Method for controlling driving of ads vehicle by AVDS and apparatus for controlling driving of ads vehicle by avds

Abstract

An automatic valet driving method according to an embodiment may include the steps of: identifying a target vehicle SV; executing registration for the SV; and performing, by an automatic valet driving system AVDS, an automated vehicle operation for the SV. An automatic valet driving apparatus according to an embodiment may include: a memory; and a processor connected to the memory, where the processor identifies a target vehicle SV, performs registration for the SV, and performs automated vehicle operations for the SV by an automated valet driving system AVDS.

Description

TECHNICAL FIELD

[0001] Embodiments relate to a method and apparatus for performing automatic guest driving. BACKGROUND

[0002] An automatic guest driving system (AVDS) includes a user, a system, and an autonomous vehicle. The AVDS can transfer autonomous driving control authority from the user to the autonomous vehicle. The AVDS can perform guest driving control using an autonomous driving function. The AVD performs guest driving by controlling the vehicle, and requires an efficient control method, a data transmission / reception method, etc. SUMMARY

[0003] TECHNICAL PROBLEM

[0004] Embodiments provide an apparatus and method for efficiently performing automatic guest driving.

[0005] Embodiments provide an automatic guest driving method and apparatus for safely and efficiently performing guest driving by autonomously performing vehicle driving.

[0006] However, embodiments are not limited to the above technical problems, and the scope of the rights of the embodiments can be extended to other technical problems that can be inferred by those skilled in the art based on the entirety described.

[0007] TECHNICAL SOLUTION

[0008] An automatic guest driving method according to an embodiment includes the steps of identifying a target vehicle (SV), performing registration for the SV, and performing autonomous vehicle operation for the SV by an AVDS. An automatic guest driving apparatus according to an embodiment includes a memory and a processor connected to the memory, wherein the processor is configured to identify an SV, perform registration for the SV, and perform autonomous vehicle operation for the SV by the AVDS.

[0009] An automatic guest driving method according to an embodiment includes the steps of identifying an SV, performing registration for the SV, and performing autonomous vehicle operation for the SV by an AVDS, and the step of performing autonomous vehicle operation can include the step of controlling, by the AVDS, a travel start time of the SV based on an expected charging completion time of the vehicle at a target charging station. An automatic guest driving apparatus according to an embodiment includes a memory and a processor connected to the memory, wherein the processor can be configured to identify an SV, perform registration for the SV, perform autonomous vehicle operation for the SV by an AVDS, and control a travel start time of the SV based on an expected charging completion time of the vehicle at a target charging station.

[0010] An automated valet driving method according to an embodiment includes the following steps: identifying an SV; registering the SV; and having an AVDS perform autonomous vehicle operations for the SV, wherein data for the autonomous vehicle operations can be sent and received by the AVDS. An automated valet driving device according to an embodiment includes a memory and a processor connected to the memory, wherein the processor can be configured to identify an SV, register the SV, and have the AVDS perform autonomous vehicle operations for the SV, and data for the autonomous vehicle operations can be sent and received by the AVDS.

[0011] Beneficial effects

[0012] According to the implementation method, the method and apparatus can effectively perform autonomous valet driving.

[0013] According to the implementation method, the method and apparatus can safely perform autonomous valet driving.

[0014] According to the implementation method, the method and apparatus can accurately perform autonomous valet driving. Attached Figure Description

[0015] The accompanying drawings are included to further understand the embodiments, and the drawings, together with the description associated with the embodiments, illustrate the embodiments. For a better understanding of the various embodiments described below, reference should be made to the following description of the embodiments in conjunction with the following drawings, wherein the same reference numerals denote corresponding parts throughout the drawings.

[0016] Figure 1 The basic flow of AVDS according to the implementation method is shown.

[0017] Figure 2 The system structure associated with the method / apparatus according to the embodiment is shown.

[0018] Figure 3 A vehicle control device according to an embodiment is shown.

[0019] Figure 4 The structure of the vehicle according to an embodiment is shown.

[0020] Figure 5 The timeline of a vehicle traveling to an electric vehicle (EV) charging station based on AVDS, according to an embodiment, is shown.

[0021] Figure 6 An automated valet driving method according to an embodiment is shown.

[0022] Figure 7 An automated valet driving method according to other embodiments is shown.

[0023] Figure 8 An automated valet driving method according to other embodiments is shown.

[0024] Figure 9 An AVDS-based EV charging station according to an embodiment is shown.

[0025] Figure 10 An automated valet driving method according to an embodiment is shown. Detailed Implementation

[0026] Preferred embodiments of the implementation will be described in detail, examples of which are illustrated in the accompanying drawings. The following detailed description with reference to the accompanying drawings is intended to explain the preferred embodiments and not merely to illustrate embodiments that can be implemented according to the embodiments. The following detailed description includes details to provide a thorough understanding of the embodiments. However, it will be apparent to those skilled in the art that embodiments can be practiced without these details.

[0027] Most of the terminology used in the embodiments is selected from commonly used terms in the art, but some terms are arbitrarily chosen by the applicant, and their meanings are explained in detail in the following description as needed. Therefore, the embodiments should be understood based on the intended meaning of the terms, rather than just their names or meanings.

[0028] Figure 1 The basic flow of AVDS according to the implementation method is shown.

[0029] Figure 1 The basic process of AVDS is illustrated. AVDS is an extension of the use case of ISO 23374-1 Automated Valet Parking Systems (AVPS) and the Operational Design Domain (ODD). This system facilitates the safe and reliable low-speed Level 4 autonomous driving of vehicles and, based on the experience gained from using AVDS at low speeds in a well-defined ODD, promotes the rapid and smooth introduction of future Level 4 systems to the market.

[0030] AVDS provides low-speed automated valet parking services for car owners. This service is not limited to driverless operation within dedicated parking facilities but also allows for driverless operation in designated outdoor spaces. Essentially, both AVPS and AVDS describe a journey from point A to point B.

[0031] One example use case addressed by AVDS is valet parking in airport terminals. While AVPS describes SAE Level 4 driving in dedicated parking facilities, AVDS extends the drop-off area beyond the parking facility. After the driver leaves the designated local AVDS drop-off area, the system automatically guides the vehicle from public roads to the parking facility entrance and, if necessary, directs it to an empty parking space or other available area. Other use cases addressed by AVDS, for example, could include driving scenarios at charging stations or car washes, or at company premises for logistical purposes.

[0032] AVDS (Autonomous Vehicle Controllers) promises to benefit end users in terms of time savings, stress reduction, and lower vehicle energy consumption, while meeting user expectations for many low-speed mobility functions. AVDS provides an automated charging process for electric vehicles without requiring driver intervention and optimizes the utilization of a limited number of charging stations. AVDS on corporate premises can reduce labor costs through autonomous vehicle control systems.

[0033] To facilitate safe and reliable operation of unmanned AVDS, the requirements specified in this document are based on the performance of the most advanced technologies available at the time of publication. Therefore, this section will be revised in the future as technology advances.

[0034] Implementations include specific technical solutions for communication interfaces (e.g., communication methods and messaging protocols) due to differences in globally available and common technologies (e.g., spectrum allocation). Therefore, implementations are linked to country-level communication interfaces to ensure interoperability.

[0035] AVDS performs L4 autonomous driving of one or more unmanned vehicles at speeds below 30 km / h within a defined operating area.

[0036] The implementation details specify the system framework, operational sequence and communication interface, performance requirements for operation and management functions, environmental conditions within the operating area, and the testing process for verifying the performance requirements of AVDS. AVDS is considered a use case and extension of ISO 23374-1, encompassing indoor and outdoor applications, namely unmanned operation on corporate premises, driving on public roads, and outdoor valet parking (e.g., from airport terminals to parking lots). Furthermore, AVDS supports additional services. Additionally, AVDS is suitable for scenarios involving driving to electric vehicle charging stations or car washes.

[0037] AVDS comprises physically separated subsystems distributed across vehicles, facilities, and user domains. The functionality of AVDS is achieved through the cooperation of these subsystems, which are typically provided by different organizations. Implementation methods include a system architecture that utilizes subsystems and communication interfaces between them at the logical level.

[0038] AVDS manages participants (e.g., AVDS-compatible vehicles, facilities, and users) and provides the necessary interfaces between them. Implementation includes requirements for management functions such as verifying compatibility between vehicles and sites, performing remote assistance and recovery when autonomous driving is not possible, and issuing shutdown commands in response to actions by other facility users.

