GB2592838A

GB2592838A - Parking guidance system

Info

Publication number: GB2592838A
Application number: GB1816449.1A
Authority: GB
Inventors: Tsubaki Koji; Itagaki Noriaki
Original assignee: Continental Automotive GmbH
Current assignee: Continental Automotive GmbH
Priority date: 2018-10-09
Filing date: 2018-10-09
Publication date: 2021-09-15
Anticipated expiration: 2038-10-09
Also published as: GB2592838B; GB201816449D0

Abstract

A parking management module identifies an available parking space in response to a vehicle request and provides guidance parameters (i.e. parking space location and vehicle identity) to an unmanned robot 302 (e.g. an unmanned aerial vehicle (UAV)). The UAV guides the vehicle 320 to the space by moving ahead of the vehicle; determining whether there is a risk of collision between the vehicle and an obstacle (e.g. another vehicle 340) detected via the UAV’s environment sensor; and causing action to be taken to avoid said collision. The UAV may determine an obstructed viewing region 312 which cannot be sensed by the vehicle and adjust its navigation route to detect obstacles therein. The UAV may also determine a collision risk between itself and the vehicle. A second UAV (104/N04, Fig.2) may identify and physically reserve the parking space and notify the parking management module to update its status in a database to ‘reserved’. A third UAV may perform the guidance while the first is being recharged (Fig.5).

Description

PARKING GUIDANCE SYSTEM

TECHNICAL FIELD

The present disclosure relates to parking guidance systems and 5 computer implemented methods for guiding vehicles in a parking lot.

BACKGROUND

Modern vehicles and mobile devices are frequently equipped with navigation software which provide drivers with guidance on how to navigate from a starting point to their desired destination. However, navigation software typically do not provide navigation instructions to an available parking lot near a destination.

Instead the driver has to drive around parking lots looking for available parking spaces. The same applies to vehicles equipped with autonomous or self-driving functions. Whilst there are parking assist functions which autonomously manoeuvre a vehicle into a parking space, the driver still has the onus of looking for an available parking space before activating the parking assist function. This can be time consuming for a parking lot which is spread out over a large area and has a limited number of available parking spaces.

In view of the foregoing, it is desirable to provide parking guidance systems and methods for guiding vehicles to an available parking space in a parking lot.

SUMMARY

Aspects of this disclosure provide parking guidance systems and computer implemented methods for guiding a vehicle in a parking lot using one or more unmanned robots.

A first aspect of this disclosure provides a parking guidance system for guiding vehicles in a parking lot comprising at least a first unmanned robot comprising a management module and an object detection module including at least one environment sensor. The first unmanned robot and any other unmanned robots in the system.may take the form of unmanned aerial vehicle (UAV), radio control cars and other unmanned ground vehicles. As for the environment sensor (5) in the object detection module, they may include one or more perception sensors, ranging sensors or a combination thereof.. Apart from environment sensors located onboard the UAV, the object detection module may also rely on other additional sources such as sensors mounted on other UAVs or on structures in the parking lot to detect for obstacles. The parking guidance system also comprises a parking management module comprising a processor and a memory coupled to the processor and storing instructions executable by the processor causing the processor to at least: cause a location of an available par-ping space in the parking lot to be identified in response to receiving a request to guide a vehicle to an available parking space in the parking lot, cause the first unmanned robot to receive guiding parameters comprising an identity of the vehicle and the location of the identified available parking space. In other implementations, the current location of the vehicle may also form part of the guiding parameters sent to the first unmanned robot. The definition of an available parking space may vary depending on the setup of the parking guidance system. For instance, a parking space may be considered as available so long as it is empty or other criteria may also be considered such as whether the parking space is reserved, if it is only available to certain categories of motorists, or a combination thereof. The occupancy status of a parking space may be detected by using sensor-nodes installed in each parking space to detect if vehicle is occupying a parking space or through the use of unmanned robots.

The first unmanned robot is configured to perform a guiding function comprising: guiding the vehicle from a current location to the identified available parking space location by moving ahead of the vehicle, detecting for obstacles ahead of a travel direction of the vehicle using at least the object detection module, determining if there is a risk of collision between the vehicle and any detected obstacle, and in response to detecting a risk of collision causing one or more actions to be taken to avoid a collision between the vehicle and the detected obstacle. The vehicle may be manually driven, and a driver of the vehicle may follow the unmanned robot or-the vehicle may be an autonomous vehicle which tracks the unmanned robot and adjusts its navigation route based on the location of the unmanned robot. The obstacles being detected may include both static obstacles and non-static obstacles such as other vehicles, pedestrians and other-traffic participants. The unmanned robot may determine the risk of collision based on the separation distance and relative velocity between an obstacle and the vehicle. In some im-plementations, the one or more actions taken to avoid a collision comprises at least one of: warning a driver of the vehicle about the detected obstacle or causing one or more autonomous driving actions to be taken by the vehicle in order to avoid a collision between the vehicle and the detected obstacle.

In an optional implementation, the first unmanned robot is further configured to determine if there is a risk of collision between the first unmanned robot and the vehicle and in response to detecting a risk of collision, cause one or more actions to be taken to avoid a collision between the first unmanned robot and the vehicle. The risk of collision may be determined based on the longitudinal distance / height clearance between the unmanned robot and the vehicle, the relative velocity between them or a combination thereof. The one or more actions to avoid a collision between the first unmanned robot and the vehicle may comprise at least one of: causing a warning to be communicated to a driver of the vehicle, adjusting a navigation route of the first unmanned robot so as to avoid a collision between the first unmanned robot and the vehicle or causing one or more autonomous driving actions to be taken by the vehicle in order to avoid a collision between the first unmanned robot and the vehicle. In one variation, detecting for obstacles ahead of a travel di- rection of the vehicle may comprise determining an obstructed viewing region which cannot be sensed by environment sensors associated with the vehicle and adjusting a navigation route of the first unmanned robot so that the object detection module is capable of detecting obstacles in at least a part of the oh-structed viewing region. Said adjustment of the unmanned robot's navigation route may include adjusting the position, height and/or orientation of the unmanned robot. This feature of having the object detection region of an unmanned robot being dynamically adjustable provides for a safer driving environment for vehicles especially when a vehicle is approaching a T-junction and oncoming vehicles fall within the obstructed viewing region.

