KR102516965B1 - Autonomous Parking System and Method - Google Patents

Abstract

The present invention relates to an autonomous parking system and method, and the system according to the present invention includes three or more wireless sensors for receiving parking lot wireless signals transmitted from parking lot sensors installed on each parking surface of a parking lot - the three or more wireless sensors Mounted at a predetermined location of the vehicle - And processing the parking lot radio signals received from the three or more wireless sensors to obtain the distance between each parking surface and the vehicle, and among the parking surfaces determined to be available for parking, the distance to the vehicle is and a control unit generating a parking trace by selecting the nearest parking surface as a target parking surface. According to the present invention, it is possible to provide an autonomous parking system and method for efficiently autonomous parking while using low-cost lidar sensors for obstacle detection and low-cost wireless sensors.

Description

Autonomous Parking System and Method {Autonomous Parking System and Method}

The present invention relates to an autonomous parking system and method, and more particularly, to an autonomous parking system and method capable of performing autonomous parking by linking obstacle detection using a rider with TDOA-based distance measurement.

In general, parking of a vehicle is done only by the driver's vision and experience. Recently, due to the development of technology, it is possible to accurately measure distances and secure spaces for parking, making it possible to park more quickly and safely. Due to such technological development, research on unmanned parking is being conducted in various aspects.

Until now, most autonomous parking systems have been image-based systems that identify parking surfaces and calculate parking trajectories by processing images captured by cameras installed in vehicles. However, such a conventional image processing-based autonomous parking system requires expensive equipment for image processing or uses a large number of sensors, and has a large amount of computation.

A technical problem to be solved by the present invention is to provide an autonomous parking system and method capable of performing autonomous parking by linking obstacle detection using a low-cost lidar sensor and TDOA-based distance measurement using a low-cost wireless sensor.

An autonomous parking system according to the present invention for solving the above technical problem is three or more wireless sensors for receiving parking lot wireless signals transmitted from parking sensors installed on each parking surface of a parking lot - the three or more wireless sensors are Mounted at a predetermined location - And processing the parking lot wireless signals received from the three or more wireless sensors to obtain the distance between each parking surface and the vehicle, and among the parking surfaces determined to be available for parking, the closest distance to the vehicle and a control unit generating a parking trace by selecting a parking surface as a target parking surface.

The parking lot radio signal may include parking surface identification information, parking surface size information, and location information of a parking sensor on the parking surface.

A lidar sensor mounted on the vehicle may be further included.

The control unit may generate a parking trajectory by processing a parking lot wireless signal transmitted from a parking lot sensor installed on the target parking surface received through the three or more wireless sensors.

When an obstacle is detected on the parking trajectory through the LIDAR sensor, the control unit may correct the parking trajectory or modify a target parking surface to another parking surface determined to be where the vehicle is not parked.

An autonomous parking method according to the present invention for solving the above technical problem is a step of receiving a parking lot wireless signal transmitted from parking sensors installed on each parking surface of a parking lot using three or more wireless sensors - the above three or more The wireless sensor is mounted at a predetermined location of the vehicle - Step of processing the parking lot wireless signals received from the three or more wireless sensors to obtain the distance between the parking surface and the vehicle, among the parking surfaces determined to be available for parking, the vehicle and selecting a parking surface having a closest distance to the target parking surface as the target parking surface, and generating a parking trace for the selected target parking surface.

According to the present invention, it is possible to provide an autonomous parking system and method for efficiently autonomous parking while using low-cost lidar sensors for obstacle detection and low-cost wireless sensors.

1 is a configuration diagram of an autonomous parking system according to an embodiment of the present invention.
2 is a conceptual diagram for explaining the operation of an autonomous parking system according to an embodiment of the present invention.
3 is a flowchart for explaining the operation of an autonomous parking system according to an embodiment of the present invention.

Then, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice the present invention.

