Automatic valet driving method and device

Abstract

The invention discloses an automatic valet driving method and device. The automatic valet driving method comprises the following steps: identifying a host vehicle of an automatic valet driving system; and performing an autonomous driving operation of the host vehicle based on a parking position of the host vehicle, the parking position being determined based on a parking lot around the airport terminal by referring to at least one of illuminance, weather, and power level. According to the automatic valet driving method and device, automatic valet driving of the vehicle can be effectively, safely and accurately executed.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of Korean Patent Application No. 10-2023-0098857, filed on Jul. 28, 2023, which is incorporated herein by reference as if fully set forth herein. Technical Field

[0003] The present disclosure relates to a method and apparatus for performing automated valet driving of a vehicle. Background Art

[0004] The automated valet driving system (AVDS) includes a user, a system, and an autonomous driving vehicle. The AVDS can transfer the autonomous driving control authority from the user to the autonomous driving vehicle. The AVDS can perform valet driving control using the autonomous driving function. In order to control the vehicle to perform valet driving through the AVDS, an effective control method, etc. is required. Summary of the invention

[0005] An object of the present disclosure is to provide an apparatus and method for efficiently performing automatic valet driving of a vehicle.

[0006] Another object of the present disclosure is to provide a method and apparatus for performing automatic valet driving by allowing a vehicle to perform automatic driving, thereby safely and efficiently performing valet driving of a vehicle.

[0007] The technical objectives of the present disclosure are not limited to the above-mentioned technical objectives. It should be noted that those skilled in the art can understand other technical objectives not described above through the following description of the present disclosure.

[0008] According to an embodiment of the present disclosure, an automatic valet driving method includes: identifying a host vehicle of an automatic valet driving system; and performing an automatic driving operation of the host vehicle based on a parking position of the host vehicle. The parking position is determined based on a parking lot around an airport terminal by referring to at least one of illumination, weather, and power level.

[0009] Performing the automated driving operation based on the parking position of the host vehicle may include determining illumination. When the illumination is below a threshold, the parking position may be determined within a drop-off area of ​​the airport terminal based on at least one of a charge level of the host vehicle, a parking fee, and the presence or absence of a parking spot near the drop-off area. When the illumination is not below the threshold, the parking position may be determined within a pick-up area of ​​the airport terminal based on at least one of a charge level of the host vehicle, a parking fee, and the presence or absence of a parking spot near the pick-up area.

[0010] Performing the automated driving operation based on the parking position of the host vehicle may include determining weather. When the information about the determined weather falls within a specific weather-related range, the parking position may be determined within a drop-off area of ​​the airport terminal based on at least one of a power level of the host vehicle, a parking fee, and the presence or absence of a parking spot near the drop-off area. When the information about the determined weather is not included in the specific weather-related range, the parking position may be determined within a pick-up area of ​​the airport terminal based on at least one of a power level of the host vehicle, a parking fee, and the presence or absence of a parking spot near the pick-up area.

[0011] Performing an automated driving operation based on the parking location of the host vehicle may include checking a charge level. When the charge level is less than a threshold, the parking location may be determined as a location around a drop-off area of ​​an airport terminal. The threshold may be calculated based on at least one of a distance between a pickup area and a drop-off area or an emergency preparedness power. When the charge level is less than the threshold and there is a charging station associated with a route created based on the drop-off area and the pickup area, the parking location may be determined based on the pickup area of ​​the driver of the host vehicle.

[0012] Performing the automated driving operation based on the parking position of the host vehicle may include checking a charge level. When the charge level is less than a driver's request value, the parking position may be determined as a location around a drop-off area of ​​an airport terminal. The driver's request value may be calculated based on an input signal from the driver. In the event that the charge level is less than the driver's request value and there is a charging station associated with a route created based on the drop-off area and the pick-up area, the parking position may be determined based on a pick-up area for the driver of the host vehicle.

[0013] Performing the automated driving operation based on the parking location of the host vehicle may include checking a configuration of a driver of the host vehicle. The parking location may be determined as any one of a location around a drop-off area of ​​an airport terminal or a location around a pick-up area of ​​an airport terminal. The driver's configuration may include at least one of illumination, weather, and battery level. In the case where the driver's configuration includes at least two of illumination, weather, and battery level, the parking location may be determined based on a preset priority.

[0014] According to another embodiment of the present disclosure, an automatic valet driving device includes: a memory; and one or more processors coupled to the memory. The one or more processors identify a host vehicle of the automatic valet driving system; and perform an automatic driving operation of the host vehicle based on a parking position of the host vehicle. The parking position is determined based on a parking lot around an airport terminal by referring to at least one of illumination, weather, and power level.

[0015] The one or more processors may be configured to determine illumination. When the illumination is below a threshold, a parking location may be determined in a drop-off area of ​​the airport terminal based on at least one of a power level of the host vehicle, a parking fee, and the presence or absence of a parking spot near the drop-off area. When the illumination is not below a threshold, a parking location may be determined in a pick-up area of ​​the airport terminal based on at least one of a power level of the host vehicle, a parking fee, and the presence or absence of a parking spot near the pick-up area.

[0016] The one or more processors may be configured to determine weather. When the information about the determined weather falls within a specific weather-related range, a parking location may be determined within a drop-off area of ​​an airport terminal based on at least one of a power level of the host vehicle, a parking fee, and the presence or absence of a parking spot near the drop-off area. When the information about the determined weather is not included in the specific weather-related range, a parking location may be determined within a pick-up area of ​​an airport terminal based on at least one of a power level of the host vehicle, a parking fee, and the presence or absence of a parking spot near the pick-up area.

[0017] A vehicle includes: an interface configured to send / receive information to / from an automatic valet driving system; and a controller configured to control the automatic valet driving. The controller is configured to: identify a host vehicle of the automatic valet driving system; and perform an automatic driving operation of the host vehicle based on a parking position of the host vehicle. Information about the automatic valet driving system is determined based on parking lots around an airport terminal by referring to at least one of illumination, weather, and power level.

[0018] It is to be understood that both the foregoing general description and the following detailed description of the present disclosure are exemplary and explanatory and are intended to provide further explanation of the disclosure as claimed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The accompanying drawings are included to provide a further understanding of the disclosure and are incorporated in and constitute a part of this application. They illustrate embodiments of the disclosure and together with the description serve to explain the principle of the disclosure.

[0020] Figure 1 is a conceptual diagram showing an example of a basic flow of an automatic valet driving system (AVDS) according to an embodiment of the present disclosure.

[0021] Figure 2 is a schematic diagram showing an example of a system architecture associated with a method and apparatus according to an embodiment of the present disclosure.

[0022] Figure 3 is a block diagram showing an example of a vehicle control device according to an embodiment of the present disclosure.

[0023] Figure 4is a diagram showing an example structure of a vehicle according to an embodiment of the present disclosure.

[0024] Figure 5 is a diagram illustrating an example of an AVDS parking terminal according to an embodiment of the present disclosure.

[0025] Figure 6 is a flowchart illustrating a method of determining a terminal in consideration of illumination / weather according to an embodiment of the present disclosure.

[0026] Figure 7 is a flow chart showing an automatic valet driving method according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0027] Hereinafter, embodiments according to the present disclosure will be described in detail with reference to the accompanying drawings. The detailed description given below with reference to the accompanying drawings is intended to explain exemplary embodiments of the present disclosure, rather than to show the only embodiments that can be implemented according to the present disclosure. The following detailed description includes specific details in order to provide a comprehensive understanding of the present disclosure. However, it is obvious to those skilled in the art that the present disclosure can be practiced without these specific details.

