System and method for supporting automated valet parking, and infrastructure and vehicle for the same

Abstract

To provide a system and a method for supporting automated valet parking, and an infrastructure and a vehicle for the same.SOLUTION: According to the invention, by using communication between an infrastructure and a vehicle, the vehicle moves without a driver and autonomously parks in a vacant parking space. Also, according to the invention, by using the communication between the infrastructure and the vehicle, the vehicle moves from the parking space to a pick-up region without the driver.SELECTED DRAWING: Figure 9

Description

[Technical field]

[0001] The present invention relates to an automated valet parking assistance system and method, and an infrastructure and a vehicle therefor. According to the present invention, the vehicle moves without a driver and parks autonomously in an available parking space using communication between the infrastructure and the vehicle. Also according to the present invention, the vehicle moves without a driver from the parking space to a pick-up area using communication between the infrastructure and the vehicle. [Background technology]

[0002] There are many social issues related to parking that modern society faces. First, there is a high possibility of accidents occurring in parking lots. Also, when parking at facilities such as large marts and department stores, a lot of time and energy is consumed for parking. Also, when entering a parking lot, a lot of time and energy is consumed for finding a vacant parking space. Also, even after parking, drivers who have finished their work at the facility must go back to the parked vehicle, which is troublesome, and in some cases, they may forget where the vehicle is parked. Summary of the Invention [Problem to be solved by the invention]

[0003] The present invention is intended to solve the above-mentioned problems, and the automated valet parking of the present invention allows the driver to park the vehicle in a drop-off area, get out of the vehicle, and the vehicle autonomously moves to a vacant parking space to complete parking.

[0004] In addition, when the driver calls for the automated valet parking according to the present invention, the parked vehicle autonomously moves to a pick-up area, where the driver gets into the vehicle and drives out of the facility. [Means for solving the problem]

[0005] A method for performing automated valet parking according to an embodiment of the present invention includes a step of a vehicle establishing communication with an infrastructure, a step of the vehicle receiving a target position and a guide route from the infrastructure after the communication is established, a step of the vehicle performing autonomous driving based on the guide route, and a step of terminating automated valet parking after the vehicle is parked at the target position.

[0006] A method for performing automated valet parking according to an embodiment of the present invention includes the steps of: an infrastructure establishing communication with a vehicle; after the communication is established, the infrastructure transmitting a target position and a guide route to the vehicle; and, after the vehicle parks at the target position based on the guide route, the infrastructure receiving a notification of completion of automated valet parking from the vehicle. [Brief description of the drawings]

[0007] [Figure 1] FIG. 1 is a diagram showing an automated valet parking system according to an embodiment of the present invention. [Diagram 2] 1 is a diagram showing an automatic valet parking device according to an embodiment of the present invention. [Diagram 3] 1 is a conceptual diagram for explaining an automated valet parking system and method according to an embodiment of the present invention. [Figure 4a] FIG. 2 is a block diagram for explaining the operations performed by the infrastructure and the vehicle performing the automated valet parking according to the present invention. [Figure 4b] FIG. 2 is a block diagram for explaining the operations performed by the infrastructure and the vehicle performing the automated valet parking according to the present invention. [Diagram 5] FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle performing automatic valet parking according to the present invention. [Figure 6]FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle performing automatic valet parking according to the present invention. [Figure 7] FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle performing automatic valet parking according to the present invention. [Figure 8] FIG. 1 is a diagram showing an automated valet parking system according to an embodiment of the present invention. [Figure 9] FIG. 2 is a diagram showing a data flow of the automated valet parking system according to the embodiment of the present invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0008] Hereinafter, the embodiments of the present invention will be described in detail with reference to the accompanying drawings. The configuration of the present invention and the effects thereof will be clearly understood from the following detailed description. Prior to the detailed description of the present invention, the same components are denoted by the same reference numerals as much as possible even if they are shown in different drawings, and detailed descriptions of known configurations will be omitted if it is determined that the gist of the present invention may be obscured.

[0009] Prior to the detailed description of the present invention, the terms used in the present invention can be defined as follows.

[0010] A driver is a person who uses a vehicle and receives the services of the automated valet parking system.

[0011] Driving authority is the authority to perform vehicle operations, such as steering, accelerating, braking, shifting gears, turning the vehicle on / off, and locking / unlocking the vehicle doors.

[0012] The vehicle is a vehicle that has a function for performing automatic valet parking.

[0013] The control center is a facility for monitoring the vehicles in the parking facility, and can determine the target position, guide route, permitted driving area, and enable the vehicles to transmit driving start commands or emergency stop commands.

[0014] The infrastructure may be a parking facility, sensors located within the parking facility, or the parking gates and a control center that controls the vehicles.

[0015] The target position may refer to an available parking space where the vehicle will park, or, in the situation where the vehicle leaves the parking space, the target position may refer to the area where the driver will board, i.e., the pick-up area.

[0016] The guide route refers to the route that the vehicle will take to reach the target position, for example, from the drop-off area to an available space in a situation where parking is being performed. For example, the guide route may be in the form of go forward 50m, turn left at the corner, etc.

[0017] Driving route refers to the route followed by a vehicle.

[0018] A permitted driving area refers to an area in which driving is permitted, such as a driving path within a parking lot. A permitted driving area can be defined by bulkheads, parked vehicles, or parking lines.

[0019] 1 shows an automated valet parking system according to an embodiment of the present invention. Referring to FIG. 1, the automated valet parking system 10 may include an infrastructure 100 and an automated valet parking device 200.