1 is a configuration diagram of an autonomous parking system according to an embodiment of the present invention, and FIG. 2 is a conceptual diagram for explaining the operation of the autonomous parking system according to an embodiment of the present invention.

Referring to FIG. 1 , the autonomous parking system according to the present invention may include a parking management server 100, a plurality of parking sensors 200, and a vehicle system 300.

The vehicle system 300 may include a plurality of wireless sensors 310, lidar sensors 320, and a controller 330.

The parking management server 100 manages a plurality of parking lot sensors 200, and vehicle parking information for a corresponding parking surface from the parking lot sensor 200 - for example, information on whether the corresponding parking surface is empty or a vehicle is parked - can be provided.

The parking lot manager can check parking management information by accessing the parking management server 100 through his/her portable terminal or computer. A user, such as a driver, may also access the parking management server 100 through his/her portable terminal or computer to check parking surface information available for parking.

Parking management server 100 may be connected to a plurality of parking sensors 200 and wired or wireless to exchange various information and data.

A plurality of parking sensors 200 may be installed on each parking surface (P1, P2, P3) of the parking lot. The plurality of parking sensors 200 may be implemented as a wireless communication device capable of communicating with the wireless sensor 310 installed in the vehicle through an RF signal or a Bluetooth Low Energy (BLE) signal.

In addition, the plurality of parking sensors 200 may include an infrared sensor or an ultrasonic sensor for detecting whether or not the vehicle is parked on the parking surface where they are installed according to the embodiment.

The plurality of parking sensors 200 may periodically transmit parking radio signals. Here, the parking lot radio signal may include parking surface identification information, parking surface size information, and location information of a parking sensor on the parking surface. And according to the embodiment, the parking lot wireless signal may also include vehicle parking information of the corresponding parking surface.

A plurality of parking sensors 200 may be installed in a predetermined position on each parking surface, for example, at the center of the parking surface. Therefore, if information on the parking surface size (width and width) is known, position information of each corner of the corresponding parking surface can be obtained with the parking lot sensor 200 as the center.

A plurality of wireless sensors 310 can be implemented as a wireless communication device capable of transmitting and receiving RF signals or BLE signals in conjunction with the parking lot sensor 200. At least three or more wireless sensors 310 may be installed at predetermined locations in the vehicle 10 . For example, one wireless sensor 310 may be installed on the left and right sides of the vehicle front bumper, and one wireless sensor 310 may be installed in the central portion of the vehicle rear bumper. Of course, a total of four wireless sensors 310, one each on the left and right sides of the front bumper of the vehicle and one each on the left and right sides of the rear bumper of the vehicle, may also be mounted on the vehicle. In addition to what is exemplified here, the wireless sensor 310 may be mounted at an appropriate location.

The control unit 330 may know in advance information about the size of the vehicle and information about the location where the wireless sensor 310 is installed in the vehicle, and obtain information about the size of the corresponding parking surface from a parking lot signal.

The control unit 330 uses the time difference at which the parking lot signal is received from three or more wireless sensors 310, that is, the arrival time difference of the parking lot signal (TDOA: Time-Difference-of-Arrival) to park the parking lot sensor 200 is installed. The distance between the center of the face and the center of the vehicle can be calculated.

The control unit 330 may calculate the distance from the center of the parking surface to the center of the vehicle 10 for all parking surfaces installed in the parking lot, and according to the embodiment, referring to the vehicle parking information included in the parking lot wireless signal The distance between the center of the parking surface and the center of the vehicle may be calculated only for this non-parked parking surface.

The controller 330 may select a parking surface that is closest to the vehicle and is not parked as a target parking surface. Hereinafter, it is assumed that the parking surface P2 is selected as the target parking surface and described.

The control unit 330 may obtain a line L that satisfies the distance D2 between the target parking surface P2 and the center of the vehicle, and the distances D1 and D3 between the neighboring parking surfaces P1 and P3 and the center of the vehicle. there is. The line (L) is in the same direction as the entry line (AB) of the parking surface (P2).

