KR20190080257A - System for guiding parking and method thereof, autonomous driving vehicle - Google Patents

Abstract

The present invention relates to a parking guide system, a method thereof, and an autonomous vehicle. The parking guide system comprises: an integrated parking management unit which senses entrance and exit of a vehicle in a parking lot in which a guide inducing line is formed along a moving path of a vehicle and a plurality of parking spaces are partitioned and manages the state of occupied parking spaces in the parking lot; a parking path search unit which receives an entrance vehicle entering the parking lot and one or more unoccupied parking spaces in the parking lot from the integrated parking management unit, and searches for a parking path to one of the received unoccupied parking spaces for the entrance vehicle according to a set condition; and a parking traffic control unit which controls the state of the guide inducing line and controls the movement of the entrance vehicle following the parking path searched by the parking path search unit and the traffic of one or more entrance vehicles moving in the parking lot. According to the present invention, it is possible to eliminate the inconvenience of a driver to find an empty parking space in a parking lot by himself or herself.

Description

TECHNICAL FIELD [0001] The present invention relates to a parking guidance system and method,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parking guidance system and method, an autonomous driving vehicle, and more particularly, to a parking guidance system and method for guiding a vehicle entering a parking lot to an empty parking space.

Generally, when parking in a parking lot such as a department store, a government office, a large commercial building, etc. where many vehicles are in and out, most of the vehicles find their own empty parking spaces while entering the inside of the parking lot, However, there is a problem that frequent contact accidents occur because it takes a lot of parking time to find a job, and parking is performed in a limited narrow space.

In recent years, means for automatically notifying a parking indication or guidance have been applied, and the number of parking spaces is displayed by the integrated management which checks and manages the number of vehicles entering the parking space or the parking lot entering the parking lot and entering the parking lot I will inform the vehicle. However, the integrated management for managing the number of parking spaces does not coincide with the actual parking situation. Therefore, the entering vehicle must always find an empty parking space, and even if an empty parking space is found, parking is performed by the entering vehicle first There is a problem that it is impossible to park the car and find an empty parking space again.

The background art of the present invention is disclosed in Korean Patent Laid-Open Publication No. 10-2005-0099403 (published on October 13, 2005).

The present invention has been made to solve the above-mentioned problems, and it is an object of the present invention to provide a parking space free parking space for a driver, And to provide a parking guidance system and method for guiding the driver to the driver.

It is still another object of the present invention to provide an autonomous driving vehicle that recognizes a parking guidance guided through the parking guidance system and moves to an empty parking space through autonomous driving.

According to an aspect of the present invention, there is provided a parking guidance system including: a guide guide line formed along a moving path of a vehicle, detecting a vehicle entering and leaving a parking lot formed by partitioning a plurality of parking spaces, And an unintentional parking space of the parking lot, and receives parking information of any one of the unintentional parking spaces of the received intending vehicle, And a controller for controlling the state of the guidance guidance line to control the movement of the intruding vehicle following the parking path detected by the parking path searching unit and the movement of the at least one entry And a parking traffic control unit for controlling traffic of the vehicle do.

The parking path searching unit searches the parking route with the setting condition as to whether or not there is a unoccupied parking space that is located continuously and a distance from the entrance of the parking lot is close to each other do.

In the present invention, the guide guidance line is formed as a plurality of guide lights installed along a moving path of the parking lot, and the parking traffic control unit includes a first state for instructing movement of the vehicle, State, and a third state indicating that the corresponding position is an intersection, and controlling the state of the plurality of guide lights to control the movement and traffic of the intruding vehicle.

In the present invention, when the plurality of the intruding vehicles approach each other along the different movement route toward the same intersection of the parking lot, the parking traffic control unit calculates the number of guide lights in the first state existing from the intruding vehicle to the same intersection And the state of the guide light existing from the entrance vehicle other than the entry vehicle to be driven to the same intersection to the second state is determined as the vehicle to be driven first.

In the present invention, the parking integrated management unit may change the occupied parking space to an unoccupied parking space when the intruded vehicle parked in the occupied parking space is out of the occupied parking space, and then closest to the unoccupied parking space And the parking path searching unit detects a parking path of the nearest positioned intervening vehicle so that the nearest positioned intervening vehicle received from the parking integrated management unit can park in the switched unoccupied parking space And searching again.