[0020] As described above, infrastructure 100 may refer to an apparatus or system for operating, managing, and executing an automated valet parking system. For example, infrastructure 100 may be a parking facility. In some embodiments, infrastructure 100 may include sensors, communication devices, alarm devices, display devices, and servers that control the aforementioned devices. Infrastructure may also refer to parking gates and a control center that controls vehicles.

[0021] The automated valet parking device 200 may refer to a vehicle that performs automated valet parking. In some embodiments, the automated valet parking device 200 may refer to a component or a collection of components included in a vehicle that can perform automated valet parking.

[0022] 2 shows an automatic valet parking device according to an embodiment of the present invention. Referring to FIG. 2, the automatic valet parking device (e.g., a vehicle 200) may include a sensor unit 210, a communication unit 220, a determination unit 230, and a vehicle control unit 240.

[0023] The sensor unit 210 may detect the environment around the automated valet parking device 200. Depending on the embodiment, the sensor unit 210 may measure a distance between the automated valet parking device 200 and a specific object, or may detect an object around the automated valet parking device 200. For example, the sensor unit 210 may include at least one of an ultrasonic sensor, a radar sensor, a lidar sensor, a camera, an infrared sensor, a heat detection sensor, and a millimeter wave sensor.

[0024] The sensor unit 210 can transmit data generated based on the detection result to the communication unit 220 or the vehicle control unit 240.

[0025] The communication unit 220 can exchange data with the infrastructure 100 . Such communication is called vehicle to infrastructure (V2I) communication. The communication unit 220 can also exchange data with other vehicles. Such communication is called vehicle to vehicle (V2V) communication. The V2I communication and the V2V communication are also integrated and called vehicle to everything (V2X) communication. In some embodiments, the communication unit 220 can receive data (e.g., a target position, a guide route, a driving route, or an instruction, etc.) transmitted from the infrastructure 100, process the received data, and transmit it to the determination unit 230. The communication unit 220 can also transmit data generated from the vehicle 200 to the infrastructure 100. In some embodiments, the communication unit 220 can exchange data with a terminal of a driver of the vehicle 200.

[0026] The communication unit 220 can transmit or receive data using a wireless communication protocol or a wired communication protocol. For example, the wireless communication protocol may be a wireless LAN (WLAN), a Digital Living Network Alliance (DLNA), a Wireless Broadband (Wibro), a World Interoperability for Microwave Access (WiMAX), a Global System for Mobile communication (GSM), a Code Division Multi Access (CDMA), a Code Division Multi Access 2000 (CDMA2000), an Enhanced Voice-Data Optimized or Enhanced Voice-Data Only (EV-DO), a Wideband CDMA (WCDMA), a High Speed ​​Downlink Packet Access (HSDPA), a High Speed ​​Uplink Packet Access (HSUPA), an IEEE802.16, a Long Term Evolution (LTE), a Long Term Evolution-Advanced (LTE-A), a Wireless Mobile Broadband Service (WMBS), Bluetooth, a Radio Frequency Identification (RFID), an Infrared Data (IRD), or a combination of the above. These include IrDA (Interface Design Association), UWB (Ultra-Wideband), ZigBee, Near Field Communication (NFC), Ultra Sound Communication (USC), Visible Light Communication (VLC), Wi-Fi, and Wi-Fi Direct.In addition, the wired communication protocol may include a wired LAN (Local Area Network), a wired WAN (Wide Area Network), Power Line Communication (PLC), USB communication, Ethernet, serial communication, optical / coaxial cable, etc., but is not limited to these, and may include any protocol that can provide a communication environment with other devices.

[0027] The determination unit 230 may control the overall operation of the vehicle 200. The determination unit 230 may control the vehicle control unit 240 based on the data transmitted via the sensor unit 210 and the communication unit 220. Depending on the embodiment, the determination unit 230 may generate a control signal for controlling the vehicle control unit 240 based on the data transmitted from the infrastructure 100, and transmit the generated control signal to the vehicle control unit 240.

[0028] That is, the determination unit 230 may refer to a device capable of performing a series of calculations or decisions for controlling the vehicle 200 and performing automated valet parking. For example, the determination unit 230 may be a processor in which a program including instructions for performing automated valet parking is executed.

[0029] The vehicle control unit 240 may control the vehicle 200 under the control of the determination unit 230. In some embodiments, the vehicle control unit 240 may control the vehicle 200 in response to a control signal transmitted from the determination unit 230. For example, the vehicle control unit 240 may control the movement, stopping, restarting movement, steering, acceleration, deceleration, parking, flashing, warning, etc. of the vehicle 200.

[0030] That is, it should be understood that the vehicle control unit 240 is capable of performing all of the functions for controlling the operation of the vehicle 200 described herein.

[0031] On the other hand, without any separate explanation, it should be understood that the operation or function of the vehicle 200 described in this specification is appropriately performed by a combination of at least one of the sensor unit 210, the communication unit 220, the judgment unit 230, and the vehicle control unit 240.

[0032] FIG. 3 is a conceptual diagram for explaining an automated valet parking system and method according to an embodiment of the present invention.

[0033] Referring to FIG. 3, at (1), the driver drives the vehicle into the parking lot and moves the vehicle into the drop-off area.

[0034] In (2), the driver reaches the drop-off area, gets off the vehicle, and driving authority is transferred from the driver to the infrastructure.

