System for and method of supporting automated valet parking in conjunction with wireless vehicle charging service, and infrastructure and vehicle therefor

Abstract

To provide a method of performing automated valet parking.SOLUTION: This method includes the steps of: starting automated valet parking; determining whether electrical charging of an electric vehicle is needed; setting a wireless charging parking space as a first target position when it is determined that the electrical charging is needed; transmitting the first target position and a guide route from an infrastructure to the vehicle; setting an empty parking space as a second target position when the electrical charging of the electric vehicle is completed; and transmitting the second target position and the guide route.SELECTED DRAWING: Figure 8

Description

[Technical field]

[0001] The present disclosure relates to a system and method for supporting automated valet parking in cooperation with a wireless vehicle charging service, and an infrastructure and a vehicle therefor. According to the present disclosure, the vehicle moves without a driver and autonomously parks in an available parking space by utilizing communication between the infrastructure and the vehicle. Also, according to the present disclosure, the vehicle moves without a driver from the parking space to a pick-up area by utilizing communication between the infrastructure and the vehicle. Also, according to the present disclosure, the vehicle moves to a parking space capable of wireless vehicle charging by itself before moving to the available parking space, performs wireless vehicle charging, and moves to the available parking space after wireless vehicle charging is completed. [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.

[0003] Meanwhile, in the case of electric vehicles (EVs) or plug-in hybrid electric vehicles (PHEVs), wired charging methods using charging guns have traditionally been used, but recently systems have emerged that allow electric vehicles to be charged wirelessly by installing wireless charging stations on the road. Summary of the Invention [Problem to be solved by the invention]

[0004] 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, get out of the vehicle, and have the vehicle autonomously move to a vacant parking space to complete parking.

[0005] 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.

[0006] Another object of the automated valet parking system according to the present disclosure is to provide wireless charging for electric vehicles. [Means for solving the problem]

[0007] According to the present disclosure, a method for performing automated valet parking is provided, the method including the steps of initiating automated valet parking, determining whether charging of an electric vehicle is required, setting a wireless charging parking space as a first target position if charging is required, transmitting the first target position and a guide route from an infrastructure to a vehicle, and when charging of the electric vehicle is completed, setting a vacant parking space as a second target position, and transmitting the second target position and the guide route. [Brief description of the drawings]

[0008] [Figure 1] FIG. 1 illustrates an automated valet parking system according to an embodiment of the present disclosure. [Diagram 2] FIG. 1 is a diagram illustrating an automated valet parking device according to an embodiment of the present disclosure. [Diagram 3] FIG. 1 is a conceptual diagram for explaining an automated valet parking system and method according to an embodiment of the present disclosure. [Figure 4A]FIG. 1 is a block diagram for explaining operations performed by an infrastructure and a vehicle that performs 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 that performs 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. 1 is a conceptual diagram for explaining an automated valet parking system and method according to the present disclosure. [Figure 9] FIG. 1 is a conceptual diagram for explaining an automated valet parking method according to the present disclosure. [Figure 10] 1 is a flowchart illustrating an automated valet parking method according to the present disclosure. [Figure 11] FIG. 1 is a conceptual diagram illustrating an automated valet parking system and message transmission and reception in the system according to an embodiment of the present disclosure. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0009] 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.

[0010] Prior to a detailed description of the present disclosure, the terms used in the present disclosure may be defined as follows.

[0011] A driver is a person who uses a vehicle and receives the services of the automated valet parking system.

[0012] 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.

[0013] The vehicle is a vehicle that has a function for performing automatic valet parking.

[0014] An electric vehicle is a vehicle that is powered by an electric motor and is charged either via a wired plug or wireless charging method.

[0015] 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.

[0016] 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.

[0017] Infrastructure 100 may include communication circuitry for performing communications and a processor for performing decisions and calculations. In some embodiments, infrastructure 100 may further include sensors for sensing the surrounding environment. The decisions and calculations by infrastructure 100 described herein may be performed by a processor included in infrastructure 100.