[0028] Although most of the terms for the elements in this specification are selected from the general terms widely used in the art in consideration of their functions in this specification, these terms may be changed according to the intention or convention of those skilled in the art or the introduction of new technologies. Some terms have been arbitrarily selected by the applicant, and their meanings are explained in the following description as needed. Therefore, the terms used in this specification should be interpreted based on the overall content of this specification and the actual meaning of the terms, rather than based on their simple names or meanings.

[0029] Figure 1 is a conceptual diagram showing an example of a basic flow of an automatic valet driving system (AVDS) according to an embodiment of the present disclosure.

[0030] Figure 1 The basic flow of AVDS (Automated Valet Driving System) is shown. AVDS refers to the use case and operational design domain (ODD) extension of ISO 23374-1 automated valet parking system (AVPS). AVDS helps to achieve safe and reliable low-speed Level-4 unmanned operation of vehicles and facilitates the rapid and smooth introduction of future L4 systems to the market based on the experience gained from using AVDS at low speeds in a well-defined ODD.

[0031] The Automated Valet Parking System (AVPS) provides low-speed automated valet parking services to vehicle owners. The AVPS service is not limited to unmanned driving within dedicated parking facilities, it allows unmanned driving in designated outdoor spaces. Basically, both AVPS and AVDS are used to conceptually realize a journey (movement) from point A to point B.

[0032] An example use case handled by AVDS is valet parking used in airport terminals. AVPS describes Society of Automotive Engineers (SAE) L4 driving used in dedicated parking facilities, while AVDS extends the drop-off area to an external area located outside the parking facility. After the driver of the vehicle leaves the AVDS drop-off area in the designated area, the system can automatically guide the vehicle on the public road to the entrance of the parking facility. At the entrance of the parking facility, the system can guide the vehicle to an empty parking space, or to another space if necessary. Examples of spaces of interest that AVDS can handle may include, for example, charging stations, car washes, or may include examples of vehicle driving for logistics purposes in company premises, etc.

[0033] AVDS is expected to achieve end-user benefits in terms of time saving, stress relief, reduced vehicle energy consumption, and meet user expectations for many low-speed operable functions. AVDS can enable the driver of the vehicle to recognize the automatic charging process of the electric vehicle without unnecessary time consumption by the driver, and can effectively optimize the utilization of charging stations. AVDS in the company's premises can reduce labor costs using unmanned vehicle control systems.

[0034] To help achieve safe and reliable unmanned AVDS operation, the requirements set forth in this patent document are based on the performance of currently available state-of-the-art technology. Therefore, this section will be revised in the future as technology advances.

[0035] Due to the differences in available and commonly used technologies (e.g., spectrum allocation) around the world, embodiments of the present disclosure include specific technical solutions for communication interfaces (e.g., communication methods, message protocols). Therefore, in order to ensure interoperability, these specific technical solutions of the embodiments are linked to the communication interfaces at the national / regional level.

[0036] The Automated Valet Parking System (AVPS) can perform Level 4 autonomous driving for one or more unoccupied vehicles at speeds below 30 km / h within a designated operating area.

[0037] The embodiments specify the system framework, operation sequence and communication interface, performance requirements of operation and management functions, environmental conditions within the operation area, and test procedures for verifying the performance requirements of the AVDS.

[0038] AVDS is considered as a use case and ODD (Operational Design Domain) extension of ISO 23374-1, including indoor and outdoor applications. AVDS can realize unmanned operation of company premises and outdoor valet parking on public roads (e.g. valet parking from an airport terminal to a parking lot), and can also realize additional services. In addition, AVDS can be applied to the example of vehicle driving in a charging station for electric vehicles or the example of vehicle driving in a car wash.

[0039] AVDS consists of physically independent subsystems distributed among vehicles, facilities and user domains. The functions of AVDS are achieved through the collaboration of these subsystems. In most cases, these AVDS functions are provided by different organizations. This embodiment includes a system architecture implemented at the logical level using a subsystem-subsystem communication interface.

[0040] AVDS manages system participants (e.g., AVDS-compatible vehicles, facilities, and users) and provides the necessary interfaces between system participants. Embodiments include requirements for various management functions (e.g., functions to verify compatibility between vehicles and sites, functions to perform remote assistance and recovery when autonomous driving is not possible, and functions to issue shutdown commands in response to actions of other facility users). In addition, AVDS is also intended for use by service providers or facility operators who have obtained vehicle authorization from individual service recipients.

[0041] The following standard documents can be referenced for implementation:

[0042] ISO 23374-1, Intelligent transport systems — Automated valet parking system (AVPS) — Part 1: System architecture, requirements for automated driving and communication interfaces

[0043] ISO 20900, Intelligent transport systems — Partially Automated Parking Systems (PAPS) — Performance requirements and test procedures

[0044] ISO 8608 Mechanical vibrations — Pavement profile — Reporting of measurement data

[0045] ISO 19206-2, Road vehicles — Test equipment for target vehicles, vulnerable road users and other objects for the evaluation of active safety functions — Part 2: Requirements for pedestrian targets

[0046] ISO 19206-4 Road vehicles — Test equipment for target vehicles, vulnerable road users and other objects for the evaluation of active safety functions — Part 4: Requirements for bicycle targets.

[0047] Definitions of terms according to the embodiments are as follows:

[0048] AVDS Service Provider: An organization that provides AVDS to operate AVs (unmanned vehicles).

[0049] AVDS User: An individual service recipient who transfers rights (3.3) to a service provider / recovers rights (3.3) from a service provider through AVDS.

[0050] Authority: The right and ability to perform specific tasks in a host vehicle (SV).

[0051] Host Vehicle (SV): A vehicle equipped with the AVDS vehicle operation subsystem.

[0052] Venue: A public or private area where AVDS are provided.

[0053] Parking facilities: Public or private parking lots with AVDS capabilities.

[0054] Operational Area: The geographical area within an AVDS-compliant location where automated driving can be performed.

[0055] Drop-off Zone: The location within the operating zone where the user leaves the host vehicle (SV) and transfers the authority of the SV to the service provider.

[0056] Boarding Area: The location within the operating area where the service provider transfers the SV for user boarding and transfers authority.

[0057] Parking Point: A destination within an operating area where a vehicle can be parked or temporarily stored.

[0058] Stopping point: The destination within the operating zone where the SV stops and remains under specific state conditions, depending on the use case considered.

[0059] Parking Area: An area within the operating area consisting of multiple parking spaces.

[0060] The present disclosure relates to a vehicle equipped with a vehicle operating subsystem of a host vehicle (SV): an AVDS.

[0061] Destination: The location within the operating area to which the SV is transported.

[0062] Route: The planned route of an SV from its departure point to its destination.

[0063] Path: The planned sequence of waypoints for the SV to follow.

[0064] Trajectory: A planned route with time information.

[0065] The definitions of terms used in the Automated Valet Parking Facility are as follows:

[0066] PFE: Physical equipment installed in a parking facility to support the AVPS.

[0067] Definitions of terms used in automated valet driving equipment are as follows:

[0068] DPE: Physical equipment installed in the operating area of ​​the AVDS site to support AVDS.

