KR102728649B1 - System for automous parking assistance using parking information and method thereof - Google Patents

Abstract

An autonomous parking support system utilizing parking information according to one embodiment of the present invention may include an autonomous vehicle which, after a destination is input, transmits a parking request to a parking lot of the destination, receives information on an external parking space, which is a parking space located outside the parking lot, from a parking management system of the parking lot, and, when approaching the parking lot, receives a driving trajectory and a parking trajectory from the parking management system from a parking entrance to the external parking space to perform autonomous parking.

Description

{SYSTEM FOR AUTOMOUS PARKING ASSISTANCE USING PARKING INFORMATION AND METHOD THEREOF}

The present invention relates to a system and method for assisting autonomous parking using parking information, and more specifically, to a system and method for assisting autonomous parking using parking information, which enables automatic parking by utilizing parking information near a destination and generating a driving trajectory as a technology for securing parking spaces in downtown areas and alleyways.

In general, an automatic reverse path control system is a technology that estimates the previous driving trajectory (previous forward driving path) recorded using a vehicle speed sensor and steering angle sensor when a vehicle needs to drive backwards on the same path it drove just before, and controls the reverse driving path to be identical to the forward driving path just before driving backwards.

A conventional automatic reverse path control system may be composed of a vehicle speed sensor for measuring wheel pulse count information of a vehicle, a steering angle sensor for measuring steering angle information of a vehicle steering wheel, a driving trajectory storage unit storing driving trajectory data generated at regular intervals using information from the vehicle speed sensor and the steering angle sensor, a function selection button for generating a driver selection signal for operating an automatic steering function during reverse driving, and a control unit for requesting operation of the MDPS based on the driving trajectory data acquired from the driving trajectory storage unit when recognizing the generation of the driver selection signal in a state where reverse driving is possible.

However, the parking information provided in the past only provided information on whether parking was available, and there was a problem in that it did not provide information on whether parking was available while moving.

Republic of Korea Patent Publication No. 10-2019-0000126

An embodiment of the present invention is a technology for securing parking spaces in downtown areas and alleyways, which calculates the exit time of an exiting vehicle and the arrival time of the own vehicle from parking information provided at a destination, and generates a driving trajectory and a parking trajectory for a parking space, thereby enabling automatic parking, thereby reducing time waste in securing a parking space and providing safe and fast parking information to drivers, thereby providing an autonomous parking support system and method utilizing parking information.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the description below.

An autonomous parking support system utilizing parking information according to one embodiment of the present invention may include an autonomous vehicle which, after a destination is input, transmits a parking request to a parking lot of the destination, receives information on an external parking space, which is a parking space located outside the parking lot, from a parking management system of the parking lot, and, when approaching the parking lot, receives a driving trajectory and a parking trajectory from the parking management system from a parking entrance to the external parking space to perform autonomous parking.

In one embodiment, the autonomous vehicle may include a first communication unit that transmits a parking request to the parking management system via a wireless communication network and receives information on the external parking space, the driving trajectory, and the parking trajectory from the parking management system, a sensor unit that detects an obstacle located around the autonomous vehicle, a vehicle control unit that controls autonomous driving to the external parking space based on the driving trajectory and the parking trajectory, and a vehicle output unit that drives a driving device according to the control of the vehicle control unit.

An autonomous parking support system utilizing parking information according to another embodiment of the present invention may include a parking management system that receives a parking request from an autonomous vehicle, determines whether parking is available, selects an external parking space in which the autonomous vehicle is to park, generates a driving trajectory and parking trajectory from the entrance of the parking lot to the external parking space, and transmits information on the driving trajectory and parking trajectory to the autonomous vehicle when the autonomous vehicle approaches the parking lot.

In one embodiment, the parking management system checks for vehicles that are available for exit among the vehicles parked in the parking lot, compares the expected exit time of the vehicles that are available for exit with the arrival time of the autonomous vehicle in the parking lot, and if parking of the autonomous vehicle is possible, generates a driving trajectory and a parking trajectory to a parking space where the autonomous vehicle will park and transmits them to the autonomous vehicle.

In one embodiment, the parking management system may, when the autonomous vehicle is driving toward the parking lot and the selected parking space cannot be parked, select an external parking space where parking is possible, and then generate a driving trajectory and a parking trajectory from the entrance of the parking lot to the external parking space.

