Parking guidance system and method

Abstract

A parking guidance system includes a parking guidance device that sets a position of a parking area within a distribution hub and generates a movement path to the parking area, and an autonomous vehicle that controls movement of the autonomous vehicle to the position of the parking area set by the parking guidance device.

Description

[0001] Cross-references to related applications

[0002] This application claims the benefit of priority to Korean Patent Application No. 10-2021-0063641, filed with the Korean Intellectual Property Office on May 17, 2021, the entire contents of which are incorporated herein by reference. Technical Field

[0003] This disclosure relates to a parking guidance system and method. Background Technology

[0004] Goods are transported through distribution hubs (distribution centers) to ensure smooth delivery, typically using large trucks or tractor-trailers attached to trailers to transport large quantities of goods.

[0005] Typically, large trucks or tractor-trailers stop at a distribution hub to load and unload goods after communicating with a parking attendant. In the case of autonomous trucks, the driver is not in the vehicle, so more precise control is required when stopping. Summary of the Invention

[0006] This disclosure aims to solve the problems mentioned in the background section while fully retaining the advantages mentioned in the background section.

[0007] This disclosure provides a parking guidance system and method for supporting automated parking of autonomous trucks entering a delivery hub.

[0008] The technical problems to be solved by this disclosure are not limited to those described above. Those skilled in the art to which this disclosure pertains will clearly understand any other technical problems not mentioned herein through the following description.

[0009] According to one aspect of this disclosure, a parking guidance system includes: a parking guidance device for setting the location of a parking area within a delivery hub and generating a movement path to the parking area; and an autonomous vehicle for controlling the movement of the autonomous vehicle to the location of the parking area set by the parking guidance device.

[0010] The parking guidance device may include: a camera for acquiring information about the autonomous vehicle; a communication device for sending at least one of the location of the parking area and the movement path to the parking area to the autonomous vehicle; a light output device for generating an image on the ground corresponding to the location of the parking area that can be identified as the parking area; and a controller for linking the locations of the autonomous vehicle and the parking area to each other.

[0011] The autonomous vehicle may include: a communication device that receives the location of the parking area from the parking guidance device; and a controller that identifies an image that can be identified as a parking area and controls the autonomous vehicle to park in the parking area.

[0012] Autonomous vehicles may include at least one of a tractor truck and a trailer connected to the tractor truck.

[0013] The movement path to the parking area may include at least one of the movement path of the trailer or the movement path of the tractor-trailer generated based on the movement path of the trailer.

[0014] Autonomous vehicles can receive the location of parking areas from parking guidance devices and can search for a movement path within the parking area based on the received location.

[0015] Autonomous vehicles can compare the movement path received from the parking guidance device with the movement path searched based on the parking area location, and can determine whether the difference between the received movement path and the searched movement path exceeds a reference value.

[0016] When the judgment difference exceeds the reference value, the autonomous vehicle can request a new movement path to the parking area.

[0017] When the difference in judgment does not exceed the reference value, the autonomous vehicle can control its movement to the parking area based on the received movement path.

[0018] When an obstacle is detected while the autonomous vehicle is moving to the parking area based on the received movement path, the autonomous vehicle can request a movement path to the parking area again.

[0019] According to another aspect of this disclosure, a parking guidance method includes: setting the location of a parking area within a delivery hub and generating a movement path to the parking area via a parking guidance device; and controlling the movement of an autonomous vehicle to the location of the parking area.

[0020] Before generating the movement path, the parking guidance method may further include: acquiring information about the autonomous vehicle; determining the location of the parking area and linking the locations of the autonomous vehicle and the parking area to each other; and generating an image on the ground corresponding to the location of the parking area that can be identified as the parking area.

[0021] After generating the movement path, the parking guidance method may further include sending at least one of the location of the parking area and the movement path to the parking area to the autonomous vehicle.

[0022] Autonomous vehicles may include at least one of a tractor truck and a trailer connected to the tractor truck.

