KR102645253B1 - Control device and method for autonomous parking vehicle, and autonomous parking control method - Google Patents

Abstract

In one embodiment, a method of controlling a vehicle includes the steps of: receiving a message requesting to secure an exit space for a vehicle scheduled to exit a parking space; moving the vehicle to a movement space that is outside the expected route of the vehicle taking out the vehicle; Receiving driving information generated during the process of taking out the vehicle; and searching the out-of-parking driving information in the reverse direction to generate autonomous parking driving information and parking the vehicle in the parking space according to the autonomous parking driving information.

Description

Control device for autonomous parking vehicles, control method for autonomous parking vehicles, and autonomous parking control method {CONTROL DEVICE AND METHOD FOR AUTONOMOUS PARKING VEHICLE, AND AUTONOMOUS PARKING CONTROL METHOD}

This embodiment relates to autonomous parking technology.

Situations may arise where it is difficult to exit the vehicle due to reasons such as double parking. At this time, the owner of the exiting vehicle must contact the owner of the double-parked vehicle by phone or other means and then request mobile parking from the owner of the double-parked vehicle. However, due to various reasons, a situation may arise where it is not possible to contact the owner of the double-parked vehicle, or even if contact is made with the owner of the double-parked vehicle, it may be difficult to request mobile parking due to the long distance.

To deal with this problem, the gear state of double parking can be kept in neutral, but it is difficult to see it as an appropriate response as damage to the vehicle often occurs when manually adjusting the position of double parking. Another method is to entrust the keys of double-parked vehicles to a manager, but there is a risk of theft because it is difficult to individually verify the manager's identity.

Recently, as research on autonomous driving technology progresses, technology for moving vehicles without a driver is being introduced, but it is difficult to apply in spaces where vehicles are dense because the level of spatial awareness or control is not high. For example, it may be difficult to apply current autonomous driving technology in a situation where the exit space where vehicles are double-parked is narrow. In addition, it is even more difficult to apply current technology in situations where two vehicles must cooperate to solve a problem (the above-mentioned situation).

Against this background, the purpose of this embodiment is, in one aspect, to provide a technology for securing space for an exiting vehicle in a narrow space. In another aspect, the purpose of this embodiment is to provide technology for autonomously parking another vehicle in the space secured by leaving one vehicle. In another aspect, the purpose of this embodiment is to provide technology that enables efficient use of parking spaces through cooperative control of two vehicles.

In order to achieve the above-described object, one embodiment provides a method for controlling a vehicle, comprising: receiving a request message for securing a parking space for a vehicle scheduled to be pulled out of a parking space; moving the vehicle to a movement space that is outside the expected route of the vehicle taking out the vehicle; Receiving driving information generated during the process of taking out the vehicle; and searching the out-of-parking driving information in the reverse direction to generate autonomous parking driving information and parking the vehicle in the parking space according to the autonomous parking driving information.

The vehicle control method may further include the step of searching the moving space using spatial data obtained from a space measurement sensor before moving the vehicle.

The vehicle control method may further include, before moving the vehicle, estimating the expected route of the vehicle taking out the vehicle using the spatial data.

The departure driving information may include steering information at each location of the departure vehicle.

The parking path included in the autonomous parking driving information may be close to the parking path included in the parking departure driving information within a preset error range.

The vehicle departure driving information may be received in real time during the vehicle departure process.

The space measurement sensor may include a camera or LiDAR sensor.

The spatial data may be calculated by a SLAM (Simutaneous Localization and Mapping) algorithm that uses measurement data generated from the spatial measurement sensor.

Another embodiment includes a communication data acquisition unit that receives a message requesting to secure a space for a vehicle scheduled to be pulled out of a parking space; and moving the vehicle to a moving space that is outside the expected route of the taking-out vehicle in response to the request to secure the taking-out space, receiving the taking-out driving information generated in the taking-out process of the taking-out vehicle, and transmitting the taking-out driving information in a reverse direction. Provides a vehicle control device including a vehicle control unit that generates autonomous parking driving information by searching and parking the vehicle in the parking space according to the autonomous parking driving information.

The communication data acquisition unit may receive the vehicle departure space securing request message and the vehicle departure driving information from a server that is connected to the vehicle through communication.

The vehicle control device may further include a sensing data acquisition unit that acquires measurement data generated by a space measurement sensor.