[0069] Coded Tag: A physical or logical tag installed at an AVDS location with a unique ID that can be detected by the SV to support positioning.

[0070] Anonymous Tag: A physical or logical tag installed at an AVDS location that does not use a unique ID and can be detected by the SV to support positioning.

[0071] Designed speed: The scenario speed of the vehicle designed to travel in a given scenario (such as traffic conditions, environmental conditions) determined by the AVDS.

[0072] Designed Distance: The designed situational physical distance from the SV (maintained by the AVDS in a specific context during automated driving of the vehicle) to other facilities, road uses, objects or structures.

[0073] Subsystem: A logical level of an AVDS component that contains one or more functions.

[0074] Function: The function of AVDS is used to process the input signal of the system and convert the input signal into an appropriate output signal.

[0075] (Autonomous driving service) Reservation: A basic agreement between a user and a service provider regarding the operation and management of an SV within a specific location.

[0076] (Automated Valet) Session: The sequence of interactions between check-in and check-out for a given SV.

[0077] (Automated Valet Driving) Responsibilities: A series of interactions by the AVDS to automatically operate the SV from a parking position to a destination for a specific purpose.

[0078] (Test) scenario: A description of a complete route from a starting point to a destination. This (test) scenario will be used to execute the test.

[0079] (Test) scene: A description of the specific events to be performed in the test, without the departure or destination point.

[0080] System Operator (SO): The role of an organization that manages vehicle operations within the operational area of ​​an AVDS site. This includes tasks that are monitored when performed automatically or tasks that are performed manually by individuals at remote locations.

[0081] Premises Manager (PM): The organizational role responsible for maintaining the operating area in an operationally safe state according to AVDS requirements.

[0082] Orchestration System (OS): A system that classifies a session or multiple connected sessions into individual tasks and schedules an executable, optimized sequence of these tasks.

[0083] Value added service system (VA): The role of a service system that provides dedicated service management and communication interfaces for AVDS.

[0084] The definitions of the abbreviations according to the embodiments are as follows:

[0085] ADS:Autonomous driving system

[0086] DDT: Dynamic Driving Task

[0087] OEDR: Object and Event Detection and Response

[0088] ODD: Operational Design Domain

[0089] SV:Subject Vehicle

[0090] FV:Forward Vehicle

[0091] PFE: Automated valet parking facility equipment

[0092] DPE: Automated valet driving premises equipment

[0093] VMC: Vehicle Motion Control

[0094] DSRC: Dedicated Short Range Communication

[0095] VRU: Vulnerable Road User

[0096] RO:Remote vehicle operation (subsystem)

[0097] VO:On-board Vehicle Operation (Subsystem)

[0098] UF: User Frontend (subsystem)

[0099] UB: User Backend (subsystem)

[0100] VB: Vehicle Backend (Subsystem)

[0101] OB: Operator Backend (subsystem)

[0102] PM: Automated valet parking facility management (subsystem)

[0103] DM: Automated valet driving premises management (subsystem)

[0104] VA: Value added service system.

[0105] Figure 1 The basic flow of AVDS based on user actions and system responses is shown. Figure 1 is a diagram illustrating a representative use case showing the process of a user initially transferring rights to a service provider.

[0106] In AVDS, users can request additional services to be performed (e.g., electric vehicle (EV) charging, car washing) while the authority of the primary vehicle (SV) is still owned by the AVDS service provider. The requested service and the earliest pickup time can be transmitted to the system along with the reservation. Although the AVDS service provider already has authority, additional services can be requested based on the remaining time slot.

[0107] These sessions (including additional services) include more missions and tasks than AVPs. For example, these services can be arranged in the order of parking → waiting → charging → parking → waiting → washing → parking. It is the task of the orchestration system to configure the responsibilities within a given time in the order of the requested services. Additional services are considered additional responsibilities. The vehicle drives to the designated location where the service is performed so that the vehicle is parked again in the initial parking position or another location. After the requested service is completed (e.g., charging is completed, car washing is completed), re-parking occurs automatically, and there is a parking space available for the next service or a parking space available for re-parking. In this case, no user request is required. For each additional service, the compatibility between the vehicle and the corresponding service should be checked. To this end, geometric characteristics (e.g., vehicle height, width, length, charging plug position, etc.), electrical characteristics (e.g., plug type, charging power, required power level, etc.) and other specific service characteristics are required.

[0108] refer to Figure 1 , reference numeral <1> Indicates user actions, reference numerals <2> Indicates system response. <1> and system response <2> To provide AVDS services. The autonomous driving method and device according to the embodiments of the present disclosure may correspond to a user equipment (UE) for user actions and / or a system for system reactions. The autonomous driving method and device according to the embodiments may be referred to as an automatic valet driving method / device hereinafter, or more simply, simply as a "method / device".

[0109] The method / device according to an embodiment may receive a request from a user. The method / device according to an embodiment may check the free space for valet driving and the compatibility of valet driving. The method / device according to an embodiment may identify the main vehicle (SV) and activate the registration process. The method / device according to an embodiment may receive autonomous driving permissions from a user. The method / device according to an embodiment may perform automatic vehicle operations. For example, operations according to an embodiment may include entering, parking, re-parking, and driving to a service location. The method / device according to an embodiment may selectively perform service actions by a third party. For example, there may be charging, car washing, maintenance, etc. The method / device according to an embodiment may allow a user to submit a retrieval request. The method / device according to an embodiment may perform autonomous driving vehicle operations. For example, the method / device may perform an exit function. The method / device according to an embodiment may activate a checkout procedure. The method / device according to an embodiment transfers permissions to the user.

[0110] Figure 2 is a schematic diagram showing an example of a system architecture associated with a method and apparatus according to an embodiment of the present disclosure.

[0111] Figure 2 shows the Figure 1 The basic process of AVDS (Automatic Valet Driving System) and the method and apparatus related system structure.

[0112] Figure 2 The logical structure of the AVDS subsystem is shown. The implementation of the logical subsystem of physical components can vary depending on the system design. In addition, the subsystem can be composed of multiple physical components. For example, the remote vehicle operation subsystem can include sensors, control devices, and communication devices.

[0113] The system according to the embodiment may execute and include the method / apparatus according to the embodiment. For example, the AVDS device / system according to the method / apparatus of the embodiment may include an operator backend (OB), an orchestration system (OS) and / or a remote vehicle operation (RO). The AVDS device / system according to the embodiment may correspond to a server. The user equipment (UE) according to the method / apparatus of the embodiment may include a user front end (UF) and / or a user backend (UB). The vehicle according to the method / apparatus of the embodiment may include a vehicle backend (VB) and / or an on-board operation (VO). The system according to the method / apparatus of the embodiment may also include a value-added service system (VA) and / or a system operator (SO). The operation according to the embodiment may be performed by Figure 2 Each component in the system executes. Figure 2 Each component in the system may correspond to hardware, software, a processor and / or a combination thereof.

[0114] Figure 3 is a block diagram showing an example of a vehicle control device 3000 according to an embodiment of the present disclosure.

[0115] refer to Figure 3 The vehicle control device 3000 according to the embodiment is a device designed to control the operation of the vehicle. The vehicle control device may be referred to as an automatic driving integrated controller 600. The vehicle control device may include an interface unit 3001, a processor 3002, and a memory 3003.

