Method for performing automatic valet parking and vehicle for performing automatic valet parking

Abstract

To provide a system and a method for supporting automated valet parking, and an infrastructure and a vehicle for the same.SOLUTION: According to the invention, by using communication between an infrastructure and a vehicle, the vehicle moves without a driver and autonomously parks in a vacant parking space. Also, according to the invention, by using the communication between the infrastructure and the vehicle, the vehicle moves from the parking space to a pick-up region without the driver.SELECTED DRAWING: Figure 8

Description

[Technical Field]

[0001] The present invention relates to an automated valet parking assistance system and method, and an infrastructure and vehicle therefor. The present invention utilizes communication between the infrastructure and the vehicle to allow the vehicle to move without a driver and autonomously park in an available parking space. The present invention also utilizes communication between the infrastructure and the vehicle to allow the vehicle to move without a driver from the parking space to a pickup area. [Background technology]

[0002] Modern society faces numerous social issues related to parking. First, there is a high possibility of accidents occurring in parking lots. Second, when parking at facilities such as large marts and department stores, a great deal of time and energy is consumed. Even after entering the parking lot, a great deal of time and energy is consumed in finding an available parking space. Furthermore, even after parking, drivers must go back to their parked vehicle after completing their work at the facility, which is a hassle, and in some cases, they may forget where their vehicle is. Summary of the Invention [Problem to be solved by the invention]

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

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

[0005] According to the present invention, there is provided a method for performing automated valet parking, the method including: a step of starting automated valet parking; a step of transmitting a target position and a guide route from an infrastructure to a vehicle; a step of the vehicle autonomously driving along the guide route; a step of the vehicle autonomously parking at the target position; and a step of terminating automated valet parking.

[0006] The target position comprises a final destination that the vehicle must reach, the final destination comprising an available parking space in a parking lot.

[0007] The target position comprises a final destination that the vehicle must reach, the final destination comprising a particular point around an available parking space in a parking lot.

[0008] After the vehicle reaches the specific point, it uses a driver assistance system (ADAS) to autonomously park at the target position.

[0009] The driver assistance system (ADAS) includes a partially automated parking system (PAPS).

[0010] The guide route is information including distance and vehicle movement, and the vehicle movement includes forward movement, backward movement, left turn, and right turn.

[0011] The guide route includes a parking lot map, a plurality of passing positions, and one target position.

[0012] The step of transmitting the target position and the guide route includes the steps of generating a virtual leading vehicle, generating a virtual lane, and transmitting the virtual leading vehicle and the virtual lane.

[0013] The step of performing autonomous driving further includes the step of activating a driver assistance system.

[0014] The driver assistance systems that are activated include cruise control (ACC) and lane keeping assist (LFA).

[0015] The step of performing autonomous parking further includes activating a driver assistance system.

[0016] The driver assistance systems include a partially automated parking system (PAPS). [Brief explanation of the drawings]

[0017] [Figure 1] 1 is a diagram illustrating an automated valet parking system according to an embodiment of the present invention. [Figure 2] 1 is a diagram showing an automatic valet parking device according to an embodiment of the present invention. [Figure 3] 1 is a conceptual diagram for explaining an automated valet parking system and method according to an embodiment of the present invention; [Figure 4a] 1 is a block diagram for explaining the operations performed by an infrastructure and a vehicle that performs automated valet parking according to the present invention. FIG. [Figure 4b] 1 is a block diagram for explaining the operations performed by an infrastructure and a vehicle that performs automated valet parking according to the present invention. FIG. [Figure 5] FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle that performs automatic valet parking according to the present invention. [Figure 6] FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle that performs automatic valet parking according to the present invention. [Figure 7] FIG. 2 is a diagram for explaining communication between an infrastructure and a vehicle that performs automatic valet parking according to the present invention. [Figure 8] 1 illustrates a method for performing automated valet parking according to the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0018] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. The configuration and effects of the present invention will be clearly understood from the following detailed description. Prior to the detailed description of the present invention, identical components will be denoted by the same reference numerals as much as possible even if they are shown in different drawings, and detailed descriptions of well-known components will be omitted if it is determined that they may obscure the gist of the present invention.

