Method for automatic valet parking and method for operating infrastructure supporting the same

Abstract

The present application relates to an automatic valet parking method and an operation method of an infrastructure supporting the service. A system, method, infrastructure and vehicle for automatic valet parking are provided. The method includes: starting an automatic valet parking program of a vehicle, providing a target location and a first guidance route to the target location for the vehicle, detecting an unexpected event based on condition information, and providing a second guidance route for the vehicle to deal with the unexpected event.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to and the benefit of Korean Patent Application No. 10-2019-0179904, filed on Dec. 31, 2019, which is hereby incorporated by reference in its entirety for all purposes. Technical Field

[0003] The present disclosure relates to an automatic valet parking system, an automatic valet parking method, an automatic valet parking infrastructure, and a vehicle with an automatic valet parking function. Background Art

[0004] Many modern cities suffer from various problems related to parking. For example, there is a risk of car accidents in parking lots. When parking in crowded places (such as large shopping malls), people spend a lot of time entering parking lots around the destination due to traffic congestion. In addition, even if you enter the parking lot, it takes time to locate an empty parking space. In addition, there is an inconvenience in that the driver must move to the place where his vehicle is parked when leaving the access area, or often has difficulty retrieving his vehicle because he has forgotten the parking space where his vehicle is parked. Summary of the invention

[0005] The present disclosure provides an automated valet parking service by which a driver can leave his or her vehicle at a predetermined drop-off area when going somewhere, and the vehicle autonomously moves and parks in an empty parking space in a parking lot.

[0006] The present disclosure also provides an automatic valet parking service, by which a parked vehicle is autonomously moved from a parking space to a predetermined pickup area so that the driver can conveniently leave the parking lot.

[0007] Furthermore, the present disclosure provides an autonomous valet parking method, wherein, when an unexpected event occurs, a vehicle is provided with a first guide route to a target location.

[0008] The technical problems to be solved by the present disclosure are not limited to the above problems, and those skilled in the art will clearly understand other technical problems not mentioned above according to the following description.

[0009] One aspect of the present disclosure provides an operating method of an infrastructure supporting an automatic valet parking service, the method comprising: initiating an automatic valet parking program for a vehicle; providing a target location and a first guidance route to the target location for the vehicle; detecting an unexpected event based on situation information; and providing a second guidance route for the vehicle, the second guidance route guiding the vehicle to the target location to cope with the unexpected event.

[0010] Another aspect of the present disclosure provides a method for performing automatic valet parking, the method comprising: starting an automatic valet parking program for a vehicle; providing a target location and a first guidance route leading to the target location for the vehicle through infrastructure; autonomously driving along the first guidance route by the vehicle; and determining whether an unexpected event has occurred based on situation information through the infrastructure.

[0011] The automatic valet parking system according to an embodiment of the present disclosure provides a guidance route for the vehicle based on the situation information so that the vehicle with the automatic valet parking function can safely reach the target location even if an unexpected event occurs while autonomously driving to the target location. To this end, the objects in the parking lot can identify unexpected events that occur in the parking lot.

[0012] 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 that are not mentioned above but can be achieved by the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a diagram showing an automatic valet parking system in one form of the present disclosure;

[0014] Figure 2 is a diagram showing an autonomous valet parking apparatus in one form of the present disclosure;

[0015] Figure 3 is a conceptual diagram showing an automatic valet parking system and an automatic valet parking method in one form of the present disclosure;

[0016] Figure 4A and Figure 4B is a diagram illustrating operations performed by a vehicle and infrastructure for automated valet parking according to one form of the present disclosure;

[0017] Figure 5 is a diagram showing a communication process performed by a vehicle and an infrastructure for automatic valet parking according to one form of the present disclosure;

[0018] Figure 6 is a diagram showing a communication process performed by a vehicle and an infrastructure for automatic valet parking according to one form of the present disclosure;

[0019] Figure 7 is a diagram showing a communication process performed by a vehicle and an infrastructure for automatic valet parking according to one form of the present disclosure;

[0020] Figure 8 is a block diagram illustrating a method for providing a guided route according to one form of the present disclosure (the method being performed by a vehicle and an infrastructure);

[0021] Fig. 9 is a diagram showing a guidance route for guiding a vehicle to a target position as an available parking space according to one form of the present disclosure;

[0022] Fig.10 is a block diagram illustrating a method for providing a guided route according to one form of the present disclosure (the method being performed by a vehicle and an infrastructure);

[0023] Fig.11 is a diagram showing a guidance route used when a collision event occurs according to one form of the present disclosure;

[0024] Fig.12 is a block diagram illustrating a method for providing a guided route according to one form of the present disclosure (the method being performed by a vehicle and an infrastructure);

[0025] Fig.13 is a diagram showing a guidance route used when a temporary stop event occurs according to one form of the present disclosure; and

[0026] Fig.14 is a diagram showing a guidance route for guiding a vehicle to a target location according to 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 accompanying drawings. The construction and operational effects of the present disclosure will be clearly understood from the detailed description given below. Before describing the exemplary embodiments of the present disclosure in detail, it should be noted that in all the drawings, when possible, the same components will be represented by the same reference numerals, and when the subject matter of the present disclosure will be blurred by the description, detailed descriptions of components and functions known in the art will be omitted.

[0028] Terms and words used in the following detailed description of the present disclosure will first be defined.

