form of one or more instructions or code. A computer-readable medium refers to any medium that can easily transfer a computer program from one computer to another. For example, it can be a communication medium or a computer-readable storage medium. The storage medium can be any medium accessible by a computer. Computer-readable media include, but are not limited to, RAM, ROM, EEPROM, optical discs such as CD-ROMs, magnetic disks, and any medium accessible by a computer, as well as any medium that can be used to transfer a computer program in the form of instructions from one place to another. A computer-readable medium is appropriately referred to as a medium that can be arbitrarily accessed by a computer. For example, software can be sent via a cable or through a wireless channel from a website, server, or other remote source. Examples of cables include coaxial cables, fiber optic cables, twisted pair cables, and digital subscriber line (DSL), and wireless channels use infrared frequency waves, radio frequency waves, or ultra-high frequency waves. In this case, coaxial cables, fiber optic cables, twisted pair cables, DSLs, and wireless channels all fall within the definition of a medium. Magnetic disks or optical discs include compact discs (CDs), laser discs (LDs), optical discs (ODs), digital versatile discs (DVDs), floppy disks (FDs), and Blu-ray discs. Optical discs generally refer to media from which data is optically read, while magnetic disks refer to media from which data is magnetically read. Combinations of the above media also fall within the definition of computer-readable media.

[0123] When an embodiment is implemented as program code or a code segment, the code segment can be a procedure, function, subroutine, program, routine, subroutine, module, software package, class, instruction, data structure, program command string, or any set of program command strings. A code segment can be connected to another code segment or a hardware circuit by sending and receiving information, data, arguments, parameters, or memory contents. Any suitable means such as memory sharing, message passing, token passing, network sending, etc. can be used to transfer, send, or transmit information, arguments, parameters, data, etc. Additionally, in some aspects, the steps and / or operations of a method or algorithm can reside in a machine-readable medium and / or a computer-readable medium in the form of a combination or set of one or more codes and / or one or more instructions that can be integrated into a computer program product.

[0124] When implemented as software, the techniques described herein can be implemented as modules (e.g., procedures, functions, etc.) that perform the functions described herein. The software code can be stored in a storage unit and executed by a processor. The storage unit can be embedded in the processor or can be provided external to the processor. In such cases, the storage unit can be communicatively coupled to the processor in various ways known in the art.

[0125] When implemented as hardware, the processing unit can be implemented as 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, electronic devices designed to perform the functions described herein, or any combination thereof.

[0126] The foregoing includes one or more exemplary embodiments. Of course, the foregoing embodiments do not cover all possible combinations of components and / or methods for implementing the present disclosure. Thus, those skilled in the art will recognize that many further combinations and permutations of components and / or methods are possible in various embodiments. Accordingly, the foregoing embodiments cover all such alterations, modifications, and variations that fall within the spirit and scope of the appended claims. Additionally, with respect to the scope of the term "comprising" as used in the detailed description or the appended claims, it is to be noted that it is to be construed in a manner similar to the term "including" as used as a transitional word in the claims.

[0127] As used herein, the terms "inference" and "infer" generally refer to the process of determining or inferring the state of a system, environment, and / or user based on a set of observations of events and / or data. For example, an inference can be used to identify a particular situation or action, or can generate a probability distribution of certain states. Inference is probabilistic. That is, an inference may mean calculating a probability distribution of these states based on the study of data and events. Inference may involve techniques for constructing higher-level events from a set of events and / or data. Inference refers to the process of inferring new events or actions from a set of observed events and / or stored event data, determining whether events are closely related in time, and determining whether events and data are from one or more event and data sources.

[0128] In addition, terms such as "component", "module", and "system" used herein may not necessarily refer to a computer entity such as hardware, firmware, any combination of hardware and software, software, and a software program being executed. For example, the term "component" may not necessarily refer to a process running on a processor, a processor, an object, an executable execution thread, a program, and / or a computer. As an illustration, an application running on a computing device and the computing device itself can both fall within the definition of a component. One or more components can reside in a process and / or an execution thread. One or more components can be provided concentrated in one computer or distributed among more than two computers. Additionally, these components can execute on various computer-readable media on which various data structures are stored. Components can communicate signals containing one or more data packets (e.g., data of any component that interacts with local systems, components of a distributed system, and / or other systems based on signals sent through a network (such as the Internet)) with local and / or remote processes.