[0019] Prior to the detailed description of the present invention, the terms used in the present invention can be defined as follows.

[0020] A driver is a person who uses a vehicle and receives the services of the automated valet parking system.

[0021] Driving authority is the authority to perform vehicle operations, such as steering, accelerating, braking, shifting gears, turning the vehicle on and off, and locking and unlocking the vehicle doors.

[0022] The vehicle is a vehicle that has a function for performing automatic valet parking.

[0023] The control center is a facility that monitors vehicles within the parking facility, determines target positions, guide routes, and permitted driving areas, and can enable vehicles to transmit driving start commands or emergency stop commands.

[0024] The infrastructure may be a parking facility, sensors located within the parking facility, or a parking gate or control center that controls the vehicles.

[0025] The target position may refer to an available parking space where the vehicle will park, or may refer to an area where the driver will board, i.e., a pickup area, in the situation where the vehicle will leave the parking space.

[0026] The guide route refers to the route the vehicle will take to reach the target position. For example, in a parking situation, it could be the route from the drop-off area to an available space. For example, the guide route could be in the form of moving forward 50 meters or turning left at a corner.

[0027] A driving route refers to the route that a vehicle follows.

[0028] A permitted driving area refers to an area where driving is permitted, such as a driving path within a parking lot. A permitted driving area can be defined by a bulkhead, a parked vehicle, or a parking line.

[0029] 1 shows an automated valet parking system according to an embodiment of the present invention. Referring to FIG. 1, the automated valet parking system 10 may include an infrastructure 100 and an automated valet parking device 200.

[0030] As described above, infrastructure 100 may refer to devices or systems for operating, managing, and executing an automated valet parking system. For example, infrastructure 100 may be a parking facility. In some embodiments, infrastructure 100 may include sensors, communication devices, alarm devices, display devices, and servers that control the aforementioned devices. Infrastructure may also refer to parking gates and a control center that controls vehicles.

[0031] The automated valet parking device 200 may refer to a vehicle that performs automated valet parking. In some embodiments, the automated valet parking device 200 may refer to a component or a collection of components included in a vehicle that can perform automated valet parking.

[0032] 2 shows an automated valet parking system according to an embodiment of the present invention. Referring to FIG. 2, the automated valet parking system (e.g., a vehicle 200) may include a sensor unit 210, a communication unit 220, a determination unit 230, and a vehicle control unit 240.

[0033] The sensor unit 210 may detect the environment around the automated valet parking device 200. Depending on the embodiment, the sensor unit 210 may measure the distance between the automated valet parking device 200 and a specific object, or may detect an object around the automated valet parking device 200. For example, the sensor unit 210 may include at least one of an ultrasonic sensor, a radar sensor, a lidar sensor, a camera, an infrared sensor, a heat detection sensor, and a millimeter wave sensor.

[0034] The sensor unit 210 can transmit data generated based on the detection result to the communication unit 220 or the vehicle control unit 240.

[0035] The communication unit 220 may exchange data with the infrastructure 100. Such communication is called vehicle-to-infrastructure (V2I) communication. The communication unit 220 may also exchange data with other vehicles. Such communication is called vehicle-to-vehicle (V2V) communication. V2I communication and V2V communication may be combined and called vehicle-to-everything (V2X) communication. In some embodiments, the communication unit 220 may receive data (e.g., a target position, a guide route, a driving route, or an instruction) transmitted from the infrastructure 100, process the received data, and transmit the data to the determination unit 230. The communication unit 220 may also transmit data generated by the vehicle 200 to the infrastructure 100. In some embodiments, the communication unit 220 may exchange data with a terminal of a driver of the vehicle 200.