[0035] In (3), the infrastructure searches for an available parking space among multiple parking spaces in the parking lot, and determines an available parking space suitable for parking the vehicle. The infrastructure also determines a guide route to the determined available parking space. Once the parking space and guide route are determined, the vehicle autonomously drives along the guide route, and after reaching the perimeter of the parking space, performs automatic valet parking into the parking space.

[0036] At (4), the driver decides to leave his vehicle and moves to the pick-up area.

[0037] In (5), the infrastructure determines the proper target position. For example, the appropriate target position may be an available parking space among multiple parking spaces present in the pickup area, and the infrastructure determines a guide route to the determined target position. Once the target position and the guide route are determined, the vehicle autonomously drives along the guide route and, after reaching the periphery of the parking space, performs automatic valet parking into the parking space.

[0038] At (6), the driver reaches the pickup area and driving authority is transferred from the infrastructure to the driver, who drives the vehicle to the parking lot exit.

[0039] 4a and 4b are block diagrams for explaining the operations of the infrastructure and the vehicle performing the automated valet parking according to the present invention.

[0040] In (1), the operation of the infrastructure and the vehicle for starting the automatic valet parking is described. The infrastructure recognizes the driver and the vehicle, and determines whether they are the proper driver and the proper vehicle. For example, the infrastructure uses the ID and password input by the driver to determine whether the driver is the proper driver. The infrastructure also uses the vehicle's unique number to determine whether the vehicle is the proper vehicle. The vehicle can turn the engine on / off. The vehicle can also turn the power on / off. For example, a state in which the engine of the vehicle is turned off but the power is on may be an ACC on (accessory on) state. The engine on / off and the power on / off of the vehicle can be performed by receiving a command from the infrastructure, or the vehicle can perform the same autonomously without a command from the infrastructure. The vehicle can lock / unlock the doors. The doors of the vehicle can be locked and unlocked by receiving a command from the infrastructure, or the vehicle can perform the same autonomously without a command from the infrastructure. When the vehicle proceeds to the automatic parking stage, it is preferable to lock the doors of the vehicle. In addition, the driving authority of the vehicle is transmitted from the vehicle to the infrastructure. Driving authority is authority to perform vehicle operations, including steering, accelerating, braking, gear shifting, turning on / off the vehicle start, and locking / unlocking the vehicle doors. By transmitting vehicle authority to the infrastructure, the infrastructure can fully control the vehicle while the vehicle is undergoing automated valet parking. This reduces the possibility of unintended vehicle operations and prevents vehicle accidents in the parking lot. However, depending on the case, some of the driving authority may remain in the vehicle without being transmitted from the vehicle to the infrastructure, or some of the driving authority may be held jointly by the vehicle and the infrastructure.For example, a braking operation must be performed when an emergency occurs while automatic valet parking is being performed, and it is preferable for the vehicle to brake by itself without infrastructure control when the vehicle detects a risk using an ADAS sensor or the like. Also, the vehicle determines whether or not a human or animal is present inside the vehicle. This is to eliminate risks that may occur when a human or animal is present inside the vehicle, since it takes a considerable amount of time from the completion of automatic valet parking according to the present invention until the vehicle departs. Whether or not a human or animal is present inside the vehicle can be determined using a sensor mounted on the vehicle.

[0041] In (2), the target position, guide route, and driving route can be determined. The target position, the guide route, and the driving route may be determined by the infrastructure, and the target position, the guide route, and the driving route determined by the infrastructure may be communicated from the infrastructure to the vehicle.

[0042] In (3), the vehicle may be autonomously driven in the parking lot. The autonomous driving of the vehicle includes moving, stopping, and restarting the movement of the vehicle. The autonomous driving of the vehicle may be performed by the vehicle in response to a command transmitted from the infrastructure to the vehicle. Alternatively, the autonomous driving of the vehicle may be performed autonomously by the vehicle without depending on a command from the infrastructure. The vehicle may autonomously drive to a target position along a guide route within an allowed driving area. In the case of autonomous driving without a driver, the vehicle may be controlled to drive at less than a predetermined speed. Such a predetermined speed may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle. Also, the vehicle may be controlled to drive without deviating from a given guide route in autonomous driving along the guide route by a predetermined error. Such a predetermined error may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle. Also, the vehicle may follow a predetermined minimum turning radius when the vehicle must make a curve in autonomous driving along the guide route. Such a predetermined minimum turning radius may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle. The vehicle may be controlled to not exceed a predetermined maximum acceleration as it travels autonomously along the guided route, such predetermined maximum acceleration being a value communicated to the vehicle from the infrastructure or a value stored in the vehicle.

[0043] In (4), position measurement may be performed. The object of position measurement may be a vehicle being parked, an obstacle present in the parking lot, or a vehicle that has already been parked. The infrastructure may measure the position of the vehicle or the obstacle and store the vehicle's position in a database. The infrastructure may identify and detect the vehicle or the obstacle and monitor the safety of each of the multiple vehicles being parked. The infrastructure may also monitor the operation of the vehicle that has reached the target position and is being parked and transmit instructions. The vehicle may measure its own position. The vehicle may transmit its measured position to the infrastructure. The error of the vehicle's position measured by the vehicle is within a predetermined error range, and the predetermined error may be a value determined by the infrastructure. The vehicle may sense the surroundings to measure the position of an obstacle present, and may transmit the measured position of the obstacle to the infrastructure. The frequency used for communication between the vehicle and the infrastructure may be a predetermined frequency.

