Automated valet parking support system and method, and infrastructure and vehicle for the same

Abstract

To provide an automated valet parking support system and method, and an infrastructure and a vehicle for the same.SOLUTION: An operating method of an infrastructure for supporting an automated valet parking includes steps of: starting an automated valet parking of a vehicle; providing the vehicle with a target position and a first guide route for guiding its traveling to the target position; detecting an accidental situation on the basis of situation information during transmission of the first guide route; and providing a second guide route corresponding to the accidental situation.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present disclosure relates to an automated valet parking assistance system and method, and an infrastructure and vehicle therefor. The present disclosure utilizes communication between the infrastructure and the vehicle to move without a driver and autonomously park in an available parking space. The present disclosure also utilizes communication between the infrastructure and the vehicle to move without a driver from the parking space to a pick-up area. [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 disclosure is intended to solve the above-mentioned problems, and the automated valet parking according to the present disclosure aims to allow a driver to park a vehicle in a drop off area, and when the driver gets out of the vehicle, the vehicle autonomously moves to a vacant parking space to complete parking.

[0004] In addition, the automated valet parking of the present disclosure aims to have, when summoned by a driver, the parked vehicle autonomously move to a pick-up area, where the driver boards the vehicle and exits the facility.

[0005] In addition, the automated valet parking according to the present disclosure aims to provide a guide route for the vehicle to take to reach a target position based on an unexpected situation.

[0006] The technical problems to be solved by the present disclosure are not limited to the above-mentioned technical problems, and other technical problems not described above will be clearly understood by a person having ordinary skill in the art to which the present disclosure pertains from the following description. [Means for solving the problem]

[0007] An operating method of an infrastructure supporting automated valet parking according to an embodiment of the present disclosure may include the steps of initiating automated valet parking of a vehicle, providing the vehicle with a target position and a first guide route for guiding movement to the target position, detecting an unexpected situation based on situation information during transmission of the first guide route, and providing a second guide route corresponding to the unexpected situation.

[0008] A method for performing automated valet parking according to an embodiment of the present disclosure may include the steps of initiating automated valet parking of a vehicle, providing from an infrastructure to the vehicle a target position and a first guide route that guides movement to the target position, the vehicle autonomously driving along the first guide route, detecting an unexpected situation in the infrastructure based on situation information during transmission of the first guide route, providing from the infrastructure to the vehicle a second guide route that corresponds to the unexpected situation, and the vehicle performing an operation corresponding to the second guide route. Effect of the Invention

[0009] A system supporting automatic valet parking according to an embodiment of the present disclosure may enable objects in a parking lot to recognize an unexpected situation that occurs in the parking lot by providing a guide route based on an unexpected situation so that a vehicle performing an automatic valet parking function can safely move to a target position.

[0010] The effects obtained by the present disclosure are not limited to the effects described above, and other effects not described above will be clearly understood by those having ordinary skill in the art to which the present disclosure pertains from the following description. [Brief description of the drawings]