[0116] The memory may store instructions for performing various operations according to the embodiment, signaling information, data, etc. The memory may be connected to the interface unit and the processor so that the memory can send necessary signals to the interface unit and the microprocessor and receive necessary signals from the interface unit and the processor.

[0117] The interface unit can receive signals, information, data, etc. from the vehicle control device and send them to the memory and / or processor. In addition, the signals, information, data, etc. generated by the memory and / or processor can be sent to the vehicle, the driver and / or the passenger.

[0118] The processor may perform vehicle control operations based on data and / or instructions stored in the memory.

[0119] Figure 3 The vehicle control device may correspond to a device installed on the vehicle or a terminal device that controls the vehicle.

[0120] Figure 4 is a diagram showing an example structure of a vehicle according to an embodiment of the present disclosure.

[0121] The vehicle according to the embodiment can be Figure 4 The configuration shown in the figure can perform autonomous driving using an autonomous driving control system. The vehicle according to the embodiment can be referred to as an autonomous driving vehicle, a robot, an urban air mobility (UAM), an autonomous driving device, etc.

[0122] The autonomous driving vehicle 1000 may use the autonomous driving integrated controller 600 (in Figure 4 The autonomous driving integrated controller 600 sends and receives data required for controlling the autonomous driving control of the vehicle through the operation information input interface 101, the driving information input interface 201, the passenger output interface 301, and the vehicle control output interface 401. However, the autonomous driving integrated controller may be referred to as a controller or a processor, or may be simply referred to as a controller.

[0123] The automatic driving integrated controller can obtain driving information generated by the manipulation of the passenger (operating the user input unit) during the automatic driving mode or manual driving mode of the vehicle through the driving information input interface. The user input unit may include a driving mode switch and a control panel 120 (e.g., a navigation terminal installed in the vehicle, a smart phone or tablet computer carried by the passenger, etc.), so the operation information may include information about the driving mode of the vehicle and navigation information.

[0124] In addition, when it is determined that the driver needs a warning in the automatic driving mode or the manual driving mode, the automatic driving integrated controller can provide the driver with not only driving state information but also warning information through the passenger output interface. The automatic driving vehicle 1000 may include a speaker 310 for audibly outputting such driving state information and warning information and a display device 320 for visually outputting the driving state information and warning information. At this time, the display device may be implemented as the same device as the above-mentioned control panel, or may be implemented as a separate independent device.

[0125] In addition, the automatic driving integrated controller can send control information for vehicle driving control in the automatic driving mode or manual driving mode of the vehicle to a low-level control system (also referred to as a sub-control system) applied to the vehicle through the vehicle control output interface. The sub-control system for controlling vehicle driving may include at least one of a motor control system, an engine control system, a brake control system, and a steering control system. The automatic driving integrated controller can send at least one of the motor control information, the engine control information, the brake control information, and the steering control information as control information to each sub-control system through the vehicle control output interface.

[0126] The automatic driving integrated controller can obtain operation information caused by the driver's manipulation through the operation information input interface, and can obtain vehicle driving information indicating the driving state of the vehicle through the driving information input interface. The automatic driving integrated controller can provide driving state information and warning information generated according to the automatic driving algorithm through the passenger output interface.

[0127] At the same time, in order to ensure stable autonomous driving of the vehicle, the autonomous driving device according to an embodiment may include a sensor unit for detecting objects around the vehicle, such as surrounding vehicles, pedestrians, roads or fixed facilities (such as traffic lights, road signs, traffic signs, construction fences, etc.).

[0128] The sensor unit may include one or more of a Lidar sensor, a radar sensor, and a camera sensor to detect surrounding objects outside the vehicle. For example, the sensor unit may include a front Lidar sensor 511, a front radar sensor 521, a rear Lidar sensor 513, a rear radar sensor 524, a left camera sensor 532, a right camera sensor 533, an interior camera sensor 535, a front camera sensor 531, a rear camera sensor 534, etc. The sensor unit may be connected to microphones (551, 552).

[0129] Embodiments of the present disclosure may provide a method and apparatus for determining an airport terminal where a vehicle will be parked through an automatic valet driving system (AVDS), wherein for ease of description, the above method and apparatus are hereinafter referred to as “method / apparatus”.

[0130] Embodiments of the present disclosure relate to international standards ISO 23374-1 (Automatic Valet Parking System, AVPS) and ISO12768-1 (Automatic Valet Driving System, AVDS). Embodiments of the present disclosure provide a method for enabling AVPS or AVDS to determine a parking destination (hereinafter referred to as "destination") of an ADS vehicle (having the same concept as the host vehicle SV).

[0131] In the related art, for example, international standards ISO 23374-1 or ISO 12768-1 do not specifically disclose a method for determining an airport terminal where an ADS vehicle will be parked through an AVPS or AVDS. To solve this problem, an embodiment may provide a method and apparatus for determining an airport terminal where a vehicle is parked through an AVPS or AVDS.

[0132] The AVDS (system / server / processor) used in the method / apparatus according to the embodiment may include a method of determining an airport terminal where the ADS vehicle is to be parked, and may execute the method.

[0133] For example, the method / device according to the embodiment may include a method for determining the airport terminal by considering illumination, weather, etc., and the method / device may perform the method. In addition, an embodiment of the present disclosure may include a method for determining the terminal while considering the power level, and the method may be performed. In addition, an embodiment of the present disclosure may include a method for determining the terminal based on the driver's (user's) pre-settings, and the method may then be performed. According to an embodiment, AVDS can provide the effect of parking the ADS vehicle in a reasonable location for each situation / condition, rather than simply parking the ADS vehicle in a parking lot close to the boarding area. Therefore, AVDS can be safe and cost-effective, and can also provide high user satisfaction.

[0134] Figure 5 is a diagram illustrating an example of an AVDS parking terminal according to an embodiment of the present disclosure.

[0135] Figure 5 Shown for Figures 1 to 4 Example of an airport parking terminal with AVDS, servers, processors, vehicles, etc.

[0136] The location associated with the method / apparatus according to the embodiment may be an airport. Figure 5 As shown, the airport may include a first terminal and a second terminal. Due to the geographical characteristics of the airport, the distance between the first terminal (Terminal 1) and the second terminal (Terminal 2) may be long. The airport is only an example, and the location related to the method / apparatus according to the embodiment may include the following: Figure 5 The various parking areas shown are spaced apart from each other. Figure 5, the first terminal (Terminal 1) may include EV charging facilities, car wash facilities, parking lots, a drop-off area in the departure hall, and a boarding area in the arrival hall. For example, there may be at least one EV charging facility and at least one car wash facility. The first terminal (Terminal 1) is located a few kilometers to tens of kilometers away from the second terminal (Terminal 2). For example, the second terminal (Terminal 2) may include EV charging facilities, car wash facilities, parking lots, a drop-off area in the departure hall, and a boarding area in the arrival hall. For ease of description and better understanding of the present disclosure, the various objects to be used in the embodiments are referred to as the first terminal (Terminal 1), the second terminal (Terminal 2), the first charging station (charging station 1), the second charging station (charging station 2), the first car wash (car wash 1), the second car wash (car wash 2), the first parking lot (parking lot 1), the second parking lot (parking lot 2), etc.

[0137] Definitions of terms according to the embodiments are as follows:

[0138] Destination: The destination refers to the location where the ADS vehicle will be parked. Generally, the term "destination" will indicate the area of ​​the parking spot, and this concept can be expanded to indicate a high-level concept (including Terminal 1 and Parking Lot 1) according to AVDS.

