Method for controlling automated valet driving system (AVDS) access of vehicle by global AVDS server, and apparatus for controlling automated valet driving system (AVDS) access of vehicle by global AVDS server

Abstract

A method for controlling automated valet driving system (AVDS) access of a subject vehicle (SV) by a global AVDS server may comprise the steps of: transmitting and receiving information between the global AVDS server and at least one local AVDS server; and controlling autonomous driving of the SV, wherein the global AVDS server manages each local AVDS server, and transmits and receives data to and from at least one of a vehicle backend (VB) and a user backend (UB), the at least one local AVDS server is a sub-AVDS located in each region, and transmits and receives data to and from at least one of the global AVDS server and a value added system (VA), and the VA includes at least one of a charging station and a car wash for the SV.

Description

Method for controlling a vehicle's access to AVDS by a global autonomous valet driving system (AVDS) server and device for controlling a vehicle's access to AVDS by a global autonomous valet driving system (AVDS) server

[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] A method for controlling AVDS access of a subject vehicle (SV) by a global AVDS (Automated Valet Driving System) server includes the steps of transmitting and receiving information between the global AVDS server and at least one local AVDS server; and the step of controlling autonomous driving of the SV; wherein the global AVDS server manages each local AVDS server and transmits and receives data with at least one of a vehicle backend (VB) or a user backend (UB), and the at least one local AVDS server is a sub-AVDS located by region and transmits and receives data with at least one of the global AVDS server and a value added system (VA), and the VA may include at least one of a charging station or a car wash for the SV.

[0007] The method / device according to the embodiments can efficiently perform autonomous valet driving of a vehicle.

[0008] The method / device according to the embodiments can safely perform autonomous valet driving of a vehicle.

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

[0010] 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.

[0011] Figure 1 shows the basic flow of AVDS (Automated Valet Driving Systems) according to embodiments.

[0012] Figure 2 shows a system structure related to a method / device according to embodiments.

[0013] Figure 3 shows a vehicle control device according to embodiments.

[0014] Figure 4 shows the structure of a vehicle according to embodiments.

[0015] FIG. 5 illustrates a global AVDS server and / or a local AVDS server according to embodiments.

[0016] Figure 6 illustrates the operation of a global AVDS server when making an AVDS reservation according to embodiments.

[0017] Figures 7a and 7b illustrate the operation of a global AVDS server during AVDS check-in according to embodiments.

[0018] FIGS. 8a and 8b illustrate the operation of a global AVDS server during AVDS handover according to embodiments.

[0019] Figure 9 shows the configuration and function of the AVDS server system according to embodiments.

[0020] FIG. 10 illustrates a method for controlling a vehicle's AVDS access by a global autonomous valet driving system (AVDS) server according to embodiments.

[0021] Figure 11 illustrates the operation of a global AVDS server when charging an EV according to embodiments.

[0022] Figure 12 illustrates the operation of a global AVDS server during EV charging according to embodiments.

[0023] Figure 13 illustrates the operation of a global AVDS server during parking according to embodiments.

[0024] Figure 14 illustrates the operation of a global AVDS server during parking according to embodiments.

[0025] FIG. 15 illustrates a method by which a global AVDS (AUTOMATED VALET DRIVING SYSTEM) server according to embodiments controls the performance of an AVDS mission of a subject vehicle (SV).

[0026] 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.

[0027] 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.

[0028] Figure 1 shows the basic flow of AVDS (AUTOMATED VALET DRIVING SYSTEMS) according to embodiments.

[0029] 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.

[0030] 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.

[0031] 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.

[0032] 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.

[0033] 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.

[0034] 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.

[0035] 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.

[0036] 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.

[0037] 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.

[0038] 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.

[0039] AVDS is also intended for use by service providers or facility operators who have received vehicle authorization from individual service recipients.

[0040] Examples may refer to the following standard documents:

[0041] ISO 23374-1, Intelligent transport systems ― Automated valet parking systems (AVPS) ― Part 1: System framework, requirements for automated driving, and communication interface

[0042] ISO 20900, Intelligent transport systems -- Partially Automated Parking Systems (PAPS) - Performance Requirements and Test Procedures

[0043] ISO 8608 Mechanical vibration – Road surface profiles – Reporting of measured data

[0044] 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

[0045] 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.

[0046] 실시예들에 따른 용어의 정의는 다음과 같다:

[0047] 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.

[0048] The definitions of abbreviations according to the embodiments are as follows:

[0049] 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).

[0050] 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.

[0051] 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.

[0052] 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.

[0053] 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.

[0054] 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.

[0055] Figure 2 shows a system structure related to a method / device according to embodiments.

[0056] 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.

[0057] 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.

[0058] 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.

[0059] Figure 3 shows a vehicle control device according to embodiments.

[0060] 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).

[0061] 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.

[0062] 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.

[0063] The processor can perform control operations of the vehicle according to embodiments based on data and / or commands stored in the memory.

[0064] 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.

[0065] Figure 4 shows the structure of a vehicle according to embodiments.

[0066] 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.

[0067] 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.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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.

[0072] 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.).

[0073] 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).

[0074] The embodiments provide a method for determining an airport terminal at which to park a vehicle using an autonomous valet driving system (AVDS) and a device for determining an airport terminal at which to park a vehicle using an autonomous valet driving system (AVDS). These may be referred to as "methods / devices according to the embodiments" for short.

[0075] The embodiments relate to international standards ISO 23374-1 (Automated Valet Parking System, AVPS) and ISO 12768-1 (Automated Valet Driving System, AVDS). The embodiments provide a method for an autonomous valet parking system (hereinafter referred to as 'AVPS') or an autonomous valet driving system (hereinafter referred to as 'AVDS') to determine a parking destination (hereinafter referred to as 'destination') of an ADS vehicle (used as the same concept as 'subject vehicle, SV' in the standards).

