Automated valet parking assistance system and method, and infrastructure and vehicles therefor

Abstract

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

Description

Technical Field

[0001] The present invention relates to an automatic valet parking support system and method, as well as infrastructure and a vehicle therefor. According to the present invention, by utilizing communication between the infrastructure and the vehicle, the vehicle moves without a driver and autonomously parks in an empty parking space. Further, according to the present invention, by utilizing communication between the infrastructure and the vehicle, the vehicle moves from the parking space to a pickup area without a driver.

Background Art

[0002] There are a great many social issues faced in relation to parking in modern society. First, the risk of accidents occurring in parking lots is extremely high. In addition, when attempting to park at facilities such as large marts and department stores, a very large amount of time and energy is consumed for parking. Even after entering the parking lot, a very large amount of time and energy is consumed to find an empty parking space. Furthermore, after parking, there is the inconvenience that the driver who has finished their business at the facility has to walk to the parked vehicle, and in some cases, the driver may forget the position where the vehicle is parked.

Summary of Invention

Problems to be Solved by the Invention

[0003] The present invention is intended to solve the aforementioned problems, and in the automatic valet parking according to the present invention, when a driver stops the vehicle in a drop-off area and exits the vehicle, the vehicle moves autonomously to an empty parking space to complete parking.

[0004] Further, in the automatic valet parking according to the present invention, when the driver calls the vehicle, the parked vehicle moves autonomously to a pickup area, and the driver boards the vehicle at the pickup area and leaves the facility.

Means for Solving the Problems

[0005] A method for performing automated valet parking according to an embodiment of the present invention includes the steps of: a vehicle establishing communication with infrastructure; the vehicle receiving a target position and a guide route from the infrastructure after the communication has been established; the vehicle autonomously driving based on the guide route; and the vehicle parking at the target position and then terminating the automated valet parking.

[0006] A method for performing automated valet parking according to an embodiment of the present invention includes the steps of: infrastructure establishing communication with a vehicle; after the communication has been established, the infrastructure transmitting a target position and a guide route to the vehicle; and after the vehicle has parked at the target position based on the guide route, the infrastructure receiving notification from the vehicle that automated valet parking has been completed. [Brief explanation of the drawing]

[0007] [Figure 1] This figure shows an automated valet parking system according to an embodiment of the present invention. [Figure 2] This figure shows an automatic valet parking device according to an embodiment of the present invention. [Figure 3] This is a conceptual diagram illustrating an automated valet parking system and method according to an embodiment of the present invention. [Figure 4a] This is a block diagram illustrating the infrastructure and operations performed by the vehicle that performs automated valet parking according to the present invention. [Figure 4b] This is a block diagram illustrating the infrastructure and operations performed by the vehicle that performs automated valet parking according to the present invention. [Figure 5] This diagram illustrates communication between the infrastructure and vehicles used for automated valet parking according to the present invention. [Figure 6]This diagram illustrates communication between the infrastructure and vehicles used for automated valet parking according to the present invention. [Figure 7] This diagram illustrates communication between the infrastructure and vehicles used for automated valet parking according to the present invention. [Figure 8] This figure shows an automated valet parking system according to an embodiment of the present invention. [Figure 9] This figure shows the data flow of an automated valet parking system according to an embodiment of the present invention. [Modes for carrying out the invention]

[0008] Embodiments of the present invention will be described in detail below with reference to the attached drawings. The configuration of the present invention and its effects 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 whenever possible, even if they are shown on other drawings, and specific descriptions of known components will be omitted if it is judged that there is a risk of obscuring the gist of the present invention.

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

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

[0011] Driving authority is the permission to perform vehicle operations. These operations include, for example, steering, accelerating, braking, shifting gears, turning the vehicle on / off, and locking / unlocking the vehicle doors.

[0012] The vehicle is equipped with an automated valet parking function.

[0013] The control center is a facility that monitors vehicles in a parking facility, and can determine a target position, a guide route, and a permitted driving area, and cause the vehicle to transmit a driving start command or an emergency stop command.