[0139] Drop-off Zone: This is the area where the driver exits the vehicle and leaves the automated valet parking / driving. From a system perspective, the drop-off zone is the area where the driver hands over authority to the AVDS. For example, there may be an airport terminal departure entrance / exit, a hotel lobby entrance / exit, and other areas with similar attributes.

[0140] Pickup Zone: This is the area where the driver retrieves and boards the automated valet parked / driven vehicle. From the system's perspective, the pickup zone is the area where the authority handed over to the AVDS is restored (retrieved). For example, there may be airport terminal arrival hall entrance / exit, hotel lobby entrance / exit, and areas with similar attributes.

[0141] Operational Design Domain (ODD): The term "ODD" refers to the geographic, spatial, physical, and environmental factors in which the autonomous driving of a vehicle is performed. For example, the ODD may include the autonomous driving system management area, drivable illumination, drivable weather, drivable road friction, etc.

[0142] The method / apparatus according to an embodiment may include a method for determining a terminal for parking an ADS vehicle at an AVDS airport, which may then be executed. As an example of a representative situation, a driver (user) plans to get off at the departure hall of Terminal 1, and then plans to enter the country through Terminal 2 of the airport a few days later. In addition, the driving distance between terminals may range from a few kilometers to tens of kilometers. AVDS receives control authority from a driver getting off at the departure hall of Terminal 1, and may determine i) whether to park the ADS vehicle in Terminal 1 near the drop-off area, or may determine ii) whether to park the ADS vehicle in Terminal 2 near the pick-up area.

[0143] Associated with the method of determining the terminal according to the embodiment taking into account illumination (especially daytime / nighttime) and / or weather, even if the AVDS (especially outdoor AVPS) can operate the ADS vehicle in all weather conditions, it is preferred that the ADS vehicle does not move when the efficiency of the sensing module is low and safety assurance is relatively difficult. Associated with the AVDS that receives authority from the driver who gets off the vehicle in the disembarkation area at night (nighttime / early morning) or inclement weather, when the ADS vehicle moves directly to the parking lot of Terminal 2 where there is a boarding area (such as the entrance hall of Terminal 2), the low ambient illumination may reduce the sensing efficiency of the sensing module (even with the vehicle's headlights, the sensing efficiency of the sensing module will definitely be reduced compared to daytime). Thereafter, assuming that the vehicle is driven during the day, the operational safety of the vehicle will be high and the vehicle does not need to move with low sensing efficiency.

[0144] In connection with the method of determining the terminal in consideration of the power level according to the embodiment, the vehicle may need to move from a terminal to another terminal by as much as tens of kilometers. As a result, if the vehicle is directly moved to the parking lot of Terminal 2 including the boarding area (e.g., the entrance hall of Terminal 2) without considering the power level, unexpected problems may occur.

[0145] In association with the driver's (user's) preconfiguration method according to the embodiment, the driver may preconfigure the AVDS to be operated based on “illuminance / weather” or may preconfigure the AVDS to be operated based on the charge level.

[0146] In addition, another method can be preconfigured as needed, in which both illumination / weather and power level can be considered. As a default, although the method is designed to consider both illumination / weather and power level, the scope or spirit of the present disclosure is not limited thereto, and it should be noted that the method can be canceled (not considered) by preconfiguration of each setting time.

[0147] Figure 6is a flowchart illustrating a method of determining a terminal in consideration of illumination / weather according to an embodiment of the present disclosure.

[0148] Figures 1 to 4 AVDS, servers, processors, vehicles, etc. can be used with Figure 5 Under the same circumstances, by considering Figure 6 The illumination and / or weather shown are used to determine the terminal.

[0149] When driving at night, the efficiency of sensing surrounding objects from the sensing module through the camera, etc. is reduced compared to driving during the day. In this case, the sensing efficiency can be improved by using a night filter, but the improved sensing efficiency is unlikely to match the sensing efficiency of such daytime driving. In bad weather, the efficiency of sensing surrounding objects from the lidar / camera, etc. in the sensing module is reduced.

[0150] An embodiment determines the terminal by taking illumination (particularly daytime / nighttime) into consideration.

[0151] The method / apparatus according to an embodiment may include 1) determining whether an illumination level is low, and 2) determining a parking area based on the determined illumination, and then performing the method.

[0152] Referring to step (1) of determining whether the illumination level is high or low, when the illumination sensed by the ADS vehicle and / or the peripheral infrastructure of the ADS vehicle is less than a preset first threshold, the AVDS may determine that the illumination level is low. For example, the first threshold may be a value that takes into account the illumination environment, such as 10 lx, 50 lx, etc. The AVDS may determine whether the illumination level is low by taking into account the current season and the current time. For example, if the current season is summer, the AVDS may determine that the current external illumination level is low starting at 9 p.m.

[0153] Referring to step (2) of determining the parking area based on the determined illumination level, the AVDS may determine the destination as the outer area of ​​the drop-off area, rather than the outer area of ​​the pick-up area, based on the determined low illumination. That is, if it is determined that the illumination level is not low, the destination may be determined as the parking lot around the pick-up area (e.g., the parking lot around the arrival hall of Terminal 2). At this point, at Terminal 2, the parking lot may be determined as i) the parking lot closest to the pick-up area, ii) a parking lot where EV charging is available while parking, or iii) a parking lot with the lowest parking fee. If it is determined that the illumination level is low, the destination may be determined as the parking lot around the drop-off area (e.g., the parking lot around the departure hall of Terminal 1). At this point, at Terminal 1, the parking lot may be determined as any one of the following: i) the parking lot closest to the drop-off area, ii) a parking lot where EV charging is available while parking, or iii) a parking lot with the lowest parking fee.

[0154] An embodiment may determine the terminal by taking the weather into consideration.

[0155] The method / apparatus according to an embodiment may include the following steps: 1) determining whether inclement weather occurs, and 2) determining a parking area based on the determined inclement weather.

[0156] Referring to step (1) of determining whether severe weather has occurred, the AVDS may determine whether the current weather corresponds to severe weather by analyzing the rain / snow / hail / lightning recognized by the camera module of the ADS vehicle. The AVDS may request the ADS vehicle to perform a test of the lidar sensing efficiency. As a result of the lidar sensing efficiency test, if the sensing efficiency is reduced by more than a% compared to usual, it may be determined that the current weather corresponds to severe weather.

[0157] Referring to step (2) of determining the parking area based on the determined inclement weather, the AVDS may determine the destination as the drop-off area, rather than the peripheral area around the boarding area, based on the determination of such inclement weather. That is, if it is determined that the current weather does not correspond to inclement weather, the AVDS may determine the destination as the parking lot around the boarding area (e.g., the parking lot around the arrival hall of Terminal 2). At this point, at Terminal 2, the parking lot may be determined as any one of the following: i) the parking lot closest to the boarding area, ii) a parking lot where EV charging can be performed while parking, or iii) a parking lot with the lowest parking fee. If it is determined that the current weather corresponds to inclement weather, the AVDS may determine the destination as the parking lot around the drop-off area (e.g., the parking lot around the departure hall of Terminal 1). At this point, at Terminal 1, the parking lot may be determined as any one of the following: i) the parking lot closest to the drop-off area, ii) a parking lot where EV charging can be performed while parking, or iii) a parking lot with the lowest parking fee.