[0076] Prior art, such as international standards ISO 23374-1 or ISO 12768-1, does not specifically disclose how AVPS or AVDS determines the terminal at which an ADS vehicle will be parked at an airport. To address this issue, the embodiments provide a method for determining the airport terminal at which an autonomous valet driving system (AVDS) will park a vehicle, and a device for determining the airport terminal at which an autonomous valet driving system (AVDS) will park a vehicle.

[0077] The AVDS (system / server / processor) of the method / device according to the embodiments includes and can perform a method for determining a terminal at which to park an ADS vehicle at an airport.

[0078] For example, the method / device according to the embodiments may include and perform a method for determining a terminal by considering illumination / weather. Furthermore, the method may include and perform a method for determining a terminal by considering the level of electric charge. Furthermore, the method may include and perform a method for determining a terminal based on a driver's (user's) preset settings. Due to the embodiments, the AVD provides the effect of parking the ADS vehicle in a reasonable location depending on the situation / condition, rather than simply parking it in a parking lot near the pick-up area. Therefore, the AVD provides a safe, cost-effective, and highly satisfying user experience.

[0079] The international standards ISO 23374-1 (Automated Valet Parking System, AVPS) and ISO 12768-1 (Automated Valet Driving System, AVDS) disclose a method for an autonomous valet parking system (hereinafter referred to as 'AVPS') or an autonomous valet driving system (hereinafter referred to as 'AVDS') to control a subject vehicle (SV).

[0080] Prior art, for example, international standards ISO 23374-1 or ISO 12768-1, disclose some of the logic by which the global AVDS server transmits and receives information with the AVDS main subsystems and controls the SV, but they are limited in sufficiently describing the specific system architecture.

[0081] Embodiments provide a method for a global AVDS server to transmit and receive information with AVDS major subsystems and control an SV's access to AVDS. While the embodiments are described in terms of AVDS Type 2, they are not limited to Type 2. Embodiments include a method for a global AVDS server to transmit and receive information with AVDS major subsystems (particularly, a local AVDS server) and control an SV's access to AVDS during AVDS reservations, during AVDS check-ins, and / or during AVDS handovers.

[0082] FIG. 5 illustrates a global AVDS server and / or a local AVDS server according to embodiments.

[0083] The AVDS of Fig. 1, the device of Fig. 2, the vehicle control device of Fig. 3, the vehicle of Fig. 4, etc. can control the vehicle by linking with the global AVDS server and local AVDS server of Fig. 5.

[0084] The global AVDS server manages local AVDS servers and performs functions such as directly transmitting and receiving data with the vehicle backend (VB) and user backend (UB). The global AVDS server may be referred to as the operator backend (OB). The global AVDS server is connected to at least one local AVDS server and can manage the local AVDS server(s).

[0085] Local AVDS servers are regionally deployed servers that can transmit and receive data with VAs (EV charging stations, car washes, etc.) and the global AVDS server (OB). Local AVDS servers can also be referred to as an orchestrating system (OS).

[0086] The following drawings illustrate how a global AVDS server performs an SV's AVDS mission while transmitting and receiving data with a local AVDS server.

[0087] Figure 6 illustrates the operation of a global AVDS server when making an AVDS reservation according to embodiments.

[0088] AVDS reservation by the global AVDS server can be performed by steps 1 to 10 of FIG. 6.

[0089] Regarding step 1 of FIG. 6, the AVDS reservation method through AVDS access control of a vehicle by the Global Autonomous Valet Driving System (AVDS) server (OB) may include a step of requesting availability. For example, the UB may request availability from the OB. The availability may include a parking period (Duration) and / or desired services (Services).

[0090] With respect to step 2 of FIG. 6, a method for reserving an AVDS through access control of a vehicle's AVDS access by a global autonomous valet driving system (AVDS) server may further include a step of requesting availability. For example, the OB may request availability from the OS. As in step 1, the availability may include a parking duration (Duration) and / or desired services (Services). The availability, including the parking duration (Duration) and / or desired services (Services), is transmitted to the OS. In some embodiments, the availability of step 1 and the availability of step 2 may be the same. In some embodiments, the availability of step 1 and the availability of step 2 may be different. In such a case, the availability of step 2 may include additional information than the availability of step 1. For example, the availability of step 2 may further include information about (i) the ID of the UB and / or (ii) when the OB received 1.

[0091] Regarding step 3 of FIG. 6, the AVDS reservation method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of requesting compatibility data. For example, the OS may request compatibility data from the OB. The compatibility data may include information regarding the vehicle ID, size, and / or fuel type. The initial request for compatibility data may be performed by a Value Added System (VA). The type of information included in the compatibility data may vary depending on the VA. For example, some VAs may request information such as vehicle model information (manufacturer / year) as compatibility data instead of the vehicle size and / or fuel type.

[0092] With respect to step 4 of FIG. 6, the AVDS reservation method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of requesting compatibility data. For example, the OB may request compatibility data from the VB. The compatibility data of step 4 may be identical to the compatibility data of step 3. The compatibility data of step 4 may differ from the compatibility data of step 3. In such a case, the compatibility data of step 4 may further include information regarding the VB ID, etc.

[0093] Regarding step 5 of FIG. 6, the AVDS reservation method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of receiving compatibility data. For example, the OB may receive compatibility data from the VB. The compatibility data may include information regarding the vehicle ID, size, and / or fuel type.

[0094] Regarding step 6 of FIG. 6, the AVDS reservation method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of transmitting compatibility data. For example, the OB may transmit the compatibility data to the OS.

[0095] Regarding step 7 of FIG. 6, the AVDS reservation method through AVDS access control of a vehicle by the global Autonomous Valet Driving System (AVDS) server may further include a step of receiving new reservation information. For example, the OS may propose a new reservation to the OB. The new reservation information may include at least one of a reservation ID, available time slots, available services (e.g., EV charging, car wash, etc.), and / or service costs. The new reservation information may vary depending on the VA. For example, an EV charging station may configure available time slots in 1-hour increments, while a car wash may configure available time slots in 30-minute increments.