[0029] The term “driver” refers to a person using the automated valet parking service provided by the automated valet parking system.

[0030] The term "driving authority" refers to authority to control vehicle operation. The term "vehicle operation" refers to operations such as steering, acceleration, braking, shifting, engine start / stop, and door locking / unlocking.

[0031] The term “Vehicle” refers to a vehicle equipped with the automated valet parking feature.

[0032] The term "control center" refers to a facility that can monitor vehicles parked in a parking lot. The control center determines the target location, guidance route, permitted driving area, etc., and sends various instructions including driving start instructions and emergency stop instructions 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 gates of the parking lot, the vehicles present in the parking lot, and the like.

[0034] The term "target location" refers to one of the parking spaces available for parking. Alternatively, the term "target location" refers to a pickup area where a driver leaves his or her vehicle in a parking lot.

[0035] The term "guidance route" refers to a route that guides a vehicle to a target location. For example, in a parking session, a guidance route is a route that guides a vehicle from a 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 a driving route along which a vehicle needs to travel.

[0037] The term "permitted driving area" refers to an area within a parking lot where a vehicle may be driven. For example, the permitted driving area includes a driving lane. The permitted driving area is defined by dividing 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. Figure 1 , the automatic valet parking system 10 includes an infrastructure 100 and an automatic valet parking device 200. The term “automatic valet parking device” may be referred to as an autonomous valet parking apparatus.

[0039] The infrastructure 100 refers to a device or system for operating, managing, and controlling the components 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 server devices that control those devices. Alternatively, in some cases, the term "infrastructure" may refer to a control center that controls the doors of the parking lot, the vehicles present in the parking lot, and the like.

[0040] The automatic valet parking device 200 refers to a vehicle that can perform automatic valet parking. Alternatively, the automatic valet parking device 200 may refer to a component element or a group of component elements of a vehicle required to perform automatic valet parking.

[0041] Figure 2 is a diagram showing an autonomous valet parking device according to an embodiment of the present disclosure. Figure 2, the automatic valet parking apparatus (eg, vehicle 200 ) includes a sensor unit 210 , a communication unit (eg, a communication circuit and / or a transceiver) 220 , a determination unit (eg, a processor) 230 , and a vehicle control unit 240 .

[0042] The sensor unit 210 monitors the surrounding environment of the automatic valet parking apparatus 200. According to an embodiment, the sensor unit 210 measures the distance between the automatic valet parking apparatus 200 and a specific object or senses nearby objects around the automatic valet parking apparatus 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 transmit the collected data to the communication unit 220 or the vehicle control unit 240 .

[0044] The communication unit 220 communicates data with the infrastructure 100. This communication is called vehicle-to-infrared (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 guide route, a driving route, instructions, 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 automatic valet parking device 200 to the infrastructure 100. According to an embodiment, the communication unit 220 exchanges data with the automatic valet parking device 200.

[0045] The communication unit 220 receives and sends data according to a wireless communication protocol or a cable communication protocol. Examples of wireless communication protocols include, but are not limited to, wireless local area network (WLAN), digital living network alliance (DLNA), wireless broadband (Wibro), world microwave access interoperability (Wimax), global system for mobile communications (GSM), code division multiple access (CDMA), code division multiple access 2000 (CDMA2000), enhanced voice data optimized or enhanced voice data dedicated (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 service (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 connection. Examples of cable communication protocols include, but are not limited to, wired local area networks (LANs), wired wide area networks (WANs), power line communications (PLCs), USB communications, Ethernet communications, serial communications, and optical / coaxial cable communications. Other protocols supporting communication between devices fall within the definition of communication protocols used in this disclosure.

[0046] The determination unit 230 controls the overall operation of the automatic valet parking apparatus 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 to adaptively control the vehicle control unit 240 according to the data transmitted from the infrastructure 100, and transmits the control signal to the vehicle control unit 240.

[0047] That is, the determination unit 230 refers to performing a series of calculations or making 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 microcontroller unit (MCU), 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 controller 240 controls the automatic valet parking apparatus 200 according to the control of the determination unit 230. According to some embodiments, the vehicle controller 240 controls the automatic valet parking apparatus 200 (e.g., the vehicle 200) in response to a control signal sent from the determination unit 230. Specifically, the vehicle controller 240 controls various vehicle operations, such as driving, stopping, re-driving, steering, accelerating, decelerating, parking, lighting, flashing, alarm sound, etc.

[0049] That is, note that the vehicle controller 240 can perform all functions required to control the operation of the automatic valet parking apparatus 200. Specifically, the vehicle controller 240 controls the driving unit, braking unit, steering unit, acceleration unit, alarm unit, and flashing lights of the automatic valet parking apparatus 200.

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

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

[0052] Reference Figure 3 In step (1), the driver drives the vehicle (e.g. Figure 1 The automatic valet parking device 200 of the parking lot enters the parking lot and arrives at the passenger 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 infrastructure 100).

[0054] In step (3), the infrastructure searches for available parking spaces in the parking lot and designates one of the available parking spaces for the vehicle. The infrastructure determines a guidance route leading to the designated parking space. After determining the parking space and the guidance route, the vehicle autonomously drives according to the guidance route until it reaches the designated parking space, and performs autonomous parking at the designated 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 may be one of the empty parking spaces in the pickup area. In addition, the infrastructure determines a guidance route for guiding the vehicle to the target location. After the target location and the guidance route are determined and transmitted to the vehicle, the vehicle autonomously drives according to the guidance route until it reaches the target location and performs autonomous parking at the target location.