[0158] Associated with the method of determining the terminal by considering the power level according to an embodiment, if the power level is less than a preset second threshold, the destination can be determined as a peripheral area around the drop-off area. Associated with the preset second threshold, the second threshold can be expressed as a percentage (0≤second threshold≤100(%)) and can be calculated by AVDS based on various factors (e.g., necessary driving distance (e.g., the distance between Terminal 1 and Terminal 2), emergency preparedness power, waiting signal status, parking command waiting status, etc.). For example, the emergency preparedness power can be determined by average calculation based on the history accumulated in the AVDS. In addition, the emergency preparedness power can also be determined by machine learning of a machine learning module included in the ADS vehicle or AVDS. The average calculation based on the history accumulated in the AVDS may refer to the average calculation of the accumulated history for the same vehicle model as the ADS vehicle.

[0159] As an exception, if the power level is less than a preset second threshold and the destination is determined to be a location around the pick-up area, for example, although the power level is low (below the second threshold), if EV charging is available on the road connecting Terminal 1 to Terminal 2, the AVDS may determine the destination as a location around the drop-off area. The AVDS may receive EV charging type information and EV charging cost information that may be provided by the road from an airport administrator (e.g., a server). The AVDS may determine whether the ADS vehicle can accept the EV charging function that can be provided by the road based on the EV charging type information received from the airport administrator and the information about acceptable EV charging types received from the ADS vehicle (server). For example, when it is determined that the AVDS cannot receive the EV charging function provided by the road, this exception does not apply to the ADS vehicle.

[0160] In addition, AVDS can receive information from an airport administrator, an on-road EV charging system administrator, or an ADS vehicle (server) about whether the ADS vehicle has a (season) ticket or pass for on-road EV charging. In case (i), when the ADS vehicle has an EV charging pass, the destination can be determined as a location around the boarding area according to this special case. In case (ii), when the ADS vehicle does not have an EV charging pass, AVDS can first consider the preset EV charging cost limit, and then can allow the corresponding vehicle to use on-road EV charging only when the on-road EV charging cost does not exceed the EV charging cost limit.

[0161] Associated with the method of determining the terminal by considering the power level according to an embodiment, if the power level does not meet the driver's requirements, the destination can be determined as a location around the drop-off area. At the driver's request, the driver can send a "required value" of the power level to the AVDS through an ADS vehicle or a user interface (such as a smartphone). Here, the required value can be, for example, a percentage compared to a full charge. The driver can arbitrarily enter a real number between 0 and 100. Alternatively, when the AVDS displays an example of a required value (e.g., 5, 10, 15, 20, 25, 30, 50, etc.), the user can select the desired value by touch input on the display. Alternatively, the AVDS can also be configured so that the driver can send a required value to the AVDS server at any time. For example, the driver can (through an ADS vehicle or user interface) send a required value to the AVDS server at any time (e.g., a time point before the authority is transferred from the driver to the AVDS server, a transfer time point, a time point when the AVDS server decides the destination, etc.). Alternatively, the driver can send the required value to the AVDS server only at a specific time / specific situation. For example, the driver can send the required value when making an AVDS appointment. Alternatively, the driver may send the required value at the authority transfer time point of transferring the authority to the AVDS server. As an exception, the above-mentioned exception may be equally applied to the embodiments of the present disclosure.

[0162] Associated with the driver's (user's) preconfiguration according to an embodiment, the user can preset a key decision factor. The driver can predetermine the key decision factor. AVDS can determine whether to park the vehicle around the drop-off area or around the pickup area. In this case, the key decision factor previously set by the user can be used. If the user sets "illuminance / weather" as a key decision factor in advance, AVDS can use the same method as the method for determining the terminal considering illumination / weather to determine whether to park the vehicle around the drop-off area or around the pickup area. If the user sets "power level" as a key decision factor in advance, AVDS can use the same method as the method for determining the terminal considering power level to determine whether to park the vehicle around the drop-off area or around the pickup area. The preconfigured information can be sent from the driver's user interface to the ADS vehicle or AVDS, and can be sent at ordinary times or at the handover time when the authority to control the ADS vehicle is transferred to the AVDS.

[0163] Associated with the driver's (user's) preconfiguration according to an embodiment, the driver can enable the AVDS to preconfigure, taking into account a plurality of key decision factors previously set by the user, so that the AVDS can determine whether to park the vehicle around the drop-off area or around the pickup area by considering "illuminance / weather" and "power level". When the AVDS determines that the illumination / weather conditions are not good using the method of determining the terminal by considering illumination / weather, or when the AVDS determines that the power information is not good using the method of determining the terminal by considering power level, the AVDS can decide to park the vehicle around the drop-off area. When the above situation is compared with the situation of only considering "illuminance / weather" or other situations of considering "charging information", some differences may occur in the decision algorithm / result. Associated with the driver's (user's) preconfiguration according to an embodiment, based on the default settings and the driver's selection of each situation, when determining whether to park the vehicle around the drop-off area or around the pickup area, the AVDS can set the operation of considering "illuminance / weather" and "power level" as the default setting. In the case of making the default setting as described above, the default setting can be changed in response to the driver's request. For example, when handing over authority at the drop-off area of ​​Terminal 1, the driver may request that illumination / weather conditions be disregarded when making the above decision through the interface of the ADS vehicle. The related examples and the like may be expanded / modified.

[0164] Figure 7 is a flow chart showing an automatic valet driving method according to an embodiment of the present disclosure.

[0165] Figure 7 Shows Figure 1 and Figure 2 AVDS / Server / Processor, Figure 3 processor, Figure 4 How to use the vehicle etc. Figure 5 and Figure 6 Control automatic valet driving in an environment such as the following.

[0166] The automatic valet driving method according to the embodiment may include identifying a host vehicle (SV) of the AVDS ( S700 ).

[0167] The automatic valet driving method may further include performing an automatic driving operation of the SV based on the parking position of the SV (S701). Figure 7 According to an embodiment, the automatic valet driving method may include identifying a host vehicle (SV) of the AVDS; and performing an autonomous driving operation on the SV. The step of performing the autonomous driving operation on the SV may include determining a parking position of the SV.

[0168] In association with the method of determining the parking terminal based on illumination, the step of determining the parking position of the SV may include determining illumination. Based on illumination, the parking position may be determined. To determine the parking position, an example case in which a driver performs entry and exit procedures at Terminal 1 and Terminal 2 of an airport may be considered. For example, when the driver of the vehicle leaves the country at Terminal 1 and enters the country at Terminal 2, the drop-off area may be the departure hall of Terminal 1, and the pickup area may be the arrival hall of Terminal 2. Terminal 1 may be referred to as the first location. The first location may include the drop-off area. Terminal 2 may be referred to as the second location. The second location may include the pickup area. In order to determine the destination of the parking position of the automatic valet driving, a suitable destination may be determined near the drop-off area of ​​the first location and / or near the pickup area of ​​the second location based on illumination / weather, power level, parking fees, etc. For example, an embodiment may determine a parking lot near the drop-off area or a parking lot with low parking cost in the drop-off area around the first location as the destination. In the area surrounding the pickup area around the second location, a parking lot near the pickup area or a parking lot with low parking cost may be determined as the destination. In this way, the AVDS can control where the SV will be parked. The step of performing the autonomous driving operation may include determining the illumination. If the illumination is less than a threshold value, the parking position may be determined in the drop-off area of ​​the terminal building of the airport based on at least one of the SV power level, the parking fee, and the presence or absence of a parking spot near the drop-off area. If the illumination is not less than the threshold value, the parking position may be determined in the pick-up area of ​​the terminal building of the airport based on at least one of the SV power level, the parking fee, and the presence or absence of a parking spot near the pick-up area.