[0096] Regarding step 8 of FIG. 6, the AVDS reservation method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of transmitting new reservation information. For example, the OB may propose new reservation information to the UB. The new reservation information of step 8 may be identical to the new reservation information of step 7. The new reservation information of step 8 may be different from the new reservation information of step 7. If different, the new reservation information of step 8 may include additional information. For example, the new reservation information of step 8 may further include (i) the OS ID and / or (ii) the UB ID.

[0097] Regarding step 9 of FIG. 6, the AVDS reservation method through AVDS access control of a vehicle by the Global Autonomous Valet Driving System (AVDS) server may further include a step of receiving reservation confirmation information. For example, UB may transmit reservation confirmation information to OB, and UB may transmit reservation confirmation information to VB. The reservation confirmation information may include at least one of a reservation ID, a determined time slot, and a determined service.

[0098] Furthermore, while FIG. 6 illustrates that VB does not receive new reservation information and only receives reservation confirmation information from UB, this is not limited to an embodiment in which VB does not receive new reservation information. That is, VB may also receive new reservation information, and VB and / or UB may transmit reservation confirmation information to OB. Furthermore, UB may not transmit reservation confirmation information to VB, but only to OB.

[0099] Regarding step 10 of FIG. 6, the AVDS reservation method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of transmitting reservation confirmation information. For example, the OB transmits reservation confirmation information to the OS. The reservation confirmation information may include at least one of a reservation ID, a determined time slot, and a determined service. The reservation confirmation information of step 10 may be identical to the reservation confirmation information of step 9. The reservation confirmation information of step 10 may be different from the reservation confirmation information of step 9. If different, the reservation confirmation information of step 10 may include additional information.

[0100] Figures 7a and 7b illustrate the operation of a global AVDS server during AVDS check-in according to embodiments.

[0101] AVDS check-in by the global AVDS server can be performed by steps 1 to 7 of FIG. 7a.

[0102] With respect to step 1 of FIG. 7a, the AVDS check-in method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may include a step of recognizing the arrival of an SV at an EV charging station (hereinafter, “charging station”) by an RO. The RO may detect, through a sensing module of the parking facility, whether the SV has arrived at the parking facility or an operation zone of the parking facility.

[0103] Regarding step 2 of FIG. 7a, the AVDS check-in method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of transmitting information from the RO to the OB indicating that the SV has arrived at the parking facility. The information indicating that the SV has arrived at the parking facility may include an SV ID, etc.

[0104] With respect to step 3 of FIG. 7a, the AVDS check-in method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of transmitting information from the OB to the OS and / or from the OB to the UB indicating that the SV has arrived at the parking facility. The information indicating that the SV has arrived at the parking facility may include an SV ID, etc.

[0105] With respect to steps 4 and / or 5 of FIG. 7a, the AVDS check-in method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of transmitting reservation data from the UB to the OB and / or from the OB to the OS. The reservation data may include a reservation ID, etc. The reservation data is transmitted from the UB to the OB and the OS. Steps 4 and / or 5 may be optional. For example, as shown in FIG. 6, since the reservation data including the reservation ID, etc. may be stored in the OB and / or the OS, the OB that has identified the SV ID can immediately generate a session ID.

[0106] Regarding step 6 of FIG. 7a, the AVDS check-in method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of generating a session ID by the OB. The OB may generate a session ID associated with the reservation.

[0107] With respect to step 7 of FIG. 7A, the AVDS check-in method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of transmitting a session ID from an OB to a RO, a VB, a UB, and / or an OS. The OB transmits the session ID to the RO, the VB, the OS, and / or the UB. According to embodiments, the transmission operation to at least one of the RO, the VB, the OS, and / or the UB may be optional. For example, the session ID may not be transmitted from the OB to the RO.

[0108] Figure 7b is the same as Figure 7a, but illustrates an example in which the session ID in step 6 is generated by the OS rather than the OB. The session ID can be generated by at least one of the OB or the OS.

[0109] Figures 8a and 8b illustrate the operation of a global AVDS server during AVDS handover according to embodiments.

[0110] AVDS handover of the global AVDS server can be performed by steps 1 to 9 of FIG. 8.

[0111] With respect to step 1 of FIG. 8a, a method for handover of an AVDS through AVDS access control of a vehicle by a global Autonomous Valet Driving System (AVDS) server may include a step of recognizing that an SV has arrived at a drop-off area by an RO. The RO may recognize that an SV has arrived at the drop-off area through a sensing module in the drop-off area, such as a camera, an ultrasonic sensor, and / or an infrared sensor.

[0112] With respect to step 2 of FIG. 8a, the AVDS handover method through AVDS access control of a vehicle by a global Autonomous Valet Driving System (AVDS) server may further include a step of notifying the RO of the VO's recognition of an SV within a drop-off area. The RO may notify the SV that the SV has been recognized within the drop-off area.

[0113] With respect to step 3 of FIG. 8a, the AVDS handover method through AVDS access control of a vehicle by a global Autonomous Valet Driving System (AVDS) server may further include a step of transmitting information indicating that a handover is ready from the VO to the VB and / or from the VB to the UB. The VO may notify the VB that the AVDS handover is ready, and the VB may notify the UB that the AVDS handover is ready.

[0114] Regarding step 4 of FIG. 8a, the AVDS handover method through AVDS access control of the vehicle by the global Autonomous Valet Driving System (AVDS) server may further include a step of the user disembarking from the SV. The user may disembark from the SV upon arrival at the drop-off area.

[0115] With respect to step 5 of FIG. 8a, the AVDS handover method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of requesting a handover from a UB to a VB and / or an OB, from an OB to a RO, or from a VB to a VO. Upon receiving a handover request input from a UF, the UB forwards the handover request to the VB and / or the OB. The OB forwards the handover request to the RO, and the VB forwards the handover request to the V.

[0116] Regarding step 6 of FIG. 8a, the AVDS handover method through AVDS access control of a vehicle by the global Autonomous Valet Driving System (AVDS) server may further include a step of recording a handover request from a user by the OB. The OB records the handover request from the user. If the handover fails at once, multiple handover attempts may be recorded.