[0057] In step (6), the driver arrives at the passenger pick-up area, takes over control of the vehicle, and then drives the vehicle toward the exit of the parking lot.

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

[0059] Item (1) describes the infrastructure when the automated valet parking procedure is initiated (e.g. Figure 1 of infrastructure 100) and vehicles (e.g., Figure 1The infrastructure identifies the driver and the vehicle and determines whether the driver and the vehicle are qualified to park in a specific parking space. For example, the infrastructure determines whether the driver is qualified by reading an identification number (ID) or a password provided by the driver. The infrastructure determines whether the vehicle is qualified 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 the power on and off by itself. The state in which the vehicle engine is stopped and the power is turned on is called the accessory on (ACC-On) state. The engine start / stop and power on / off operations can be performed according to external instructions received from the infrastructure, or can be performed independently of external instructions. The vehicle can lock and unlock the door by itself. The locking and unlocking of the door can be performed according to external instructions received from the infrastructure, or can be performed independently of external instructions. Preferably, the vehicle locks the door before performing automatic parking. Preferably, the driving authority of the vehicle is delegated from the vehicle to the infrastructure. Driving authority refers to the authority to control the operation of the vehicle. Vehicle operations include steering, acceleration, braking, shifting, engine start / stop, and door locking / unlocking. Since the driving authority of the vehicle is delegated to the infrastructure, the infrastructure will have full control of the vehicle during the vehicle's automatic valet parking process. Therefore, the vehicle is prevented from performing unexpected operations, thereby reducing accidents in parking lots. However, in some cases, the driving authority may be partially delegated to the infrastructure, so that the vehicle can still control certain vehicle operations, or the driving authority may be shared by the vehicle and the infrastructure. For example, when an emergency occurs during the automatic 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 intervention from the infrastructure. In addition, the vehicle checks whether there are still people or animals in the vehicle. Since vehicles are usually parked for a long time in parking lots, people or animals will be in danger if they are accidentally left in the vehicle during parking. Therefore, it is important to ensure that the vehicle is empty before starting the automatic 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 automatic valet parking is over, the driving authority is automatically returned from the infrastructure to the driver.

[0060] The arrival process of a vehicle entering a parking lot and performing parking at a specific parking space in the parking lot is similar to the departure process of a parked vehicle leaving the parking lot. Specifically, the vehicle receives a departure request. The driver (i.e., the owner or user of the vehicle) uses a communication device (e.g., a smartphone or a mobile terminal) that can communicate with the infrastructure to issue a departure request. 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 a qualified driver. When the vehicle receives the 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 performed. When the driver issues a departure request, the driving authority is delegated from the driver to the vehicle or the infrastructure. That is, when the driver sends a departure request, the driver loses the authority to control the vehicle. In this case, the vehicle can be self-controlled by a built-in controller or controlled by the infrastructure. For example, the vehicle is controlled by a built-in controller or the infrastructure so that when the vehicle leaves the parking space, the door is locked, and when the vehicle arrives at the passenger pick-up area, the door is unlocked. When the vehicle reaches the pickup area, driving authority is returned from the vehicle or infrastructure to the driver.

[0061] However, as described above, there are cases where the driving authority is partially owned by the vehicle instead of delegating the entire 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 departs from the parking space when receiving the departure signal. To this end, the infrastructure can control the vehicle so as to start the engine of the vehicle. The infrastructure notifies the driver that the vehicle leaves the parking space.

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

[0063] The target location is the final destination that the vehicle is to reach. For example, in the case where the vehicle enters a parking lot, the target location may be an empty parking space in the parking area of ​​the parking lot. In different cases where the vehicle leaves the parking lot, the target location may be an empty parking space in the passenger pickup area of ​​the parking lot. However, those are only exemplary target locations, and the embodiments of the present disclosure are not limited thereto. For example, the target location may be a specific location near an empty parking space. For example, when there are several consecutive empty parking spaces in a specific area of ​​a parking lot, the target location may be a specific location near the specific area. In this case, the vehicle autonomously drives to a specific location, and the automatic parking function of an advanced driver assistance system (ADAS) installed in the vehicle is activated, so that the vehicle can be parked in a desired parking space near a specific location. The automatic parking function of the ADAS may be a partially 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 accurately calculate the target location. That is, only a rough estimate of the target location is required. Therefore, the computing resources used for data processing can be reduced.

[0064] The guidance route is the route that the vehicle needs to drive autonomously 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 a line including straight lines and curves drawn on a parking lot map. These lines represent driving lanes extending from the current position of the vehicle to the target position. Alternatively, the guidance route consists of a plurality of waypoints marked on the parking lot map and a target position. For example, the guidance route includes three pillars A1, B2 and C3 as a plurality of waypoints and a parking space D23 as a target position. When the guidance route is expressed in the form of a plurality of waypoints and a target position, information about straight lines and / or curves and distances (e.g., 10m) is not required. Therefore, the guidance route reduces the amount of information for V2I communication.