In some implementations, the parking guidance system may also comprise a second unmanned robot configured to perform a reservation function comprising physically reserving the identified available parking space for the vehicle. For example, by docking in the available parking space. In second unmanned robot may also be configured to notify the parking management module that the identified available parking space has reserved and the at least one memory further causes the processor to update the status of the identified available parking space as reserved on a database which tracks the status of parking spaces in the parking lot. The status of a parking space in the database may be reflected as free, occupied or reserved. In an optional implementation, the second unmanned robot may comprise a second object detection module and is further-configured to identify the available parking space location for the vehicle using at least the second object detection module. The second object detection module may comprise at least one environment sensor which is operative to sense for obstacles in a surrounding area of the second unmanned robot. The second unmanned robot may, for instance, be configured to perform the reservation function after identification of the available parking space location. Using unmanned robots to identify available parking space advantageously avoids the hassle of installing infrastructure such as a sensor system in a parking lot. Additionally, using unmanned robots in the form. of UAVs are also advantageous as UAVs generally more effective in identifying empty parking spaces compared to ground based unmanned robots because aerial vehicles are capable of increasing vertical resolution by adjusting its hovering height over a parking space when it needs to confirm the occupancy of a parking space. The second unmanned robot may be instructed by the parking management module 110 on where to navigate in order to locate an empty parking space or it may determine this by itself.

In another exemplary implementation, the parking guidance system may further comprise a third unmanned robot configured to perform the guiding function, wherein the first and third unmanned robot are configured such that one of the first or third unmanned robot performs the guiding function while the other of the first or third unmanned robot is being recharged. This approach is advantageous for unmanned robots such as IJAVs which are generally powered by onboard rechargeable batteries which can only travel limited distances before requiring recharge. Potential delays 5 incurred while waiting for a UAV to recharge and perform a guiding mission are avoided. By way of example, an unmanned robot performing the guiding function may navigate to a charging station for recharge after-completing its guiding mission and the other-unmanned robot which was being recharged will take over the 10 guiding function. In another variation, an unmanned robot maybe configured to continueperformingthe guiding function until its onboard battery or are no longer sufficient to meet the power requirements for its current mission or guiding mission power requirements. The other UK] which is being recharged will 15 then take over at this point.

Another aspect of the disclosure provides a method for guiding vehicles in a parking lot comprising providing at least a first unmanned robot comprising a management module and an object detection module including at least one environment sensor and causing, by a parking management module, a location of an available parking space in the parking lot to be identified in response to receiving a request to guide a vehicle to an available parking space in the parking lot. An available parking space may be identified by various methods such as relying on sensors installed in each parking space or configuring an unmanned robot in the parking guidance system to navigate around the parking lot and look for one. The parking management module the causes the first unmanned robot to receive guiding parameters comprising an identity of the vehicle and the location of the identified available parking space. The first unmanned robot performs a guiding function comprising guiding the vehicle from a current location to the identified available parking space location by moving ahead of the vehicle, detecting for obstacles ahead of a travel direction of the vehicle using at least the object detection module and determining if there is a risk of collision between the vehicle and any detected obstacle. In response to detecting a risk of collision the first unmanned robot causes one or more actions to be taken to avoid a collision between the vehicle and the detected obstacle.

In some implementations, the method may further comprise de-termining by the first unmanned robot if there is a risk of collision between the first unmanned robot and the vehicle and causing by the first unmanned robot one or more actions to be taken to avoid a collision between the first unmanned robot and the vehicle in response detecting a risk of collision. Such actions may include at least one of: causing awarning to be communicated to a driver of the vehicle, adjusting a navigation route of the first unmanned robot so as to avoid a collision between the first unmanned robot and the vehicle or causing one or more autonomous driving actions to be taken by the vehicle in order to avoid a collision between the first unmanned robot and the vehicle.

In some implementations, the step of detecting for obstacles ahead of a travel direction of the vehicle may comprise determining by the first unmanned robot an obstructed viewing region which cannot be sensed by environment sensors associated with the vehicle and adjusting a navigation route of the first unmanned robot so that the object detection module is capable of detecting obstacles in at least apart of the obstructed viewing region. This advantageously allows the sensing boundaries of the object detection module to dynamically adapt to changes in the vehicle's obstructed viewing region. In an optional implementation, the method may further-comprise performing bya second unmanned robot, a reservation function comprising physically

S

reserving the identified available parking space for the vehicle. The second unmanned robot may also comprise a second object detection module and causing a location of the available parking space in the parking lot to be identified comprises identifying the available parking space location for the vehicle using at least the second object detection module. The second unmanned robot may perform the reservation function after identifying the available parking space locay.ion. In another exemplary ime plementation, the method further comprises providing a third unmanned robot configured to perform the guiding function wherein the the first and third unmanned robot are configured such that one of the first or third unmanned robot performs the guiding function while the other of the first or third unmanned robot is being recharged.

The details of one or more implementations of the disclosure are set forth in the accompanying drawings and the description below. Other aspects, features, and advantages will be apparent from the description and drawings, and from the claims.

BRIEF DESCRIPTION OF THE FIGURES

FTC. 1 is a schematic view of a parking guidance system 100 according to one implementation of this disclosure.

FIG. 2 is a simplified schematic diagram illustrating a parking guidance system comprising an unmanned robot in the form of a UAV configured to perform a reservation function according to some implementations of this disclosure.

FIG. 3 illustrates an exemplary scenario according to some 5 implementations in which an unmanned robot in the form of an UAV guides a vehicle to an identified available parking space by flying ahead of the vehicle.

FIG. 4 is a simplified schematic diagram illustrating an unmanned 10 aerial vehicle assessing if there is a risk of collision between the unmanned aerial vehicle and the vehicle it is guiding according to one implementation of this disclosure.

FIG. 5 is a simplified schematic diagram illustrating a parking guidance system according to some implementations of this disclosure where unmanned aerial vehicles in the system are divided into groups, each comprising two unmanned aerial vehicles configured to rotate between performing the guiding function and docking for recharge.