[0011] [Figure 1] FIG. 1 illustrates an automated valet parking system according to the present disclosure. [Diagram 2] FIG. 1 illustrates an automated valet parking device according to the present disclosure. [Diagram 3] FIG. 1 is a conceptual diagram for explaining an automated valet parking system and method according to the present disclosure. [Figure 4A] FIG. 1 is a block diagram for explaining operations performed by an infrastructure and a vehicle performing automated valet parking according to the present disclosure. [Figure 4B] FIG. 1 is a block diagram for explaining operations performed by an infrastructure and a vehicle performing automated valet parking according to the present disclosure. [Figure 5A] FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle performing automated valet parking according to the present disclosure. [Figure 5B] FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle performing automated valet parking according to the present disclosure. [Figure 6] FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle performing automated valet parking according to the present disclosure. [Figure 7] FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle performing automated valet parking according to the present disclosure. [Figure 8]FIG. 2 is a diagram for explaining a method for providing a guide route between an infrastructure and a vehicle performing automated valet parking according to the present disclosure. [Figure 9] 13 is a diagram for explaining a guide route for guiding to a target position where parking is possible according to the present disclosure. FIG. [Figure 10] FIG. 2 is a diagram for explaining a method for providing a guide route between an infrastructure and a vehicle performing automated valet parking according to the present disclosure. [Figure 11] 11 is a diagram for explaining a guide route for guiding a collision situation according to the present disclosure. FIG. [Figure 12] FIG. 2 is a diagram for explaining a method for providing a guide route between an infrastructure and a vehicle performing automated valet parking according to the present disclosure. [Figure 13] 11 is a diagram for explaining a guide route for guiding a temporary stop situation according to the present disclosure. FIG. [Figure 14] 13 is a diagram for explaining a guide route for guiding approach to a target position according to the present disclosure. FIG. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0012] Hereinafter, the embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. The configuration of the present disclosure and the effects thereof will be clearly understood from the following detailed description. Prior to the detailed description of the present disclosure, the same components are indicated by the same reference numerals as much as possible even if they are shown in different drawings, and specific descriptions of known configurations will be omitted if it is determined that there is a risk of obscuring the gist of the present disclosure.

[0013] Prior to a detailed description of the present disclosure, the terms used in the present disclosure may be defined as follows.

[0014] A driver is a person who uses a vehicle and receives the services of the automated valet parking system.

[0015] 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.

[0016] The vehicle is a vehicle that has a function for performing automatic valet parking.

[0017] 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.

[0018] 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.

[0019] 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.

[0020] 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.

[0021] Driving route refers to the route followed by a vehicle.

[0022] 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.

[0023] 1 illustrates an automated valet parking system according to an embodiment of the present disclosure. Referring to FIG 1, the automated valet parking system 10 may include an infrastructure 100 and an automated valet parking device 200.

[0024] 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. Depending on the embodiment, infrastructure 100 may include sensors, communication devices, alarm devices, display devices, and servers that control the aforementioned devices. The infrastructure may also refer to a parking gate and a control center that controls vehicles.

[0025] The automated valet parking device 200 may refer to a vehicle that performs automated valet parking. Depending on the embodiment, 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.

[0026] 2 illustrates an automated valet parking device according to an embodiment of the present disclosure. Referring to FIG. 2, an automated valet parking device (e.g., a vehicle) 200 may include a sensor 210, a transceiver 220, a processor 230, and a vehicle controller 240.

[0027] The sensor 210 can detect the environment around the automated valet parking device 200. Depending on the embodiment, the sensor 210 can measure the distance between the automated valet parking device 200 and a specific object, or can detect objects around the automated valet parking device 200. For example, the sensor 210 can 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.

[0028] The sensor 210 may transmit data generated based on the sensing results to the transceiver 220 or the vehicle controller 240 .

[0029] The transceiver 220 may exchange data with the infrastructure 100. Such communication is called vehicle to infrastructure (V2I) communication. The transceiver 220 may also exchange data with other vehicles. Such communication is called vehicle to vehicle (V2V) communication. In addition, V2I communication and V2V communication are combined and called vehicle to everything (V2X) communication. According to an embodiment, the transceiver 220 may 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 the data to the processor 230. The transceiver 220 may also transmit data generated from the vehicle 200 to the infrastructure 100. According to an embodiment, the transceiver 220 may exchange data with a terminal of a driver of the automated valet parking device 200.

[0030] The transceiver 220 can transmit or receive data using wireless or wired communication protocols. 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.

[0031] The processor 230 may control the overall operation of the automated valet parking device 200. The processor 230 may control the vehicle controller 240 based on the data transmitted via the sensor 210 and the transceiver 220. Depending on the embodiment, the processor 230 may generate a control signal for controlling the vehicle controller 240 based on the data transmitted from the infrastructure 100, and transmit the generated control signal to the vehicle controller 240.

[0032] That is, the processor 230 may refer to a device capable of performing a series of calculations or decisions for controlling the automated valet parking device 200 and performing automated valet parking. For example, the processor 230 may be a processor that executes a program including instructions for performing automated valet parking. The processor 230 may include, but is not limited to, a central processing unit (CPU), a microcontroller unit (MCU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a graphic processing unit (GPU).