[0023] Generating a movement path to the parking area can include: generating a movement path for the trailer and generating a movement path for the towing truck based on the trailer's movement path.

[0024] The parking guidance method may further include: the autonomous vehicle receiving the location of the parking area; and searching for a movement path to the parking area based on the location of the parking area.

[0025] The parking guidance method may further include: the autonomous vehicle comparing the movement path received from the parking guidance device with the movement path searched based on the location of the parking area, and determining whether the difference between the received movement path and the searched movement path exceeds a reference value.

[0026] The parking guidance method may further include: when the judgment difference exceeds the reference value, requesting the parking guidance device again for a movement path to the parking area.

[0027] The parking guidance method may further include: when the judgment difference does not exceed the reference value, controlling the movement to the parking area based on the received movement path.

[0028] Controlling the movement of an autonomous vehicle to a parking area may include: identifying an image that can be identified as a parking area, and controlling the autonomous vehicle to move to the location of the parking area. Attached Figure Description

[0029] The above and other objects, features and advantages of this disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings:

[0030] Figure 1 This is a view illustrating the configuration of a parking guidance system according to an exemplary embodiment of the present disclosure;

[0031] Figure 2 This is a view illustrating the configuration of a vehicle according to an exemplary embodiment of the present disclosure;

[0032] Figure 3 This is a schematic diagram illustrating a parking area for vehicle identification according to an exemplary embodiment of the present disclosure;

[0033] Figure 4 This is a view showing the configuration of a parking guidance device according to an exemplary embodiment of the present disclosure;

[0034] Figure 5 This is a schematic diagram illustrating the position coordinates of a vehicle according to an exemplary embodiment of the present disclosure;

[0035] Figure 6 This is a view illustrating a parking guidance method according to an exemplary embodiment of the present disclosure; and

[0036] Figure 7 This is a view illustrating the configuration of a computing system for performing methods according to exemplary embodiments of the present disclosure.

[0037] Figure label:

[0038] 110 vehicles

[0039] 120 parking guidance device

[0040] 111 Communication device

[0041] 112 cameras

[0042] 113 Controller

[0043] 121 Communication devices

[0044] 122 cameras

[0045] 123 Optical Output Device

[0046] 124 Controller

[0047] 1100 processor

[0048] 1300 memory

[0049] 1400 User Interface Input Device

[0050] 1500 User Interface Output Device

[0051] 1600 storage device

[0052] 1700 network interface Detailed Implementation

[0053] In the following, some embodiments of the present disclosure will be described in detail with reference to the exemplary accompanying drawings. When adding reference numerals to components in each drawing, it should be noted that identical or equivalent components are indicated by the same reference numerals even if shown in other drawings. Furthermore, in describing embodiments of the present disclosure, detailed descriptions of well-known features or functions will be excluded to avoid unnecessarily obscuring the gist of the disclosure.

[0054] In describing components according to embodiments of this disclosure, terms such as “first,” “second,” “A,” “B,” “(a),” and “(b)” may be used. These terms are intended only to distinguish one component from another, and they do not limit the nature, order, or sequence of the components. Unless otherwise defined, all terms used herein, including technical or scientific terms, shall have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure pertains. Terms such as those defined in general dictionaries shall be interpreted as having the same meaning as in the context of the relevant technical field, and shall not be interpreted as having an ideal or overly formal meaning unless expressly defined in this application.

[0055] Figure 1This is a view illustrating the configuration of a parking guidance system according to an exemplary embodiment of the present disclosure.

[0056] like Figure 1 As shown, a parking guidance system 100 according to an embodiment of the present disclosure may include a vehicle 110 and a parking guidance device 120.

[0057] Vehicle 110 can receive and identify the location of the parking area generated by parking guidance device 120 and can control movement to the parking area. Here, vehicle 110 may include at least one of a towing truck or a trailer connected to a towing truck. Furthermore, the vehicle may include an autonomous vehicle. A more detailed description of vehicle 110 will be provided below. Figure 2 Provided.