FIG. 6 is a simplified schematic diagram illustrating a parking guidance system according to some implementations of this disclosure where unmanned aerial vehicles in the system are divided into groups, each ccmprising three unmanned aerial vehicles configured to rotate between perform the guiding function, reservation function and recharging.

FIG. 7 is a flow diagram illustrating a method for guiding a vehicle in a parking lot according to one implementation of this

disclosure.

FIG. 3 is a flow diagram illustrating a method for identifying an available parking space and reserving the identified available parking space according to one implementation of this disclosure.

DETAI1ED DESCRIPTION

In the following detailed description, reference is made to the accompanying figures. In the figures, similar symbols typically identify similar components, unless context dictates otherwise. 10 FIG. 1 is a block diagram of a parking guidance system 100 for guiding a vehicle in a parking lot using an unmanned robot in the form of an unmanned aerial vehicle (UAV) according to one implementation of this disclosure. The parking guidance system.

100 comprises a parking management module 110 and a plurality of UAVs (120, 130, 140) in communication with the parking management module 110 via one or more wireless network(s). Examples of wireless networks which may be suitable include the Internet, cellular networks, local area network (LAN) and other private or public networks. At least one of the plurality of UAVs in the system 100 is operable to perform a function of guiding a vehicle in the parking lot. As described in the succeeding paragraphs, the parking management module 110 is configured to communicate with the UAVs (120-140) including transmitting instructions and information to the UAVs so that the UAVs may perform one or more functions such as vehicle guidance, parking space reservation and identification of available parking spaces when the parking management module receives a request to guide a vehicle to an available parking space in the parking lot. It is to be ap-preciated although the unmanned robots described in the FIGS. 1-8 take the form of UAVs, this is not intended to be limiting on the disclosure and other types of unmanned robots such as radio control cars and other unmanned ground vehicles may also be used for performing the functions of the unmanned aerial vehicles described in this disclosure.

The parking management module 110 comprises a computing processor 112, a hardware memory 114 in communication with the processor 112 and a network interface 116. In some implementations, the parking management module 110 may implemented on one or more servers and the computing processor 112 may comprise one or more service provider computers capable of retrieving and storing information in the memory 114 as well as loading and executing program instructions stored therein. The memory 114 stores information accessible by the processor 112 such as program instructions for implementing the features of the parking guidance systems discussed in this disclosure as well as data which may be stored, retrieved or otherwise used by the processor 112. For example, the processor 112 may execute a method for guiding a vehicle from its current location to an available parking space in the parking lot using one of the UAVs (120-140) based on instructions stored in the memory 114. The memory may also contain program instructions for identifying an available parking space for a vehicle and reserving an identified available parking space. Information related to the parking lot served by the parking guidance system 100 may also be stored in the memory 114. For instance, the memory 114 may contain a map of the parking lot comprising the location of parking spaces and the driving lanes located within. In some implementations, the processor 112 may retrieve the parking lot map from the memory 114 use it to determine a navigation route for a vehicle and a UAV from the vehicle's current location within the parking lot to an available parking space. After determining the navigation route, the processor 112 may transmit it to a UAV for use in guiding the vehicle to an available parking space. Although FIG. 1 functionally illustrates the processor 112 and memory 114 as being located within the same block, it will be appreciated by an ordinary person skilled in the art that the processor and memory may actually comprise multiple processors and/or memories located in different housing. Accordingly, references to a processor or memory will be understood to include references to a collection of processors and/or memories that operate to perform the functions of the parking management module described in this disclosure. Further, it will be appreciated by a person skilled in the art that the parking management module may exist independently of other modules or components or it may also be a shared element or process of other modules, programs or hardware. As for the network interface 116, it may be configured to allow communications between the parking management module 110 and other devices attached to a network such as the UAVs (120-140), user devices 160, carpark sensor systems and remote webservers. The communications may be via wireless networks such as cellular communications networks, Wi-Fi networks or V-to-X communications.

As for the UAVs (120-140) forming part of the parking guidance system, they may comprise some or all of the components present in the first UAV 120 shown in FIG. 1. For instance, each UAV may comprise a computing processor 121 and a hardware memory 122 in communication with the processor 121. The UAV processor 121 ray, for example, be a microcontroller capable of accessing the memory 122 to retrieve/store information and execute program instructions stored therein. Alternatively, the UAV processor 121 and memory 122 may also be integrated on a single integrated circuit. The UAV memory 122 stores program instructions which are loadable and executable by the UAV processor 121 as well as data which may be stored, retrieved or otherwise used by the UAV processor 121. In the FIG. 1 implementation, the PAP memory 122 stores program instructions for a UAV management module 123 which allows the first UAV 120 to perform the functions described in this disclosure. The UAV memory 122 may also contain data such as a map of the parking lot comprising the location of parking spaces and the driving lanes located within. In some imple-mentations, the navigation system. 125 onboard the first UAV 120 may be configured to retrieve the parking lot map from the UAV memory 122 and generate a navigation route for avehicle from its current location within the parking lot to an identified available parking space based on the parking lot map. The UAV memory 122 may comprise one or more types of non-transitory memories such as Read Only Memory (ROM) and flash memory. Volatile memories such as random-access memories may also form part of the UAV memory 122.

As shown in FIG. 1, the first 120 UAV may also comprise a flight controller 124 and a navigation system 125 in communication with the UAV processor 121. The flight controller 124 is operable to control flight mechanisms onboard the first UAV 120 such that the first UAV may navigate through the air and perform various functions such as guiding a vehicle to an available parking space and reserving the available parking space. The flight controller 124 may also control the flight mechanisms in order for the first UAV (120) to perform other manoeuvres such as landing on a parking space or charging station. Examples of flight mechanisms include propeller motors and other types of propulsion such as jets and engines. The navigation system 125 comprises a global position system or other similar systems which can be used to navigate the UAV between destinations based on a navigation route. The navigation route for the first UAV and a vehicle it is assigned to guide may be provided to the navigation system. 125 by the parking management module 110, generated by the navigation system 125, or a combination of both methods. By way of example, the flight controller 124 may adjust the settings of the flight mechanisms such as power and steering of propeller motor(s) in order to navigate the UAV along a navigation route. The first UAV 120 also comprises a communication module 126 which is operable to allow communications between the components of the first UAV 5 such as the UAV processor 121 and object detection module 128 and other devices attached to a network such as the parking management module 110, other UAVs (130-140) in the parking guidance system, user devices 160 and remote webservers. The communications may be via wireless networks such as cellular communications 10 networks, Wi-Fi networks or V-to-X communications.