The vehicle control unit may park the vehicle in the parking space and then transmit an autonomous parking completion message to the owner terminal of the vehicle using the communication data acquisition unit.

In another embodiment, the second vehicle receives a message requesting to secure a parking space for the first vehicle scheduled to exit the parking space; Controlling the movement of the second vehicle to a movement space that is away from the expected exit path of the first vehicle; transmitting driving information generated when the first vehicle takes out the vehicle to the second vehicle; And providing an autonomous parking control method including the step of the second vehicle searching the departure driving information in the reverse direction to generate autonomous parking driving information and controlling parking in the parking space according to the autonomous parking driving information.

The autonomous parking control method may further include transmitting a vehicle movement completion message to the first vehicle after the second vehicle is controlled to move into the movement space.

The first vehicle and the second vehicle may transmit and receive the vehicle-to-vehicle space securing request message and the vehicle-to-vehicle (V2V) communication.

Another embodiment is a method of controlling a vehicle, comprising: receiving a message requesting to secure an exit space for a vehicle scheduled to exit a parking space; moving the vehicle to a movement space that is outside the expected route of the vehicle taking out the vehicle; Generating out-of-park driving information for the out-of-park vehicle using a space measurement sensor; and searching the out-of-parking driving information in the reverse direction to generate autonomous parking driving information and parking the vehicle in the parking space according to the autonomous parking driving information.

The departure driving information may include trajectory information during the departure process of the departure vehicle.

The space measurement sensor may include a distance measurement sensor that measures the distance to an object.

In the step of generating the autonomous parking driving information, the vehicle control method generates an autonomous parking trajectory by generating the trajectory in the reverse direction of the trajectory of the outgoing vehicle included in the trajectory information, and inserts the autonomous parking trajectory into the autonomous parking driving information. Can be included.

As described above, according to this embodiment, it is possible to secure an exit space for an exit vehicle in a narrow space. And, according to this embodiment, another vehicle can be autonomously parked in the space secured by leaving one vehicle. And, according to this embodiment, two vehicles can be controlled cooperatively to efficiently use the parking space.

1 is a diagram showing a parking situation according to an embodiment.
Figure 2 is a flowchart of an autonomous parking control method according to an embodiment.
Figure 3 is a configuration diagram of a control device for a first vehicle according to an embodiment.
Figure 4 is a configuration diagram of a control device for a second vehicle according to an embodiment.
Figure 5 is a flowchart of a first example of an autonomous parking control method according to an embodiment.
Figure 6 is a diagram showing the second vehicle moving and parking in the first example.
Figure 7 is a diagram showing the first vehicle leaving the vehicle in the first example.
Figure 8 is a diagram showing autonomous parking of the second vehicle in the first example.
Figure 9 is a flowchart of a second example of an autonomous parking control method according to an embodiment.
Figure 10 is a diagram showing the second vehicle generating departure driving information in the second example.

Hereinafter, some embodiments of the present invention will be described in detail through illustrative drawings. When adding reference numerals to components in each drawing, it should be noted that identical components are given the same reference numerals as much as possible even if they are shown in different drawings. Additionally, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description will be omitted.

Additionally, when describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are only used to distinguish the component from other components, and the nature, sequence, or order of the component is not limited by the term. When a component is described as being “connected,” “coupled,” or “connected” to another component, that component may be directly connected or connected to that other component, but there is another component between each component. It will be understood that elements may be “connected,” “combined,” or “connected.”

1 is a diagram showing a parking situation according to an embodiment.

Referring to FIG. 1, the space 10 may include a parking space 20, an exit space 30, and a movement space 40.

A plurality of parking spaces 20 may be preset in the space 10, and one vehicle may be parked in each parking space 20.

When one of the vehicles parked in each parking space 20 is scheduled to leave, this vehicle may be named the exit vehicle 110.

The vehicle 110 may be taken out through the parking space 30 formed around the parking space 20 . The exit space 30 may be set to reflect in advance the surroundings of the parking space 20 during the design of the space 10, and may be set by the autonomous driving algorithm of the exit vehicle 110 or the driver of the exit vehicle 110. It can be set arbitrarily by recognition.