[0058] The parking guidance device 120 can establish parking areas within the delivery hub and generate movement paths to these parking areas. Here, the parking area can refer to the area where vehicles 110 stop for loading and unloading goods. The parking area can be defined by parking lines drawn on the ground. According to an embodiment, the parking area can be defined by an image generated by light (beams) output by the parking guidance device 120. Here, the image can include an image that can be identified as a parking area. A more detailed description of the parking area will be referenced below. Figure 3 Provided.

[0059] Figure 2 This is a view showing the configuration of a vehicle according to an exemplary embodiment of the present disclosure.

[0060] like Figure 2 As shown, vehicle 110 may include communication device 111, sensor 112 and controller 113.

[0061] The communication device 111 can communicate with the parking guidance device 120 via various wireless communication methods, such as Wi-Fi, Wi-Fi, Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Universal Mobile Telecommunications System (UMTS), Time Division Multiple Access (TDMA), Long Term Evolution (LTE), etc. According to an embodiment, the communication device 111 can send a message to the parking guidance device 120 requesting the location of the parking area of ​​the delivery hub into which the vehicle 110 will enter, and can receive the location of the parking area generated by the parking guidance device 120 from the parking guidance device 120.

[0062] Sensor 112 may include an image sensor that acquires images of the area in front of vehicle 110 and radar and / or lidar that detects obstacles in front of vehicle 110. Here, obstacles may include objects that obstruct the movement of vehicle 110. According to an embodiment, the image sensor may acquire images of a parking area in front of vehicle 110.

[0063] The controller 113 can be implemented by various processing devices, such as a microprocessor with embedded semiconductor chips, for performing calculations or execution of various commands, and can control the overall operation of the vehicle 110 according to embodiments of the present disclosure.

[0064] The controller 113 can search for the movement path of the vehicle 110 at the parking area location received from the parking guidance device 120. In addition, the controller 113 can compare the movement path of the vehicle 110 received from the parking guidance device 120 with the searched movement path, and can determine whether the difference between the received movement path and the searched movement path exceeds a reference value.

[0065] According to an exemplary embodiment of the present disclosure, the controller 113 may represent the movement path of the vehicle 110 received from the parking guidance device 120 and the searched movement path as Equations 1 and 2 as multidimensional equations.

[0066] Equation 1

[0067] y = a1x 2 +b1y+c1

[0068] Where a1 is the road curvature, b1 is the heading angle between the road and the vehicle, and c1 is the distance between the vehicle reference point and the received path.

[0069] Equation 2

[0070] y = a2x 2 +b2y+c2

[0071] Where a2 is the road curvature, b2 is the heading angle between the road and the vehicle, and c2 is the distance between the vehicle's reference point and the searched path.

[0072] According to an embodiment, the controller 113 can determine whether the difference between c1 in equation 1 and c2 in equation 2 exceeds a reference value.

[0073] When the difference between the received movement path and the searched movement path exceeds a reference value, the controller 113 can determine that the movement path generated by the parking guidance device 120 is incorrect and can request a movement path from the parking guidance device 120 again. On the other hand, when the difference between the received movement path and the searched movement path does not exceed the reference value, the controller 113 can control the movement to the parking area based on the received movement path. When the vehicle 110 moves to the parking area based on the received movement path, the controller 113 can determine whether there are any interference or obstacles between the vehicle 110 and another vehicle in front of it.

[0074] When vehicle 110 moves to the parking area based on the received movement path, if controller 113 determines that there is interference or obstacle with another vehicle in front of vehicle 110, controller 113 can determine that the movement path generated by parking guidance device 120 is incorrect, and can request a movement path from parking guidance device 120 again. On the other hand, when there is no obstacle or interference with another vehicle, controller 113 can make vehicle 110 move along the received movement path.

[0075] The controller 113 can determine whether a parking area has been identified while the vehicle 110 moves along the received movement path. A more detailed description will be provided below. Figure 3 Provided.