[0036] The communication unit 220 can transmit or receive data using a wireless communication protocol or a wired communication protocol. For example, the wireless communication protocol may be a wireless LAN (WLAN), a Digital Living Network Alliance (DLNA), a wireless broadband (Wibro), a world interoperability for microwave access (WiMAX), a global system for mobile communication (GSM), a code division multi-access (CDMA), a code division multi-access 2000 (CDMA2000), an enhanced voice-data optimized or enhanced voice-data only (EV-DO), a wideband CDMA (WCDMA), a high speed downlink packet access (HSDPA), a high speed uplink packet access (HSUPA), IEEE802.16, a long term evolution (LTE), a long term evolution-advanced (LTE-A), a wireless mobile broadband service (WMBS), a Bluetooth, a radio frequency identification (RFID), an infrared communication (IRC), or the like. These may include IrDA (Interface Data 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, but is not limited to, a wired LAN (Local Area Network), a wired WAN (Wide Area Network), a power line communication (PLC), a USB communication, an Ethernet, a serial communication, an optical / coaxial cable, and the like, and may include any protocol that can provide a communication environment with other devices.

[0037] The determination unit 230 may control the overall operation of the vehicle 200. The determination unit 230 may control the vehicle control unit 240 based on data transmitted via the sensor unit 210 and the communication unit 220. In some embodiments, the determination unit 230 may generate a control signal for controlling the vehicle control unit 240 based on data transmitted from the infrastructure 100 and transmit the generated control signal to the vehicle control unit 240.

[0038] That is, the determination unit 230 may refer to a device that controls the vehicle 200 and performs a series of calculations or decisions to perform automated valet parking. For example, the determination unit 230 may be a processor that executes a program including instructions for performing automated valet parking.

[0039] The vehicle control unit 240 may control the vehicle 200 based on the control of the determination unit 230. In some embodiments, the vehicle control unit 240 may control the vehicle 200 in response to a control signal transmitted from the determination unit 230. For example, the vehicle control unit 240 may control the movement, stopping, restarting of movement, steering, acceleration, deceleration, parking, flashing, warning, etc. of the vehicle 200.

[0040] That is, it should be understood that the vehicle control unit 240 can perform all of the functions for controlling the operation of the vehicle 200 described herein.

[0041] On the other hand, without any other explanation, it should be understood that the operation or function of the vehicle 200 described in this specification is appropriately performed by a combination of at least one of the sensor unit 210, the communication unit 220, the judgment unit 230, and the vehicle control unit 240.

[0042] FIG. 3 is a conceptual diagram for explaining an automated valet parking system and method according to an embodiment of the present invention.

[0043] Referring to FIG. 3, at (1), the driver drives the vehicle into the parking lot and moves the vehicle into the drop-off area.

[0044] In (2), the driver reaches the drop-off area and gets out of the vehicle, and driving authority is transferred from the driver to the infrastructure.

[0045] 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.

[0046] At (4), the driver decides to leave his vehicle and moves to the pickup area.

[0047] In (5), the infrastructure determines an appropriate target position. For example, the appropriate target position may be an available parking space among multiple parking spaces within the pickup area. The infrastructure also determines a guide route to the determined target position. Once the target position and guide route are determined, the vehicle autonomously travels along the guide route and, after reaching the perimeter of the parking space, performs automatic valet parking into the parking space.

[0048] 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.

[0049] 4a and 4b are block diagrams for explaining the operations of the infrastructure and vehicle that perform the automated valet parking according to the present invention.