Meanwhile, a parked vehicle 120 that blocks the exit path of the vehicle 110 in the parking space 20 may be parked in the parking space 30 . In order to allow the exiting vehicle 110 to move to the exiting space 30, the parked vehicle 120 must move to the moving space 40, etc. Here, the movement space 40 can be understood as a space where the parked vehicle 120 can move while driving, and as a space that does not interfere with the exit of the vehicle 110.

According to one embodiment, the unparked vehicle 110 or the driver terminal of the unparked vehicle 110 may transmit a request message for securing an unparked space to the parked vehicle 120 or the driver terminal of the parked vehicle 120 through communication. The out-of-parking vehicle 110 can transmit a request to secure an out-of-parking space to the parked vehicle 120 through V2V (vehicle-to-vehicle) communication, and send the out-of-parking space to the parked vehicle 120 through communication with the server 130. A security request message can be sent. The driver terminal of the out-of-park vehicle 110 may transmit a request to secure an out-of-park space to the parked vehicle 120 or the driver terminal of the parked vehicle 120, and may also transmit the message through communication with the server 130.

When a request message for securing an exit space is received, the parked vehicle 120 can be moved and parked in the moving space 40. The parked vehicle 120 can be moved and parked in the moving space 40 by autonomous driving technology, and can be moved and parked in the moving space 40 by the driver's selection.

The moving space 40 may not be a preset space. The parked vehicle 120 can explore the moving space 40 through recognition of the surrounding space. The parked vehicle 120 can calculate the expected exit route of the exiting vehicle 110. The control device of the parked vehicle 120 may recognize the location of the parked vehicle 110 and the shape of the surrounding space to calculate the expected route of the parked vehicle 110. Additionally, the parked vehicle 120 can set the movement space 40 among spaces that deviate from the expected exit route.

After the parked vehicle 120 moves to the movement space 40, the exiting vehicle 110 can exit through the exiting space 30.

During the process of unloading the unloading vehicle 110, unloading driving information may be generated. For example, the departure driving information may include the departure trajectory of the departure vehicle 110. Alternatively, the departure driving information may include steering information at each location on the departure route, called a waypoint.

The departure driving information may be generated by the departure vehicle 110 or the parked vehicle 120.

The departure vehicle 110 may generate departure trajectory and/or steering information using internal control information and internal sensing information, and use this to generate departure driving information.

The parked vehicle 120 can recognize the movement of the vehicle 110 in the parking space 30 . For example, the parked vehicle 120 includes a space measurement sensor and can recognize the movement of the parking vehicle 110 using measurement data obtained through the space measurement sensor. And, using the data recognized in this way, the parked vehicle 120 can generate out-of-park driving information of the out-of-park vehicle 110. Here, the moving space 40 may be an advantageous location for the parked vehicle 120 to view the parking space 30 . For example, when the parked vehicle 120 recognizes the movement of the parking vehicle 110 using radar, the parking vehicle 120 moving and parked in the moving space 30 is within the radar recognition range of the parking vehicle 110 taking out the parking space 30. This may be included.

The parked vehicle 120 can obtain this parking driving information and search the parking driving information in the reverse direction to generate autonomous parking driving information. Autonomous parking driving information may include, for example, a parking trajectory and steering information on the parking path.

For example, the parking trajectory may be the same as the parking trajectory, but only in the opposite direction. In other words, the parking path may be substantially the same as the exit path. Because there may be differences in calculation errors and surrounding conditions, the parking route may be close to the exit route within a preset error range.

The provision information in the exit route and the steering information in the parking route may also be substantially similar. Steering control may be somewhat different depending on the type of exiting vehicle 110 and parked vehicle 120, and steering information in the parking path may be generated by reflecting this difference in steering control.

The parked vehicle 120 can be autonomously parked in the parking space 20 according to autonomous parking driving information.

Figure 2 is a flowchart of an autonomous parking control method according to an embodiment.

Referring to FIG. 2, two vehicles 110 and 120 can perform autonomous parking through cooperative control. The first vehicle 110 may be the above-mentioned outgoing vehicle, and the second vehicle 120 may be the above-described parked vehicle.

The first vehicle 110 may transmit a request for securing an exit space to the second vehicle 120 in order to secure an exit space (S202).

The second vehicle 120 may perform a space securing maneuver in response to the vehicle exit space securing request message (S204).

