Autonomous parking and call operations in locations without cellular communication coverage

Abstract

This document describes techniques and systems for autonomous parking in locations without cellular coverage. The system may include a processor that obtains a request for autonomous parking in a parking environment. The system may then determine whether parking space information indicative of available space is obtained. In response to determining that parking space information is obtained, the system may autonomously operate the host vehicle to navigate to and park in the available space. The system determines whether a communication system of the host vehicle has a cellular connection available to assist in navigation. In response to determining that the cellular connection is unavailable, the system transmits a location of the host vehicle to a processor via a proxy vehicle having an operable cellular connection. AUTONOMOUS PARKING FEATURES can remain available in locations without cellular network coverage by utilizing a mesh network between vehicles to share their cellular connections.

Description

Background Art

[0001] Some vehicles offer autonomous parking operations (e.g., automated valet parking and summoning) to assist the driver. Autonomous parking typically involves the vehicle arriving at a drop-off area (e.g., a designated unloading area), the driver exiting the vehicle, the vehicle autonomously driving to a parking space, and then the driver remotely summoning the vehicle to a pickup area (e.g., a designated loading area). Autonomous parking systems typically require a cellular connection to communicate with an application on the driver's smartphone in order to share the vehicle's parking location or summon the vehicle. However, cellular coverage is not ubiquitous in many parking environments (e.g., underground parking structures, large parking garages, or remote parking areas), and therefore a vehicle may not be able to complete one or more aspects of autonomous parking. Summary of the invention

[0002] This document describes techniques and systems for autonomous parking and summoning in locations without cellular communication coverage. In one example, a system includes a processor that can obtain a request from a driver of a host vehicle to autonomously park the host vehicle in a parking environment. The system can then determine whether parking space information indicating an available space in the parking environment is obtained. In response to determining that the parking space information is obtained, the system can autonomously operate the host vehicle in the parking environment to navigate to the available space and autonomously park the host vehicle therein. The system can then determine whether the communication system of the host vehicle has an available cellular connection. In response to determining that the cellular connection is not available, the system transmits the location of the host vehicle to the driver via a proxy vehicle with a cellular connection. Later, the system can receive the summon request via the proxy vehicle and autonomously operate the host vehicle to navigate to a pickup area. In this way, by utilizing a mesh network between vehicles to identify and share cellular connections, autonomous parking and summoning features in parking garages and other locations without cellular communication coverage can remain available to drivers.

[0003] This document also describes methods performed by the systems summarized above and other configurations of the systems set forth herein, and apparatuses for performing these methods.

[0004] This summary introduces simplified concepts related to autonomous parking and summoning operations in locations without cellular communication coverage, which are further described in the detailed description and figures. This summary is not intended to identify essential features of the claimed subject matter, nor is it intended to be used to determine the scope of the claimed subject matter. BRIEF DESCRIPTION OF THE DRAWINGS

[0005] Systems and techniques for implementing autonomous parking and summoning operations in locations without cellular communication coverage are described with reference to the following drawings. The same numbers are used throughout the drawings to reference similar features and components: Figure 1 is an example illustration of an environment in which autonomous parking and summoning operations in locations without cellular communications coverage may be implemented in accordance with the techniques of this disclosure; Figure 2 is an example illustration of a system that may be used to implement autonomous parking and summoning operations in locations without cellular communications coverage in accordance with the techniques of this disclosure; Figure 3 An example method for performing autonomous parking and summoning operations in a location without cellular communication coverage is shown; Figure 4 is an example illustration of a mesh network between vehicles for facilitating autonomous parking and summoning operations in locations without cellular communication coverage in accordance with the techniques of this disclosure; Figure 5 An example flow chart illustrating autonomous parking in a location without cellular communication coverage according to the techniques of this disclosure; and Figure 6 An example flow chart for satisfying a summon request as part of an autonomous parking operation in a location without cellular communication coverage is shown in accordance with techniques of this disclosure. DETAILED DESCRIPTION Overview

[0006] As described above, some vehicles provide autonomous parking functions to assist drivers. Autonomous parking systems typically require a cellular connection to communicate with an application on the driver's smartphone in order to share the vehicle's parking location or to summon the vehicle. However, cellular communications may not be available in many parking environments (e.g., underground parking structures, large parking garages, or remote parking areas), and thus autonomous parking or recall may not be available in such environments.

[0007] For non-cellular environments, some systems may require the driver to be close enough to communicate using a short-range communication protocol (e.g., Bluetooth). Other systems may require the driver to remain in the vehicle during the parking maneuver and may not be able to provide the summon feature in such environments. Such systems are unable to provide a full suite of autonomous parking features in environments without cellular communication coverage (e.g., parking garages).