[0039] In addition, AVDS is intended for use by service providers or facility operators who receive vehicle permissions from a single service recipient.

[0040] The following standard documents can be referenced for implementation methods.

[0041] ISO 23374-1, Intelligent transport systems—Automated valet parking systems (AVPS)—Part 1: System framework, automated driving requirements and communication interfaces

[0042] ISO 20900, Intelligent Transportation Systems—Partially Automated Parking Systems (PAPS)—Performance Requirements and Test Procedures

[0043] ISO 8608 Mechanical vibration—Road profile—Reporting of measurement data

[0044] ISO 19206-2 Road vehicles—Test apparatus for evaluating active safety functions of target vehicles, vulnerable road users and other objects—Part 2: Requirements for pedestrian targets

[0045] ISO 19206-4 Road vehicles—Test apparatus for evaluating active safety features of target vehicles, vulnerable road users and other objects—Part 4: Requirements for cyclist targets.

[0046] The definitions of the terms used in the implementation are as follows.

[0047] AVD Service Provider: An organization that provides AVD to operate autonomous vehicles. AVDS User: An individual service recipient who transfers / restores rights (3.3) to a service provider via AVDS. Authority: The right and ability to perform a specific task within an SV. SV: A vehicle equipped with the AVDS vehicle operation subsystem. Location: A public or private area where AVDS is available. Parking Facility: A public or private parking lot with AVDS functionality. Operating Area: A geographical area within a location that conforms to AVDS and allows for autonomous driving. Drop-off Area: The location within the operating area where a user leaves the SV and transfers authority to the service provider. Pick-up / Drop-off Area: The location within the operating area where the service provider boards and transfers authority to a user for the SV. Parking Space: A destination within the work area where a vehicle can be parked or temporarily stored. Stop Point: A destination within the work area where the SV stops and remains under specific conditions, depending on the use case under consideration. Parking Area: An area within the operating area that includes multiple parking spaces. Destination: The location within the work area where the SV is to be transported. Route: The planned traversal of the SV from its origin to its destination. Path: The planned sequence of route points that the SV will follow. Track: Includes time information and the planned route of the Automated Valet Parking Facility (AVPS). PFE: Physical equipment installed in the parking facility to support AVPS, i.e., Automated Valet Parking Facility Equipment. DPE: Physical equipment installed in the AVDS operating area to support AVDS. Encoded Marker: A physical or logical marker using a unique ID installed on the AVDS facility, detectable by the SV to support location. Anonymous Marker: A physical or logical marker installed on the AVDS facility without a unique ID, detectable by the SV to support localization. Design Speed: The situational speed of the SV designed by the AVDS for operation under given conditions (e.g., traffic conditions and environmental conditions). Design Distance: The designed physical distance from the SV to other facilities, road users, objects, or structures maintained by the AVDS under given conditions when performing autonomous driving. Subsystem: A logical level of an AVDS component including one or more functions. Function: A function of the AVDS that helps process system inputs and translate them into appropriate outputs. (Autonomous Driving Service) Reservation: The basic agreement between the user and the service provider regarding the operation and management of the SV within a specific location. (Automated Valet Parking) Session: The sequence of interactions between a given SV and its registration and pickup. (Automated Valet Driving) Task: A series of interactions in which the AVDS automatically operates the SV from its parking location to its destination for a specific purpose. (Test) Scenario: A description of the complete traversal from the origin to the destination to be performed for testing. (Test) Scenario: A description of a specific event performed for testing, excluding the origin or destination. System Operator (SO): The role of the organization that manages vehicle operations within the AVDS location operating area, including tasks performed automatically or manually by individuals at remote locations.Location (PM): The organization's role in maintaining the work area in an operational and safe state, according to AVDS requirements. Orchestration System (OS): A system that categorizes a session or multiple connected sessions into individual tasks and schedules executable and optimized sequences of such tasks. Value-Added Service System (VA): The role of a service system that provides dedicated service management and communication interfaces for AVDS.

[0048] The abbreviations for the implementation methods are defined as follows.

[0049] ADS (Automatic Driving System), DDT (Dynamic Driving Task), OEDR (Object and Event Detection and Response), ODD (Operation Design Domain), SV (Target Vehicle), FV (Forward Vehicle), PFE (Automated Valet Parking Facility Equipment), DPE (Automated Valet Parking Location Equipment), VMC (Vehicle Motion Control), DSRC (Dedicated Short Range Communication), VRU (Vulnerable Road User), RO (Remote Vehicle Operation (Subsystem)), VO (On-board Vehicle Operation (Subsystem)), UF (User Front-end (Subsystem)), UB (User Back-end (Subsystem)), VB (Vehicle Back-end (Subsystem)), OB (Operator Back-end (Subsystem)), PM (Automated Valet Parking Facility Management (Subsystem)), DM (Automated Valet Parking Location Management (Subsystem)), DM (Value-Added Service System).

[0050] Figure 1 The basic flow of AVDS based on user actions and system responses is shown. Figure 1 This is a representative use case illustrating the process by which a user initially transfers permissions to a service provider.

[0051] Within AVDS, users can request additional services (such as EV charging or car washing), while the SV's permissions remain with the AVDS service provider. The requested service and the earliest pickup time can be transmitted to the system along with the appointment. Although permissions previously belonged to the AVDS service provider, additional services can be requested based on the remaining time slot.

[0052] These sessions, including those with additional services, involve more tasks than AVPS (e.g., in the following order: parking, waiting, charging, parking, waiting, washing, and parking). The orchestration system is responsible for sequencing the requested services and organizing the corresponding tasks within a given timeframe. Additional services are treated as supplementary tasks; the vehicle is driven to the designated location to perform the service and then re-parked at its original location or another location. Re-parking occurs automatically after the requested service (e.g., completing charging and completing a car wash) is completed and a parking space becomes available for the next service or re-parking. No user request is required. For each additional service, vehicle and service compatibility needs to be checked. This includes geometry (e.g., vehicle height, width, length, and charging plug location), electrical (e.g., plug type, charging power, and requested charging level), and other service-specific characteristics.

[0053] refer to Figure 1 ,according to <1> User actions and <2> The system response provides AVDS services. The autonomous driving method and apparatus according to the embodiments may correspond to a terminal for user actions and / or a system for system responses. For the sake of brevity, the autonomous driving method and apparatus according to the embodiments may be referred to as an automated valet driving method / apparatus or a method / apparatus, etc.

[0054] The method / apparatus according to the embodiments receives a request from a user. The method / apparatus according to the embodiments checks available space and compatibility for valet driving. The method / apparatus according to the embodiments identifies the SV (Vehicle Service Provider) and activates the registration process. The method / apparatus according to the embodiments receives autonomous driving permission from the user. The method / apparatus according to the embodiments performs autonomous vehicle operations. For example, operations according to the embodiments may include entering, parking, reparking, and driving to a service location. The method / apparatus according to the embodiments may selectively have a third party perform service actions. For example, charging, car washing, maintenance, etc., may be available. The method / apparatus according to the embodiments may allow the user to request collection. The method / apparatus according to the embodiments may perform autonomous vehicle operations. For example, exiting may be performed. The method / apparatus according to the embodiments may activate the vehicle retrieval process. The method / apparatus according to the embodiments delivers permission to the user.

[0055] Figure 2 The system architecture associated with the method / apparatus according to the embodiment is shown.

[0056] Figure 2 It shows the method used for execution Figure 1 The basic process, methods, and apparatus of AVDS, and the related system structure.

[0057] Figure 2This refers to the logical structure of AVDS subsystems. The implementation of logical subsystems relative to physical components can vary depending on the system design. Furthermore, a subsystem can include multiple physical components. For example, a remote vehicle operation subsystem can include sensors, control devices, and communication devices.

[0058] The system according to the embodiments can execute and include the methods / apparatus according to the embodiments. For example, the AVDS device / system of the methods / apparatus according to the embodiments may include an operator backend (OB), an orchestration system (OS), and / or remote vehicle operation (RO). The AVDS device / system according to the embodiments may correspond to a server. The user terminal of the methods / apparatus according to the embodiments may include a user frontend (UF) and / or a user backend (UB). The vehicle of the methods / apparatus according to the embodiments may include a vehicle backend (VB) and / or on-board vehicle operation (VO). The system of the methods / apparatus according to the embodiments may also include a service system (value-added service system, VA) and / or a system operator (SO). The operation according to the embodiments can be performed by... Figure 2 Each component of the system executes this. Figure 2 Each component can correspond to hardware, software, processor, and / or a combination thereof.