[0117] Regarding step 7 of FIG. 8a, the AVDS handover method through AVDS access control of the vehicle by the global Autonomous Valet Driving System (AVDS) server may further include a step of verifying handover availability. For example, it may be ultimately verified whether the RO and / or VO are in an environment capable of performing AVDS control operations. An environment capable of performing AVDS control operations may, for example, mean an environment that supports autonomous driving level 4.

[0118] With respect to step 8 of FIG. 8a, the AVDS handover method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server may further include a step of determining whether the AVDS system has control authority by the OB. The OB may determine that the AVDS system has control authority.

[0119] With respect to step 9 of Fig. 8a, the AVDS handover method through AVDS access control of a vehicle by a global autonomous valet driving system (AVDS) server can notify the handover of control authority from the OB to the VB, RO, UB, and / or OS, and from the VB to the V. The AVDS system notifies that the control authority has been handed over. For example, the OB determines the system authority and transmits the control authority handover result to the VB, RO, UB, and OS. Here, when the RO receives the handover result, it initiates remote control (autonomous parking) for the SV. The VB records the control authority handover to the AVDS system. When the UB receives the handover result, it notifies the user of the control authority handover. For example, the user can be notified by displaying it as UI / UX information on the UF.

[0120] Figure 8b is the same as Figure 8a, but shows an example in which steps 6 and 8 are performed by the OS rather than the OB.

[0121] Also referring to Figure 8b, regarding step 5, a handover can be requested from the OB to the OS. Regarding step 6, the OS can record that a handover request has been received from the user. Regarding step 8, the OS can determine whether the AVDS system has control authority.

[0122] Figure 9 shows the configuration and function of the AVDS server system according to embodiments.

[0123] Figure 9 shows the main functions of AVDS for each subsystem of the AVDS server system.

[0124] RO (Remote Vehicle Operation) is responsible for autonomous vehicle control. Specifically, it includes functions related to steering, movement, and vehicle dynamics, such as SV identification, destination assignment, path planning, OEDR, SV localization, path determination, trajectory calculation, vehicle motion control, and emergency braking.

[0125] VO (On-board Vehicle Operation) shares the same roles and functions as RO. The functional allocation between RO and VO subsystems may vary depending on the vehicle's operational type.

[0126] The UF (User Frontend) serves as the user interface. Specifically, it has the functions of transmitting user requests and receiving and updating vehicle status. UF functions may vary depending on the provider's specifications.

[0127] UB (User backend), VB (Vehicle backend), OB (Operator backend), OS (Orchestrating system), and PM (Automated valet driving premises management) manage the system.

[0128] UB (User backend) processes user requests.

[0129] VB (Vehicle backend) has remote join and / or leave capabilities.

[0130] OB (Operator backend, 900) has functions such as managing parking facility availability, checking compatibility between SV and parking facility, controlling SV through unmanned driving, and performing remote support.

[0131] The OS (Orchestrating system, 901) has the ability to coordinate and optimize service operations at that location and to coordinate various services using automated functions.

[0132] PM (Automated valet driving premises management) has functions related to managing environmental conditions and responding to incapacitation of operating functions.

[0133] Backend subsystems such as UB (User backend), VB (Vehicle backend), and OB (Operator backend) work together to respond to user requests (e.g., vehicle search).

[0134] Automated valet driving premises management (PM) coordinates automated driving activities in the facility area.

[0135] A value-added service (VA) system serves as an additional service. VA provides additional services, such as laundry and charging. These services can be optional.

[0136] OB corresponds to the global AVDS server, and OS corresponds to the local AVDS server.

[0137] FIG. 10 illustrates a method for controlling a vehicle's AVDS access by a global autonomous valet driving system (AVDS) server according to embodiments.

[0138] S1000, a method for controlling a vehicle's access to an AVDS by a global AVDS server may include a step of transmitting and receiving information between a global AVDS server and a local AVDS server.

[0139] S1001, a method for controlling a vehicle's access to an AVDS by a global autonomous valet driving system (AVDS) server may further include a step of controlling autonomous parking of an SV;

[0140] Referring to FIG. 6, in relation to the compatibility of AVDS reservation, the step (S1001) of controlling autonomous parking of the SV may include the step of controlling autonomous driving of the SV, the step of controlling AVDS reservation, and the step of transmitting and receiving information between the global AVDS server and at least one local AVDS server may include, for AVDS reservation, the step of: receiving a request for availability from the UB, wherein the availability includes at least one of a parking period or a service, and transmitting the request for availability to at least one local AVDS server; receiving a request for compatibility data from at least one local AVDS server; transmitting the request for compatibility data to the VB; receiving compatibility data from the VB, wherein the compatibility data includes at least one of identification information, size information, or fuel type information for the SV, and transmitting the compatibility data to at least one local AVDS server.

[0141] Referring to FIG. 6, in relation to a new reservation proposal of AVDS reservation, the step (S1001) of controlling autonomous driving of SV may include the step of controlling AVDS reservation, and the step of transmitting and receiving information between the global AVDS server and at least one local AVDS server may include, for AVDS reservation, the step of: receiving new reservation information from at least one local AVDS server, wherein the new reservation information includes at least one of reservation identification information, available time slot information, service, and service cost; transmitting the new reservation information to UB; receiving reservation confirmation information from UB, wherein the reservation confirmation information includes at least one of reservation identification information, determined time slot information, and determined service; and transmitting the reservation confirmation information to at least one local AVDS.

[0142] Referring to FIG. 7, in relation to AVDS check-in, a step (S1001) for controlling autonomous driving of an SV may include a step for controlling AVDS check-in, and a step for transmitting and receiving information between a global AVDS server and at least one local AVDS server may include, for AVDS check-in, a step for receiving, by the global AVDS server, identification information about the SV from a remote vehicle operation (RO) that recognizes that the SV has arrived at a parking facility; a step for transmitting the identification information about the SV to at least one local AVDS server and the UB; a step for generating session identification information; a step for transmitting the session identification information to at least one local AVDS server.

