Method for controlling driving of ads vehicle by automated valet driving system (AVDS) and device for controlling driving of ads vehicle by avds

Abstract

An automated valet driving method according to embodiments may comprise the steps of: identifying a subject vehicle (SV); performing a check-in for the SV; and performing an automated vehicle operation for the SV by an automated valet driving system (AVDS). An automated valet driving device according to embodiments may comprise: a memory; and a processor connected to the memory, wherein the processor identifies a subject vehicle (SV), performs a check-in for the SV, and performs an automated vehicle operation for the SV by an automated valet driving system (AVDS).

Description

Method for controlling driving of an ADS vehicle by an autonomous valet driving system (AVDS) and device for controlling driving of an ADS vehicle by an autonomous valet driving system (AVDS)

[0001] The embodiments relate to a method and device for performing autonomous valet driving.

[0002] The Autonomous Valet Driving System (AVDS) consists of a user, a system, and a self-driving vehicle. AVDS can transfer autonomous driving control authority from the user to the self-driving vehicle. Using autonomous driving functions, AVDS can perform valet driving control. For the AVDS system to control the vehicle and perform valet driving, efficient control methods and data transmission and reception methods are required.

[0003] The embodiments provide a device and method for efficiently performing autonomous valet driving.

[0004] Embodiments provide an autonomous valet driving method and device for safely and efficiently performing valet driving by autonomously performing valet driving on a vehicle.

[0005] However, the scope of the embodiments is not limited to the technical tasks described above, and the scope of the embodiments may be expanded to other technical tasks that can be inferred by a person skilled in the art based on the entire described content.

[0006] An automated valet driving method according to embodiments may include a step of identifying a subject vehicle (SV); a step of performing a check-in for the SV; and a step of performing an autonomous vehicle operation for the SV by an automated valet driving system (AVDS). An automated valet driving device according to embodiments may include a memory; and a processor connected to the memory; wherein the processor may identify a subject vehicle (SV), perform a check-in for the SV, and perform an autonomous vehicle operation for the SV by an automated valet driving system (AVDS).

[0007] An automated valet driving method according to embodiments includes the steps of: identifying a subject vehicle (SV); performing a check-in for the SV; and performing an autonomous vehicle operation for the SV by an Automated Valet Driving System (AVDS), wherein the step of performing the autonomous vehicle operation for the SV by the AVDS may include a step of controlling a driving start time of the SV based on an expected time of completion of charging of the vehicle at a target charging station. An automated valet driving device according to embodiments includes: a memory; and a processor connected to the memory; wherein the processor may identify a subject vehicle (SV), perform a check-in for the SV, perform an autonomous vehicle operation for the SV by the Automated Valet Driving System (AVDS), and control a driving start time of the SV based on an expected time of completion of charging of the vehicle at the target charging station.

[0008] An automated valet driving method according to embodiments includes a step of identifying a subject vehicle (SV); a step of performing a check-in for the SV; and a step of performing an autonomous vehicle operation for the SV by an AVDS (Automated Valet Driving System), wherein data for the autonomous vehicle operation can be transmitted and received by the AVDS. An automated valet driving device according to embodiments includes a memory; and a processor connected to the memory; wherein the processor identifies a subject vehicle (SV), performs a check-in for the SV, and performs an autonomous vehicle operation for the SV by an AVDS (Automated Valet Driving System), wherein data for the autonomous vehicle operation can be transmitted and received by the AVDS.

[0009] The method / device according to the embodiments can efficiently perform autonomous valet driving of a vehicle.

[0010] The method / device according to the embodiments can safely perform autonomous valet driving of a vehicle.

[0011] The method / device according to the embodiments can accurately perform autonomous valet driving of a vehicle.

[0012] The drawings are included to further understand the embodiments, and the drawings illustrate the embodiments together with the description related to the embodiments. For a better understanding of the various embodiments described below, reference should be made to the following description of the embodiments in conjunction with the following drawings, in which like reference numerals correspond to corresponding parts throughout the drawings.

[0013] Figure 1 illustrates the basic flow of AVDS (Automated Valet Driving Systems) according to embodiments.

[0014] Figure 2 illustrates a system structure related to a method / device according to embodiments.

[0015] Fig. 3 shows a vehicle control device according to embodiments.

[0016] Figure 4 shows the structure of a vehicle according to embodiments.

[0017] FIG. 5 illustrates a timeline of driving of an AVDS (Automated Valet Driving System)-based vehicle to an EV (Electric Vehicle) charging station according to embodiments.

[0018] Figure 6 illustrates an autonomous valet driving method according to embodiments.

[0019] Figure 7 illustrates an autonomous valet driving method according to other embodiments.

[0020] Figure 8 illustrates an autonomous valet driving method according to further embodiments.

[0021] FIG. 9 illustrates an EV (Electric Vehicle) charging station based on an AVDS (Automated Valet Driving System) according to embodiments.

[0022] Fig. 10 illustrates an autonomous valet driving method according to embodiments.

[0023] Preferred embodiments of the embodiments are described in detail, examples of which are illustrated in the accompanying drawings. The following detailed description, with reference to the accompanying drawings, is intended to illustrate preferred embodiments of the embodiments, rather than merely show embodiments that can be implemented according to the embodiments. The following detailed description includes details to provide a thorough understanding of the embodiments. However, it will be apparent to those skilled in the art that the embodiments may be practiced without these details.

[0024] While most of the terms used in the examples are commonly used in the field, some terms were arbitrarily selected by the applicant, and their meanings are described in detail in the following descriptions as needed. Therefore, the examples should be understood based on the intended meaning of the terms, not simply their names or meanings.

[0025] Figure 1 illustrates the basic flow of AVDS (Automated Valet Driving Systems) according to embodiments.

[0026] Figure 1 illustrates the basic flow of the Automated Valet Driving System (AVDS). AVDS is an extension of the use case and Operational Design Domain (ODD) of the ISO 23374-1 Automated Valet Parking System (AVPS). It contributes to the realization of safe and reliable low-speed Level 4 autonomous driving of vehicles and, based on the experience gained with AVDS at low speeds in a well-defined ODD, facilitates the rapid and smooth market introduction of future Level 4 systems.

[0027] Automated Valet Parking Systems (AVDS) provide vehicle owners with low-speed automated valet parking services. These services allow drivers to drive without a driver in designated outdoor spaces, rather than within dedicated parking facilities. Essentially, both AVPS and AVDS account for travel from point A to point B.

[0028] One example use case addressed by AVDS is valet parking in airport terminals. While AVPS describes SAE Level 4 driving within dedicated parking facilities, AVDS extends the drop-off zone to areas outside the parking facility. After the driver leaves the designated AVDS drop-off zone, the system automatically guides the vehicle on public roads to the parking facility entrance and from there to an empty parking space or, if necessary, to another space. Other use cases addressed by AVDS include driving to electric charging stations, car wash stations, or within company premises for logistics purposes.

[0029] AVDS is expected to deliver end-user benefits in terms of time savings, reduced stress, and reduced vehicle energy consumption, while meeting user expectations for numerous low-speed maneuvering functions. For example, it supports automatic charging of electric vehicles without requiring driver time and optimizes utilization of limited charging stations. AVDS on company premises can reduce labor costs through unmanned vehicle control systems.

[0030] To contribute to the realization of safe and reliable unmanned AVDS operation, the requirements specified in this document are based on the performance of the latest technology available at the time of publication. Therefore, this section is subject to change as technology advances.

[0031] The embodiments include specific technical solutions for communication interfaces (e.g., communication methods, message protocols) due to differences in globally available and commonly used technologies (e.g., spectrum allocation). Therefore, to ensure interoperability, communication interfaces are linked at the national / regional level.

[0032] Automated Valet Parking Systems (AVDS) perform Level 4 autonomous driving of individuals or multiple empty vehicles at speeds of less than 30 km / h within a designated operating area.

[0033] The examples specify the system framework, operational sequences and communication interfaces, performance requirements for operational and management functions, environmental conditions within the operational domain, and test procedures to verify the performance requirements of the AVDS. AVDS is considered an extension of the use cases and Operational Design Domain (ODD) of ISO 23374-1, including indoor and outdoor applications. Examples include unmanned operation within company premises, outdoor valet parking on public roads (e.g., from airport terminals to parking lots), and AVDS enables additional services, such as driving to electric vehicle charging stations or car washes.

[0034] AVDS consists of physically separate subsystems distributed across vehicles, facility equipment, and user domains. AVDS functionality is realized through the cooperation of these subsystems, often provided by different organizations. Embodiments include a system architecture that utilizes the logical level of subsystems and the communication interfaces between them.

[0035] AVDS manages system participants (e.g., AVDS-compatible vehicles, facilities, and users) and provides the necessary interfaces between them. Examples include requirements for management functions such as verifying compatibility between vehicles and premises, performing remote assistance and recovery when autonomous driving is not possible, and issuing shutdown commands to other facility users.

[0036] AVDS is also intended for use by service providers or facility operators who have received vehicle authorization from individual service recipients.