[0059] Figure 3 A vehicle control device according to an embodiment is shown.

[0060] The vehicle control device 3000 according to the embodiment is a device for controlling the operation of a vehicle according to the embodiment. The vehicle control device is sometimes referred to as an autonomous driving integrated controller 600. The vehicle control device may include an interface unit 3001, a processor 3002, and a memory 3003.

[0061] The memory can store instructions, signaling information, data, etc., used to perform operations according to the implementation method. The memory can be connected to the interface unit and the processor to send and receive necessary signals.

[0062] The interface unit can receive signals, information, and data from the vehicle control device and send them to the memory and / or processor. Additionally, signals, information, and data generated from the memory and / or processor can be sent to the vehicle and / or the driver and / or passengers.

[0063] The processor can perform vehicle control operations according to the implementation method based on data and / or instructions stored in memory.

[0064] Figure 3 The vehicle control device can correspond to a device mounted on the vehicle or a terminal device that controls the vehicle.

[0065] Figure 4The structure of the vehicle according to an embodiment is shown.

[0066] The vehicle according to the embodiment can be configured as follows: Figure 4 As shown, autonomous driving can be performed using an autonomous driving control system. The vehicle according to the implementation method may be referred to as an autonomous vehicle, robot, urban air mobility (UAM) aircraft, autonomous driving device, etc.

[0067] The autonomous vehicle 1000 can be implemented around an autonomous driving integrated controller 600, which sends and receives data required for autonomous driving control of the vehicle through a driving information input interface 101, a driving information input interface 201, a passenger output interface 301, and a vehicle control output interface 401. However, in this specification, the autonomous driving integrated controller is sometimes referred to as a controller, processor, or simply controller.

[0068] The autonomous driving integrated controller can acquire driving information through a driving information input interface, in either the vehicle's autonomous driving mode or manual driving mode, based on passenger operations on the user input unit. The user input unit may include a driving mode switch and control panel 120 (e.g., an in-vehicle navigation terminal, a smartphone or tablet carried by the passenger), therefore, the driving information may include the vehicle's driving mode information and navigation information.

[0069] Furthermore, the autonomous driving integrated controller can provide warning information along with driving status information to the driver via the passenger output interface when it determines that a warning is needed to the driver in either the autonomous driving mode or the manual driving mode of the vehicle. This can include a speaker 310 and a display device 320 to output such driving status and warning information both audibly and visually. In this case, the display device can be implemented as the same device as the control panel described above, or it can be implemented as a separate and independent device.

[0070] Furthermore, the autonomous driving integrated controller can send control information for driving control of the vehicle to the sub-control systems applied to the vehicle via the vehicle control output interface, whether the vehicle is in autonomous driving mode or manual driving mode. The sub-control systems for driving control can include at least one of a motor control system, an engine control system, a braking control system, or a steering control system, and the autonomous driving integrated controller can send at least one of these motor control information, engine control information, braking control information, or steering control information as control information to each sub-control system via the vehicle control output interface.

[0071] The autonomous driving integrated controller can obtain driving information based on the driver's operation and driving information indicating the vehicle's driving status through the driving information input interface and the driving information input interface, respectively, and provide driving status information and warning information generated based on the autonomous driving algorithm through the passenger output interface.

[0072] Meanwhile, in order to ensure stable autonomous driving of the vehicle, the autonomous driving device according to the implementation method may include a sensor unit to detect objects around the vehicle, such as surrounding vehicles, pedestrians, roads or fixed facilities (e.g., traffic lights, road signs, traffic signs, building fences, etc.).

[0073] 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. It 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 and 552.

[0074] The implementation relates to a method for driving an ADS vehicle to an EV charging station using AVDS control.

[0075] The implementation methods relate to international standards ISO 23374-1 (AVPS) and ISO 12768-1 (AVDS). The implementation methods relate to automated valet parking systems (hereinafter referred to as "AVPS") or automated valet driving systems (hereinafter referred to as "AVDS"). The implementation methods provide methods and apparatus in which an ADS vehicle (conceptually the same concept as the standard "SV") autonomously drives from a parking location to an EV charging station for charging, and after charging is complete, autonomously drives back to the parking location or proceeds to another location.

[0076] Current international standards ISO 23374-1 or ISO 12768-1 only describe methods / apparatus for moving an ADS vehicle to an EV charging station immediately after the previous EV has finished charging, in response to the completion of charging of the EV. However, considering the charging completion time of the previous EV, current international standards fail to define methods / apparatus for sending the ADS vehicle to the EV charging station before the previous EV has finished charging. Therefore, this embodiment describes a method / apparatus for driving the ADS vehicle ahead of time before the EV has finished charging, taking into account the charging completion time of the previous EV, to achieve efficient and safe automated valet driving. Therefore, this embodiment has the effect of improving the efficiency of charging services provided by EV charging stations because the return time of the ADS vehicle can be advanced.

[0077] The implementation method involves a method for exchanging data with EV charging stations using AVDS.

[0078] The implementation methods relate to international standards ISO 23374-1 (AVPS) and ISO 12768-1 (AVDS). The implementation methods relate to automated valet parking systems (hereinafter referred to as "AVPS") or automated valet driving systems (hereinafter referred to as "AVDS"). The implementation methods provide methods and apparatus in which an ADS vehicle (used as the same concept as the standard "target vehicle (SV)") autonomously drives from a parking location to an EV charging station for charging, and after charging is complete, autonomously drives back to the parking location or proceeds to another location.

[0079] Current international standards ISO 23374-1 or ISO 12768-1 fail to define the data exchanged between AVPS or AVDS and EV charging stations. Therefore, this implementation provides data exchanged between AVPS or AVDS and EV charging stations to achieve efficient and safe automated valet driving. A description of the data used for mutual communication between AVDS and EV charging stations according to this implementation is given below. As a result, this implementation provides an efficient communication data protocol between AVDS and EV charging stations.

[0080] Figure 5 The timeline of an AVDS vehicle traveling to an EV charging station according to an embodiment is shown.

[0081] Figure 5 The execution is shown in detail. Figure 1 The basic workflow of AVDS. Figure 5 The driver corresponds to Figure 1 Users Figure 2 UF and UB, etc. Figure 5 ADS vehicles are vehicles equipped with AVDS, AVDS corresponds to Figure 1 The system Figure 2 OS, OB and RO Figure 3 The processor, etc., and the vehicle corresponds to Figure 2 VB and VO Figure 3 processor, Figure 4 Vehicles, etc.

[0082] While a previously charged vehicle is charging at a charging station (e.g., an EV charging station) (step 1), the AVDS of the method / apparatus according to the embodiment can begin the journey of the ADS vehicle to the charging station ahead of time, before the previously charged vehicle has finished charging (step 3). When the journey of the ADS vehicle to the charging station begins ahead of time, the AVDS of the method / apparatus according to the embodiment can determine the start time of the journey of the ADS vehicle based on the expected charging completion time of the previously charged vehicle (described in detail below).

[0083] The AVDS of the method / apparatus according to the embodiment can determine the charging station (hereinafter, the target charging station) as the destination of the ADS vehicle from at least one charging station (step 2). The AVDS of the method / apparatus according to the embodiment can receive information according to the embodiment from at least one charging station. The AVDS of the method / apparatus according to the embodiment can calculate a reference value according to the embodiment based on the information, and can determine the target charging station from at least one charging station based on the reference value. In this case, at least one charging station can be all charging stations located within a certain distance from the ADS vehicle or all charging stations located in a specific facility (e.g., airport, car rental company site, etc.).

[0084] Furthermore, the AVDS of the method / apparatus according to the embodiment can request information according to the embodiment from at least one charging station when it receives an EV charging reservation request from a user (or driver). Additionally, the AVDS can receive information from at least one charging station that received the request.

[0085] Information based on the implementation method is as follows.

[0086] The information received by the AVDS from at least one charging station according to the method / apparatus of the embodiment may be charging progress or reservation status information for each charging station. For example, the information according to the embodiment may include at least one selected from the group consisting of: information about the expected charging completion time of vehicles currently being charged or scheduled to be charged at each charging station, information about whether the AVDS is used for these vehicles, information about the type of EV charging provided (e.g., AC / DC, AC 5-pin type, etc.), charging rate information, and / or charging time information.

[0087] The reference values ​​according to the implementation method are as follows.