[0018] The target position refers to an empty parking space where the vehicle will be parked. The target position may also refer to an area where the driver will board, i.e., a pick-up area, when the vehicle leaves the parking lot. The target position may also be a parking space where a facility that allows wireless charging is located. For example, the target position may be a parking space where an electromagnetic induction coil is embedded or located in the floor of the parking space.

[0019] A guided route refers to the route that the vehicle will traverse to reach a target position, for example, from a drop-off area to an open space in a situation where parking is being performed. For example, a guided route may be in the form of go forward 50m, turn left at a corner, etc. A driving route refers to the route that the vehicle will follow.

[0020] 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.

[0021] 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.

[0022] 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.

[0023] 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.

[0024] 2 illustrates an automated valet parking device according to an embodiment of the present disclosure. Referring to FIG. 2, the automated valet parking device (e.g., a vehicle 200) may include a sensor 210, a communication circuit 220, a processor 230, and a vehicle controller 240.

[0025] 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.

[0026] The sensor 210 may transmit data generated based on the sensing results to the communication circuitry 220 or the vehicle controller 240 .

[0027] The communication circuit 220 can exchange data with the infrastructure 100. Such communication is called vehicle to infrastructure (V2I) communication. The communication circuit 220 can also exchange data with other vehicles. Such communication is called vehicle to vehicle (V2V) communication. In addition, V2I communication and V2V communication are integrated and called vehicle to everything (V2X) communication. Depending on the embodiment, the communication circuit 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 processor 230. Also, the communication circuit 220 can transmit data generated from the vehicle 200 to the infrastructure 100. Depending on the embodiment, the communication circuit 220 can exchange data with a terminal of a driver of the vehicle 200.

[0028] The communications circuitry 220 may 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.

[0029] The processor 230 may control the overall operation of the vehicle 200. The processor 230 may control the vehicle controller 240 based on the data transmitted via the sensors 210 and the communication circuit 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.

[0030] That is, the processor 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 processor 230 may be a processor on which a program including instructions for performing automated valet parking is executed.

[0031] The processor 230 may include, but is not limited to, a central controller unit (CPU), a micro controller unit (MCU), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), or a graphic processing unit (GPU).

[0032] The vehicle controller 240 may control the vehicle 200 based on the control of the processor 230. Depending on the embodiment, the vehicle controller 240 may control the vehicle 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, etc. of the vehicle 200.

[0033] 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 vehicle 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 vehicle 200.

[0034] However, unless otherwise stated, it should be understood that the operations or functions of the vehicle 200 described herein are suitably performed by a combination of at least one of the sensors 210, the communication circuitry 220, the processor 230, and the vehicle controller 240.

[0035] FIG. 3 is a conceptual diagram for explaining an automated valet parking system and method according to an embodiment of the present disclosure.

[0036] Referring to FIG. 3, at (1), the driver drives the vehicle into the parking lot and moves the vehicle into the drop-off area.

[0037] In (2), the driver reaches the drop-off area, gets off the vehicle, and driving authority is transferred from the driver to the infrastructure.

[0038] 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.

[0039] At (4), the driver decides to leave his vehicle and moves to the pick-up area.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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 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 infrastructure control. 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.

[0044] 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.

[0045] The target position is a final destination to which the vehicle must move. In the case where the vehicle enters the parking lot, the target position is a vacant parking space in the parking lot where the vehicle must park. In the case where the vehicle leaves the parking lot, the target position is a vacant parking space in a pick-up area. Alternatively, the target position may be a specific point around the vacant parking space instead of the vacant parking space. For example, if there are a plurality of consecutive or adjacent vacant parking spaces in a particular area of ​​the parking lot, the target position may be a specific point around such a plurality of vacant parking spaces. In this case, the vehicle can move to the corresponding specific point and then park in the desired parking space by activating an autonomous parking function of a driver assistance system (ADAS) mounted on the vehicle. The autonomous parking function of the ADAS may be, for example, a partially automated parking system (PAPS). According to this example, the efficiency of managing the parking surplus space can be further increased. That is, from the viewpoint of the infrastructure, instead of calculating an accurate target position, it is sufficient to recognize only a rough point, so that the energy required for processing can be reduced.