[0169] In association with the method of determining a parking terminal based on weather information, the method of performing an autonomous driving operation based on an SV parking position may include determining the weather. If the information about the determined weather falls within a specific weather-related range (e.g., a weather condition value indicating severe weather such as snow, rain, fog, etc.), the parking position may be determined in the drop-off area of ​​the airport terminal based on at least one of the SV power level, the parking fee, and the presence or absence of a parking spot near the drop-off area. If the information about the determined weather is not included in the specific weather-related range, the parking position may be determined in the pick-up area of ​​the airport terminal based on at least one of the SV power level, the parking fee, and the presence or absence of a parking spot near the pick-up area.

[0170] Associated with the method of determining the terminal based on the power level threshold, the method of determining the autonomous driving operation based on the SV parking position may include checking the power level. If the power level is less than the threshold, the parking position may be determined as a position around the drop-off area of ​​the terminal of the airport. The threshold may be calculated by at least one of the distance between the pick-up area and the drop-off area of ​​the airport or the emergency preparedness power. If the power level is less than the threshold, and if there is a charging station associated with the route created based on the drop-off area and the pick-up area, the parking position may be determined based on the pick-up area of ​​the driver of the SV. In this case, parking fees, distance, etc. may be additionally considered.

[0171] In association with the method of determining a terminal based on a driver's required value associated with a charge level, a method of determining an autonomous driving operation based on an SV parking position may include checking the charge level. If the charge level is less than the driver's required value, the parking position may be determined as a position around a drop-off area of ​​a terminal of an airport, and the driver's required value may be calculated based on an input signal from the driver. If the charge level is less than the driver's required value, and if there is a charging station associated with a route created based on the drop-off area and the pick-up area, the parking position may be determined based on the pick-up area of ​​the driver of the SV. In this case, parking fees, distance, etc. may be additionally considered.

[0172] In association with the method of determining the terminal based on the driver's pre-configuration, the method of performing the autonomous driving operation based on the SV parking position may include checking the configuration information of the driver of the SV. The parking position may be determined as one of a position around the drop-off area of ​​the airport terminal and a position around the pick-up area of ​​the airport terminal. Here, the configuration information may include at least one of illumination, weather, power level, etc. If the configuration includes at least two of illumination, weather, and power level, the parking position may be determined based on the priority of the configuration.

[0173] The automatic valet driving method may be performed by an automatic valet driving device. Figure 2 and Figure 3 The automatic valet driving device may include a memory and a processor connected to the memory. The processor may identify a host vehicle (SV) of the AVDS, may perform an automatic driving operation of the SV, and may determine a parking position of the SV.

[0174] refer to Figure 4, the vehicle may include an interface for sending information to / receiving information from the AVDS, and a controller for controlling automatic valet driving. The controller may identify the host vehicle (SV) of the AVDS, and may perform an automatic driving operation of the SV based on the SV parking position. The information related to the AVDS may include parking position information, which is determined based on parking lots located around the airport terminal by referring to at least one of illumination, weather, or power level. The information may include not only parking point information related to the drop-off area and the pick-up area determined based on illumination, weather, power level, etc., but also data related to the determined parking point information.

[0175] The maximum speed of the vehicle according to the embodiment may be limited to 30 km / h. The system according to the embodiment has the ability to actually drive at least 30 km / h on public roads, when driving at a lower speed, other road users may get in the way.

[0176] AVDS enables the vehicle to be driven from the drop-off zone to a dedicated destination, such as a parking space at a parking facility or another destination, such as an EV charging station, for each use case. In addition, the SV can also be placed in the pickup zone to facilitate smooth boarding of users and passengers and loading of cargo (if applicable).

[0177] To efficiently allocate parking spaces, AVDS may allow vehicles to be parked in parking spaces while being spaced a predetermined distance of 20 cm or less from each other in all directions. The site operator must provide detailed ODD definitions based on site conditions and constraints.

[0178] Embodiments of the present disclosure may determine an automated parking zone for a vehicle while achieving superior time / cost efficiencies and improving driver satisfaction.

[0179] The embodiments have been described from the perspective of the method and / or the apparatus, and the descriptions of the method and the apparatus may be applied so as to complement each other.

[0180] Although the drawings are described separately for simplicity, new embodiments can be designed by combining the embodiments shown in the various drawings. According to the needs of those skilled in the art, designing a recording medium readable by a computer (on which a program for executing the above-mentioned embodiments is recorded) also falls within the scope of the technical solutions of the attached present disclosure and their equivalents. The device and method according to the embodiment may not be limited by the configuration and method of the above-mentioned embodiments. Various modifications may be made to the embodiments by selectively combining all or some of the embodiments. Although preferred embodiments have been described with reference to the drawings, it will be understood by those skilled in the art that various modifications and changes may be made in the embodiments without departing from the spirit or scope of the present disclosure described in the technical solutions of the attached present disclosure. These modifications are not understood separately from the technical ideas or perspectives of the embodiments.

[0181] Various elements of the device of the embodiment can be implemented by hardware, software, firmware or a combination thereof. Various elements in the embodiment can be implemented by a single chip (e.g., a single hardware circuit). According to an embodiment, the components according to the embodiment can be implemented as separate chips respectively. According to an embodiment, at least one or more of the components of the device according to the embodiment may include one or more processors capable of executing one or more programs. One or more programs may execute any one or more of the operations / methods according to the embodiment, or may include instructions for performing the above operations / methods. The executable instructions for executing the method / operation of the device according to the embodiment may be stored in a non-temporary computer readable medium (computer readable medium, CRM) or other computer program product configured to be executed by one or more processors, or may be stored in a temporary CRM or other computer program product configured to be executed by one or more processors. In addition, the memory according to the embodiment can be used as a concept that covers not only volatile memory (e.g., random access memory (Random Access Memory, RAM)) but also non-volatile memory, flash memory and PROM. In addition, it can also be implemented in the form of a carrier wave (e.g., transmitted via the Internet). In addition, the processor-readable recording medium can be distributed to computer systems connected via a network so that the processor-readable code can be distributedly stored and executed.

[0182] In this specification, the terms " / " and "," should be interpreted as meaning "and / or". For example, the expression "A / B" means "A and / or B". In addition, "A, B" means "A and / or B". In addition, "A / B / C" means "at least one of A, B and / or C". In addition, the term "or" is interpreted as meaning "and / or" in this specification. For example, the expression "A or B" means: 1) only A, 2) only B, or 3) both A and B. In other words, the term "or" used in this document should be interpreted as meaning "additionally or alternatively".

[0183] Terms such as first and second can be used to describe various elements of the embodiments. However, various components according to the embodiments should not be limited by the above terms. These terms are only used to distinguish one element from another element. For example, a first user input signal can be referred to as a second user input signal. Similarly, a second user input signal can be referred to as a first user input signal. The use of these terms should be interpreted as not departing from the scope of various embodiments. The first user input signal and the second user input signal are both user input signals, but unless the context clearly indicates, it does not mean the same user input signal.

