KR20210127292A - Control system for getting vehicle out of parking space according to driver state and method thereof - Google Patents

Abstract

The system for controlling vehicle departure according to a driver condition of one embodiment of the present invention comprises the following steps of: determining a waiting position after departure according to driver information, corresponding to a departure request of the driver; calculating a first travel time needed for the driver to move from a current position of the driver to the waiting position; calculating a second travel time for an autonomous vehicle parked in a parking place to move to the waiting position; transmitting a departure time and a travel trajectory from the parking place to the waiting position to the autonomous vehicle by comparing the first travel time and the second travel time; and transmitting a waiting place arrival time of the driver to the driver. The present invention minimizes parking waiting time and allows safe and rapid departure of a driver.

Description

A system and method for controlling an exit according to the driver's condition

The present invention relates to a system and method for controlling an exit according to a driver's condition, and more particularly, to automatically park a vehicle in a parking space such as an apartment parking lot, a public parking lot, a public building parking lot, and a department store parking lot, and the driver's tendency when the driver requests automatic exit The present invention relates to a system and method for controlling an un-parking according to a driver's state, which can select and provide an un-parking place and an un-parking time in consideration of , state, and the like.

A technology for guiding the parking and exiting of a vehicle by mounting an automatic parking assistance system on a vehicle and checking the environment around the vehicle in the automatic parking assistance system is being developed.

In such an automatic parking assistance system, when a driver requests automatic parking and then selects a parking type, the automatic parking proceeds according to the type selected by the driver.

In addition, even when the driver requests automatic parking, the automatic parking assistance system automatically takes out according to the un-parking direction selected by the driver.

The conventional automatic parking assistance system considers the surrounding circumstances, such as interference of other vehicles during automatic exit or when other vehicles are stopped in the waiting area, or does not provide the available time for exiting the vehicle and the waiting area for exiting according to the driver's condition. The driver arrives in advance and waits unnecessarily, wasting waiting time, and a waiting place far away from the driver's location is selected, so it is inconvenient to move in a vehicle if you have heavy luggage, children, or bad weather conditions. there was

Korean Patent Laid-Open Publication No. 10-2020-0027095

An embodiment of the present invention automatically parks a vehicle in a parking space such as an apartment parking lot, a public parking lot, a public building parking lot, and a department store parking lot, and then selects a waiting place and an exit time in consideration of the driver's tendency and condition when the driver requests automatic exit It is intended to provide a system and method for taking out control according to the driver's condition that allows the driver to safely and quickly get out of the car while minimizing the waiting time for parking.

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

In response to a driver's request for un-parking, the system for un-parking control according to the driver's state according to an embodiment of the present invention selects a waiting place after taking-out according to driver information, 1 travel time is calculated, a second travel time taken when the autonomous vehicle parked in the parking space moves to the waiting area is calculated, and the first travel time and the second travel time are compared to determine the departure time and the parking space and a parking management system for transmitting a driving trajectory from to the waiting place to the autonomous vehicle and transmitting the arrival time of the driver to the waiting place to the driver.

In an embodiment, the parking management system may perform an automatic mode in which the waiting place is automatically selected using the driver information or a manual mode in which the driver directly selects the waiting place.

In an embodiment, the parking management system may select the waiting place by varying weights according to the preference of a male driver or a preference of a female driver in the automatic mode.

In one embodiment, the parking management system may be reflected in selecting the waiting place in the automatic mode after storing the waiting place directly selected by the driver in the manual mode through a learning process.

In an embodiment, the parking management system may inform the driver of a time when the driver should arrive at the waiting area or a time when the autonomous vehicle arrives at the waiting area in advance of a predetermined time.

In one embodiment, the parking management system receives the real-time location of the autonomous vehicle moving along the driving trajectory, and if there is another vehicle that conflicts with the driving trajectory, any one driving trajectory may be corrected. .