In the present invention, the parking integrated management unit may identify an entry vehicle having the smallest number of guide lights existing from the current position of the entry vehicles in the parking lot to the unoccupied parking spaces, as the nearest positioned entry vehicle. do.

The present invention is further characterized by a parking charge settlement unit for receiving the entrance time and the exit time of the intruding vehicle from the parking unification management unit and for paying the parking fee of the intruding vehicle.

An autonomous vehicle according to one aspect of the present invention carries out parking in accordance with the parking guidance system. The autonomous vehicle according to one aspect of the present invention includes: And to move along the parking path searched by the parking path.

According to an aspect of the present invention, there is provided a parking guidance method including a step of detecting an entrance of a vehicle into a parking lot in which a guide guide line is formed along a moving path of a vehicle and a plurality of parking spaces are partitioned, Wherein the navigation unit receives the entrance vehicle entering the parking lot from the parking integrated management unit and one or more unoccupied parking spaces of the parking lot and receives a parking path to any unoccupied parking space of the received intrinsic vehicle according to a setting condition, , The parking traffic control unit controlling the state of the guidance guidance line to control the movement of the entering vehicle so as to follow the parking path detected by the parking path searching unit, and the parking traffic control unit The state of the guiding line is adjusted so that the number of the at least one intervening vehicle Characterized by including the step of controlling the bucket.

SUMMARY OF THE INVENTION According to an aspect of the present invention, there is provided a parking lot control apparatus for a vehicle, which can eliminate inconvenience that a driver must directly search for a free parking space of a parking lot for parking in a parking lot, It is possible to prevent the traffic congestion and to allow the self-driving vehicle to be controlled to move to the free parking space by self-driving by recognizing the parking guidance guidance through the image recognition sensor already applied to the self- It also has an advantage in terms of sex.

1 is a block diagram illustrating a parking guidance system according to an embodiment of the present invention.
FIG. 2 is a view for explaining a structure of a parking lot applied to a parking guidance system according to an embodiment of the present invention.
3 is a diagram illustrating a process of controlling the movement of an entering vehicle according to a guidance guide line in a parking guidance system according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating a process of controlling traffic of an entering vehicle according to an information guidance line in a parking guidance system according to an embodiment of the present invention. Referring to FIG.
5 is a flowchart illustrating a parking guidance method according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a parking guidance system and method and an autonomous vehicle according to the present invention will be described with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a block diagram illustrating a parking guidance system according to an embodiment of the present invention. FIG. 2 is a diagram illustrating a structure of a parking lot applied to a parking guidance system according to an embodiment of the present invention. FIG. 3 is an exemplary view for explaining a process of controlling the movement of an entering vehicle according to a guidance guide line in a parking guidance system according to an embodiment of the present invention. FIG. FIG. 3 is a diagram illustrating a process of controlling traffic of an entering vehicle according to a guidance line in the system; FIG.

Referring to FIG. 1, a parking guidance system according to an embodiment of the present invention includes a parking integrated management unit 100, a parking path search unit 200, a parking traffic control unit 300, a parking guide induction unit 400, Unit 500 and an autonomous vehicle guidance display unit 600. [

First, the structure of a parking lot applied to the parking guidance system according to the present embodiment will be described with reference to FIG.

Referring to FIG. 2, the parking lot applied to the parking guide system according to the present embodiment may have a guide line LINE_GUIDE formed along the travel path of the vehicle, and a plurality of parking spaces may be defined. As will be described later, the guide guide line LINE_GUIDE may include a plurality of guide lights LIGHT_GUIDE installed along the moving path of the parking lot. That is, as shown in FIG. 2, a parking lot is provided with a moving path for moving the vehicle, and a plurality of guide lights LIGHT_GUIDE are spaced apart at predetermined intervals along the moving path of the parking lot, (LINE_GUIDE) for guiding the parking of the vehicle. The plurality of guide lights LIGHT_GUIDE forming the guide guide line LINE_GUIDE may be installed on the floor, ceiling or side wall of the parking lot, and the installation position thereof is not limited to a specific position. The plurality of guide lights LIGHT_GUIDE can be controlled by the parking traffic control unit 300, which will be described later.

The parking lot may be provided with various guide devices such as an electric signboard, a guide robot or a guide hologram generating device for guiding parking as well as a guide guide line LINE_GUIDE formed by a plurality of guide lights LIGHT_GUIDE, May include a parking guide inducing unit 400 including a guide line LINE_GUIDE, an electric sign board, a guide robot, and a guide hologram generating apparatus.