[0046] The guide route is a route that the vehicle must follow for autonomous driving. For example, the guide route can be configured in the form of going straight for 10 meters, turning right at the first corner, moving forward 20 meters, then turning left, 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 map. Or, the guide route can be configured with multiple passing positions and one target position in the parking 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.

[0047] 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.

[0048] 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.

[0049] 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.

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 5A and 5B are diagrams for explaining communication between an infrastructure and a vehicle performing automated valet parking according to the present disclosure.

[0054] 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).

[0055] 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.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] In (8), emergency braking commands can be transmitted from the infrastructure to the vehicle.

[0062] 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.

[0063] 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.

[0064] 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.

[0065] 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.

[0066] 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.

[0067] FIG. 8 is a diagram for explaining the automated valet parking system and method according to the present disclosure.

[0068] Referring to FIG. 8, a wireless charging enabled parking area is shown.

[0069] Specifically, the wireless charging parking area may be present within a parking lot, and each parking space within the wireless charging parking area may be provided with a facility for wireless charging. For example, the facility for wireless charging may have a coil embedded in the floor of the parking space that enables wireless charging using electromagnetic induction, or may be present on the floor. In this way, when an electric vehicle is parked in a wireless charging parking space, the electric vehicle may be charged wirelessly.

[0070] After the electric vehicle stops at the drop-off area, it can be determined whether charging of the electric vehicle is required. Such a determination can be made by the driver of the electric vehicle, by the electric vehicle itself (a processor unit mounted on the electric vehicle), or by being determined by the infrastructure. For example, it can be determined that charging of the electric vehicle is required if the charge amount of the electric vehicle is less than a predetermined amount. Alternatively, the driver of the electric vehicle of the vehicle can request charging service from the infrastructure regardless of the current charge amount of the electric vehicle.

[0071] Referring to (1), when it is determined that the electric vehicle needs to be charged, the electric vehicle moves to a parking space that allows wireless charging. That is, when determining the target position, the infrastructure can determine an empty parking space in the parking area that allows wireless charging as a first target position. The infrastructure also transmits the first target position to the vehicle and transmits a guide route to the first target position to the vehicle.

[0072] Referring to (1), the electric vehicle autonomously drives to a parking space where wireless charging is possible, which has been determined as a target position, and autonomously parks in the parking space.

[0073] After an electric vehicle is autonomously parked in a parking space that allows wireless charging, the electric vehicle is wirelessly charged.

[0074] The electric vehicle monitors the charge level, and when the charge level is greater than a predetermined level, wireless charging is completed.

[0075] Referring to (2), after the wireless charging is completed, the electric vehicle moves to a vacant parking space. That is, when determining the target position, the infrastructure can determine the vacant parking space as a second target position as the target position. In addition, the infrastructure transmits the second target position to the vehicle and transmits a guide route to the second target position to the vehicle.

[0076] Referring to (2), the electric vehicle autonomously drives to a vacant parking space determined as the target position and autonomously parks in the parking space.

[0077] Once autonomous parking has been completed in an available parking space, the automated valet parking ends.

[0078] FIG. 9 is a conceptual diagram for explaining the automated valet parking method according to the present disclosure.

[0079] Referring to FIG. 9, at (a), a parking request is received from an electric vehicle to the infrastructure.

[0080] In addition, in (b), it is determined whether charging of the electric vehicle is required.

[0081] Also, at (c), a charging request is received by the infrastructure, which may be made by a driver of the electric vehicle or determined by the infrastructure.

