KR102345967B1 - Parking management method for self driving cars - Google Patents

Abstract

The present invention groups autonomous vehicles according to the exit order to separate parking spaces, and allows autonomous vehicles belonging to the highest group to be pulled out sequentially from the circulation line, thereby significantly reducing the parking space and significantly reducing the exit time of parked vehicles. can be shortened.
A method for managing parking of an autonomous vehicle according to an aspect of the present invention includes the steps of designating a group according to the departure time of the autonomous vehicle, separating and moving the autonomous vehicle according to the designated group, and the autonomous vehicle belonging to the highest group This includes the step of taking out in sequence.

Description

A method for managing parking of autonomous vehicles {PARKING MANAGEMENT METHOD FOR SELF DRIVING CARS}

The present invention relates to a parking management method, and more particularly, to a parking management method of an autonomous vehicle.

An autonomous vehicle is a vehicle that can drive automatically without human driving. Autonomous vehicles drive autonomously by recognizing their surroundings using radar, light detection and ranging (LIDAR), GPS, and cameras and simply designating a destination. Examples of autonomous vehicles that are already being put into practical use include unmanned vehicles that patrol preset routes operated by the Israeli military and unmanned driving systems such as dump trucks operated in overseas mines and construction sites.

The first core technologies of these autonomous vehicles are the autonomous vehicle system and the actual system. In addition to simulation in the laboratory, it is a technology that actually builds an autonomous vehicle system. It implements the accelerator, reducer, and steering device, which are driving devices, for unmanned operation, and controls it using the computer, software, and hardware installed in the autonomous vehicle. make it possible

The second core technology is to receive and process visual information using vision and sensors. As the basis of autonomous driving for unmanned operation, it is a technology that accepts image information and extracts necessary information from the image. It uses not only CCD (charge-coupled device) cameras but also ultrasonic sensors and range filters to fuse information necessary for distance and driving, so that it can avoid obstacles and cope with unexpected situations through analysis and processing.

The third core technology is the integrated control system and operation monitoring fault diagnosis system technology. This technology establishes a driving monitoring system that monitors vehicle operation and gives appropriate commands according to frequently changing situations, analyzes various situations generated by individual processors and sensors, diagnoses system failures, and provides appropriate information to the operator or to perform the function of notifying an alarm.

The fourth core technology is intelligent control and intelligent operation devices. This technology is an unmanned driving technique that generates control commands based on mathematical analysis using real vehicle models, and the first applied technology currently being applied to autonomous vehicles is the Adaptive Cruise Control (ACC) system. Intelligent Forward Control is a system that maintains the distance from the vehicle in front or obstacles by adjusting the speed by itself without the driver operating the pedals based on radar guide technology. When the driver inputs the distance to the vehicle in front, the long-distance radar attached to the front of the vehicle detects the position of the vehicle in front, maintains a constant speed, decelerates or accelerates, and stops completely if necessary, which is useful in weather where visibility is difficult.

The fifth applied technology is the lane departure prevention system. This is a technology that notifies the driver of an unintentional departure situation by detecting the lane with a camera installed inside. In an autonomous vehicle, the vehicle can safely drive along the lane by distinguishing between the pedestrian and the center line.

The sixth application technology is the parking assist system. This is a system that helps the car park in reverse by adjusting the steering system when the driver finds the assist button, puts in reverse gear, and presses the brake pedal. By automatically guiding the vehicle from the departure point to the parking space based on infrastructure as well as vehicle-mounted sensors, it saves unnecessary time and energy when parking, thereby minimizing cost and environmental pollution.

The seventh application technology is an automatic parking system. This is a technology in which the driver stops the car in front of the parking lot, turns off the engine, gets off, and presses the remote control lock switch twice in succession. to be.

The eighth application technology is a blind spot information guidance system. It is used to change lanes by checking obstacles and vehicles on both sides in complex road conditions, as sensors mounted on both sides of the car determine whether there is another vehicle in the blind spot that is not visible through the side mirrors and warn the driver. .

The biggest advantage of an autonomous vehicle is that it helps fuel efficiency by avoiding repeated stops by making the control device more even because the driving speed and traffic management data match. that there is In addition, it has the advantages of solving fatigue caused by long-term driving, greatly reducing the risk of traffic accidents, speeding up road traffic flow, and reducing traffic congestion.