[0037] Examples may refer to the following standard documents:

[0038] ISO 23374-1, Intelligent transport systems ― Automated valet parking systems (AVPS) ― Part 1: System framework, requirements for automated driving, and communication interface

[0039] ISO 20900, Intelligent transport systems -- Partially Automated Parking Systems (PAPS) - Performance Requirements and Test Procedures

[0040] ISO 8608 Mechanical vibration ― Road surface profiles ― Reporting of measured data

[0041] ISO 19206-2, Road vehicles ― Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions ― Part 2: Requirements for pedestrian targets

[0042] ISO 19206-4 Road vehicles -- Test devices for target vehicles, vulnerable road users and other objects, for assessment of active safety functions -- Part 4: Requirements for bicyclist targets.

[0043] 실시예들에 따른 용어의 정의는 다음과 같다:

[0044] Service provider of AVDS: An organization that provides AVDS to operate autonomous vehicles. User of AVDS: An individual service recipient who transfers / takes authority (3.3) to / from the service provider via AVDS. Authority: The right and ability to perform specific tasks on an SV. Subject vehicle (SV): A vehicle equipped with the vehicle operation subsystem of AVDS. Premises: Public or private areas that are AVDS-enabled. Parking facility: Public or private parking facilities that are AVDS-enabled. Operation zone: A geographical area within an AVDS-compliant premises where automated driving can be performed. Drop-off zone: A location within the operation area where a user leaves an SV and transfers authority to the service provider. Pick-up zone: A location within the operation area where a service provider transfers an SV for a user to pick up and transfers authority. Parking spot: A destination within the operation area where a single vehicle can be parked or temporarily stored. Stop point: A destination within the operation area where an SV is stopped and remains under a specific state, depending on the considered use case. Parking area: An area within an operating area consisting of multiple parking spaces. Destination: A location within an operating area to which an SV is transported. Route: The planned movement of an SV from a source to a destination. Path: The planned sequence of waypoints that an SV is to follow. Trajectory: A planned route with timing information. Automated valet parking facility equipment (PFE): Physical equipment installed in a parking facility to support AVPS. Automated valet driving premises equipment (DPE): Physical equipment installed in an operating area within an AVDS premises to support AVDS.Coded Marker: A physical or logical marker with a unique ID installed on the AVDS premises that can be detected by the SV to support localization. Anonymous Marker: A physical or logical marker without a unique ID installed on the AVDS premises that can be detected by the SV to support localization. Designed Speed: The situational speed at which the SV is designed to operate in a given situation (e.g., traffic conditions, environmental conditions) as determined by the AVDS. Designed Distance: The designed situational physical distance from other facilities, road users, objects, or structures that the AVDS intends to maintain in a given situation while performing autonomous driving. Subsystem: A logical-level AVDS component that contains one or more functions. Function: A function of the AVDS that contributes to processing inputs to the system and converting inputs into appropriate outputs. (Autonomous Driving Service) Reservation: The basic agreement between a user and a service provider regarding the operation and management of an SV within a specific premises. (Automated Valet Driving) Session: A sequence of interactions for a given SV between check-in and check-out. (Automated Valet Driving) Mission: A series of interactions in which an SV is automatically operated by AVDS from a parking location to a destination for a specific purpose. (Test) Scenario: A description of a complete trip from a starting point to a destination to be performed for the test. (Test) Scene: A description of a specific event performed for the test that does not include a starting point or destination. System Operator (SO): An organizational role that manages vehicle operations within the operating area of ​​the AVDS premises. This includes tasks that are monitored while being performed automatically or manually by an individual from a remote location. Premises Manager (PM): An organizational role that maintains the operating area in a drivable and safe condition according to AVDS requirements.Orchestration System (OS): A system that categorizes a session or multiple connected sessions into a single mission and arranges the executable and optimized sequence of these missions. Value-added Service System (VA): A service system that provides dedicated service management and a communication interface to AVDS.

[0045] The definitions of abbreviations according to the embodiments are as follows:

[0046] Automated Driving System (ADS), Dynamic Driving Task (DDT), Object and Event Detection and Response (OEDR), Operational Design Domain (ODD), Subject Vehicle (SV), Forward Vehicle (FV), automated valet parking facility equipment (PFE), automated valet driving premises equipment (DPE), Vehicle Motion Control (VMC), Dedicated Short Range Communication (DSRC), VRU (Vulnerable Road User), RO (Remote vehicle Operation (sub-system)), VO (on-board Vehicle Operation (sub-system)), UF (User Frontend (sub-system)), UB (User Backend (sub-system)), VB (Vehicle Backend (sub-system)), OB (Operator Backend (sub-system)), PM (automated valet parking facility Management (sub-system)), DM(automated valet driving premises management (sub-system)), VA(value added service system).

[0047] Figure 1 illustrates the basic flow of AVDS based on user actions and system responses. Figure 1 represents a representative use case, depicting the flow where a user initially transfers authority to a service provider.

[0048] In AVDS, users can request additional services (e.g., EV charging, car washing) while their SV is authorized by the AVDS service provider. The requested service and the earliest pickup time can be relayed to the system along with the reservation. Additional services can also be requested based on the remaining time while authorization is already with the AVDS service provider.

[0049] These sessions, which include additional services, consist of more missions and tasks than AVPS (e.g., the sequence of parking, waiting, charging, parking, waiting, washing, and parking). The orchestration system is responsible for organizing the sequence of requested services and configuring the missions within a given timeframe. Additional services are treated as additional missions and require the vehicle to drive to a designated location where the service is performed and re-park the vehicle at the original parking spot or another location. Re-parking occurs automatically after the requested service (e.g., charging is complete, car wash is complete), and the next service or parking space becomes available. No user request is required. Each additional service must verify vehicle compatibility with the service. This includes geometric (e.g., vehicle height, width, length, charging plug location), electrical (e.g., plug type, charging power, requested charge level), and other specific service characteristics.

[0050] Referring to Figure 1, <1> User actions and <2> AVDS services are provided based on system reactions. The autonomous driving method and device according to the embodiments may respond to user actions by the terminal and / or system reactions. The autonomous driving method and device according to the embodiments may be referred to as an autonomous valet driving method / device, or simply as a method / device.

[0051] A method / device according to embodiments receives a request from a user. The method / device according to embodiments checks for availability and compatibility for valet driving. The method / device according to embodiments identifies an SV and activates a check-in process. The method / device according to embodiments receives authorization for autonomous driving from a user. The method / device according to embodiments performs automated vehicle operations. For example, operations according to embodiments may include entering, parking, re-parking, and driving to a service position. The method / device according to embodiments may optionally perform service actions by a third party. For example, these may include charging, car washing, and maintenance. The method / device according to embodiments may enable a user to make a retrieval request. The method / device according to embodiments may perform automated vehicle operations. For example, it may perform an exit. The method / device according to embodiments may activate a check-out process. The method / device according to the embodiments conveys authority to a user.

[0052] Figure 2 illustrates a system structure related to a method / device according to embodiments.

[0053] Figure 2 shows a system structure related to a method and device for performing the basic flow of the AVDS (Automated Valet Driving Systems) of Figure 1.

[0054] Figure 2 illustrates the logical architecture of the AVDS subsystem. The implementation of logical subsystems on physical components may vary depending on the system design. Furthermore, subsystems may consist of multiple physical components. For example, a remote vehicle operation subsystem may consist of sensors, control units, and communication devices.

[0055] A system according to embodiments may perform and include a method / device according to embodiments. For example, an AVDS device / system of a method / device according to embodiments may include an operator backend (OB), an orchestrating system (OS), and / or a remote vehicle operation (RO). An AVDS device / system according to embodiments may correspond to a server. A user terminal of a method / device according to embodiments may include a user frontend (UF) and / or a user backend (UB). A vehicle of a method / device according to embodiments may include a vehicle backend (VB) and / or an on-board vehicle operation (VO). A system of a method / device according to embodiments may further include a value added service system (VA) and / or a system operator (SO). Operations according to embodiments may be performed by each component of the system of FIG. 2. Each component of FIG. 2 may correspond to hardware, software, a processor, and / or a combination thereof.

[0056] Fig. 3 shows a vehicle control device according to embodiments.

[0057] A vehicle control device (3000) according to embodiments is a device that controls the operation of a vehicle according to embodiments. The vehicle control device may be referred to as an autonomous driving integrated control unit (600). The vehicle control device may include an interface unit (3001), a processor (3002), and a memory (3003).

[0058] The memory can store commands, signaling information, data, etc. for performing operations according to embodiments. The memory can be connected to an interface unit and a processor to transmit and receive necessary signals.

[0059] The interface unit can receive signals, information, data, etc. received from the vehicle control device and transmit them to the memory and / or processor. In addition, it can transmit signals, information, data, etc. generated from the memory and / or processor to the vehicle and / or the driver and / or passengers.

[0060] The processor can perform control operations of the vehicle according to embodiments based on data and / or commands stored in the memory.