As discussed earlier, at least one of the plurality of UAVs in the system 100 is operable to perform a guiding function. In accordance with this disclosure, the guiding function comprises guiding a vehicle from its current location to an identified available parking space location by (roving ahead of the vehicle, detecting for obstacles ahead of a travel direction of the vehicle, determining if there is a risk of collision between the vehicle and any detected obstacle, and if a risk of collision is detected causing one or more actions to be taken so as to avoid a collision. The obstacles being detected may include both static obstacles and non-static obsyacles such as other vehicles, pedestrians and other traffic participants. In order to perform the guiding function which includes obstacle detection the first UAV is also equipped with an object detection module 128. The object detection module 128 comprises one or more environment sensors which are operative to sense for static and non-static obstacles in a surrounding area of the first UAV such as barriers, other vehicles and pedestrians. The environment sensors in the object detection module 128 may include one or more perception sensors (e.g. visualandinfraredcameras), ranging sensors (e.g. radar, lidar sensors) or a combination thereof. Apart from environment sensors located onboard the LJAV, the object detection module may also rely on other additional sources such as sensors mounted on other UAVs or on structures in the par:King lot, in order to detect for obstacles. The object detection module 128 may also include one or more computing processors which are primarily responsible for the operation of the object detection module 128. The processors may be operable to perform functions such as provide instructions to the environment sensor (s) , process and analyse sensor data collected by the environment sensor (s) and communicate with other components in the IJAV upon loading and executing program instructions stored in a memory. In some implementations, analysis of sensor data may include identifying obstacles and their attributes based on sensor data. For instance, an object list of detected obstacles and their attributes (e.g. location, geometry and/or classification) may be generated by analysing reflected waves collected by one or more radar sensors.

The parking management module 110 is configured to cause a location of an available parking space in the parking lot to be identified in response to receiving a request to guide a vehicle to an available parking space. The guidance request may be sent by one or more sources such as a user device and/or a carpark sensor system which is operable to detect vehicles entering a parking lot. For example, in the FIG. 1 implementation, the parking management module 110 may be capable of communicating with user devices 160 (1) -160 (N) (hereinafter, "the user device 160") that drivers of vehicles may use to request for guidance to an available parking space via its network interface 116. The user device 160 may be any computing device capable of com-municating with the parking management module 110 such as a smart phones, personal digital assistants or other forms of mobile computing devices and the request may be made using an application loaded on the user device. The user device 160 may also be a computing processor located within the vehicle which is configured to send a guidance request to the parking management module 110 in response to a user input. For instance, via a human machine interface located in the vehicle. In other implemen- tations, the user device 160 may also be configured to automatically send a guidance request upon detecting that the vehicle is approaching or entering a parking lot served by the parking guidance system 100. By way of example, such detection may be based on gps information indicating that the driver is ap-proaching or entering the parking lot. The parking management module 110 and user device 160 may communicate directly or via one or more web servers providing parking services and associated with the parking management module 110. In another-implementation, the parking lot served by the parking guidance system may be equipped with a carpark sensor system comprising at least sensors installed at the entrance roads of the parking lot. The entry sensors may be configured to detect when a vehicle has entered the parking lot and upon such detection the carpark sensor system sends a guidance request to the parking management module 110. In some variations, the entry sensors may also be used to sense information about the vehicle such as licence plate number.

The parking management module 110 may cause a location of an available parking space in the parking lot to be identified by various methods. The definition of an available parking space may vary depending on the setup of the parking guidance system. For instance, a parking space maybe considered as available so long as it is empty or other criteria may also be considered such as whether the parking space is reserved, if it is only available to certain categories of motorists (e.g. handicapped parking spaces, residents only parking spaces), or a combination thereof. In one implementation, the parking management module 110 may maintain a database containing the locations of all the parking spaces in the lot, the status of each parking space (e.g. empty, occupied or reserved) and the number of vehicles moving in the parking lot. The database may be hosted in the parking management module 110 itself or remotely. Various criteria may also be considered when selecting an available parking space for a vehicle. Examples include proximity to the driver's destination, shortest travel distance/time from the vehicle's current location, or a combination thereof. In some implementations, the occupancy status of a parking space may be detected by using sensor nodes installed in each parking space to detect if vehicle is occupying a parking space. The sensor nodes may form part of the above discussed carpark sensor system which also includes entry sensors for detecting if a vehicle has entered a carpark entrance. The status of parking spaces in the database is updated based at least in part on the output from the sensor nodes. In some variations, the parking management module 110 may be configured to identify an available parking space for a vehicle requesting parking guidance by selecting a parking space which is empty. In other variations, additional criteria may also be considered when assessing availability such as a parking space is reserved. Further, the parking management module 110 may be further configured to decidewhichof a plurality of empty-parking spaces to choose for a vehicle based on additional factors such as proximity to vehicle driver's destination and travel dis- tance/time from the vehicle's current location. In some var-iations, parking management module 110 may configured to send updated information on parking spaces from the database to the UAVs in the parking guidance system.

In another implementation, instead of installing sensors in each parking space, one or more UAVs in the parking guidance system may configured to identify available parking spaces in the parking lot. For instance, in the FIG. 1 example, the first UAV may be operable to perform at least a guiding function and a second UAV 130 may be operable to at least identify a location of an available parking space. The parking management module 110 may be configured to instruct the second UAV 130 to look for an available parking space for a vehicle upon receipt of a request for guidance. In order to ascertain if a parking space is occupied, the second UAV 130 may be equipped with an object detection module comprising at least one environment sensor which is operative to sense for obstacles in a surrounding area of the UAV. For instance, the environment sensor may comprise one or more image sensors and the object detection module in the second UAV 130 configured to determine if a parking space is occupied by detecting the boundaries of a parking space and if there is a vehicle located with the boundaries from the images captured by the image. Other types of environment sensors such as radar and lidar may also be used as an alternative or in combination with image sensors. Using unmanned robots to identify available parking space advantageously avoids the hassle of installing infrastructure such as a sensor system in a parking lot.