In one embodiment, the parking management system may determine priorities in the order of shortest distance among a plurality of autonomous vehicles that have transmitted parking requests to the parking lot, and may generate and transmit a driving trajectory and parking trajectory from the entrance of the parking lot to the autonomous vehicle with the shortest distance.

In one embodiment, the parking management system may include a second communication unit that receives a parking request from the autonomous vehicle through a wireless communication network and transmits information about the external parking space, the driving trajectory, and the parking trajectory to the autonomous vehicle, and a parking lot control unit that searches the external parking space or searches for a vehicle that can exit the parking lot and generates the driving trajectory and the parking trajectory.

According to another embodiment of the present invention, an autonomous parking support system utilizing parking information may include a parking management system which, after a destination is input, transmits a parking request to a parking lot of the destination, receives information on an external parking space, which is a parking space located outside the parking lot, from a parking management system of the parking lot, and when approaching the parking lot, receives a driving trajectory and a parking trajectory from the parking management system from an entrance of the parking lot to the external parking space, and performs autonomous parking by receiving a parking request from the autonomous vehicle, and after determining whether parking is possible, selects an external parking space in which the autonomous vehicle will park, and generates a driving trajectory and a parking trajectory, and when the autonomous vehicle approaches the parking lot, transmits information on the driving trajectory and parking trajectory from the entrance of the parking lot to the external parking space to the autonomous vehicle.

According to another embodiment of the present invention, a method for supporting autonomous parking using parking information may include a parking request step in which, after a destination is input in an autonomous vehicle, a parking request is transmitted to a parking lot of the destination, and information on an external parking space, which is a parking space located outside the parking lot, is transmitted from a parking management system of the parking lot; a trajectory generation step in which, when the parking management system receives a parking request from the autonomous vehicle, the parking management system determines whether parking is available, selects an external parking space in which the autonomous vehicle will park, and generates a driving trajectory and a parking trajectory from an entrance to the parking lot to the external parking space; and an autonomous parking step in which, when the autonomous vehicle approaches the parking lot, the parking management system transmits a driving trajectory and a parking trajectory from the entrance to the parking lot to the autonomous vehicle, and the autonomous vehicle that has received the driving trajectory and the parking trajectory performs autonomous parking.

In one embodiment, the trajectory generation step may include a step in which the parking management system checks which vehicles parked in the parking lot are available for exit, compares the expected exit time of the available vehicles with the arrival time of the autonomous vehicle in the parking lot, and, if parking of the autonomous vehicle is possible, generates a driving trajectory and a parking trajectory to a parking space where the autonomous vehicle will park.

In one embodiment, the trajectory generation step may include a step in which, if the autonomous vehicle is driving toward the parking lot and cannot park in the selected parking space, the parking management system selects an external parking space where parking is possible and then generates a driving trajectory and a parking trajectory from the entrance of the parking lot to the external parking space.

In one embodiment, the trajectory generation step may include a step in which the parking management system determines priorities among a plurality of autonomous vehicles that have transmitted parking requests to the parking lot in the order of shortest distance, and generates and transmits a driving trajectory and a parking trajectory from the entrance of the parking lot to the external parking space to the autonomous vehicle with the shortest distance.

This technology is a technology for securing parking spaces in downtown areas and alleyways. It calculates the exit time of an outgoing vehicle and the arrival time of the own vehicle from parking information provided at the destination, and generates a driving trajectory and parking trajectory for the parking space, thereby enabling automatic parking, thereby reducing time wasted in securing a parking space and providing drivers with safe and fast parking information.

In addition, various effects may be provided that are directly or indirectly identified through this document.

FIG. 1 is an exemplary diagram showing an autonomous parking assistance system utilizing parking information according to one embodiment of the present invention.
FIG. 2 is a block diagram showing an autonomous vehicle in an autonomous parking assistance system utilizing parking information according to one embodiment of the present invention.
FIG. 3 is a block diagram showing a parking management system in an autonomous parking support system utilizing parking information according to one embodiment of the present invention.
FIG. 4 is a flowchart for explaining a process performed in an autonomous vehicle in an autonomous parking support method using parking information according to one embodiment of the present invention.
FIG. 5 is a flowchart for explaining a process performed by a parking management system in an autonomous parking support method using parking information according to one embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. When adding reference symbols to components in each drawing, it should be noted that the same symbols are used for identical components as much as possible even if they are shown in different drawings. In addition, when describing embodiments of the present invention, if it is determined that a specific description of a related known configuration or function hinders understanding of the embodiments of the present invention, the detailed description thereof will be omitted.

