KR102251502B1 - Method and system for autonomous driving in parking lot - Google Patents

Abstract

Disclosed is an autonomous driving method and system in which a vehicle can park and exit through autonomous driving in a parking lot. The autonomous driving method in the disclosed parking lot includes the steps of recognizing a vehicle entering the parking lot; Mapping the recognized vehicle location to a parking lot map using an image of at least one fisheye lens camera installed in the parking lot; Generating a driving route from the mapped vehicle location to a target parking area for the recognized vehicle; Generating a control value for parking of the recognized vehicle by using the driving route and the location and speed of nearby vehicles in the parking lot map; And transmitting the control value to the recognized vehicle equipped with a wireless communication module.

Description

Autonomous driving method and system in parking lot {METHOD AND SYSTEM FOR AUTONOMOUS DRIVING IN PARKING LOT}

The present invention relates to an autonomous driving method and system in a parking lot, and to an autonomous driving method and system in which a vehicle can park and exit through autonomous driving in a parking lot.

Today, many people own vehicles, and by using private or business vehicles to commute, perform work, shop, visit, etc., not only increase the floor area ratio of offices or residential areas when designing buildings, but also parking lots. The floor area ratio of is also bound to increase. That is, the parking lot is also becoming larger and underground as buildings become larger, higher-rises, and denser.

As the parking lot becomes larger and underground in this way, drivers who visit the underground parking lot of a large building for the first time have a poor sense of direction, so it is not easy to park only with the information board attached to the wall or ceiling of the parking lot.

Accordingly, in such a large parking lot, various methods for enabling drivers to park and unload vehicles more easily have been developed.

Related prior documents include Korean Patent Nos. 10-1655839, 10-1758160, and 2019-0018838, which are patent documents.

The present invention is to provide an autonomous driving method and system in which a vehicle can park and exit through autonomous driving in a parking lot.

According to an embodiment of the present invention for achieving the above object, recognizing a vehicle entering a parking lot; Mapping the recognized vehicle location to a parking lot map using an image of at least one fisheye lens camera installed in the parking lot; Generating a driving route from the mapped vehicle location to a target parking area for the recognized vehicle; Generating a control value for parking of the recognized vehicle by using the driving route and the location and speed of nearby vehicles in the parking lot map; And transmitting the control value to the recognized vehicle equipped with a wireless communication module.

In addition, according to another embodiment of the present invention for achieving the above object, the step of recognizing a vehicle requested to unload from a driver of a vehicle parked in a parking lot; Generating a driving route from the recognized parking position of the vehicle in the parking lot map to a preset riding area of the parking lot in which the driver is located; Generating a control value for driving of the recognized vehicle by using the driving route and the location and speed of nearby vehicles in the parking lot map; And transmitting the control value to the recognized vehicle equipped with a wireless communication module.

In addition, according to another embodiment of the present invention for achieving the above object, a fisheye lens camera installed at a preset position in a parking lot; And an autonomous driving control server that controls parking or exit of a vehicle located in the parking lot, wherein the autonomous driving control server maps a location of a vehicle located in the parking lot to a parking lot map using the image of the fisheye lens camera. Mapping unit; A route generator for generating a driving route from the mapped vehicle location to a destination; A control value generator that generates a control value for driving of a vehicle located in the parking lot by using the driving route and the location and speed of nearby vehicles on the parking lot map; And a communication unit that transmits the control value to a vehicle located in the parking lot equipped with a wireless communication module, wherein the destination is a target parking area or a parking lot, which is a place where a driver requesting to leave the parked vehicle waits Provides a driving system.

According to the present invention, control values for parking and unloading are provided to vehicles located in the parking lot in consideration of the situation of surrounding vehicles in the parking lot, so that autonomous driving of the vehicle can be supported in a parking lot environment without a separate autonomous driving sensor.

In addition, according to the present invention, by supporting autonomous driving of the vehicle while the driver is disembarked, the driver can park and unload the vehicle more conveniently.

1 is a view for explaining an autonomous driving system in a parking lot according to an embodiment of the present invention.
2 is a view for explaining an autonomous driving method in a parking lot according to an embodiment of the present invention.
3 is a view showing a parking lot map according to an embodiment of the present invention.
4 is a diagram illustrating an image of a fisheye lens camera.
5 is a view for explaining an autonomous driving method in a parking lot according to another embodiment of the present invention.
6 is a view showing a parking lot map according to another embodiment of the present invention.

In the present invention, various modifications may be made and various embodiments may be provided, and specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to a specific embodiment, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention. In describing each drawing, similar reference numerals have been used for similar elements.