[0065] According to an embodiment of the present disclosure, a vehicle may be provided with a guidance route that can safely guide the vehicle to a target location even when an unexpected event occurs in a parking lot. For example, an unexpected event may be an event in which the vehicle collides with an object (e.g., another vehicle, a person, a wall, a pillar, etc.). In this case, the guidance route provided to the vehicle to cope with the collision situation is Fig.11 The guidance route GP2 is different from the guidance route GP1 provided to the vehicle under normal circumstances (see Fig. 9 ). Alternatively, the unexpected event may be an event in which the vehicle temporarily stops due to the presence of an object in the parking lot. In this case, the guidance route provided to the vehicle to cope with the temporary parking situation is Fig.13The guidance route GP3 shown in FIG. 1 is different from the guidance route GP1 provided to the vehicle under normal circumstances (see FIG. Fig. 9 ) and is different from the guidance route GP2 (see Fig.11 ). According to an embodiment of the present disclosure, the guide route GP1, the guide route GP2, and the guide route GP3 can be distinguished by having different modes. For example, the route to the target location of the guide route GP1, the route to the target location of the guide route GP2, and the route to the target location of the guide route GP3 are the same, but the lighting mode of the guide route GP1, the lighting mode of the guide route GP2, and the lighting mode of the guide route GP3 are different from each other.

[0066] One embodiment of the present disclosure may provide a guidance route for a vehicle to use when the vehicle reaches a target location or near a target location. In this case, the guidance route provided to the vehicle to cope with the target location approaching condition is Fig.14 The guidance route GP5 shown is different from the guidance route GP1 provided to the vehicle under normal circumstances (see Fig. 9 ), which is different from the guidance route GP2 (see Fig.11 ), which is different from the guidance route GP3 (see Fig.13 ). Thanks to these guidance routes, objects in the parking lot can identify unexpected events that occur in the parking lot.

[0067] Each guide route may be indicated by a lighting device. The lighting device may be an LED lamp. When the lighting device is lit, the guide 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 may be a laser lamp installed on a ceiling, a wall surface, or a pillar in a manner that the laser lamp emits a laser beam toward the ground of the parking lot. The vehicle detects the light emitted from the lighting device using a built-in sensor, thereby receiving or recognizing the guide route. For example, the vehicle detects the illumination of each lighting device by using a front camera sensor.

[0068] In step (3), autonomous driving of the vehicle is performed in the parking lot. Autonomous driving of the vehicle consists of driving, stopping and resuming driving. Autonomous driving of the vehicle is performed according to the instructions of the infrastructure. Alternatively, autonomous driving of the vehicle can be performed without relying on the instructions of the infrastructure. The vehicle can autonomously drive to a target location along a guide route that falls within the permitted driving area. During autonomous driving of the vehicle, the vehicle is controlled to travel at or below a limited speed. The speed limit may be a value sent from the infrastructure to the vehicle, or may be a value stored in the vehicle. In addition, when the vehicle is driven along the guide route, the vehicle is controlled not to deviate from an error range of a given guide route. The preset error tolerance may be a value sent from the infrastructure to the vehicle, or may be a value stored in the vehicle. In addition, when a turn must be made during autonomous driving along the guide route, the vehicle turns with a predetermined minimum turning radius. The preset minimum turning radius may be a value sent from the infrastructure to the vehicle, or may be a value stored in the vehicle. When autonomously driving along the guide route, the vehicle is controlled not to exceed a predetermined maximum acceleration value. The preset maximum acceleration value may be a value sent from the infrastructure to the vehicle, or may be a value stored in the vehicle.

[0069] In step (4), position measurement is performed. The target of the position measurement may be a vehicle that is performing an autonomous 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 obstacle and stores the measured position in a database. The infrastructure identifies and detects the vehicle or obstacle and monitors each vehicle in the parking lot to ensure vehicle safety. Specifically, the infrastructure monitors the vehicle that is performing autonomous parking at the target location and issues appropriate instructions to the vehicle. The vehicle may measure its position by itself. In this case, the vehicle sends the measured position to the infrastructure. The position of the vehicle needs to be within a predetermined error range. The predetermined 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 each obstacle to the infrastructure. The communication frequency between the vehicle and the infrastructure may be a predetermined frequency.

[0070] In step (5), an autonomous parking operation is performed. The autonomous parking performed in this step refers to an operation of the vehicle entering an available parking space after reaching a target location. With the help of a distance sensor installed on the vehicle, the vehicle performs autonomous parking by sensing nearby obstacles or other vehicles parked nearby. Examples of the distance sensor installed on the vehicle include an ultrasonic sensor, a radar sensor, a LiDAR sensor, and a camera.

[0071] In step (6), an emergency braking operation is performed. Emergency braking of the vehicle is performed according to the instruction of the infrastructure or according to its own decision when the vehicle detects an obstacle. When it is determined that the surrounding environment of the vehicle is unsafe, the infrastructure will instruct the vehicle to apply emergency braking. When the infrastructure determines that the surrounding environment of the vehicle becomes 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 applies emergency braking according to its own judgment. In this state, the vehicle notifies the infrastructure of the emergency stop event or the type or location 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 obstacle, the location of the obstacle, and the distance between the vehicle and the obstacle. Upon receiving a restart instruction 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 restarts autonomous driving or autonomous parking and reports the removal of the obstacle to the infrastructure. The vehicle detects the presence of a person or animal in the vehicle and applies emergency braking when the presence of a person or animal is detected. When the vehicle is in an emergency stop state, the vehicle resumes autonomous parking or autonomous driving according to instructions received from the infrastructure. Alternatively, the vehicle itself may determine whether the cause of the emergency stop is eliminated, and resume autonomous parking or autonomous driving when it is confirmed that the cause of the emergency stop is eliminated.