A plurality of parking spaces may be provided with a parking sensor for detecting the occupancy of each parking space. The parking detection sensor may be implemented by various sensors such as an optical sensor, an infrared sensor, or an ultrasonic sensor, and the integrated parking management unit 100, which will be described later, can determine whether each parking space is occupied by the parking detection sensor. The parking sensor can be installed on the floor, ceiling or side wall of each parking space, and its installation position is not limited to a specific location.

The entrance and exit of the parking lot may be provided with a vehicle detection sensor for detecting the entrance and departure, respectively. The vehicle detection sensor is implemented by various sensors such as an optical sensor, an infrared sensor or an ultrasonic sensor, and can detect the entrance and exit, and can be implemented as a weight sensor installed at the bottom of the entrance and the exit to detect entrance and departure.

The operation of the parking guidance system according to the present embodiment will be described in detail below based on the structure of the parking lot shown as an example in Fig.

The parking integrated management unit 100 can function as an integrated management apparatus that detects the entrance and departure of the vehicle in the parking lot and also manages the parking space occupation state of the parking lot. That is, the integrated parking management unit 100 can detect the entrance and departure of the vehicle in the parking lot through the vehicle detection sensor, and can determine the occupancy state of each parking space through the parking detection sensor.

The parking path searching unit 200 receives the at least one unoccupied parking space of the entrance vehicle and the parking lot entered into the parking lot and searches for the parking path to any one of the unoccupied parking spaces of the arriving vehicle according to the setting condition .

At this time, the parking path searching unit 200 can search for the parking path with the setting condition as to whether or not there is a non-occupied parking space continuously located and a distance from the entrance of the parking lot is close.

More specifically, if a plurality of consecutively unoccupied parking spaces are located (that is, two or more), the driver can park the unoccupied parking spaces more freely, and the closer the distance from the entrance of the parking lot, The parking path searching unit 200 determines the unoccupied parking space closest to the entrance of the parking lot among the continuously occupied parking spaces as the target parking space and searches for the parking path to the determined target parking space can do.

If there is no unoccupied parking space continuously located, the parking path searching unit 200 can search the parking path to the unoccupied parking space closest to the entrance of the parking lot.

The parking traffic control unit 300 adjusts the state of the guidance guidance line LINE_GUIDE so that the movement of the intruding vehicle following the parking path detected by the parking path searching unit 200 and the traffic of one or more intruding vehicles moving in the parking lot Can be controlled.

First, a description will be given of a method of controlling the state of the guide guidance line LINE_GUIDE by the parking traffic control unit 300. The parking traffic control unit 300 includes a first state for instructing the movement of the vehicle, 2 state, and a third state indicating that the corresponding position is an intersection, so that the state of a plurality of guide lights (LIGHT_GUIDE) can be adjusted.

Here, the first to third states of the guide lights LIGHT_GUIDE may be variously set according to the hue, blink period, or brightness of the guide light LIGHT_GUIDE. In order to facilitate understanding of the present embodiment, Is distinguished according to the color of the guide light (LIGHT_GUIDE). That is, the first state means that the guide light LIGHT_GUIDE is blue, the second state is red, and the third state is black. With the first to third states, the guide light LIGHT_GUIDE located in the parking path to which the intervening vehicle has already moved may be adjusted to the fourth state of yellow.

Accordingly, the parking traffic control unit 300 adjusts the state of the plurality of guide lights LIGHT_GUIDE (i.e., adjusts the state of the guide guidance line LINE_GUIDE), and stores the parking route detected by the parking route searching unit 200 as It is possible to control the movement of the intruding vehicle so as to move along.

3, the parking traffic control unit 300 sets the state of the guidance light LIGHT_GUIDE existing on the parking path detected by the parking path searching unit 200 to a first state (i.e., blue) The entry vehicle can be moved along the parking path to the non-occupied parking space on the basis of the guide light LIGHT_GUIDE adjusted to the first state. At this time, since a plurality of intruding vehicles may be moving within the parking lot, the parking traffic control unit 300 receives the identification number (e.g., vehicle registration number) of the incoming vehicle from the parking integrated management unit 100, And a method of displaying the identification number of the entering vehicle through a predetermined display device provided on the floor, ceiling, or side wall on the parking path, or the like.