In one embodiment, the parking management system receives the real-time location of the autonomous vehicle moving along the driving trajectory, and if there is another vehicle that conflicts with the driving trajectory, the driver who arrives at the waiting place first It is possible to make the vehicle of the priority move.

In one embodiment, the parking management system, if another vehicle is present in the waiting area, delay the take-out time of the autonomous vehicle by a predetermined time, and also delay the time when the driver should arrive at the waiting area by a predetermined time. have.

In response to a driver's request for un-parking, the system for taking-out control according to a driver's condition according to another embodiment of the present invention selects a waiting place after taking-out according to driver information, 1 travel time is calculated, a second travel time taken when the autonomous vehicle parked in the parking space moves to the waiting area is calculated, and the first travel time and the second travel time are compared to determine the departure time and the parking space A parking management system that transmits a driving trajectory from to the waiting place to the autonomous vehicle, and transmits the arrival time of the driver to the waiting place to the driver, and receives the un-parking time and the driving trajectory from the parking management system It may include an autonomous vehicle that performs autonomous driving toward a waiting area.

According to another embodiment of the present invention, the method for controlling an un-parking according to a driver's condition selects a waiting place after taking-out according to driver information in response to a driver's request for un-parking, and the amount of time it takes when the driver moves from the driver's position to the waiting place. A time calculation step of calculating a first moving time and calculating a second moving time required for the autonomous vehicle parked in the parking space to move to the waiting place, and comparing the first moving time with the second moving time to take out time and transmitting the driving trajectory from the parking space to the waiting place to the autonomous vehicle, and transmitting the driver's arrival time to the waiting area to the driver according to the time when the autonomous vehicle arrives at the waiting area It may include a transmitting step and an autonomous driving step in which the autonomous driving vehicle receives the departure time and the driving trajectory from a parking management system and performs autonomous driving toward the waiting place.

In an embodiment, the step of calculating the time includes performing an automatic mode in which the waiting place is automatically selected by using the driver information or performing a manual mode in which the driver directly selects the waiting place and receives an input may include.

In an embodiment, the step of calculating the time may include selecting the waiting place by varying a weight according to a preference of a male driver or a preference of a female driver in the automatic mode.

In an embodiment, the step of calculating the time may include reflecting the waiting place directly selected by the driver in the manual mode to select the waiting place in the automatic mode through a learning process.

In an embodiment, the step of transmitting the standby may include informing the driver of a time when the driver should arrive at the waiting place or the time when the autonomous vehicle arrives at the waiting place in advance a predetermined time. have.

In an embodiment, the step of transmitting the standby comprises delaying the taking-out time of the autonomous vehicle by a predetermined time if another vehicle is present in the waiting area, and also delaying the time when the driver should arrive at the waiting area by a predetermined time may include.

In one embodiment, in the autonomous driving step, the parking management system receives the real-time location of the autonomous vehicle moving along the driving trajectory, and if there is another vehicle that conflicts with the driving trajectory, any one It may include modifying the driving trajectory.

In an embodiment, in the autonomous driving step, the parking management system receives the real-time location of the autonomous vehicle moving along the driving trajectory. If there is another vehicle that conflicts with the driving trajectory, the waiting It may include the step of preferentially moving the vehicle of the driver who arrives at the place first.

This technology automatically parks the vehicle in parking spaces such as apartment parking lots, public parking lots, public building parking lots, and department store parking lots, and then selects and provides a waiting place and time for exiting by considering the driver's tendency and condition when the driver requests automatic exit. It has the effect of allowing the driver to safely and quickly get out of the car while minimizing the waiting time for parking.

In addition, various effects identified directly or indirectly through this document may be provided.