[0014] The infrastructure may be a parking facility, or may be a sensor disposed in the parking facility. In addition, the infrastructure may also refer to a parking gate and a control center that controls vehicles.

[0015] The target position refers to an empty parking space where the vehicle parks. In addition, in a scenario where the vehicle exits the parking lot, the target position may refer to an area where the driver boards, that is, a pickup area.

[0016] The guide route refers to a route that the vehicle travels to reach the target position. For example, in a scenario where parking is performed, it is a route from the drop-off area to the empty space. For example, the guide route may be in a form such as moving forward 50m or turning left at a corner.

[0017] The driving route refers to a route that the vehicle follows.

[0018] The permitted driving area refers to an area where driving is permitted, for example, a driving path within a parking lot. The permitted driving area can be defined by partition walls, parked vehicles, and parking lines.

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

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

[0021] The automatic valet parking apparatus 200 may refer to a vehicle that performs automatic valet parking. In some embodiments, the automatic valet parking apparatus 200 may refer to a component or a set of components included in a vehicle capable of performing automatic valet parking.

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

[0023] The sensor unit 210 may detect the surrounding environment of the automatic valet parking apparatus 200. In some embodiments, the sensor unit 210 may measure the distance between the automatic valet parking apparatus 200 and a specific object, or detect objects around the automatic valet parking apparatus 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 thermal sensor, and a millimeter wave sensor.

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

[0025] The communication unit 220 may exchange data with the infrastructure 100. Such communication is called Vehicle-to-Infra (V2I) communication. The communication unit 220 can also exchange data with other vehicles. Such communication is called Vehicle-to-Vehicle (V2V) communication. Furthermore, V2I and V2V communication are integrated and called V2X (Vehicle-to-Everything) communication. Depending on the embodiment, the communication unit 220 can receive data transmitted from the infrastructure 100 (e.g., target position, guide route, driving route, or command), process the received data, and transmit it to the decision unit 230. The communication unit 220 can also transmit data generated from the vehicle 200 to the infrastructure 100. Depending on the embodiment, the communication unit 220 can exchange data with the driver's terminal of the vehicle 200.

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

[0027] The decision unit 230 can control the overall operation of the vehicle 200. The decision unit 230 can control the vehicle control unit 240 based on data transmitted via the sensor unit 210 and the communication unit 220. Depending on the embodiment, the decision unit 230 can 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.

[0028] In other words, the decision unit 230 can mean a device that can control the vehicle 200 and perform a series of calculations or decisions for automatic valet parking. For example, the decision unit 230 may be a processor on which a program containing instructions for performing automatic valet parking is executed.

[0029] The vehicle control unit 240 can control the vehicle 200 based on the control of the decision unit 230. Depending on the embodiment, the vehicle control unit 240 can control the vehicle 200 in response to control signals transmitted from the decision unit 230. For example, the vehicle control unit 240 can control the movement, stopping, restarting, steering, acceleration, deceleration, parking, flashing, alarms, etc., of the vehicle 200.

[0030] In other words, the vehicle control unit 240 should be understood to be capable of performing all the functions for controlling the operation of the vehicle 200 as described herein.

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

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

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

[0034] (2) In this case, the driver who has reached the drop-off area dismounts from the vehicle, and driving authority is transferred from the driver to the infrastructure.

[0035] In (3), the infrastructure searches for an available parking space from among several parking spaces within the parking lot and determines an available parking space suitable for 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 vicinity of the parking space, performs automated valet parking to the parking space.

[0036] In (4), the driver decides to leave their vehicle and moves to the pickup area.

[0037] (5) The infrastructure determines the appropriate target position. For example, the appropriate target position may be any available parking space among several 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, reaches the vicinity of the parking space, and then performs automated valet parking into the parking space.

[0038] In (6), the driver reaches the pickup area, and driving authority is transmitted from the infrastructure to the driver. The driver drives the vehicle to the exit of the parking lot.

[0039] Figures 4a and 4b are block diagrams illustrating the infrastructure and operations performed by the vehicle performing automated valet parking according to the present invention.