[0143] Referring to FIG. 8, in relation to AVDS handover, a step (S1001) for controlling autonomous driving of an SV may include a step for controlling AVDS handover, and a step for transmitting and receiving information between a global AVDS server and at least one local AVDS server may include, for AVDS handover, a step for requesting handover of the SV to RO (remote vehicle operation); a step for recording a handover request; a step for verifying handover availability; a step for determining that AVDS has authority; and a step for notifying at least one local AVDS server that authority has been handed over to AVDS.

[0144] The method of FIG. 10 is performed by a device (3000) that controls AVDS access of a subject vehicle (SV) of a global AVDS (Automated Valet Driving System) server.

[0145] A device for controlling AVDS access of a subject vehicle (SV) of a global AVDS (Automated Valet Driving System) server includes a transceiver (3001) for transmitting and receiving data regarding AVDS access; a memory (3003) connected to the transceiver; a processor (3002) connected to the memory; and instructions stored in the memory control the processor to: transmit and receive information between the global AVDS server and at least one local AVDS server; and control autonomous driving of the SV; the global AVDS server manages each local AVDS server and transmits and receives data with at least one of a vehicle backend (VB) or a user backend (UB), and at least one local AVDS server is a sub-AVDS located by region and transmits and receives data with at least one of the global AVDS server and a value added system (VA), and the VA may include at least one of a charging station or a car wash for the SV.

[0146] Due to the embodiments, the global AVDS can effectively control AVDS access, such as reservation, check-in, and handover of SV, safely and efficiently.

[0147] Figures 11 and 12 illustrate the operation of a global AVDS server during EV charging according to embodiments.

[0148] Regarding Step 1 of FIG. 11, a method for controlling the execution of a vehicle's AVDS mission by a global autonomous valet driving system (AVDS) server (OB of FIG. 11) can generate configuration information regarding the mission. Specifically, detailed information regarding the mission can be determined and generated through operations between the VA and the OS. For this configuration, an EV charging station, EV charging spot, charging time slot, etc. related to the mission can be determined based on information obtained during reservation, such as the type of service or reservation time.

[0149] Additionally, data can be exchanged between VA and OS (local AVDS server) when necessary to confirm mission details.

[0150] With respect to step 2 of FIG. 11, a method for controlling the execution of a vehicle's AVDS mission by a global autonomous valet driving system (AVDS) server (OB of FIG. 6) can generate a mission ID. Based on the details determined in step 1 described above, a mission ID of a mission can be generated. When generating a mission ID, the mission ID can be generated by considering a session ID that includes the mission indicated by the mission ID. That is, the value of the mission ID can be generated so as to be mapped to the value of the session ID.

[0151] Specifically, the VA and / or OS (local AVDS server) can determine the details of the mission, and the OS (local AVDS server) can generate a mission ID. In addition, at least one local AVDS server (OS) can generate a mission trigger and send it to the global AVDS server (OB), and the global AVDS server (OB) can generate a mission ID that identifies the mission related to charging, car washing, and / or parking.

[0152] Regarding step 3 of FIG. 11, a method for controlling the execution of a vehicle's AVDS mission by a global autonomous valet driving system (AVDS) server (OB of FIG. 11) may include a function for requesting mission confirmation. At least one local AVDS server (OS) may request mission confirmation from the global AVDS server (OB). The global AVDS server (OB) may request mission confirmation from the vehicle block (VB).

[0153] Specifically, the global AVDS server (OB) can receive a Mission ID generated by the OS based on mutual data signaling between the VA and / or the OS from the OS. Furthermore, the Mission ID may also be generated by the OB based on mutual data signaling between the VA and / or the OS. The OB can transmit information to the VB to request mission confirmation. The VB can determine whether to confirm the mission based on the information regarding the mission confirmation request. The information regarding the mission confirmation request may include a mission ID, etc.

[0154] Regarding step 4 of FIG. 11, a method for controlling the vehicle's AVDS mission execution by the global autonomous valet driving system (AVDS) server (OB of FIG. 11) can confirm the mission. For example, the VB can notify the OB of the mission confirmation. The OB can then notify the OS of the mission confirmation. Specifically, the VB can transmit information confirming the mission progress to the OS via the OB. Here, the information confirming the mission progress can include a mission ID, etc.

[0155] Regarding Step 5 of FIG. 11, a method for controlling the execution of a vehicle's AVDS mission by the global autonomous valet driving system (AVDS) server (OB of FIG. 11) can determine the mission. For example, the OS can transmit information indicating that the mission has been determined to the OB. Similarly, the OB can transmit information indicating that the mission has been determined to the VB, RO, UB, etc. Here, the information indicating that the mission has been determined can include a mission ID, etc.

[0156] With respect to step 6 of FIG. 11, a method of controlling the performance of an AVDS mission of a vehicle by a global autonomous valet driving system (AVDS) server (OB of FIG. 11) may include controlling a VO by an RO. With respect to step 6-1 of FIG. 12, the RO may control an SV to drive to an EV charging spot. Here, the RO may receive EV charging spot information from the VA via the OS and / or the OB. With respect to step 6-2 of FIG. 12, the SV may arrive at an EV charging spot. With respect to step 6-1 of FIG. 12, the RO (VO) may respond to a request from the VA, etc. The RO may modify the parking position and / or angle of the SV within the EV charging spot in response to the request from the VA.

[0157] With respect to step 7 of FIG. 11, a method of controlling the performance of an AVDS mission of a vehicle by a global autonomous valet driving system (AVDS) server (OB of FIG. 11) may control data signaling operations. With respect to step 7-1 of FIG. 12, the VA may recognize that the SV has arrived at an EV charging spot. The VA may recognize that the SV has arrived at the EV charging spot using ultrasonic waves, IR sensors, and / or cameras. The VA may collect information about a location and / or angle at which the SV is parked at the EV charging spot. Information about the location and / or angle at which the SV is parked at the EV charging spot may include a location of the center point of the SV, an angle formed by the SV with a center line of the parking spot, and the like.