The space securing operation includes, for example, estimating the expected departure path of the first vehicle 110, designating a space that can be moved in a space outside the expected departure path as the movement space, and setting the second vehicle 120 as the movement space. It may include a step of moving to .

The second vehicle 120 includes a space measurement sensor and can search the moving space using spatial data obtained from the space measurement sensor, and estimates the expected exit path of the first vehicle 110 using the spatial data. can do. Here, the spatial measurement sensor may be, for example, a camera, a radar sensor, or a lidar sensor. The second vehicle 120 may be equipped with a Simutaneous Localization and Mapping (SLAM) algorithm, and spatial data can be calculated using the SLAM algorithm that uses measurement data generated from a spatial measurement sensor.

The second vehicle 120 may transmit a mobile parking completion message to the first vehicle 110 after completing mobile parking (S205), but step S205 may not be performed.

The first vehicle 110 can confirm that the parking space has been secured by receiving the mobile parking completion message or can confirm that the parking space has been secured through spatial data confirmed through a space measurement sensor (S206).

Additionally, the first vehicle 110 may transmit the vehicle departure driving information generated during the vehicle exit process to the second vehicle 120 (S209) while exiting the vehicle (S208). In an embodiment in which the first vehicle 110 does not transmit out-of-park driving information, the second vehicle 120 may generate out-of-park driving information for the first vehicle 110 on its own.

Also, the second vehicle 120 can autonomously park in the parking space secured through the exit of the first vehicle 110 (S210).

The second vehicle 120 can generate autonomous parking driving information by searching the out-of-park driving information in the reverse direction and autonomously park in a parking space according to the autonomous parking driving information.

FIG. 3 is a configuration diagram of a control device for a first vehicle according to an embodiment, and FIG. 4 is a configuration diagram of a control device for a second vehicle according to an embodiment.

Referring to Figures 3 and 4, the first vehicle control device 300 may include a communication data acquisition unit 312, a sensing data acquisition unit 314, and a vehicle control unit 316, and the second vehicle control unit The device 400 may include a communication data acquisition unit 422, a sensing data acquisition unit 424, and a vehicle control unit 326. For convenience of explanation, hereinafter, 'first' is added to the configuration of the first vehicle control device 300, and 'second' is added to the configuration of the second vehicle control device 400.

The first communication data acquisition unit 312 can transmit and receive messages and/or information to the second communication data acquisition unit 422 through V2V communication or communication with a server. For example, the first communication data acquisition unit 312 may transmit a request message for securing a parking space to the second communication data acquisition unit 422, and receive a vehicle movement completion message from the second communication data acquisition unit 4220. Also, the first communication data acquisition unit 312 can transmit the vehicle departure driving information to the second communication data acquisition unit 422.

The first sensing data acquisition unit 314 can acquire measurement data generated from a space measurement sensor. In addition, the second sensing data acquisition unit 424 can also acquire measurement data generated by the space measurement sensor.

The first vehicle control unit 316 can generate spatial data using the measurement data and search for a vehicle exit route according to the spatial data. In addition, the first vehicle control unit 316 may generate and store exit driving information including the exit route and/or steering information while exiting the vehicle along the exit route.

This vehicle departure driving information may be transmitted to the second vehicle control unit 426 through real-time communication, and may be transmitted to the second vehicle control unit 426 when vehicle departure is completed.

The second vehicle control unit 426 can predict the expected exit route of the first vehicle in response to the exit space securing request message. At this time, the second vehicle control unit 426 can predict the expected vehicle departure route based on spatial data generated using measurement data.

In addition, the second vehicle control unit 426 can search for a moving space that is outside the expected vehicle departure route and move the second vehicle to the moving space.

In addition, the second vehicle control unit 426 searches in the reverse direction the driving information generated in the process of taking out the vehicle, generates autonomous parking driving information, and parks the second vehicle in the parking space according to the autonomous parking driving information. there is.

After parking in the parking space is completed, the second vehicle control unit 426 can transmit an autonomous parking completion message to the owner terminal of the second vehicle using the second communication data acquisition unit 422.

A parked vehicle according to an embodiment may generate autonomous parking driving information by searching the out-of-park driving information in the reverse direction. In a first example, the out-of-parking driving information is generated by the first vehicle and the out-of-parking driving information is generated by the second vehicle. A second example is explained.