[0050] Section (1) describes the operation of the infrastructure and vehicle for starting automated valet parking. The infrastructure recognizes the driver and vehicle and determines whether they are the appropriate driver and vehicle. For example, the infrastructure determines whether the driver is the appropriate driver using an ID and password entered by the driver. The infrastructure also determines whether the vehicle is the appropriate vehicle using the vehicle's unique number. The vehicle can turn the engine on / off. The vehicle can also turn the power on / off. For example, a state in which the vehicle's engine is off but the power is on may be referred to as an ACC (accessory on) state. The vehicle's engine and power can be turned on / off by receiving commands from the infrastructure, or can be performed autonomously by the vehicle without a command from the infrastructure. The vehicle can lock / unlock its doors. The vehicle's doors can be locked and unlocked by receiving commands from the infrastructure, or can be performed autonomously by the vehicle without a command from the infrastructure. When the vehicle proceeds to the automated parking stage, it is preferable to lock the vehicle doors. Furthermore, driving authority of the vehicle is transferred from the vehicle to the infrastructure. Driving authority is the authority to perform vehicle operations, including steering, accelerating, braking, shifting gears, turning the vehicle on and off, and locking and unlocking the vehicle doors. By transferring vehicle authority to the infrastructure, the infrastructure can maintain full control of the vehicle while it is undergoing automated valet parking. This reduces the likelihood of unintended vehicle operation and prevents vehicle accidents in parking lots. However, depending on the situation, some driving authority may remain with the vehicle rather than being transferred from the vehicle to the infrastructure, or some driving authority may be held jointly by the vehicle and the infrastructure.For example, braking is required when an emergency situation occurs during automated valet parking, and it is preferable for the vehicle to brake itself without infrastructure control when it detects a risk using an ADAS sensor or the like. Furthermore, the vehicle determines whether or not a person or animal is present inside the vehicle. This is to eliminate risks that may arise if a person or animal is present inside the vehicle, since it takes a considerable amount of time from the completion of automated valet parking according to the present invention until the vehicle departs. Whether or not a person or animal is present inside the vehicle can be determined using sensors mounted on the vehicle.

[0051] 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.

[0052] The target position is the final destination to which the vehicle must move. When the vehicle is entering a parking lot, the target position is an available parking space within the parking lot where the vehicle should park. When the vehicle is leaving the parking lot, the target position is an available parking space within the pickup area. Alternatively, the target position may be a specific point around an available parking space instead of an available parking space. For example, if there are multiple consecutive or adjacent available parking spaces in a specific area within the parking lot, the target position may be a specific point around such multiple available parking spaces. In this case, the vehicle moves to the corresponding specific point and then activates an autonomous parking function in the 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). This example further increases the efficiency of managing available parking space. That is, from the infrastructure's perspective, it is sufficient to recognize only a rough point instead of calculating an accurate target position, thereby reducing the energy required for processing.

[0053] A guide route is a route that a vehicle should 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. Alternatively, the guide route can be configured as a continuous straight line, curve, or a combination of these from the current position to a target position within a parking lot map. Alternatively, the guide route can be configured as multiple passing positions and one target position within a parking lot map. For example, the guide route can include pillars A1, B2, and C3 as multiple passing positions and parking area D23 as the target position. In this way, when the guide route is configured as passing positions and a target position rather than as a straight line or a curve, information about straight lines, curves, or distances (e.g., 10 meters) is not required, thereby reducing the amount of information required for communication between the vehicle and infrastructure (e.g., V2I).

[0054] In (3), the vehicle may be autonomously driven within the parking lot. The autonomous driving of the vehicle includes moving, stopping, and restarting the vehicle. The autonomous driving of the vehicle may be performed by the vehicle in response to commands transmitted from the infrastructure to the vehicle. Alternatively, the autonomous driving of the vehicle may be performed autonomously by the vehicle without relying on commands from the infrastructure. The vehicle may autonomously drive to a target position along a guide route within a permitted 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. Furthermore, the vehicle may be controlled to drive within a predetermined error from a given guide route while autonomously driving along the guide route. Such a predetermined error may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle. Furthermore, the vehicle may comply with a predetermined minimum turning radius when it must turn a curve while autonomously driving along the guide route. Such a predetermined minimum turning radius may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle. The vehicle may be controlled to not exceed a predetermined maximum acceleration as it travels autonomously along the guided route, which may be a value communicated to the vehicle from the infrastructure or stored in the vehicle.