Additionally, UAVs are generally more effective in identifying empty parking spaces compared to ground based unmanned robots because aerial vehicles are capable of increasing vertical resolution by adjusting its hovering height over a parking space when it needs to confirm the occupancy of a parking space. The second UAV maybe instructed by the parking management module 110 on where to navigate in order to locate an empty parking space or it may determine this by itself. Byway of example, the choice of where to navigate may be influenced at least partly by the various criteria that are considered when selecting an available parking space for a vehicle such as proximity to the driver's destination, shortest travel distance/time from the vehicle's current location, or a combination thereof. In one variation, the second UAV 130 is configured to inform the parking management module 110 upon locating an empty parking space. The parking management module 110 may then proceed to assign the parking space to the vehicle requesting guidance or check other criteria to confirm that the space is available for the vehicle prior to assignment. For example, the parking management module may check if the empty space located by the second UAV 130 has been reserved for another vehicle. If the space is reserved, the parking management module may instruct the second UAV 130 to continue looking for another empty parking space. After-an available parking space has been identified for a vehicle requesting guidance, either the parking management module 110 or the second UAV 130 may provide its location to the first UAV 120 which has been assigned to provide a guiding function to the vehicle.

In some implementations of this disclosure, the parking management module 110 may be configured to reserve an available parking space which has been identified for a vehicle. In some implementations, the available parking space may be reserved by having an unmanned robot in the parking guidance system.

physically reserve the space. In one variation, an unmanned robot which is used to identify an available parking space for-a vehicle may also be configured to reserve the identified available parking space for the vehicle so that another vehicle cannot park there. For example, in the FIG. 1 implementation, the second UAV 130 maybe further configured to physically reserve an available parking space it has identified. The second UAV may then notify the parking management module that the identified parking space has been reserved and the parking management module 110 will update a database which keeps track of the status of parking spaces in the parking lot such as the one discussed in the succeeding paragraph. In some variations, the parking management module 110 may be configured to subsequently send updated information on parking spaces from the database to the UAVs in the parking guidance system. FIG. 2 shows an example of an UAV 104/N04 reserving a parking space by docking there. In some implementations, the UAVs in a parking guidance system may be divided into N groups of two (101...N01), each comprising an UAV 5 configured to performtat least a guiding function (102...NO2) and another UAV (104...N04) configured to identify and reserve available parking spaces. The UAVs in each group may also be configured to perform both functions and they may alternate between performing the guiding function, and identifying and 10 reserving available parking spaces.

The parking management module 110 is configured to cause a first unmanned robot (i.e. the first UAV 120 in FIG. 1) to receive guiding parameters of a vehicle after an available parking space has been identified (and optionally reserved) for the vehicle. The guiding parameters may comprise an identity of the vehicle, and location of the identified available parking space. The guiding parameters maybe sent to the first UAV 120 by the parking management module 110, the second UAV 130 responsible for identifying / reserving the available parking space or a combination thereof. In some implementations, the first UAV 120 may be standing by the parking lot entrance and already have information on the vehicle's current location. In other implementations, the current location of the vehicle May also form part of the guiding parameters sent to the first UAV 120. Upon receipt of the vehicle's current location, the first UAV 120 may travel toward the vehicle under the control of the flight controller 124. When the first UAV 120 reaches within a threshold approach distance from the vehicle within which it can comm municate with a user device associated with the vehicle, the communications module of the first UAV 120 initiates over wireless communications with the user device. Examples of wireless communications include V-to-X communications, Wi-Fi and the internet. The user device may be the same or different from the one used for sending guidance request. Threshold approach distance may be defined in terms of horizontal or vertical distance from a vehicle or a combination thereof. In some variations, the UAV processor 121 may determine that the first UAV is located within the threshold approach distance based on information from the navigation system. 125 such as CPS co-ordinates, environment sensors in the object detection module, ora combination thereof. For instance, the first UAV may use visual images captured by environment sensors to determine if the identity of a vehicle matches that provided in the guiding parameters. The first UAV 120 may transmit to the user device information which allows the vehicle to follow-the first UAV 120. Examples include specifications of the UAV (e.g. dimensions, identification code) and images of the first UAV. In some implementations, the vehicle may be equipped with one or more onboard cameras and the first UAV may cause an autonomous driving module on the vehicle to switch to an unmanned robot or UAV following mode whereby the vehicle follows the first UAV based on images captured by the camera(s). In other implementations, the vehicle may be manually driven, and the user device causes the first UAV to be visually identified to the driver so that the driver knows which UAV to follow.

As discussed earlier, the guiding function includes a first unmanned robot guiding the vehicle from a current location to the identified available parking space location by moving ahead of the vehicle. Byway of example, the navigation route for both the vehicle and a first UAV assigned to providing the guiding function from the vehicle's current location to an identified available parking space maybe determined by the parking management module 110, the first UAV, or a combination thereof. Accordingly, there is no need for the vehicle being guided to be equipped with hardware/software which allows it to plan its navigation route. The driver or autonomous module of the vehicle only needs to follow the first UAV 120. A navigation route may be generated based on one or more criteria such as the shortest travel distance, shortest travel time or a combination thereof. In some variations, the navigation route for the vehicle and/or the first UAV 120 may be dynamically modified while travelling to the available parking space, for example, to address evolving situations.