FIG. 5 is a flowchart of a first example of an autonomous parking control method according to an embodiment, FIG. 6 is a diagram showing the second vehicle moving and parking in the first example, and FIG. 7 is a flowchart showing the first vehicle leaving the vehicle in the first example. This is a diagram showing how to do this, and FIG. 8 is a diagram showing the second vehicle autonomously parking in the first example.

Referring to FIGS. 5 to 8 , the second vehicle 120 may directly or indirectly receive a request to secure a parking space from the first vehicle 110 that is scheduled to exit the parking space 20 (S502). Here, indirect may mean communication through the server 130.

When a request message for securing a parking space is received, the second vehicle 120 can perform a mobile parking maneuver as shown in FIG. 6 .

The second vehicle 120 can search for a moving space 40 that deviates from the expected exit path of the first vehicle 110 (S504), and when the moving space 40 is searched, it moves and parks in the moving space 40. You can do it (S506).

Then, the second vehicle 120 can transmit a vehicle movement completion message to the first vehicle 110 (S508).

The first vehicle 110 can check whether the parking space 30 has been secured by the moving parking of the second vehicle 120 (S510).

Then, the first vehicle 110 can exit the vehicle through the vehicle exit space 30, and the first vehicle 110 can store steering data generated during the vehicle exit process (S512).

And, the first vehicle 110 can transmit exit driving information including steering data to the second vehicle 120 (S514).

As shown in FIG. 7 , the vehicle departure driving information may include information about the vehicle departure path 710 and may include steering data at each location of the vehicle departure path 710.

The second vehicle 120 can generate autonomous parking driving information by searching the exiting driving information in the reverse direction and control parking in the parking space 20 according to the autonomous parking driving information (S516).

The autonomous parking driving information may include information about the parking path 810, as shown in FIG. 8, and may include steering data at each location of the parking path 810.

FIG. 9 is a flowchart of a second example of an autonomous parking control method according to an embodiment, and FIG. 10 is a diagram showing a second vehicle generating departure driving information in the second example.

Referring to FIGS. 9 and 10 , the second vehicle 120 may directly or indirectly receive a request to secure a parking space from the first vehicle 110 that is scheduled to exit the parking space 20 (S902).

When the parking space securing request message is received, the second vehicle 120 can perform a mobile parking maneuver.

The second vehicle 120 can search for a moving space 40 that deviates from the expected exit path of the first vehicle 110 (S904), and when the moving space 40 is searched, it moves and parks in the moving space 40. You can do it (S906).

The first vehicle 110 can check whether the parking space 30 has been secured by the moving parking of the second vehicle 120 (S908). At this time, the first vehicle 110 can recognize the movement of the second vehicle 120 and check whether the exit space 30 has been secured.

Then, the first vehicle 110 can exit the vehicle through the vehicle exit space 30 (S910).

As shown in FIG. 10, the second vehicle 120 is in a position to recognize the movement of an object in the parking space 30, and recognizes the movement of the first vehicle 110 to detect the movement of the first vehicle 110. Outgoing driving information can be generated (S912). The second vehicle 120 may use a space measurement sensor, and the space measurement sensor may include a distance measurement sensor that measures the distance to an object.

In addition, the second vehicle 120 can generate autonomous parking driving information by searching the exiting driving information in the reverse direction and control parking in the parking space 20 according to the autonomous parking driving information (S914).

As described above, according to this embodiment, it is possible to secure an exit space for an exit vehicle in a narrow space. And, according to this embodiment, another vehicle can be autonomously parked in the space secured by leaving one vehicle. And, according to this embodiment, two vehicles can be controlled cooperatively to efficiently use the parking space.

Terms such as “include,” “comprise,” or “have,” as used above, mean that the corresponding component may be included, unless specifically stated to the contrary, and do not exclude other components. It should be interpreted that it may further include other components. All terms, including technical or scientific terms, unless otherwise defined, have the same meaning as generally understood by a person of ordinary skill in the technical field to which the present invention pertains. Commonly used terms, such as terms defined in a dictionary, should be interpreted as consistent with the meaning in the context of the related technology, and should not be interpreted in an idealized or overly formal sense unless explicitly defined in the present invention.

The above description is merely an illustrative explanation of the technical idea of the present invention, and various modifications and variations will be possible to those skilled in the art without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but are for illustrative purposes, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted in accordance with the claims below, and all technical ideas within the equivalent scope should be construed as being included in the scope of rights of the present invention.