[0055] In (4), position measurement may be performed. The object of the 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 obstacle and store the vehicle's position in a database. The infrastructure may identify and detect the vehicle or obstacle and monitor the safety of each of the multiple vehicles being parked. The infrastructure may also monitor the operation of the vehicle that has reached the target position and is being parked and transmit instructions. The vehicle may measure its own position. The vehicle may transmit its measured position to the infrastructure. The error of the vehicle's position measured by the vehicle is within a predetermined error range, which may be a value determined by the infrastructure. The vehicle may sense its surroundings to measure the position of any obstacles present and transmit the measured position of the obstacle to the infrastructure. A predetermined frequency may be used for communication between the vehicle and the infrastructure.

[0056] In (5), autonomous parking can be performed. Autonomous parking refers to a vehicle that arrives near a target position and autonomously parks in an available parking space. The vehicle can perform autonomous parking by using a distance sensor installed in the vehicle to detect obstacles or nearby parked vehicles. The distance sensor installed in the vehicle can include, for example, an ultrasonic sensor, a radar sensor, a lidar sensor, or a camera.

[0057] In (6), the vehicle may perform emergency braking. The vehicle may perform emergency braking based on a command transmitted from the infrastructure, or may perform emergency braking on its own if the vehicle detects an obstacle. The infrastructure may command the vehicle to perform emergency braking if it determines that the area around the vehicle is unsafe. After the vehicle performs emergency braking, if the infrastructure determines that the area around the vehicle is safe, the vehicle may command the vehicle to resume autonomous driving or autonomous parking. The vehicle may perform emergency braking if it detects an obstacle. The vehicle may also report the execution of emergency braking to the infrastructure and may report to the infrastructure the type or location of the obstacle that caused the emergency braking. The magnitude of deceleration when the vehicle performs emergency braking may be in accordance with a predetermined deceleration value, which may be a value determined by the infrastructure or a value stored in the vehicle. The predetermined deceleration value may be determined according to the type of obstacle, the location of the obstacle, and the distance between the vehicle and the obstacle. The vehicle may resume autonomous driving or autonomous parking if it receives a command to resume autonomous driving or autonomous parking from the infrastructure. Alternatively, the vehicle may resume autonomous driving or autonomous parking if it determines that the surrounding obstacle has been removed. The vehicle can restart autonomous driving or parking and report the removal of surrounding obstacles to the infrastructure.

[0058] 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 independently of the command from the infrastructure. The vehicle can also lock the vehicle doors by receiving a command from the infrastructure or independently of the command from the infrastructure. The vehicle can also activate the vehicle's parking brake by receiving a command from the infrastructure or independently of the command from the infrastructure.

[0059] In (8), error control may be performed. 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 animal is present inside the vehicle and 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 resume autonomous parking or autonomous driving. Alternatively, the vehicle may determine whether the cause of the emergency braking has been eliminated and, if so, resume autonomous parking or autonomous driving.

[0060] FIG. 5 is a diagram for explaining communication between an infrastructure and a vehicle that performs automatic valet parking according to the present invention.

[0061] In (1), vehicle qualification information can be transmitted from the vehicle to the infrastructure. The vehicle qualification information includes an identifier that can distinguish each vehicle from other vehicles. For example, the vehicle qualification information can be the vehicle's unique license plate number. The vehicle qualification information can be transmitted when the vehicle enters the parking lot and the automated valet parking begins (see (1) in Figure 4a).

[0062] 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.

[0063] 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 can be transmitted 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 the 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.

[0064] 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 on the same frequency as the vehicle information. Therefore, the vehicle information response 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 response does not reach the vehicle at the 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.

[0065] 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.