[0033] The vehicle controller 240 may control the automated valet parking device 200 under the control of the processor 230. According to an embodiment, the vehicle controller 240 may control the automated valet parking device 200 in response to a control signal transmitted from the processor 230. For example, the vehicle controller 240 may control the movement, stopping, restarting movement, steering, acceleration, deceleration, parking, flashing, warning, and the like of the automated valet parking device 200.

[0034] That is, it should be understood that the vehicle controller 240 can perform all of the functions described herein for controlling the operation of the automated valet parking device 200. For example, the vehicle controller 240 can include a drive device, a braking device, a steering device, an acceleration device, a warning device, and a flashing device of the automated valet parking device 200.

[0035] However, unless otherwise stated, it should be understood that the operation or function of the automated valet parking device 200 described herein is suitably performed by a combination of at least one of the sensor 210, the transceiver 220, the processor 230, and the vehicle controller 240.

[0036] FIG. 3 is a conceptual diagram for explaining an automated valet parking system and method according to an embodiment of the present disclosure.

[0037] Referring to FIG. 3, at (1), a driver drives a vehicle (eg, the automated valet parking device 200 of FIG. 1) into a parking lot and moves the vehicle to a drop-off area.

[0038] At (2), upon reaching a drop-off area, the driver exits the vehicle and driving authority is transferred from the driver to the infrastructure (eg, infrastructure 100 of FIG. 1).

[0039] 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.

[0040] At (4), the driver decides to leave his vehicle and moves to the pick-up area.

[0041] In (5), the infrastructure determines a suitable target position. For example, the suitable target position may be an available parking space among a plurality of parking spaces present in the pickup area. The infrastructure also determines a guide route to the determined target position. Once the target position and the guide route are determined, the vehicle autonomously travels along the guide route, and after reaching the periphery of the parking space, performs automatic valet parking into the parking space.

[0042] 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.

[0043] 4A and 4B are block diagrams for explaining operations performed by an infrastructure and a vehicle performing automated valet parking according to the present disclosure.

[0044] In (1), the operation of an infrastructure (e.g., infrastructure 100 in FIG. 1) and a vehicle (e.g., automated valet parking device 200 in FIG. 1) for starting automated valet parking is described. The infrastructure recognizes the driver and the vehicle, and determines whether they are the proper driver and vehicle. For example, the infrastructure uses an 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 vehicle's engine on / off and power on / off may be performed by receiving a command from the infrastructure, or may be performed autonomously by the vehicle without a command from the infrastructure. The vehicle can lock / unlock the doors. The vehicle's doors may be locked and unlocked by receiving a command from the infrastructure, or may be performed autonomously by the vehicle without a command from the infrastructure. When the vehicle proceeds to the automatic parking stage, it is preferable to lock the vehicle doors. In addition, driving authority of the vehicle is transmitted from the vehicle to the infrastructure. The driving authority is the authority to execute the vehicle operation, and the vehicle operation includes steering operation, accelerating operation, braking operation, gear shifting operation, turning on / off the vehicle start operation, and locking / unlocking the vehicle doors. By transmitting the vehicle authority to the infrastructure, the infrastructure can fully control the vehicle while the vehicle is in the process of performing automatic valet parking. This reduces the possibility of unintended vehicle operation 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, the braking operation must be performed when an emergency situation occurs while automatic valet parking is being performed, and when the vehicle detects a risk by itself using an ADAS sensor or the like, it is preferable for the vehicle to brake by itself without controlling the infrastructure. In addition, 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 the automatic valet parking according to the present disclosure 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. Meanwhile, the driving authority is automatically transmitted from the vehicle or the infrastructure to the driver when automatic valet parking is completed.