[0040] (1) describes the operation of the infrastructure and vehicle for initiating automated valet parking. The infrastructure recognizes the driver and vehicle and determines whether they are the correct driver and vehicle. For example, the infrastructure uses the ID and password entered by the driver to determine whether the driver is the correct driver. The infrastructure also uses the vehicle's unique number to determine whether the vehicle is the correct vehicle. The vehicle can turn the engine on / off. The vehicle can also turn the power on / off. For example, a state where the vehicle's engine is off but the power is on may be the ACC on (accessory on) state. The vehicle's engine and power can be turned on / off by receiving commands from the infrastructure, or the vehicle can do so autonomously without commands from the infrastructure. The vehicle can lock / unlock the doors. The vehicle's doors can be locked and unlocked by receiving commands from the infrastructure, or the vehicle can do so autonomously without commands from the infrastructure. It is preferable to lock the vehicle's doors when the vehicle is progressing to the automated parking stage. Also, the vehicle's driving authority is transmitted from the vehicle to the infrastructure. Driving authority is the authority to perform vehicle actions, including steering, acceleration, braking, gear shifting, starting / stopping the vehicle, and locking / unlocking the vehicle doors. By transmitting vehicle authority to the infrastructure, the infrastructure can fully control the vehicle while it is performing automated valet parking. This reduces the likelihood of unintended vehicle behavior and prevents vehicle accidents in the parking lot. However, in some cases, some driving authority may remain with the vehicle without being transmitted to the infrastructure, or some driving authority may be jointly held by the vehicle and the infrastructure.For example, braking must be performed in the event of an emergency while automated valet parking is in operation, and it is preferable for the vehicle to brake on its own without infrastructure control if it detects a risk using ADAS sensors or the like. Furthermore, the vehicle determines whether or not a person or animal is inside the vehicle. Since a considerable amount of time passes between the completion of automated valet parking according to the present invention and the vehicle's departure, this is necessary to eliminate the risks that may arise if a person or animal is inside the vehicle. Whether or not a person or animal is inside the vehicle can be determined using sensors mounted on the vehicle.

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

[0042] (3) In the parking area, autonomous driving of the vehicle may occur. Autonomous driving of the vehicle includes moving, stopping, and restarting the vehicle. Autonomous driving of the vehicle may be performed by the vehicle in response to commands transmitted from the infrastructure to the vehicle, or autonomous driving may be performed by the vehicle autonomously without relying on commands from the infrastructure. The vehicle may autonomously drive to a target position along a guide route within the permitted driving area. In the case of driverless autonomous driving, the vehicle may be controlled to travel below a predetermined speed. Such 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 travel along a guide route without deviating from a given guide route by a predetermined error. Such predetermined error may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle. The vehicle may also adhere to a predetermined minimum turning radius when it must make a curve while autonomously driving along a guide route. Such predetermined minimum turning radius may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle. The vehicle can be controlled to ensure that it does not exceed a predetermined maximum acceleration while autonomously driving along a guided route. This predetermined maximum acceleration may be a value transmitted from the infrastructure to the vehicle or a value stored in the vehicle.

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

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

[0045] In (6), the vehicle applies emergency braking. Emergency braking can be performed based on a command transmitted from the infrastructure, or the vehicle can perform it itself if it detects an obstacle. The infrastructure can command the vehicle to apply emergency braking if it determines that the area around the vehicle is unsafe. After the vehicle has applied emergency braking, if the infrastructure determines that the area around the vehicle is safe, it can command the vehicle to resume autonomous driving or autonomous parking. The vehicle can apply emergency braking if it detects an obstacle. The vehicle can also report the execution of emergency braking to the infrastructure and report the type or location of the obstacle that caused the emergency braking. The amount of deceleration when the vehicle applies emergency braking can follow a predetermined deceleration value, which may be a value determined by the infrastructure or a value stored in the vehicle. The predetermined deceleration value can be determined depending on the type of obstacle, the location of the obstacle, and the distance between the vehicle and the obstacle. The vehicle can resume autonomous driving or autonomous parking if it receives a command from the infrastructure to resume autonomous driving or autonomous parking. Alternatively, the vehicle can resume autonomous driving or autonomous parking if it determines that the surrounding obstacles have been removed. The vehicle can restart autonomous driving or autonomous parking, and report to the infrastructure that it has removed obstacles in its surroundings.