[0044] In (5), autonomous parking can be performed. Autonomous parking refers to a vehicle that has reached the vicinity of a target position autonomously parking in an available parking space. The vehicle can perform autonomous parking by using a distance sensor mounted on the vehicle to detect obstacles or vehicles parked nearby. The distance sensor mounted on the vehicle can include, for example, an ultrasonic sensor, a radar sensor, a lidar sensor, and a camera.

[0045] In (6), emergency braking of the vehicle is performed. The emergency braking of the vehicle can be performed based on a command transmitted from the infrastructure, or the vehicle can perform it by itself when it detects an obstacle. The infrastructure can command the vehicle to perform emergency braking when it determines that the surroundings of the vehicle are unsafe. After the vehicle performs emergency braking, if the infrastructure determines that the surroundings of the vehicle are safe, it can command the vehicle to resume autonomous driving or autonomous parking. The vehicle can perform emergency braking when it detects an obstacle. The vehicle can also report the execution of emergency braking to the infrastructure, and can report the type or position of the obstacle that causes the emergency braking to the infrastructure. The magnitude of deceleration when the vehicle performs emergency braking can be according to a predetermined deceleration value, and the predetermined deceleration value can be a value determined by the infrastructure or a value stored in the vehicle. The predetermined deceleration value can be determined according to the type of obstacle, the position of the obstacle, and the distance between the vehicle and the obstacle. The vehicle can resume autonomous driving or autonomous parking when it receives a command to resume autonomous driving or autonomous parking from the infrastructure. Or, the vehicle can resume autonomous driving or autonomous parking when it determines that the surrounding obstacle has been removed. The vehicle can restart autonomous driving or parking, and report the removal of nearby obstacles to the infrastructure.

[0046] In (7), the automated valet parking ends. After the vehicle completes autonomous driving and parking, the infrastructure transmits a controlled release command to the vehicle. The vehicle can turn the engine on / off or the power on / off by receiving a command from the infrastructure or independent of the command from the infrastructure. The vehicle can also lock the vehicle doors by receiving a command from the infrastructure or independent of the command from the infrastructure. The vehicle can also execute the parking brake of the vehicle by receiving a command from the infrastructure or independent of the command from the infrastructure.

[0047] In (8), an error control may be performed. The error control includes a communication error between the vehicle and the infrastructure or a mechanical error of the vehicle. The infrastructure may monitor communication with the vehicle to detect whether a communication error occurs. The vehicle may monitor communication with the infrastructure to detect whether a communication error occurs. The vehicle may monitor the operating state of an accessory including a sensor mounted on the vehicle to detect whether a mechanical error occurs. The vehicle may detect whether a human or an animal is present inside the vehicle, and may perform emergency braking when determining that a human or an animal is present inside the vehicle. After performing emergency braking, the vehicle may receive a command from the infrastructure to resume autonomous parking or autonomous driving. Or, the vehicle may determine whether the cause of performing emergency braking has been removed, and resume autonomous parking or autonomous driving if the cause has been removed.

[0048] FIG. 5 is a diagram for explaining communication between an infrastructure and a vehicle performing automatic valet parking according to the present invention.

[0049] In (1), vehicle qualification information can be communicated from the vehicle to the infrastructure. The vehicle qualification information includes an identifier that allows each vehicle to be distinguished from other vehicles. For example, the vehicle qualification information can be the vehicle's unique license plate number. The vehicle qualification information can be communicated in a step where the vehicle enters the parking lot and automated valet parking begins (see (1) in FIG. 4a).

[0050] In (2), an automatic valet parking preparation command can be transmitted from the infrastructure to the vehicle. The automatic valet parking preparation command can be transmitted before autonomous driving begins.

[0051] In (3), vehicle information can be transmitted from the vehicle to the infrastructure. The vehicle information can include vehicle status information and vehicle location information. The vehicle status information can include whether the vehicle is moving, whether the vehicle is stopped, or whether the vehicle is in an emergency stop state. The vehicle information can be transmitted periodically and at a specific frequency (e.g., once per second, i.e., 1 Hz). Thus, the vehicle information can be used as a parameter for determining whether a communication error has occurred between the vehicle and the infrastructure. For example, if the vehicle information does not reach the infrastructure at a scheduled time according to the communication frequency, the infrastructure can determine that an error has occurred in the communication between the vehicle and the infrastructure.

[0052] In (4), a vehicle information response can be transmitted from the infrastructure to the vehicle. The vehicle information response is a response to the vehicle information in (3) and can be transmitted at the same frequency as the vehicle information. Therefore, the vehicle information response can be used as a parameter for determining whether or not a communication error has occurred between the vehicle and the infrastructure. For example, if the vehicle information response does not reach the vehicle at a scheduled time according to the communication frequency, the vehicle can determine that an error has occurred in the communication between the vehicle and the infrastructure.

[0053] In (5), the target position and the guide route can be transmitted from the infrastructure to the vehicle. The transmission of the target position and the guide route can be performed before or after the automatic valet parking start command is transmitted from the infrastructure to the vehicle.

[0054] In (6), a driving boundary can be transmitted from the infrastructure to the vehicle. The driving boundary can include landmarks (e.g., parking lines, center lines, road boundary lines) that mark the boundaries of the permitted driving area. The transmission of the driving boundary can be performed after the automatic valet parking preparation command is transmitted. Such a driving boundary can be transmitted from the infrastructure to the vehicle in the form of a parking map.

