KR102330985B1 - method for guidance of parking in parking space - Google Patents

Abstract

The present invention relates to a method for guiding parking in a parking lot, which allows a central server to guide parking by transmitting a high-precision HD map to a vehicle when the vehicle enters a parking lot in a state of constructing the high-precision HD map inside the parking lot linked to a location of the vehicle in communication with a locator for recognizing the location of the vehicle by being installed inside an autonomous vehicle and the parking lot. The method of the present invention comprises the steps of: (a) being performed between a vehicle including a Bluetooth tag and a terminal therein, at least three locators installed in a parking lot with a Bluetooth communication module, and a central server, and downloading an HD map inside the parking lot including an empty parking slot from the central server in communication with the central server when the terminal in a user vehicle recognizes a gate beacon signal; and (b) receiving, by the terminal inside the user vehicle, a current location of the user vehicle and empty parking slot information from the central server in communication with the central server, and then displaying the same on the HD map. The central server determines the current location of the user vehicle on the basis of a tag ID and intensity information on a tag signal transmitted from each of the locators.

Description

Method for guidance of parking in parking space

The present invention relates to a parking guidance method in a parking lot, and in particular, a central server is installed inside an autonomous vehicle and a parking lot to communicate with a locator that identifies the location of the vehicle to build a high-precision HD map inside the parking lot linked to the location of the vehicle It relates to a parking guidance method in a parking lot so that when a vehicle enters a parking lot in a state, it is transmitted to the vehicle to perform parking guidance.

As is well known, an autonomous vehicle refers to a vehicle that autonomously drives to a given destination by recognizing the surrounding environment, judging the driving situation, and controlling the vehicle without driver intervention. In general, autonomous or semi-autonomous vehicles include a function to check a parking space and perform autonomous parking.

This autonomous parking function sets a movement trajectory for parking of a vehicle parked in the vicinity of the parking space and moves the vehicle according to the set movement trajectory in order to solve the difficulties of parking due to the narrow parking space and inexperienced driving of the driver. It is a technology that enables the parking of the vehicle without the driver's operation by controlling the

This autonomous parking function normally obtains information about a parking space while passing between parking spaces, and additionally controls steering, driving, braking, and shifting according to the size of the space and information on obstacles as needed to park the vehicle. It includes the technical configuration that performs

In the following prior art 1, when a vehicle entry into the parking lot is detected, the vehicle is transferred to any one empty parking slot in the parking lot by using a parking server and a virtual lane that transmits parking information including parking map data to which the virtual lane is applied to the vehicle. includes an autonomous driving device that performs autonomous driving until A technical configuration for generating a centerline of a virtual lane is disclosed.

In the following prior art 2, the autonomous driving vehicle learns a path traveled by the autonomous driving vehicle from a starting position to an end position in the manual mode, starts driving along the learned path in the autonomous driving mode, and uses the object detection device to When an empty parking slot is detected on a learned path, a technical configuration is disclosed that includes a processor for parking an autonomous vehicle in the detected parking slot.

In the following prior art 3, the location and movement of the autonomous vehicle entering the parking lot is monitored based on a three-dimensional electronic map, and the driver based on the sensor data collected from various sensors in the parking lot and the vehicle information received from the autonomous vehicle A technology configuration including a parking control device that calculates a driving trajectory to a selected parking space and provides it to an autonomous vehicle, and an autonomous vehicle that drives to a parking space based on the driving trajectory received from the parking control device and then performs parking has been

However, in the aforementioned prior arts 1 to 3, detailed technical configuration such as generating a centerline of a virtual lane in a parking lot is only initiated (prior art 1), or autonomous driving is performed according to the result of independent learning of the autonomous vehicle (prior art). Technique 2) or autonomous driving only performed autonomous driving based on information obtained from various sensors attached to the vehicle parking lot control server (prior art 3), so there was a problem in that the reliability of parking guidance in the parking lot was insufficient.