[0045] The operation of exiting the vehicle is similar to that of entering the vehicle. Specifically, the vehicle receives an exit request. The driver (i.e., the owner or user of the vehicle) can request the vehicle to exit using a device capable of communicating with the infrastructure. When the driver requests to exit the vehicle, the driver can transmit information about the vehicle and personal information about the driver to the infrastructure (e.g., via a terminal), and the infrastructure can determine whether the vehicle to be exited is actually parked in the parking lot based on the input information, and can determine whether the driver who requested the exit is a suitable driver. When the vehicle receives the exit request, the vehicle or the infrastructure checks whether there is a person in the vehicle, and if there is no person in the vehicle, it can proceed to a subsequent step. When the driver transmits the exit request, the driving authority is transmitted (or transferred) from the driver to the vehicle or the infrastructure. That is, when the driver transmits the exit request, the driver loses control over the vehicle, and the vehicle can operate based on the control of the infrastructure or the control of the vehicle itself. For example, based on the control of the vehicle or the infrastructure, the vehicle doors can be automatically locked when the vehicle leaves the parking position, and the vehicle doors can be automatically opened when the vehicle arrives at the pick-up area. When the vehicle arrives at the pick-up area, driving authority can be transferred from the infrastructure or the vehicle to the driver.

[0046] Meanwhile, as described above, depending on the case, some of the driving authority may remain in the vehicle without being transferred from the vehicle to the infrastructure, or some of the driving authority may be held jointly by the vehicle and the infrastructure. After receiving the exit request, the vehicle receives an exit signal from the infrastructure and starts exiting by the automated valet parking. Before starting the exit, the infrastructure may turn on the start of the vehicle. The infrastructure may transmit a notification to the driver indicating that the exit of the vehicle has started.

[0047] In (2), a target position, a guide route, and a driving route can be determined. The target position, the guide route, and the driving route can be determined by the infrastructure. The target position, the guide route, and the driving route determined by the infrastructure can be transmitted from the infrastructure to the vehicle. The target position, the guide route, and the driving route can be transmitted to the vehicle when entering and leaving the vehicle.

[0048] The target position may be a final destination to which the vehicle must move to reach. According to one embodiment, the target position is an empty parking space in the parking lot where the vehicle should be parked in a situation where the vehicle enters the parking lot. According to another embodiment, the target position may be an empty parking space in a pick-up area in a situation where the vehicle leaves the parking lot. However, this is merely exemplary, and the embodiments of the present disclosure are not limited thereto. For example, the target position may be a specific point around the empty parking space instead of the empty parking space. For example, if there are multiple consecutive or adjacent empty parking spaces in a specific area in the parking lot, a specific point around these multiple empty parking spaces can also be understood as a target position. In this case, after moving to the corresponding specific point, the vehicle can activate an autonomous parking function in a driver assistance system (ADAS) installed in the vehicle to park in the desired parking space. The autonomous parking function in the ADAS may be, for example, a partially automated parking system (PAPS). According to such an example, the efficiency of managing the parking margin can be further increased. That is, from the infrastructure's perspective, instead of calculating the exact target position, it is sufficient to know only the rough points, thereby reducing the processing energy required.

[0049] The guide route is a route that the vehicle should follow for autonomous driving. For example, the guide route can be configured in the form of "go straight for 10 meters", "turn right at the first corner", "turn left after moving forward 20 meters", etc. Or, the guide route can be configured as a straight line, a curve, or a combination of these that continues from the current position to the target position in the parking lot map. Or, the guide route can be configured with multiple passing positions and one target position in the parking lot map. For example, the guide route can include pillar A1, pillar B2, and pillar C3 as multiple passing positions, and parking area D23 as the target position. In this way, when the guide route is not configured with a straight line or a curve, but is configured with a passing position and a target position, information about the straight line, the curve, or the distance (e.g., 10 meters) is not required, so the amount of information required for communication between the vehicle and the infrastructure (e.g., V2I) can be reduced.