An autonomous vehicle refers to a vehicle that drives itself to a given destination by controlling the vehicle by recognizing the surrounding environment and determining the driving situation without the intervention of the driver. Since such an autonomous vehicle includes various sensors for recognizing surrounding conditions in a general driving environment, the price is inevitably increased.

However, in an environment where space is limited and the driving path of the vehicle is relatively limited, such as a parking lot, it is relatively easy to implement autonomous driving without a sensor mounted on the vehicle. Accordingly, the present invention proposes an autonomous driving method and system in which a vehicle that does not support autonomous driving can easily park and unload in a parking lot through autonomous driving in order to support convenient parking and exit of a driver in a parking lot.

Parking lots to which the present invention can be applied include not only indoor parking lots but also outdoor parking lots. In addition, the autonomous driving method according to an embodiment of the present invention may be performed in a computing device including a processor. Hereinafter, an autonomous driving method performed in an autonomous driving control server will be described as an embodiment.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a view for explaining an autonomous driving system in a parking lot according to an embodiment of the present invention.

Referring to FIG. 1, an autonomous driving system according to an embodiment of the present invention includes a fisheye lens camera 110 and an autonomous driving control server 120.

The fisheye lens camera 110 is a camera equipped with a fisheye lens, and is installed at a preset position in a parking lot, and may be installed so that no blind spot exists. Since the angle of view of the fisheye lens is very large, an image of the entire area of the parking lot can be obtained using a relatively small number of cameras.

The autonomous driving control server 120 controls the parking or exit of the vehicle 130 located in the parking lot, and includes a mapping unit 121, a route generation unit 122, a control value generation unit 123, and a communication unit 124 do.

The mapping unit 121 maps the location of the vehicle 130 located in the parking lot to the parking lot map using the image of the fisheye lens camera 110, and the route generator 122 maps the location of the mapped vehicle to the destination. Create a driving route. Here, the destination may be a target parking area or a place in which a driver who requests to take out a parked vehicle waits for boarding, and as an example, the target parking area may be randomly determined among available parking areas in a parking lot.

The control value generator 123 generates a control value for driving of the vehicle 130 by using the driving route and the position and speed of the surrounding vehicles in the parking lot map. That is, the control value generator 123 generates a control value for allowing the vehicle 130 to park or unload along the driving route without colliding with another nearby vehicle located in the parking lot. As an example, the control value may be a target speed value and a target steering angle value.

The communication unit 124 transmits the control value to the vehicle 130 on which the wireless communication module is mounted.

The vehicle 130 may be a vehicle in which a separate sensor for autonomous driving is not mounted, and even if such a sensor is not mounted, the vehicle 130 may autonomously travel using the received control value. Receiving the control value, the vehicle 130 adjusts the speed and direction of the vehicle according to the target speed value and the target steering angle value to park in the target parking area, or move from the parked position to a place where the driver requesting to leave the vehicle is waiting for boarding. I can.

After all, according to the present invention, by providing control values for parking and exiting to a vehicle located in a parking lot using a central server in consideration of the situation of surrounding vehicles in the parking lot, the vehicle's autonomy in a parking lot environment Can support driving.

FIG. 2 is a diagram for explaining an autonomous driving method in a parking lot according to an embodiment of the present invention, and is a diagram illustrating an autonomous driving method for parking. 3 is a diagram illustrating a parking lot map according to an embodiment of the present invention, and FIG. 4 is a diagram illustrating an image of a fisheye lens camera.

2 and 3, the autonomous driving control server according to an embodiment of the present invention recognizes a vehicle 320 entering a parking lot (S210). In step S210, the autonomous driving control server may recognize the vehicle entering the parking lot using the image of at least one fisheye lens camera installed in the parking lot, and the license plate (red area) of the vehicle in the image of the fisheye lens camera as shown in FIG. By extracting, it is possible to recognize and identify the vehicle.

In addition, the autonomous driving control server maps the location of the vehicle 320 recognized on the parking lot map 310 by using the image of the fisheye lens camera (S220). Since the fisheye lens camera is fixed, the position of the fisheye lens camera in the main window map 310 is also constant, and therefore, the autonomous driving control server recognizes the position of the fisheye lens camera in the parking lot map 310 and the image of the fisheye lens camera. The location of the recognized vehicle may be mapped on the parking lot map by using the location of the vehicle.

For example, when the fisheye lens camera is positioned at the first point 311 of FIG. 3, the position of the vehicle 320 will be on the left side of the image of the fisheye lens camera positioned at the first point 311. In addition, since the size of the vehicle in the image of the fisheye lens camera varies according to the position of the vehicle 320, the autonomous driving control server uses this information, and the vehicle is located to the left of the first point 311, and the first It can be estimated how far away from the point 311 exists.