[0088] The AVDS of the method / apparatus according to the embodiments can calculate a reference value based on information received from at least one charging station, and determine a target charging station among the at least one charging station based on the reference value. For example, the reference value according to the embodiments may include at least one selected from the group consisting of the expected return time of the ADS vehicle at each charging station, the expected rate at which charging is completed, and / or the expected time of the ADS vehicle arriving at the charging station. In other words, the AVDS of the method / apparatus according to the embodiments can determine the target charging station of at least one charging station based on the reference value. For example, when the expected return time of the ADS vehicle for each charging station is greater than or equal to the reference value, the AVDS may determine the charging station where it can return at an earlier time as the target charging station.

[0089] In this scenario, the expected return time for the ADS vehicle is as follows.

[0090] The expected return time of an ADS vehicle can be calculated based on at least one selected from the group consisting of the time the ADS vehicle arrives at the target charging station, the expected time required for the ADS vehicle to charge, and / or the expected time required for the ADS vehicle to return. In this case, the time the ADS vehicle arrives at the target charging station can be the charging completion time of a previously charged vehicle, or it can be before the charging completion time of a previously charged vehicle, as described later. Furthermore, the expected return time of the ADS vehicle can be extracted based on traffic information in the corresponding time slot.

[0091] The expected return time for an ADS vehicle can be calculated additionally based on the time it takes for the previously charged vehicle to vacate the EV charging slot (hereinafter referred to as the charging area). More specifically, when the previously charged vehicle is an AVDS vehicle, the vehicle moves immediately, so it is preferable to also consider the time required to vacate the EV charging slot when the previously charged vehicle is a non-AVDS vehicle.

[0092] When the previously charged vehicle was a non-AVDS vehicle, it can be assumed that the previously charged vehicle vacated the EV charging slot after a certain period of time. In this case, the specific time can be the average of data stored at the target charging station (e.g., the time it took for a non-AVDS vehicle to vacate the charging slot previously) or the average of data for a specific vehicle type stored at the target charging station.

[0093] Furthermore, when the previously charged vehicle is a non-AVDS vehicle, the AVDS according to the method / apparatus of the embodiment can exclude the charging station where the previously charged vehicle is located from the target charging station. In other words, when the AVDS determines that the previously charged vehicle located at the target charging station corresponds to a non-AVDS vehicle, it can exclude that charging station from the target charging station and can then determine a new target charging station.

[0094] Furthermore, the AVDS according to the method / apparatus of the embodiment can determine the target charging station based on a priority preset by the user (or driver). In this case, the priority may be, but is not limited to, the expected rate of charging completion, the brand of each charging station, or the illuminance value when the ADS vehicle is moving.

[0095] For example, when the priority is the expected rate at which charging is complete, AVDS can receive information only from charging stations corresponding to a rate range preset by the user (or driver) based on the rate range to determine the target charging station, or it can calculate the expected return time of the ADS vehicle only for charging stations corresponding to the rate range to determine the target charging station. In other words, the final target charging station can be determined from charging stations corresponding to the rate range.

[0096] For example, when the priority is a specific charging station brand, AVDS can determine the target charging station by receiving information only from charging stations corresponding to that specific charging station brand that the user (or driver) has preset based on that brand for various benefits (e.g., card company linkage), or by calculating the expected return time of the ADS vehicle only for charging stations corresponding to that specific brand. In other words, the final target charging station can be determined from charging stations corresponding to a specific brand.

[0097] For example, when the priority is the illuminance value when the AVDS vehicle is moving, AVDS can exclude charging stations from the target charging stations that would cause the vehicle to operate below the illuminance value based on a user's (or driver's) pre-set illuminance value. In other words, when the user (or driver) sets the ADS vehicle to not operate at a lighting level less than or equal to a certain threshold, AVDS can exclude charging stations from the target charging stations that would cause the vehicle to operate at a lighting level less than or equal to the threshold.

[0098] As described above, when the journey of the ADS vehicle to the charging station begins ahead of schedule, the AVDS according to the method / apparatus of the embodiment can determine the start time of the journey of the ADS vehicle based on the expected charging completion time of the previously charged vehicle.

[0099] The start time of travel can be derived based on the expected charging completion time of previously charged vehicles calculated by the target charging station, the distance from the current location of the ADS vehicle to the target charging station calculated by AVDS, and the expected average travel speed or maximum speed limit of the ADS vehicle calculated by AVDS. More specifically, the start time of travel can be derived from the process of calculating the expected return time of the ADS vehicle.

[0100] Furthermore, the expected charging completion time of the previously charged vehicle, which serves as the basis for deriving the driving start time, can be the expected charging completion time when the previously charged vehicle is expected to finish charging, or it can be an earlier time. In other words, when deriving the driving start time of the ADS vehicle, if the arrival time is assumed to be the charging completion time of the previously charged vehicle, the driving start time can be derived based on the expected charging completion time of the previously charged vehicle; and if the arrival time is assumed to be a time before the charging completion time of the previously charged vehicle, the driving start time can be derived based on a time that is a specific time earlier than the expected charging completion time of the previously charged vehicle.

[0101] Upon determining the arrival start time, the AVDS according to the method / apparatus of the embodiment can drive the ADS vehicle to the target charging station (step 3). When the ADS vehicle arrives at the target charging station (operation area or ODD area), the AVDS according to the method / apparatus of the embodiment can send arrival information to the target charging station (step 4). The arrival information may include at least one selected from the group consisting of the ADS vehicle's vehicle type information, the arrival time information at the ADS vehicle's target charging station (operation area or ODD area), and / or the ADS vehicle's EV charging type information.

[0102] Furthermore, the AVDS according to the method / apparatus can drive the ADS vehicle to the waiting parking area when the ADS vehicle arrives at the target charging station before the charging of the previously charged vehicle is completed, and can drive the ADS vehicle to the charging area when the ADS vehicle arrives at the target charging station after the charging of the previously charged vehicle is completed.

[0103] In other words, when the AVDS drives the ADS vehicle ahead of the previously charged vehicle's expected charging completion time, the ADS vehicle can arrive at the target charging station i) before or ii) at the previously charged vehicle's charging completion time. When the AVDS drives the ADS vehicle ahead of the previously charged vehicle's expected charging completion time, the ADS vehicle is generally able to i) arrive at the target charging station before the previously charged vehicle's charging completion time. Therefore, when the ADS vehicle i) arrives at the target charging station before the previously charged vehicle's charging completion time, the ADS vehicle can be driven to the waiting area of ​​the target charging station, and when the ADS vehicle ii) arrives at the target charging station at or after the previously charged vehicle's charging completion time, the ADS vehicle can be driven to the charging area (EV charging slot, etc.) of the target charging station.

[0104] Additionally, when the ADS vehicle is located in the waiting parking area at the time when the charging of a previously charged vehicle has completed, the AVDS according to the method / apparatus of the embodiment can move the ADS vehicle from the waiting parking area to the charging area. Upon determining that the ADS vehicle has left the waiting parking area, the AVDS according to the method / apparatus of the embodiment can send escape information to the target charging station. In this case, the escape information may include at least one selected from the group consisting of: the identification ID of the waiting parking area (e.g., a coded mark, identification number, identification letter, etc.), the ADS vehicle's entry time from the waiting parking area, and / or the ADS vehicle's target charging station management number (the identification number assigned when the ADS vehicle's identification number was assigned upon entering the target charging station).

[0105] Additionally, when it is determined that the ADS vehicle is entering a charging area, the AVDS according to the method / apparatus of the embodiment can send entry information to the target charging station. In this case, the entry information may include at least one selected from the group consisting of the charging area's identification ID (e.g., coded mark, identification number, identification letter, etc.), the ADS vehicle's entry time into the charging area, and / or the ADS vehicle's target charging station management number (the identification number assigned when the ADS vehicle's identification number is assigned upon entering the target charging station). When the ADS vehicle's charging is complete, the AVDS according to the method / apparatus of the embodiment can proceed with payment and return the ADS vehicle to its original location (step 5).

[0106] The charging area of ​​the charging station can provide charging options such as AC type, DC combination type, magnetic induction type, or magnetic resonance type.

[0107] AC type connectors can be at least one of AC 5-pin or AC 7-pin. DC combination type connectors can be at least one of combination 5-pin, combination 7-pin, or DC only (CHAdeMO).

[0108] refer to Figure 2 The automated valet driving method and apparatus according to the embodiments can be executed by an AVDS / server / processor such as an OS, OB, RO, etc. Alternatively, the method and apparatus can be executed by a vehicle (in-vehicle) / processor such as a VB or VO. Furthermore, the method and apparatus can be executed by a user interface (smartphone), such as a UF or UB.