FIG. 3 illustrates an exemplary scenario of an unmanned robot in the form of a UAV 302 guiding a vehicle 320 to an identified available parking space for the vehicle. The UAV 302 guides the vehicle 320 by flying ahead of the vehicle 320. A driver of the vehicle may follow the UAV 302, or the vehicle maybe an autonomous vehicle which tracks the UAV 302 (for example, based on visual images captured by onboard sensors) and adjusts its navigation route based on the location of the UAV 302, instructions communicated by the TJAV 302 or a combination thereof.. The UAV 302 is configured to detect for obstacles ahead of a travel direction of the vehicle using at least an object detection module located onboard the UAV 302. Apart from environment sensors located onboard the UAV, the object detection module may also rely on other additional sources such as sensors mounted on other UAVs or on structures in the parking lot to detect for obstacles. As shown in FIG. 3, the UAV has an object detection region represented by reference numeral 312 while the vehicle has an object detection region denoted by the reference numeral 322. Therefore, the UAV is capable of detecting an oncoming vehicle 340 which will cross the travel direction of the vehicle 320. In contrast, the oncoming vehicle 340 lies outside of the vehicle's object detection region and will not be detected by the vehicle. In some situations, the vehicle may not be equipped with object detection capabilities at all. In response to detecting the presence of an obstacle ahead of a travel direction of the vehicle, the UAV 302 is configured to determine if there is a risk of collision between the vehicle and the detected obstacle. In one implementation, the UAV 302 may determine the risk of collision based on the separation distance and relative velocity between an obstacle such as the oncoming vehicle 340 and the vehicle 320. If there is a risk of collision, the UAV causes one or more actions to be taken to avoid a collision between the vehicle and the detected obstacle. In some implementations, the one or more actions may comprise at least one of: warning a driver of the vehicle about the detected obstacle or causing one or more autonomous driving actions to be taken by the vehicle in order to avoid a collision between the vehicle and the detected obstacle. The warnings and control of autonomous actions maybe carried out by the UAV itself or the UAV may instruct the user device and/or modules located on the vehicle. Therefore, a parking guidance system according to this disclosure comprises at least one unmanned robot (e.g. UAV) configured to perform a guiding function which also includes sensing for the presence of obstacles and evaluating the risk of collision so that one or more actions may be taken if there is a risk of collision. This advantageously creates a safer environment for vehicle occupants in the parking lot.

In one implementation, the UAV 302 may be configuredtodetermine an obstructed viewing region which cannot be sensed by environment sensors associated with the vehicle. The UAV 302 may then adjust its navigation route so that an onboard object detection module is capable of detecting obstacles in at least a part of the vehicle's obstructed viewing region. Said adjustment of the UAV's navigation route may include adjusting the position, height and/or orientation of the UAV. This feature of having the object detection region of a UAV being dynamically adjustable provides for a safer driving environment for a vehicle especially when the vehicle is approaching a T-junction and oncoming vehicles fall within the obstructed viewing region. In particular, there will be differences in the obstructed viewing regions of vehicles as different vehicles are equipped with different sensing capabilities. Additionally, even with the same vehicle, its obstructed viewing region at the same locationmaychange depending on the presence of vehicles obstructing its view. In other implementations, the unmanned robot may also be configured to provide for a safety distance between an unmanned vehicle and the vehicle it is guiding. FIG. 4 illustrates an exemplary scenario where a UAV 402 is guiding a vehicle 420. The UAV 402 is an object detection module of the UAV 402 with an object detection region 412. The UAV 402 maybe configured to determine if there is a risk of collision between the UAV 402 and the vehicle 420 based on the relative velocity of the UAV and the vehicle as well as the longitudinal distance, x, separating them. Height clearance, h, between the vehicle and the UAV 402 may also be considered when determining the risk of collision. The UAV 402 may be further configured to cause one or more actions to be taken in order to avoid a collision with the vehicle 420 when a risk of collision is detected. Such actions may include at least one of causing a warning to be communicated to a driver of the vehicle, adjusting a navigation route of the UAV 402 to avoid a collision or causing one or more autonomous driving actions to be taken by the vehicle in order to avoid a collision between the UAV and the vehicle. For instance, the longitudinal distance between the vehicle and UAV 402 may be communicated visually to a driver of the vehicle via a user device associated with the vehicle together with a warning that longitudinal distance is below a safety distance. The warning being switched off when the driver adjusts the speed of the vehicle such that the longitudinal distance is within the safety distance. In another example, autonomous driving action may be taken instead to avoid a collision. For instance, one or more safety distances associated with an autonomous cruise control function of the vehicle maybe adjusted. When the vehicle arrives near the available parking space identified for it, in some implementations where the vehicle being guided is an autonomous vehicle, the first UAV 120 may cause an operating mode of the vehicle to switch from an unmanned robot or UAV following mode to a parking assist mode. A driver of the vehicle may also switch vehicle to parking assist mode.

In some implementations, the parking guidance system may further comprise a third unmanned robot configured to perform the guiding function. The first and third unmanned robot being configured to such that one unmanned robot performs the guiding function while the other is being recharged at a charging station. This approach is advantageous for unmanned robots such as UAVs which are generally powered by onboard rechargeable batteries which can only travel limited distances before requiring recharge. Potential delays incurred while waiting for a UAV to recharge and perform a guiding mission are avoided. For example, in the FIG. I implementation, one of the first or third UAV (120, 140) may be configured to perform the guiding function while the other UAV navigates to a charging station and is recharged. In some variations, the UAVs in a parking guidance system may be divided into groups of two (101 2. NO1) as shown in FIG. 5. One of the UAVs (102/NO2) in a group will perform the guiding function while the other UAV (106/N06) will navigate to a charging station 510 for recharge. For instance, the UAVs in each group (101 6. NO1) may be configured to alternately perform the guiding function. That is, one UAV in a group will perform the guiding function while the UAV is being recharged. The UAV performing the guiding function will then navigate to a charging station for recharge after completing its guiding mission and the other UAV which was being recharged will take over the guiding function. In another variation, a UAV may be configured to continue performing the guiding function until its onboard battery or batteries are no longer sufficient to meet the power requirements for its current mission or guiding mission power requirements. The other UAV which is being recharged will then take over at this point.

FIG. 6 illustrates another implementation where the UAVs in a parking guidance system are divided into groups (101 N01) of three and all UAVs in a group are capable of performing at least the guiding and reservation function. The UAVs ineachgroupwill take turns to perform the guiding function, reservation function and being recharged. For instance, a UAV may navigate to a charging station after having performed a reservation mission, followed by a guiding mission. Another UAV in the group which has just completed a reservation function will then take over the guiding function and so on. In some implementations, to facilitate the ease of recognition by drivers, the unmanned robots may also be configured to visually display the type of function it is performing. The visual distinctions may ta.ke the form of variations in lighting colour or wordings displayed by the unmanned robots.