[0082] In (d), the infrastructure assigns a charging location. The charging location may be a parking space that has a facility capable of wireless charging among a plurality of parking spaces in the parking lot. The infrastructure may set the parking space capable of wireless charging as a first target location and transmit the first target location and a guide route to the vehicle.

[0083] In (e), the vehicle may autonomously navigate to the first target position, then autonomously park at the first target position, and wireless charging may occur. Once wireless charging is complete, the vehicle may report to the infrastructure to request a move of the parking position.

[0084] In (f), the infrastructure can allocate a new parking position. The infrastructure can set an empty parking space among the plurality of parking spaces as a second target position and transmit the second target position and the guide route to the vehicle.

[0085] In (g), the vehicle autonomously drives to the second target position, and then autonomously parks at the second target position. When autonomous parking is completed, the automated valet parking ends.

[0086] FIG. 10 is a flowchart illustrating the automated valet parking method according to the present disclosure.

[0087] A request for automated valet parking service is received from a vehicle to the infrastructure (S1010).

[0088] The infrastructure determines whether the automated valet parking service is available, and if the service is unavailable, notifies the vehicle and the vehicle exits through the exit.

[0089] If the automated valet parking service is available, the vehicle enters the automated valet parking service (S1020).

[0090] The vehicle is an electric vehicle, and it is determined whether the electric vehicle needs to be charged (S1030). If charging is required, a charging request is transmitted from the electric vehicle to the infrastructure. Whether charging is required can be determined by the driver of the electric vehicle or can be determined by the infrastructure.

[0091] If charging is not required, the electric vehicle performs automatic valet parking in a normal manner (S1060). That is, the infrastructure sets a vacant parking space as a target position and transmits the target position and a guide route to the electric vehicle. The electric vehicle performs autonomous driving and autonomous parking based on the received target position and guide route. This ends the automatic valet parking service.

[0092] If charging is required, the wireless charging service is started (S1040). Specifically, the infrastructure determines a parking space where a facility capable of wireless charging is located as a first target position, and transmits the first target position and a guide route to the vehicle. The vehicle autonomously drives and parks at the first target position.

[0093] When charging is completed (S1050), the automatic valet parking service starts (S1060). Specifically, the infrastructure sets the vacant parking space as a second target position, and transmits the second target position and the guide route to the electric vehicle. The electric vehicle performs autonomous driving and autonomous parking based on the received second target position and guide route. This ends the automatic valet parking service.

[0094] FIG. 11 is a conceptual diagram illustrating an autonomous parking system according to one embodiment of the present disclosure and message transmission and reception in the system.

[0095] Referring to FIG. 11 , an autonomous parking system according to one embodiment of the present disclosure includes an electric vehicle 200, a parking infrastructure 110, and a charging infrastructure 120.

[0096] The electric vehicle 200 is a vehicle that is driven by an electric motor and is charged by a wired plug method or a wireless charging method.

[0097] The parking infrastructure 110 may be a parking facility or a sensor located in the parking facility, or may refer to a control center that controls parking gates and vehicles in the parking lot.

[0098] The charging infrastructure 120 may be a facility that enables wireless charging in a parking lot. For example, the charging infrastructure 120 may be a wireless charging station. The charging infrastructure 120 may also refer to a control center that monitors whether the electric vehicle 200 can be charged, the charging status, the occupancy status of the parking space where charging is possible, and the like, and controls charging.

[0099] The target position may refer to an empty parking space where the vehicle will park, or, in the case where the vehicle leaves the parking lot, may refer to an area where the driver boards the vehicle, i.e., a pick-up area, or, in the case where the vehicle leaves the parking lot, may be a parking space where a facility capable of wireless charging is located.

[0100] The guided route can refer to the route that the vehicle will take to reach the target position. For example, in a parking situation, it is the route from the drop-off area to an open space. For example, the guided route can be in the form of go forward 50m, turn left at the corner, etc. Also, the guided route can be the route to a wireless charging enabled parking space.