Accordingly, the controller 330 may obtain relative positional information between the target parking surface P2 and the vehicle by using the parking surface size information, the distance information D2, and the direction information of the access line AB. Of course, relative positional information between the entry points A and B of the target parking surface P2 and the vehicle may also be obtained.

Meanwhile, the control unit 330 may also calculate distance information between the center of the parking surface where the parking sensor 200 is installed and each corner of the vehicle. The controller 330 calculates the distance information between the center of the parking surface and the center of the vehicle and the distance between the center of the parking surface and each corner of the vehicle in the same manner as above for the plurality of parking surfaces P1, P2, and P3. can The control unit 330 may obtain relative position information of each parking surface (P1, P2, P3) and the vehicle using this information.

The LIDAR sensor 320 is a device capable of obtaining 3D space information by scanning the surroundings of the vehicle, and can detect obstacles around the vehicle. Although the lidar sensor 320 is illustrated as being located in the center of the vehicle in FIG. 2 , the attachment position of the lidar sensor 320 may vary depending on the embodiment.

The control unit 330 processes the parking lot wireless signals received from three or more wireless sensors 310 to estimate the relative position of each parking surface and the vehicle, and detects the vehicle based on the obstacle information obtained through the lidar sensor 320. You can also select a target parking surface to park on.

In detail, the controller 330 may detect a parking surface on which the vehicle is not parked through the lidar sensor 320 . Alternatively, the control unit 330 may be implemented to determine whether a vehicle is parked on a corresponding parking surface through vehicle parking information included in a parking lot wireless signal. The controller 330 may select, as a target parking surface, a parking surface on which the vehicle is not parked and the closest distance to the vehicle.

The control unit 330 may generate a parking trajectory by processing a parking lot wireless signal transmitted from the parking lot sensor 200 installed on the target parking surface received through three or more wireless sensors 310. At this time, information on the previously obtained target parking surface P2, entry points A and B, and entry line AB can be used.

Meanwhile, when an obstacle is detected on the parking trajectory through the lidar sensor 320, the control unit 330 may correct the parking trajectory or modify the target parking surface to another parking surface determined to be where the vehicle is not parked.

The controller 330 may control the vehicle to park on a target parking surface according to a driving trajectory in association with a driving control system of the vehicle, for example, an electronic control unit (ECU).

3 is a flowchart for explaining the operation of an autonomous parking system according to an embodiment of the present invention.

Referring to Figure 3, when entering the parking lot first, the vehicle can receive parking lot wireless signals transmitted from the parking lot sensors 200 installed on each parking surface of the parking lot using three or more wireless sensors 310 ( S310).

After that, the control unit 330 of the vehicle may process the parking lot wireless signal received from three or more wireless sensors 310 to obtain the distance between each parking surface and the vehicle (S320). In step S320, obtaining a distance from the vehicle may be omitted for the parking surface where the vehicle is parked. Whether or not the vehicle is parked on the parking surface may be determined by using vehicle parking information included in a parking lot wireless signal or obstacle information obtained through a rider signal according to an embodiment.

Also, the controller 330 may select, as a target parking surface, a parking surface having the closest distance to the vehicle among parking surfaces determined to be available for parking (S330).

Next, the control unit 330 receives and processes the parking lot wireless signal transmitted from the parking lot sensor 200 installed on the target parking surface through three or more wireless sensors 310 to determine the relative position of the vehicle and the target parking surface. While doing so, it is possible to generate a parking trajectory (S340).

On the other hand, when an obstacle is detected on the parking trajectory through the lidar sensor 320 (S350), the controller 330 can correct the parking trajectory or modify the target parking surface to another parking surface determined to be where the vehicle is not parked. (S360).