[0076] Figure 3 This is a schematic diagram illustrating a parking area for vehicle identification according to an exemplary embodiment of the present disclosure.

[0077] According to exemplary embodiments of this disclosure, such as Figure 3 As shown, the controller 113 can recognize the image 30 generated on the ground (e.g., by means of data from...). Figure 4 The light output device 123 outputs light to generate an image on the ground. The image 30 may include parking lines defining the parking area and may include a form that can be identified as a parking area.

[0078] When the controller 113 fails to recognize the image 30 generated for identifying the parking area while the vehicle 110 is moving along the received movement path, the controller 113 can determine that there is an error in the movement path generated by the parking guidance device 120, and can request a movement path again from the parking guidance device 120. When the controller 113 recognizes the image 30 generated for identifying the parking area, the controller 113 can perform parking control to stop the vehicle 110 in the parking area, and when the vehicle 110 is completely stopped in the parking area, the controller 113 can send vehicle status data to the parking guidance device 120.

[0079] Figure 4 This is a view showing the configuration of a parking guidance device according to an exemplary embodiment of the present disclosure.

[0080] like Figure 4 As shown, the parking guidance device 120 according to an embodiment of the present disclosure may include a communication device 121, a camera 122, an optical output device 123, and a controller 124. According to an exemplary embodiment of the present disclosure, the components of the parking guidance device 120 can send and receive information via wireless or wired communication.

[0081] The communication device 121 can communicate with the vehicle 110 via various wireless communication methods, such as Wi-Fi, Wi-Fi, Global System for Mobile Communications (GSM), Code Division Multiple Access (CDMA), Wideband Code Division Multiple Access (WCDMA), Universal Mobile Telecommunications System (UMTS), Time Division Multiple Access (TDMA), Long Term Evolution (LTE), etc. According to an exemplary embodiment of this disclosure, the communication device 121 can receive a message requesting the location of a parking area within a delivery hub that the vehicle 110 is entering, can transmit at least one of the location of the parking area and a movement path to the parking area to the vehicle 110, and can receive a message from the vehicle 110 requesting a further movement path.

[0082] Camera 122 can acquire information about vehicle 110 entering the delivery hub. This information may include the vehicle's license plate number. To facilitate acquiring information about vehicle 110 entering the delivery hub, camera 122 can be installed along the access path to the delivery hub.

[0083] The light output device 123 can output light (beam) to the ground corresponding to the location of the parking area determined by the controller 124, and can generate an image of the parking area that can be identified as a parking area where the vehicle 110 must stop for loading and unloading goods. According to embodiments of this disclosure, the light output device 123 can generate an image of a parking area that can be identified as a parking area. However, it is not limited to this; the light output device 123 can generate any form of image that can be identified as a parking area.

[0084] The controller 124 may be implemented by various processing devices, such as a microprocessor with embedded semiconductor chips, for performing calculations or execution of various commands, and for controlling the overall operation of the parking guidance device 120 according to embodiments of the present disclosure.

[0085] The controller 124 can determine that the vehicle 110 has entered the delivery hub based on the image acquired by the camera 122. When the vehicle 110 enters the delivery hub and the controller 124 receives a message from the vehicle 110 requesting a parking area location, the controller 124 can match the vehicle information acquired by the camera 122 with the location coordinates of the vehicle 110. According to an exemplary embodiment of this disclosure, the location coordinates of the vehicle 110 can be generated based on virtual grid lines within the delivery hub. A detailed description will be provided below with reference to... Figure 5 Provided.

[0086] Figure 5 This is a schematic diagram illustrating the position coordinates of a vehicle according to an exemplary embodiment of the present disclosure.

[0087] like Figure 5As shown, the controller 124 can set up virtual grid lines at the delivery hub and can generate the position coordinates of vehicle 110 and parking area based on the virtual grid lines, matching the vehicle information acquired by camera 122. According to an embodiment, the controller 124 can generate the position coordinates of vehicle 110 (e.g., a tractor-trailer) acquired by camera 122 as (x0, y0) and can generate the position coordinates of the parking area of ​​vehicle 110 as (xd, yd).