1 is a block diagram illustrating a vehicle taking-out control system according to a driver's condition according to an embodiment of the present invention.
2 is an exemplary view illustrating a parking lot having a vehicle taking-out control system according to a driver's condition according to an embodiment of the present invention.
3 is a block diagram illustrating a parking management system in a vehicle taking-out control system according to a driver's condition according to an embodiment of the present invention.
4 is a block diagram illustrating an autonomous vehicle in a system for taking-out control according to a driver's state according to an embodiment of the present invention.
5 is a flowchart for explaining a process performed by the parking management system when parking in the method for controlling the vehicle taking out according to the driver's condition according to an embodiment of the present invention.
6 is a flowchart for explaining a process performed by the autonomous vehicle when parking in the method for controlling the vehicle taking out according to the driver's state according to an embodiment of the present invention.
7 is a diagram for explaining the priority of an autonomous vehicle in the vehicle taking-out control system according to a driver's condition according to an embodiment of the present invention.
8 and 9 are flowcharts for explaining a process performed by the parking management system when taking out a vehicle in a method for controlling a vehicle to be taken out according to a driver's condition according to an embodiment of the present invention.
10 is a diagram for explaining setting of a weight according to driver information in the system for taking out a vehicle according to a driver's condition according to an embodiment of the present invention.
11 is a flowchart for explaining a process performed by an autonomous vehicle when taking out a vehicle in a method for controlling an un-parking according to a driver's state according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the components from other components, and the essence, order, or order of the components are not limited by the terms. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, embodiments of the present invention will be described in detail with reference to FIGS. 1 to 4 .

1 is a block diagram illustrating an un-parking control system according to a driver's condition according to an embodiment of the present invention, and FIG. 2 is an exemplary view showing a parking lot having a parking lot-out control system according to a driver's state according to an embodiment of the present invention, FIG. is a block diagram illustrating a parking management system in the un-parking control system according to the driver's state according to an embodiment of the present invention, and FIG. 4 is a block diagram illustrating an autonomous vehicle in the un-parking control system according to the driver's state according to an embodiment of the present invention.

1 to 4 , the vehicle taking-out control system according to the driver's state according to an embodiment of the present invention may include a parking management system 100 and an autonomous vehicle 300 , and the parking management system 100 ) and the autonomous vehicle 300 may transmit and receive data between each other through wireless communication.

The parking management system 100 is installed in a public parking lot 50 such as a department store parking lot, an apartment parking lot, a mart parking lot, and a public institution parking lot to manage the parking and exit of the vehicle 10 entering and exiting the parking lot 50 . , Referring to FIG. 3 , it may be configured to include a first communication unit 110 , a vehicle detection unit 130 , a first storage unit 150 , and a parking lot control unit 170 .

The first communication unit 110 is capable of communicating with the autonomous vehicle 300 through a wireless communication network using mobile communication such as wireless Internet, short-distance communication, 4G or 5G, etc. Information on the trajectory and parking trajectory can be transmitted.

The vehicle detection unit 130 is installed at the entrance and exit of the parking lot 50 and enters the parking lot 50 from the outside or the vehicle 10 including the autonomous vehicle 300 that advances from the parking lot 50 to the outside. The sensing element may include one or more sensors among sensors such as a radar sensor, a lidar sensor, an ultrasonic sensor, and a camera.

The first storage unit 150 may store parking lot information including parking lot map data, such as the parking lot entrance, the parking lot exit, and the waiting area 70, which is a temporary parking place used in public, and the driving trajectory from the parking lot entrance to the parking space. , it is possible to store information about a parking trajectory for parking in a parking space, a driving trajectory from the parking space to the waiting place 70, and a parking trajectory.

The waiting place 70 may be provided in plurality, near the entrance of the parking lot 50, near the exit of the parking lot 50, near the building entrance, near the toilet, etc. It may be provided at a convenient location.

The parking lot control unit 170 is capable of generating a driving trajectory and a parking trajectory by searching for a parking space in the parking lot 50, a parking space search unit 171, a driver information utilization unit 173, and an exit calculation unit 175. and an exit information providing unit 177 .

The parking space search unit 171 manages information on parking spaces in the parking lot 50, and collects state information (empty, parked, under construction, etc.) of the parking space through sensors installed in each parking space. , it is possible to determine the number and location of available parking spaces in the parking lot.