[0072] In step (7), the automatic valet parking procedure ends. After the vehicle completes autonomous driving and autonomous parking, the infrastructure will issue a control release command. The vehicle can start and shut down the engine or power supply according to the command received from the infrastructure or the command not dependent on the infrastructure. The vehicle can lock and unlock the door according to the command received from the infrastructure or the command not dependent on the infrastructure. The vehicle can apply the parking brake according to the command received from the infrastructure or the command not dependent on the infrastructure.

[0073] In step (8), an error control operation is performed. Error control is performed when a failure occurs in the communication between the vehicle and the infrastructure and / or when a mechanical error of the vehicle occurs. The infrastructure checks whether there is an error in the communication between the infrastructure and the vehicle. The vehicle detects the communication error by monitoring the communication between the infrastructure and the vehicle. The vehicle detects whether a mechanical failure occurs by monitoring the operating status of the built-in accessories (including the sensors mounted thereon).

[0074] Figure 5 is a diagram illustrating a communication process performed by a vehicle and an infrastructure for automatic valet parking according to one embodiment of the present disclosure.

[0075] In step (1), vehicle qualification information is transmitted from the vehicle to the infrastructure. The vehicle qualification information includes an identifier that distinguishes each vehicle from other vehicles. For example, the vehicle qualification information may be a unique number of the vehicle. The vehicle qualification information is transmitted at the stage of starting the automatic valet parking procedure after the vehicle enters the parking lot (see Figure 4A step (1)).

[0076] 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 autonomous driving.

[0077] In step (3), vehicle information is transmitted from the vehicle to the infrastructure. The vehicle information includes status information and location information of the vehicle. The status information includes whether the vehicle is in a driving state, a parking stop 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 occurs between the vehicle and the infrastructure. For example, when the vehicle information does not arrive at 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 (4), confirmation of the vehicle information is transmitted from the infrastructure to the vehicle. The confirmation of the vehicle information is transmitted at the same frequency as the transmission frequency of the vehicle information transmitted in step (3). Therefore, the confirmation of the vehicle information is used as a parameter for determining whether an error has occurred in the communication between the vehicle and the infrastructure. For example, when the vehicle information does not arrive at 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.

[0079] In step (5), the target position and the guidance route are sent from the infrastructure to the vehicle. The sending of the target position and the guidance route is performed before or after the automatic valet parking start instruction is transmitted from the infrastructure to the vehicle.

[0080] In step (6), driving area boundary information is sent from the infrastructure to the vehicle. The driving area boundary information includes markings indicating the boundaries of the permitted driving area (e.g., lines dividing parking spaces, center lines, and lane boundary lines dividing driving lanes). The sending of the driving area boundary information is performed after the automatic valet parking preparation instruction is sent. The driving area boundary information is sent from the infrastructure to the vehicle in the form of a parking lot map.

[0081] In step (7), an automatic valet parking start command is sent from the infrastructure to the vehicle. The sending of the automatic valet parking start command is performed after the guidance route and the driving area boundary information are sent. Alternatively, the automatic valet parking start command is sent when the cause of the emergency braking is eliminated.

[0082] In step (8), an emergency braking command is sent from the infrastructure to the vehicle.

[0083] In step (9), a vehicle control release command is sent from the infrastructure to the vehicle. The transmission of the vehicle control release command is performed after the vehicle is autonomously parked in a designated parking space.

[0084] Figure 6 is a diagram showing a communication process performed between a vehicle 200 and an infrastructure 100 for automatic valet parking.

[0085] In step (1), the vehicle 200 arrives at the parking lot and stops at a predetermined location. The stop location may 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 authenticates the number and size of the vehicles 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 the vehicle 200 is allowed to enter the parking lot based on the received authentication ID. In step (6), the infrastructure 100 provides the vehicle 200 with a notification of whether the vehicle 200 is 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 entering the parking lot on a display panel installed near the stop location. When the vehicle is allowed to enter the parking lot, the driver drives the vehicle 200 to a passenger drop-off area in the parking lot. In step (7), the driver turns off the ignition of the vehicle 200, leaves the vehicle 200, locks the doors, and leaves the passenger 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 received the authority to control the vehicle 200 in the parking lot. Such a notification is sent to the driver's smart device through the mobile communication network.

[0086] Figure 7 is a diagram showing a communication process performed between a vehicle 200 and an infrastructure 100 for automatic valet parking.

[0087] 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 automatic valet parking preparation request to the vehicle 200. In step (5), the vehicle 200 sends a reply to the automatic valet parking preparation request. The reply is an OK message indicating that the automatic valet parking preparation has been completed, or the reply is an NG message indicating that the automatic valet parking preparation 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 is completed to the infrastructure 100. For example, until the synchronization between the infrastructure 100 and the vehicle 200 is completed, multiple synchronization requests may be sent from the infrastructure 100 to the vehicle 200. 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 the target position (e.g., parking space). In step (12), the infrastructure 100 sends information of the allowed driving area to the vehicle 200. For example, the infrastructure 100 sends boundary information of the allowed driving area to the vehicle 200. In step (13), the infrastructure 100 sends a guidance route to the vehicle 200. In step (14), the infrastructure 100 sends an automatic valet parking start instruction to the vehicle 200.