[0088] The controller 124 can link the position coordinates (x0, y0) of the vehicle 110 and the position coordinates (xd, yd) of the parking area, and can control the light output device 123 to output light (beam) to the position corresponding to the position coordinates (xd, yd) of the parking area linked to the vehicle 110, in order to generate an image that can be identified as the parking area. Therefore, the controller 124 can enable the parking area of ​​the vehicle 110, as acquired by the camera 122 of the delivery hub, to be identified at the position corresponding to the position coordinates (xd, yd) of the parking area.

[0089] The controller 124 can generate a movement path from the position coordinates of the vehicle 110 to the position coordinates of the parking area. According to an exemplary embodiment of the present disclosure, the controller 124 can generate a movement path 52A of the trailer 52 including multiple position coordinates (x2, y2) to (x6, y6) between the position coordinates (x0, y0) of the vehicle 110 and the position coordinates (xd, yd) of the parking area, and can generate a movement path 50A of the tractor truck 50 including multiple position coordinates (not shown) based on the movement path 52A of the trailer 52.

[0090] Additionally, the controller 124 can send the vehicle 110's position coordinates (x0, y0), the parking area's position coordinates (xd, yd), the movement path 50A of the tractor truck 50 including multiple position coordinates (not shown), and the movement path 52A of the trailer 52 including multiple position coordinates (x2, y2) to (x6, y6).

[0091] Figure 6 This is a view illustrating a parking guidance method according to an exemplary embodiment of the present disclosure.

[0092] like Figure 6 As shown, vehicle 110 can request the parking guidance device 120 for location information of the parking area within the delivery hub where vehicle 110 can park.

[0093] When the parking guidance device 120 receives a request for parking area location information from the vehicle 110, the parking guidance device 120 can identify the license plate number through the camera 122 and match the vehicle information acquired by the camera 122 with the location coordinates of the vehicle 110 within the delivery hub (S120). In S120, the parking guidance device 120 can generate virtual grid lines within the delivery hub and generate the location coordinates of the vehicle 110 based on the virtual grid lines. Additionally, in S120, the parking guidance device 120 can generate the location coordinates of the parking area and link the location coordinates of the vehicle 110 with the location coordinates of the parking area.

[0094] The parking guidance device 120 can output light (beam) to a position corresponding to the position coordinates of the parking area linked to the position coordinates of the vehicle 110, and can generate an image that can be identified as the parking area linked to the vehicle 110 (S130).

[0095] The parking guidance device 120 can generate a movement path from the position coordinates of the vehicle 110 to the position coordinates of the parking area (S140). In S140, the parking guidance device 120 can generate a movement path for a trailer that includes multiple position coordinates between the position coordinates of the vehicle 110 (e.g., a towing truck) and the position coordinates of the parking area, and can generate a movement path for the towing truck that includes multiple position coordinates based on the movement path of the trailer.

[0096] The vehicle guidance device 120 can send the vehicle 110 its position coordinates, the parking area linked to the vehicle 110's position coordinates, the movement path of the towing truck including multiple position coordinates, and the movement path of the trailer including multiple position coordinates to the vehicle 110 (S150).

[0097] When the parking guidance device 120 receives the location coordinates of the vehicle 110, the location coordinates of the parking area, and the movement path of the vehicle 110, the vehicle 110 can search for the movement path to the parking area based on the received information (S160).

[0098] Vehicle 110 can compare the movement path received in S150 with the movement path searched in S160, and can determine whether the difference between the received movement path and the searched movement path exceeds a reference value (S170). When it is determined in S170 that the difference between the received movement path and the searched movement path does not exceed the reference value (N), vehicle 110 can control its movement to the parking area based on the movement path received in S150 (S180).

[0099] On the other hand, when it is determined in S170 that the difference between the received movement path and the searched movement path exceeds the reference value (Y), the vehicle 110 can determine that there is an error in the movement path generated by the parking guidance device 120, and can request a movement path from the parking guidance device 120 again (S190).