[0066] 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 automated 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 lot map.

[0067] 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. The command can also be transmitted after emergency braking of the vehicle has been performed and safety around the vehicle has been confirmed.

[0068] In (8), an emergency braking command can be transmitted from the infrastructure to the vehicle.

[0069] 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 be performed after the vehicle has completed autonomous parking in the parking space.

[0070] 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 invention.

[0071] In (1), the vehicle 200 enters the aisle of the parking lot and stops at a stop position. Such a stop position may be the 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 the authentication ID to the infrastructure 100. In (5), the infrastructure 100 determines whether to approve the vehicle 200's entry into the parking lot based on the received authentication ID. In (6), the infrastructure 100 notifies the vehicle 200 whether or not the vehicle 200's 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 located around the stop position. If the vehicle 200 is approved to enter the parking lot, 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, exits 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. 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.

[0072] FIG. 7 is a diagram for explaining communication between an infrastructure 100 and a vehicle 200 that performs automatic valet parking according to the present invention.

[0073] In (1), the infrastructure 100 may transmit a request to the vehicle 200 instructing it 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 to the infrastructure 100 indicating that the start is on after turning on the start. In (4), the infrastructure 100 may transmit a request to the vehicle 200 instructing it to prepare for automated valet parking. In (5), the vehicle 200 may transmit a response to the infrastructure 100 instructing it to prepare for automated valet parking in response to the request for automated valet parking preparation, indicating whether the automated 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 instructing synchronization of the time of the infrastructure 100 with the time of the vehicle 200. For example, the synchronization request may include information regarding the time of the infrastructure 100. At (7), vehicle 200 may synchronize in response to the synchronization request, and at (8), transmit a response to infrastructure 100 indicating that the synchronization is complete. For example, multiple synchronization requests may be transmitted from infrastructure 100 to vehicle 200 before synchronization between infrastructure 100 and vehicle 200 is complete. At (9), infrastructure 100 may transmit parking lot map information to vehicle 200. Such parking lot map information may include landmark information. At (10), vehicle 200 may estimate (or calculate) its location based on the transmitted landmark information, and vehicle 200 may transmit the estimated location of vehicle 200 to infrastructure 100. At (11), infrastructure 100 may determine a target position (parking position). At (12), infrastructure 100 may transmit information about an allowed driving area to vehicle 200. For example, infrastructure 100 may transmit the boundaries of the allowed driving area to 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.

[0074] FIG. 8 is a diagram illustrating a method for performing automated valet parking according to the present invention.

[0075] According to the present invention, the infrastructure 100 performs a step of generating a virtual leading vehicle (S810), a step of generating a virtual lane (S820), and a step of transmitting a guide route (S830).

[0076] Specifically, the guide route according to the present invention can include virtual preceding vehicle information and virtual lane information.

[0077] The virtual preceding vehicle information is information regarding the presence of a virtual vehicle that does not physically exist but is ahead of the vehicle performing the automated valet parking. In other words, the virtual preceding vehicle information is information regarding the presence of a vehicle that does not actually exist but is virtually generated by the infrastructure. For example, the virtual preceding vehicle may be a virtual vehicle that is ahead of the automated valet parking vehicle by a predetermined distance. As described below, the automated valet parking vehicle can autonomously drive along the virtual preceding vehicle using a cruise control function (Advanced Cruise Control (ACC) or Smart Cruise Control (SCC)), which is one of the functions of a driver assistance system (ADAS). The automated valet parking vehicle can autonomously drive by following the virtual preceding vehicle using its own ADAS. Since the automated valet parking vehicle uses existing systems in the vehicle, it can reduce the computational and data processing load on the infrastructure. Furthermore, when the virtual preceding vehicle information is considered together with information on other automated valet parking vehicles currently driving, the possibility of a collision with other automated valet parking vehicles can be reduced.