[0101] This embodiment has a technical meaning as an embodiment in which the infrastructure in charge of parking and charging is separated into two entities rather than one entity. That is, an embodiment in which the parking infrastructure 110 and the charging infrastructure 120 are integrated into one infrastructure (e.g., 100 in FIG. 1) has been described above with reference to FIGS. 1 to 10. In the description with reference to FIG. 11, the parking infrastructure 110 and the charging infrastructure 120 are independent as separate entities. This has a meaning as an embodiment in which facilities capable of charging electric vehicles are expanded in parking lots capable of autonomous parking.

[0102] 11 again, vehicle information is transmitted from the electric vehicle 200 to the parking infrastructure 110 (S1101). The vehicle information is information that can distinguish an electric vehicle 200 from other electric vehicles 200, and may be, for example, the vehicle number of the electric vehicle 200. Alternatively, the vehicle information may be identification information of the driver of the electric vehicle 200. Alternatively, the vehicle information may be information including the size of the electric vehicle 200, the type of the vehicle, the type of attached sensor, etc.

[0103] Furthermore, the parking infrastructure 110 determines whether parking of the electric vehicle 200 is possible (S1102). If parking is impossible, the parking infrastructure 110 transmits an exit request message to the electric vehicle 200 (S1103). Upon receiving the exit request message, the electric vehicle 200 moves out of the parking lot, and the process ends.

[0104] If parking is possible, the parking infrastructure 110 determines whether charging of the electric vehicle 200 is required (S1104). If charging is not required, the parking infrastructure 110 transmits a target position and a guide route to the electric vehicle 200 (S1105). The target position and the guide route here are for an available parking space. The electric vehicle 200 then autonomously drives along the received target position and guide route, and autonomously parks in the available parking space, thereby completing the process.

[0105] If charging is required, the electric vehicle 200 and the parking infrastructure 110 transmit and receive charging necessary information (S1106). The charging necessary information is information required for charging the electric vehicle 200, and may include, for example, charging port type information of the electric vehicle 200, current charging amount, charging speed, whether wireless charging is possible, charging billing information, and the like.

[0106] In addition, the parking infrastructure 110 transmits a charging availability inquiry message to the charging infrastructure 120 (S1107).

[0107] The charging infrastructure 120 that has received the inquiry message determines whether or not the electric vehicle can be charged (S1108). The determination of whether or not charging is possible may be based on charging requirement information. For example, if the wireless charging device installed in the parking lot is not compatible with the electric vehicle 200, it may be determined that charging is not possible. The determination of whether or not charging is possible may also be based on the number of other vehicles that are currently charging. For example, if all parking spaces in the parking lot that are available for wireless charging are occupied, it may be determined that charging is not possible.

[0108] If charging is not possible, the charging infrastructure 120 transmits a response message indicating that charging is not possible to the parking infrastructure 110 (S1109), and the parking infrastructure 110 transmits a target position and a guide route to the electric vehicle 200 (S1110). The target position and the guide route here are for an empty parking space. The electric vehicle 200 then autonomously drives along the received target position and guide route, and autonomously parks in the empty parking space, thereby completing the process.

[0109] If charging is possible, the charging infrastructure 120 transmits a target position and a guide route to the parking infrastructure 110 (S1111). The target position and guide route here are for a vacant parking space that exists in the wireless charging available parking area. The parking infrastructure 110 then transmits a target position and a guide route for the wireless charging space to the charging electric vehicle 200 (S1112), and the electric vehicle 200 moves to the wireless charging space and performs wireless charging, and after a certain time has passed, wireless charging is performed (S1113).

[0110] The charging infrastructure 120 monitors the progress of the wireless charging and can determine whether the wireless charging is completed, and if the wireless charging is completed, transmits a charging completion alarm message to the parking infrastructure 110 (S1114).

[0111] The parking infrastructure 110 transmits the target position and the guide route for the vacant parking space to the electric vehicle 200 (S1115). The electric vehicle 200 then autonomously drives along the received target position and guide route and autonomously parks in the vacant parking space, thereby completing the process.