Also, the parking traffic control unit 300 may control the traffic of one or more incoming vehicles moving in the parking lot by adjusting the state of a plurality of guide lights (LIGHT_GUIDE). At this time, when the plurality of the intruding vehicles approach each other along the different movement route toward the same intersection of the parking lot, the parking traffic control unit 300 determines that the guidance light LIGHT_GUIDE of the first state existing from the intruding vehicle to the same intersection It is possible to change the state of the guide light LIGHT_GUIDE existing from the entering vehicle other than the entering vehicle to the same intersection to the second state.

4, when the first and second intercept vehicles CAR1 and CAR2 move along the parking path to the first and second unoccupied parking spaces (① and ②), respectively, , The first and second intercepted vehicles CAR1 and CAR2 are superimposed on the moving route at the same intersection located in the parking lot. At this time, since the number of guide lights LIGHT_GUIDE in the first state existing from each entry vehicle to the intersection is smaller in the case of the first intervening vehicle CAR1, the parking traffic control unit 300 determines that the first intervening vehicle CAR1 The state of the guide light LIGHT_GUIDE existing from the second intervening vehicle CAR2 to the intersection can be changed to the second state by judging the vehicle to be driven first. After the first intervening vehicle CAR1 has passed the intersection, the parking traffic control unit 300 changes the state of the guidance light LIGHT_GUIDE existing from the second intervening vehicle CAR2 to the intersection to the first state again, The vehicle can be moved again along the parking path.

In the meantime, when the intruding vehicle parked in the occupied parking space is out of the occupied parking space, the integrated parking management unit 100 switches the occupied parking space to the unoccupied parking space, .

Accordingly, the parking route searching unit 200 searches the parking route of the nearest located inter-vehicle, which is located closest to the closest located inter-vehicle, from the parking integrated management unit 100, Can be searched.

More specifically, since an unoccupied parking space may occur due to the departure of the other vehicle during parking of the entry vehicle along the parked path detected at the point of time when the entering vehicle enters the parking lot, in this embodiment, When the occupant is switched from the occupied parking space to the unoccupied parking space, when the occupant is parked in the unoccupied parking space, the closest positioned intrinsic vehicle It is possible to search the parking path of the vehicle.

At this time, the integrated parking management unit 100 can recognize the entry vehicle having the minimum number of guide lights (LIGHT_GUIDE) existing from the current position among the entry vehicles in the parking lot to the converted unoccupied parking spaces as the nearest positioned entry vehicle. At this time, the guide light LIGHT_GUIDE, which is a reference for grasping the nearest located vehicle, is a guide light LIGHT_GUIDE of a first state (blue color) and a second state (red color) (I.e., the non-occupied parking space converted is not considered to be located opposite to the traveling direction of the interiors vehicle).

On the other hand, when the integrated parking management unit 100 determines that the intruded vehicle parked in the occupied parking space is out of the occupied parking space, it judges that the occupied parking space is the waiting for departure when the parked intruded vehicle is turned on, The occupancy of the occupant parking space may be changed to the unoccupied parking space, and the function of the integrated parking management unit 100 may be implemented by a separate configuration of the parking space predictor May be implemented as an example.

The parking charge payment unit 500 receives the entrance time and departure time of the entrance vehicle from the parking integrated management unit 100 and can settle the parking fee of the entrance vehicle.

The autonomous driving vehicle guidance display unit 600 is configured for an autonomous driving vehicle that carries the parking space in the unoccupied parking space by moving the parking path in accordance with the autonomous driving in the parking lot, Or a display device (e.g., LCD) that outputs a video image (e.g., a traffic light, a road sign, etc.).

On the other hand, the autonomous vehicle according to the present embodiment is configured such that the autonomous vehicle according to the present embodiment is searched by the parking route searching unit 200 based on the guidance line LINE_GUIDE, which is obtained through the mounted image recognition sensor and controlled by the parking traffic control unit 300 Can be controlled to move along the parking path.

That is, an image recognition sensor such as a camera sensor may be mounted on the autonomous vehicle according to the present embodiment, and the state of a plurality of guide lights (LIGHT_GUIDE) constituting the guide guide line LINE_GUIDE Can be picked up. After the noise is removed and smoothed with respect to the captured image, the state (color) of the plurality of guide lights (LIGHT_GUIDE) can be grasped and controlled to autonomously drive the parking route based on the state of the guide light (LIGHT_GUIDE).