[0050] According to various embodiments of the present invention, the guide route can guide an unexpected situation in a parking lot. For example, the unexpected situation can include a situation where a vehicle collides with another object (e.g., another vehicle, a human, an exterior wall, a pillar, etc.). In such a case, the guide route guiding the collision situation (e.g., the guide route GP2 shown in FIG. 11) can be distinguished from the guide route guiding to the target position (e.g., the guide route GP1 shown in FIG. 9). As another example, the unexpected situation can be a situation where a vehicle is temporarily stopped by another object in a parking lot. In such a case, the guide route guiding the temporary stop (e.g., the guide route GP3 shown in FIG. 13) can be distinguished from the guide route guiding to the target position and the guide route guiding the collision situation. According to another embodiment, the guide route can guide a situation where a vehicle is adjacent to or has arrived at a target position. In such a case, the guide route guiding the adjacent to the target position (e.g., the guide route GP5 shown in FIG. 14) can be distinguished from the guide route guiding to the target position, the guide route guiding the collision situation, and the guide route guiding the temporary stop. Through such guide routes, objects in the parking lot can recognize unexpected situations occurring in the parking lot. According to various embodiments of the present invention, the guide routes GP1, GP2, and GP3 can be distinguished from one another by having different patterns. For example, the path to the target position of the guide route GP1, the path to the target position of the guide route GP2, and the path to the target position of the guide route GP3 are all the same, but the pattern of the guide route GP1, the pattern of the guide route GP2, and the pattern of the guide route GP3 can be different from one another. The pattern may include at least one of a light emitting color, a light emitting pattern, a light emitting period, a light emitting count, and a light emitting area.

[0051] The above-mentioned guide route can be transmitted from the infrastructure to the vehicle using a light-emitting device. The light-emitting device may be, for example, an LED lamp. The light emitted by the light-emitting device can be displayed on the ground in the parking lot. For this reason, the light-emitting device may be an LED lamp embedded in the ground of the parking lot. Alternatively, the light-emitting device may be a laser lamp installed on the ceiling, outer wall, or pillar in the parking lot and radiating light toward the ground of the parking lot. The vehicle can receive or recognize the guide route by detecting the light emitted using a sensor mounted thereon. For example, the vehicle can detect the light emitted using a forward camera sensor mounted thereon.

[0052] 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 according to an instruction transmitted from the infrastructure to the vehicle. Alternatively, the autonomous driving of the vehicle may be performed autonomously by the vehicle without depending on an instruction 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. The vehicle may also 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. The vehicle may also 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 not to exceed a predetermined maximum acceleration in autonomous driving along the guide route. Such a predetermined maximum acceleration may be a value communicated to the vehicle from the infrastructure or may be a value stored in the vehicle.

[0053] 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 an instruction. 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, measure the position of an obstacle present, and 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.

[0054] 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.

[0055] 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 may report to the infrastructure that it will restart autonomous driving or autonomous parking, and that the surrounding obstacle has been removed. The vehicle may detect whether a human or animal is present inside the vehicle, and may perform emergency braking if it determines that a human or animal is present inside the vehicle. After performing emergency braking, the vehicle may receive a command from the infrastructure to restart autonomous parking or autonomous driving. Alternatively, the vehicle may determine whether the cause of performing emergency braking has been removed, and restart autonomous parking or autonomous driving if the cause has been removed.

[0056] 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.

[0057] In (8), 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 the communication with the vehicle to detect whether a communication error occurs. The vehicle may monitor the 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.

[0058] 5A and 5B are diagrams for explaining communication between an infrastructure and a vehicle performing automated valet parking according to the present disclosure.

[0059] 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).

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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 are transmitted. Also, the command can be transmitted after emergency braking of the vehicle is performed and safety around the vehicle is confirmed.

[0066] In (8), emergency braking commands can be transmitted from the infrastructure to the vehicle.

[0067] 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.

[0068] FIG. 6 is a diagram for explaining communication between an infrastructure 100 and a vehicle 200 that performs automatic valet parking according to the present disclosure.

[0069] 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.

[0070] FIG. 7 is a diagram for explaining communication between an infrastructure 100 and a vehicle 200 that performs automated valet parking according to the present disclosure.

[0071] 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.