If there is a parking space that can be parked in the parking lot 50 through the parking space search unit 171, the exit information providing unit 177 goes from the entrance of the parking lot 50 to the parking space where the autonomous vehicle 300 is to be parked. A driving trajectory and a parking trajectory of may be generated and stored in the first storage unit 150 .

The driver information utilization unit 173 checks driver information when the driver of the autonomous vehicle 300 completes parking and requests automatic exit after completing work, etc. ) can be selected.

When the exit calculation unit 175 selects the waiting place 70 according to the driver information through the driver information utilization unit 173, the parking space in which the autonomous vehicle 300 is parked using the parking lot information such as the parking lot map data. The time taken for the autonomous vehicle 300 to move from the to the waiting place 70 may be calculated, and the time taken for the driver to move from the driver's position to the waiting place 70 may be calculated.

Referring to FIG. 4 , the autonomous driving vehicle includes a second communication unit 310 , a sensor unit 330 , a driver input unit 350 , a second storage unit 370 , a vehicle control unit 380 , a driver output unit 391 , and a vehicle. The output unit 395 may be included.

The second communication unit 310 is capable of performing wireless communication with the parking management system 100, and when the autonomous vehicle 300 enters the parking lot 50, Information on parking lot information, driving trajectory and parking trajectory can be transmitted, and when exiting, the location of the waiting area 70, the departure time to start toward the waiting area 70, and driving from the parking space to the waiting area 70 A trajectory and a parking trajectory may be transmitted.

The sensor unit 330 is capable of detecting obstacles located in the vicinity of the autonomous vehicle 300 and measuring the position of the autonomous vehicle 100 , including a radar sensor, a lidar sensor, It may include an ultrasonic sensor, an infrared sensor, a camera (image sensor), a global positioning system (GPS), and the like.

For reference, the camera may photograph the front, rear, or side of the autonomous driving vehicle 300 , and may transmit image data obtained through this to the vehicle control unit 380 , and the lidar sensor of the autonomous driving vehicle 300 . It can detect the front, rear, or side, and can configure a laser transmission module, a laser detection module, a signal collection and processing module, and a data transmission/reception module, and the radar sensor is the front, rear or side of the autonomous vehicle 300 . It may be a sensor device that can sense the side and uses electromagnetic waves to measure the distance, speed, or angle of an object.

The driver input unit 350 may receive options such as data input and control commands from the driver, and may receive driver information, and may include an input unit, an internal camera, a biometric sensor, and the like.

The input unit is for receiving a selection input from the driver and may include a voice input unit, a gesture input unit, a touch input unit, and a mechanical input unit.

The voice input unit may include a microphone capable of converting the driver's voice input into an electrical signal.

The gesture input unit may convert the driver's gesture input into an electrical signal, and may include an infrared sensor or an image sensor for detecting the driver's gesture input.

The gesture input unit may detect the driver's 3D gesture input, and for this purpose, it may include an optical output unit or a plurality of image sensors that output a plurality of infrared lights, and may include a TOF (Time of Flight) method, structured light ( Structured light) method or a disparity method may detect the user's 3D gesture input.

The touch input unit may convert a driver's touch input into an electrical signal, and may include a touch sensor for sensing the driver's touch input, and is integrally formed with the display of the driver output unit 391 to form a touch screen. can be implemented with

The mechanical input unit may include a button, a dome switch, a jog wheel, or a jog switch.

The internal camera may acquire an internal image of the autonomous driving vehicle 300 , and may detect the driver's state with respect to the driver's gaze, behavior, or facial expression based on the internal image of the autonomous driving vehicle 300 .

The biometric sensor may acquire the driver's biometric information, and may include a sensor capable of acquiring the driver's biometric information, and may acquire the driver's fingerprint information, heartbeat information, or brain wave information using the sensor.