[0008] This document describes methods and systems for autonomous parking and summoning operations in locations without cellular communication coverage. In an example implementation, a system of a host vehicle may initially obtain a request for autonomous parking in a parking environment. The system may then determine whether parking space information indicating an available space is obtained. In response to determining that the parking space information is obtained, the system may autonomously operate the host vehicle in the parking environment to navigate to the available space and autonomously park therein. The system may then determine whether the communication system of the host vehicle has an available cellular connection. In response to determining that the cellular connection is not available, the system transmits the location of the host vehicle to the driver via a proxy vehicle with a cellular connection. Later, the system may receive the summoning request via the proxy vehicle or another proxy vehicle with a cellular connection and autonomously operate the host vehicle to navigate to a pickup area. In this way, by utilizing a mesh network between vehicles to identify and share cellular connections, autonomous parking and summoning features can remain available to drivers in parking garages and other locations without cellular communication coverage. Example Environment

[0009] Figure 1 1 is an example illustration of an environment 100 in which autonomous parking and summon operations in a location without cellular communication coverage can be implemented. In the example environment 100, an autonomous parking system 102 is located in or on a host vehicle 104. Specifically, the host vehicle 104 can navigate in the environment 100 to complete an autonomous parking operation (e.g., park the host vehicle 104 in an available space or complete a summon request). The host vehicle 104 is autonomously traveling or about to autonomously operate along a road 106 in a parking garage or other environment without cellular communication coverage. In the depicted implementation, the host vehicle 104 is navigating to a parking space 110 using an automatic valet parking feature.

[0010] The autonomous parking system 102 may use one or more sensors (not shown) of the host vehicle 104 to navigate the roads 106 within the environment 100 and park in the available space 110. The autonomous parking system 102 may utilize one or more communication systems (not shown) to obtain the location of the available space 110 from other vehicles 108 (e.g., the first other vehicle 108-1 and the second other vehicle 108-2) in the environment 100. The autonomous parking system 102 may utilize non-cellular communication protocols (e.g., Or other short-range communication protocols) directly with other vehicles 108 (e.g., first other vehicle 108-1). The autonomous parking system 102 can also communicate directly with other vehicles (e.g., second other vehicle 108-2) by forming a network (e.g., a mesh network, another type of network) with other vehicles using a non-cellular communication protocol. In this way, the autonomous parking system 102 can identify the available space 110 in a battery-efficient manner without having to autonomously navigate in the environment 100 to identify the available space 110. In other implementations, the autonomous parking system 102 can obtain the location of the available space 110 from infrastructure equipment (e.g., a remote camera) connected to the same or different network shared with other vehicles. The infrastructure equipment within the environment 100 can share information using a non-cellular communication protocol similar to another vehicle. In yet other implementations, if the host vehicle 104 has a sufficient battery power level (assuming that the host vehicle 104 is an electric vehicle), the autonomous parking system 102 can autonomously navigate in the environment 100 to identify the available space 110.

[0011] The autonomous parking system 102 may also send a pose or position request to the other vehicles 108 or remote infrastructure equipment. In response to the pose request, the autonomous parking system 102 may receive a corrected pose of the host vehicle 104 from the other vehicles 108 or remote infrastructure equipment. The updated pose may be used to autonomously navigate or start navigation of the environment 100 based on a reference map for the environment 100 generated by the autonomous parking system 102 or a remote system (not shown).

[0012] Figure 2 2 is an example illustration 200 of a system that can be used to implement autonomous parking and summoning operations in parking garages and other locations without cellular communication coverage. The example illustration 200 includes the autonomous parking system 102 of the host vehicle 104 and the remote system 204 of another vehicle 202. The other vehicle 202 can be, for example, Figure 1 1 or 108-2 within the environment 100. Although the host vehicle 104 and the other vehicles 202 are shown as cars, the host vehicle 104 and the other vehicles 202 can be any vehicles (e.g., trucks, buses, boats, airplanes) without departing from the scope of the present disclosure.

[0013] The autonomous parking system 102 and the remote system 204 may be connected via a wireless link 206. Although the remote system 204 is shown as part of the other vehicle 202, the remote system 204 may be located in a separate remote computer system (e.g., in the cloud) to process image or video data from the other vehicle 202 and transmit parking space information or summon requests to the autonomous parking system 102 via the wireless link 206 or another wireless link (not shown) in other embodiments. The wireless link 206 utilizes a non-cellular communication protocol (e.g., The wireless link 206 may be a direct connection between two vehicles or a connection routed through a network (e.g., through one or more vehicles or infrastructure intermediaries).

[0014] like Figure 2 As shown, the autonomous parking system 102 and the remote system 204 each include at least one processor 208 (e.g., processor 208-1 and processor 208-2, respectively), at least one non-transitory computer-readable storage medium 210 (e.g., computer-readable storage media 210-1 and 210-2, respectively), and a communication system 214 (e.g., communication systems 214-1 and 214-2, respectively).

[0015] The autonomous parking system 102 or the host vehicle 104 also includes one or more sensors (not shown), which may include a camera, a radar system, an ultrasonic sensor, and / or a lidar system. The autonomous parking system 102 may provide sensor data to a positioning module and / or navigation system 212 of the host vehicle. For example, the positioning module may use the sensor data to determine an estimated attitude of the host vehicle 104. The positioning module may include a geospatial positioning system (e.g., a global positioning system (GPS), a global navigation satellite system (GNSS or GLONASS) sensor), an inertial measurement system (e.g., a gyroscope or accelerometer), or other sensors (e.g., a magnetometer, a software positioning engine, a wheel tick sensor, a lidar odometer, a visual odometer, a radar odometer, or other sensor odometer).

[0016] The navigation system 212 can use the sensor data and the pose of the host vehicle 104 to navigate to a desired location (e.g., an available space or a pickup area) in the parking environment. The navigation system 212 can use the pose data from the positioning module and / or the sensor data from the sensors to navigate the host vehicle 104 along the road and within the parking environment. For example, the navigation system 212 can navigate the host vehicle 104 from a drop-off area to an available space for an autonomous parking operation.