[0046] In (7), the automated valet parking is completed. After the vehicle has completed autonomous driving and autonomous parking, the infrastructure transmits a control release command to the vehicle. The vehicle may turn the engine on / off or the power on / off upon receiving or without receiving a command from the infrastructure. The vehicle may also lock the vehicle doors upon receiving or without receiving a command from the infrastructure. The vehicle may also apply the vehicle's parking brake upon receiving or without receiving a command from the infrastructure.

[0047] (8) Error control may be performed. Error control includes communication errors between the vehicle and the infrastructure or mechanical errors in the vehicle. The infrastructure can monitor communication with the vehicle to detect whether a communication error occurs. The vehicle can monitor communication with the infrastructure to detect whether a communication error occurs. The vehicle can monitor the operating status of accessories, including sensors mounted on it, to detect whether a mechanical error occurs. The vehicle can detect whether a person or animal is inside the vehicle and, if it determines that a person or animal is inside the vehicle, it can apply the emergency brakes. After applying the emergency brakes, the vehicle can receive a command from the infrastructure and restart autonomous parking or autonomous driving. Alternatively, the vehicle can determine whether the cause of the emergency brakes has been removed and, if so, restart autonomous parking or autonomous driving.

[0048] Figure 5 is a diagram illustrating the communication between the infrastructure and vehicles performing automated valet parking according to the present invention.

[0049] 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 may be the vehicle's unique number. The vehicle qualification information can be transmitted in the step when the vehicle enters the parking lot and automated valet parking begins (see (1) in Figure 4a).

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

[0051] In (3), vehicle information can be transmitted from the vehicle to the infrastructure. Vehicle information may include vehicle status information and vehicle location information. Vehicle status information may include whether the vehicle is running, stopped, or in an emergency stop state. Vehicle information can be transmitted periodically and at a specific frequency (e.g., once per second, i.e., 1 Hz). Therefore, vehicle information can be used as a parameter to determine whether a communication error has occurred between the vehicle and the infrastructure. For example, if 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 communication between the vehicle and the infrastructure.

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

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

[0054] In (6), the driving boundary can be communicated from the infrastructure to the vehicle. The driving boundary may include landmarks that mark the boundary with the permitted driving area (e.g., parking lines, center lines, road boundary lines). The communication of the driving boundary may occur after the automated valet parking preparation command has been communicated. Such a driving boundary can be communicated from the infrastructure to the vehicle in the form of a parking map.

[0055] In (7), the automated valet parking start command can be transmitted from the infrastructure to the vehicle. The automated valet parking start command may be transmitted after the guide route and driving boundaries have been transmitted. It may also be transmitted after the vehicle's emergency braking has been applied and after the safety of the area around the vehicle has been confirmed.

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

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

[0058] Figure 6 is a diagram illustrating the communication between the infrastructure 100 and the vehicle 200 that perform automated valet parking according to the present invention.

[0059] (1) In this step, the vehicle 200 enters the parking lot aisle and stops at the designated stopping point. This stopping point may be the entrance gate of the parking lot. The vehicle 200 reports to the infrastructure 100 that it has arrived at the stopping point. (2) In this step, the infrastructure 100 authenticates the size and license plate number of the vehicle 200. (3) In this step, the infrastructure 100 transmits an authentication ID request to the vehicle 200, and (4) the vehicle 200 transmits an authentication ID to the infrastructure 100. (5) In this step, the infrastructure 100 determines whether to approve the vehicle's entry into the parking lot based on the received authentication ID. (6) In this step, the infrastructure 100 informs whether the vehicle's entry into the parking lot is approved or not based on the received authentication ID. For example, the infrastructure 100 may display approval or disapproval via monitors placed around the stopping point. If the vehicle 200's entry into the parking lot is approved, the driver moves the vehicle 200 to the drop-off area. In (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. In (8), authorization of vehicle 200 is transmitted from vehicle 200 (or the driver) to infrastructure 100. Also, in (9), infrastructure 100 is notified that authorization of vehicle 200 has been transmitted from the driver. Such notification can be transmitted to the driver's smart device via a mobile communication network.