In addition, in the prior art 1 to 3, it was difficult to secure the reliability of the parking space in the parking lot, and the risk of a safety accident between vehicles and a safety accident between a vehicle and a child or animal in the parking lot was high.

Prior Art 1: 10-1637842 Registration Patent Publication (Title of the Invention: Autonomous Driving System and Method in Parking Lot)

Prior Art 2: Patent Publication No. 10-2120108 (Title of Invention: Self-driving vehicle and its control method)

Prior Art 3: 10-2020-0057819 Publication of Patent Publication (Title of Invention: Parking control system of autonomous vehicle)

The present invention has been devised to solve the above problems, and a central server is installed inside an autonomous vehicle and a parking lot to communicate with a locator that identifies the location of the vehicle to build a high-precision HD map inside the parking lot linked to the location of the vehicle An object of the present invention is to provide a parking guidance method in a parking lot so that when a vehicle enters a parking lot in one state, it is transmitted to the vehicle to perform parking guidance.

The parking guidance method in the parking lot of the present invention for achieving the above object is performed between a vehicle including an in-vehicle terminal equipped with a Bluetooth tag, a locator installed in the parking lot with a Bluetooth communication module and three or more locators and a central server When the in-vehicle terminal of my vehicle recognizes the gate beacon signal, the (a) step of communicating with the central server and downloading the HD map inside the parking lot including the empty parking slot from the central server and the in-vehicle terminal of my vehicle After communicating with the central server and receiving the current location and empty parking slot information of my vehicle from the central server, (b) displaying it on the HD map, the central server
The current location of the vehicle is identified based on the tag ID and the intensity information of the tag signal received from the eater.

In the above configuration, the in-vehicle terminal of my vehicle periodically transmits a tag signal including the tag ID.

In-vehicle terminals of all vehicles in the parking lot periodically transmit a tag signal, and when each locator receives a tag signal, the tag ID and the strength information of the tag signal included in the tag signal are transmitted to the central server, and the central server processes the intensity information of the tag signal received from each locator by the triangulation method to determine the position of each vehicle and the empty parking slot.

The central server records the 3D image generated by the autonomous vehicle equipped with lidar and camera moving around the inside of the parking lot and the tag signal of the autonomous vehicle received from each locator.
An HD map of the inside of the parking lot is built in advance by combining the location information of the self-driving vehicle identified by processing the included tag ID and the intensity information of the tag signal by the triangulation method with the floor plan of the parking lot.

Each locator transmits the tag ID and the strength information of the tag signal to the central server by adding the locator ID identifiable at least in the corresponding parking lot, and the central server stores the locator ID and installation location information of each locator in a matched state. have.

The tag ID is a vehicle number, and the strength information of the tag signal is Received Signal Strength Indication (RSSI).

The installation position information of the locator is a relative coordinate with the installation position of at least one locator as a reference point.

The in-vehicle terminal is a mobile communication terminal built into the vehicle or a driver's mobile communication terminal, and the Bluetooth tag is a Bluetooth communication module provided in the in-vehicle terminal or a Bluetooth communication module built into the parking card.

According to the parking guidance method in the parking lot of the present invention, the central server is installed inside the autonomous vehicle and the parking lot and communicates with the locator to determine the location of the vehicle to establish a high-precision HD map inside the parking lot linked to the location of the vehicle. When the vehicle enters the parking lot, it is transmitted to the vehicle so that the parking guidance can be performed, so that the parking guidance inside the parking lot can be more accurate.

In addition, it is possible to prevent safety accidents by allowing the driver to accurately identify the parking location.

1 is a network configuration diagram of a parking guidance system in a parking lot of the present invention.
2 is a view for explaining the principle of the central server tracking the location of each vehicle in the parking guidance method in the parking lot of the present invention.
Figure 3 is a sequence chart for explaining the HD map construction process inside the parking lot in the parking guidance method in the parking lot of the present invention.
Figure 4 is a sequence chart for explaining the parking guidance process in the parking guidance method in the parking lot of the present invention.