The second storage unit 370 may store data generated according to programs and operations required for autonomous driving control of the autonomous vehicle 300 , and may include driver command information and driver state information input through the driver input unit 350 , It is possible to store information about the parking lot information received through the second communication unit 310 , the location of the waiting place 70 , the driving trajectory and the parking trajectory.

The vehicle control unit 380 may include an ECU (Electrical Control Unit), and may include a parking space confirmation unit 381 , a driving route generation unit 383 , and a driving control unit 385 , and autonomous driving. By controlling the vehicle output unit 395 of the vehicle 300, deceleration, acceleration, braking, or shifting may be performed.

The vehicle control unit 380 may perform autonomous driving by controlling the overall operation of the autonomous vehicle 300 based on the parking lot information provided from the parking management system 100 .

The vehicle control unit 380 connects the communication with the parking management system 100 through the second communication unit 310 when the autonomous vehicle 300 enters the parking lot 50 , and a parking lot map transmitted from the parking management system 100 . The parking lot information including data, the driving trajectory and the parking trajectory may be provided through the parking space check unit 381 and displayed on the driver output unit 391 including a speaker and a display.

The driver output unit 391 may provide the driver with information on a specific situation or warn of a dangerous situation. For example, the driver output unit 391 may output a situation description and a warning sound through a speaker, and may output a situation message or a warning message through a HUD display or a side mirror display.

The driving route generation unit 383 may generate a driving trajectory and a parking trajectory to the parking space designated by the parking management system 100, map it to the parking lot map data, and display it on the driver output unit 391, a parking space When the parking lot information, the driving trajectory and the parking information are confirmed through the confirmation unit 381 , the autonomous vehicle 300 is moved from the current location to the parking space by fusing the GPS, the parking lot map data, and the sensor values of the sensor unit 330 . It is possible to generate a driving trajectory and a parking trajectory for

The driving trajectory and the parking trajectory generated by the driving path generating unit 383 may be checked through the driver output unit 391 .

The driving control unit 385 is capable of controlling the autonomous driving and autonomous parking of the autonomous vehicle 300 to follow the driving trajectory and the parking trajectory received from the driving route generating unit 383, and includes an engine control system, a braking control system and Through the vehicle output unit 395 including the steering control system, it is possible to control the autonomous driving vehicle 300 to move and park along the driving trajectory and the parking trajectory.

For reference, the engine control system can perform deceleration, acceleration, and on/off of the engine to operate the autonomous vehicle 300 , and collision is expected when the autonomous vehicle 300 is operated. In this case, deceleration may be performed, and the engine may be turned on/off at the start or end of the operation of the autonomous vehicle 300 .

The braking control system can control whether the brake of the autonomous driving vehicle 300 operates and control the response force of the brake, and determines whether the driver operates the brake when a collision is expected when the autonomous vehicle 300 is driven. It can be controlled to apply the emergency brake regardless of whether or not it is.

The steering control system can control the electric power steering system (MPDS) that drives the steering wheel, and when a collision of the autonomous vehicle 300 is expected, a collision can be avoided or damage can be minimized. to control the steering of the autonomous vehicle 300 .

In addition, when the vehicle control unit 380 detects an obstacle around the autonomous vehicle 300 through the sensor unit 330 , the vehicle control unit 380 may induce a lane change to perform obstacle avoidance driving, and when obstacle avoidance driving is impossible, the vehicle can be stopped.

Hereinafter, a method for controlling a vehicle taking out according to a driver's state according to another exemplary embodiment of the present invention will be described in detail with reference to FIGS. 5 to 11 . 5 is a flowchart for explaining a process performed by the parking management system when parking in the method for controlling the taking-out according to the driver's condition according to the embodiment of the present invention, and FIG. It is a flowchart for explaining a process performed by the autonomous vehicle when parking, and FIG. 7 is a diagram for explaining the priority of the autonomous vehicle in the vehicle taking-out control system according to the driver's state according to an embodiment of the present invention, and FIGS. 8 and FIG. 9 is a flowchart for explaining a process performed by the parking management system when taking out a vehicle in the method for controlling the vehicle taking out according to the driver's condition according to an embodiment of the present invention, and FIG. It is a diagram for explaining setting of weights according to information, and FIG. 11 is a flowchart for explaining a process performed by the autonomous vehicle when taking out a vehicle in the method for controlling the vehicle to take out according to the driver's state according to an embodiment of the present invention.