[0061] The vehicle control device of Fig. 3 may correspond to a device mounted on a vehicle or to a terminal device that controls the vehicle.

[0062] Figure 4 shows the structure of a vehicle according to embodiments.

[0063] A vehicle according to the embodiments may be configured as illustrated in FIG. 4 and may perform autonomous driving via an autonomous driving control system. The vehicle according to the embodiments may be referred to as an autonomous vehicle, a robot, an Urban Air Mobility (UAM), an autonomous driving device, etc.

[0064] An autonomous vehicle (1000) may be implemented around an autonomous driving integrated control unit (600) that transmits and receives data necessary for autonomous driving control of the vehicle through a driving information input interface (101), a driving information input interface (201), a passenger output interface (301), and a vehicle control output interface (401). However, the autonomous driving integrated control unit may also be referred to as a controller, a processor, or simply a control unit in the specification.

[0065] The autonomous driving integrated control unit can obtain driving information based on the passenger's operation of the user input unit in the vehicle's autonomous driving mode or manual driving mode through the driving information input interface. The user input unit may include a driving mode switch and a control panel (120) (e.g., a navigation terminal installed in the vehicle, a smartphone or tablet PC carried by the passenger, etc.), and thus, the driving information may include the vehicle's driving mode information and navigation information.

[0066] Additionally, the autonomous driving integrated control unit can provide warning information to the driver via a passenger output interface if it determines that a warning is necessary in the vehicle's autonomous or manual driving mode, along with driving status information. A speaker (310) and a display device (320) may be included to output such driving status information and warning information audibly and visually. The display device may be implemented as the same device as the aforementioned control panel, or as a separate, independent device.

[0067] In addition, the autonomous driving integrated control unit can transmit control information for driving control of the vehicle in the autonomous driving mode or manual driving mode of the vehicle to a lower control system applied to the vehicle through a vehicle control output interface. The lower control system for driving control of the vehicle can include at least one of a motor control system, an engine control system, a braking control system, and a steering control system, and the autonomous driving integrated control unit can transmit at least one of motor control information, engine control information, braking control information, and steering control information as control information to each lower control system through the vehicle control output interface.

[0068] The autonomous driving integrated control unit can obtain driving information according to the driver's operation and driving information indicating the vehicle's driving status through the driving information input interface and the driving information input interface, and can provide driving status information and warning information generated according to the autonomous driving algorithm through the passenger output interface.

[0069] Meanwhile, in order to ensure stable autonomous driving of the vehicle, the autonomous driving device according to the embodiments may include a sensor unit for detecting objects around the vehicle, such as surrounding vehicles, pedestrians, roads, or fixed facilities (e.g., traffic lights, milestones, traffic signs, construction fences, etc.).

[0070] The sensor unit may include one or more of a lidar sensor, a radar sensor, and a camera sensor to detect surrounding objects outside the vehicle. It may include a front lidar sensor (511), a front radar sensor (521), a rear lidar sensor (513), a rear radar sensor (524), a left camera sensor (532), a right camera sensor (533), an internal camera sensor (535), a front camera sensor (531), a rear camera sensor (534), etc. The sensor unit may be connected to a microphone (551, 552).

[0071] Embodiments relate to a method for controlling driving of an autonomous valet driving system (AVDS) vehicle to an EV charging station.

[0072] Embodiments relate to international standards ISO 23374-1 (Automated Valet Parking System, AVPS) and ISO 12768-1 (Automated Valet Driving System, AVDS). Embodiments relate to an autonomous valet parking system (hereinafter referred to as 'AVPS') or an autonomous valet driving system (hereinafter referred to as 'AVDS'). Embodiments provide a method and device for an ADS vehicle (used as the same concept as the 'subject vehicle, SV' of the standard) to autonomously drive from a parking location to an EV charging station, charge electricity, and, after completing charging, return to the parking location or drive to another location through autonomous driving.

[0073] Current international standards ISO 23374-1 or ISO 12768-1 only define a method / device for moving an ADS vehicle to an EV charging station as soon as the previous EV charging vehicle is fully charged and the EV charging station is empty when an AVPS or AVDS sends an ADS vehicle to an EV charging station, but do not define a method / device for sending an ADS vehicle to an EV charging station before the previous EV charging vehicle is fully charged, taking into account the charging completion time of the previous EV charging vehicle. Therefore, embodiments describe a method / device for driving an ADS vehicle in advance before the charging completion of an EV charging vehicle, taking into account the charging completion time of the previous EV charging vehicle, to solve efficient and safe autonomous valet driving. As a result, the embodiments can bring forward the return time of the ADS vehicle, thereby having the effect of increasing the efficiency of the charging service provided by the EV charging station.

[0074] The embodiments relate to a method for transmitting and receiving data to and from an EV charging station by an autonomous valet driving system (AVDS).

[0075] Embodiments relate to international standards ISO 23374-1 (Automated Valet Parking System, AVPS) and ISO 12768-1 (Automated Valet Driving System, AVDS). Embodiments relate to an autonomous valet parking system (hereinafter referred to as 'AVPS') or an autonomous valet driving system (hereinafter referred to as 'AVDS'). Embodiments provide a method and device for an ADS vehicle (used as the same concept as the 'subject vehicle, SV' of the standard) to autonomously drive from a parking location to an EV charging station, charge electricity, and, after completing charging, return to the parking location or drive to another location through autonomous driving.

[0076] Currently, the international standards ISO 23374-1 or ISO 12768-1 do not define the data exchanged between an AVPS or AVDS and an EV charging station. Therefore, the embodiments provide data exchanged between an AVPS or AVDS and an EV charging station to address efficient and safe autonomous valet driving. Below, data exchanged between an AVDS and an EV charging station according to the embodiments is described. Therefore, the embodiments can provide an efficient communication data protocol between an AVDS and an EV charging station.

[0077] FIG. 5 shows a timeline of driving of an AVDS (Automated Valet Driving System) vehicle to an EV (Electric Vehicle) charging station according to embodiments.

[0078] Fig. 5 illustrates in detail a method for performing the basic flow of the AVDS (Automated Valet Driving System) of Fig. 1. The driver of Fig. 5 corresponds to the user of Fig. 1, and the UF, UB, etc. of Fig. 2. The ADS vehicle of Fig. 5 is a vehicle equipped with an AVDS system, and the AVDS system corresponds to the system of Fig. 1, the OS, OB, RO of Fig. 2, the processor of Fig. 3, etc., and the vehicle corresponds to the VB, VO of Fig. 2, the processor of Fig. 3, the vehicle of Fig. 4, etc.

[0079] The AVDS system of the method / device according to the embodiments may, when a previous charging vehicle at a charging station (e.g., an EV charging station) is currently charging (step 1), initiate driving of the ADS vehicle to the charging station before the previous charging vehicle has completed charging (step 3). When initiating driving of the ADS vehicle to the charging station in advance, the AVDS system of the method / device according to the embodiments may determine the driving start time of the ADS vehicle (described in detail below) based on the expected time of completion of charging of the previous charging vehicle.

[0080] The AVDS system of the method / device according to the embodiments can determine a charging station (hereinafter, referred to as a target charging station) that is a driving destination of an ADS vehicle from at least one charging station (step 2). The AVDS system of the method / device according to the embodiments can receive information according to the embodiments from at least one charging station. The AVDS system of the method / device according to the embodiments can calculate a reference value according to the embodiments based on the information, and can determine a target charging station from at least one charging station based on the reference value. In this case, the at least one charging station may be all charging stations located within a certain distance of the ADS vehicle or all charging stations located within a specific facility (e.g., an airport, a rental car company site, etc.).

[0081] Additionally, the AVDS system according to the embodiments of the method / device may request information according to the embodiments from at least one charging station when receiving an EV charging reservation request from a user (or driver). The AVDS system may then receive information from at least one charging station that received the request.

[0082] Information according to the examples is as follows.

[0083] The information received by the AVDS system of the method / device according to the embodiments from at least one charging station may be charging progress or reservation status information of each charging station. The information according to the embodiments may include, for example, at least one selected from the group of information on the expected charging completion time of vehicles currently charging or reserved for charging at each charging station, information on whether these vehicles are using the AVDS system, information on the type of EV charging provided (e.g., AC / DC, AC 5-pin type, etc.), charging rate information, and / or charging time information.

[0084] The reference values ​​according to the examples are as follows.

[0085] The AVDS system of the method / device according to the embodiments can calculate a reference value based on information received from at least one charging station, and determine a target charging station among the at least one charging station based on the reference value. The reference value according to the embodiments can include, for example, at least one selected from the group of an expected return time of the ADS vehicle for each charging station, an expected fee upon completion of charging, and / or an expected arrival time of the ADS vehicle at the charging station. In other words, the AVDS system of the method / device according to the embodiments can determine a target charging station among at least one charging station based on the reference value, and for example, when the expected return time of the ADS vehicle for each charging station is the reference value, a charging station that can return at an earlier time can be determined as the target charging station.

