Autonomous Valet Parking Positioning With Marker-Based Localization
Find Innovative SolutionsGenerate Solutions
Solution Overview
Problem
Existing autonomous valet parking systems face challenges in precisely identifying the position of a vehicle within a parking lot, especially when GPS signals are unavailable, making it difficult to guide the vehicle to an empty parking space.
Innovation Solution
The system utilizes a vehicle-mounted sensor to identify unique and anonymous markers in a parking lot, using a digital map that includes layers of information to adjust vehicle position, incorporating existing signs as anonymous markers to enhance precision.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If GPS signal is used for vehicle positioning, then positioning can be achieved in open areas, but positioning fails in GPS signal-deprived environments such as multi-floor parking lots
Solution Approach 1:
The patent introduces markers (unique markers and anonymous markers) as intermediary objects in the parking lot environment. These markers serve as mediators between the vehicle's vision system and the physical space, enabling the vehicle to determine its position by recognizing marker patterns and coordinates without relying on GPS signals that are blocked in multi-floor parking structures.
Solution Approach 2:
The patent replaces the GPS satellite-based electromagnetic signal system with a local vision-based marker recognition system. Instead of relying on external satellite signals that penetrate the environment, the system uses onboard cameras to capture and analyze marker images, substituting a mechanical/optical localization method for the electronic satellite navigation method.
2Measurement precision
If only unique markers are used for positioning, then vehicle position can be determined at marker locations, but positioning precision is insufficient between markers
Solution Approach 1:
The patent segments the positioning system into two functional layers: unique markers that provide absolute position references at specific locations, and anonymous markers that provide relative position information between unique markers. This segmentation allows the system to achieve high positioning precision throughout the entire parking lot by combining coarse positioning (unique markers) with fine positioning (anonymous markers), without requiring markers at every possible location.
3Measurement precision
If markers are installed throughout the parking lot to enable precise positioning, then positioning precision improves, but system complexity and installation cost increase
Solution Approach 1:
The patent applies different types of markers with different functions at different locations in the parking lot. Unique markers with complex patterns are strategically placed at key reference points (entrances, intersections, parking zones) where absolute position information is most needed, while simpler anonymous markers are placed in between to provide relative positioning. This local differentiation optimizes the overall system precision while minimizing total marker quantity and complexity.
Data Source
AI summary
One or more example embodiments relate to a vehicle and a method for performing autonomous valet parking. A vehicle may include at least one sensor configured to obtain image data indicating a surrounding environment of the vehicle; a controller configured to control at least one operation of the vehicle; a communication interface; and at least one processor. The at least one processor may be configured to: identify, based on the image data, a unique marker installed in a parking lot; set, based on the unique marker, position information of the vehicle; identify, based on the image data, an anonymous marker installed in the parking lot; adjust, based on the anonymous marker, the position information of the vehicle; and control, based on the adjusted position information of the vehicle, an autonomous parking operation of the vehicle.