[0184] The terms used to describe the embodiments are used for the purpose of describing specific embodiments and are not intended to limit the embodiments. As used in the description of the embodiments and the technical solutions of the present disclosure, the singular forms (a, an and the) include plural forms, unless the context clearly stipulates otherwise. The expression "and / or" is used to include all possible combinations of terms. Terms such as "including" or "having" are intended to indicate the presence of graphics, numbers, steps, elements and / or parts, and should be understood as not excluding the possibility of the presence of additional graphics, numbers, steps, elements and / or parts. As used herein, conditional expressions such as "if" and "when" are not limited to optional situations, and are intended to be interpreted as performing related operations or explaining related definitions according to specific conditions when specific conditions are met.

[0185] The operations according to the embodiments described in this specification may be performed by a sending / receiving device including a memory and / or a processor according to the embodiments. The memory may store a program for processing / controlling the operations according to the embodiments, and the processor may control the various operations described in this specification. The processor may be referred to as a controller, etc. In an embodiment, the operations may be performed by firmware, software, and / or a combination thereof. The firmware, software, and / or a combination thereof may be stored in a processor or a memory.

[0186] The operation according to the above-described embodiment can be performed by a sending device and / or a receiving device according to the embodiment. The sending / receiving device includes a sender / receiver configured to send and receive media data, a memory configured to store instructions (program code, algorithm, flow chart and / or data) of the process according to the embodiment, and a processor configured to control the operation of the sending / receiving device.

[0187] The processor may be referred to as a controller, etc., and may correspond to hardware, software, and / or a combination thereof, for example. The operations according to the above-described embodiments may be performed by a processor. In addition, the processor may be implemented as an encoder / decoder, etc., for the operations of the above-described embodiments.

[0188] As described above, the contents have been described in the best mode for carrying out the embodiment.

[0189] As described above, embodiments may be applied in whole or in part to automated valet driving devices and systems.

[0190] It is obvious to those skilled in the art that various changes or modifications can be made to the embodiments within the scope of the embodiments.

[0191] Thus, the embodiments are intended to cover the modifications and variations of the present disclosure as long as they come within the scope of the technical solutions of the appended present disclosure and their equivalents.

[0192] As apparent from the above description, the method and apparatus according to the embodiments of the present disclosure can effectively perform automatic valet driving of a vehicle.

[0193] The method and apparatus according to the embodiments of the present disclosure can safely perform automatic valet driving of a vehicle.

[0194] The method and apparatus according to the embodiments of the present disclosure can accurately perform automatic valet driving of a vehicle.

[0195] It is obvious to those skilled in the art that various modifications and changes can be made in the present disclosure without departing from the spirit or scope of the present disclosure. Therefore, the present disclosure is intended to cover modifications and changes of the present disclosure as long as they fall within the scope of the technical solutions of the attached present disclosure and their equivalents.

Claims

1. An automatic valet driving method, comprising: Identify the host vehicle of the automated valet system; as well as performing an automated driving operation of the host vehicle based on a parking position of the host vehicle, The parking location is determined based on parking lots around an airport terminal by referring to at least one of illumination, weather and power level.

2. The automated valet driving method of claim 1 , wherein performing the automated driving operation based on the parking position of the host vehicle comprises: Determine the illumination, in when the illumination is below a threshold, determining the parking location within a drop-off area of ​​the airport terminal based on at least one of a charge level of the host vehicle, a parking fee, and a presence or absence of a parking spot near the drop-off area; as well as When the illumination is not less than the threshold, the parking position is determined within a pickup area of ​​the airport terminal based on at least one of the charge level of the host vehicle, the parking fee, and the presence or absence of a parking spot near the pickup area.

3. The automated valet driving method of claim 1 , wherein performing the automated driving operation based on the parking position of the host vehicle comprises: determining said weather, in determining the parking location within a drop-off area of ​​the airport terminal based on at least one of a charge level of the host vehicle, a parking fee, and a presence or absence of a parking spot near the drop-off area when the information regarding the determined weather falls within a specific weather-related range; as well as When the information about the determined weather is not included in a specific weather-related range, a parking location is determined within a pickup area of ​​the airport terminal based on at least one of the charge level of the host vehicle, the parking fee, and the presence or absence of a parking spot near the pickup area.

4. The automated valet driving method of claim 1 , wherein performing the automated driving operation based on the parking position of the host vehicle comprises: Check the battery level, in When the power level is less than a threshold, determining the parking location as a location around a drop-off area of ​​the airport terminal, in The threshold is calculated based on at least one of a distance between the boarding area and the disembarking area or emergency preparedness power; and The parking location is determined based on the pickup zone for a driver of the host vehicle when the charge level is less than the threshold and there is a charging station associated with a route created based on the drop-off zone and the pickup zone.

5. The automated valet driving method of claim 1 , wherein performing the automated driving operation based on the parking position of the host vehicle comprises: Check the battery level, in When the power level is less than the driver's required value, the parking position is determined to be a position around a drop-off area of ​​the airport terminal. in The driver's required value is calculated based on the driver's input signal; as well as The parking position is determined based on the pickup zone of the driver of the host vehicle in a case where the charge level is less than the driver's request value and there is a charging station associated with a route created based on the drop-off zone and the pickup zone.

6. The automated valet driving method of claim 1 , wherein performing the automated driving operation based on the parking position of the host vehicle comprises: checking the configuration of the driver of the host vehicle, in determining the parking location to be any one of a location around a drop-off area of ​​the airport terminal or a location around a pick-up area of ​​the airport terminal, in The driver's configuration includes at least one of the illumination, the weather, and the power level; as well as In a case where the driver's configuration includes at least two of the illumination, the weather, and the power level, the parking position is determined based on a preset priority.

7. An automatic valet driving device, comprising: Memory; as well as one or more processors coupled to the memory, wherein the one or more processors are configured to: Identifying a host vehicle of an automated valet system; and performing an automated driving operation of the host vehicle based on a parking position of the host vehicle, The parking location is determined based on parking lots around an airport terminal by referring to at least one of illumination, weather and power level.

8. The automated valet driving device of claim 7, wherein the one or more processors are configured to: Determine the illumination, in When the illumination is below a threshold, determining the parking location within a drop-off area of ​​the airport terminal based on at least one of a charge level of the host vehicle, a parking fee, and a presence or absence of a parking spot near the drop-off area; and When the illumination is not less than the threshold, the parking position is determined within a pickup area of ​​the airport terminal based on at least one of the charge level of the host vehicle, the parking fee, and the presence or absence of a parking spot near the pickup area.

9. The automated valet driving device of claim 7, wherein the one or more processors are configured to: determining said weather, in determining the parking location within a drop-off area of ​​the airport terminal based on at least one of a charge level of the host vehicle, a parking fee, and the presence or absence of a parking spot near the drop-off area when the information regarding the determined weather falls within a specific weather-related range; and When the information about the determined weather is not included in a specific weather-related range, the parking location is determined within a pickup area of ​​the airport terminal based on at least one of the charge level of the host vehicle, the parking fee, and the presence or absence of a parking spot near the pickup area.

10. A vehicle comprising: an interface configured to send information to / receive information from the automated valet system; as well as a controller configured to control the automated valet driving, The controller is configured as follows: identifying a host vehicle of the automated valet system; and performing an automated driving operation of the host vehicle based on a parking position of the host vehicle, in The information about the automatic valet driving system is determined based on parking lots around an airport terminal by referring to at least one of illumination, weather, and power level.

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