[0060] Figure 7 is a diagram illustrating the communication between the infrastructure 100 and the vehicle 200 that perform automated valet parking according to the present invention.

[0061] (1) Infrastructure 100 can transmit a request to vehicle 200 instructing it to turn on its start-up. (2) In response to the request from infrastructure 100, vehicle 200 can turn on its start-up. (3) After turning on its start-up, vehicle 200 can transmit a response to infrastructure 100 indicating that it has turned on its start-up. (4) Infrastructure 100 can transmit a request to vehicle 200 instructing it to prepare for automated valet parking. (5) In response to the request to prepare for automated valet parking, vehicle 200 can transmit a response to infrastructure 100 indicating whether automated valet parking is ready (OK) or not (NG). (6) Infrastructure 100 can transmit a synchronization request to vehicle 200. The synchronization request may be a request instructing the synchronization of the time of infrastructure 100 with the time of vehicle 200. For example, the synchronization request may include information about the time of infrastructure 100. In (7), the vehicle 200 synchronizes in response to the synchronization request, and in (8), it can transmit a response to the infrastructure 100 indicating that the synchronization is complete. For example, multiple synchronization requests can be transmitted from the infrastructure 100 to the vehicle 200 until the synchronization between the infrastructure 100 and the vehicle 200 is complete. In (9), the infrastructure 100 can transmit parking map information to the vehicle 200. Such parking map information may include landmark information. In (10), the vehicle 200 can estimate (or calculate) its position based on the transmitted landmark information, and the vehicle 200 can transmit the estimated position of the vehicle 200 to the infrastructure 100. In (11), the infrastructure 100 can determine the target position (parking location). In (12), the infrastructure 100 can transmit information about the permitted driving area to the vehicle 200. For example, the infrastructure 100 can transmit the boundary of the permitted driving area to the vehicle 200.In (13), the infrastructure 100 can transmit the guide route to the vehicle 200. In (14), the infrastructure 100 can transmit a command to the vehicle 200 to initiate automated valet parking.

[0062] Figure 8 shows an automated valet parking system according to an embodiment of the present invention. Referring to Figures 1 to 8, the automated valet parking system 20 may include infrastructure 300 and automated valet parking equipment 400.

[0063] The infrastructure 300 and automated valet parking system 400 shown in Figure 8 can perform the functions of the infrastructure 100 and automated valet parking system 200 shown in Figure 1. Therefore, additional functions (or differences) will be described below.

[0064] Infrastructure 300, as mentioned above, can mean equipment or systems for operating, managing, and running an automated valet parking system.

[0065] Depending on the embodiment, the infrastructure 300 may include a processor 310, a camera 320, a communication device 330, and a display device 340.

[0066] The processor 310 can control the overall operation of the infrastructure 300. Depending on the embodiment, the processor 310 can control the operation of the camera 320, the communication device 330, and the display device 340.

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

[0068] Camera 320 can photograph the automatic valet parking system 400 and its surroundings, and generate images based on the photographic results. Depending on the embodiment, camera 320 means any device that can photograph a subject and generate corresponding images or videos, such as a still image camera, video camera, closed-circuit television (CCTV), camcorder, camera mounted on a mobile device, camera mounted on a vehicle, notebook computer, or camera mounted on a computer.

[0069] Infrastructure 300 can obtain a vehicle ID for identifying the automated valet parking system 400 using camera 320. Depending on the embodiment, camera 320 can photograph the license plate attached to the automated valet parking system 400, generate an image based on the photographic result, and transmit the generated image to processor 310. Processor 310 can obtain a vehicle ID for identifying the automated valet parking system 400 using the image of the automated valet parking system 400. The vehicle ID may be the vehicle number of the automated valet parking system 400. Alternatively, camera 320 can analyze the image it generates and obtain a vehicle ID for identifying the automated valet parking system 400 based on the analysis result.