[0072] Fig. 8 is a block diagram for explaining a method for providing a guide route between an infrastructure and a vehicle performing automated valet parking according to the present disclosure. Fig. 9 is a diagram for explaining a guide route for guiding to a target position where parking is possible according to the present disclosure, and Fig. 14 is a diagram for explaining a guide route for guiding an approach to the target position according to the present disclosure. The operations described below show various embodiments of (1) to (3) in Fig. 4A.

[0073] Referring to FIG. 8, in (1), the vehicle 800 may request waiting and setting of a guide route. According to one embodiment, the vehicle 800 may request the infrastructure 810 to set a guide route after entering and stopping at the entrance of a parking lot. Setting of a guide route may be an operation of assigning a guide route corresponding to an emergency situation to the vehicle 800. For example, the vehicle 800 may request the setting by generating a predefined signal (e.g., blinking of a turn signal) after stopping at the entrance of the parking lot.

[0074] In (2), the infrastructure 810 can provide guided routes that can be assigned to the vehicle 800. According to one embodiment, the infrastructure 810 can provide the vehicle 800 with any one of the guided routes that are not assigned to other vehicles.

[0075] In (3), the vehicle 800 can provide the infrastructure 810 with a completion signal informing completion of setting of the guide route. According to one embodiment, the guide route can be provided at a position detectable by a sensor disposed in the vehicle 800, and the vehicle 800 can provide the completion signal by generating a predefined signal (e.g., blinking a turn signal) in response to successfully detecting the guide route. According to various embodiments, the infrastructure 810 and the vehicle 800 can set guide routes corresponding to various unexpected situations by repeating the setting operations described above.

[0076] In (4), the infrastructure 810 can provide a guide route to the vehicle 800 and command the vehicle 800 to start moving. According to one embodiment, the infrastructure 810 can provide a guide route GP1 that guides the vehicle A to a target position TP where the vehicle A can be parked, as shown in Fig. 9. For example, the guide route GP1 can be provided so that it is displayed from the position of the vehicle A to the target position TP, or so that only a portion of the guide route GP1 is displayed.

[0077] At (5), the vehicle 800 can travel to a target position along a guide route provided by the infrastructure 810.

[0078] In (6), the infrastructure 810 can detect an unexpected situation in the parking lot. The unexpected situation can include a situation where the vehicle 800 collides with another object (e.g., another vehicle, a human, an exterior wall, a pillar, etc.). The unexpected situation can also include a situation where the vehicle is temporarily stopped by another object in the parking lot. According to one embodiment, the infrastructure 810 can detect an unexpected situation by identifying and detecting the vehicle 800 or an object (or an obstacle) and monitoring the safety of each of the multiple vehicles that are parked. According to another embodiment, the infrastructure 810 can also receive detection information from at least one vehicle (e.g., the vehicle 800 or another vehicle) present in the parking lot to detect an unexpected situation.

[0079] In (7), the infrastructure 810 can provide a guided route corresponding to an emergency situation. According to one embodiment, the infrastructure 810 can provide a guided route corresponding to a crash situation in response to detecting a crash situation of the vehicle 800, as described below with reference to Figures 10 and 11. According to another embodiment, the infrastructure 810 can provide a guided route corresponding to a stop situation in response to detecting a temporary stop situation, as described below with reference to Figures 12 and 13.

[0080] In (8), the vehicle 800 can move to the target position after performing an operation corresponding to the guide route. According to one embodiment, the vehicle 800 can move after stopping temporarily until the emergency situation is resolved.

[0081] In (9), infrastructure 810 can detect that vehicle 800 is entering the target position. According to one embodiment, infrastructure 810 can determine the entry into the target position by monitoring the movement of vehicle 800. Infrastructure 810 can also receive detection information from at least one vehicle (e.g., vehicle 800 or another vehicle) present in the parking lot to monitor the movement of vehicle 800.