[0088] Figure 8 is a block diagram illustrating a method for providing a guided route according to an embodiment of the present disclosure (the method is performed by a vehicle and an infrastructure). Fig. 9 and Fig.14 is a diagram showing a guide according to an embodiment of the present disclosure. Specifically, Fig. 9 A guidance route in the immediate vicinity for guiding the vehicle to the target location is shown, and Fig.14 A guidance route for guiding a vehicle from an immediate location to a target location is shown. The operations described below involve Figure 4A Steps (1) to (3) shown.

[0089] Reference Figure 8In step (1), the vehicle 800 requests a guidance route and waits until the guidance route is received. According to one embodiment, the vehicle passes the entrance of the parking lot, stops temporarily, and requests the infrastructure 810 to set a guidance route. The setting of the guidance route can be represented as a process of assigning a guidance route for the vehicle 800 to cope with unexpected events. For example, in a state of being stopped at the entrance of the parking lot, the vehicle 800 can request the setting of the guidance route by generating a predetermined signal (e.g., flashing a turn signal lamp).

[0090] In step (2), the infrastructure 810 provides the available guidance routes to the vehicle 800. According to an embodiment, the infrastructure 810 provides the vehicle 800 with one of the guidance routes that are not allocated to other vehicles.

[0091] In step (3), the vehicle 800 provides a completion signal indicating that the setting of the guidance route is completed to the infrastructure 810. According to one embodiment, the guidance route can be set at a position where the guidance route can be detected by a sensor installed on the vehicle 800. When the guidance route is detected, the vehicle 800 provides a completion signal by generating a predetermined signal (for example, flashing a turn signal lamp). According to various embodiments, the infrastructure 810 and the vehicle 800 can set a guidance route for coping with various unexpected events by repeating the above-mentioned setting operation.

[0092] In step (4), the infrastructure 810 provides a guidance route to the vehicle 800 and instructs the vehicle 800 to start moving. Fig. 9 As shown, according to one embodiment, the infrastructure 810 provides a guidance route GP1 for guiding the vehicle A to the adjacent area of ​​the target position TP as an available parking position. For example, the guidance route GP1 may be a complete mark indicating a continuous extension of the complete route from the vehicle position A to the target position P, or may be a partial mark that completely extends only a partial distance from the position A to the target position TP.

[0093] In step (5), the vehicle 800 moves to the target location along the guidance route provided by the infrastructure 810.

[0094] In step (6), the infrastructure 810 detects an unexpected event that occurs in the parking lot. For example, the unexpected event may be an event in which a vehicle collides with an object (e.g., another vehicle, a person, a wall, a pillar, etc.). Alternatively, the unexpected event may be an event in which a vehicle temporarily stops due to the presence of an object in the parking lot. According to one embodiment, the infrastructure 810 detects the unexpected event by identifying and detecting the vehicle 800 or the object (or obstacle) and by monitoring the safety of each of the plurality of vehicles in the parking lot. According to another embodiment, the infrastructure 810 receives sensing information from at least one vehicle (e.g., the vehicle 800 or another vehicle) present in the parking lot in order to detect the unexpected event.

[0095] In step (7), the infrastructure 810 provides a guidance route for dealing with unexpected events. Fig.10 and Fig.11 As described, according to one embodiment, the infrastructure 810 provides a guidance route for handling a collision situation when a collision of the vehicle 800 is detected. Fig.12 and Fig.13 As described above, according to another embodiment, the infrastructure 810 provides a guidance route for coping with a temporary parking situation when a temporary stop of the vehicle 800 is detected.

[0096] In step (8), the vehicle 800 performs the operation indicated by the guidance route and then moves to the target location. According to one embodiment, the vehicle 800 temporarily stops and waits until the problem caused by the unexpected event is resolved.

[0097] In step (9), the infrastructure 810 detects that the vehicle 800 approaches the target location. According to one embodiment, the infrastructure 810 determines the event that the vehicle 800 enters the target location by monitoring the movement of the vehicle 800. The infrastructure 810 receives sensing information from at least one vehicle (e.g., the vehicle 800 or another vehicle) present in the parking lot in order to monitor the movement of the vehicle 800.

[0098] In step (10), the infrastructure 810 provides a guidance route for handling entry into the target location. According to one embodiment, Fig.14 As shown, when it is detected that vehicle A is about to enter the target position TP, the infrastructure 810 provides a guidance route GP5 for guiding the vehicle 800 to enter the target position TP. The guidance route GP5 has a similar shape to the guidance route GP1 (see FIG. 1 ) for guiding the vehicle 800 until the adjacent area reaches the target position TP. Fig. 9) Different modes. For example, the mode may include at least one of lighting color, lighting pattern, lighting time period, lighting operation count, and lighting area. By changing the mode, the vehicle 800 may be instructed to start an autonomous parking operation or notify other vehicles that the vehicle 800 has started a parking operation.

[0099] In step (11), the vehicle 800 performs an autonomous parking operation according to the guidance route.

[0100] Fig.10 is a block diagram illustrating a method for providing a guided route according to an embodiment of the present disclosure (the method is performed by a vehicle and an infrastructure). Fig.11 FIG. 1 is a diagram showing a guidance route for dealing with a collision event according to an embodiment of the present disclosure. The operations described below involve Figure 8 Steps (6) to (8) are shown.