[0109] Figure 6 An automated valet driving method according to an embodiment is shown.

[0110] Figure 6 It shows the result of Figure 1 and Figure 2 AVDS / server / processor Figure 3 processor,Figure 4 vehicles, Figure 4 Vehicle autonomous driving controllers, etc., based on, Figure 5 The timeline in the text describes a method for implementing automated valet driving.

[0111] The automated valet driving method according to the implementation may include step S600 of identifying SV.

[0112] The automated valet driving method according to the implementation may also include step S700 of registering the SV.

[0113] The automated valet driving method according to the implementation may also include step S800, in which the AVDS performs autonomous vehicle operation for the SV.

[0114] Step S800, which performs autonomous vehicle operation for the SV, may include step S810: the AVDS controls the start time of the SV's journey based on the expected completion time of the vehicle's charging at the target charging station.

[0115] refer to Figure 6 The automated valet driving method may include step S600 of identifying the SV, step S700 of registering the SV, and step S800 of the AVDS performing autonomous vehicle operation for the SV, wherein step S800 of the AVDS performing autonomous vehicle operation for the SV may include step S810: the AVDS controls the driving start time of the SV based on the expected charging completion time of the vehicle at the target charging station.

[0116] The following section provides a detailed description of step S800, in which AVDS performs autonomous vehicle operations for the SV.

[0117] Figure 7 An automated valet driving method according to other embodiments is shown.

[0118] More specifically, Figure 7 It shows that according to Figure 6 Step S800 of the automatic valet driving method of the implementation method is to perform autonomous vehicle operation for SV.

[0119] Step S800, which performs autonomous vehicle operation for the SV, may also include step S820: in response to the arrival of the driving start time, the AVDS starts driving the SV to the target charging station.

[0120] Step S800, which performs autonomous vehicle operation for the SV, may also include step S830: when the SV arrives at the target charging station before the vehicle's charging is complete, the AVDS drives the SV to the waiting parking area, or when the SV arrives at the target charging station after the vehicle's charging is complete, the AVDS drives the SV to the charging area.

[0121] Step S800, which performs autonomous vehicle operation for the SV, may also include step S840: when the SV is driven to a waiting parking area, when the SV moves from the waiting parking area to the charging area, the AVDS sends departure information to the target charging station.

[0122] Step S800, which performs autonomous vehicle operation for the SV, may also include step S850: when the SV enters the charging area, the AVDS sends entry information to the target charging station.

[0123] Reference Figure 7 The step S800 for performing autonomous vehicle operation for the SV may also include step S820: in response to the arrival of the driving start time, the AVDS starts driving the SV to the target charging station, and the driving start time may be derived by the ADS based on the expected charging completion time or a time before the expected charging completion time.

[0124] Step S800, which performs autonomous vehicle operation for the SV, may also include step S830: when the SV arrives at the target charging station before the vehicle's charging is complete, the AVDS drives the SV to the waiting parking area, or when the SV arrives at the target charging station after the vehicle's charging is complete, the AVDS drives the SV to the charging area.

[0125] Step S800, which performs autonomous vehicle operation for the SV, may further include step S840: when the SV is driven to a waiting parking area, when the SV moves from the waiting parking area to the charging area, the AVDS sends departure information to the target charging station. The departure information may include at least one of the identification ID of the waiting parking area, the time when the SV entered the waiting parking area, or the management number of the target charging station of the SV.

[0126] Step S800, which performs autonomous vehicle operation for the SV, may also include step S850: when the SV enters the charging area, the AVDS sends entry information to the target charging station. The entry information may include at least one of the following: the identification ID of the charging area, the time when the SV entered the charging area, or the management number of the target charging station of the SV.

[0127] The following is a detailed description of step S810, which controls the start time of SV's journey.

[0128] Figure 8 An automated valet driving method according to other embodiments is shown.

[0129] More specifically, Figure 8 It shows that according to Figure 7 Step S810 of the implementation method for controlling the start time of SV driving in the automatic valet driving method.

[0130] Step S810, which controls the start time of SV's journey, may include step S811: receiving information from at least one charging station by AVDS.

[0131] Step S810, which controls the start time of SV's journey, may include step S812: AVDS calculates a reference value based on the information to determine the target charging station in at least one charging station.

[0132] Step S810, which controls the start time of SV's journey, may include step S813: when the expected return time of SV corresponds to a reference value, determining whether the vehicle corresponds to an AVDS vehicle.

[0133] Step S810, which controls the start time of SV's journey, may include step S814: the AVDS determines at least one target charging station based on the user's priority information.

[0134] refer to Figure 8 Step S810, which controls the start time of SV's driving, may include step S811: receiving information from at least one charging station by AVDS, which may include at least one of the following: charging time information, charging rate information, charging type information, or AVDS usage information of the vehicle being charged or reversed at at least one charging station for charging.

[0135] At least one charging station may include at least one charging station located at a certain distance from SV or at least one charging station located in a specific facility.

[0136] Step S810, which controls the start time of SV's journey, may further include step S812: AVDS calculates a reference value based on information to determine a target charging station among at least one charging stations. The reference value may be at least one of the expected return time of SV, the expected charging rate of SV, or the expected time for SV to arrive at at least one charging station.

[0137] Step S810, which controls the start time of the SV's journey, may further include step S813: when the expected return time of the SV corresponds to a reference value, determining whether the vehicle corresponds to an AVDS vehicle. When the vehicle corresponds to an AVDS vehicle, the AVDS can derive the expected return time of the SV based on at least one of the time the SV arrives at the target charging station, the expected charging time of the SV, or the return time of the SV. Alternatively, when the vehicle does not correspond to an AVDS vehicle, the AVDS additionally derives the expected return time of the SV based on a specific time required for the vehicle to complete charging, which may be an average of data stored at the target charging station or an average of data for a specific vehicle model stored at the target charging station.

[0138] Alternatively, when the vehicle does not correspond to an AVDS vehicle, AVDS can identify any one of at least one charging station other than the target charging station as a new target charging station. In other words, when the vehicle is a non-AVDS vehicle, the charging station where the vehicle is located can be excluded from the list of target charging stations. In other words, if it is determined that the vehicle located at the target charging station is a non-AVDS vehicle, that charging station can be excluded from the list of target charging stations, and a new target charging station can be identified again.

[0139] Step S810, which controls the start time of SV's travel, may also include step S814: AVDS determines at least one target charging station based on the user's priority information, where the priority information may be one of charging rate information, brand information of the charging station, or illuminance information when the SV is moving.

[0140] The automated valet driving method is executed by the automated valet driving device. (Reference) Figure 2 and Figure 3 The device includes a memory and a processor connected to the memory, wherein the processor can identify the SV, perform registration for the SV, perform autonomous vehicle operations for the SV by AVDS, and control the SV's driving start time based on the expected charging completion time of the vehicle at the target charging station.

[0141] refer to Figure 4 According to the embodiment, the vehicle controlled by automated valet driving includes an interface configured to exchange information with AVDS and a controller configured to control automated valet driving. The controller can identify the SV, perform check-in for the SV, allow AVDS to perform autonomous vehicle operations for the SV, and control the SV's driving start time based on the expected charging completion time at the target charging station. That is, the vehicle's driving can be controlled based on the driving start time determined by AVDS.

[0142] Due to the implementation method, the expected charging completion time of previously charged vehicles at EV charging stations can be effectively defined. By sending ADS vehicles to EV charging stations before the previously charged vehicles have completed charging based on this expected charging completion time, it is possible to advance the return time of ADS vehicles.

[0143] Figure 9 An AVDS-based EV charging station according to an embodiment is shown.

[0144] Figure 9 Detailed illustrations of the methods used for execution Figure 1 The basic process of AVDS is associated with methods and apparatus. Figure 2 The system structure. Figure 9 The driver corresponds to Figure 1 Users Figure 2 UF and UB, etc.Figure 9 The AVDS (server) corresponds to Figure 1 The system Figure 2 OS, OB and RO Figure 3 Processors, etc. Figure 9 The vehicle corresponds to Figure 2 VB and VO Figure 3 processor, Figure 4 Vehicles, etc.

[0145] Figure 9 The system includes users, AVDS systems (e.g., servers), parking areas, and / or charging stations.

[0146] The AVDS of the method / apparatus according to the embodiment can receive an EV charging request from a user (or driver) (step 1). The AVDS of the method / apparatus according to the embodiment can receive EV charging-related information from the user. The AVDS of the method / apparatus according to the embodiment can request EV charging-related information from the user and receive a response. The AVDS of the method / apparatus according to the embodiment can receive authorization (transfer) from the user.