Hereinafter, a preferred embodiment of the parking guidance method in the parking lot of the present invention will be described in detail with reference to the accompanying drawings.

1 is a network configuration diagram of a parking guidance system in a parking lot of the present invention. As shown in FIG. 1, the parking guidance system in the parking lot of the present invention is installed at a distance of three or more in the right place of the vehicle 100 that entered the parking lot for parking, and the tag signal received from the vehicle. When the locator 200 and the vehicle 100, which transmit the included tag ID and the intensity information of the tag signal to the central server 300, enter the parking lot, a high-precision HD map built into the vehicle or the driver's mobile communication terminal After downloading to the parking guidance application program (hereinafter simply referred to as 'parking guidance app') of (hereinafter collectively referred to as 'in-vehicle terminal'), the center that displays empty parking slots in the parking lot and the real-time driving route of the vehicle The server 300 may be included.

In the above configuration, the vehicle 100 may be, for example, a delivery vehicle (two-wheeled vehicle), a delivery vehicle, a taxi, a visiting vehicle, or a resident vehicle using various underground parking lots such as apartments, hotels, department stores and shopping malls. The in-vehicle terminal may include a Bluetooth communication module, preferably a low-power Bluetooth communication module, and may periodically transmit a tag signal through this when entering the parking lot.

Three or more locators 200 are installed at the right place in the parking lot, and the Bluetooth communication module of the in-vehicle terminal or the parking card with a built-in Bluetooth communication module (hereinafter collectively referred to as 'Bluetooth tag') receives the tag signal transmitted. Then, the tag ID and tag signal strength information included therein is transmitted to the central server 300 . To this end, each locator 200 includes a Bluetooth module that communicates with the vehicle's Bluetooth tag, preferably a low-power Bluetooth module. A parking card may be given for a occupant vehicle.

On the other hand, the tag signal includes at least a tag ID for allowing the central server 300 to identify each vehicle, and this tag ID may preferably be an ID uniquely assigned to the vehicle, such as a vehicle number.

The central server 300 may determine the current location of each vehicle based on the tag ID and the intensity information of the tag signal received from each locator 200 .

2 is a diagram for explaining the principle of the central server tracking the location of each vehicle in the parking guidance method in the parking lot of the present invention. As shown in FIG. 2 , the central server 300 according to the present invention drives a location tracking engine to periodically receive from the locator 200 each vehicle's tag ID and tag signal strength information, for example, RSSI (Received Signal). After receiving the Strength Indication), it is possible to process the signal strength information from each locator 200 by a trilateration method to determine the current location of each vehicle 100 and an empty parking slot inside the parking lot. The central server 300 stores the ID and installation location information of each locator 200 , and each locator 200 adds its ID when transmitting the tag ID and the strength information of the tag signal to the central server 300 . to send

In this case, the central server 300 determines that the vehicle is currently in an arbitrary parking slot and is occupied by being parked in the corresponding parking slot when the location does not change for more than a reference time (position of an empty parking slot) can figure out

On the other hand, the central server 300 is a 3D image of the entire parking lot generated by the driver and the camera while the autonomous driving vehicle 100, that is, the autonomous driving vehicle 100 to which the self-driving vehicle 100 is attached in advance, moves around the inside of the parking lot. is collected by communicating with the in-vehicle terminal, and the location information of the autonomous driving vehicle received and grasped from the locator 200 is combined with the floor plan of the corresponding parking lot to build a high-precision map (HD map) of the corresponding parking lot, which is periodically or aperiodically update to

Here, the HD map is a three-dimensional digital map for providing information about each parking slot in the parking lot and various facilities such as pillars and stoppers to the parking guide app of the terminal in the vehicle that has entered the parking lot. can have accuracy.