In describing components of embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only intended to distinguish the components from other components, and the nature, order, or sequence of the components are not limited by these terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by a person having ordinary skill in the art to which the present invention belongs. Terms defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning they have in the context of the relevant technology, and shall not be interpreted in an idealistic or overly formal sense, unless explicitly defined in this application.

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 4.

FIG. 1 is an exemplary diagram showing an autonomous parking support system using parking information according to one embodiment of the present invention, FIG. 2 is a block diagram showing an autonomous vehicle in an autonomous parking support system using parking information according to one embodiment of the present invention, and FIG. 3 is a block diagram showing a parking management system in an autonomous parking support system using parking information according to one embodiment of the present invention.

Referring to FIG. 1, an autonomous parking support system utilizing parking information according to one embodiment of the present invention can be configured to include an autonomous vehicle (100) and a parking management system (500), and the autonomous vehicle (100) and the parking management system (500) can transmit and receive data to each other through wireless communication.

Referring to FIG. 2, the autonomous vehicle (100) may be configured to include a first communication unit (110), a sensor unit (120), a GPS (130), a first storage unit (140), a user input unit (150), a vehicle control unit (160), a driver output unit (170), and a vehicle output unit (180).

The first communication unit (110) can perform wireless communication using a parking management system (500) and mobile communication such as wireless Internet, short-range communication, 4G or 5G, etc., and when a destination is selected through the user input unit (150) and a parking request is input to the destination parking lot, the parking request and information on the autonomous vehicle (100) to be parked are transmitted to the parking management system (500) of the destination parking lot through a wireless communication network, and information on the parking lot, driving trajectory, and parking trajectory can be received from the parking management system (500).

Information on the autonomous vehicle (100) may include the vehicle type and size, and information on the parking lot may include parking lot map data, available parking spaces, and driving routes to the parking lot.

The sensor unit (120) can detect obstacles located around the autonomous vehicle (100) and measure the location of the autonomous vehicle (100), and may include a radar sensor, a Lidar sensor, an ultrasonic sensor, a camera (image sensor), a GPS (Global Positioning System) receiving module, etc.

For reference, the camera can capture the front, rear, or side of the autonomous vehicle (100) and transmit the image data obtained thereby to the vehicle control unit (160).

The lidar sensor can detect the front, rear, or side of an autonomous vehicle (100), and can configure a laser transmission module, a laser detection module, a signal collection and processing module, and a data transmission/reception module.

A radar sensor can detect the front, rear, or side of an autonomous vehicle (100) and may be a sensor device that uses electromagnetic waves to measure the distance, speed, or angle of an object.

The first storage unit (140) can store data generated according to programs and operations required for autonomous driving control of the autonomous driving device (100), and can store information on parking lot information, driving trajectories, and parking trajectories transmitted through the first communication unit (110).

The user input unit (150) can input data, control commands, and other optional items from the user, and can be configured as a keypad, touchpad, or touchscreen, and can input destination names, etc.

The vehicle control unit (160) may include an ECU (Electrical Control Unit) and is configured to include a parking space confirmation unit (161), a driving path generation unit (163), and a driving control unit (165), and may control the driving device (actuator) of the autonomous vehicle (100) to perform deceleration, acceleration, braking, or gear shifting.

The vehicle control unit (160) can perform autonomous driving by controlling the overall operation of the autonomous vehicle (100) based on parking lot information provided from the parking management system (500).

When an autonomous vehicle (100) approaches a parking lot, the vehicle control unit (160) communicates with the parking management system (500) through the first communication unit (110), and receives parking lot map data transmitted from the parking management system (500) through the parking space confirmation unit (161) and displays it on the driver output unit (170).

The driving path generation unit (163) can map the driving path and parking path to a parking space designated by the parking management system (100) onto the parking lot map data and display them on the driver output unit (170), and the driving control unit (165) can control the autonomous driving and autonomous parking of the autonomous vehicle (100) to follow the driving path and parking path received from the driving path generation unit (163), and can control the autonomous vehicle (100) to move along the driving path and parking path through the vehicle output unit (180) including the engine control system, the braking control system, and the steering control system.

For reference, the engine control system can perform deceleration, acceleration, and turning the engine on/off to operate the autonomous vehicle (100). When a collision is expected during operation of the autonomous vehicle (100), deceleration can be performed, and when the operation of the autonomous vehicle (100) starts or ends, the engine can be turned on/off.