[0017] The navigation system 212 (or portions thereof) may be located within the computer-readable storage medium 210-1, or may be a separate component (e.g., executed in dedicated hardware that communicates with the processor 208-1 and the computer-readable storage medium 210-1). For example, the instructions 216-1 may cause the processor 208-1 to implement or otherwise cause the autonomous parking system 102 to implement the techniques described herein.

[0018] The remote system 204 can process images, videos, or other sensor data of the parking environment and identify one or more available spaces in the parking environment. For example, the remote system 204 can process images captured by a camera of the other vehicle 202 and determine one or more unoccupied parking spaces. The remote system 204 can then transmit the location of the one or more available spaces to the autonomous parking system 102 using the wireless link 206.

[0019] The communication system 214 facilitates the exchange of data, including requests for parking space information, identification of available spaces, summon requests, and / or other information (e.g., regarding the parking environment) via the wireless link 206. The communication system 214 may, for example, include The hardware, software and / or firmware required to communicate via Wi-Fi, Wireless LAN (WLAN), DSRC, Vehicle-to-Everything (V2X), V2V, Zigbee or Z-Wave communication protocols.

[0020] Processor 208 (e.g., an application processor, microprocessor, digital signal processor (DSP), or controller) is configured to execute computer-executable instructions 216 (e.g., instructions 216-1 and 216-2) stored in computer-readable storage medium 210 (e.g., a non-transitory storage device such as a hard drive, a solid-state drive (SSD), flash memory, a read-only memory (ROM), an erasable programmable ROM (EPROM), or an electrically erasable programmable ROM (EEPROM)) to cause autonomous parking system 102 and remote system 204 to perform the techniques described herein. Instructions 216 may be part of an operating system and / or one or more applications of autonomous parking system 102 and remote system 204.

[0021] Instructions 216 cause autonomous parking system 102 and remote system 204 to operate (e.g., create, receive, modify, delete, transmit, or display) data 218 (e.g., 218-1 and 218-2). Data 218 may include application data, module data, sensor data, or input / output (I / O) data. Data 218 may also include a reference map of the parking environment, the location of available spaces, the location of host vehicle 104, or a summon request. Although shown as being within computer-readable storage medium 210, portions of data 218 may be within random access memory (RAM) or cache (not shown) of autonomous parking system 102 and remote system 204. In addition, instructions 216 and / or data 218 may be remote from autonomous parking system 102 and remote system 204.

[0022] Figure 3 An example method 300 for performing autonomous parking and summoning operations in a location without cellular communication coverage is shown. The method 300 is shown as multiple sets of operations (or actions) being performed, but is not necessarily limited to the order or combination of operations shown herein. In addition, any one or more operations may be repeated, combined, or reorganized to provide other methods. In the following discussion, reference may be made to Figure 1 Environment 100 and Figure 1 and Figure 2 The entities detailed in , are referenced to them for example only. The technology is not limited to being performed by one entity or multiple entities. For example, the system can be Figure 1 and Figure 2 An autonomous parking system 102 is provided in FIG.

[0023] At step 302, a request is obtained from a driver of a host vehicle to autonomously park the host vehicle in a parking environment. For example, the autonomous parking system 102 receives a request to autonomously park the host vehicle 104 in the environment 100. As described above, the environment 100 has limited cellular communication coverage. The request may be received via driver input on a display in the host vehicle 104 or via driver input within an application installed on the driver's mobile device. The mobile device may communicate with the driver via a short-range communication protocol (e.g., Wi-Fi, wireless LAN, dedicated short range communication (DSRC), vehicle-to-vehicle (V2V), Zigbee or Z-Wave) connected to the autonomous parking system 102.

[0024] At step 304, it is determined whether parking space information is obtained. The parking space information indicates available spaces in the parking environment, including the location of the available spaces. For example, the autonomous parking system 102 determines whether the parking space information is obtained from other vehicles or infrastructure equipment in the environment 100. As described in more detail below, the parking space information may be obtained directly from the vehicle 108-1 using a short-range communication protocol or indirectly from the vehicle 108-1 via a mesh network.

[0025] At optional step 306, in response to determining that the available parking space information is not obtained, the host vehicle autonomously operates in the parking environment to identify the available parking space. For example, after determining that the parking space information is not obtained from another vehicle or infrastructure equipment, the autonomous parking system 102 can autonomously operate the host vehicle 104 in the environment 100 to obtain parking space information, including the available space 110. The available space 110 can be identified using data from sensors installed on the host vehicle 104.

[0026] In response to determining that parking space information is obtained, the host vehicle autonomously operates in the parking environment to navigate to the available space and autonomously park therein at step 308. For example, autonomous parking system 102 autonomously operates host vehicle 104 in environment 100 to navigate to available space 110 and autonomously parks host vehicle 104 in available space 110.

[0027] At step 310 , it is determined whether a cellular connection is available for the communication system of the host vehicle. For example, the autonomous parking system 102 determines whether a cellular communication connection is available for the communication system 214 - 1 of the host vehicle 104 .