[0086] At this time, the expected return time of the ADS vehicle is as follows.

[0087] The expected return time of the ADS vehicle may be calculated based on at least one selected from the group consisting of the ADS vehicle's arrival time at the target charging station, the ADS vehicle's expected charging time, and / or the ADS vehicle's expected return time. In this case, the ADS vehicle's arrival time at the target charging station may be, as described below, the time at which the previous charging vehicle completed charging or a time earlier than the previous charging vehicle's completion of charging. Additionally, the expected return time of the ADS vehicle may be extracted based on traffic information for that time period.

[0088] The expected return time of an ADS vehicle can additionally be calculated based on the time it takes the previous charging vehicle to vacate the EV charging slot (hereinafter, "charging area"). More specifically, if the previous charging vehicle is an AVDS vehicle, it moves immediately. Therefore, it would be desirable to additionally consider the time it takes to vacate the EV charging slot if the previous charging vehicle is a non-AVDS vehicle.

[0089] If the previous charging vehicle is a non-AVDS vehicle, it can be assumed that the previous charging vehicle will vacate the EV charging slot after a certain amount of time. This specific amount of time can be an average of data stored by the target charging station (e.g., the time it took for non-AVDS vehicles to vacate the charging slot in the past) or an average of data stored by the target charging station for a specific vehicle type.

[0090] Additionally, the AVDS system of the method / device according to the embodiments may exclude the charging station where the previously charged vehicle is located from the target charging stations if the previously charged vehicle is a non-AVDS vehicle. In other words, if the AVDS system determines that the previously charged vehicle located at the target charging station is a non-AVDS vehicle, the AVDS system may exclude the charging station from the target charging stations and determine a new target charging station.

[0091] Additionally, the AVDS system according to the embodiments of the method / device can determine a target charging station based on a priority set in advance by the user (or driver). The priority may be, but is not limited to, the expected charging rate upon completion of charging, the brand of each charging station, or the illuminance value when the ADS vehicle is moving.

[0092] For example, if the priority is the expected rate upon charging completion, the AVDS system can determine the target charging station by receiving information only from charging stations that meet the rate range pre-set by the user (or driver), or by calculating the expected return time of the ADS vehicle only for those charging stations that meet the range. In other words, the final target charging station can be determined among the charging stations that meet the rate range.

[0093] For example, if the priority is a specific charging station brand, the AVDS system can determine the target charging station by receiving information only from charging stations that satisfy the specific charging station brand pre-defined by the user (or driver) due to various benefits (e.g., card company connection), or by calculating the expected return time of the ADS vehicle only for charging stations that satisfy the preset. In other words, the final target charging station can be determined among charging stations that match a specific brand.

[0094] For example, if the priority is the illuminance value when the AVDS vehicle is moving, the AVDS system can exclude as target charging stations those charging stations that the user (or driver) pre-determines based on the illuminance value to drive below that value. In other words, if the user (or driver) has configured the AVDS vehicle not to drive below a certain threshold of illuminance, the AVDS system can exclude as target charging stations those charging stations that drive below that threshold of illuminance.

[0095] As described above, the AVDS system of the method / device according to the embodiments can determine the start time of driving of the ADS vehicle based on the expected charging completion time of the previously charged vehicle when driving of the ADS vehicle to the charging station is started in advance.

[0096] The driving start time can be derived based on the expected charging completion time of the previous charging vehicle calculated by the target charging station, the distance from the ADS vehicle's current location to the target charging station calculated by the AVDS system, and the ADS vehicle's expected average driving speed or maximum speed limit calculated by the AVDS system. More specifically, the driving start time can also be derived during the process of calculating the ADS vehicle's expected return time described above.

[0097] In addition, the expected charging completion time of the previously charged vehicle, which is used as the basis for deriving the driving start time, may be the expected charging completion time of the previously charged vehicle, or may be an earlier time. In other words, when deriving the driving start time of the ADS vehicle, if the arrival time is assumed to be the time when the charging of the previously charged vehicle is completed, it may be derived based on the expected charging completion time of the previously charged vehicle, and on the other hand, if the arrival time is assumed to be a time before the charging of the previously charged vehicle is completed, it may be derived based on a time that is a specific time earlier than the expected charging completion time of the previously charged vehicle.

[0098] The AVDS system of the method / device according to the embodiments may drive the ADS vehicle to the target charging station when it determines that the driving start time has been reached (step 3). The AVDS system of the method / device according to the embodiments may transmit arrival information to the target charging station when the ADS vehicle arrives at the target charging station (operation zone or ODD area) (step 4). The arrival information may include at least one selected from the group of vehicle type information of the ADS vehicle, arrival time information of the ADS vehicle at the target charging station (operation zone or ODD area), and / or EV charging type information of the ADS vehicle.

[0099] Additionally, the AVDS system of the method / device according to the embodiments may drive the ADS vehicle to a waiting parking area if the ADS vehicle arrives at a target charging station before the charging of the previous charging vehicle is completed, and may drive the ADS vehicle to a charging area if the ADS vehicle arrives at the target charging station after the charging of the previous charging vehicle is completed.

[0100] That is, if the AVDS system pre-drives the ADS vehicle based on the expected charging completion time of the previous charging vehicle, the ADS vehicle may arrive at the target charging station at i) a time before the charging completion time of the previous charging vehicle, or ii) a time either after the charging completion time of the previous charging vehicle, depending on the situation. If the AVDS system pre-drives the ADS vehicle based on a time earlier than the expected charging completion time of the previous charging vehicle, the ADS vehicle may arrive at the target charging station at most i) a time before the charging completion time of the previous charging vehicle. Accordingly, if the ADS vehicle arrives at the target charging station at time i), the ADS vehicle may be driven to the waiting parking area of ​​the target charging station, and if the ADS vehicle arrives at the target charging station at time ii), the ADS vehicle may be driven to the charging area (such as an EV charging slot) of the target charging station.

[0101] In addition, the AVDS system of the method / device according to the embodiments may move the ADS vehicle from the waiting parking area to the charging area when the ADS vehicle is located in the waiting parking area upon completion of charging of the previous charging vehicle. The AVDS system of the method / device according to the embodiments may transmit exit information to the target charging station when it is determined that the ADS vehicle has left the waiting parking area. At this time, the exit information may include at least one selected from the group of an identification ID of the waiting parking area (e.g., a coded marker, an identification number, an identification letter, etc.), the time when the ADS vehicle enters the waiting parking area, and / or the target charging station management number of the ADS vehicle (an identification number when an identification number of the ADS vehicle is assigned upon entering the target charging station).

[0102] In addition, the AVDS system of the method / device according to the embodiments may transmit entry information to the target charging station when it is determined that the ADS vehicle enters the charging area. At this time, the entry information may include at least one selected from the group of an identification ID of the charging area (e.g., a coded marker, an identification number, an identification character, etc.), the time point at which the ADS vehicle enters the charging area, and / or the target charging station management number of the ADS vehicle (an identification number when the ADS vehicle is assigned an identification number when entering the target charging station). The AVDS system of the method / device according to the embodiments may process payment and return the ADS vehicle to the original location when charging of the ADS vehicle is completed (step 5).

[0103] The charging area of ​​the charging station may provide charging of, for example, AC type, DC-combo type, magnetic induction type or magnetic resonance type.

[0104] The AC type connector can be at least one of AC 5-pin and AC 7-pin. The DC combo type connector can be at least one of combo 5-pin, combo 7-pin, and DC only (CHAdeMO).

[0105] The autonomous valet driving method and device according to the embodiments, as shown in FIG. 2, can be performed by an AVDS system / server / processor such as an OS, OB, or RO. Furthermore, it can be performed by a vehicle (onboard) / processor such as a VB or VO. Furthermore, it can be performed by a user interface (smartphone) such as a UF or UB.

[0106] Figure 6 illustrates an autonomous valet driving method according to embodiments.

[0107] FIG. 6 illustrates a method in which the AVDS system / server / processor of FIG. 1-2, the processor of FIG. 3, the vehicle of FIG. 4, and the autonomous driving control unit of the vehicle of FIG. 4 perform autonomous valet driving based on a timeline such as FIG. 5.

[0108] S600, an autonomous valet driving method according to embodiments may include a step of identifying a subject vehicle (SV).

[0109] S700, the autonomous valet driving method according to embodiments may further include a step of performing check-in for the SV.

[0110] S800, the autonomous valet driving method according to embodiments may further include a step of performing autonomous vehicle operations for the SV by an Automated Valet Driving System (AVDS).

[0111] S810, the step of performing autonomous vehicle operation for SV (S800) may include a step of controlling the driving start time of the SV based on the expected charging completion time of the vehicle at the target charging station by the AVDS.

[0112] Referring to FIG. 6, an automated valet driving method includes a step of identifying a subject vehicle (SV) (S600); a step of performing check-in for the SV (S700); and a step of performing an autonomous vehicle operation for the SV by an AVDS (Automated Valet Driving System) (S800); wherein the step of performing the autonomous vehicle operation for the SV by the AVDS (S800) may include a step of controlling a driving start time of the SV by the AVDS based on an expected charging completion time of the vehicle at a target charging station (S810).