[0055] In (7), an automated valet parking start command can be transmitted from the infrastructure to the vehicle. The automated valet parking start command can be transmitted after the guide route and driving boundary have been transmitted. Also, the command can be transmitted after emergency braking of the vehicle has been performed and safety around the vehicle has been confirmed.

[0056] In (8), an emergency braking command can be transmitted from the infrastructure to the vehicle.

[0057] In (9), a vehicle control release command can be transmitted from the infrastructure to the vehicle. The transmission of the vehicle control release command can occur after the vehicle has completed autonomous parking in the parking space.

[0058] FIG. 6 is a diagram for explaining communication between an infrastructure 100 and a vehicle 200 performing automatic valet parking according to the present invention.

[0059] In (1), the vehicle 200 enters the passage of the parking lot and stops at a stop position. Such a stop position may be an entrance gate of the parking lot. The vehicle 200 reports to the infrastructure 100 that it has arrived at the stop position. In (2), the infrastructure 100 authenticates the size and license plate number of the vehicle 200. In (3), the infrastructure 100 transmits an authentication ID request to the vehicle 200, and in (4), the vehicle 200 transmits an authentication ID to the infrastructure 100. In (5), the infrastructure 100 determines whether or not to approve the entry into the parking lot based on the received authentication ID. In (6), the infrastructure 100 informs the vehicle 200 whether or not the entry into the parking lot is approved based on the received authentication ID. For example, the infrastructure 100 can display approval or disapproval via monitors arranged around the stop position. If the entry into the parking lot is approved, the driver of the vehicle 200 moves the vehicle 200 to a drop-off area. At (7), the driver turns off the start of vehicle 200, gets out of vehicle 200, locks the doors of vehicle 200, and then leaves the drop-off area. At (8), authority of vehicle 200 is transferred from vehicle 200 (or the driver) to infrastructure 100. And at (9), infrastructure 100 notifies the driver that authority of vehicle 200 has been transferred. Such notification can be transmitted to the driver's smart device via a mobile communication network.

[0060] FIG. 7 is a diagram for explaining communication between an infrastructure 100 and a vehicle 200 performing automatic valet parking according to the present invention.

[0061] In (1), the infrastructure 100 may transmit a request to the vehicle 200 to instruct the vehicle 200 to turn on the start of the vehicle 200. In (2), the vehicle 200 may turn on the start of the vehicle 200 in response to the request from the infrastructure 100. In (3), the vehicle 200 may transmit a response of the start on to the infrastructure 100 after turning on the start. In (4), the infrastructure 100 may transmit a request to the vehicle 200 to instruct the vehicle 200 to prepare for automatic valet parking. In (5), the vehicle 200 may transmit a response to the infrastructure 100 to instruct the vehicle 200 to prepare for automatic valet parking in response to the request for automatic valet parking preparation, indicating whether the automatic valet parking is prepared (OK) or not (NG). In (6), the infrastructure 100 may transmit a synchronization request to the vehicle 200. The synchronization request may be a request to instruct synchronization between the time of the infrastructure 100 and the time of the vehicle 200. For example, the synchronization request may include information regarding the time of the infrastructure 100. In (7), the vehicle 200 may synchronize in response to the synchronization request, and in (8), transmit a response to the infrastructure 100 indicating that the synchronization is complete. For example, multiple synchronization requests may be transmitted from the infrastructure 100 to the vehicle 200 before synchronization between the infrastructure 100 and the vehicle 200 is completed. In (9), the infrastructure 100 may transmit parking map information to the vehicle 200. Such parking map information may include landmark information. In (10), the vehicle 200 may estimate (or calculate) a location of the vehicle 200 based on the transmitted landmark information, and the vehicle 200 may transmit the estimated location of the vehicle 200 to the infrastructure 100. In (11), the infrastructure 100 may determine a target position (parking position). In (12), the infrastructure 100 may transmit information about an allowed driving area to the vehicle 200. For example, the infrastructure 100 may transmit a boundary of the allowed driving area to the vehicle 200.At (13), infrastructure 100 can transmit the guide route to vehicle 200. At (14), infrastructure 100 can transmit an instruction to vehicle 200 to initiate automated valet parking.

[0062] 1 to 8, the automated valet parking system 20 may include an infrastructure 300 and an automated valet parking device 400.

[0063] The infrastructure 300 and the automated valet parking device 400 shown in Fig. 8 can perform the functions of the infrastructure 100 and the automated valet parking device 200 shown in Fig. 1. Therefore, the following will describe additional functions (or differences).

[0064] Infrastructure 300, as previously described, may refer to an apparatus or system for operating, managing, and executing an automated valet parking system.

[0065] In some embodiments, infrastructure 300 may include a processor 310 , a camera 320 , a communication device 330 , and a display device 340 .

[0066] The processor 310 may control the overall operation of the infrastructure 300. In some embodiments, the processor 310 may control the operation of the camera 320, the communication device 330, and the display device 340.

[0067] The processor 310 may be a device having a computing function. That is, the processor 310 may perform various calculations and decisions necessary to perform the operations or functions of the infrastructure 300 described herein, and output based on the calculation results to each component of the infrastructure 300. For example, the processor 310 may include a central processing unit (CPU), a micro controller unit (MCU), a micro processor unit (MPU), a floating point unit (FPU), a digital signal processor (DSP), a programmable logic circuit, a field-programmable gate array (FPGA), or a programmable logic array (PLA).