[0078] Virtual lane information refers to virtual lane information that does not actually exist physically within a parking lot in relation to a vehicle performing automated valet parking. In other words, virtual lane information is not actually drawn on the floor of a parking lot, but is virtually generated by the infrastructure. For example, virtual lanes can be configured with the same width or color as lanes drawn on actual roads. The width or color of virtual lanes can be preset by the infrastructure. As described below, automated valet parking vehicles can autonomously drive without deviating from a virtual lane using a lane keeping assistance system (LFA, LKAS), a function of an advanced driver assistance system (ADAS). Automated valet parking vehicles can autonomously drive by following a virtual lane using their own ADAS. Since the system utilizes existing systems within the vehicle, it is possible to reduce the computational and data processing load on the infrastructure. Furthermore, when virtual lane information is taken into account together with information on other automated valet parking vehicles already parked, the possibility of a collision with other parked automated valet parking vehicles can be reduced.

[0079] The vehicle activates its own driver assistance system (ADAS) (S840). For example, the activated driver assistance system may include cruise control (ACC, SCC), lane keeping assist (LFA, LKAS), and partially automated parking system (PAPS).

[0080] The vehicle performs autonomous driving (S850). When the vehicle performs autonomous driving, the activated driver assistance functions include cruise control and lane keeping function. That is, the vehicle uses cruise control to follow the virtual preceding vehicle and lane keeping assist function to follow the virtual lane.

[0081] The vehicle performs autonomous parking (S860). That is, when the vehicle reaches the target position, it uses the partially automated parking function to park autonomously in an available parking space.

[0082] Finally, the vehicle reports to the infrastructure that parking is complete (S870).

[0083] Meanwhile, recent vehicles are equipped with an Around View Monitoring (AVM) function. AVM is a function that displays images of the front, left, right, and rear on a monitor inside the vehicle, which is useful for drivers when driving and parking. According to the present invention, the monitor display screen using AVM can include the virtual preceding vehicle and virtual lane and be stored in the vehicle. In this case, if an accident occurs in a parking lot, the exact cause of the accident can be identified. Furthermore, according to the present invention, the above-mentioned screen can be transmitted in real time to the smartphone of the driver who has exited the vehicle. From the driver's perspective, the vehicle currently undergoing automated valet parking can be monitored in real time.

[0084] 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 store or transmit 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 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, 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 medium. 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 disks typically reproduce data magnetically, while discs reproduce data optically with a laser. Combinations of these should also be included within the scope of computer-readable media.

[0085] 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 passing and / or receiving information, data, arguments, parameters, or memory contents. The information, arguments, parameters, data, etc. can be passed, 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 and / or computer-readable medium, which can be embodied in a computer program product.

[0086] In a software implementation, the techniques described herein may be implemented with modules (e.g., procedures, functions, etc.) that perform the functions described herein. The software code 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 which case the memory unit may be communicatively coupled to the processor via various means as is known.

[0087] In a hardware implementation, the processing unit may be implemented in 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 combinations thereof.

[0088] What has been described above includes examples of one or more embodiments. Of course, it is not possible to describe every possible combination of components or methodologies for purposes of describing the above-described embodiments, and one of ordinary skill in the art will recognize that many additional combinations and permutations of various embodiments are possible. Accordingly, the described embodiments 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 the claims, such term is as inclusive as the term "comprising," just as the term "comprising," when used, is to be construed as a transitional word in the claims.

[0089] As used herein, the terms “infer” or “inference” generally refer to the process of making judgments or inferring 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 specific contexts or actions 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 deduce 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.

[0090] Furthermore, as used herein, 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 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. Components may communicate via local and / or remote processes, such as via signals comprising one or more data packets (e.g., data from a local system, other components in a distributed system, and / or one component interacting with other systems via signals over a network such as the Internet).