[0100] When vehicle 110 moves to the parking area based on the received movement path, vehicle 110 can determine whether there is interference or obstacle with another vehicle in front of vehicle 110 (S200). When it is determined that there is interference or obstacle with another vehicle in front of vehicle 110 when vehicle 110 moves to the parking area based on the received movement path (Y), vehicle 110 can determine that the movement path generated by parking guidance device 120 is incorrect, and can request a movement path from parking guidance device 120 again (S230).

[0101] On the other hand, when there are no obstacles or interference from another vehicle (N), vehicle 110 can move along the received movement path. Vehicle 110 can determine whether a parking area has been identified while moving along the received movement path (S210). In S210, vehicle 110 can identify an image generated on the ground (e.g., Figure 3 Image 30 may include parking lines defining the parking area and may include forms that can be identified as parking areas.

[0102] When vehicle 110 fails to recognize the image generated for identifying the parking area in S210 while moving along the received movement path (N), vehicle 110 can determine that the movement path generated by parking guidance device 120 is incorrect and can request a movement path from parking guidance device 120 again (S230). On the other hand, when vehicle 110 recognizes the image generated for identifying the parking area in S210 (Y), vehicle 110 can perform parking control to stop in the parking area (S240), and when vehicle 110 is completely stopped in the parking area, vehicle 110 can send vehicle status data to parking guidance device 120 (S250).

[0103] Figure 7 This is a view illustrating the configuration of a computing system for performing methods according to exemplary embodiments of the present disclosure.

[0104] Reference Figure 7 The computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600, and a network interface 1700 connected to each other via a bus 1200.

[0105] Processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in memory 1300 and / or storage device 1600. Memory 1300 and storage device 1600 may include various types of volatile or non-volatile storage media. For example, memory 1300 may include ROM (Read-Only Memory) 1310 and RAM (Random Access Memory) 1320.

[0106] Therefore, the operation of the methods or algorithms described in conjunction with the embodiments disclosed herein can be directly implemented as hardware or as a software module executed by processor 1100, or a combination of hardware and software modules. The software module can reside in a storage medium such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disk, removable disk, or CD-ROM (i.e., memory 1300 and / or storage device 1600). An exemplary storage medium can be coupled to processor 1100, and processor 1100 can read information from and record information in the storage medium. Optionally, the storage medium can be integrated with processor 1100. Processor 1100 and storage medium can reside in an application-specific integrated circuit (ASIC). The ASIC can reside within a user terminal. In another case, processor 1100 and storage medium can reside as separate components in the user terminal.

[0107] The parking guidance system and method according to embodiments of this disclosure can support automated parking of autonomous trucks entering a delivery hub, thereby improving the accuracy of autonomous truck parking. Furthermore, the parking guidance system and method can automate parking, thereby reducing labor costs and thus reducing the cost of transporting goods.

[0108] Although the present disclosure has been described above with reference to exemplary embodiments and accompanying drawings, the present disclosure is not limited thereto, but can be modified and altered by those skilled in the art without departing from the spirit and scope of the present disclosure as claimed in the appended claims.

[0109] Therefore, exemplary embodiments of this disclosure are provided to explain the ideas and scope of this disclosure, but not to limit them, so that the ideas and scope of this disclosure are not limited by the embodiments. The scope of this disclosure should be interpreted based on the appended claims, and all technical ideas equivalent to the scope of the claims should be included within the scope of this disclosure.

Claims

1. A parking guidance system for supporting automated parking of autonomous vehicles entering a delivery hub, comprising: A parking guidance device that sets the location of parking areas within the delivery hub and generates movement paths to the parking areas; as well as The autonomous vehicle is controlled to move to the parking area set by the parking guidance device. The parking guidance device includes: The controller links the location of the autonomous vehicle to that of the parking area, and A light output device generates an image of the parking area on the ground corresponding to the location of the parking area, which can be identified as being linked to the autonomous vehicle. The autonomous vehicle includes a tractor-trailer and a trailer connected to the tractor-trailer. The controller generates a trailer's movement path, which includes multiple location coordinates between the autonomous vehicle's location coordinates and the parking area's location coordinates, and generates a towing truck's movement path, which also includes multiple location coordinates, based on the trailer's movement path.