[0068] The camera 320 can capture images of the automated valet parking device 400 and its surroundings and generate an image based on the captured images. In some embodiments, the camera 320 can refer to any device that can capture an image of a subject and generate a corresponding image or video, such as a still image camera, a video camera, a closed circuit television (CCTV), a camcorder, a camera mounted on a mobile device, a camera mounted on a vehicle, a camera mounted on a laptop computer, or a camera mounted on a computer.

[0069] The infrastructure 300 can obtain a vehicle ID for identifying the automated valet parking device 400 using the camera 320. In some embodiments, the camera 320 can photograph a license plate attached to the automated valet parking device 400, generate an image based on the photographing result, and transmit the generated image to the processor 310. The processor 310 can obtain a vehicle ID for identifying the automated valet parking device 400 using the image of the automated valet parking device 400. The vehicle ID can be the vehicle number of the automated valet parking device 400. Also, the image generated by the camera 320 itself can be analyzed, and a vehicle ID for identifying the automated valet parking device 400 can be obtained based on the analysis result.

[0070] The communication device 330 can communicate with the automated valet parking device 400. In some embodiments, the communication device 330 can exchange data with the automated valet parking device 400.

[0071] As described below, the communication device 330 can transmit the vehicle ID acquired by the processor 310 to the automated valet parking device 400 and can receive a communication ID for establishing communication from the automated valet parking device 400. For example, the vehicle ID and the communication ID can be transmitted based on a Bluetooth communication method.

[0072] The communication ID may be an identifier used to communicate with the automated valet parking device 400. For example, the communication ID may be, but is not limited to, a media access control address (MAC), an internet protocol (IP) address, a connection ID (CID), or an international mobile equipment identity (IMEI) of the automated valet parking device 400, and may be any data for identifying the automated valet parking device 400 on a communication network.

[0073] In some embodiments, the communication device 330 may include a Bluetooth communication module and may transmit the vehicle ID according to a broadcast mode (or advertise mode) of Bluetooth communication. The broadcast mode refers to a mode in which a signal is transmitted to the surroundings without specifying a receiving target. For example, the Bluetooth communication module of the communication device 330 may be initially in an idle state, and may be changed from the idle state to a power-on state in response to a vehicle ID transmitted from the processor 310 or the camera 320, and may transmit the vehicle ID in the power-on state. That is, the Bluetooth module of the communication device 330 may recognize the vehicle ID as an interrupt.

[0074] Thereafter, the communication device 330 may receive a communication ID from the automatic valet parking device 400 that has received the vehicle ID, according to a connection mode of Bluetooth communication. The connection mode refers to a mode in which a signal is transmitted after a receiver is designated.

[0075] The communication device 330 may establish communication with the automatic valet parking device 400 using the received communication ID. In some embodiments, after communication between the infrastructure 300 and the automatic valet parking device 400 is established, the communication device 330 may receive driving authority of the automatic valet parking device 400 and transmit a target position and a guide route to the automatic valet parking device 400.

[0076] The display device 340 refers to a device capable of visually or audibly outputting data. For example, the display device 340 may include a display device, a speaker, or a lamp.

[0077] The display device 340 can display the data transmitted from the processor 310 . Depending on the embodiment, the display device 340 may display information to be provided to the driver of the automated valet parking device 400. For example, the display device 340 may display a message inquiring to the driver of the automated valet parking device 400 whether or not to perform automated valet parking.

[0078] The display device 340 can be located in the infrastructure 100 .

[0079] FIG. 9 shows a data flow of the automated valet parking system according to the embodiment of the present invention. 1 to 9, the infrastructure 300 photographs the automated valet parking device 400, and the automated valet parking device 400 can recognize the license plate of the vehicle to obtain the vehicle ID (S110).

[0080] The infrastructure 300 may transmit the vehicle ID to the automated valet parking device 400 via the communication device 330 (S120). In some embodiments, the infrastructure 300 may transmit the vehicle ID in a broadcast mode of Bluetooth communication.

[0081] The automated valet parking device 400 receives the vehicle ID and can determine whether the received vehicle ID is identical to the stored reference vehicle ID (S130).

[0082] If the received vehicle ID and the stored reference vehicle ID are identical to each other, the automated valet parking device 400 may transmit a communication ID to the infrastructure 300 (S140). In some embodiments, if the received vehicle ID and the stored reference vehicle ID are identical to each other, the automated valet parking device 400 may provide (or display) a message to the driver of the automated valet parking device 400 inquiring whether or not to use automated valet parking, and may transmit a communication ID to the infrastructure 300 in response to a request for automated valet parking by the driver.

[0083] That is, the automated valet parking device 400 can determine whether the infrastructure with which communication is to be established is the infrastructure 300 that the automated valet parking device 400 has actually entered, based on the received vehicle ID. If the automated valet parking device 400 determines that the infrastructure is the infrastructure 300 that the automated valet parking device 400 has actually entered, the communication ID is transmitted. That is, authentication using the vehicle ID can be performed in advance between the infrastructure 300 and the automated valet parking device 400.

[0084] The automated valet parking device 400 may transmit a communication ID to the infrastructure 300 depending on a connection mode of Bluetooth communication. In some embodiments, the automated valet parking device 400 may perform Bluetooth pairing with the infrastructure 300 after receiving a vehicle ID from the infrastructure 300, and transmit a communication ID to the infrastructure 300 depending on a connection mode after the pairing. For example, the automated valet parking device 400 may receive an ID of the infrastructure 300 (or a communication device 330) together with the vehicle ID from the infrastructure 300, and may perform Bluetooth pairing with the infrastructure 300 using the ID of the infrastructure 300.