Claims (15)

In a method of controlling a vehicle,
A step of the parked vehicle receiving a message requesting to secure an exit space for a vehicle scheduled to exit the parking space;
Searching, by the parked vehicle, for a movement space that is deviating from the expected exit path of the exiting vehicle using spatial data obtained from a space measurement sensor;
moving the parked vehicle to the moving space;
Receiving, by the parked vehicle, driving information generated during the process of taking out the vehicle; and
Searching the out-of-parking driving information in the reverse direction to generate autonomous parking driving information and parking the parked vehicle in the parking space according to the autonomous parking driving information.
Including,
A vehicle control method in which the parking path included in the autonomous parking driving information is close to the parking path included in the parking departure driving information within a preset error range. According to paragraph 1,
Before moving the vehicle,
A vehicle control method further comprising the step of the parked vehicle estimating the expected route of the vehicle taking out the vehicle using the spatial data. According to paragraph 1,
A vehicle control method in which the spatial data is calculated by a SLAM (Simutaneous Localization and Mapping) algorithm that uses measurement data generated from the spatial measurement sensor. According to paragraph 1,
A vehicle control method wherein the departure driving information includes steering information at each location of the departure vehicle. delete According to paragraph 1,
A vehicle control method in which the vehicle departure driving information is received in real time during the vehicle departure process. A communication data acquisition unit that receives a message requesting to secure a parking space for a vehicle scheduled to leave the parking space;
In response to the request message for securing an exit space, the vehicle is moved to a moving space that is outside the expected route of the vehicle being taken out, receiving the exit driving information generated in the process of taking out the vehicle, and converting the exit driving information in the reverse direction. a vehicle control unit that searches and generates autonomous parking driving information, and parks the vehicle in the parking space according to the autonomous parking driving information; and
Sensing data acquisition unit that acquires measurement data generated from spatial measurement sensors
Including,
A vehicle control device in which the parking path included in the autonomous parking driving information is close to the parking path included in the parking departure driving information within a preset error range. In clause 7,
The communication data acquisition department,
A vehicle control device that receives the vehicle departure space securing request message and the vehicle departure driving information from a server connected to the vehicle through communication. In clause 7,
The vehicle control unit,
A vehicle control device that parks the vehicle in the parking space and then transmits an autonomous parking completion message to the owner terminal of the vehicle using the communication data acquisition unit. A second vehicle receiving a message requesting to secure an exit space for the first vehicle scheduled to exit the parking space;
Controlling the movement of the second vehicle to a movement space that is away from the expected exit path of the first vehicle;
transmitting driving information generated when the first vehicle takes out the vehicle to the second vehicle; and
The second vehicle searches the parking information in the reverse direction to generate autonomous parking information and controls parking in the parking space according to the autonomous parking information.
Including,
An autonomous parking control method in which the parking path included in the autonomous parking driving information is close to the parking path included in the parking departure driving information within a preset error range. According to clause 10,
An autonomous parking control method further comprising transmitting a vehicle movement completion message to the first vehicle after the second vehicle is controlled to move to the movement space. According to clause 10,
An autonomous parking control method in which the first vehicle and the second vehicle transmit and receive the parking space securing request message and the parking driving information through V2V (vehicle-to-vehicle) communication. In a method of controlling a vehicle,
A step of the parked vehicle receiving a message requesting to secure an exit space for a vehicle scheduled to exit the parking space;
moving the parked vehicle to a movement space that is away from the expected exit path of the vehicle;
generating, by the parked vehicle, driving information about the vehicle taking out the vehicle using a space measurement sensor; and
Searching the out-of-parking driving information in the reverse direction to generate autonomous parking driving information and parking the parked vehicle in the parking space according to the autonomous parking driving information.
Including,
A vehicle control method in which the parking path included in the autonomous parking driving information is close to the parking path included in the parking departure driving information within a preset error range. According to clause 13,
The vehicle control method wherein the vehicle departure driving information includes trajectory information during the vehicle departure process. According to clause 14,
In the step of generating the autonomous parking driving information,
A vehicle control method for generating an autonomous parking trajectory by generating in reverse the trajectory of the outgoing vehicle included in the trajectory information and including the autonomous parking trace in the autonomous parking driving information.

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