Hereinafter, it is assumed that the taking-out control system according to the driver's state of FIG. 3 performs the processes of FIGS. 5, 8, and 10, and that the un-parking control system according to the driver's state of FIG. 4 performs the processes of FIGS. 6 and 11 . Assume

First, with reference to FIGS. 5 and 6 , the parking management system 100 collects state information (empty, parked, under construction, etc.) of the parking space through a sensor installed in the parking space in the parking lot 50, If the number and location of parking spaces that can be parked in the parking lot can be identified (S110), and if there is a parking space that can be parked in the parking lot 50 (S120), from the entrance of the parking lot 50 to the parking space where the vehicle will be parked A driving trajectory and a parking trajectory may be generated and stored (S130).

Then, when the autonomous vehicle enters the parking lot 50 (S210) and is detected through the vehicle detection unit 130 (S140), the parking lot information is transmitted to the autonomous vehicle (S150), and the parking space search unit 171 is After selecting an empty parking space in which the autonomous vehicle 300 can park through the It can be transmitted to the autonomous vehicle 300 through the communication unit 110 (S160).

Subsequently, the autonomous vehicle 300 receives the parking lot information (S220), receives the driving trajectory and the parking trajectory (S230), and performs autonomous driving and autonomous parking based on the transmitted driving trajectory and parking trajectory (S220). S240).

In addition, referring to FIG. 7 , the parking management system 100 includes a plurality of vehicles C1 and C2 including the autonomous vehicle 300 moving along each driving trajectory and parking trajectory to park in a parking space, respectively. location can be transmitted in real time.

Therefore, when it is determined that the driving trajectories or parking trajectories among a plurality of vehicles interfere with each other in consideration of the driving trajectories and parking trajectories of the respective vehicles, the driving trajectories, parking trajectories, or driving speeds of the corresponding vehicles are corrected and adjusted by adjusting the vehicles ( It is possible to prevent accidents such as collisions between C1 and C2).

Referring to FIGS. 8 to 10 , when the parking management system 100 receives the driver's request for taking out (S310), it may select a preferred waiting place 70 according to driver information (S320).

The driver information can be used by receiving driver information input through the driver input unit 350 of the autonomous vehicle 300 , gender information on whether the driver is male or female, and whether the driver is currently located indoors or Location information on whether the vehicle is outdoors, time information on whether the driver's request for exit is morning, lunch or evening, information on whether the driver is with an infant, information on whether the driver has luggage, information on whether the driver has luggage Alternatively, it may include weather information such as whether it is snowing, foggy, or windy.

In addition, the driver information may include an image of the driver's face transmitted from the driver input unit 350 of the autonomous vehicle 300 and biometric information such as the driver's body temperature, pulse, and brain waves, and includes the driver's image and biometric information. Based on the information, it is possible to determine whether the driver is drowsy, a health state, an emotional state, and the like.

The driver's location can be estimated using communication equipment such as a smartphone or smart key that the driver has.

In addition, referring to FIG. 9 , in selecting the waiting place 70 preferred by the driver, the automatic mode or the manual mode may be selected and performed ( S321 ).

In the automatic mode (S322), the driver information is received from the autonomous vehicle 300 (S323), and a preferred weight is applied according to the driver's gender (S324), and the driver's preferred waiting place 70 is selected It can be done (S325).

Referring to FIG. 10 , the weight application according to driver preference using driver information is related to the driver's gender information, driver's location information, driver's request time information, and whether the driver is with an infant or has luggage. Preferred weights according to the driver's gender may be applied from driver information such as information, weather information such as whether the wind is blowing when requesting a vehicle exit, and driver's biometric information.