Meanwhile, with the advent of autonomous vehicles, the concept of parking lots is expected to change significantly. That is, when there is no space for vehicles to enter or exit the existing parking lot when it is congested, a path must be prepared for entry or exit. There is a problem that takes a lot of time. Since autonomous vehicles can be driven at any time even in a parked state, these existing parking-related problems are expected to be largely resolved, but related studies are quite incomplete.

[Prior art literature]

Korean Patent Publication No. 2020-0002216 (2020.01.08.)

SUMMARY OF THE INVENTION The present invention is to solve the above problems of the prior art, and an object of the present invention is to provide a parking method of an autonomous vehicle that significantly shortens the taking-out time of the autonomous vehicle.

A method for managing parking of an autonomous vehicle according to an aspect of the present invention includes the steps of designating a group according to the departure time of the autonomous vehicle, separating and moving the autonomous vehicle according to the designated group, and the autonomous vehicle belonging to the highest group This includes the step of taking out in sequence.

In this case, after the step of separating and moving the autonomous vehicle according to the designated group, the step of stopping or moving the autonomous vehicle belonging to the highest group in the circulation line may be further included.

In addition, the step of stopping or moving the autonomous driving vehicle belonging to the uppermost group on the circulation line may further include a step of changing an un-parking order of the autonomous driving vehicle.

In addition, the circulation line may further include a standby line, and when the order of taking out of the autonomous vehicle is changed, at least one of the autonomous vehicles traveling on the circulation line may be moved to the standby line.

In addition, in the step in which the autonomous driving vehicle belonging to the top group stops or moves in the circulation line, the autonomous driving vehicle disposed in the circulation line moves from the circulation line before the autonomous driving vehicle designated as the top group later enters the circulation line. You can adjust the departure order.

The present invention groups autonomous vehicles according to the exit order to separate the parking spaces and allows autonomous vehicles belonging to the top group to be pulled out sequentially from the circulation line, thereby significantly reducing the parking space and significantly reducing the exit time of the parked vehicles. can be shortened.

In addition, the present invention allows the vehicle to flexibly cope with the change of the un-parking time because the vehicle un-parking order is rearranged through the waiting line or the vehicle initially arranged on the circulation line moves by itself for a new entering vehicle.

1 is a diagram schematically illustrating a parking management system for an autonomous vehicle according to an embodiment of the present invention.
2 is a block diagram of a parking management system for an autonomous vehicle according to an embodiment of the present invention.
FIG. 3 is a diagram illustrating the sensing unit of FIG. 2 in more detail.
FIG. 4 is a diagram illustrating the communication unit of FIG. 2 in more detail.
5 is a view showing the parking server of FIG. 2 in more detail.
6 is a flowchart of a method for managing parking of an autonomous vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

Terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, a method for managing parking of an autonomous vehicle according to an embodiment of the present invention will be described. 1 is a diagram schematically illustrating a parking management system for an autonomous vehicle according to an embodiment of the present invention.

Referring to the drawing, the parking server 200 designates a group according to the departure time of the autonomous driving vehicle, and the autonomous driving vehicles c1 to c10 belonging to the highest group are connected to the circulation line A1 as shown in FIG. 1 . separated and moved At this time, the next highest group of the highest group is stopped in a separate parking space (not shown). Thereafter, the vehicle is taken out according to the order of taking out. 1 shows that the vehicle designated by reference numeral c1 is un-parked first because the un-parking order is the fastest. Thereafter, the vehicles of reference numerals c2 to c10 are sequentially taken out.

At this time, the autonomous vehicles c1 to c10 are stopped or moved on the circulation line A1, but there is always room for a change in the order of taking out. In FIG. 1 , the reference numeral c3 vehicle was initially designated as the third un-parking order, but indicates that the un-parking time was delayed due to the user's request. In this case, vehicle c3 moves to the waiting line A2, and vehicle c4, which is next in priority, approaches vehicle c2. That is, the circulation line A1 further includes a waiting line A2 , and when the order of taking out of the autonomous vehicle is changed, at least one of the autonomous vehicles traveling on the circulation line is moved to the waiting line.