[0113] Below, the step (S800) of performing autonomous vehicle operation for SV by AVDS is described in detail.

[0114] Figure 7 illustrates an autonomous valet driving method according to other embodiments.

[0115] More specifically, FIG. 7 illustrates a step (S800) of performing an autonomous vehicle operation for an SV of the autonomous valet driving method according to the embodiments of FIG. 6.

[0116] S820, the step of performing autonomous vehicle operation for SV (S800) may further include a step of AVDS initiating driving of the SV to a target charging station when the driving initiation time is reached.

[0117] S830, the step of performing autonomous vehicle operation for the SV (S800) may further include a step of the AVDS driving the SV to a waiting parking area if the SV arrives at the target charging station before the vehicle's charging is completed, or the AVDS driving the SV to a charging area if the SV arrives at the target charging station after the vehicle's charging is completed.

[0118] S840, the step (S800) of performing an autonomous vehicle operation for an SV may further include a step of transmitting escape information to a target charging station by the AVDS when the SV moves from the waiting parking area to the charging area when the SV has driven to the waiting parking area.

[0119] S850, the step of performing autonomous vehicle operation for SV (S800) may further include a step of AVDS transmitting entry information to a target charging station when the SV enters a charging area.

[0120] Referring to FIG. 7, the step (S800) of performing an autonomous vehicle operation for an SV further includes a step (S820) in which the AVDS starts driving the SV to a target charging station when the driving start time is reached, and the driving start time can be derived by the ADS based on the expected charging completion time or a time prior to the expected charging completion time.

[0121] The step (S800) of performing an autonomous vehicle operation for an SV may further include a step (S830) in which, if the SV arrives at the target charging station before the vehicle's charging is completed, the AVDS drives the SV to a waiting parking area, or if the SV arrives at the target charging station after the vehicle's charging is completed, the AVDS drives the SV to a charging area.

[0122] The step (S800) of performing an autonomous vehicle operation for an SV further includes a step (S840) in which, when the SV drives to a waiting parking area and moves from the waiting parking area of ​​the SV to a charging area, the AVDS transmits escape information to a target charging station; and the escape information may include at least one of an identification ID of the waiting parking area, an entry point of the SV into the waiting parking area, or a target charging station management number of the SV.

[0123] The step (S800) of performing an autonomous vehicle operation for an SV further includes a step (S850) in which, when the SV enters a charging area, the AVDS transmits entry information to a target charging station; and the entry information may include at least one of an identification ID of the charging area, a time point at which the SV enters the charging area, or a target charging station management number of the SV.

[0124] Below, the step (S810) for controlling the driving start point of the SV is described in detail.

[0125] Figure 8 illustrates an autonomous driving valet method according to further embodiments.

[0126] More specifically, FIG. 8 illustrates a step (S810) of controlling the driving start time of the SV among the autonomous valet driving methods according to the embodiments of FIG. 7.

[0127] S811, the step (S810) of controlling the driving start point of the SV may include a step in which the AVDS receives information from at least one charging station.

[0128] S812, the step (S810) of controlling the driving start point of the SV may further include a step of calculating a reference value for determining a target charging station among at least one charging station based on information by the AVDS.

[0129] S813, the step (S810) of controlling the driving start time of the SV may further include a step of determining whether the vehicle corresponds to an AVDS vehicle when the expected return time of the SV corresponds to a reference value.

[0130] S814, the step (S810) of controlling the driving start point of the SV may further include a step of AVDS determining a target charging station among at least one charging station based on the user's priority information.

[0131] Referring to FIG. 8, the step (S810) of controlling the driving start time of the SV includes the step (S811) of the AVDS receiving information from at least one charging station, and the information may include at least one of charging time information, charging fee information, charging type information, or AVDS usage information of vehicles being charged or reserved for charging at at least one charging station.

[0132] The at least one charging station may include at least one charging station located within a certain distance from the SV or at least one charging station located within a specific facility.

[0133] The step (S810) of controlling the driving start time of the SV further includes a step (S812) of calculating a reference value for determining a target charging station among at least one charging station based on information by the AVDS, and the reference value may be at least one of the expected return time of the SV, the expected charging rate of the SV, or the expected arrival time of the SV to at least one charging station.

[0134] The step (S810) of controlling the driving start time of the SV further includes a step (S813) of determining whether the vehicle corresponds to an AVDS vehicle if the expected return time of the SV corresponds to a reference value, and if the vehicle corresponds to an AVDS vehicle, the AVDS can derive the expected return time of the SV based on at least one of the arrival time of the SV at the target charging station, the expected charging time of the SV, or the return time of the SV. Alternatively, if the vehicle does not correspond to an AVDS vehicle, the AVDS derives the expected return time of the SV additionally based on a specific time required additionally after the vehicle is completed charging, and the specific time may be one of an average value of data stored by the target charging station or an average value of data of a specific vehicle type stored by the target charging station.

[0135] Alternatively, if the vehicle is not an AVDS vehicle, AVDS can determine at least one charging station, excluding the target charging station, as a new target charging station. That is, if the vehicle is a non-AVDS vehicle, the charging station where the vehicle is located can be excluded from the target charging stations. In other words, if a vehicle located at a target charging station is determined to be a non-AVDS vehicle, the charging station can be excluded from the target charging stations and a new target charging station can be determined.

[0136] The step (S810) of controlling the driving start time of the SV further includes a step (S814) in which the AVDS determines a target charging station among at least one charging station based on the user's priority information, and the priority information may be one of charging fee information, brand information of the charging station, or illumination information when the SV is moving.

[0137] An automated valet driving method is performed by an automated valet driving device. The device, referring to FIG. 2-3, includes a memory; and a processor connected to the memory; wherein the processor identifies a subject vehicle (SV), performs check-in for the SV, performs autonomous vehicle operations for the SV by an AVDS (Automated Valet Driving System), and controls a driving start time of the SV based on an expected charging completion time of the vehicle at a target charging station.

[0138] Referring to FIG. 4, a vehicle controlled by an autonomous valet according to embodiments includes an interface for transmitting and receiving information with an AVDS (Automated Valet Driving System); and a control unit for controlling autonomous valet driving; wherein the control unit identifies a subject vehicle (SV), performs check-in for the SV, performs autonomous vehicle operation for the SV by the AVDS (Automated Valet Driving System), and controls a driving start time of the SV based on an expected charging completion time of the vehicle at a target charging station. That is, the driving of the vehicle can be controlled based on the driving start time determined by the AVDS.

[0139] These examples allow for efficient definition of the expected charging completion time of a previously charged vehicle at an EV charging station. Based on this expected charging completion time, ADS vehicles can be sent to the EV charging station before the previous vehicle's charging is complete, effectively accelerating the return time of the ADS vehicle.

[0140] FIG. 9 illustrates an EV (Electric Vehicle) charging station based on an AVDS (Automated Valet Driving System) according to embodiments.

[0141] FIG. 9 illustrates in detail the system structure of FIG. 2 related to the method and device for performing the basic flow of the AVDS (Automated Valet Driving Systems) of FIG. 1. The driver of FIG. 9 corresponds to the user of FIG. 1, UF, UB, etc. of FIG. 2. The AVDS system (server) of FIG. 9 corresponds to the system of FIG. 1, the OS, OB, RO of FIG. 2, the processor of FIG. 3, etc. The vehicle of FIG. 9 corresponds to the VB, VO of FIG. 2, the processor of FIG. 3, the vehicle of FIG. 4, etc.

[0142] The system of FIG. 9 includes a user, an AVDS system (e.g., a server), a parking area, and / or a charging station.

[0143] The AVDS system of the method / device according to the embodiments can receive an EV charging request from a user (or driver) (step 1). The AVDS system of the method / device according to the embodiments can receive EV charging-related information from the user. The AVDS system of the method / device according to the embodiments can request EV charging-related information from the user and receive a response. The AVDS system of the method / device according to the embodiments can receive authorization (handover) from the driver.

[0144] The AVDS system of the method / device according to the embodiments can transmit data (described in detail below) according to the embodiments to a charging station (e.g., an EV charging station) (step 2). The AVDS system of the method / device according to the embodiments can receive data from the charging station (step 3). The data transmitted and received between the AVDS system of the method / device according to the embodiments and the charging station can include EV-related information and / or AVDS information.

[0145] The AVDS system of the method / device according to the embodiments can control an ADS (Automated Driving System) vehicle to head to an EV charging station (step 4). The vehicle can autonomously move from a parking area to a charging station area under the control of the AVDS system of the method / device according to the embodiments. Under the control of the AVDS system of the method / device according to the embodiments, the ADS vehicle can arrive at the EV charging station and begin charging (step 5). When charging of the ADS vehicle is completed, the ADS vehicle can return to the parking area and perform autonomous parking under the control of the AVDS system of the method / device according to the embodiments (step 6). The order of steps 2 and 3 can be changed from each other. Furthermore, the order of steps 1 to 6 is an example, and the detailed step operations can be changed according to the AVDS procedure.