[0101] Reference Fig.10 In step (1), the infrastructure 810 determines a region of interest (ROI) according to the location of the vehicle 800. According to one embodiment, the size of the ROI may be equal to or larger than the size of the vehicle 800.

[0102] In step (2), the infrastructure 810 determines a potentially dangerous object among the objects located in the ROI. The term "potentially dangerous object" refers to an object that has a high risk of colliding with the vehicle 800. The infrastructure 810 calculates an estimated collision time required for the vehicle 800 to collide with each object located in the ROI, and determines an object whose estimated collision time is shorter than a critical time.

[0103] In step (3), the infrastructure 810 detects a collision between the vehicle and the potentially dangerous object. According to one embodiment, the infrastructure 810 determines a collision between the vehicle 800 and each potentially dangerous object by monitoring the movement of the vehicle 800 and the potentially dangerous objects.

[0104] In step (4), the infrastructure 810 provides a guidance route for dealing with a collision event. Fig.11 As shown, when a situation C1 in which a collision between vehicle A and another vehicle is detected, the infrastructure 810 provides a vehicle having a path corresponding to the guidance route GP1 (see Figure 1 ) A guidance route GP2 of a different mode, which guides the vehicle to an adjacent area of ​​the target position TP.

[0105] In step (5), vehicle 800 waits until the collision situation is resolved.

[0106] Fig.12 is a block diagram illustrating a method for providing a guided route according to an embodiment of the present disclosure (the method is performed by a vehicle and an infrastructure). Fig.13 FIG. 1 is a diagram showing a guidance route for dealing with a temporary parking situation according to an embodiment of the present disclosure. Figure 8 Steps (6) to (8) are shown.

[0107] Reference Fig.12 In step (1), the infrastructure 810 determines a region of interest (ROI) according to the location of the vehicle 800. According to one embodiment, the size of the ROI may be equal to or larger than the size of the vehicle 800.

[0108] In step (2), the infrastructure 810 determines a potentially dangerous object among the objects located in the ROI. A potentially dangerous object refers to an object that has a high risk of colliding with the vehicle 800. The infrastructure 810 calculates an estimated collision time required for the vehicle 800 to collide with each object located in the ROI, and determines an object whose estimated collision time is shorter than a critical time.

[0109] In step (3), the infrastructure 810 detects a temporary stop condition due to the presence of a potentially dangerous object. According to one embodiment, the infrastructure determines the occurrence of a collision between the vehicle 800 and the potentially dangerous object by monitoring the movement of the vehicle 800 and the potentially dangerous object. For example, the infrastructure 810 detects a situation where the vehicle 800 stops for a specified time while an object is present in the ROI.

[0110] In step (4), the infrastructure 810 provides a guidance route for dealing with temporary parking conditions. According to one embodiment, Fig.13 As shown, when a situation C2 in which a vehicle is detected on the driving route of vehicle A, the infrastructure 810 provides a guidance route GP3 for dealing with a temporary parking situation. In addition, the infrastructure 810 outputs a guidance route GP4 of a detour route to the target location. These guidance routes GP3 and GP4 may also have the same characteristics as the guidance route GP1 (see Fig. 9 ) Different modes, such as guided route GP2.

[0111] In step (5), the vehicle 800 waits until the temporary parking situation is resolved or the vehicle 800 moves to the target location along the detour route.

[0112] In one or more exemplary embodiments, the functions described may be implemented using hardware, software, firmware, or any combination thereof. When implemented using software, these functions may be stored on or sent to a computer-readable medium in the form of one or more instructions or codes. Computer-readable media refers to any medium for easily sending a computer program from one computer to another. For example, it may be a communication medium or a computer-readable storage medium. The storage medium may be any medium that can be accessed by a computer. Computer-readable media include, but are not limited to, RAM, ROM, EEPROM, optical disks such as CD-ROMs, disks, and any medium that can be accessed by a computer, and any medium that can be used to transfer a computer program in the form of an instruction from one place to another. Computer-readable media are appropriately referred to as media that can be accessed by a computer at will. For example, software may be sent from a website, server, or other remote source via a cable or via a wireless channel. Examples of cables include coaxial cables, fiber optic cables, twisted pair cables, and digital subscriber lines (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, DL, and wireless channels all belong to the definition of media. Disks or optical disks include compact disks (CD), laser disks (LD), optical disks (OD), digital versatile disks (DVD), floppy disks (FD), and Blu-ray disks. An optical disk generally refers to a medium from which data is optically read, while a magnetic disk refers to a medium from which data is magnetically read. Combinations of the above media also fall within the definition of computer-readable media.

[0113] When an embodiment is implemented as program code or code segment, the code segment can be a process, function, subroutine, program, routine, subroutine, module, software package, class, instruction, data structure, program command string or any group of program command string. A code segment can be connected with another code segment or hardware circuit by sending and receiving information, data, independent variable, parameter or memory content. Any suitable mode such as memory sharing, message transfer, token transfer, network transmission etc. can be used to transfer, send or transmit information, independent variable, parameter, data etc. In addition, in some aspects, the step and / or operation of the method or algorithm can reside on 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.