According to another embodiment of the present invention, in step S220, when the driver of the vehicle 310 recognized in the preset disembarkation zone 312 gets off, the vehicle 320 recognized in the parking lot map 310 The location of the driver can be mapped, and the driver's getting off can be recognized using the image of the fisheye lens camera. For example, the autonomous driving control server may recognize whether the door of the vehicle 320 is open by recognizing the door of the vehicle 320 from the image of the fisheye lens camera, and recognize the driver exiting through the opened door, thereby recognizing the driver's getting off.

The disembarkation zone 320 may be connected to an entrance of a store or office in which a parking lot is installed, and the vehicle may autonomously drive to the target parking zone by receiving the above-described control value while the driver is not on board.

After step S220, the autonomous driving control server generates a driving route 330 from the mapped vehicle location to the target parking area 313 for the recognized vehicle (S230).

In addition, the autonomous driving control server generates a control value for parking of the recognized vehicle 310 by using the driving route 330 and the position and speed of the surrounding vehicle 340 in the parking lot map (S240).

The location of the surrounding vehicle 340 on the parking lot map 310 may be estimated as in steps S210 and S220, and the autonomous driving control server determines the location and speed of the surrounding vehicle 340 on the parking lot map in step S240. , Calculate the relative position and relative speed of the recognized vehicle 320, and by using the driving route 330, the relative position and the relative speed, a target speed value and a target steering angle value for parking of the recognized vehicle 320 are calculated. Can be calculated.

The autonomous driving control server can calculate the speed and the relative speed by using the position change rate per unit time of the vehicle 320 and the surrounding vehicle 340, and the vehicle 320 does not collide with the surrounding vehicle 340 and the target parking area ( 313), it is possible to calculate a target speed value and a target steering angle value.

After step S240, the autonomous driving control server transmits the control value to the recognized vehicle 320 on which the wireless communication module is mounted. The vehicle 320 may autonomously drive to the target parking area 313 according to a control value in a state in which the driver is not on board.

As described above, according to the present invention, it is possible to support autonomous driving of a vehicle in a parking lot environment, and in particular, by supporting autonomous driving of the vehicle from the driver's getting off state to the parking area, the driver can park the vehicle more conveniently. have.

On the other hand, when the parking lot is composed of a plurality of floors, the camera may not be installed in the connection passage connecting different floors. In this way, parking areas located on different floors where fisheye lens cameras are installed and different floors are connected, and in a parking lot environment including a connection passage in which a fisheye lens camera is not installed, surrounding vehicles located in the connection passages are not photographed. Therefore, the autonomous driving control server cannot generate a control value using the position and speed of surrounding vehicles located in the connection passage.

In order to support safer autonomous driving in such an environment, the autonomous driving control server according to an embodiment of the present invention is, when a vehicle that has stopped at an exit point of a connection passage among vehicles in front of the recognized vehicle is the recognized vehicle. It creates a control value that stops the recognized vehicle before entering this linkage passage.

That is, the autonomous driving control server according to an embodiment of the present invention generates a control value for the vehicle to move in the connection passage when the recognized vehicle can immediately exit the exit of the connection passage, and When a vehicle is recognized because a nearby vehicle exists at the exit of the vehicle and the vehicle cannot immediately exit the exit of the connection passage, a control value is generated to prevent the vehicle from entering the connection passage.

As described above, the autonomous driving control server according to an embodiment of the present invention generates a control value so that no vehicle exists in the connection passage, so that vehicles can autonomously drive without collision even in an environment where a fisheye lens camera is not installed in the connection passage. So you can control it.

5 is a view for explaining an autonomous driving method in a parking lot according to another embodiment of the present invention, and FIG. 6 is a view showing a parking lot map according to another embodiment of the present invention.

The autonomous driving method described in FIG. 2 relates to an autonomous driving method for parking, and the autonomous driving method described in FIG. 5 relates to an autonomous driving method for exiting a vehicle. In FIG. 5, a description will be made focusing on differences from the autonomous driving method of FIG. 2.

5 and 6, the autonomous driving control server according to an exemplary embodiment of the present invention recognizes a vehicle 620 requested to be unloaded from a driver of a vehicle 620 parked in a parking lot (S510). The driver can request an exit by transmitting the vehicle number of the parked vehicle to the autonomous driving control server using the terminal, and the autonomous driving control server uses the image of the fisheye lens camera to request the exit vehicle parked in the parking lot. Can be recognized.

In addition, the autonomous driving control server generates a driving route from the recognized parking position of the vehicle 620 on the parking lot map to the preset riding area 650 of the parking lot in which the driver is located (S520). Since the location of the vehicle 620 on the parking lot map has already been estimated during the process of the vehicle 620 entering the parking lot and parking, the autonomous driving control server is the driving route for the recognized vehicle 620 without a separate mapping process. 630) can be created.