The braking control system can control whether the brakes of an autonomous vehicle (100) are operated and control the responsiveness of the brakes. When a collision is expected while the autonomous vehicle (100) is being driven, the system can control the emergency brakes to be operated regardless of whether the driver has applied the brakes.

The steering control system can perform control on an electric power steering system (MPDS) that drives a steering wheel, and can control the steering of the autonomous vehicle (100) in a direction that can avoid the collision or minimize damage when a collision of the autonomous vehicle (100) is expected.

In addition, the vehicle control unit (160) can detect an obstacle around the autonomous vehicle (100) through the sensor unit (120) and induce a lane change to perform obstacle avoidance driving, and can stop the vehicle if obstacle avoidance driving is not possible.

In addition, if the destination parking lot does not exist or the destination parking lot's parking management system (500) does not have a parking space to park in and therefore notifies the user to park in an external parking space outside the parking lot, the parking space confirmation unit (161) can search for an external parking space, which is a parking space located outside the parking lot, on a road, in an alley, or in an empty lot, by integrating the sensing of the sensor unit (120).

The parking space confirmation unit (161) communicates with communication infrastructure such as 4G/5G communication facilities installed around an external parking space and can receive information on whether there is an obstacle in the external parking space.

Accordingly, the parking space confirmation unit (161) can confirm whether an obstacle exists in an external parking space by using information transmitted from the communication infrastructure around the external parking space as well as the sensor unit (120).

Next, when an external parking space is confirmed, the autonomous vehicle (100) can perform autonomous parking by checking whether there is an obstacle in the external parking space and then generating a driving trajectory and parking trajectory to the external parking space through the driving path generation unit (163) and the driving control unit (165).

When the driving path generation unit (163) receives an autonomous parking command from the parking space confirmation unit (161), it can generate a driving path and parking path for moving the autonomous vehicle (100) from the current location to an external parking space by integrating the GPS (130), map information, and sensor values of the sensor unit (100).

The location of an external parking space searched by the parking space confirmation unit (161) and the driving trajectory and parking trajectory generated by the driving path generation unit (163) can be confirmed through the driver output unit (170) including a speaker and display inside the autonomous vehicle (100), and the driver output unit (170) can provide the driver with information about a specific situation or warn of a dangerous situation.

For example, the driver output unit (170) can output a situation description and warning sound through a speaker, and can output a message or warning message regarding the situation through a HUD display or side mirror display.

The driving control unit (165) can control the autonomous driving and autonomous parking of the autonomous vehicle (100) to follow the driving trajectory and parking trajectory received from the driving path generation unit (163), and can control the autonomous vehicle (100) to move to an external parking space and park along the driving trajectory and parking trajectory generated by the driving path generation unit (163) through the vehicle output unit (180) including the engine control system, the braking control system, and the steering control system.

When a parking management system (500) receives a parking request from an autonomous vehicle (100), it determines whether parking is available, selects a parking space where the autonomous vehicle (100) will park, creates a driving trajectory and a parking trajectory in advance, and when the autonomous vehicle (100) enters the parking lot, it can transmit the information on the driving trajectory and parking trajectory created in advance to the autonomous vehicle (100). Referring to FIG. 3, the system can be configured to include a second communication unit (510), a vehicle detection unit (520), a second storage unit (530), and a parking lot control unit (550).

The second communication unit (510) can receive a parking request from an autonomous vehicle (100) through a wireless communication network and transmit information about the parking lot, driving trajectory, and parking trajectory to the autonomous vehicle (100).

The vehicle detection unit (520) is installed at the entrance to the parking lot and can detect vehicles approaching the parking lot, and may be equipped with one or more sensors such as a radar sensor, a lidar sensor, an ultrasonic sensor, a camera, etc.

The second storage unit (530) can store parking lot map data and can store information on driving routes and parking routes from the parking lot entrance to parking spaces and external parking spaces.

The parking lot control unit (550) can search for a parking space in the parking lot or search for a vehicle that can exit, and can generate a driving trajectory and a parking trajectory. It can be configured to include a parking space determination unit (551), an exit information provision unit (553), a vehicle arrival provision unit (555), and a movement path calculation unit (557).

The parking space judgment unit (551) manages information on parking spaces in a parking lot. It collects information on the status of parking spaces (empty, parked, under construction, etc.) through sensors installed in each parking space, and manages the number and location of parking spaces available for parking in the parking lot.