[0070] The communication device 330 can communicate with the automatic valet parking system 400. Depending on the embodiment, the communication device 330 can exchange data with the automatic valet parking system 400.

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

[0072] The aforementioned communication ID may be an identifier used to communicate with the automatic valet parking device 400. For example, the communication ID may be, but is not limited to, the MAC (Media Access Control Address), IP (Internet Protocol) address, CID (Connection ID), or IMEI (International Mobile Equipment Identity) of the automatic valet parking device 400, and may be any data used to identify the automatic valet parking device 400 on the communication network.

[0073] In some embodiments, the communication device 330 may include a Bluetooth communication module and can transmit a vehicle ID in the broadcast mode (or advertise mode) of Bluetooth communication. The broadcast mode means a mode in which a signal is transmitted to the surrounding area without specifying a recipient. For example, the Bluetooth communication module of the communication device 330 is initially in an idle state and changes from the idle state to a power-on state in response to a vehicle ID transmitted from the processor 310 or camera 320, and can transmit the vehicle ID in the power-on state. In other words, the Bluetooth module of the communication device 330 can recognize the vehicle ID as an interrupt.

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

[0075] The communication device 330 can establish communication with the automated valet parking system 400 using the received communication ID. Depending on the embodiment, after communication between the infrastructure 300 and the automated valet parking system 400 is established, the communication device 330 can receive the driving authority of the automated valet parking system 400 and transmit the target position and guide route to the automated valet parking system 400.

[0076] The display device 340 means a device that can output data visually or audibly. For example, the display device 340 may include a display device, a speaker, or a lamp.

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

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

[0079] Figure 9 shows the data flow of an automated valet parking system according to an embodiment of the present invention. Referring to Figures 1 to 9, the infrastructure 300 photographs the automated valet parking device 400, allowing the automated valet parking device 400 to recognize the vehicle's license plate and obtain the vehicle ID (S110).

[0080] The infrastructure 300 can transmit the vehicle ID to the automatic valet parking device 400 via the communication device 330 (S120). Depending on the embodiment, the infrastructure 300 can transmit the vehicle ID in broadcast mode via Bluetooth communication.

[0081] The automatic valet parking device 400 can receive a vehicle ID and determine whether the received vehicle ID and the stored reference vehicle ID are the same (S130).

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

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

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

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

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

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

[0088] On the other hand, before establishing communication, the infrastructure 300 determines whether the automated valet parking device 400 is located in the drop-off area, and if the automated valet parking device 400 is located in the drop-off area, it can establish communication with the automated valet parking device 400. In some embodiments, after recognizing the license plate of the vehicle of the automated valet parking device 400, the infrastructure 300 can determine the location of the automated valet parking device 400 in real time by continuously tracking the automated valet parking device 400, and can determine whether the automated valet parking device 400 is located in the drop-off area based on its location.

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

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

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

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

[0093] In one or more exemplary embodiments, the functions described can be implemented in hardware, software, firmware, or any combination thereof. If implemented in software, these functions can be stored or transmitted as one or more instructions or codes on a computer-readable medium. Computer-readable medium includes all communication media and computer storage media, including any medium that facilitates the transmission of computer programs from one location to another. Storage media can be any available medium accessible by a computer. Such computer-readable mediums, to the extent not limited to examples, may include RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium accessible by a computer that can be used to transmit or store desired program code in the form of instructions or data structures. Furthermore, any connection may appropriately be referred to as 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 ultra-high frequency, then coaxial cable, fiber optic cable, twisted pair cable, DSL, or wireless technologies such as infrared, radio, and ultra-high frequency are included in the definition of media. The terms "disk" and "disc" used herein include compact discs (CDs), laser discs, optical discs, digital multipurpose discs (DVDs), floppy disks, and Blu-ray discs, where a disk typically reproduces data magnetically, while a disc reproduces data optically using a laser. Combinations of these should also be included within the scope of computer-readable media.