[0147] The AVDS of the method / apparatus according to the embodiment can send data according to the embodiment (described in detail below) to a charging station (e.g., an EV charging station) (step 2). The AVDS of the method / apparatus according to the embodiment can receive data from the charging station (step 3). The data sent and received between the charging station and the AVDS of the method / apparatus according to the embodiment may include EV-related information and / or AVDS information.

[0148] The AVDS of the method / apparatus according to the embodiment can control the ADS vehicle, causing the ADS vehicle to depart for the EV charging station (step 4). Under the control of the AVDS of the method / apparatus according to the embodiment, the vehicle can autonomously move from the parking area to the charging station area. Under the control of the AVDS of the method / apparatus according to the embodiment, the ADS vehicle can arrive at the EV charging station and begin charging (step 5). When the ADS vehicle is fully charged, the ADS vehicle can return to the parking area and perform autonomous parking under the control of the AVDS of the method / apparatus according to the embodiment (step 6). The order of steps 2 and 3 can be varied. Furthermore, the order of steps 1 to 6 is an example, and the detailed steps can be changed according to the AVDS process.

[0149] The data transmitted and received between the AVDS and the EV charging station according to the implementation method are as follows.

[0150] When ADS vehicles are allowed to use EV charging stations based on AVDS, AVDS needs to exchange critical data with the EV charging station through mutual communication. This corresponds to "Sending data to the EV charging station (step 2)" and "Receiving data from the EV charging station (step 3)". The implementation includes a data system in which AVDS and the EV charging station communicate with each other.

[0151] The method / apparatus according to the implementation includes the step of sending data by AVDS. For example, this is an example of performing step 2 first.

[0152] The data sent from AVDS to the EV charging station (data transmission to the EV charging station, step 2) includes the following.

[0153] As a data transmission mechanism, AVDS can send information to EV charging stations including at least one of the following: ADS vehicle information, EV charging reservation information, ADS vehicle departure information, or payment plan type information.

[0154] As a data request, AVDS can generate information including at least one of EV charging type availability information request, EV charging reservation availability information request, or EV charging rate information request, and send the information to the EV charging station.

[0155] The data sent from the EV charging station to the AVDS (receiving data from the EV charging station, step 3) includes the following.

[0156] As a data transmission (response), AVDS can receive information from the EV charging station including at least one of EV charging type availability information, EV charging reservation availability information, or EV charging rate information.

[0157] The method / apparatus according to the embodiment includes the step of sending data from an EV charging station to an AVDS. For example, this is an example of performing step 3 first. For example, the data transmission process of the EV charging station can be performed periodically.

[0158] The data sent from the EV charging station to the AVDS (receiving data from the EV charging station, step 2) includes the following.

[0159] As a data transmission, AVDS can receive data from the EV charging station including at least one of the following: (currently) available EV charging type information, EV charging reservation status information, or EV charging rate information.

[0160] The data sent from AVDS to the EV charging station (data transmission to the EV charging station, step 2) includes the following.

[0161] As a data transmission (confirmation), AVDS can generate data including at least one of ADS vehicle information, EV charging reservation confirmation information, expected ADS vehicle arrival time information, or payment method / payment information, and send the data to the EV charging station.

[0162] According to the apparatus / method of the implementation, for example, AVDS (see Figure 1 and Figure 2 ) or according to the processor configured to control AVDS (see Figure 3 The AVDS can send data first. In other words, the data sent by the AVDS to the EV charging station (data transmission to the EV charging station, step 2) is as follows.

[0163] The following section will describe the initial data transmission process of AVDS.

[0164] The data sent from AVDS to the EV charging station (data transmission to the EV charging station, step 2) is as follows.

[0165] The ADS vehicle information according to the implementation method is as follows.

[0166] For example, ADS vehicle information may optionally include at least one of the following groups: vehicle type information, vehicle size information (optional), EV charging type information available to the ADS vehicle, or EV charging pass information for the ADS vehicle (whether prepaid or not).

[0167] Vehicle type information may include at least one selected from a group consisting of ADS vehicle manufacturer information, vehicle model information, or vehicle year information.

[0168] Since vehicle dimensions can be derived based on vehicle type information according to the implementation, vehicle dimension information does not necessarily need to be signaled. However, depending on the circumstances, vehicle dimension information may be necessary, so the implementation does not exclude examples where vehicle dimension information is included in the ADS vehicle information. Vehicle dimension information according to the implementation may include, for example, at least one selected from the group consisting of vehicle length (length of the vehicle's foremost and rearmost points), vehicle width (width of the vehicle's left and right sides), or vehicle height (height of the vehicle's top on the ground).

[0169] For example, the EV charging type information available to ADS vehicles may include at least one selected from the group consisting of: conductive charging / inductive charging instruction information, AC type / DC-combination type instruction information during conductive charging, connection plug instruction information in AC type, connection plug instruction in DC-combination type, and detailed charging type instruction information during inductive charging (e.g., magnetic induction method and magnetic resonance method).

[0170] The EV charging pass information (whether prepaid or not) for an ADS vehicle may include at least one selected from the group consisting of information indicating whether an EV charging pass is held, the EV charging pass target (e.g., corporate H EV charging pass, etc.), and the pass type (e.g., fast / slow charging pass, conductive / inductive charging pass, AC / DC charging pass, etc.).

[0171] The data structure of ADS vehicle information according to the implementation method is as follows.

[0172] [Table 1]

[0173]

[0174] The data structure for ADS vehicle EV charging type information is as follows.

[0175] [Table 2]

[0176]

[0177] According to the implementation, data signaling for lower-level data that is not selected from the upper-level data can be omitted (e.g., left blank) (e.g., when the EV charging type is determined to be conductive, induction is not selected), or the unselected data can be indicated by a signal (e.g., 3. No need to determine).

[0178] The EV charging reservation information according to the implementation method is as follows.

[0179] EV charging reservation information involves the driver's (user's) desired reservation time (range) information. In the first example, it may only include i) the desired reservation time (range) information, or in the second example, it may include at least one selected from a group consisting of charging type priority information and desired reservation time (range) information for each priority.

[0180] In the first example, the expected appointment time (range) information may include the start time and end time information of the expected time range.

[0181] In the second example, charging type priority information may include, for instance, a conductive AC type AC5 pin as the first priority, an inductive magnetic induction pin as the second priority, and a conductive DC type combination 5 pin as the third priority (i.e., based on user preferences, charging time, etc.). For example, the expected reservation time (range) information for each priority may include a time range A as the first priority, a time range B as the second priority, and a time range C as the third priority (here, time range A...). B Time Range C (Time Range).

[0182] The ADS vehicle departure information according to the implementation method is as follows.

[0183] ADS vehicle departure information may include information about the time when the ADS vehicle can depart (as well as information about the departure location of the ADS vehicle).

[0184] The payment plan type information according to the implementation method is as follows.

[0185] Payment plan type information indicates the means of paying for EV charging costs. Examples of payment methods may include EV-based payments (e.g., ETCS, UWB payments, vehicle license plate recognition payments, etc.), credit cards, various social networking payments (e.g., N payments, etc.).

[0186] The method / apparatus according to the implementation can request availability information for EV charging type.

[0187] The EV charging type provides availability information indicating whether the EV charging station offers the EV charging type applicable to ADS vehicles.

[0188] As a first example, when at least one EV charging type is provided, Y (yes) can be notified by a signal, and when no EV charging type is provided, N (no) can be notified by a signal.

[0189] As a second example, it could include all applicable EV charging types (e.g., signaling notification can apply conductive AC5 pins and inductive magnetic induction to the ADS vehicle).

[0190] The method / apparatus according to the implementation can request EV charging reservation availability information.

[0191] Regarding the first example of the EV charging reservation information above, the EV charging reservation availability information may include Y if reservations are possible within the desired time frame, and N if reservations are not possible within the desired time frame.

[0192] Regarding the second example of the EV charging reservation information mentioned above, the EV charging reservation availability information may include at least one selected from the group consisting of first priority reservation availability information, second priority reservation availability information, and third priority reservation availability information.

[0193] The method / apparatus according to the implementation can request EV charging rate information.

[0194] EV charging rate information can indicate, for example, the charging rate per 1 kWh.

[0195] The following is an example of data collection sent from AVDS to EV charging stations (excluding ADS vehicle information).

[0196] [Table 3]

[0197]

[0198] If AVDS sends data first, the data sent by the EV charging station to AVDS (receiving data from the EV charging station, step 3) is as follows.