Therefore, when a parking request is transmitted from an autonomous vehicle (100), an empty parking space can be selected and a parking space in which the autonomous vehicle (100) will park can be designated.

In addition, the parking space judgment unit (551) may designate a parking space in advance for the autonomous vehicle (100) to park, and if the autonomous vehicle (100) cannot park in the designated parking space before arriving at the parking lot, it may designate another parking space, such as a parking space where parking is possible or an external parking space, in advance to allow the autonomous vehicle (100) to park.

The parking exit information provider (553) can check which vehicles among the parked vehicles are available for exit. For example, when a regular member who regularly uses the parking lot parks in a parking space and specifies an expected time of exit, the vehicle available for exit can be checked among the parked vehicles based on this.

The autonomous vehicle arrival system (555) can identify and provide the expected arrival time of an autonomous vehicle (100) that has requested parking in a parking lot.

In particular, when the parking lot is full and there is a shortage of parking spaces, when a parking request is transmitted from an autonomous vehicle (100), the expected exit time of a vehicle that can exit the parking lot and the arrival time of the autonomous vehicle (100) in the parking lot can be compared.

Accordingly, if there is a vehicle among the parked vehicles whose expected exit time is earlier than the arrival time of the autonomous vehicle (100) in the parking lot, a parking space is created before the autonomous vehicle (100) arrives in the parking lot, so a parking space for the autonomous vehicle (100) can be designated in advance.

On the other hand, if the arrival time of the autonomous vehicle (100) in the parking lot is earlier than the expected departure time of the parked vehicle, there will be a shortage of parking spaces, so the autonomous vehicle (100) cannot be assigned a parking space, and the autonomous vehicle can be notified to find a parking space in an external parking space around the parking lot.

When there is a parking space available in the parking lot or there is a vehicle among the parked vehicles whose expected exit time is earlier than the arrival time of the autonomous vehicle (100) in the parking lot, and thus a parking space can be created before the autonomous vehicle (100) arrives at the parking lot, the movement path calculation unit (557) can generate a driving path and a parking path from the entrance of the parking lot to the parking space where the autonomous vehicle (100) will park, and store them in the second storage unit (530).

Next, when the autonomous vehicle (100) arrives at the parking lot and detects the vehicle through the vehicle detection unit (520), the parking lot control unit (550) transmits the driving trajectory and parking trajectory information stored in the second storage unit (530) to the autonomous vehicle (100) through the second communication unit (510) to perform autonomous driving and autonomous parking.

Meanwhile, when a parking request is made to the corresponding parking lot from multiple autonomous vehicles, the parking lot control unit (550) can determine the priority in order of the shortest distance among the multiple autonomous vehicles that have sent the parking request, and can generate and transmit a driving trajectory and parking trajectory from the autonomous vehicle with the shortest distance from the parking lot entrance to the parking space.

In addition, when determining the priority for an external parking space, the parking control unit (550) can determine the priority in the order of the shortest distance among multiple autonomous vehicles that have transmitted parking requests, and can generate and transmit a driving trajectory and parking trajectory from the parking lot entrance to the external parking space, starting with the autonomous vehicle with the shortest distance.

Hereinafter, an autonomous parking support method using parking information according to another embodiment of the present invention will be specifically described with reference to FIGS. 4 and 5. FIG. 4 is a flowchart for explaining a process performed in an autonomous vehicle in an autonomous parking support method using parking information according to an embodiment of the present invention, and FIG. 5 is a flowchart for explaining a process performed in a parking management system in an autonomous parking support method using parking information according to an embodiment of the present invention.

Below, it is assumed that the autonomous parking support system utilizing the parking information of Fig. 2 performs the process of Fig. 4, and below, it is assumed that the autonomous parking support system utilizing the parking information of Fig. 3 performs the process of Fig. 5.

First, a destination is input in a self-driving car (100) (S101), and after searching for the destination, if there is a parking lot that provides parking lot information (S102), a parking request can be sent to the parking lot of the destination (S103).

When the parking management system (500) of the destination parking lot receives a parking request from an autonomous vehicle (100) (S201), it can transmit parking lot information, including the parking lot location, to the autonomous vehicle (100) (S202).

An autonomous vehicle (100) that has received parking lot information can move toward the destination parking lot (S104).