After step S520, the autonomous driving control server generates a control value for driving of the recognized vehicle 620 by using the driving route 630 and the location and speed of the surrounding vehicles in the parking lot map 610 (S530). , The generated control value is transmitted to the recognized vehicle 620 on which the wireless communication module is mounted (S540). The vehicle 620 may receive the control value while the vehicle is started remotely by the driver.

That is, the autonomous driving control server calculates a target speed value and a target steering angle value at which the vehicle 620 can autonomously drive without collision with surrounding vehicles from the parking position of the vehicle 620 to the driver's riding area 650, It can be transmitted to the vehicle 620.

As described above, according to the present invention, it is possible to support autonomous driving of a vehicle in a parking lot environment, and in particular, by supporting autonomous driving of the vehicle to a boarding area in which the driver waits for boarding while the driver is disembarked, the driver can You can conveniently leave the vehicle without having to move to.

After boarding the vehicle in the boarding area, the vehicle driver can drive the vehicle and exit the parking lot.

The above-described technical contents may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, etc. alone or in combination. The program instructions recorded on the medium may be specially designed and configured for the embodiments, or may be known and usable to those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, in the present invention, specific matters such as specific components, etc., and limited embodiments and drawings have been described, but this is provided only to help a more general understanding of the present invention, and the present invention is not limited to the above embodiments. , If a person of ordinary skill in the field to which the present invention belongs, various modifications and variations are possible from these descriptions. Therefore, the spirit of the present invention is limited to the described embodiments and should not be defined, and all things that are equivalent or equivalent to the claims as well as the claims to be described later fall within the scope of the spirit of the present invention. .

Claims (10)

Recognizing a vehicle entering the parking lot;
Mapping the recognized vehicle location to a parking lot map using an image of at least one fisheye lens camera installed in the parking lot;
Generating a driving route from the mapped vehicle location to a target parking area for the recognized vehicle;
Generating a control value for parking of the recognized vehicle by using the driving route and the location and speed of nearby vehicles in the parking lot map; And
And transmitting the control value to the recognized vehicle equipped with a wireless communication module,
The above parking lot is
A parking zone located on different floors where the fisheye lens camera is installed and a connection passage connecting the different floors, wherein the fisheye lens camera is not installed,
Generating the control value is
Generating a control value for stopping before the recognized vehicle enters the connection passage when a vehicle stopped at the exit point of the connection passage among vehicles in front of the recognized vehicle
How to drive autonomously in a parking lot.
The method of claim 1,
Mapping the recognized vehicle location
Mapping the location of the recognized vehicle to the parking lot map using the location of the fisheye lens camera in the parking lot map and the location of the recognized vehicle in the image of the fisheye lens camera.
How to drive autonomously in a parking lot.
The method of claim 1,
Mapping the recognized vehicle location
Mapping the location of the recognized vehicle to the parking lot map when the driver of the recognized vehicle alights in a preset disembarkation zone
How to drive autonomously in a parking lot.
The method of claim 3,
Mapping the recognized vehicle location
Recognizing the getting off of the driver by using the image of the fisheye lens camera
How to drive autonomously in a parking lot.
The method of claim 1,
Generating the control value is
Calculating a relative position and a relative speed of the recognized vehicle with respect to the position and speed of surrounding vehicles in the parking lot map; And
Calculating a target speed value and a target steering angle value for parking of the recognized vehicle using the driving route, the relative position, and the relative speed
Autonomous driving method in a parking lot comprising a.
delete Recognizing a vehicle requested to be unloaded from a driver of a vehicle parked in the parking lot by using an image of at least one fisheye lens camera installed in the parking lot;
Generating a driving route from the recognized parking position of the vehicle in the parking lot map to a preset riding area of the parking lot in which the driver is located;
Generating a control value for driving of the recognized vehicle by using the driving route and the location and speed of nearby vehicles in the parking lot map; And
And transmitting the control value to the recognized vehicle equipped with a wireless communication module,
The above parking lot is
A parking zone located on different floors where the fisheye lens camera is installed and a connection passage connecting the different floors, wherein the fisheye lens camera is not installed,
Generating the control value is
Generating a control value for stopping before the recognized vehicle enters the connection passage when a vehicle stopped at the exit point of the connection passage among vehicles in front of the recognized vehicle
How to drive autonomously in a parking lot.
The method of claim 7,
The vehicle receiving the control value
A vehicle remotely started by the driver
How to drive autonomously in a parking lot.
delete delete

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