The embodiments described above may be implemented as hardware components, software components, and/or a combination of hardware components and software components. For example, the devices, methods and components described in the embodiments may include, for example, a processor, a controller, an arithmetic logic unit (ALU), a digital signal processor, a microcomputer, a field programmable gate (FPGA). array), programmable logic units (PLUs), microprocessors, or any other device capable of executing and responding to instructions. A processing device may run an operating system (OS) and one or more software applications running on the operating system. A processing device may also access, store, manipulate, process, and generate data in response to execution of software. For convenience of understanding, there are cases in which one processing device is used, but those skilled in the art will understand that the processing device includes a plurality of processing elements and/or a plurality of types of processing elements. It can be seen that it can include. For example, a processing device may include a plurality of processors or a processor and a controller. Other processing configurations are also possible, such as parallel processors.

Software may include a computer program, code, instructions, or a combination of one or more of the foregoing, which configures a processing device to operate as desired or processes independently or collectively. The device can be commanded. Software and/or data may be any tangible machine, component, physical device, virtual equipment, computer storage medium or device, intended to be interpreted by or provide instructions or data to a processing device. may be permanently or temporarily embodied in Software may be distributed on networked computer systems and stored or executed in a distributed manner. Software and data may be stored on one or more computer readable media.

The method according to the embodiment may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer readable medium. The computer readable medium may include program instructions, data files, data structures, etc. alone or in combination. Program commands recorded on the medium may be specially designed and configured for the embodiment 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. - includes hardware devices 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 high-level language codes that can be executed by a computer using an interpreter, as well as machine language codes such as those produced by a compiler. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

As described above, although the embodiments have been described with limited drawings, those skilled in the art can apply various technical modifications and variations based on the above. For example, the described techniques may be performed in an order different from the method described, and/or components of the described system, structure, device, circuit, etc. may be combined or combined in a different form than the method described, or other components may be used. Or even if it is replaced or substituted by equivalents, appropriate results can be achieved.

Claims (9)

delete Three or more wireless sensors that receive parking lot wireless signals transmitted from parking sensors installed on each parking surface of the parking lot - the three or more wireless sensors are mounted at predetermined locations of the vehicle - and
The distance between each parking surface and the vehicle is obtained by processing the parking lot wireless signals received from the three or more wireless sensors, and among the parking surfaces determined to be parkable, the parking surface having the closest distance to the vehicle is selected as the target parking surface Control unit for generating parking traces
including,
The parking lot radio signal includes parking surface identification information, parking surface size information, and position information of the parking lot sensor on the parking surface.
In paragraph 2,
Lidar sensor mounted on the vehicle
An autonomous parking system further comprising a.
In paragraph 3,
The control unit,
An autonomous parking system for generating a parking trajectory by processing a parking lot wireless signal transmitted from a parking lot sensor installed on the target parking surface received through the three or more wireless sensors.
In paragraph 4,
The control unit,
When an obstacle is detected on the parking trajectory through the lidar sensor, the autonomous parking system corrects the parking trajectory or corrects the target parking surface to another parking surface determined to be where the vehicle is not parked.
delete Receiving a parking lot wireless signal transmitted from parking sensors installed on each parking surface of the parking lot using three or more wireless sensors - the three or more wireless sensors are mounted in a predetermined position of the vehicle -,
Processing the parking lot wireless signals received from the three or more wireless sensors to obtain a distance between the parking surface and the vehicle;
Selecting, as the target parking surface, a parking surface having the closest distance to the vehicle among parking surfaces determined to be available for parking; and
Generating a parking trajectory for the selected target parking surface
including,
The parking lot radio signal is an autonomous parking method including parking surface identification information, parking surface size information, and position information of a parking lot sensor on a parking surface.
In paragraph 7,
The autonomous parking method further comprising generating a parking trajectory by processing a parking lot wireless signal transmitted from a parking lot sensor installed on the target parking surface received through the three or more wireless sensors.
In paragraph 8,
When an obstacle is detected on the parking trajectory through the lidar sensor, the autonomous parking method of correcting the parking trajectory or modifying a target parking surface to another parking surface determined to be where the vehicle is not parked.

Images