Autonomous Parking Routing With V2X Space Verification
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Solution Overview
Problem
There is a lack of efficient methods for managing and efficiently parking autonomous driving vehicles, particularly in Level 4 autonomous driving scenarios, where vehicles need to perform all safety-critical driving functions and navigate to parking spaces with minimal human intervention.
Innovation Solution
A centralized parking management system using high-definition maps and sensors to detect available parking spaces, allowing autonomous vehicles to access a list of available spaces via a network, generate a route, and verify availability using onboard sensors, with the option to utilize both centralized and perception-based methods in parallel.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Productivity
If a centralized parking management system is used to manage parking spaces, then parking space management efficiency is improved, but system complexity increases
Solution Approach 1:
The patent introduces a centralized server as an intermediary between multiple parking lanes and autonomous vehicles. The server receives sensor data from parking lanes, determines availability status, and provides this information to vehicles via V2X communication. This intermediary architecture improves centralized management efficiency while keeping individual parking lane systems relatively simple.
2Loss of information
If V2X communication is used to obtain parking space information, then information accessibility is improved, but network dependency increases
Solution Approach 1:
The system performs preliminary actions by having parking lanes continuously monitor and report parking space availability to the centralized server before vehicles arrive. The server pre-processes this data and makes it accessible via V2X communication, so when vehicles need parking information, it is already prepared and available, reducing real-time processing delays and network dependency during critical moments.
3Measurement precision
If sensors are mounted on vehicles to verify parking space availability, then detection accuracy is improved, but vehicle cost increases
Solution Approach 1:
The patent merges the sensing capabilities by combining vehicle-mounted sensors with infrastructure-mounted sensors in parking lanes. The vehicle sensors verify parking space availability by cross-checking with data from the centralized server and infrastructure sensors, improving detection accuracy through multi-source validation without requiring expensive sensor suites in every vehicle.
4Measurement precision
If the vehicle drives through all parking spaces to locate an available space, then detection completeness is improved, but time consumption increases
Solution Approach 1:
The system performs preliminary detection by having infrastructure sensors in parking lanes continuously monitor and report availability status to the centralized server before vehicles arrive. Vehicles receive this pre-processed information via V2X communication, allowing them to navigate directly to available spaces rather than sequentially checking each space, thus improving detection completeness while significantly reducing time consumption.
Data Source
AI summary
According to one embodiment, in response to a request to park an ADV into a parking lot, a remote server is accessed over a network (e.g., a VX2 link) to obtain a list of parking spaces that appear to be available in the parking lot. Based on the list of available parking spaces and the map associated with the parking lot, a route is generated to navigate through at least the available parking spaces. The ADV is driven according to the route to locate at least one of the available parking spaces and to park the ADV into the located available parking space. The centralized server is configured to periodically receive signals from a number of parking lots indicating which of the parking spaces of the parking lots are apparently available.