5 is a flowchart illustrating a parking guidance method according to an embodiment of the present invention.

Referring to FIG. 5, a parking guidance method according to an embodiment of the present invention will be described. First, the parking integrated management unit 100 detects the entrance of a vehicle into a parking lot (S100).

Then, the parking path searching unit 200 receives one or more unoccupied parking spaces of the entrance vehicle and the parking lot entered into the parking lot from the integrated parking management unit 100, and selects one of the unoccupied parking spaces (S200). ≪ / RTI >

In step S200, the parking route searching unit 200 searches for a parking route based on whether the unoccupied parking spaces continuously exist and whether the distance from the entrance of the parking lot is close or not.

Next, the parking traffic control unit 300 controls the state of the guide line LINE_GUIDE to control the movement of the entering vehicle so as to follow the parking path detected by the parking path searching unit 200 (S300).

In step S300, the parking traffic control unit 300 adjusts the state of the guide light LIGHT_GUIDE present on the parking path found by the parking route searching unit 200 to the first state (i.e., blue) It is possible to move along the parking path to the non-occupied parking space on the basis of the guidance light LIGHT_GUIDE adjusted to the first state.

Next, the parking traffic control unit 300 controls the traffic of one or more moving vehicles in the parking lot by adjusting the state of the guide line LINE_GUIDE (S400).

In a case where the plurality of intruding vehicles approach each other along the different movement route toward the same intersection of the parking lot in step S400, the number of the guide lights LIGHT_GUIDE in the first state existing from the intruding vehicle to the same intersection is smaller It is determined as a vehicle to be driven first, and the state of the guide light LIGHT_GUIDE existing from the entrance vehicle other than the entrance vehicle to the same intersection to the first intersection is changed to the second state.

On the other hand, in the present embodiment, when the integrated vehicle management unit 100 shifts the occupied parking space to the unoccupied parking space when the intruded vehicle parked in the occupied parking space is out of the occupied parking space, (S500) of detecting an intruding vehicle located close to the vehicle, and a step S500 of determining whether the nearest positioned intercepting vehicle, which is received from the parking integration management unit (100) The method may further include a step S600 of redetecting a parking path of an approaching vehicle located nearby.

In step S500, the parking integrated management unit 100 recognizes the entering vehicle having the smallest number of guide lights (LIGHT_GUIDE) existing from the current position among the entering vehicles in the parking lot to the switched unoccupied parking spaces as the nearest located vehicle.

That is, in the present embodiment, when the occupied state of the parking space is continuously monitored and the occupant is switched from the occupied parking space to the unoccupied parking space, the intervening vehicle located closest to the unoccupied parking space is switched to the non- Searching for the parking path of the nearest positioned intervening vehicle so as to park in the space.

As described above, the present embodiment can eliminate the inconvenience that the driver must find the free parking space of the parking lot for parking in the parking lot, and can prevent the traffic congestion in the parking lot by controlling the traffic flow of a large number of intrusion vehicles in the parking lot In addition, since the self-driving vehicle can be controlled to move to an empty parking space by recognizing the guidance of parking guidance through the image recognition sensor already applied to the self-driving vehicle, the self- .

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, I will understand. Accordingly, the true scope of the present invention should be determined by the following claims.

100: Parking Integrated Management Department
200: parking path search section
300: parking traffic control unit
400: Parking guide guide portion
500: Parking fee payment department
600: autonomous driving vehicle guidance display unit
LINE_GUIDE: guide line
LIGHT_GUIDE: Guide light

Claims (14)