[0028] At step 312, in response to determining that cellular connectivity is unavailable, the location of the host vehicle is transmitted to the driver via a proxy vehicle having cellular connectivity. For example, the autonomous parking system 102 establishes a mesh network with proxy vehicles having cellular connectivity within the environment 100 in response to determining that cellular connectivity is unavailable for the communication system 214-1. The autonomous parking system 102 transmits the parking location of the host vehicle 104 to the driver via the proxy vehicle.

[0029] The autonomous parking system 102 may form a network by connecting with a first other vehicle (e.g., vehicle 108-1) in the environment 100 using a short-range communication protocol. The communication protocol may include At least one of wireless local area network, dedicated short range communication (DSRC), vehicle to vehicle (V2V), Zigbee or Z-Wave, or another short range communication protocol. In response to determining that the first other vehicle has a cellular connection, the autonomous parking system 102 identifies the first other vehicle as a proxy vehicle.

[0030] Alternatively, in response to determining that the first other vehicle does not have a cellular connection, the autonomous parking system 102 connects to a second other vehicle (e.g., vehicle 108-2) using the same communication protocol or other short-range communication protocol. The main vehicle 104 and the other vehicles may be manufactured by different manufacturers, which may require the use of different communication protocols. The connection with the second other vehicle may be a direct connection or an indirect connection via the first other vehicle. In response to determining that the second other vehicle has a cellular connection, the autonomous parking system 102 identifies the second other vehicle as a proxy vehicle. Otherwise, the autonomous parking system 102 continues to expand the mesh network until a vehicle with a cellular connection is identified and can be used as a proxy vehicle to send and receive information related to the autonomous parking operation. The autonomous parking system 102 can use a machine learning algorithm to identify the shortest connection path between the main vehicle 104 and the proxy vehicle within the mesh network.

[0031] When the host vehicle 104 is connected to the mesh network, the autonomous parking system 102 can evaluate the battery power level. In response to determining that the host vehicle 104 is in a low-power battery condition, the autonomous parking system 102 can disconnect the host vehicle 104 from the mesh network to save battery power. Before disconnecting from the mesh network, the autonomous parking system 102 sends the parking location of the host vehicle 104 (e.g., obtained via a GPS signal, a response to a gesture request, dead reckoning, or some other positioning process) to the driver via the proxy vehicle.

[0032] At step 314, after the location of the host vehicle is transmitted to the driver, a summon request is obtained from the driver via the proxy vehicle or another proxy vehicle. The summon request instructs the host vehicle to navigate from the available space to a pickup area in or near the parking environment. For example, when the host vehicle 104 is connected to the mesh network, the autonomous parking system 102 may receive a summon request from the driver via the proxy vehicle or another proxy vehicle (e.g., after the initial proxy vehicle leaves the environment 100 or is disconnected from the mesh network). In response to obtaining the summon request and before autonomously operating the host vehicle, the autonomous parking system 102 may determine whether the host vehicle 104 is in a low-power battery condition. If a low-power battery condition exists, the autonomous parking system 102 may transmit the parking location of the host vehicle 104 to the driver via the proxy vehicle and deny or overrule the summon request in order to save battery power and allow the driver to navigate to a charging station.

[0033] At step 316, the host vehicle is autonomously operated from the available space to the pickup area in response to the get summon request. For example, the autonomous parking system 102 can autonomously operate the host vehicle 104 from the available space 110 to the pickup area in response to the get summon request. In this way, the autonomous parking system 102 can perform autonomous parking operations (e.g., identifying the available space 110, relaying the parking location of the host vehicle 104, and receiving the summon request) even when the host vehicle 104 does not have access to a cellular communication connection in the parking environment using a mesh network with other vehicles in or near the parking environment.

[0034] Figure 4 4 is an example illustration of a mesh network 400 between vehicles that facilitates autonomous parking and summoning operations in a location without cellular coverage. In the example mesh network 400, the host vehicle 104 is located in a parking environment (e.g., a parking lot) that typically does not have cellular coverage, but certain areas of the parking environment (e.g., a horizontal surface near the ground or the outer edge of the parking environment) may have cellular coverage. There are many other vehicles near the parking environment, including vehicle 402, vehicle 404, vehicle 406, vehicle 408, vehicle 410, vehicle 412, vehicle 414, and vehicle 416. The host vehicle 104 and vehicles 402 to 416 may be manufactured by the same original equipment manufacturer (OEM) or different OEMs.

[0035] Using the communication system 214 of the host vehicle 104 and other vehicles 402 to the vehicle 416, the host vehicle 104 can form a mesh network 400 to find vehicles with cellular connectivity and share data related to autonomous parking (e.g., summon requests, parking locations, or available space information) between each other. In this example, the vehicle 416 can be located at the periphery of the parking environment or on a parking level near the ground floor and have a cellular communication connection. Because the vehicle 416 has a cellular connection, the vehicle 416 can act as a proxy vehicle for other vehicles in the mesh network 400. For the purposes of this document, a proxy vehicle is considered to be a vehicle that has a cellular network connection, sufficient battery life to maintain communications on the mesh network 400, and / or is within range of the host vehicle 104 or another vehicle within the mesh network 400.

[0036] As described above, communication system 214 facilitates data exchange, including requests for parking space information, identification of available parking spaces, summon requests, and / or other information (eg, regarding parking circumstances) via wireless link 418. Wireless link 418 may be a secure link.