On the other hand, Lidar emits a laser pulse, receives the light reflected from the surrounding target object, and measures the distance to the object to accurately draw the surroundings, that is, instead of radio waves. This refers to a radar that uses light. The principle is the same as that of a conventional radar, but the wavelength of the electromagnetic wave used is different, so the actual technology and application range are different. In recent years, lidar has emerged as a core technology for sensors that acquire information necessary to implement a three-dimensional image of a road, which is the basis for autonomous driving.

3 is a sequence chart for explaining the HD map construction process inside the parking lot in the parking guidance method in the parking lot of the present invention. As shown in FIG. 3 , according to the parking guidance method in the parking lot of the present invention, the autonomous vehicle 100 moves around the parking lot in advance and generates a 3D image of the inside of the parking lot and then sends it to the central server 300 . have to send To this end, the in-vehicle terminal of the autonomous vehicle 100 confirms that it has entered the parking lot (step S100) by receiving, for example, a gate beacon signal from a gate beacon (not shown) installed adjacent to the entrance breaker (step S100). periodically transmits a gate beacon signal through the Bluetooth communication module.

In this way, the autonomous vehicle 100, which has confirmed the entrance to the parking lot, periodically transmits a tag signal through the Bluetooth tag of the in-vehicle terminal (step S110), and three or more locators 200 installed in the parking lot are in-vehicle terminals When a tag signal is received from the tag ID, for example, vehicle number and strength information of the tag signal, for example, RSSI information included in the tag signal, is transmitted to the central server 300 (step S120).

Next, the central server 300 processes the tag ID and the intensity information of the tag signal received from each locator 200 by the triangulation method to determine the current location of the vehicle (step S130).

On the other hand, the central server 300 has a floor plan of the corresponding parking lot and one or more arbitrary points, for example, installation location information of each locator 200 with the installation point of one or more arbitrary locators 200 as a reference point, e.g. For example, relative coordinate information is stored to match the ID of each locator 200 , and relative coordinates for each point inside the parking lot can be calculated based on the relative coordinates. In this state, the central server 300 may determine the location of the tag, that is, the autonomous driving vehicle, based on the tag ID of the autonomous driving vehicle 100 received from each locator 200 and the intensity information of the tag signal.

Separately, the autonomous vehicle 100 generates a 3D image of the inside of the parking lot through the lidar and the camera in the process of moving around the inside of the parking lot (step S140) and then transmits it to the central server 300, and the central server 300 ) generates an HD map of the parking lot by applying the location information and 3D image of the corresponding vehicle to the parking lot floor plan (step S160). .

4 is a flowchart for explaining the parking guidance process in the parking guidance method in the parking lot of the present invention, while the configuration above the dotted line is performed between all vehicles existing inside the parking lot, while the configuration below the dotted line is my vehicle is performed for

As shown in Fig. 4, the in-vehicle terminals of all vehicles 100 existing in the parking lot periodically transmit a tag signal to the locator 200 through the Bluetooth tag (step S200), and three or more in the parking lot When the installed locator 200 receives a tag signal from an in-vehicle terminal, a tag ID included in the tag signal, for example, vehicle number and intensity information of the tag signal, for example, RSSI information, is transmitted to the central server 300 . (Step S210).

Next, the central server 300 determines the current location of each vehicle and the unoccupied parking slot by the tag ID of the vehicle 100 and the intensity information of the tag signal received from each locator 200 (step S220). can

In this state, the in-vehicle terminal of my vehicle 100 determines whether the gate beacon signal is recognized (step S230), and this gate beacon signal is received through the gate beacon when my vehicle 100 arrives at the parking lot entrance. can do.

In step S230, when the vehicle 100 recognizes the gate beacon signal, the in-vehicle terminal of the vehicle 100 communicates with the central server 300 to obtain an HD map of the inside of the parking lot from the central server 300. Through the download (step S240), the driver sets the parking location and the driving route (step S250). The HD map inside the parking lot contains empty parking slot information, and this empty parking slot information is periodically or randomly after the vehicle 100 enters the parking lot. When a periodic event occurs, it may be periodically updated in the in-vehicle terminal through communication with the central server 300 .