[0082] In (10), the infrastructure 810 can provide a guide route informing of entry into the target position. According to an embodiment, as shown in FIG. 14, in response to detecting a situation C3 in which the vehicle A enters the target position TP, the infrastructure 810 can provide a guide route GP5 having a pattern different from the guide route (e.g., the guide route GP1 shown in FIG. 9) that guides the vehicle A to the target position TP. For example, the pattern can include at least one of a light emission color, a light emission pattern, a light emission cycle, a number of times of light emission, and a light emission area. This can instruct the vehicle 800 to execute an autonomous parking function, and can also cause other objects present in the parking lot to recognize that parking of the vehicle 800 has begun.

[0083] In (11), the vehicle 800 can perform autonomous parking functions based on the guide route.

[0084] Fig. 10 is a block diagram for explaining a method for providing a guide route between an infrastructure and a vehicle performing an automated valet parking according to the present disclosure. Fig. 11 is a diagram for explaining a guide route for guiding in a collision situation according to the present disclosure. The operations described below may represent various embodiments of (6) to (8) in Fig. 8.

[0085] 10 , at (1), the infrastructure 810 may determine a region of interest based on the location of the vehicle 800. According to one embodiment, the region of interest may have a size that is the same as or larger than the size of the vehicle 800.

[0086] In (2), the infrastructure 810 can determine collision candidate objects from among the objects located in the area of ​​interest. The collision candidate objects are objects that may collide with the vehicle 800. The infrastructure 810 can calculate the time to collision between each object located in the area of ​​interest of the vehicle, and determine an object having a collision time less than a threshold as a collision candidate object.

[0087] In (3), the infrastructure 810 can detect a collision between the collision candidate object and the vehicle. According to one embodiment, the infrastructure 810 can determine whether or not a collision has occurred while monitoring the movement of the vehicle 800 and the collision candidate object.

[0088] In (4), the infrastructure 810 can provide a guide route that indicates a collision situation. According to one embodiment, as shown in Fig. 11, in response to detecting a situation C1 in which the vehicle A collides with another vehicle, the infrastructure 810 can provide a guide route GP2 having a different pattern from the guide route (e.g., the guide route GP1 shown in Fig. 9) that guides to the target position (TP).

[0089] At (5), the vehicle 800 may take a waiting action to stop until the collision situation is resolved.

[0090] Fig. 12 is a block diagram for explaining a method for providing a guide route between an infrastructure and a vehicle performing an automated valet parking according to the present disclosure. Fig. 13 is a diagram for explaining a guide route for guiding a temporary stop situation according to the present disclosure. The operations described below show various embodiments of (6) to (8) in Fig. 8.

[0091] 12, at (1), the infrastructure 810 may determine a region of interest based on the location of the vehicle 800. According to one embodiment, the region of interest may have a size that is the same as or larger than the size of the vehicle 800.

[0092] In (2), the infrastructure 810 can determine collision candidate objects from among the objects located in the area of ​​interest. The collision candidate objects are objects that may collide with the vehicle 800. The infrastructure 810 can calculate the collision time between the vehicle 800 and each object located in the area of ​​interest, and determine the objects having a collision time less than a threshold value as collision candidate objects.

[0093] In (3), the infrastructure 810 can detect a stopped state due to a collision candidate object. According to one embodiment, it is possible to determine whether the vehicle 800 is stopped while monitoring the movement of the vehicle 800 and the collision candidate object. For example, the infrastructure 810 can detect a state in which the vehicle 800 is stopped for a predetermined period of time in a state in which an object is present in the region of interest.

[0094] In (4), the infrastructure 810 can provide a guide route that notifies the vehicle of a stopping situation. According to one embodiment, as shown in FIG. 13, in response to detecting a situation C2 in which another vehicle is present on the route along which the vehicle A is moving, the infrastructure 810 can provide a guide route GP3 that guides the vehicle to stop temporarily. The infrastructure 810 can also output a guide route GP4 that guides a detour route by which the vehicle A can move to the target position. Such guide routes GP3 and GP4 can also provide a guide route GP2 that has a different pattern from the guide route that guides the vehicle A to the target position TP (for example, the guide route GP1 shown in FIG. 9).