[0037] In the automatic parking mode, the host vehicle 104 can continuously check its cellular connection status. If it has a weak connection or no cellular connection, the host vehicle 104 can search for a proxy vehicle to facilitate communication with the driver (e.g., to receive a summon request or to relay its parking location). In the example of the mesh network 400, the host vehicle 104 can first search for other vehicles within its range that can act as proxy vehicles. For example, the host vehicle 104 can establish a wireless link 418-1 with the vehicle 402, a wireless link 418-2 with the vehicle 404, a wireless link 418-3 with the vehicle 406, and a wireless link 418-4 with the vehicle 408.

[0038] If none of the vehicles have cellular connectivity, the vehicles (e.g., vehicles 402, 404, 406, and 408) may search or have searched other vehicles within their communication range to find a proxy vehicle. For example, vehicle 402 may also establish a wireless link 418-5 with vehicle 404. Similarly, vehicle 404 may also establish a wireless link 418-6 with vehicle 406. Vehicle 406 may also establish a wireless link 418-7 with vehicle 410, a wireless link 418-8 with vehicle 412, and a wireless link 418-9 with vehicle 414. Vehicle 408 may also establish a wireless link 418-10 with vehicle 414.

[0039] If none of the vehicles have cellular connectivity, the mesh network 400 will continue to expand until a vehicle with cellular connectivity is found. For example, vehicle 410 may also establish a wireless link 418-11 with vehicle 412. Finally, vehicle 414 may also establish a wireless link 418-12 with vehicle 412 and a wireless link 418-13 with vehicle 416. Specifically, the host vehicle 104 finds the proxy vehicle (e.g., vehicle 416) via vehicles 408 and 414.

[0040] If the proxy vehicle leaves the parking environment or otherwise exits the mesh network 400, the host vehicle 104 or other vehicles within the parking environment may initiate additional mesh network connections to find other vehicles with cellular connections to serve as proxy vehicles. If the proxy vehicle is about to leave the parking environment or otherwise disconnect from the mesh network 400, the proxy vehicle may send a signal or alert to vehicles including the host vehicle 104 that it can no longer serve as a proxy vehicle for the mesh network 400. In response to receiving such a signal or alert from the proxy vehicle, the host vehicle 104 or other vehicles within the parking environment may initiate additional mesh network connections to find other vehicles with cellular connections to serve as proxy vehicles.

[0041] The communication system 214 may use machine learning (ML) algorithms to improve the mesh network 400 and find the shortest inter-vehicle communication path from the host vehicle 104 to the proxy vehicle (e.g., vehicle 416). The ML algorithm may efficiently find the shortest communication path to the proxy vehicle and minimize battery consumption to maintain the mesh network 400. Additionally, because the ML algorithm is generally efficient, the mesh network 400 may be maintained even when the host vehicle 104 is in a low power mode (e.g., a sleep or hibernation state).

[0042] In some implementations, the host vehicle 104 may broadcast a signal via the communication system 214-1 to identify the proxy vehicle. If more than one vehicle responds to the confirmation of the ping signal and indicates that it has a cellular connection, the communication system 214-1 may use a selection algorithm to decide which vehicle to use as the proxy vehicle. For example, the selection algorithm may consider the distance between the host vehicle 104 and the responding vehicle, the battery level, and the power consumption of different connection protocols (e.g., assuming that the responding vehicle responds using a different communication protocol). Different communication protocols have different range capabilities and different power usage. As a result, the communication system 214-1 or its ML algorithm may use a selection algorithm to optimize between the distance parameter (between vehicles) and power usage. The selection algorithm may also optimize the number of connection points between the host vehicle 104 and the proxy vehicle (e.g., having the least number of intermediate vehicles in the connection between the host vehicle 104 and the proxy vehicle), the communication protocol, the strongest signal connection path between the host vehicle 104 and the proxy vehicle, or some other metric of the connection within the mesh network 400. The selection algorithm also allows the host vehicle 104 to send out multiple pings at once, rather than sending out a single ping at a time to nearby vehicles.

[0043] The main vehicle 104 can utilize the mesh network 400 to receive the summon request from the driver. Specifically, the proxy vehicle (e.g., vehicle 416) can receive the summon request via its cellular network connection. The proxy vehicle can then relay the summon request to the main vehicle 104 via vehicles 414 and 408. In this way, even without a cellular communication connection, the main vehicle 104 can operate the summon request and provide the autonomous parking feature. For example, the main vehicle 104 can exit the low power mode and autonomously navigate to a specified location. However, if the main vehicle 104 is in a critical low power mode, the main vehicle 104 can transmit its position (e.g., obtained via a GPS signal or dead reckoning) to the driver through the mesh network 400 and remind the driver of the battery condition instead of performing an autonomous driving operation. The driver can then identify a nearby charging station and operate the main vehicle 104 to the charging station.

[0044] Figure 5 An example flow chart 500 for autonomously parking a host vehicle (eg, host vehicle 104 ) in a location without cellular communication coverage is shown. The flowchart 500 may be performed by the autonomous parking system 102 of the host vehicle 104. The flowchart 500 may include additional or fewer operations, or be performed in a different order.