On the other hand, there may be a case where the autonomous vehicle c10 designated as the highest group later enters the circulation line A1. In this case, the autonomous vehicle disposed on the circulation line A1 moves in the circulation line to adjust the order of taking out. That is, in FIG. 1 , in the case in which the vehicle taking-out order of the vehicle c10 is set to the tenth, the vehicle c6 to c9 rotates and then the vehicle c10 enters.

As described above, the parking management system of the autonomous driving vehicle according to the present embodiment groups the autonomous driving vehicles according to the exit order to separate the parking spaces, and the autonomous driving vehicles belonging to the highest group are sequentially pulled out from the circulation line, so that the parking space It is possible to significantly shorten the exit time of a parked vehicle while remarkably reducing it. In addition, since the order of taking off is rearranged through the waiting line or the vehicle initially placed on the circulation line moves by itself for a new vehicle entering, it is made to flexibly cope with changes in the time of getting out.

Hereinafter, a parking management system for an autonomous vehicle according to an embodiment of the present invention will be described in more detail. 2 is a configuration diagram of a parking management system for an autonomous vehicle according to an embodiment of the present invention, FIG. 3 is a diagram illustrating the sensing unit in FIG. 2 in more detail, and FIG. 4 is a diagram showing the communication unit in FIG. 2 in more detail. It is a view showing in detail, and FIG. 5 is a view showing the parking server in FIG. 2 in more detail.

A parking management system 1000 for an autonomous vehicle according to an embodiment of the present invention includes an autonomous vehicle 100 , a parking server 200 , and a user terminal 300 .

The autonomous vehicle 100 includes an input unit 110 , a sensing unit 120 , a communication unit 130 , a control unit 140 , and a driving unit 150 .

First, the input unit 110 allows the user terminal 300 to input the expected departure time and parking payment related information. At this time, since the departure time is always subject to change, it is preferable to input the expected departure time in an approximate range and to allow a confirmed input later.

Referring to FIG. 3 , the sensing unit 120 includes a radar 121 , a lidar 122 , a camera 123 , and a GPS 124 . The radar 121 refers to a device capable of moving unmanned while performing a radar detection operation by mounting an antenna in an autonomous vehicle. The radar 121 is not limited to performing only a radar detection operation using the provided antenna, and such as a plurality of sensors or complex sensors capable of sensing the surrounding environment, such as the lidar 122 and the camera 123 . It can be implemented in the form

The radar 121 senses the surrounding environment to generate surrounding sensing information, and based on the surrounding sensing information, determines the road, other vehicles, people, and inanimate objects that exist in the driving direction based on the surrounding sensing information.

The lidar 122 is a device that precisely draws a surrounding state by emitting a laser pulse, receiving the light reflected from the surrounding target object, and measuring the distance to the object. The lidar 122 emits a laser pulse to the ground surface and measures the return time by analyzing the spatial position of the reflection point to measure the topography, and the reflected return time is different depending on the structure. A difficult three-dimensional model can be obtained.

The lidar 122 is composed of a laser, a scanner, a receiver, and a positioning system, and the wavelength of the laser is 600-1000 nm. The scanner is the part that lets you quickly scan your surroundings to get information. The receiver is a part that detects the returning light, and the sensitivity of the receiver to the light is a major factor influencing the performance of the lidar. Essentially, the receiver detects photons and amplifies them. The positioning system performs a role of confirming the coordinates and direction of the location where the receiver is placed in order to implement a 3D image.

The GPS 124 collects location information of the autonomous vehicle 100 and transmits it to the parking server 200 and the user terminal 300 . However, in an underground parking lot or a tower-type parking lot, the GPS reception rate may be significantly reduced. Therefore, it is preferable to further include a short-distance communication module 132 in addition to the remote communication module 131 for communicating the communication unit 130 with the user terminal 300 and the parking server 200 as shown in FIG. 4 . It is preferable that the short-distance communication module 132 performs a short-distance communication with another vehicle or a terminal installed in a parking lot to review the arrangement order of the autonomous vehicle.

The parking server 200 includes a group determination module 210 , a vehicle placement module 220 , a placement conversion module 230 , and a group conversion module 240 .