Claims

1. A method for operating an infrastructure supporting an automated valet parking service, the method comprising the steps of: Starting an automated valet parking program; Determining a target position of a vehicle and a guiding route indicating a movement path for guiding the vehicle from a current position to the target position; Based on at least one of vehicle information, driving information, and environmental information, determining a part of the movement path as a display range of the guiding route; From a plurality of lighting devices in a parking lot, determining a lighting device installed at a position corresponding to the determined display range as a lighting device to emit light; And Using the determined lighting device to provide the guiding route; Wherein, determining a part of the movement path as a display range of the guiding route includes: When the vehicle parks in a first type of parking lot, providing the guiding route through a first display range, and When the vehicle parks in a second type of parking lot smaller than the first type of parking lot, providing the guiding route through a second display range smaller than the first display range.

2. The method according to claim 1, wherein, Determining a part of the movement path as the display range of the guiding route includes: Based on at least one of the vehicle information, providing the first display range of the guiding route or providing the second display range different from the first display range of the guiding route, wherein the vehicle information includes at least one of vehicle type information and built-in sensor information of the vehicle.

3. The method according to claim 1, wherein, Determining a part of the movement path as the display range of the guiding route includes: Based on at least one of the environmental information, providing the first display range of the guiding route or providing the second display range different from the first display range of the guiding route, wherein the environmental information includes at least one of parking lot information, road surface information, road structure, and movement information of nearby vehicles.

4. The method according to claim 1, wherein, Determining a part of the movement path as the display range of the guiding route includes: Based on at least one of the driving information, providing the first display range of the guiding route or providing the second display range different from the first display range of the guiding route, wherein the driving information includes at least one of lane change information, vehicle speed change information, and vehicle turning information.

5. The method according to claim 1, further comprising: Applying weights to at least one of the vehicle information, the driving information, and the environmental information.

6. The method according to claim 1, wherein, Determining a part of the movement path as the display range of the guiding route includes: Changing the display range according to a request of the vehicle.

7. The method according to claim 1, wherein, Determining the display range of the guiding route includes: Based on a predetermined display range corresponding to the vehicle information, the driving information, or the environmental information, determining the display range of the guiding route.

8. The method according to claim 1, wherein, the display range includes the range of LED lights that are illuminated among all the LED lights buried in the ground of the parking lot.

9. An automated valet parking method, comprising the following steps: starting an automated valet parking program; determining, by the infrastructure, a target position of the vehicle and a guiding route indicating a movement path for guiding the vehicle from the current position to the target position; determining, by the infrastructure, based on at least one of vehicle information, driving information, and environmental information, a part of the movement path as a display range of the guiding route, and providing the guiding route to the vehicle based on the display range; determining, from among a plurality of lighting devices in the parking lot, the lighting devices installed at positions corresponding to the determined display range as the lighting devices that emit light; using, by the infrastructure, the determined lighting devices to provide the guiding route to the vehicle; and automatically driving, by the vehicle, along the guiding route toward the target position; wherein determining a part of the movement path as the display range of the guiding route includes: when the vehicle performs parking in a first type of parking lot, providing the guiding route through a first display range, and when the vehicle performs parking in a second type of parking lot smaller than the first type of parking lot, providing the guiding route through a second display range smaller than the first display range.

10. The method according to claim 9, wherein, determining a part of the movement path as the display range of the guiding route includes: providing the first display range of the guiding route or a second display range different from the first display range of the guiding route based on at least one of the vehicle information, wherein the vehicle information includes at least one of vehicle type information and built-in sensor information of the vehicle.

11. The method according to claim 9, wherein, determining a part of the movement path as the display range of the guiding route includes: providing the first display range of the guiding route or a second display range different from the first display range of the guiding route based on at least one of the environmental information, wherein the environmental information includes at least one of parking lot information, road surface information, road structure, and movement information of nearby vehicles.

12. The method according to claim 9, wherein, determining a part of the movement path as the display range of the guiding route includes: providing the first display range of the guiding route or a second display range different from the first display range of the guiding route based on at least one of the driving information, wherein the driving information includes at least one of lane change information, vehicle speed change information, and vehicle turning information.

13. The method according to claim 9, further comprising: applying weights to at least one of the vehicle information, the driving information, and the environmental information.

14. The method according to claim 9, wherein, determining a part of the movement path as the display range of the guiding route includes: Change the display range according to the request of the vehicle.

15. The method according to claim 9, wherein, determining the display range of the guiding route includes: Based on a predetermined display range corresponding to the vehicle information, the driving information, or the environmental information, determining the display range of the guiding route.

16. The method according to claim 9, wherein, the display range includes the range of LED lights illuminated among all the LED lights buried in the ground of the parking lot.

17. The method according to claim 9, further comprises: Detecting the guiding route by the vehicle through a sensor installed in the vehicle.

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