[0045] At optional step 502, in response to receiving a request to autonomously park the host vehicle 104, the autonomous parking system 102 determines the battery level of the host vehicle 104. Step 502 assumes that the host vehicle 104 is an electric vehicle. If the host vehicle 104 is not an electric vehicle, the autonomous parking system 102 may proceed to step 508.

[0046] At optional step 504, the autonomous parking system 102 determines whether the battery level is low. At optional step 506, in response to the battery level being low, the autonomous parking system 102 instructs the driver to manually park the host vehicle 104 in the parking environment. Autonomous operation of the host vehicle 104 can consume a significant amount of battery power, so the autonomous parking system 102 denies the autonomous parking request to preserve the battery level. Alternatively, the autonomous parking system 102 can navigate the host vehicle 104 to park at an available charging station within the parking environment.

[0047] At step 508, and optionally in response to the battery level not being low, autonomous parking system 102 establishes a mesh network with one or more other vehicles in the parking environment using a communication protocol. For example, autonomous parking system 102 can establish mesh network 400 with vehicles 402 through 416. In some implementations, the driver can override steps 502 through 506 and proceed to step 508 (e.g., if EV charging is available in or near the parking environment). As part of step 508, communication system 214-1 can iteratively check each short-range communication protocol (e.g., Wi-Fi, wireless LAN, dedicated short range communication (DSRC), vehicle-to-vehicle (V2V), Zigbee, or Z-Wave) to establish a link with another vehicle as part of forming the mesh network 400.

[0048] At step 510, autonomous parking system 102 selects a proxy vehicle (e.g., vehicle 416) among vehicles 402 through 416 in mesh network 400. As described above, the proxy vehicle has a cellular connection and can send and receive messages from the host vehicle as part of providing autonomous parking operations to the driver.

[0049] At step 512, the autonomous parking system 102 obtains parking space information from another vehicle in the mesh network 400. The parking space information includes the location of one or more available parking spaces. In other implementations, the autonomous parking system 102 may obtain the parking space information from infrastructure equipment in the parking environment. In yet other implementations, the autonomous parking system 102 may autonomously operate the host vehicle 104 in the parking environment to identify an available space.

[0050] At step 514 , in response to obtaining the parking space information, the autonomous parking system 102 autonomously operates the host vehicle 104 in the parking environment to navigate to and park in the available space.

[0051] At step 516, the autonomous parking system 102 sends the parking location of the host vehicle 104 to the driver (e.g., an application installed on the driver's mobile device) via a proxy vehicle within the mesh network 400. In this way, the autonomous parking system 102 can autonomously park the host vehicle 104 in an efficient manner even without a cellular connection.

[0052] Figure 6 An example flowchart 600 is shown for satisfying a summon request as part of an autonomous parking operation in a location without cellular communication coverage. The flowchart 600 may be performed by the autonomous parking system 102 of the host vehicle 104. The flowchart 600 may include additional or fewer operations, or be performed in a different order.

[0053] At step 602, the driver summons the host vehicle 104. The driver may summon the host vehicle via an application on their mobile device.

[0054] At step 604, autonomous parking system 102 determines whether a mesh network is available. For example, autonomous parking system 102 uses a communication protocol to establish or has previously established mesh network 400 with one or more other vehicles (e.g., vehicles 402 to 416) in the parking environment.

[0055] If the mesh network is not available, the autonomous parking system 102 will not receive the summon request because the host vehicle 104 does not have a cellular connection. As a result, in step 606, the driver must go to the host vehicle 104 in person and the summon request cannot be completed. To avoid this, the host vehicle 104 can initiate a new mesh network connection in response to the previous proxy vehicle disconnecting from the mesh network 400 or leaving the parking environment to find other vehicles with cellular connections to serve as proxy vehicles. In addition, if the proxy vehicle is about to leave the parking environment or otherwise disconnect from the mesh network 400, the proxy vehicle can send an alert or signal to the host vehicle 104 and other vehicles within the mesh network 400.

[0056] In response to the mesh network being available, at step 608, autonomous parking system 102 selects a proxy vehicle (e.g., vehicle 416) among vehicles 402 through 416 in mesh network 400. As described above, the proxy vehicle has a cellular connection and can send and receive messages (e.g., a summon request from a driver) from the host vehicle.

[0057] At optional step 610, and in response to receiving the summon request, the autonomous parking system 102 determines the battery level of the host vehicle 104. Step 610 assumes that the host vehicle 104 is an electric vehicle. However, the autonomous parking system 102 of a non-electric vehicle may make similar analysis and decisions in order to preserve the battery level of the host vehicle's (relatively small) battery. If the host vehicle 104 is not an electric vehicle, the autonomous parking system 102 may proceed to step 616.

[0058] At optional step 612, the autonomous parking system 102 determines whether the battery level is low. At optional step 614, in response to the battery level being low, the autonomous parking system 102 sends the location of the host vehicle 104 to the driver and instructs the driver to return to the host vehicle 104 (step 606) because the battery level is low. Autonomous operation of the host vehicle 104 may consume a significant amount of the battery level, so the autonomous parking system 102 may deny the summon request to preserve the battery level.