[0158] With respect to step 7-2 of FIG. 12, the VA may transmit notification information and / or request information to the RO via the OS and / or OB. For example, the VA may transmit notification information regarding the location and / or angle at which the SV is parked within the EV charging spot to the RO. Furthermore, the VA may request the RO to correct the parking location and / or angle of the SV within the EV charging spot. For example, if the angle formed between the centerline of the EV charging spot and the SV is greater than 5 degrees, the VA may request the RO to correct the parking location so that it is less than 5 degrees. The values ​​of the location and / or angle to which correction is required may vary depending on the charging spot and vehicle status.

[0159] Additionally, the VA may notify the RO of changes to EV charging spots due to on-site circumstances. For example, the VA may request a response from the RO regarding whether it consents to charging at the changed EV charging spot.

[0160] Regarding Step 7-3 of Figure 12, the RO may transmit a response to the request to the VA via the OB and OS. For example, the RO may transmit a response indicating whether it agrees to perform charging at the changed EV charging spot in response to the VA's request.

[0161] With respect to step 7-4 of Fig. 12, when EV charging is performed and EV charging is completed, OB may transmit a charging completion notification received from VA and / or OS to VB, RO and / or UB.

[0162] Figures 13 and 14 illustrate the operation of a global AVDS server during parking according to embodiments.

[0163] With respect to step 1 of FIG. 13, a method for controlling the execution of a vehicle's AVDS mission by a global autonomous valet driving system (AVDS) server (OB of FIG. 13) can generate a mission ID. Based on the details determined when reserving an SV, a mission ID representing a parking mission can be generated. The mission ID can be generated by a local AVDS server (OS). The mission ID can also be generated by a global AVDS server (OB) based on a mission trigger by the local AVDS server (OS). When generating a mission ID, a session ID including a mission such as parking can be considered together. That is, the value of the mission ID can be generated so as to be mapped to the value of the session ID.

[0164] Regarding Step 2 of Figure 13, a method for controlling the vehicle's AVDS mission execution by the Global Autonomous Valet Driving System (AVDS) server (OB of Figure 13) may request mission confirmation. For example, the OS may request mission confirmation from the OB, and the OB may request mission confirmation from the VB.

[0165] Specifically, the OB can receive a mission ID generated by the OS based on AVDS reservation information from the OS. The OB can transmit information to the VB for requesting mission confirmation. The information for requesting mission confirmation may include a mission ID, etc. The VB can determine whether to confirm the mission based on the information for requesting mission confirmation.

[0166] Regarding step 3 of FIG. 13, a method for controlling the vehicle's AVDS mission execution by the global autonomous valet driving system (AVDS) server (OB of FIG. 13) can confirm the mission. For example, the VB can transmit mission confirmation information to the OB, and the OB can transmit the mission confirmation information to the OS. Here, the mission confirmation information can include a mission ID, etc. Specifically, the VB transmits mission confirmation information indicating mission progress confirmation to the OS via the OB.

[0167] Regarding step 4 of FIG. 13, a method of controlling the execution of a vehicle's AVDS mission by a global autonomous valet driving system (AVDS) server (OB of FIG. 13) can determine a mission. For example, the OS transmits mission decision information to the OB, and the OB transmits the mission decision information to the VB, RO, and / or UB. The mission decision information indicating that a mission has been decided to be executed is transmitted from the OS to the OB to the VB, RO, and / or UB. Here, the mission decision information can include a mission ID, etc.

[0168] With respect to step 5 of Fig. 13, a method of controlling the performance of the AVDS mission of a vehicle by the global autonomous valet driving system (AVDS) server (OB of Fig. 13) can control the VO by the RO. Specifically, with respect to step 5-1 of Fig. 14, the RO determines the destination where the SV will be parked. With respect to step 5-2 of Fig. 14, the RO drives the SV to the destination. At this time, the AVDS type may be type 2. With respect to step 5-3 of Fig. 14, the RO can recognize that the SV has arrived at the destination. For example, it recognizes whether the destination has been arrived based on ultrasonic waves, IR sensors, cameras, etc.

[0169] With respect to step 6 of FIG. 13, a method of controlling the execution of an AVDS mission by a vehicle by a global autonomous valet driving system (AVDS) server (OB of FIG. 13) can signal data for executing the mission. Specifically, with respect to step 6-1 of FIG. 14, the RO recognizes that the SV has arrived at the destination. The RO can notify the OB, and the OB can notify the OS, VB, UB, etc. of the arrival of the destination. When the RO recognizes that the SV has arrived at the destination, it transmits information indicating whether the destination has been arrived to the OB. Here, the information indicating whether the destination has been arrived can include at least one of an SV ID, a mission ID, a session ID, and / or a destination arrival time.

[0170] Regarding step 6-2 of Fig. 14, a method for controlling the vehicle's AVDS mission execution by the global autonomous valet driving system (AVDS) server (OB of Fig. 13) is as follows: When the SV arrives at the destination, the OS can record information about the SV. For example, the OS can store at least one of the SV ID, mission ID, session ID, and / or destination arrival time.

[0171] Regarding step 6-2 of FIG. 14, a method for controlling the vehicle's AVDS mission execution by the global autonomous valet driving system (AVDS) server (OB of FIG. 13) can notify that the parking mission has been completed. For example, the OS can notify the OB, and the OB can notify the VB, US, RO, etc. that the parking mission has been completed. Upon completion of parking, the OS can transmit a parking completion notification to the VB, RO, and UB via the OB.

[0172] FIG. 15 illustrates a method by which a global AVDS (Automated Valet Driving System) server according to embodiments controls the performance of an AVDS mission of a subject vehicle (SV).

[0173] S1100, a method for controlling the performance of an AVDS mission of a subject vehicle (SV) by a global AVDS (Automated Valet Driving System) server according to embodiments may include a step of transmitting and receiving information between a global AVDS server and at least one local AVDS server.