The parking management system (500) of the destination parking lot searches for a parking space where an autonomous vehicle (100) can park (S203), and if a parking space exists (S204), it can calculate the expected arrival time of the autonomous vehicle (100) at the parking lot (S205).

The parking management system (500) can select a parking space in which an autonomous vehicle (100) will park, and generate a driving trajectory and parking trajectory from the parking lot entrance to the parking space (S206).

After the autonomous vehicle (100) arrives at the parking lot (S105) and enters the parking lot (S207), the parking management system (500) can transmit the pre-generated driving trajectory and parking trajectory to the autonomous vehicle (100) (S208).

An autonomous vehicle (100) that has received a driving trajectory and parking trajectory from a parking management system (500) (S106) can autonomously drive to a parking space and autonomously park based on the driving trajectory and parking trajectory information (S107).

An autonomous vehicle (100) that has completed parking can share parking information by uploading parking lot-related information, such as parking lot information, to a separate shared server.

The parking management system (500) of the destination parking lot searches for a parking space where an autonomous vehicle (100) can park (S203), and if there is no parking space (S204), it searches for and confirms a vehicle among the parked vehicles that can be pulled out (S209).

If there is a vehicle that can exit (S210), the expected exit time of the vehicle that can exit is calculated (S211), and the expected exit time of the vehicle that can exit is compared with the expected arrival time of the autonomous vehicle (100) in the parking lot (S212). If parking of the autonomous vehicle (100) is possible (S213), a driving trajectory and a parking trajectory to the parking space where the autonomous vehicle (100) will park can be generated (S206).

An autonomous vehicle (100) that has received a driving trajectory and parking trajectory from a parking management system (500) (S106) can autonomously drive to a parking space and autonomously park based on the driving trajectory and parking trajectory information (S107).

Meanwhile, if a self-driving vehicle (100) is driving toward a parking lot and before arriving at the parking lot, it becomes impossible to park in a pre-selected parking space, the parking management system (500) can select another parking space, such as a parking space where parking is possible or an external parking space, and then generate a driving trajectory and a parking trajectory from the entrance of the parking lot to the other parking space and transmit them to the self-driving vehicle (100).

When an autonomous vehicle (100) is driving toward a parking lot and the parking lot is full before arriving at the parking lot or there are no vehicles available to exit, and therefore there is a shortage of parking spaces in the destination parking lot, the parking management system (500) can transmit information on external parking spaces around the parking lot to the autonomous vehicle (100).

An autonomous vehicle (100) uses an omnidirectional sensor around a destination parking lot to check an external parking space, which is a parking space located outside the parking lot (S109), and if parking in the external parking space is possible (S110), autonomous driving and autonomous parking can be performed based on the driving trajectory and parking trajectory to the external parking space (S111).

As described above, this technology is a technology for securing parking spaces in downtown areas and alleyways, and calculates the exit time of an exiting vehicle and the arrival time of the own vehicle from parking information provided at the destination, and generates a driving trajectory and parking trajectory for the parking space, thereby enabling automatic parking, thereby reducing time wasted in securing a parking space and providing drivers with safe and fast parking information.

Meanwhile, the autonomous parking support method utilizing parking information according to steps S101 to S111 and steps S201 to S213 according to the present invention can be programmed and stored in a recording medium so that a computer can read it.

The above description is merely an example of the technical idea of the present invention, and those skilled in the art will appreciate that various modifications and variations may be made without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention but to explain it, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas within the equivalent scope should be interpreted as being included in the scope of the rights of the present invention.

100: Autonomous vehicles 500: Parking management systems

Claims (14)