[0059] At step 616, in response to the battery level not being low, autonomous parking system 102 autonomously operates host vehicle 104 in the parking environment to complete the summon request. For example, autonomous parking system 102 may navigate host vehicle 104 to the location indicated in the summon request. In this way, autonomous parking system 102 may execute the summon request even without a cellular connection. Example

[0060] Example 1. A method, the method comprising: obtaining a request from a driver input to a host vehicle to autonomously park the host vehicle in a parking environment; determining whether parking space information is obtained, the parking space information indicating an available space in the parking environment; in response to determining that the parking space information is obtained, autonomously operating the host vehicle in the parking environment to navigate to the available space; autonomously parking the host vehicle in the available space; determining whether a cellular connection is available for a communication system of the host vehicle; and in response to determining that a cellular connection is not available for the communication system of the host vehicle, transmitting the location of the host vehicle to the driver via a proxy vehicle having a cellular connection.

[0061] Example 2. The method of Example 1, wherein the host vehicle communicates with the driver via the proxy vehicle using a mesh network.

[0062] Example 3. The method of Example 2, wherein the host vehicle uses a machine learning algorithm to identify a shortest connection path between the host vehicle and the proxy vehicle within the mesh network.

[0063] Example 4. The method of Example 2 or Example 3, wherein the host vehicle and the proxy vehicle are manufactured by different manufacturers.

[0064] Example 5. The method of any one of Examples 2 to 4, wherein a mesh network is formed by the following steps: a main vehicle connecting to a first other vehicle using a communication protocol; in response to determining that the first other vehicle has a cellular connection, identifying the first other vehicle as a proxy vehicle; or in response to determining that the first other vehicle does not have a cellular connection, connecting to a second other vehicle using a communication protocol, the connection to the second other vehicle being a direct connection or an indirect connection via the first other vehicle; and in response to determining that the second other vehicle has a cellular connection, identifying the second other vehicle as a proxy vehicle.

[0065] Example 6. The method of Example 5, wherein the primary vehicle, the proxy vehicle, the first other vehicle, and the second other vehicle use The communication protocol comprises at least one of a wireless local area network, dedicated short range communication (DSRC), vehicle to vehicle (V2V), Zigbee or Z-Wave communication protocol.

[0066] Example 7. The method of any one of Examples 2 to 6, wherein the method further comprises: in response to determining that the host vehicle is in a low-power battery condition, transmitting the location of the host vehicle to the driver via the mesh network, and disconnecting the host vehicle from the mesh network to save battery power.

[0067] Example 8. The method of any of the previous examples, wherein the method further includes: after transmitting the position of the main vehicle to the driver, obtaining a summon request from the driver via the proxy vehicle or another proxy vehicle to navigate the main vehicle from the available space to a pick-up area in or near the parking environment; and in response to obtaining the summon request, autonomously operating the main vehicle from the available space to the pick-up area.

[0068] Example 9. The method of Example 8, wherein the method further includes: in response to obtaining a summon request and before autonomously operating the host vehicle from the available space to the pick-up area, determining whether the host vehicle is in a low-power battery condition; and in response to determining that the host vehicle is in a low-power battery condition, transmitting the location to the driver via the proxy vehicle or another proxy vehicle to reject or deny the summon request.

[0069] Example 10. The method of any of the previous examples, wherein the request to autonomously park the host vehicle is received via driver input on a display in the host vehicle or via driver input on a mobile device.

[0070] Example 11. The method of any of the previous examples, wherein the parking space information is obtained from another vehicle or infrastructure equipment in the parking environment.

[0071] Example 12. The method of any of the previous examples, wherein the method further comprises: in response to determining that parking space information is not obtained, autonomously operating the host vehicle in the parking environment to identify an available parking space and obtain parking space information.

[0072] Example 13. The method of any of the previous examples, wherein the parking environment is a parking garage.

[0073] Example 14. A system comprising: one or more processors configured to perform the method of any of the previous examples.

[0074] Example 15. A non-transitory computer-readable storage medium storing computer-executable instructions which, when executed by a processor, cause the processor to perform the method of any one of Examples 1 to 13. Conclusion

[0075] Although the implementation of the present disclosure has been described in language specific to features and / or methods, the subject matter of the appended claims is not necessarily limited to the specific features or methods described. Instead, specific features and methods are disclosed as some example implementations. Further, although various examples have been described above, each of which has specific features, it should be understood that the specific features of an example do not have to be used only with that example. On the contrary, any feature of the features described above and / or depicted in the accompanying drawings may be combined with any example in the examples, in addition to or in place of any of the other features of these examples.

Claims

1. A method, the method include: obtaining a request from a driver input to a host vehicle to autonomously park the host vehicle in a parking environment; determining whether parking space information is obtained, the parking space information indicating available space in the parking environment; in response to determining that the parking space information is obtained, autonomously operating the host vehicle in the parking environment to navigate to the available space; autonomously parking the host vehicle in the available space; determining whether a cellular connection is available to a communication system of the host vehicle; as well as In response to determining that the cellular connection is not available to the communication system of the host vehicle, the location of the host vehicle is communicated to the driver via a proxy vehicle having the cellular connection.

2. The method according to claim 1, It is characterized in that The host vehicle communicates with the driver via the proxy vehicle using a mesh network.

3. The method according to claim 2, It is characterized in that The host vehicle uses a machine learning algorithm to identify a shortest connection path between the host vehicle and the proxy vehicles within the mesh network.

4. The method according to claim 2, It is characterized in that The host vehicle and the proxy vehicle are manufactured by different manufacturers.