A parking integrated management unit for detecting entrance and exit of a vehicle in a parking lot in which a plurality of parking spaces are formed and a guide guide line is formed along a moving path of the vehicle and managing the parking space occupied state of the parking lot;
An unattended parking space of the parking lot and an entrance vehicle entering the parking lot from the parking unification management unit and searches for a parking path to any unoccupied parking space of the received intending vehicle according to a setting condition A parking path search unit; And
A parking traffic control unit for controlling the movement of the intruding vehicle along the parking path detected by the parking path searching unit and the traffic of at least one moving vehicle in the parking lot by adjusting the state of the guiding line;
Wherein the parking guidance system comprises:
The method according to claim 1,
Wherein the parking route searching unit searches the parking route with the setting condition as to whether or not there is a unoccupied parking space continuously located and a distance from the entrance of the parking lot is close to the entrance, .
The method according to claim 1,
Wherein the guide guide line is formed as a plurality of guide lights installed along a moving path of the parking lot,
Wherein the parking traffic control section divides the parking traffic control section into a first state for instructing movement of the vehicle, a second state for instructing stopping of the vehicle, and a third state for indicating that the position is an intersection, Wherein the control unit controls the movement and traffic of the vehicle.
The method of claim 3,
Wherein the parking traffic control unit is configured to control the parking traffic control unit such that the number of guide lights in the first state existing from the incoming vehicle to the same intersection becomes smaller when the plurality of incoming vehicles approach the same intersection along the different route, And changes the state of the guide light existing from the entrance vehicle other than the entrance vehicle to the same intersection to the second state.
The method according to claim 1,
Wherein the integrated parking management unit changes the occupied parking space to an unoccupied parking space when an intruded vehicle parked in the occupied parking space is out of the occupied parking space, However,
Wherein the parking path searching unit redetects the parking path of the nearest positioned intervening vehicle so that the nearest positioned intervening vehicle received from the parking integrated management unit can park in the converted unoccupied parking space Parking guide system.
6. The method of claim 5,
Wherein the parking integrated management unit identifies an entry vehicle having a minimum number of guide lights existing from the present position of the entrance vehicles in the parking lot to the unoccupied parking spaces as the closest positioned entrance vehicle. .
The method according to claim 1,
And a parking fee payment unit for receiving the entrance time and departure time of the entrance vehicle from the parking integration management unit and for paying the parking fee of the entrance vehicle.
An autonomous vehicle that carries out parking in accordance with the parking guidance system of claim 1,
Wherein the control unit is controlled to move along a parking path detected by the parking path searching unit based on a guidance guide line obtained by the mounted image recognition sensor and controlled by the parking traffic control unit.
The parking integrated management unit detecting an entrance of a vehicle into a parking lot in which a guide line is formed along a moving route of the vehicle and a plurality of parking spaces are partitioned;
Wherein the parking path searching unit receives the at least one unoccupied parking space of the parking lot and the entrance vehicle entering the parking lot from the parking unification management unit and transmits the unoccupied parking space to any unoccupied parking space of the received intrinsic vehicle Searching a parking path;
Controlling the movement of the intruding vehicle so that the parking traffic control unit follows the parking path detected by the parking path searching unit by adjusting the state of the guidance guiding line; And
Controlling the state of the guidance guide line to control traffic of one or more moving vehicles in the parking lot;
Wherein the parking guidance method comprises the steps of:
10. The method of claim 9,
In the step of searching for the parking path,
Whether or not there is a non-occupied parking space that is located continuously, and whether or not the distance from the entrance of the parking lot is close to the parking lot.
10. The method of claim 9,
Wherein the guide guide line is formed as a plurality of guide lights installed along a moving path of the parking lot,
In the step of controlling the movement of the intruding vehicle and the traffic of the intervening vehicle,
A third state that indicates that the vehicle is in an intersection, and controls the state of the plurality of guide lights to move and traffic the intruding vehicle by dividing the first state into a first state indicating a movement of the vehicle, a second state indicating a stop of the vehicle, Respectively.
12. The method of claim 11,
In the step of controlling the traffic of the intercepting vehicle,
When a plurality of the intruding vehicles approach each other along the different movement route toward the same intersection of the parking lot, an intruding vehicle positioned in a movement path having a smaller number of guide lights in the first state existing from the intruding vehicle to the same intersection Wherein the vehicle is determined as a vehicle to be driven first, and the state of the guide light existing from the entrance vehicle other than the entrance vehicle to the first intersection to the same intersection is changed to the second state.
10. The method of claim 9,
Wherein the parking integrated management unit switches the occupied parking space to an unoccupied parking space when an intruded vehicle parked in the occupied parking space is out of the occupied parking space, Identifying; And
Searching for a parking path of the nearest located intervening vehicle so that the nearest located intervening vehicle received from the parking integrated management unit can park in the converted unoccupied parking space; Wherein the parking guidance method comprises the steps of:
14. The method of claim 13,
In the step of grasping the intruding vehicle, the parking integrated management unit,
Wherein the entry vehicle is identified as the nearest positioned vehicle that has the minimum number of guide lights existing from the current position of the entry vehicles in the parking lot to the converted unoccupied parking spaces.

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