The group determination module 210 groups vehicles entering the parking lot according to the exit time input to the user terminal 300 or the autonomous vehicle 100 . At this time, the group determination module 210 classifies the group into the highest group and the lower group in the order of the earliest emission time. The vehicle arrangement module 220 causes the vehicle belonging to the uppermost group to move to the circulation line A1 that is closer to the exit, and the following groups to the parking place farther from the exit.

As described above, the batch conversion module 230 moves at least one of the autonomous vehicles belonging to the circulation line to the waiting line A2 when the vehicle taking-out order is changed. In addition, the batch conversion module 230 also serves to move the existing vehicle according to the order of departure when the vehicle of the next priority group enters the circulation line.

The group conversion module 240 serves to change the original group of the vehicle when the departure time is remarkably changed at the request of the user. In this case, the priority may be changed from the priority to the latter, or vice versa. In the case of changing to a lower priority, the vehicle in the circulation line is moved to a separate parking place, and in the case of changing to a senior priority, the existing vehicle is moved from the circulation line according to the order of exit, and then the vehicle changed to the priority enters.

Hereinafter, a method for managing parking of an autonomous vehicle according to an embodiment of the present invention will be described. 6 is a flowchart of a method for managing parking of an autonomous vehicle according to an embodiment of the present invention. Here, descriptions that overlap with the above-described parts will be excluded.

Referring to FIG. 6 , in the method for managing parking of an autonomous vehicle according to an embodiment of the present invention, the step of specifying a group according to the departure time of the autonomous vehicle (s10), the autonomous vehicle is separated and moved according to the designated group Step (s20), the step of stopping or moving the autonomous vehicle belonging to the uppermost group on the circulation line (s30), and the step of sequentially taking out the autonomous vehicle belonging to the uppermost group (S40) is performed.

In this case, as described above, the step of stopping or moving the autonomous driving vehicle belonging to the highest group on the circulation line ( s30 ) may further include a step in which the order of taking-out of the autonomous driving vehicle is changed.

In addition, the circulation line further includes a waiting line, and when the un-parking order of the autonomous vehicle is changed, changing the un-parking order by moving at least one of the autonomous vehicles traveling on the circulation line to the waiting line has already been described. It's like a bar.

Furthermore, in the step (s30) in which the autonomous driving vehicle belonging to the highest group stops or moves on the circulation line, the autonomous driving vehicle disposed in the circulation line is laterally designated as the highest level autonomous driving vehicle in the circulation line before the autonomous driving vehicle enters the circulation line. Move to adjust the order of departure.

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms are used, these are only used in a general sense to easily explain the technical content of the present invention and help the understanding of the present invention. , it is not intended to limit the scope of the present invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

1000: a parking management system for an autonomous vehicle
100, C1~C10: Autonomous vehicle
A1: circulation line
A2: Waiting line
110: input unit
120; sensing unit
121: radar
122: lidar
123: camera
124: GPS
130: communication department
131: remote communication module
132: short-distance communication module
140: control unit
150: drive unit
200: parking server
210: group judgment module
220: vehicle arrangement module
230: batch conversion module
240: group conversion module
300: user terminal

Claims (5)

In the parking management method of the autonomous vehicle,
designating a group according to the departure time of the autonomous vehicle;
Separating the autonomous vehicle according to the designated group;
A step of stopping or moving any one of the autonomous vehicles belonging to the highest group in the circulation line; and
sequentially taking out autonomous vehicles belonging to the highest group;
including,
The circulation line is made to further include a spaced apart waiting line, the circulation line and the waiting line are arranged to be able to rotate 360 degrees relative to the center,
The parking management method of the autonomous driving vehicle, characterized in that when the order of taking out of the autonomous driving vehicle is changed, at least one of the autonomous driving vehicles traveling on the circulation line is moved to the standby line.
delete According to claim 1,
The method of claim 1, wherein the step of stopping or moving the autonomous vehicle belonging to the uppermost group on the circulation line further comprises changing an exit order of the autonomous vehicle.
delete According to claim 1,
In the step in which the autonomous driving vehicle belonging to the uppermost group stops or moves at the circulation line, the autonomous driving vehicle arranged in the circulation line moves from the circulation line before the autonomous driving vehicle designated as the uppermost group subsequently enters the circulation line and exits the vehicle A parking management method of an autonomous vehicle, characterized in that adjusting

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