For example, if the driver is a male, the high part may be the congestion level of the waiting area and weather information, and the middle part of the weight may be whether children are accompanied or not, whether they have luggage, and the time at which the vehicle is requested to leave. This can be, and for the low weight part, the waiting place can be indoors or outdoors.

If the driver is a woman, the high-weighted part can be the congestion level of the waiting area, weather information, and the time requested to leave the vehicle, and the middle-weighted part can be whether a person has luggage, or whether an infant is accompanied. In the case of low weight, the waiting place may be indoors or outdoors.

Therefore, by applying a weight to such driver information, it is possible to select a waiting place where the waiting place is not crowded according to the driver's disposition and condition, an indoor waiting place or an outdoor waiting place can be selected, and A nearby waiting place 70 may be selected.

Weights according to driver information may be provided in advance by statistical values or the like.

On the other hand, in the case of the manual mode (S326), the driver can directly select the preferred waiting place 70 (S327), and the directly selected waiting place 70 is accumulated and learned together with the driver information, so that the driver It can be used as data to apply a weight when selecting a preferred waiting place (S328).

Then, the parking lot control unit 170 calculates the travel time it takes for the autonomous vehicle 300 parked in the parking space to move to the waiting place 70 preferred by the driver, and the driver from the driver's position to the waiting place 70 . It is possible to calculate the movement time it takes to move (S330).

Subsequently, the parking space search unit 171 may check whether a vehicle exists in the waiting area 70 .

The parking management system 100 determines the time it takes for the autonomous vehicle 300 to move from the parking space to the waiting place 70 through the exit calculation unit 175 if no other vehicle is parked in the waiting area 70 and The time taken for the driver to move to the waiting place 70 may be compared ( S350 ).

Subsequently, the driver's arrival time at the waiting place 70 generated according to the time when the autonomous driving vehicle 300 arrives at the waiting place 70 may be transmitted to the driver ( S360 ), and the autonomous driving vehicle 300 enters the parking space A driving trajectory and a parking trajectory from the parking space to the waiting place 70 and the departure time to depart toward the waiting place 70 may be generated and transmitted to the autonomous vehicle 300 ( S370 ).

For reference, the exiting information providing unit 177 provides the driver with the time it takes for the autonomous vehicle 300 to move from the parking space to the waiting area 70, calculated through the exiting calculation unit 175, and the waiting area 70. By using the time information indicating when to arrive at , it is possible to calculate the departure time for the autonomous vehicle 300 to start toward the waiting place 70 , and the driving trajectory and parking trajectory from the parking space to the waiting place 70 . may be generated and stored in the first storage unit 150 .

The parking lot control unit 170 may transmit the time when the driver should arrive at the waiting place 70 and then repeatedly transmit before the time to arrive.

Then, the parked autonomous vehicle 300 receives the departure time to start toward the waiting place 70 from the parking management system 100, and the driving trajectory and parking trajectory from the parking space to the waiting place 70 ( S410), when it is time to take the vehicle out to the waiting place 70, it can move along the driving trajectory and the parking trajectory to the waiting place 70 (S420).

When the autonomous vehicle 300 arrives at the departure time to start toward the waiting place 70 and moves along the driving trajectory and the parking trajectory from the parking space to the waiting place 70, the parking management system 100 autonomously drives It is possible to receive the real-time location of the car 300 , and at this time, if there is another vehicle that conflicts with the driving trajectory, the driving trajectory, the parking trajectory, or the driving so as to preferentially move the vehicle of the driver who arrives at the waiting place 70 first You can adjust the speed by modifying it.

On the other hand, the parking management system 100 receives the driver's request for getting out, and the moving time it takes for the autonomous vehicle 300 parked in the parking space to move to the waiting place 70 and the waiting place 70 from the driver's location. After calculating the travel time it takes for the driver to move, if another vehicle is parked and stopped in the waiting area 70, it can be determined that another vehicle is present in the waiting area (S340).