[0146] Data transmitted and received between AVDS and EV charging stations according to embodiments are as follows:

[0147] When enabling ADS vehicles to use EV charging stations based on AVDS, AVDS must communicate key data with the EV charging station. This corresponds to "Transmitting Data to the Charging Station (Step 2)" and "Receiving Data from the Charging Station (Step 3)." The embodiments include a data system for communicating between AVDS and EV charging stations.

[0148] The method / device according to the embodiments includes a step in which AVDS transmits data. For example, step 2 is performed first.

[0149] The data transmitted by AVDS to the EV charging station (Data Transmission to EV Charging Station, Step 2) includes:

[0150] As a data transmission, the AVDS may transmit information to the EV charging station, including at least one of ADS vehicle information, EV charging reservation information, ADS vehicle departure information, and / or payment scheduled type information.

[0151] As a data request, AVDS may generate and transmit information to an EV charging station that includes at least one of a request for EV charging type provision denial information, a request for EV charging reservation denial information, and / or a request for EV charging rate information.

[0152] Data transmitted by the EV charging station to the AVDS (receiving data from the EV charging station, step 3) includes:

[0153] As a data transmission (response), the AVDS may receive information from the EV charging station including at least one of EV charging type provision availability information, EV charging reservation availability information, and / or EV charging rate information.

[0154] The method / device according to the embodiments includes a step in which an EV charging station transmits data to an AVDS. For example, step 3 is performed first. The data transmission process of the EV charging station may be performed periodically, for example.

[0155] Data transmitted by the EV charging station to the AVDS (receiving data from the EV charging station, step 2) includes:

[0156] As a data transmission, the AVDS may receive data from the EV charging station that includes at least one of (currently) available EV charging type information, EV charging reservation status information, and / or EV charging rate information.

[0157] The data transmitted by AVDS to the EV charging station (Data Transmission to EV Charging Station, Step 2) includes:

[0158] As a data transmission (confirm), AVDS may generate and transmit data including at least one of ADS vehicle information, EV charging reservation confirmation information, ADS vehicle expected arrival time information, and / or payment method information / payment information to the EV charging station.

[0159] According to the embodiments, the AVDS according to the method / device, for example, the AVDS system (see Fig. 1, Fig. 2), the processor controlling the AVDS system (see Fig. 3), etc., may transmit data first. That is, the data transmitted by the AVDS to the EV charging station (data transmission to the EV charging station, step 2) is as follows.

[0160] Below, we describe the case where AVDS transmits data first.

[0161] The data that AVDS transmits to the EV charging station (Data transmission to EV charging station, step 2) is as follows.

[0162] ADS vehicle information according to the embodiments is as follows:

[0163] The ADS vehicle information may optionally include at least one of the following groups: vehicle type information, vehicle size information (optional), EV charging type information that the ADS vehicle can accommodate, and / or EV charging pass information (whether prepaid or not) for the ADS vehicle.

[0164] The vehicle type information may optionally include at least one of the following groups: ADS vehicle manufacturer information, vehicle model information, and / or vehicle year information.

[0165] Vehicle size information may not require signaling, as the vehicle size can be derived based on vehicle type information according to embodiments. However, since vehicle size information may be required in some cases, the embodiments do not exclude examples in which vehicle size information is included in ADS vehicle information. Vehicle size information according to embodiments may optionally include at least one of the following groups: vehicle length (vehicle front-rear length), vehicle width (vehicle left-right width), and vehicle height (ground-vehicle highest height).

[0166] The EV charging type information acceptable to the ADS vehicle may optionally include at least one of the following groups: conductive charging / inductive charging indication information, AC type / DC-combo type indication information during conductive charging, connection plug indication information during AC type, connection plug indication information during DC-combo type, and detailed charging type indication information during inductive charging (e.g., magnetic induction type, magnetic resonance type).

[0167] Information on EV charging pass (whether prepaid or not) of an ADS vehicle may optionally include at least one of the following groups: information indicating whether an EV charging pass is held, information on the target of the EV charging pass (e.g., H Company EV charging pass, etc.), and pass type (e.g., fast / slow charging pass, conductive / inductive charging pass, AC / DC charging pass, etc.).

[0168] The data structure of ADS vehicle information according to the embodiments is as follows:

[0169] ADS vehicle informationData itemRangeDescriptionVehicle type information1. ADS vehicle manufacturer information2. Vehicle model name3. Vehicle model yearTo specify the current condition of the ADS vehicleVehicle size information1. length2. width3. heightOptional. Can be derived by the vehicle type information in most casesEV charging type available to the ADS vehicleTo be described in the next slideEV charging season ticket (pre-payment) information1. Information indicating whether the right exist2. Information on where to use the right3. Type of the rightPeriodical update needed

[0170] ADS 차량이 수용 가능한 EV 충전 타입 정보의 데이터 구조는 다음과 같다:

[0171] EV charging type available to the ADS vehicleData itemRangeDescriptionEV charging type (conductive / inductive)1. conductive2. inductive3. both1 / 3further classification below conductive type1. AC type2. DC-combo typeThe range can be substituted by<1. fast charging / 2. slow charging>1 / 31further classification below AC type (refer to IEC 62196-2)1. AC 5-pin2. AC 7-pinRepresent connection plugs for the AC type1 / 32further classification below DC-combo type(refer to IEC 62196-3)1. combo 5-pin2. combo 7-pin3. DC only (CHAdeMO)Represent connection plugs for the DC-combo type2 / 3further classification below inductive type1. Magnetic induction2. Magnetic resonance

[0172] Depending on the embodiments, lower level data that is not selected in the upper level data (e.g., if the EV charging type is determined to be conductive, inductive is not selected) may have data signaling omitted (e.g., null) or data indicating that it is not selected may be signaled (e.g., 3. no need to determine).

[0173] EV charging reservation information according to the embodiments is as follows.

[0174] The EV charging reservation information relates to information on a driver's (user's) desired reservation time (range), and i) in the first example, it may include only desired reservation time (range) information, and ii) in the second example, it may optionally include at least one of a group of charging type priority information and priority-specific desired reservation time (range) information.

[0175] As a first example, the reservation desired time (range) information may include start time information and end time information of the desired time range.

[0176] As a second example, the charging type priority information may include, for example, that the 1st priority is Conductive-AC type-AC 5 pin, the 2nd priority is Inductive-Magnetic induction, and the 3rd priority is Conductive-DC type-combo 5 pin (i.e., according to user preference and charging time, etc.). The reservation desired time (range) information by priority may include, for example, 1st priority - time range A, 2nd priority - time range B, and 3rd priority - time range C (where, time range A ⊃ time range B ⊃ time range C).

[0177] ADS vehicle departure information according to the embodiments is as follows:

[0178] ADS vehicle departure information may include information on when the ADS vehicle can depart (and information on the departure location of the ADS vehicle).

[0179] The payment type information according to the embodiments is as follows:

[0180] Payment type information can indicate the method of payment for EV charging. Payment methods can include, for example, EV-based payments (e.g., ETCS, UWB payments, license plate recognition payments, etc.), credit cards, and various social media payments (e.g., N Pay).

[0181] The method / device according to the embodiments may request information on whether an EV charging type can be provided:

[0182] EV charging type availability information indicates whether the EV charging station provides an EV charging type applicable to ADS vehicles.

[0183] As a first example, it could signal Y (yes) if it provides at least one EV charging type, and N (no) if it does not provide any.

[0184] As a second example, it may include all applicable EV charging types (e.g., Conductive AC 5 pin, Inductive Magnetic Induction signaling that they are applicable to ADS vehicles).

[0185] The method / device according to the embodiments may request information on availability of EV charging reservation.

[0186] With respect to the first example of EV charging reservation information described above, the EV charging reservation availability information may include Y if reservation is possible within the desired time range, and N if reservation is not possible.

[0187] With respect to the second example of the EV charging reservation information described above, the EV charging reservation acceptance / disapproval information may optionally include at least one of the groups of first-priority reservation acceptance / disapproval information, second-priority reservation acceptance / disapproval information, and third-priority reservation acceptance / disapproval information.

[0188] The method / device according to the embodiments may request EV charging rate information.

[0189] EV charging rate information can indicate, for example, the charging rate per kWh.

[0190] Examples of data sets that AVDS transmits to EV charging stations (excluding ADS vehicle information) include:

[0191] ADS vehicle informationData itemRangeDescriptionEV charging reservation information1. Start time point of desired reservation time range2. End time point of desired reservation time rangeDesired reservation time rageADS vehicle departure information1. Time point when the ADS can depart2. ADS vehicle departure locationExpected payment type information1. EV based payment2. Credit card3. SNS payCan be varied according to standard payment type at each timeEV charging type availability information request1. Y2. NAlteratively, the range may include all available EV charging typesEV charging reservation availability request1. Y2. NIndicate whether the reservation is available among the desired reservation time rangeEV charging rate information request1. EV charging rateFor example, EV charging rate per 1kWh

[0192] In the case where AVDS transmits data first, the data that the EV charging station transmits to AVDS (receiving data from the EV charging station, step 3) is as follows:

[0193] The method / device according to the embodiments can receive information on whether or not an EV charging type can be provided.