[0094] When an embodiment is implemented in program code or a code segment, it should be recognized that the code segment may represent any combination of procedures, functions, subprograms, programs, routines, subroutines, modules, software packages, classes, or instructions, data structures, or program statements. A code segment may connect to other code segments or hardware circuits by transmitting and / or receiving information, data, arguments, parameters, or memory content. Information, arguments, parameters, data, etc., may be transmitted, sent, or transmitted using any suitable means, including memory sharing, message passing, token passing, network transmission, etc. Furthermore, in several respects, steps and / or operations of a method or algorithm may reside on machine-readable and / or computer-readable media as code and / or instructions, or any combination or set thereof, which can be integrated into a computer program.

[0095] In software implementation, the techniques described herein can be implemented by modules (e.g., procedures, functions, etc.) that perform the functions described herein. Software code can be stored in memory units and executed by a processor. Memory units may be implemented within the processor or outside the processor. In this case, memory units can be connected to the processor in a communicative manner by various means, as is well known.

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

[0097] The foregoing includes examples of one or more embodiments. Of course, it is not possible to describe all possible combinations of components or methods for the purpose of illustrating the embodiments described above, and those skilled in the art will recognize that many additional combinations and substitutions of various embodiments are possible. Accordingly, the embodiments described include all alternatives, variations, and modifications that fall within the true intent and scope of the appended claims. Moreover, to the extent to which the term “includes” is used in the detailed description or claims, such a term is as comprehensive as the term “constituted,” so that when used, the term “constituted” is interpreted as a transitional word in the claims.

[0098] As used here, the term “infer” or “infer” generally refers to the 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 used to identify a particular situation or behavior, or to generate, for example, a probability distribution for a state. Inference can be probabilistic; that is, it can be the calculation of a probability distribution for a given state based on considerations of data and events. Inference can also refer to techniques used to construct higher-level events from a set of events and / or data. Such inference attempts to estimate new events or behaviors from a set of observed events and / or stored event data, whether events are closely correlated in time, and whether events and data originate from one or more event and data sources.

[0099] Furthermore, as used in this application, terms such as “component,” “module,” and “system” include, but are not limited to, computer-related entities, such as hardware, firmware, combinations of hardware and software, software, or running software. For example, a component may be, but is not limited to, a process running on a processor, a processor, an object, an executable execution thread, a program, and / or a computer. For example, both an application running on a computing device and the computing device itself may be components. One or more components may reside in a process and / or execution thread, components may be concentrated in one computer, and / or distributed among two or more computers. In addition, these components may run from various computer-readable media containing various data structures. Components may communicate locally and / or remotely, such as by following signals that have one or more data packets (e.g., data from a local system, other components of a distributed system, and / or a component that interacts with other systems via a network such as the Internet by signaling). [Explanation of symbols]

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

Claims

1. A method for performing automated valet parking, The steps involved in the vehicle establishing communication with the infrastructure, After establishing the aforementioned communication, the vehicle transmits its driving authority to the infrastructure, The steps include: after the vehicle transmits the driving authority to the infrastructure, the vehicle receives the target position and guide route from the infrastructure; The steps include: the vehicle autonomously driving based on the guide route; The steps include: ending the automated valet parking after the vehicle has parked in the target position, The step of establishing the aforementioned communication is: The steps include: the vehicle receiving a vehicle ID from the infrastructure; The steps include: the vehicle transmitting a communication ID in response to the vehicle ID; The steps include: the vehicle establishing communication with the infrastructure based on the aforementioned communication ID; After establishing the communication based on the communication ID, the vehicle receives a synchronization request from the infrastructure instructing the vehicle to synchronize the time of the infrastructure with the time of the vehicle. The step includes the vehicle performing synchronization in response to the synchronization request, The step of ending the automated valet parking is: The step of the vehicle receiving a control release command from the infrastructure, the control release command returning the driving authority from the infrastructure to the vehicle, How to perform automated valet parking.