[0174] S1101, a method for controlling the performance of an AVDS mission of a subject vehicle (SV) by a global AVDS (Automated Valet Driving System) server according to embodiments may further include a step of controlling the AVDS mission of the SV.

[0175] A mission may include at least one of EV (Electric Vehicle) charging, car washing, or parking for the SV. The global AVDS server manages each local AVDS server and transmits and receives data with at least one of a Vehicle Backend (VB) or a User Backend (UB). At least one local AVDS server is a regionally located sub-AVDS that transmits and receives data with at least one of the global AVDS server and a Value Added System (VA), and the VA includes at least one charging station or car wash for the SV.

[0176] Referring to FIGS. 11-12, the step (S1100) of transmitting and receiving information between a global AVDS server and at least one local AVDS server may include a step in which the global AVDS server generates mission identification information for EV charging based on a mission trigger of at least one local AVDS server. The mission identification information is generated through data communication between the at least one local AVDS server and the VA.

[0177] Referring to FIGS. 11-12, at least one local AVDS server or at least one VA determines at least one charging station, charging spot, or charging time slot for EV charging based on at least one of the service type or reservation time. The global AVDS server transmits request information to the VB for confirming a mission, including mission identification information. The VB confirms the mission for EV charging based on the mission identification information. The global AVDS server may transmit mission decision information, including mission identification information, to the UB.

[0178] Referring to FIGS. 11-12, the step (S1101) of controlling the AVDS mission of the SV may include the step of transmitting information related to at least one of the position or angle of the SV parked at the charging spot to the RO (remote vehicle operation), the step of transmitting request information to the RO to correct at least one of the position or angle of the SV parked at the charging spot when correction of the position or angle is required, or the step of transmitting change information of the charging spot to the RO when the charging spot has been changed and requesting a response as to whether to charge at the changed charging spot.

[0179] Referring to Figures 11-12, the global AVDS server receives a response from the RO regarding whether to charge at the changed charging spot, and when EV charging is completed, the global AVDS server can notify the VB, RO, and UB of mission completion information.

[0180] Referring to FIGS. 13-14, the step (S1100) of transmitting and receiving information between a global AVDS server and at least one local AVDS server includes a step of the global AVDS server generating identification information of a mission for parking based on a mission trigger of at least one local AVDS server, and the identification information of the mission for parking can be generated based on information determined at the time of reservation of the SV.

[0181] Referring to Figures 13-14, mission identification information is transmitted to the VB, mission determination information including the mission identification information is received from the VB, and the mission determination information is transmitted to at least one local AVDS server. The mission determination information including the mission identification information may be transmitted to at least one of the VB, RO (remote vehicle operation), or UB.

[0182] Referring to Figures 13-14, when the RO recognizes that the SV has arrived at the destination, the global AVDS server receives information from the RO including at least one of the SV's identification information, the mission's identification information, the session's identification information related to the mission's identification information, or the destination arrival time information. When the parking mission is completed, the global AVDS server may send a notification to at least one of the VB, the RO, or the UB indicating that the parking mission is completed.

[0183] The method of FIG. 15 may be performed by the vehicle control device (3000) of FIG. 3. Here, the vehicle control device (3000) may correspond to a global AVDS server including an interface unit (3001) and / or at least one processor (3002). The interface unit (3001) may be referred to as a transceiver.

[0184] A global AVDS (Automated Valet Driving System) server (3000) that controls the performance of an AVDS mission of a subject vehicle (SV) includes a transceiver (3001) that transmits and receives data related to the performance of the AVDS mission; and a processor (3003); wherein the processor includes: transmitting and receiving information between the global AVDS server and at least one local AVDS server, and controlling the AVDS mission of the SV, wherein the mission includes at least one of EV (Electric Vehicle) charging, a car wash, or parking for the SV, the global AVDS server manages each local AVDS server, and transmits and receives data with at least one of a VB (Vehicle Backend) or a UB (User Backend), and at least one local AVDS server is a sub-AVDS located by region, and transmits and receives data with at least one of the global AVDS server and a VA (Value Added system), and the VA may include at least one of a charging station or a car wash for the SV.

[0185] Through these examples, the global AVDS contributes to the AVDS mission performance of the SV (EV charging, parking, etc.) and provides the effect of enabling the SV to perform various missions efficiently and safely.

[0186] The embodiments have been described in terms of methods and / or devices, and the descriptions of methods and devices may be applied complementarily.

[0187] 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.

[0188] 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.

[0189] 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”.

[0190] 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.

[0191] 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.

[0192] 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.

[0193] 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.

[0194] 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.

[0195] As described above, the relevant contents have been described in the best form for carrying out the embodiments.

[0196] As described above, the embodiments may be applied in whole or in part to autonomous valet driving devices and systems.

[0197] Those skilled in the art may make various changes or modifications to the embodiments within the scope of the embodiments.

[0198] Embodiments may include modifications / changes, which do not depart from the scope of the claims and their equivalents.

Claims

1. A method for controlling AVDS access of a subject vehicle (SV) by a global AVDS (Automated Valet Driving System) server, A step of transmitting and receiving information between a global AVDS server and at least one local AVDS server; and A step of controlling autonomous driving of the above SV; including; The above global AVDS server manages each local AVDS server and sends and receives data with at least one of the Vehicle Backend (VB) or User Backend (UB). The at least one local AVDS server is a sub-AVDS located in each region, and transmits and receives data with at least one of the global AVDS servers, VA (Value Added system), The above VA includes at least one of a charging station or a car wash for the SV, method.

2. In paragraph 1, The step of controlling the autonomous driving of the above SV includes the step of controlling the AVDS reservation, The step of transmitting and receiving information between the global AVDS server and at least one local AVDS server is performed by the global AVDS server for the AVDS reservation: A step of receiving a request for availability from the UB, wherein the availability includes at least one of a parking period or a service; A step of transmitting a request for the availability to at least one local AVDS server; A step of receiving a request for compatibility data from at least one local AVDS server; A step of transmitting a request for the compatibility data to the above VB; A step of receiving said compatibility data from said VB, wherein said compatibility data includes at least one of identification information, size information, or fuel type information for said SV; comprising the step of transmitting said compatibility data to said at least one local AVDS server; method.