5. The method according to claim 2, It is characterized in that The mesh network is formed by the following steps: The host vehicle connects with a first other vehicle using a communication protocol; responsive to determining that the first other vehicle has the cellular connection, identifying the first other vehicle as a proxy vehicle; or In response to determining that the first other vehicle does not have the cellular connection, connecting with a second other vehicle using the communication protocol, the connection with the second other vehicle being a direct connection or an indirect connection via the first other vehicle; and In response to determining that the second other vehicle has the cellular connection, the second other vehicle is identified as the proxy vehicle.

6. The method according to claim 5, It is characterized in that The main vehicle, the proxy vehicle, the first other vehicle and the second other vehicle use The communication protocol comprises at least one of a wireless local area network, dedicated short range communication (DSRC), vehicle to vehicle (V2V), Zigbee or Z-Wave communication protocol.

7. The method according to claim 2, It is characterized in that The method further comprises: In response to determining that the host vehicle is in a low-power battery condition, the location of the host vehicle is communicated to the driver via the mesh network, and the host vehicle is disconnected from the mesh network to conserve battery power.

8. The method according to claim 1, It is characterized in that The method further comprises: After communicating the position of the host vehicle to the driver, obtaining a summon request from the driver via the proxy vehicle or another proxy vehicle to navigate the host vehicle from the available space to a pickup area in or near the parking environment; and In response to obtaining the summon request, the host vehicle is autonomously operated from the available space to the pickup area.

9. The method according to claim 8, It is characterized in that The method further comprises: In response to obtaining the summon request and before autonomously operating the host vehicle from the available space to the pickup area, determining whether the host vehicle is in a low power battery condition; and In response to determining that the host vehicle is in the low power battery condition, the location is communicated to the driver via the proxy vehicle or the other proxy vehicle to deny or overrule the summon request.

10. The method according to claim 1, It is characterized in that The request to autonomously park the host vehicle is received via driver input on a display in the host vehicle or via driver input on a mobile device.

11. The method according to claim 1, It is characterized in that The parking space information is obtained from another vehicle or infrastructure equipment in the parking environment.

12. The method of claim 1, It is characterized in that The method further comprises: In response to determining that the parking space information is not obtained, autonomously operating the host vehicle in the parking environment to identify the available parking space and obtain the parking space information.

13. A system, wherein the system include: One or more processors configured to: obtaining a request from a driver input to a host vehicle to autonomously park the host vehicle in a parking environment; determining whether parking space information is obtained, the parking space information indicating available space in the parking environment; in response to determining that the parking space information is obtained, autonomously operating the host vehicle in the parking environment to navigate to the available space; autonomously parking the host vehicle in the available space; determining whether a cellular connection is available to a communication system of the host vehicle; as well as In response to determining that the cellular connection is not available to the communication system of the host vehicle, the location of the host vehicle is communicated to the driver via a proxy vehicle having the cellular connection.

14. The system of claim 13, It is characterized in that The host vehicle communicates with the driver via the proxy vehicle using a mesh network.

15. The system of claim 14, It is characterized in that The one or more processors are further configured to use a machine learning algorithm to identify a shortest connection path between the host vehicle and the proxy vehicle within the mesh network.

16. The system of claim 14, It is characterized in that The one or more processors are configured to form the mesh network by: connecting with a first other vehicle using a communication protocol; responsive to determining that the first other vehicle has the cellular connection, identifying the first other vehicle as a proxy vehicle; or In response to determining that the first other vehicle does not have the cellular connection, connecting with a second other vehicle using the communication protocol, the connection with the second other vehicle being a direct connection or an indirect connection via the first other vehicle; and In response to determining that the second other vehicle has the cellular connection, the second other vehicle is identified as the proxy vehicle.

17. The system of claim 13, It is characterized in that The one or more processors are further configured to: after communicating the position of the host vehicle to the driver, obtaining a summon request from the driver via the proxy vehicle or another proxy vehicle to navigate the host vehicle from the available space to a pickup area in or near the parking environment; as well as In response to obtaining the summon request, the vehicle is autonomously operated from the available space to the pickup area.

18. The system of claim 17, It is characterized in that The one or more processors are further configured to: responsive to obtaining the summon request and prior to autonomously operating the host vehicle from the available space to the pickup area, determining whether the host vehicle is in a low power battery condition; as well as In response to determining that the host vehicle is in a low power battery condition, the location is communicated to the driver via the proxy vehicle or the other proxy vehicle to deny or overrule the summon request.

19. The system of claim 13, It is characterized in that The one or more processors are further configured to: In response to determining that the parking space information is not obtained, autonomously operating the host vehicle in the parking environment to identify the available parking space and obtain the parking space information.

20. A non-transitory computer-readable storage medium storing computer-executable instructions which, when executed by a processor, cause the processor to: obtaining a request from a driver input to a host vehicle to autonomously park the host vehicle in a parking environment; determining whether parking space information is obtained, the parking space information indicating available space in the parking environment; in response to determining that the parking space information is obtained, autonomously operating the host vehicle in the parking environment to navigate to the available space; autonomously parking the host vehicle in the available space; determining whether a cellular connection is available to a communication system of the host vehicle; as well as In response to determining that the cellular connection is not available to the communication system of the host vehicle, the location of the host vehicle is communicated to the driver via a proxy vehicle having the cellular connection.

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