[0194] EV charging type availability information indicates whether the EV charging station provides an EV charging type applicable to ADS vehicles.

[0195] As a first example, we could signal Y if we provide at least one EV charging type, and N if we do not provide any.

[0196] As a second example, it could include all applicable EV charging types (e.g., Conductive AC 5 pin, Inductive Magnetic Induction signaling that they are applicable to ADS vehicles).

[0197] The method / device according to the embodiments can receive EV charging reservation availability information.

[0198] With respect to the first example of EV charging reservation information described above, the EV charging reservation availability information may include Y if reservation is possible within the desired time range, and N if reservation is not possible.

[0199] With respect to the second example of the EV charging reservation information described above, the EV charging reservation acceptance / disapproval information may optionally include at least one of the groups of first-priority reservation acceptance / disapproval information, second-priority reservation acceptance / disapproval information, and third-priority reservation acceptance / disapproval information.

[0200] The method / device according to the embodiments can receive EV charging rate information.

[0201] EV charging rate information can indicate, for example, the charging rate per kWh.

[0202] Below, we describe a case where an EV charging station transmits data first (or periodically).

[0203] The data that the EV charging station transmits to the AVDS (receiving data from the EV charging station, step 3) is as follows:

[0204] Information on EV charging types (currently) available according to the embodiments is as follows.

[0205] Information on the (currently) available EV charging types may include all EV charging types that the EV charging station can currently provide (e.g., signaling that Conductive AC 5 pin, Inductive Magnetic Induction are available).

[0206] EV charging reservation status information according to the embodiments is as follows.

[0207] EV charging reservation status information shows information including the hourly reservation status of EV chargers at EV charging stations.

[0208] EV charging rate information according to the examples is as follows.

[0209] EV charging rate information can indicate, for example, the charging rate per kWh.

[0210] As a case where the EV charging station transmits data first (or periodically), the data that AVDS transmits to the EV charging station (Data Transmission to EV Charging Station, Step 2) is as follows.

[0211] Confirmation information for EV charging reservations according to the embodiments is as follows.

[0212] The EV charging reservation confirmation information may optionally include at least one of a confirmation indication flag (Y / N), selected EV charging type information, and selected reservation slot information.

[0213] The ADS vehicle arrival time information according to the embodiments is as follows.

[0214] The ADS vehicle estimated time of arrival information represents the time that AVDS expects the ADS vehicle to arrive at the EV charging station.

[0215] AVDS can calculate the expected arrival time of the ADS vehicle through a navigation function based on the departure time information and departure location of the ADS vehicle.

[0216] Payment method information / payment information according to embodiments are as follows.

[0217] Payment method information may indicate a confirmed payment method that the driver (user) will use to pay or prepay after charging the EV upon arrival at the EV charging station.

[0218] Payment information may indicate information required to make payment using the above payment method (e.g., ID information, credit card number, vehicle license plate number, etc.).

[0219] ADS vehicle information according to embodiments refers to the above-described ADS vehicle information, the data structure of the ADS vehicle information, and / or the data structure of the EV charging type information acceptable to the ADS vehicle.

[0220] The autonomous valet driving method and device according to the embodiments, as shown in FIG. 2, can be performed by an AVDS system / server / processor such as an OS, OB, or RO. Furthermore, it can be performed by a vehicle (onboard) / processor such as a VB or VO. Furthermore, it can be performed by a user interface (smartphone) such as a UF or UB.

[0221] Fig. 10 illustrates an autonomous valet driving method according to embodiments.

[0222] FIG. 10 illustrates a method for performing autonomous valet driving according to embodiments, including the AVDS system / server / processor of FIG. 1-2, the processor of FIG. 3, the vehicle of FIG. 4, and the AVDS server of FIG. 9.

[0223] S1000, an autonomous valet driving method according to embodiments may include a step of identifying a subject vehicle (SV).

[0224] S1001, the autonomous valet driving method according to the embodiments may further include a step of performing check-in for the SV.

[0225] S1002, the autonomous valet driving method according to the embodiments may further include a step of performing autonomous vehicle operations for the SV using an Automated Valet Driving System (AVDS). To perform the autonomous vehicle operations, data according to the embodiments is transmitted and received between the AVDS and the charging station.

[0226] Referring to FIG. 10, an automated valet driving method includes a step of identifying a subject vehicle (SV); a step of performing check-in for the SV; and a step of performing an autonomous vehicle operation for the SV by an AVDS (Automated Valet Driving System); and data for the autonomous vehicle operation can be transmitted and received by the AVDS.

[0227] In the case where AVDS transmits data first, with respect to data transmitted by AVDS to an EV charging station (data transmission to an EV charging station), the data transmitted by AVDS may include at least one of vehicle information for an SV, charging reservation information, vehicle departure information, payment type information, charging type provision availability information, charging reservation availability information, or charging rate information. The term signal may be referred to as the term data, information, etc. The step of transmitting and receiving a signal between AVDS and a charging station describes the case where AVDS transmits data (signal) first.

[0228] In the case where AVDS transmits data first, with respect to data transmitted by an EV charging station to AVDS (data received from an EV charging station), the data received by AVDS may include at least one of information on whether or not a charging type is provided, information on whether or not a charging reservation is made, or information on charging rates. The term signal may be referred to as a first signal, a second signal, etc.

[0229] In the case where the EV charging station transmits data first (or periodically), with respect to data transmitted by the EV charging station to the AVDS (data received from the EV charging station), the data received by the AVDS may include at least one of currently available charging type information, charging reservation information, or charging rate information.

[0230] In the case where the EV charging station transmits data first (or periodically), with respect to data transmitted by AVDS to the EV charging station (data transmission to the EV charging station), the data transmitted by AVDS may include at least one of charging reservation confirmation information, vehicle expected arrival time information, payment method information, payment information, or vehicle information.

[0231] An automated valet driving method is performed by an automated valet driving device. Referring to FIG. 2-3, the device includes a memory; and a processor connected to the memory; wherein the processor identifies a subject vehicle (SV), performs check-in for the SV, and performs an autonomous vehicle operation for the SV by an Automated Valet Driving System (AVDS), and data for the autonomous vehicle operation can be transmitted and received by the AVDS.

[0232] Referring to FIG. 4, a vehicle controlled by an autonomous valet according to embodiments includes an interface for transmitting and receiving information with an AVDS (Automated Valet Driving System); and a control unit (e.g., control unit (600) of FIG. 4) for controlling autonomous valet driving; wherein the control unit performs autonomous vehicle operations for an SV by the AVDS (Automated Valet Driving System), and autonomous valet driving can be performed based on data transmitted and received by the AVDS. That is, the vehicle can be controlled according to the control and information of the AVDS.

[0233] At the driver's request, AVDS can automatically drive the vehicle to a charging station from a publicly available drop-off area in a mixed-traffic environment. After charging, the vehicle can return to its parking space when the driver is not present.

[0234] Since the trip to and from the charging station is a short trip and does not cause any inconvenience to other road users, the maximum speed is limited to 10 km / h.

[0235] For conductive charging using a robot, the AVDS can be parked at the charging station with the charging socket facing the robot's charging plug. The vehicle's orientation must be within ±5° of the centerline of the marked charging space, and the outline of the parked vehicle must be completely within the inner boundary of the parking space marking.

[0236] For inductive charging, the system can park a vehicle in a charging space where the horizontal distance between the center of the fixed coil and the center of the vehicle coil protruding from the road surface is ±5 cm. The outline of the parked vehicle lies entirely within the inner boundary of the parking space marking. The maneuver to achieve this tolerance utilizes data from additional means within the charging station (e.g., additional sensors or communication of charging current optimization procedures), according to embodiments.

[0237] These examples allow for the efficient definition of communication data protocols between AVDS and EV charging stations. Based on these protocols, users, AVDS systems, charging stations, and vehicles can effectively perform autonomous valet driving accurately, safely, quickly, and efficiently.

[0238] The embodiments have been described in terms of methods and / or devices, and the descriptions of methods and devices may be applied complementarily.

[0239] For the convenience of explanation, each drawing has been described separately, but it is also possible to design a new embodiment by combining the embodiments described in each drawing. In addition, designing a computer-readable recording medium having a program recorded thereon for executing the previously described embodiments, as needed by a person skilled in the art, also falls within the scope of the embodiments. The devices and methods according to the embodiments are not limited to the configurations and methods of the embodiments described above, but the embodiments may be configured by selectively combining all or part of the embodiments so that various modifications can be made. Although preferred embodiments of the embodiments have been illustrated and described, the embodiments are not limited to the specific embodiments described above, and various modifications can be made by a person skilled in the art to which the present invention pertains without departing from the gist of the embodiments claimed in the claims, and such modifications should not be understood individually from the technical idea or prospect of the embodiments.