FIG. 7 is a flowchart illustrating an exemplary computer ime plemented method 700 for guiding a vehicle in a parking lot in accordance with one implementation of this disclosure. The operations of method 700 will be described with reference to the parking guidance system in FIG. 1. However, it will be appreciated that other similar systems may also be suitable.

Additionally, as with the succeeding paragraphs, methods in this disclosure are not limited to being implemented with unmanned robots in the form of UAVs and other forms of unmanned robots such as ground-based unmanned robots may also be used. The process starts at block 702 with a parking management module receiving a request to a guide a vehicle to an available parking space in the parking lot. The parking management module may take the form. in the FIG. 1 implementation and comprise a processor and a memory coupled to the processor and storing instructions executable by the processor. In response to receiving a request to guide a vehicle to an available parking space, the parking management module 110 causes a location of an available parking space in the parking lot to be identified in block 710. An available parking space may be identified by various methods such as relying on sensors installed in each parking space or configuring a UAV in the parking guidance system to navigate around the parking lot and look for one. As mentioned earlier the definition of an available parking space may vary depending on the setup of the parking guidance system. For instance, a parking space may be considered as available so long as it is empty or other criteria may also be considered as well. In block 712, the identified available parking space is reserved for the vehicle. In block 720, the parking management module 110 causes a first unmanned robot to receive guiding parameters comprising an identity of the vehicle and the location of the identified available parking space. The first unmanned robot comprising a management module and an object detection module including at least one environment sensor. The first unmanned robot may be a UAV, such as the first UAV 120 in FIG. 1. In some implementations, the first UAV 120 may be standing by the parking lot entrance and already has information on the vehicle's current location. In other implementations, the current location of the vehicle may also form part of the guiding parameters sent to the first UAV 120.

In block 730, the first UAV 120 navigates toward the vehicle upon receipt of the vehicle's current location. Block 730 is optional in that the first UAV may already be positioned within a threshold approach distance from the vehicle within which it can communicate with a user device associated with the vehicle. In block 740, the first UAV performs a guiding function comprising guiding the vehicle from a current location to the identified available parking space location by moving ahead of the vehicle, detecting for obstacles ahead of a travel direction of the vehicle using at least the object detection module, determining if there is a risk of collision between the vehicle and any detected obstacle and in response to detecting a risk of collision causing one or more actions to be taken to avoid a collision between the vehicle and the detected obstacle. The one or more actions taken to avoid a collision may comprise at least one of: warning a driver of the vehicle about the detected obstacle and causing one or more autonomous driving actions to be taken by the vehicle in order to avoid a collision between the vehicle and the detected obstacle.

In some implementations, detecting for obstacles ahead of a travel direction of the vehicle may comprise determining an obstructed viewing region which cannot be sensed by environment sensors associated with the vehicle and adjusting a navigation route of the first unmanned robot so that the object detection module is capable of detecting obstacles in at least a part of the obstructed viewing region. This allows the first UAV to sense obstacles in the vehicle's obstructed viewing region and thus improving safety conditions for the driver. It also allows the sensing boundaries of the object detection module to dynamically adapt to changes in the vehicle's obstructed viewing region. In another variation, the first UAV determines if there is a risk of collision between the first UAV and the vehicle during the course of guiding the vehicle. The risk of collision may be determined by considering at least the longitudinal distance between the first UAV and the vehicle and their relative velocity.

The first UAV causing one or more actions to be taken to avoid a collision between the first unmanned robot and the vehicle in response detecting a risk of collision. Such actions may include at least one of: causing a warning to be communicated to a driver of the vehicle, adjusting anavigation route of the first unmanned robot so as to avoid a collision between the first unmanned robot and the vehicle or causing one or more autonomous driving actions to be taken by the vehicle in order to avoid a collision between the first unmanned robot and the vehicle. In block 750, the vehicle arrives at the identified available parking space location. In Someimplementationswhere the vehicle being guided is an autonomous vehicle, the first UAV 120 may cause an operating mode of the vehicle to switch from an unmanned robot or UAV following mode to a parking assist mode when the vehicle arrives near the available parking space identified for it. In block 760, the process ends.

FIG. 3 illustrates an exemplary process 800 for identifying and reserving an available parking space using an unmanned robot in the form of a UAV such as in blocks 710 and 712 of the FIG. 7 implementation respectively. The process will be described with reference to the parking guidance system in FIG. 1 implementation. However, this is not intended to be limiting on the invention. The process starts at block 810 where the UAV (such as the second UAV 130 in FIG. 1) receives a request to identify a location of an available parking space in the parking lot for a vehicle. The request may be sent by the parking management module 110 upon receipt of a request for guidance. In response to receiving the foregoing request, the UAV navigates the parking lot looking for an empty parking space using at least an object detection module located on board the UAV. The object detection module may comprise at least one environment sensor which is operative to sense for obstacles in a surrounding area of the UAV.

The UAV may be instructed by the parking management module 110 on where to navigate in order to locate an empty parking space or it may determine this by itself. Byway of example, the choice of where to navigate may be influenced at least partly by the various criteria that are considered when selecting an available parking space for a vehicle such as proximity to the driver's destination, shortest travel distance/time from the vehicle's current location, or a combination thereof. In block 830, the UAV identifies an empty parking space and upon which the process goes on to decision block 840 where actions are taken to confirm if the empty parking space is an available parking space. As discussed earlier, other criteria such as whether the parking space reserved and categories of vehicles allowed to park in a parking space may be checked when assessing availability. If it is determined at decision block 840 that an empty parking space identified by the UAV is not available, the process goes back to block 820 where the UAV continues to navigate the parking lot looking for empty parking spaces and blocks 830-840 are repeated. On the other hand, if the empty parking space is available, the process goes on to block 350 where the UAV physically reserves the identified available parking space for the vehicle, for example, by docking within the parking space. In another variation (not illustrated) where a parking space is considered as available so long as it is empty, block 840 maybe omitted and the process may go to from block 830 to 850 directly. In block 860, the UAV notifies the parkingmanagementmodule 110 or another UAV assigned to provide a guiding function to the vehicle the location of the identified available parking space and that it has been reserved for the vehicle.