2. The parking guidance system according to claim 1, wherein, The parking guidance device includes: Cameras, acquiring information about the autonomous vehicle; and A communication device that sends at least one of the location of the parking area and the movement path to the parking area to the autonomous vehicle.

3. The parking guidance system according to claim 2, wherein, The autonomous vehicles include: The communication device receives the location of the parking area from the parking guidance device; and The controller identifies the image of the parking area that can be identified as being linked to the autonomous vehicle, and controls the autonomous vehicle to park in the parking area.

4. The parking guidance system according to claim 1, wherein, The autonomous vehicle receives the location of the parking area from the parking guidance device and searches for a movement path within the parking area based on the received location.

5. The parking guidance system according to claim 4, wherein, The autonomous vehicle compares the movement path received from the parking guidance device with the movement path searched based on the location of the parking area, and determines whether the difference between the received movement path and the searched movement path exceeds a reference value.

6. The parking guidance system according to claim 5, wherein, When the difference is determined to exceed the reference value, the autonomous vehicle requests a new path to the parking area.

7. The parking guidance system according to claim 5, wherein, When the difference is determined to be no more than the reference value, the autonomous vehicle controls its movement to the parking area based on the received movement path.

8. The parking guidance system according to claim 5, wherein, When an obstacle is detected while the autonomous vehicle is moving to the parking area based on the received movement path, the autonomous vehicle requests the movement path to the parking area again.

9. A parking guidance method for supporting automated parking of autonomous vehicles entering a delivery hub, comprising: The parking guidance device sets the location of parking areas within the delivery hub and generates movement paths to those parking areas. as well as Control the movement of the autonomous vehicle to the parking area. Prior to generating the movement path, the parking guidance method further includes: Determine the location of the parking area and link the locations of the autonomous vehicle and the parking area to each other; and An image of the parking area, which can be identified as being linked to the autonomous vehicle, is generated on the ground corresponding to the location of the parking area. The autonomous vehicle includes a tractor-trailer and a trailer connected to the tractor-trailer. The generated movement path to the parking area includes: A movement path for a trailer, comprising multiple location coordinates between the location coordinates of the autonomous vehicle and the location coordinates of the parking area, is generated, and a movement path for a towing truck, comprising multiple location coordinates, is generated based on the movement path of the trailer.

10. The parking guidance method according to claim 9, wherein, Before generating the movement path, the parking guidance method further includes: Obtain information about the autonomous vehicle.

11. The parking guidance method according to claim 9, wherein, After generating the movement path, the parking guidance method further includes sending at least one of the location of the parking area and the movement path to the parking area to the autonomous vehicle.

12. The parking guidance method according to claim 9, further comprising: The autonomous vehicle receives the location of the parking area; as well as The movement path of the parking area is searched based on the location of the parking area.

13. The parking guidance method according to claim 12, further comprising: The autonomous vehicle compares the movement path received from the parking guidance device with the movement path searched based on the location of the parking area, and determines whether the difference between the received movement path and the searched movement path exceeds a reference value.

14. The parking guidance method according to claim 13, further comprising: When it is determined that the difference exceeds the reference value, the system requests a movement path to the parking area from the parking guidance device again.

15. The parking guidance method according to claim 13, further comprising: When it is determined that the difference does not exceed the reference value, the autonomous vehicle is controlled to move to the parking area based on the received movement path.

16. The parking guidance method according to claim 10, wherein, Controlling the movement of the autonomous vehicle to the parking area includes: The image of the parking area that can be identified as being linked to the autonomous vehicle is identified, and the autonomous vehicle is controlled to move to the location of the parking area.

Images