3. In paragraph 1, The step of controlling the autonomous driving of the above SV includes the step of controlling the AVDS reservation, The step of transmitting and receiving information between the global AVDS server and at least one local AVDS server is performed by the global AVDS server for the AVDS reservation: A step of receiving new reservation information from at least one local AVDS server, wherein the new reservation information includes at least one of reservation identification information, available time slot information, service, and service cost; A step of transmitting the new reservation information to the above UB; A step of receiving reservation confirmation information from the UB, wherein the reservation confirmation information includes at least one of the reservation identification information, determined time slot information, and determined service; comprising the step of transmitting the reservation confirmation information to at least one local AVDS; method.

4. In paragraph 1, The step of controlling the autonomous driving of the above SV includes the step of controlling AVDS check-in, The step of transmitting and receiving information between the global AVDS server and at least one local AVDS server is performed by the global AVDS server for the AVDS check-in: A step of receiving identification information about the SV from a remote vehicle operation (RO) that recognizes that the SV has arrived at a parking facility; A step of transmitting identification information for the SV to the at least one local AVDS server and the UB; Step for generating session identification information; a step of transmitting the session identification information to at least one local AVDS server; method.

5. In paragraph 1, The step of controlling the autonomous driving of the above SV includes the step of controlling AVDS check-in, The step of transmitting and receiving information between the global AVDS server and at least one local AVDS server is performed by the global AVDS server for the AVDS check-in: A step of receiving identification information about the SV from a remote vehicle operation (RO) that recognizes that the SV has arrived at a parking facility; A step of transmitting identification information for the SV to the at least one local AVDS server and the UB; Receiving session identification information from at least one local AVDS server; a step of transmitting the session identification information to at least one local AVDS server; method.

6. In paragraph 1, The step of controlling autonomous driving of the above SV includes the step of controlling AVDS handover, The step of transmitting and receiving information between the global AVDS server and at least one local AVDS server is performed by the global AVDS server for the AVDS handover: A step of requesting handover of the SV to RO (remote vehicle operation); Step of recording a handover request; Step for verifying handover availability; A step of determining that the above AVDS has authority; a step of notifying that authority has been handed over to AVDS to at least one local AVDS server; method.

7. In paragraph 1, The step of controlling autonomous driving of the above SV includes the step of controlling AVDS handover, The step of transmitting and receiving information between the global AVDS server and at least one local AVDS server is performed by the global AVDS server for the AVDS handover: A step of requesting a handover of the SV to at least one of the remote vehicle operation (RO) or the at least one local AVDS server, wherein the request for the handover is recorded by the at least one local AVDS server; Step for verifying handover availability; Receiving a result indicating that the AVDS has authority from at least one local AVDS server; a step of notifying that authority has been handed over to at least one of the VB, the RO, or the UB; method.

8. In paragraph 1, the method: A step of controlling the AVDS mission of the above SV; further comprising, The above mission includes at least one of EV (Electric Vehicle) charging, car washing, or parking for the SV. method.

9. In paragraph 8, The step of transmitting and receiving information between the global AVDS server and at least one local AVDS server Based on the mission trigger of the at least one local AVDS server, the global AVDS server includes a step of generating identification information of a mission for charging the EV; The identification information of the above mission is generated through data communication between the at least one local AVDS server and the VA. method.

10. In paragraph 9, At least one of the local AVDS servers or at least one of the VAs determines at least one of a charging station, a charging spot, or a charging time slot for the EV charging based on at least one of a service type or a reservation time, The above global AVDS server transmits request information to the VB to confirm the mission including the identification information of the mission, The above VB determines the mission for charging the EV based on the identification information of the above mission, The above global AVDS server transmits mission decision information including the identification information of the above mission to the above UB. method.

11. In paragraph 10, The steps for controlling the AVDS mission of the above SV are: A step of transmitting information related to at least one of the position or angle at which the SV is parked at the charging spot by means of RO (remote vehicle operation), If correction of the above position or angle is required, a step of transmitting request information to the RO to correct at least one of the position or angle of the SV parked at the charging spot, or Including a step of transmitting change information of the charging spot to the RO when the charging spot is changed and requesting a response as to whether to charge at the changed charging spot. method.

12. In paragraph 11, The above global AVDS server receives a response from the RO as to whether to charge at the changed charging spot, When the EV charging is completed, the global AVDS server notifies the VB, the RO, and the UB of mission completion information. method.

13. In paragraph 8, The step of transmitting and receiving information between the global AVDS server and at least one local AVDS server Based on the mission trigger of at least one local AVDS server, the global AVDS server includes a step of generating identification information of a mission for the parking, The identification information of the above mission for the above parking is generated based on the information determined at the time of reservation of the SV. method.

14. In a device that controls AVDS access of a subject vehicle (SV) of a global AVDS (Automated Valet Driving System) server, A transmitter / receiver unit for transmitting and receiving data regarding AVDS access; Memory connected to the above transceiver; A processor connected to the memory; wherein instructions stored in the memory cause the processor to: Sending and receiving information between the global AVDS server and at least one local AVDS server; and Controlling the autonomous driving of the above SV; controlling it to do so, The above global AVDS server manages each local AVDS server and sends and receives data with at least one of the Vehicle Backend (VB) or User Backend (UB). The at least one local AVDS server is a sub-AVDS located in each region, and transmits and receives data with at least one of the global AVDS servers, VA (Value Added system), The above VA includes at least one of a charging station or a car wash for the SV, device.

15. In paragraph 14, The above processor further includes controlling the AVDS mission of the SV, The above mission includes at least one of EV (Electric Vehicle) charging, car washing, or parking for the SV. device.

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