While various aspects and implementations have been disclosed herein, other aspects and implementations will be apparent to those skilled in the art. The various aspects and implementations disclosed herein are for purposes of illustration and are not intended to be limiting, with the true scope and spirit being indicated by the following claims, along with the full scope of equivalents to which such claims are entitled. It is also to be understood that the terminology used herein is for the purpose of describing particular implementations only,and is not intended to be limiting.

Claims

CLAIMSWhat is claimed is: 1. A parking guidance system for guiding a vehicle in a parking lot comprising: at least a first unmanned robot comprising a management module and an object detection module including at least one environment sensor; a parking management module comprising a processor and a 10 memory coupled to the processor and storing instructions executable by the processor causing the processor to at least: cause a location of an available parking space in the parking lot to be identified in response to receiving a request to guide a vehicle to an available parking space in the parking lot; cause the first unmanned robot to receive guiding parameters comprising an identity of the vehicle and the location of the identified available parking space; and wherein the first unmanned robot is configured to perform.a guiding function comprising: guiding the vehicle from a current location to the identified available parking space location by moving ahead of the vehicle, detecting for obstacles ahead of a travel direction of the vehicle using at least the object detection module, determining if there is a risk of collision between the vehicle and any detected obstacle, and in response to detecting a risk of collision causing one or more actions to be taken to avoid a collision beween the vehicle and the detected obstacle.
2. The parking guidance system of claim 1, wherein the one or more actions taken to avoid a collision comprises at least one of: warning a driver of the vehicle about the detected obstacle or causing one or more autonomous driving actions to be taken by the vehicle in order to avoid a collision between the vehicle and the detected obstacle.
3. The parking guidance system according to claims 1 or 2, wherein the first unmanned robot is further configured to: determine if there is a risk of collision between the first 5 unmanned robot and the vehicle; and in response to detecting a risk of collision, cause one or more actions to be taken to avoid a collision between the first unmanned robot and the vehicle.
4. The parking guidance system of claim 3, wherein the one or more actions to avoid a collision between the first unmanned robot and the vehicle comprises at least one of: causing a warning to be communicated to a driver of the vehicle, adjusting a navigation route of the first unmanned robot so as to avoid a collision between the first unmanned robot and the vehicle or causing one or more autonomous driving actions to be taken by the vehicle in order to avoid a collision between the first unmanned robot and the vehicle.
5. The parking guidance system according to any of the preceding claims, wherein detecting for obstacles ahead of a travel direction of the vehicle comprises: determining an obstructed viewing region which cannot be sensed by environment sensors associated with the vehicle; and adjusting a navigation route of the first unmanned robot so that the object detection module is capable of detecting obstacles in at least a part of the obstructed viewing region.
G. The parking guidance system according to any of the 30 preceding claims further comprising: a second unmanned robot configured to perform a reservation function comprising physically reserving the identified available parking space for the vehicle.
7. The parking guidance system of claim 6, wherein the second unmanned robot is further configured to notify the parking management module that the identified available parking space has reserved; and the at least one memory further causes the processor to update the status of the identified available parking space as reserved on a database which tracks the status of parking spaces in the parking lot.
8. The parking guidance system according to claim 7 wherein the second unmanned robot comprises a second object detection module and is further configured to identify the available parking space location for the vehicle using at least the second object detection module.
9. The parking guidance system of claim 8, wherein the second unmanned robot is configured to perform the reservation function after identification of the available parking space location.
10. The parking guidance system according to claim 1 further comprising a third unmanned robot configured to perform the guiding function, wherein the first and third unmanned robot are configured such that one of the first or third unmanned robot performs the guiding function while the other of the first or third unmanned robot is being recharged.
11. A method for guiding a vehicle in a parking lot comprising: providing at least a first unmanned robot comprising a management module and an object detection module including at 30 least one environment sensor; causing, by a parking management module, a location of an available parking space in the parking lot to be identified in response to receiving a request to guide a vehicle to an available parking space in the parking lot; causing, by a parking management module, the first unmanned robot to receive guiding parameters comprising an identity of the vehicle and the location of the identified available parking space; and performing by the first unmanned robot a guiding function comprising: guiding the vehicle from a current location to the identifiedavailableparkingspace location by moving ahead of the vehicle; detecting for obstacles ahead of a travel direction of the vehicle using at least the object detection module; determining if there is a risk of collision between the vehicle and any detected obstacle; and in response to detecting a risk of collision causing one or more actions to be taken to avoid a collision between the vehicle and the detected obstacle.
12. The method for guiding a vehicle in a parking lot according to claim 11 further comprising: determining, by the first unmanned robot, if there is a risk of collision between the first unmanned robot and the vehicle; and causing, by the first unmanned robot, one or more actions to be taken to avoid a collision between the first unmanned robot 25 and the vehicle in response detecting a risk of collision.
13. The method for guiding a vehicle in a parking lot according to claims 11 or 12 wherein detecting for obstacles ahead of a travel direction of the vehicle comprises: determining, by the first unmanned robot, an obstructed viewing region which cannot be sensed by environment sensors associated with the vehicle; and adjusting a navigation route of the first unmanned robot so that the object detection module is capable of detecting obstacles in at least a part of the obstructed viewing region.
14. The method for guiding a vehicle in a parking lot according to any of claims 11 to 13 further comprising: performing, by a second unmanned robot, a reservation function comprising physically reserving the identified available parking space for the vehicle.
15. The method for guiding a vehicle in a parking lot according to claim 14 wherein the second unmanned robot comprises a second object detection module and causing a location of the available parking space in the parking lot to be identified comprises identifying the available parking space location for the vehicle using at least the second object detection module.
16. The method for guiding a vehicle in a parking lot according to claim 15 wherein the second unmanned robot performs the 20 reservation function after identifying the available parking space location.
17. The method for guiding a vehicle in a parking lot according to any of claims 11-16 further comprising: providing a third unmanned robot configured to perform the guiding function wherein the the first and third unmanned robot are configured such that one of the first or unmanned robot performs the guiding function while the other of the first or third unmanned robot is being recharged.