[0112] 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.

[0113] 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.

[0114] 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.

[0115] 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.

[0116] 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.

[0117] 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.

[0118] Furthermore, as used in this application, terms such as "component," "module," and "system" 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 processes, such as by way of signals having one or more data packets (e.g., data from a component interacting with a local system, other components of a distributed system, and / or other systems via signals over a network such as the Internet).

Claims

1. 1. A method for performing automated valet parking, comprising: initiating automated valet parking; determining whether charging of the electric vehicle is required; If charging is required, setting a wireless charging parking space in the parking lot as a first target position; and transmitting from an infrastructure to the electric vehicle the first target position and a first guide route to travel to the first target position.

2. Whether or not the electric vehicle needs to be charged is determined by:

2. The method of claim 1, wherein a determination is made by the electric vehicle or the infrastructure that charging is required when the charge of the electric vehicle is equal to or less than a predetermined charge.

3. Whether or not the electric vehicle needs to be charged is determined by: The method of claim 1 , wherein the electric vehicle is driven by a driver of the electric vehicle, the driver requesting charging services from the infrastructure.

4. The electric vehicle autonomously drives to the first target position; autonomously parking the electric vehicle in the wireless charging parking space; The method for performing automated valet parking as recited in claim 1 , further comprising the step of: providing wireless charging to the electric vehicle.

5. 2. The method for performing automated valet parking according to claim 1, wherein a coil enabling wireless charging by electromagnetic induction is embedded in the floor of the wireless charging parking space.

6. 5. The method of claim 4, further comprising terminating wireless charging for the electric vehicle when a charge level of the electric vehicle is equal to or greater than a predetermined charge level.

7. After wireless charging of the electric vehicle is completed, 7. The method for performing automated valet parking as recited in claim 6, further comprising the step of setting an empty parking space in the parking lot as a second target position.

8. 8. The method for performing automated valet parking of claim 7, further comprising transmitting from the infrastructure to the electric vehicle the second target position and a second guide route for traveling to the second target position.

9. The electric vehicle autonomously drives to the second target position; autonomously parking the electric vehicle in the vacant parking space; The method for performing automated valet parking of claim 8 , further comprising the step of: completing automated valet parking for the electric vehicle.

10. 1. A system for automated valet parking, comprising: a parking infrastructure that receives vehicle information from an electric vehicle that has entered a parking lot and determines whether the electric vehicle can be parked and whether charging is required; a charging infrastructure that receives a charging availability inquiry message from the parking infrastructure when it is determined that the electric vehicle needs charging, and determines whether the electric vehicle can be charged.

11. The parking infrastructure comprises: The system for automated valet parking according to claim 10 , wherein if it is determined that parking of the electric vehicle is not possible, an exit request message is transmitted to the electric vehicle.

12. The parking infrastructure comprises: The system for automated valet parking according to claim 10 , wherein if it is determined that charging of the electric vehicle is not required, a target position and a guide route to an empty parking space are transmitted to the electric vehicle.

13. The charging infrastructure includes: The system for automated valet parking according to claim 10, wherein the decision as to whether or not to allow charging is based on the number of other electric vehicles currently being charged.

14. If the electric vehicle cannot be charged, 14. The system for automated valet parking of claim 13, wherein the parking infrastructure transmits to the electric vehicle a target position and a guide route to an available parking space.

15. If the electric vehicle can be charged, 14. The system for automated valet parking of claim 13, wherein the charging infrastructure transmits a target position and a guide route for a wireless charging space to the parking infrastructure.

16. After the wireless charging of the electric vehicle is completed, The system for automated valet parking of claim 15 , wherein the charging infrastructure transmits a charging completion alarm message to the parking infrastructure.

17. After the wireless charging of the electric vehicle is completed, 16. The system for automated valet parking of claim 15, wherein the parking infrastructure transmits to the electric vehicle a target position and a guide route to an available parking space.

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