[0085] The infrastructure 300 can establish communication for automatic valet parking with the automatic valet parking device 400 using the received communication ID (S150). In some embodiments, the infrastructure 300 can send a signal to the automatic valet parking device 400 over a network using the communication ID, and can establish communication with the automatic valet parking device 400 by receiving a response to the signal from the automatic valet parking device 400.

[0086] In some embodiments, the infrastructure 300 may establish communication with the automated valet parking device 400 using a communication protocol different from the communication protocol through which the vehicle ID and the communication ID are transmitted. That is, the infrastructure 300 may communicate with the automated valet parking device 400 based on different communication protocols before and after receiving the communication ID.

[0087] Therefore, according to an embodiment of the present invention, the automatic valet parking system 20 can perform authentication between the infrastructure 300 and the automatic valet parking device 400 using a vehicle ID, and based on the authentication result, the automatic valet parking device 400 can establish communication for automatic valet parking between the infrastructure 300 and the automatic valet parking device 400 by transmitting a communication ID to the infrastructure 300.

[0088] Meanwhile, before establishing communication, the infrastructure 300 can determine whether the automated valet parking device 400 is located in a drop-off area, and when the automated valet parking device 400 is located in the drop-off area, can establish communication with the automated valet parking device 400. In some embodiments, the infrastructure 300 can recognize the license plate of the automated valet parking device 400 and then continuously track the automated valet parking device 400 to grasp the location of the automated valet parking device 400 in real time, and can determine whether the automated valet parking device 400 is located in the drop-off area based on the location of the automated valet parking device 400.

[0089] This is to satisfy the starting condition of the automatic valet parking (the position of the drop-off area). Furthermore, the infrastructure 300 can provide a message to finally inquire the driver of the automatic valet parking device 400 whether or not to perform automatic valet parking, and can establish communication with the automatic valet parking device 400 according to the driver's request.

[0090] For example, based on the recognized location of the automated valet parking device 400, the infrastructure 300 can provide a message via the display device 340 closest to the automated valet parking device 400 ultimately asking the driver whether or not to perform automated valet parking.

[0091] After communication between the automated valet parking device 400 and the infrastructure 300 is established, the infrastructure 300 may transmit the target position and the guide route to the automated valet parking device 400 (S160). In some embodiments, the infrastructure 300 may transmit the target position and the guide route to the address of the automated valet parking device 400 included in the communication ID. For example, the infrastructure 300 may transmit the target position and the guide route by a method other than the Bluetooth communication method.

[0092] The automatic valet parking device 400 can perform automatic valet parking based on the target position and the guide route transmitted from the infrastructure 300 (S170).

[0093] In one or more exemplary embodiments, the functions described may be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, the functions may be stored on or transmitted as one or more instructions or code on a computer-readable medium. Computer-readable media includes all computer storage media and communication media, including any medium that facilitates transfer of a computer program from one place to another. A storage medium may be any available medium that can be accessed by a computer. By way of example, and not limitation, such computer-readable media may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to transmit or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Additionally, any connection may be properly referred to as a computer-readable medium. For example, if the software is transmitted from a website, server, or other remote source using coaxial cable, fiber optic cable, twisted pair cable, digital subscriber line (DSL), or wireless technologies such as infrared, radio, and microwave, then the coaxial cable, fiber optic cable, twisted pair cable, DSL, or wireless technologies such as infrared, radio, and microwave are included in the definition of media. As used herein, disk and disc include compact discs (CDs), laser discs, optical discs, digital versatile discs (DVDs), floppy disks, and Blu-ray discs, where a disk typically reproduces data magnetically, while a disc reproduces data optically with a laser. Combinations of these should also be included within the scope of computer-readable media.

[0094] When the embodiments are implemented in program code or code segments, it should be appreciated that a code segment can represent a procedure, a function, a subprogram, a program, a routine, a subroutine, a module, a software package, a class, or any combination of instructions, data structures, or program statements. A code segment can be coupled to another code segment or a hardware circuit by communicating and / or receiving information, data, arguments, parameters, or memory contents. The information, arguments, parameters, data, etc. can be communicated, dispatched, or transmitted using any suitable means including memory sharing, message passing, token passing, network transmission, etc. Furthermore, from some aspects, the steps and / or operations of a method or algorithm can reside as either code and / or instructions, or any combination or set thereof, on a machine-readable medium and / or computer-readable medium that can be integrated into a computer program product.

[0095] In a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes may be stored in a memory unit and executed by a processor. The memory unit may be implemented within the processor or external to the processor. In this case, the memory unit may be communicatively coupled to the processor via various means as known in the art.

[0096] In a hardware implementation, the processing unit may be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, other electronic units designed to perform the functions described herein, or any combination thereof.

[0097] The foregoing includes examples of one or more embodiments. Of course, it is not possible to describe every possible combination of components or methods for purposes of describing the embodiments described above, and one of ordinary skill in the art will recognize that many additional combinations and permutations of the various embodiments are possible. Accordingly, the described embodiments are intended to include all alternatives, modifications, and variations that fall within the spirit and scope of the appended claims. Moreover, to the extent the term "comprising" is used in the detailed description or claims, such term is as inclusive as the term "comprising," such that the term "comprising," when used, is to be interpreted as a transitional word in the claims.