Next, the in-vehicle terminal of the vehicle 100 communicates with the central server 300 and receives the current location and empty parking slot information of the vehicle 100 from the central server 300 (step S280), and then transmits the HD It is displayed on the map (step S290).

Next, the in-vehicle terminal of my vehicle determines whether parking is complete (step S300). If not, the process returns to step S260, whereas if it is completed, the program ends. The determination of whether or not the parking of the vehicle is completed may be performed by turning off the vehicle or confirming the completion of parking through autonomous driving (in the case of an autonomous driving vehicle).

Meanwhile, parking in an empty parking slot may be performed through an autonomous parking function of the autonomous vehicle or may be performed by a driver's manual parking action.

The present invention can accurately present an HD map and an empty parking space in a parking lot, and guide you there, so that it is possible to prevent safety accidents with other vehicles, small children, animals, etc. in a complex parking lot.

Above, the preferred embodiment of the parking guidance method in the parking lot of the present invention has been described in detail with reference to the accompanying drawings, but this is only an example, and various modifications and changes will be possible within the scope of the technical spirit of the present invention. Accordingly, the scope of the present invention should be defined by the description of the following claims.

100: vehicle 200: locator
300: central server

Claims (8)

delete delete It is performed between a vehicle including an in-vehicle terminal equipped with a Bluetooth tag, a locator installed in a parking lot with a Bluetooth communication module, and a central server,
When the in-vehicle terminal of my vehicle recognizes the gate beacon signal, communicating with the central server and downloading an HD map of the inside of the parking lot including the empty parking slot from the central server;
After the in-vehicle terminal of my vehicle communicates with the central server and receives the current location and empty parking slot information of the vehicle from the central server, displaying it on the HD map;
A step of receiving the terminal in the vehicle of my vehicle receiving the parking location and driving route set from the driver, and
The in-vehicle terminal of my vehicle is made, including the step of determining whether parking is complete,
The central server determines the current location of my vehicle based on the tag ID and the strength information of the tag signal received from each locator,
In-vehicle terminals of all vehicles in the parking lot periodically transmit a tag signal,
When each locator receives a tag signal, it transmits the tag ID included in the tag signal and the strength information of the tag signal to the central server,
The central server processes the strength information of the tag signal received from each locator by the triangulation method to determine the location and empty parking slots of each vehicle,
A parking guidance method in a parking lot where the in-vehicle terminal of my vehicle detects whether parking is complete by turning off the vehicle. 4. The method according to claim 3,
The central server triangulates the tag ID and tag signal strength information included in the 3D image generated by the autonomous vehicle equipped with lidar and the camera moving around the inside of the parking lot and the tag signal of the autonomous vehicle received from each locator. A parking guidance method in a parking lot, characterized in that the HD map inside the parking lot is built in advance by combining the location information of the autonomous vehicle that is processed and grasped by the method with the floor plan of the parking lot. 5. The method according to claim 4,
Each locator transmits the tag ID and the strength information of the tag signal to the central server by adding a locator ID identifiable at least in the corresponding parking lot,
Parking guidance method in a parking lot, characterized in that the central server is stored with the locator ID and installation location information of each locator matched. 6. The method of claim 5,
A parking guidance method in a parking lot, characterized in that the tag ID is a vehicle number and the strength information of the tag signal is RSSI (Received Signal Strength Indication). 7. The method of claim 6,
The parking guidance method in a parking lot, characterized in that the installation location information of the locator is a relative coordinate with the installation location of at least one locator as a reference point. The method according to any one of claims 3 to 7,
The in-vehicle terminal is a mobile communication terminal built into the vehicle or a driver's mobile communication terminal,
A method of parking guidance in a parking lot, characterized in that the Bluetooth tag is a Bluetooth communication module provided in a terminal in the vehicle or a Bluetooth communication module embedded in a parking card.

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