[0199] The method / apparatus according to the implementation can receive EV charging type to provide availability information.

[0200] The EV charging type provides availability information indicating whether the EV charging station offers the EV charging type applicable to ADS vehicles.

[0201] As a first example, when at least one EV charging type is provided, Y can be notified by a signal, and when no EV charging type is provided, N can be notified by a signal.

[0202] As a second example, it can include all applicable EV charging types (e.g., signaling the conductive AC5 pin and inductive magnetic induction can be applied to ADS vehicles).

[0203] The method / apparatus according to the implementation can receive EV charging reservation availability information.

[0204] Regarding the first example of the EV charging reservation information above, the EV charging reservation availability information may include Y if reservations are possible within the desired time frame, and N if reservations are not possible within the desired time frame.

[0205] Regarding the second example of the EV charging reservation information mentioned above, the EV charging reservation availability information may include at least one selected from the group consisting of first priority reservation availability information, second priority reservation availability information, and third priority reservation availability information.

[0206] The method / apparatus according to the implementation can receive EV charging rate information.

[0207] EV charging rate information can indicate, for example, the charging rate per 1 kWh.

[0208] The following text will describe the scenario in which the EV charging station first (or periodically) sends data.

[0209] The data sent from the EV charging station to AVDS (receiving data from the EV charging station, step 3) is as follows.

[0210] The (currently) available EV charging type information according to the implementation method is as follows.

[0211] The currently available EV charging type information may include all EV charging types that can currently be provided by EV charging stations (e.g., signals that can be provided with conductive AC5 pins and inductive magnetic induction).

[0212] The EV charging reservation status information according to the implementation method is as follows.

[0213] The EV charging reservation status information includes the reservation status of EV chargers at EV charging stations by time.

[0214] The EV charging rate information according to the implementation method is as follows.

[0215] EV charging rate information can indicate, for example, the charging rate per 1 kWh.

[0216] When the EV charging station sends data first (or periodically), the data sent by AVDS to the EV charging station (data transmission to the EV charging station, step 2) is as follows.

[0217] The EV charging reservation confirmation information according to the implementation method is as follows.

[0218] EV charging reservation confirmation information may include at least one selected from a group consisting of a confirmation / non-confirmation indicator (Y / N), the selected EV charging type information, and the selected reservation time period information.

[0219] The expected arrival time information of the ADS vehicle according to the implementation method is as follows.

[0220] The ADS vehicle's expected arrival time information indicates the time that AVDS expects the ADS to arrive at the EV charging station.

[0221] AVDS can use its navigation function to calculate the expected arrival time of an ADS vehicle based on the vehicle's departure time and departure location.

[0222] The payment method / payment information according to the implementation method is as follows.

[0223] Payment method information can indicate the payment method used for payment or prepayment confirmation after the driver (user) arrives at the EV charging station and charges the EV.

[0224] Payment information can represent the information required to make a payment using the aforementioned payment methods (e.g., ID information, credit card number, vehicle license plate number, etc.).

[0225] The ADS vehicle information according to the implementation method is understood by referring to the ADS vehicle information, the data structure of the ADS vehicle information, and / or the data structure of the EV charging type information available to the ADS vehicle.

[0226] refer toFigure 2 The automated valet driving method and apparatus according to the embodiments can be executed by AVDS / server / processor (such as OS, OB, RO, etc.). Furthermore, the automated valet driving method and apparatus can be executed by a vehicle (onboard) / processor such as VB and VO. Additionally, the automated valet driving method and apparatus can be executed via a user interface (smartphone) such as UF or UB.

[0227] Figure 10 An automated valet driving method according to an embodiment is shown.

[0228] Figure 10 The embodiment shown is composed of Figure 1 and Figure 2 AVDS / server / processor Figure 3 processor, Figure 4 vehicles, Figure 9 Methods for implementing automated valet driving, such as AVDS servers.

[0229] The automated valet driving method according to the implementation may include step S1000 of identifying SV.

[0230] The automated valet driving method according to the implementation may also include step S1001 of registering the SV.

[0231] The automated valet driving method according to the embodiment may further include step S1002: the AVDS performs autonomous vehicle operation for the SV. To perform autonomous vehicle operation, data is exchanged between the AVDS and the charging station according to the embodiment.

[0232] refer to Figure 10 The automated valet driving method may include identifying the SV, registering the SV, and having the AVDS perform autonomous vehicle operations on the SV, wherein the data used for autonomous vehicle operations can be sent and received by the AVDS.

[0233] When AVDS sends data first, the data sent by AVDS to the EV charging station (data transmission to the EV charging station) may include at least one of the following: vehicle information for SV, charging reservation information, vehicle departure information, payment plan type information, charging type availability information, charging reservation availability information, or charging rate information. The term "signal" can refer to data, information, etc. The steps for sending and receiving signals between AVDS and the charging station describe the case where AVDS sends data (signals) first.

[0234] When AVDS transmits data first, the data received by AVDS regarding the data transmitted from the EV charging station to AVDS (data received from the EV charging station) may include at least one of charging type availability information, charging reservation availability information, or charging rate information. The term "signal" may refer individually to the first signal, the second signal, etc.

[0235] When the EV charging station sends data first (or periodically), the data received by the AVDS (data received from the EV charging station) may include at least one of the currently available charging type information or charging rate information.

[0236] When the EV charging station sends data first (or periodically), the data sent by the AVDS to the EV charging station (data transmission to the EV charging station) may include at least one of the following: charging reservation confirmation information, expected vehicle arrival time information, payment method information, payment information, or vehicle information.

[0237] The automated valet driving method is executed by the automated valet driving device. (Reference) Figure 2 and Figure 3 The device includes a memory and a processor connected to the memory. The processor identifies the SV, performs registration for the SV, and performs autonomous vehicle operations for the SV by the AVDS, wherein data for autonomous vehicle operations can be sent and received by the AVDS.

[0238] refer to Figure 4 The vehicle controlled by the automated valet driver may include an interface configured to exchange information with AVDS and a controller configured to control the automated valet driver (e.g., Figure 4 The controller 600 performs autonomous vehicle operations for the SV using AVDS and performs automated valet driving based on data sent and received by AVDS. In other words, the vehicle can be controlled based on information and control from AVDS.

[0239] When requested by the driver, AVDS can automatically drive the vehicle from a publicly available drop-off area in a mixed traffic environment to a charging station. After charging is completed, the vehicle can return to the parking space when the driver is not present.

[0240] Because the distance to and from the charging station is short and will not disturb other road users, the maximum speed is limited to 10 km / h.

[0241] When using a robot for conductive charging, AVDS can park the vehicle at the charging station with the charging socket facing the robot's charging plug. The vehicle's orientation must be less than ±5° relative to the centerline of the marked charging area, and the outline of the parked vehicle must be completely within the inner boundary of the parking space markings.

[0242] In the case of inductive charging, the system can park the vehicle in the charging space with a horizontal distance of ±5 cm between the center of the stationary coil and the center of the coil of the vehicle protruding from the road surface. The outline of the parked vehicle is completely within the inner boundary of the parking space markings. Data according to the embodiment is provided by additional devices to the charging station (e.g., additional sensors or communication for the charging current optimization process) to achieve this tolerance.

[0243] Due to the implementation method, the communication data protocol between AVDS and EV charging stations can be effectively defined. This protocol enables users, AVDS, charging stations, vehicles, and others to perform automated valet driving accurately, safely, quickly, and efficiently.

[0244] Implementations have been described in accordance with the method and / or apparatus, and the descriptions of the method and apparatus may be used to complement each other.

[0245] For ease of explanation, each of the accompanying drawings has been described separately. However, new embodiments can be achieved by combining the embodiments described in the various drawings. Furthermore, as needed by those skilled in the art, computer-readable recording media containing programs for executing the aforementioned embodiments are also within the scope of the embodiments. The apparatus and methods according to the embodiments are not limited to the configurations and methods of the above embodiments, and all or some embodiments can be selectively combined, allowing for various modifications. Although preferred embodiments have been shown and described, the embodiments are not limited to the specific embodiments described above. It is apparent to those skilled in the art that various modifications can be made without departing from the spirit of the embodiments claimed in the claims, and these modifications should not be understood solely from the technical concept or viewpoint of the embodiments.