Claims

1. 1. A method for automated valet parking by a vehicle and infrastructure, comprising: initiating automated valet parking with the vehicle and the infrastructure; transmitting, by the infrastructure, a target position and a guide route to the target position to a vehicle; a step of causing the vehicle to autonomously travel along the guide route toward the target position; a step of autonomously parking the vehicle at the target position; completing automated valet parking with the vehicle and the infrastructure; The step of initiating the automated valet parking includes: transmitting, by the vehicle, authority to operate the vehicle to the infrastructure; and sending, by the infrastructure, a signal to a user equipment of the vehicle notifying the user equipment of the result of obtaining the driving authority for the vehicle; the target position includes a final destination that the vehicle must reach; The method of performing automated valet parking, wherein the final destination includes a specific point around an available parking space in a parking lot.

2. the target position includes a final destination that the vehicle must reach; The method for performing automated valet parking of claim 1 , wherein the final destination comprises an available parking space in a parking lot.

3. The method for performing automated valet parking according to claim 1 , wherein after the vehicle reaches the specific point, the vehicle autonomously parks at the target position using a driver assistance system (ADAS).

4. 4. The method for performing automated valet parking of claim 3, wherein the driver assistance system (ADAS) includes a partially automated parking system (PAPS).

5. The guide route is information including distance and vehicle operation, The method for performing automated valet parking according to claim 1 , wherein the vehicle movements include moving forward, moving backward, turning left, and turning right.

6. The method for performing automated valet parking according to claim 1 , wherein the guide route includes a parking lot map and a plurality of passing positions.

7. A method for automated valet parking using a vehicle and infrastructure, comprising: initiating automated valet parking with the vehicle and the infrastructure; transmitting, by the infrastructure, a target position and a guide route to the target position to a vehicle; a step of causing the vehicle to autonomously travel along the guide route toward the target position; a step of autonomously parking the vehicle at the target position; completing automated valet parking with the vehicle and the infrastructure; The step of initiating the automated valet parking includes: transmitting, by the vehicle, authority to operate the vehicle to the infrastructure; and sending, by the infrastructure, a signal to a user equipment of the vehicle notifying the user equipment of the result of obtaining the driving authority for the vehicle; The step of transmitting the target position and the guide route includes: generating a virtual leading vehicle; generating virtual lanes; transmitting the virtual preceding vehicle and the virtual lane.

8. The step of performing autonomous traveling includes:

8. The method for performing automated valet parking according to claim 7, further comprising the step of activating a driver assistance system (ADAS) that performs autonomous driving by following the virtual leading vehicle and the virtual lane.

9. The driver assistance system to be activated is Includes cruise control (ACC) and lane keeping assist (LFA), The ACC performs autonomous driving by following the virtual leading vehicle, The method for performing automated valet parking according to claim 8 , wherein the LFA performs autonomous driving by following the virtual lane.

10. The method for performing automated valet parking of claim 1 , wherein the step of performing autonomous parking further comprises the step of activating a driver assistance system.

11. The method for performing automated valet parking of claim 10 , wherein the driver assistance system includes a partially automated parking system (PAPS).

12. A vehicle that communicates with an infrastructure to perform automated valet parking, a sensor unit that detects the environment around the vehicle; a communication unit that receives a target position and a guide route through V2I communication with the infrastructure; a determination unit that controls an operation for autonomous driving of the vehicle based on the guide route and an operation for autonomous parking of the vehicle based on the target position; a vehicle control unit that controls the vehicle based on a control signal provided by the determination unit, The communication unit is further configured to send driving authority for the vehicle to the infrastructure; the target position includes a final destination that the vehicle must reach; The final destination includes a specific point around an available parking space in a parking lot, and the vehicle is being automated and valet parked.

13. the target position includes a final destination that the vehicle must reach; The vehicle performing automated valet parking according to claim 12 , wherein the final destination includes an available parking space in a parking lot.

14. The vehicle performing automated valet parking according to claim 12 , wherein the guide route includes a parking lot map and a plurality of passing positions.

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