[0240] The various components of the devices of the embodiments may be implemented by hardware, software, firmware, or a combination thereof. The various components of the embodiments may be implemented by a single chip, for example, a single hardware circuit. According to embodiments, the components according to the embodiments may be implemented by separate chips. According to embodiments, at least one of the components of the devices of the embodiments may be configured with one or more processors capable of executing one or more programs, and the one or more programs may perform, or include instructions for performing, one or more of the operations / methods according to the embodiments. The executable instructions for performing the methods / operations of the devices of the embodiments may be stored in non-transitory CRMs or other computer program products configured to be executed by one or more processors, or may be stored in temporary CRMs or other computer program products configured to be executed by one or more processors. In addition, the memory according to the embodiments may be used as a concept including not only volatile memory (e.g., RAM, etc.), but also non-volatile memory, flash memory, PROM, etc. Additionally, it may include implementations in the form of carrier waves, such as transmissions via the Internet. Furthermore, processor-readable recording media may be distributed across network-connected computer systems, allowing processor-readable code to be stored and executed in a distributed manner.

[0241] In this document, " / " and '," are interpreted as "and / or". For example, "A / B" is interpreted as "A and / or B", and "A, B" is interpreted as "A and / or B". Additionally, "A / B / C" means "at least one of A, B, and / or C". Also, "A, B, C" means "at least one of A, B, and / or C". Additionally, "or" in this document is interpreted as "and / or". For example, "A or B" can mean 1) "A" only, 2) "B" only, or 3) "A and B". In other words, "or" in this document can mean "additionally or alternatively".

[0242] Terms such as first, second, etc. may be used to describe various components of the embodiments. However, the various components according to the embodiments should not be limited in their interpretation by the above terms. These terms are merely used to distinguish one component from another. For example, a first user input signal may be referred to as a second user input signal. Similarly, a second user input signal may be referred to as a first user input signal. The use of these terms should be interpreted as not departing from the scope of the various embodiments. Although a first user input signal and a second user input signal are both user input signals, they do not mean the same user input signals unless the context clearly indicates otherwise.

[0243] The terminology used to describe the embodiments is for the purpose of describing particular embodiments and is not intended to be limiting of the embodiments. As used in the description of the embodiments and in the claims, the singular is intended to include the plural unless the context clearly dictates otherwise. The expressions “and / or” are used to mean all possible combinations of terms. The expression “includes” describes the presence of features, numbers, steps, elements, and / or components, but does not mean that additional features, numbers, steps, elements, and / or components are not included. Conditional expressions such as “if” or “when” used to describe the embodiments are not intended to be limited to only optional cases. When a specific condition is satisfied, a related action is performed in response to a specific condition, or a related definition is intended to be interpreted.

[0244] Additionally, the operations according to the embodiments described in this document may be performed by a transceiver device including a memory and / or a processor according to the embodiments. The memory may store programs for processing / controlling the operations according to the embodiments, and the processor may control various operations described in this document. The processor may be referred to as a controller, etc. The operations according to the embodiments may be performed by firmware, software, and / or a combination thereof, and the firmware, software, and / or a combination thereof may be stored in the processor or in the memory.

[0245] Meanwhile, the operations according to the embodiments described above may be performed by a transmitting device and / or a receiving device according to the embodiments. The transmitting / receiving device may include a transmitting / receiving unit for transmitting and receiving media data, a memory for storing instructions (program code, algorithm, flowchart, and / or data) for a process according to the embodiments, and a processor for controlling the operations of the transmitting / receiving device.

[0246] The processor may be referred to as a controller or the like, and may correspond to, for example, hardware, software, and / or a combination thereof. The operations according to the above-described embodiments may be performed by the processor. Furthermore, the processor may be implemented as an encoder / decoder or the like for the operations of the above-described embodiments.

[0247] As described above, the relevant contents have been described in the best form for carrying out the embodiments.

[0248] As described above, the embodiments may be applied in whole or in part to autonomous valet driving devices and systems.

[0249] Those skilled in the art may make various changes or modifications to the embodiments within the scope of the embodiments.

[0250] Embodiments may include modifications / changes, which do not depart from the scope of the claims and their equivalents.

Claims

1. Step of identifying the subject vehicle (SV); a step of performing check-in for the above SV; and A step of performing autonomous vehicle operations for the SV by an AVDS (Automated Valet Driving System), Automated valet driving method.

2. In paragraph 1, The step of performing autonomous vehicle operation for the SV by the AVDS is as follows: The AVDS includes a step of controlling the driving start time of the SV based on the expected charging completion time of the vehicle at the target charging station. Automated valet driving method.

3. In paragraph 2, The step of controlling the driving start point of the above SV is: a step in which the AVDS receives information from at least one charging station; and The AVDS comprises a step of calculating a reference value for determining the target charging station among the at least one charging station based on the information, The above information is, Includes at least one of charging time information, charging fee information, charging type information, or AVDS usage information for vehicles being charged or reserved for charging at at least one of the above charging stations, The above reference values ​​are, At least one of the expected return time of the SV, the expected charging rate of the SV, or the expected arrival time of the SV to the at least one charging station, Automated valet driving method.

4. In paragraph 3, The step of controlling the driving start point of the above SV is: If the expected return time of the above SV corresponds to the reference value, the step of determining whether the vehicle corresponds to an AVDS vehicle is further included. If the vehicle corresponds to an AVDS vehicle, the AVDS derives an expected return time of the SV based on at least one of the arrival time of the SV at the target charging station, the expected charging time of the SV, or the return time of the SV. Automated valet driving method.

5. In paragraph 3, The step of controlling the driving start point of the above SV is: The AVDS further includes a step of determining the target charging station among the at least one charging station based on the user's priority information, The above priority information is: One of the charging fee information, charging station brand information, or illumination information when the SV is moving, Automated valet driving method.

6. In paragraph 2, The step of performing autonomous vehicle operation for the SV by the AVDS is as follows: Further comprising a step of the AVDS starting to drive the SV to the target charging station when the driving start time is reached; The above driving start time is derived by the AVDS based on the expected charging completion time or a time prior to the expected charging completion time. Automated valet driving method.

7. In paragraph 6, The step of performing autonomous vehicle operation for the SV by the AVDS is as follows: If the SV arrives at the target charging station before the charging of the vehicle is completed, the AVDS drives the SV to a waiting parking area, or if the SV arrives at the target charging station after the charging of the vehicle is completed, the AVDS further includes a step of driving the SV to a charging area. Automated valet driving method.

8. In paragraph 7, The step of performing autonomous vehicle operation for the SV by the AVDS is as follows: When the SV drives to the waiting parking area, the AVDS transmits escape information to the target charging station when the SV moves from the waiting parking area to the charging area; and When the SV enters the charging area, the AVDS further includes a step of transmitting entry information to the target charging station; The above escape information is, Including at least one of the identification ID of the above waiting parking area, the time point of entry of the above SV into the above waiting parking area, or the target charging station management number of the above SV, The above entry information is, Including at least one of the identification ID of the charging area, the point of entry of the SV into the charging area, or the target charging station management number of the SV. Automated valet driving method.

9. In paragraph 1, Data for the above autonomous vehicle operation is transmitted and received by the AVDS, Automated valet driving method.

10. In paragraph 9, The data transmitted by the above AVDS is: Includes at least one of vehicle information, charging reservation information, vehicle departure information, payment type information, charging type provision refusal information, charging reservation refusal information, or charging fee information for the above SV, The data received by the above AVDS is: Including at least one of information on whether or not to provide a charging type, information on whether or not to reserve a charging reservation, or information on charging fee, Automated valet driving method.

11. In paragraph 9, The data received by the above AVDS is: Contains at least one of the currently available charging type information, charging reservation information, or charging rate information, The data transmitted by the above AVDS is: Containing at least one of charging reservation confirmation information, vehicle arrival time information, payment method information, payment information, or vehicle information. Automated valet driving method.

12. Memory; and A processor connected to the memory; comprising: Identify the subject vehicle (SV), Perform check-in for the above SV, and Performing autonomous vehicle operations for the SV by AVDS (Automated Valet Driving System), Automated valet driving device.

13. In paragraph 11, The autonomous vehicle operation performed by the AVDS controls the driving start time of the SV based on the expected charging completion time of the vehicle at the target charging station, or data for the autonomous vehicle operation is transmitted and received by the AVDS. Automated valet driving device.

14. Interface for transmitting and receiving information with AVDS (Automated Valet Driving System); and A control unit for controlling autonomous valet driving; including; The above control unit performs autonomous vehicle operation by the AVDS, vehicle.

15. In paragraph 14, The autonomous vehicle operation performed by the AVDS controls the driving start time based on the expected charging completion time of the vehicle at the target charging station, or performs autonomous valet driving based on the data transmitted and received by the AVDS. vehicle.

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