2. The step of transmitting the aforementioned communication ID is: The steps include: comparing the vehicle ID received by the vehicle with the stored reference vehicle ID; A method for performing automated valet parking according to claim 1, comprising the step of transmitting the communication ID to the infrastructure if, based on the results of the comparison, the vehicle ID matches the reference vehicle ID.

3. The step of transmitting the communication ID to the infrastructure is: If the aforementioned vehicle ID matches the aforementioned reference vehicle ID, the vehicle requests the driver of the vehicle to approve automatic valet parking. A method for performing automated valet parking according to claim 2, comprising the step of transmitting the communication ID to the infrastructure when the automated valet parking is approved by the driver.

4. The aforementioned vehicle ID is transmitted via broadcast wireless communication. The method for performing automatic valet parking according to claim 1, wherein the communication ID is transmitted by connection-based wireless communication.

5. The aforementioned guide route is This is a route for traveling between the vehicle's stopping position and the target position. The method for performing automated valet parking according to claim 1, wherein the stopping position of the vehicle is determined by a camera included in the infrastructure.

6. The aforementioned operating authority is, A method for performing automatic valet parking according to claim 1, comprising at least one of the following: steering the vehicle, accelerating, braking, shifting gears, turning the vehicle's start on / off, and locking / unlocking the vehicle's doors.

7. A method for performing automated valet parking, The steps involved in the infrastructure establishing communication with the vehicle, After establishing the aforementioned communication, the infrastructure receives the transmission of the vehicle's driving authority from the vehicle, The infrastructure, after receiving the driving authority from the vehicle, transmits the target position and guide route to the vehicle. The steps include: after the vehicle has parked at the target position based on the guide route, the infrastructure receiving notification from the vehicle that automated valet parking has ended; The infrastructure includes the step of transmitting a control release command to the vehicle after it has received notification from the vehicle that the automated valet parking has ended, wherein the control release command returns the driving authority from the infrastructure to the vehicle, The step of establishing the aforementioned communication is: The infrastructure transmits a vehicle ID to the vehicle, The steps include: The infrastructure receiving a communication ID transmitted from the vehicle in response to the vehicle ID; The steps include: establishing communication between the infrastructure and the vehicle based on the aforementioned communication ID; After establishing the communication based on the communication ID, the infrastructure transmits a request to the vehicle indicating that it is ready for automated valet parking. The steps include: transmitting a request to the vehicle indicating that the automated valet parking is ready, and then transmitting a synchronization request to the vehicle instructing the infrastructure to synchronize the time of the infrastructure with the time of the vehicle; The infrastructure includes the step of transmitting the synchronization request to the vehicle and then receiving a response from the vehicle indicating that the synchronization has been completed, How to perform automated valet parking.

8. The step of the infrastructure transmitting the vehicle ID to the vehicle is: The infrastructure includes the step of photographing the vehicle and obtaining the vehicle ID when the vehicle enters the infrastructure, A method for performing automated valet parking according to claim 7, comprising the step of the infrastructure transmitting the acquired vehicle ID to the vehicle.

9. The step of the infrastructure communicating with the vehicle is: The infrastructure includes the step of determining whether the vehicle is located in the drop-off area, A method for performing automated valet parking according to claim 7, comprising the step of the infrastructure communicating with the vehicle based on the communication ID when the vehicle is located in the drop-off area.

10. The step of determining whether the vehicle is located in the drop-off area is: The infrastructure includes the step of photographing the vehicle and obtaining the vehicle ID when the vehicle enters the infrastructure, After obtaining the vehicle ID, the vehicle's location is determined in real time by continuously tracking the vehicle. A method for performing automated valet parking according to claim 9, comprising the step of determining whether the vehicle is located in the drop-off area based on the position of the vehicle.

11. The aforementioned vehicle ID is transmitted via broadcast wireless communication. The method for performing automatic valet parking according to claim 7, wherein the communication ID is transmitted by connection-based wireless communication.

12. The aforementioned operating authority is, A method for performing automatic valet parking according to claim 7, comprising at least one of the following: steering the vehicle, accelerating, braking, shifting gears, turning the vehicle's start on / off, and locking / unlocking the vehicle's doors.

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