[0095] In (5), the vehicle 800 may take a waiting action to stop until the stopping situation is resolved, or may take an action to move to a target position along a detour route.

[0096] 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.

[0097] 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.

[0098] 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.

[0099] 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.

[0100] 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.

[0101] 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.

[0102] 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 the 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).

Claims

1. 1. A method of operating infrastructure to support automated valet parking, comprising: initiating automated valet parking of the vehicle; providing the vehicle with a target position and a first guide route for guiding movement to the target position; Detecting an emergency situation based on situation information during transmission of the first guide route; providing a second guide route corresponding to the emergency situation; the first guide route and the second guide route are provided using a plurality of light-emitting devices installed in a parking lot; A method, wherein a first lighting pattern of the first guide route and a second lighting pattern of the second guide route are different from each other.

2. The method described in claim 1, wherein a first movement path of the second guide route to the target position is identical to a second movement path of the first guide route to the target position.

3. The method of claim 1 , further comprising, in response to detecting the vehicle entering the target position, an act of providing the vehicle with a third guide route informing the vehicle of the entry into the target position.

4. The method described in claim 3, optionally wherein a third illumination pattern of the third guide route is different from the first illumination pattern of the first guide route and the second illumination pattern of the second guide route.

5. The method described in claim 1, wherein the step of initiating automatic valet parking of the vehicle includes a step of receiving a request for setting a guide route from the vehicle to assign the second guide route corresponding to the sudden situation.

6. The sudden situation is: The method of claim 1 , including at least one of the following situations: the vehicle collides with another object; and the vehicle is stopped by another object.

7. The method according to claim 3 , wherein at least one of the first guide route, the second guide route and the third guide route is provided as illumination using the illumination device installed in the parking lot.

8. The step of providing a second guide route includes: The method of claim 1 , further comprising providing a fourth guide route that guides a movable detour path to the target position.

9. 1. A method for performing automated valet parking, comprising: initiating automated valet parking of the vehicle; providing a target position and a first guide route for guiding movement to the target position from an infrastructure to the vehicle; The vehicle autonomously travels along the first guide route; Detecting an unexpected situation in the infrastructure based on situation information during transmission of the first guide route; providing a second guide route corresponding to the emergency situation from the infrastructure to the vehicle; and causing the vehicle to perform an operation corresponding to the second guide route; the first guide route and the second guide route are provided using a plurality of light-emitting devices installed in a parking lot; A method, wherein a first lighting pattern of the first guide route and a second lighting pattern of the second guide route are different from each other.

10. The method described in claim 9, wherein a first movement path of the second guide route to the target position is identical to a second movement path of the first guide route to the target position.

11. 10. The method of claim 9, further comprising, in response to detecting the vehicle entering the target position, an act of providing a third guide route from the infrastructure to the vehicle indicating the vehicle is entering the target position.

12. The method described in claim 11, wherein optionally, a third illumination pattern of the third guide route is different from the first illumination pattern of the first guide route and the second illumination pattern of the second guide route.

13. The method described in claim 9, wherein the step of initiating automatic valet parking of the vehicle includes a step of receiving a request for setting a guide route from the vehicle to assign the second guide route corresponding to the sudden situation.

14. The method of claim 9 , wherein the sudden situation includes at least one of a situation in which the vehicle collides with another object and a situation in which the vehicle is stopped by another object.

15. The method of claim 11 , wherein at least one of the first guide route, the second guide route, and the third guide route is provided as illumination using the illumination device installed in the parking lot.

16. The method of claim 15, wherein illumination is provided using LED lamps embedded in the ground within the parking lot.

17. The step of providing a second guide route includes: The method of claim 9 , further comprising providing a fourth guide route from the infrastructure to the vehicle that guides the vehicle along a navigable detour path to the target position.

18. The method of claim 11 , wherein the vehicle is aware of at least one of the first guide route, the second guide route, and the third guide route via an on-board sensor.

19. The method of claim 18 , wherein the on-board sensor comprises a camera sensor.

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