[0098] As used herein, the terms “infer” or “inference” generally refer to a process of making judgments or inferences about the state of a system, environment, and / or user from a set of observations captured by events and / or data. Inference can be employed to identify a specific context or action or can generate a probability distribution over states, for example. Inference can be probabilistic; that is, the computation of a probability distribution over states based on a consideration of data and events. Inference can also refer to techniques employed for composing higher-level events from a set of events and / or data. Such inference can involve inferring new events or actions from a set of observed events and / or stored event data, whether events are closely correlated in time, and whether events and data originate from one or more event and data sources.

[0099] Furthermore, as used in this application, terms such as "component," "module," "system," and the like, are intended to include, but are not limited to, computer-related entities such as hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable thread of execution, a program, and / or a computer. By way of example, both an application running on a computing device and a computing device may be a component. One or more components may reside within a process and / or thread of execution, and a component may be localized on one computer and / or distributed between two or more computers. Additionally, these components may execute from various computer readable media having various data structures stored thereon. A component may communicate by local and / or remote processing, such as by following a signal having one or more data packets (e.g., data from one component interacting with a local system, other components of a distributed system, and / or other systems via a signal, such as the Internet). [Explanation of symbols]

[0100] 100 Infrastructure 200 Automatic valet parking system 210 Sensor section 220 Communications Department 230 Judgment Department 240 Vehicle control unit 300 Infrastructure 310 Processor 320 Camera 330 Communication Equipment 340 Display device 400 Automatic valet parking system

Claims

1. 1. A method for performing automatic parade parking, comprising: the vehicle establishing communication with the infrastructure; after the communication is established, the vehicle receiving a target position and a guide route from the infrastructure; A step of the vehicle autonomously traveling based on the guide route; and terminating the automated valet parking after the vehicle is parked at the target position.

2. The step of the vehicle establishing communication with the infrastructure includes: the vehicle transmitting a communication ID to the infrastructure in response to receiving a vehicle ID from the infrastructure; and a step of the vehicle communicating with the infrastructure based on the communication ID.

3. The step of transmitting the communication ID includes: said vehicle comparing the received vehicle ID with a stored reference vehicle ID; 3. The method of claim 2, further comprising the step of: transmitting the communication ID to the infrastructure if the vehicle ID and the reference vehicle ID match based on a result of the comparison.

4. The step of transmitting the communication ID to the infrastructure includes: if the vehicle ID and the reference vehicle ID match, the vehicle requests approval for automated valet parking from a driver of the vehicle; and transmitting the communication ID to the infrastructure when the automated valet parking is approved by the driver.

5. The vehicle ID is transmitted by a broadcast method of Bluetooth communication, The method for performing automatic valet parking according to claim 2 , wherein the communication ID is transmitted by a connection method of Bluetooth communication.

6. The guide route is a route for traveling between a stopping position of the vehicle and the target position, The method for performing automated valet parking according to claim 2 , wherein the vehicle's stopping position is determined by a camera included in the infrastructure.

7. The method of claim 1 , further comprising the step of the vehicle communicating driving authority for the vehicle to the infrastructure after communication with the infrastructure is established.

8. The driving authority is:

8. The method for performing automated valet parking as recited in claim 7, including at least one of the following actions: steering, accelerating, braking, and shifting gears of the vehicle, turning on / off the start of the vehicle, and locking / unlocking the doors of the vehicle.

9. 1. A method for performing automated valet parking, comprising: the infrastructure establishing communication with the vehicle; After the communication is established, the infrastructure transmits a target position and a guide route to the vehicle; and after the vehicle is parked at the target position based on the guide route, the infrastructure receives a notification of completion of the automatic valet parking from the vehicle.

10. The step of establishing communication with the vehicle by the infrastructure includes: the infrastructure transmitting a vehicle ID to the vehicle; receiving a communication identification from the vehicle by the infrastructure; and the infrastructure communicating with the vehicle based on the communication ID.

11. The step of the infrastructure transmitting a vehicle ID to the vehicle includes: the infrastructure photographing the vehicle and acquiring the vehicle ID when the vehicle enters the infrastructure; and the infrastructure transmitting the obtained vehicle ID to the vehicle.

12. The step of the infrastructure communicating with the vehicle includes: the infrastructure determining whether the vehicle is located in a drop-off area; and when the vehicle is located in the drop-off area, the infrastructure communicates with the vehicle based on the communication ID.

13. The step of determining whether the vehicle is located in the drop-off area includes: the infrastructure photographing the vehicle and acquiring the vehicle ID when the vehicle enters the infrastructure; After obtaining the vehicle ID, continuously tracking the vehicle to determine the location of the vehicle in real time; and determining whether the vehicle is located in the drop-off area based on the location of the vehicle.

14. The vehicle ID is transmitted by a broadcast method of Bluetooth communication, The method for performing automatic valet parking according to claim 10, wherein the communication ID is transmitted by a connection method of Bluetooth communication.

15. 10. The method of claim 9, further comprising the step of the infrastructure receiving a communication of driving authority for the vehicle from the vehicle after communication with the vehicle is established.

16. The driving authority is:

16. The method of performing automated valet parking as recited in claim 15, including at least one of the following actions: steering, accelerating, braking, gear shifting of the vehicle, turning on / off start of the vehicle, and locking / unlocking doors of the vehicle.

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