delete delete A parking management system that receives a parking request from an autonomous vehicle, determines whether parking is available, selects an external parking space where the autonomous vehicle will park, creates a driving trajectory and parking trajectory from the entrance of the parking lot to the external parking space, and transmits information on the driving trajectory and parking trajectory to the autonomous vehicle when the autonomous vehicle approaches the parking lot.
An autonomous parking assistance system utilizing parking information, characterized in that it includes: In claim 3,
The above parking management system,
An autonomous parking support system utilizing parking information characterized by checking which vehicles among the vehicles parked in the parking lot are available for exit, comparing the expected exit time of the available vehicles with the arrival time of the autonomous vehicle in the parking lot, and if parking of the autonomous vehicle is possible, generating a driving trajectory and a parking trajectory to the parking space where the autonomous vehicle will park and transmitting them to the autonomous vehicle. In claim 4,
The above parking management system,
An autonomous parking support system utilizing parking information, characterized in that when the autonomous vehicle is driving toward the parking lot and the selected parking space cannot be parked, an external parking space where parking is possible is selected, and then a driving trajectory and a parking trajectory are generated from the entrance of the parking lot to the external parking space. In claim 3,
The above parking management system,
An autonomous parking support system utilizing parking information, characterized in that the system determines the priority in order of the shortest distance among a plurality of autonomous vehicles that have transmitted a parking request to the above parking lot, and generates and transmits a driving trajectory and parking trajectory from the entrance of the parking lot to the autonomous vehicle with the shortest distance. In claim 3,
The above parking management system,
A second communication unit that receives a parking request from the autonomous vehicle through a wireless communication network and transmits information about the external parking space, the driving trajectory, and the parking trajectory to the autonomous vehicle;
A parking lot control unit that searches for an external parking space in the above parking lot or searches for a vehicle that can exit the parking lot, and generates a driving trajectory and a parking trajectory.
An autonomous parking assistance system utilizing parking information, characterized in that it includes: After entering a destination, an autonomous vehicle transmits a parking request to a parking lot of the destination, receives information on an external parking space located outside the parking lot from the parking management system of the parking lot, and when approaching the parking lot, receives a driving trajectory and a parking trajectory from the parking management system from the entrance of the parking lot to the external parking space, thereby performing autonomous parking; and
A parking management system that receives a parking request from the autonomous vehicle, determines whether parking is available, selects the external parking space where the autonomous vehicle will park, generates a driving trajectory and a parking trajectory, and when the autonomous vehicle approaches the parking lot, transmits information on the driving trajectory and parking trajectory from the entrance of the parking lot to the external parking space to the autonomous vehicle.
An autonomous parking assistance system utilizing parking information, characterized in that it includes: A parking request step in which, after entering a destination in an autonomous vehicle, a parking request is sent to a parking lot of the destination, and information on an external parking space located outside the parking lot is received from the parking management system of the parking lot;
When the parking management system receives a parking request from the autonomous vehicle, a trajectory generation step for determining whether parking is possible and then selecting the external parking space where the autonomous vehicle will park, and generating a driving trajectory and a parking trajectory from the entrance of the parking lot to the external parking space; and
When the autonomous vehicle approaches the parking lot, the driving trajectory and parking trajectory from the entrance of the parking lot to the external parking space are transmitted from the parking management system to the autonomous vehicle, and the autonomous parking stage in which the autonomous vehicle that received the driving trajectory and parking trajectory performs autonomous parking.
A method for supporting autonomous parking using parking information, characterized in that it includes: In claim 9,
The above trajectory generation step is,
A method for supporting autonomous parking using parking information, characterized in that it includes a step of the parking management system checking which vehicles among the vehicles parked in the parking lot are available for exit, comparing the expected exit time of the available vehicles with the arrival time of the autonomous vehicle in the parking lot, and, if parking of the autonomous vehicle is possible, generating a driving trajectory and a parking trajectory to a parking space where the autonomous vehicle will park. In claim 10,
The above trajectory generation step is,
A method for supporting autonomous parking using parking information, characterized in that the parking management system comprises a step of selecting an external parking space where parking is possible and then generating a driving trajectory and a parking trajectory from the entrance of the parking lot to the external parking space if the autonomous vehicle cannot park in the selected parking space while driving toward the parking lot. In claim 9,
The above trajectory generation step is,
A method for supporting autonomous parking using parking information, characterized in that it includes a step of determining priorities in the order of shortest distance among a plurality of autonomous vehicles that have transmitted parking requests to the parking lot by the parking management system, and generating and transmitting a driving trajectory and parking trajectory from the entrance of the parking lot to the autonomous vehicle with the shortest distance. A computer-readable recording medium having recorded thereon a program for executing an autonomous parking support method using parking information according to any one of claims 9 to 12. In claim 8,
The above autonomous vehicle,
A first communication unit that transmits a parking request to the parking management system through a wireless communication network and receives information on the external parking space, the driving trajectory, and the parking trajectory from the parking management system;
A sensor unit that detects obstacles located around the autonomous vehicle;
A vehicle control unit that controls autonomous driving to the external parking space based on the driving trajectory and parking trajectory; and
An autonomous parking assistance system utilizing parking information, characterized by including a vehicle output unit that drives a driving device according to the control of the vehicle control unit.