[0246] Various components of the apparatus according to the embodiments can be implemented using hardware, software, firmware, or a combination thereof. Various components of the embodiments can be implemented using a single chip, such as a hardware circuit. According to the embodiments, components can be implemented using separate chips. According to the embodiments, at least one component of the apparatus according to the embodiments can include one or more processors capable of executing one or more programs, and the one or more programs can execute one or more of the operations / methods according to the embodiments, or can include instructions for performing the operations / methods. Executable instructions for performing the methods / operations of the apparatus according to the embodiments can be stored in a non-transitory CRM or other computer program product configured to be executed by one or more processors, or can be stored in a transient CRM or other computer program product configured to be executed by one or more processors. Furthermore, the term "memory" according to the embodiments can be used as a concept that includes not only volatile memory (e.g., RAM, etc.) but also all non-volatile memory, flash memory, PROM, etc. Furthermore, memory can also be implemented in the form of a carrier wave, for example, transmitted via the Internet. Furthermore, processor-readable recording media are distributed across computer systems connected to a network, allowing processor-readable code to be stored and executed in a distributed manner.

[0247] In this document, " / " and "," are interpreted as "and / or". For example, "A / B" is interpreted as "A and / or B", and "A, B" is interpreted as "A and / or B". Additionally, "A / B / C" means "at least one of A, B, and / or C". Furthermore, "A, B, and C" also means "at least one of A, B, and / or C". Additionally, in this document, "or" is interpreted as "and / or". For example, "A or B" can mean 1) only "A", 2) only "B", or 3) "A and B". In other words, "or" in this document can mean "alternatively or alternatively".

[0248] Terms such as "first," "second," etc., can be used to describe various components of the embodiments. However, the interpretation of the various components according to the embodiments should not be limited by the above terms. These terms are only used to distinguish one component from another. 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 without departing from the scope of the various embodiments. Both a first user input signal and a second user input signal are user input signals, but they do not mean the same user input signal unless explicitly indicated in the context.

[0249] The terms used to describe embodiments are for the purpose of describing a particular embodiment and are not intended to limit the embodiments. As used in the description of embodiments and claims, the singular is intended to include the plural unless the context clearly specifies otherwise. The expression “and / or” is used in the sense of all possible combinations between the included terms. The expression “comprising” describes the presence of features, numbers, steps, elements, and / or components and does not imply the absence of additional features, numbers, steps, elements, and / or components. Conditional expressions used to describe embodiments, such as “in the case of,” “when,” etc., are not limited to optional cases. Conditional expressions are intended to perform a related action or interpret a related definition in response to a specific condition when that condition is met.

[0250] Furthermore, the operations according to the embodiments described in this document can be performed by a transmitting and receiving device including a memory and / or processor depending on the embodiment. The memory may store programs for processing / control operations according to the embodiment, and the processor may control the various operations described in this document. The processor may be referred to as a controller, etc. In the embodiments, the operations may be performed by firmware, software, and / or combinations thereof, and the firmware, software, and / or combinations thereof may be stored in the processor or stored in the memory.

[0251] Meanwhile, the operations according to the above embodiments can be performed by the transmitting and / or receiving devices according to the embodiments. The transmitting and receiving devices may include a transmitting and receiving unit for transmitting and receiving media data, a memory for storing instructions (program code, algorithms, flowcharts, and / or data) for processing according to the embodiments, and a processor for controlling the operation of the transmitting and receiving devices.

[0252] The processor may be referred to as a controller, etc., and may correspond to, for example, hardware, software, and / or a combination thereof. The operations according to the above embodiments can be performed by the processor. Furthermore, the processor may be implemented as an encoder / decoder, etc., for the operations of the above embodiments.

[0253] As described above, the relevant content has been described in the best mode for implementing the embodiments.

[0254] As described above, the implementation methods can be applied in whole or in part to automated valet driving devices and systems.

[0255] The method / apparatus according to the embodiments can effectively perform automated valet driving of vehicles.

[0256] The method / apparatus according to the implementation method can safely perform automated valet driving of a vehicle.

[0257] The method / apparatus according to the implementation method can accurately perform automated valet driving of vehicles.

[0258] Those skilled in the art can make various changes or modifications to the implementation methods within the scope of the implementation methods.

[0259] Without departing from the scope of the claims and their equivalents, implementations may include changes / modifications.

Claims

1. An automated valet driving method, the automated valet driving method comprising the following steps: Identify the target vehicle (SV); Perform registration for the SV; as well as The Automated Valet Driving System (AVDS) performs autonomous vehicle operations for the SV.

2. The automatic valet driving method according to claim 1, wherein, The steps for performing autonomous vehicle operation include the following: the AVDS controls the driving start time of the SV based on the expected charging completion time of the vehicle at the target charging station.

3. The automated valet driving method according to claim 2, wherein, The control steps include the following: The AVDS receives information from at least one charging station; and The AVDS calculates a reference value based on the information to determine the target charging station from the at least one charging station. The information includes at least one of the following: charging time information, charging rate information, charging type information, or AVDS usage information for vehicles that are being charged or have been reserved for charging at the at least one charging station. The reference value is at least one of the expected return time of the SV, the expected charging rate of the SV, or the expected time for the SV to arrive at the at least one charging station.

4. The automated valet driving method according to claim 3, wherein, The control steps also include the following steps: when the expected return time of the SV corresponds to the reference value, determining whether the vehicle corresponds to an AVDS vehicle, and When the vehicle corresponds to the AVDS vehicle, the AVDS derives the expected return time of the SV based on at least one of the time the SV arrives at the target charging station, the expected charging time of the SV, or the return time of the SV.

5. The automated valet driving method according to claim 3, wherein, The control steps further include the following steps: the AVDS determines the target charging station from the at least one charging station based on the user's priority information, and The priority information is one of the following: charging rate information, charging station brand information, or illuminance information when the SV moves.

6. The automated valet driving method according to claim 2, wherein, The steps for performing autonomous vehicle operation also include the following: when the driving start time is reached, the AVDS initiates driving the SV to the target charging station, and The driving start time is derived by the AVDS based on the expected charging completion time or a time prior to the expected charging completion time.

7. The automated valet driving method according to claim 6, wherein, The steps for performing autonomous vehicle operation also include the following: when the SV arrives at the target charging station before the vehicle's charging is complete, the AVDS drives the SV to the waiting parking area, or when the SV arrives at the target charging station after the vehicle's charging is complete, the AVDS drives the SV to the charging area.

8. The automated valet driving method according to claim 7, wherein, The steps for performing autonomous vehicle operation also include the following: When the SV is driven to the waiting parking area, when the SV moves from the waiting parking area to the charging area, the AVDS sends departure information to the target charging station; and When the SV enters the charging area, the AVDS sends entry information to the target charging station. The departure information includes at least one of the following: the identification ID of the waiting parking area, the time the SV entered the waiting parking area, or the management number of the SV's target charging station. The entry information includes at least one of the following: the identification ID of the charging area, the time when the SV entered the charging area, or the management number of the target charging station of the SV.

9. The automated valet driving method according to claim 1, wherein, The AVDS sends and receives data for the operation of the autonomous vehicle.

10. The automated valet driving method according to claim 9, wherein, The data sent by the AVDS includes at least one of the following for the SV: vehicle information, charging reservation information, vehicle departure information, payment plan type information, charging type availability information, charging reservation availability information, or charging rate information. The data received by the AVDS includes at least one of charging type availability information, charging reservation availability information, or charging rate information.

11. The automated valet driving method according to claim 9, wherein, The data received by the AVDS includes at least one of the following: currently available charging type information, charging reservation information, or charging rate information. The data sent by the AVDS includes at least one of the following: charging reservation confirmation information, expected vehicle arrival time information, payment method information, payment information, or vehicle information.

12. An automated valet driving device, the automated valet driving device comprising: Memory; as well as The processor is connected to the memory. The processor is configured as follows: Identify SV, Perform registration for the SV, and AVDS performs autonomous vehicle operations for the SV.

13. The automatic valet driving device according to claim 11, wherein, The autonomous vehicle operation performed by the AVDS controls the start time of the SV's journey based on the expected charging completion time of the vehicle at the target charging station, or the AVDS sends and receives data for the autonomous vehicle operation.

14. A vehicle, the vehicle comprising: An interface configured to exchange information with AVDS; as well as The controller is configured to control automated valet driving. The controller is configured as follows: The AVDS performs autonomous vehicle operations.

15. The vehicle according to claim 14, wherein, The autonomous vehicle operation performed by the AVDS controls the start time of driving based on the expected charging completion time of the vehicle at the target charging station, or performs automated valet driving through data sent and received by the AVDS.

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