[0114] When implemented as software, the technology described herein can be implemented as a module (e.g., process, function, etc.) that performs the functions described herein. The software code can be stored in a storage unit and can be executed by a processor. The storage unit can be embedded in the processor or can be arranged outside the processor. In this case, the storage unit can be connected to the processor in a variety of ways known in the art.

[0115] When implemented as hardware, the processing unit may 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.

[0116] The foregoing includes one or more exemplary embodiments. Of course, the above embodiments do not cover all possible combinations of components and / or methods for implementing the present disclosure. Therefore, those skilled in the art will appreciate that, in various embodiments, many further combinations and replacements of components and / or methods are possible. Therefore, the above embodiments cover all such changes, modifications and variations that fall within the spirit and scope of the appended claims. In addition, with respect to the scope of the term "comprising" used in the detailed description or the appended claims, it should be noted that it is similarly interpreted as "comprising" used as a transitional word in the claims.

[0117] As used herein, the terms "inference" and "inference" 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, inference can be used to identify a specific situation or action, or a probability distribution of certain states can be generated. Inference is probabilistic. That is, inference may mean calculating a probability distribution of these states based on a 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 come from one or more event and data sources.

[0118] In addition, terms such as "component", "module" and "system" used in this article may not necessarily refer to computer entities such as hardware, firmware, any combination of hardware and software, software, and software programs 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, both the application program running on a computing device and the computing device itself can fall within the definition of a component. One or more components may reside in a process and / or an execution thread. One or more components may be set up in one computer or distributed in two or more computers. In addition, these components may be executed on various computer-readable media having various data structures stored thereon. A component may communicate with a local and / or remote process a signal containing one or more data packets (e.g., data from any component interacting with a local system, a component of a distributed system, and / or other systems based on a signal transmitted over a network (e.g., the Internet).

Claims

1. A method for operating an infrastructure supporting an automatic valet parking service, the method include: Activate the automated valet parking program; providing a target location for a vehicle and a first guidance route for guiding the vehicle to the target location; detecting an unexpected event based on condition information while providing the first guidance route to the vehicle; as well as providing a second guidance route for the vehicle to cope with the unexpected event, Among them, starting the automatic valet parking program includes: Delegating driving authority of the vehicle to the infrastructure through the vehicle, and The driving authority includes the authority to control steering operation, acceleration operation and braking operation.

2. The method according to claim 1, in, The second guidance route is different from the first guidance route.

3. The method according to claim 1, further comprising: include: A third guidance route is provided to the vehicle, and the vehicle is alerted by detecting that the vehicle is approaching the target location, and the vehicle arrives at the target location.

4. The method according to claim 3, in, The third guidance route is different from the first guidance route and the second guidance route.

5. The method according to claim 1, further comprising: include: Before resuming the automatic valet parking procedure, the second guidance route is provided to the vehicle to cope with the unexpected event.

6. The method according to claim 1, in, The unexpected event includes at least one of an event in which the vehicle collides with an object and an event in which the vehicle is stopped by the object.

7. The method according to claim 3, in, The method comprises: At least one of the first guide route, the second guide route, and the third guide route is implemented by installing a lighting device in a parking lot.

8. The method according to claim 1, in, Providing the second guidance route for the vehicle includes: A fourth guidance route is provided to the vehicle, the fourth guidance route including a detour route to the target location.

9. A method for automatic valet parking, include: Activate the automated valet parking program; The infrastructure provides a target location and a first guidance route for guiding the vehicle to the target location for the vehicle; The vehicle autonomously drives along the first guidance route toward the target location; detecting, by the infrastructure, an unexpected event based on situation information when providing the first guidance route to the vehicle; The infrastructure provides a second guidance route to the vehicle to cope with the unexpected event; as well as the vehicle performs an operation corresponding to the second guidance route, Among them, starting the automatic valet parking program includes: Delegating driving authority of the vehicle to the infrastructure through the vehicle, and The driving authority includes the authority to control steering operation, acceleration operation and braking operation.

10. The method according to claim 9, in, The second guidance route is different from the first guidance route.

11. The method according to claim 9, further comprising: include: A third guiding route is provided to the vehicle through the infrastructure, and the vehicle is alerted by detecting that the vehicle approaches the target location, and the vehicle arrives at the target location.

12. The method according to claim 11, in, The third guidance route is different from the first guidance route and the second guidance route.

13. The method according to claim 9, further comprising: include: Before resuming the automatic valet parking procedure, the second guidance route is provided to the vehicle to cope with the unexpected event.

14. The method according to claim 9, in, The unexpected event includes at least one of an event in which the vehicle collides with an object and an event in which the vehicle is stopped by the object.

15. The method according to claim 11, in, The method comprises: At least one of the first guide route, the second guide route, and the third guide route is implemented by installing a lighting device in a parking lot.

16. The method according to claim 15, in, The method comprises: The parking lot is illuminated by LED lights buried underground.

17. The method according to claim 9, in, Providing the second guided route includes: A fourth guidance route is provided to the vehicle, the fourth guidance route including a detour route to the target location.

18. The method according to claim 11, in, The method comprises: At least one of the first guide route, the second guide route, and the third guide route is detected by the vehicle.

19. The method according to claim 18, in, Detecting at least one of the first guidance route, the second guidance route, and the third guidance route includes: At least one of the first guide route, the second guide route, and the third guide route is detected by a sensor of the vehicle including a camera sensor.

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