The waiting area 70 is a space that can be temporarily parked and stopped, and it is expected that the vehicle parked in the waiting area 70 will leave the waiting area 70 after a certain period of time, so another vehicle is parked and stopped in the waiting area 70 If it is determined that there is, the investment calculation unit 175 may calculate by adding a predetermined time to the time it takes for the autonomous vehicle 300 to move from the parking space where the autonomous vehicle 300 is parked to the waiting place 70. .

Accordingly, information on the arrival time of the waiting place 70 indicating when to arrive at the waiting place 70 may also be extended and transmitted to the driver (S380).

As described above, this technology automatically parks the vehicle in parking spaces such as apartment parking lots, public parking lots, public building parking lots, and department store parking lots, and then considers the driver's tendency and condition when the driver requests automatic exit, taking into account the waiting place and time for exiting. This has the effect of allowing the driver to safely and quickly get out of the car while minimizing the waiting time for parking.

On the other hand, according to the step S110 to step S160, step S210 to step S240, step S310 to step S380, step S321 to step S328, and step S410 to step S420 according to the present invention according to the driver's condition according to the driver's condition by programming the control method for taking out the vehicle by programming It may be stored in a recording medium so that it can be read.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

100: parking management system 300: autonomous vehicle

Claims (18)

In response to the driver's request for getting out, selects a waiting place after taking out according to driver information, calculates the first travel time it takes when the driver moves from the driver's location to the waiting place, and autonomous driving parked in a parking space Calculates a second travel time taken when the car moves to the waiting area, compares the first travel time with the second travel time, and provides an exit time and a driving trajectory from the parking space to the waiting area to the autonomous vehicle A parking management system that transmits and transmits the arrival time of the driver to the waiting place to the driver
A vehicle taking-out control system according to the driver's condition, characterized in that it comprises a. The method according to claim 1,
The parking management system,
An automatic mode in which the waiting place is automatically selected by using the driver information or a manual mode in which the driver directly selects the waiting place is performed. 3. The method according to claim 2,
The parking management system,
In the automatic mode, the vehicle taking-out control system according to the driver's condition, characterized in that the waiting place is selected by varying the weight according to the preference of the male driver or the preference of the female driver. 3. The method according to claim 2,
The parking management system,
The system according to claim 1, wherein the waiting place selected by the driver in the manual mode is stored through a learning process and then reflected in selecting the waiting place in the automatic mode. The method according to claim 1,
The parking management system,
and notifying the driver of a time when the driver should arrive at the waiting place or a time when the autonomous vehicle arrives at the waiting place in advance of a predetermined time. The method according to claim 1,
The parking management system,
and receiving the real-time location of the autonomous vehicle moving along the driving trajectory, and correcting any one driving trajectory if another vehicle that conflicts with the driving trajectory exists. The method according to claim 1,
The parking management system,
The real-time location of the autonomous vehicle moving along the driving trajectory is received, and if another vehicle that conflicts with the driving trajectory exists, the driver's vehicle that arrives at the waiting place first is prioritized to move. Exit control system according to the driver's condition. The method according to claim 1,
The parking management system,
If there is another vehicle in the waiting area,
The un-parking control system according to the driver's condition, characterized in that the un-parking time of the autonomous vehicle is delayed by a predetermined time, and the time when the driver should arrive at the waiting area is also delayed by a predetermined time. In response to the driver's request for getting out, selects a waiting place after taking out according to driver information, calculates the first travel time it takes when the driver moves from the driver's location to the waiting place, and autonomous driving parked in a parking space Calculates a second travel time taken when the car moves to the waiting area, compares the first travel time with the second travel time, and provides an exit time and a driving trajectory from the parking space to the waiting area to the autonomous vehicle a parking management system that transmits and transmits the arrival time of the driver to the waiting place to the driver; and
An autonomous vehicle that performs autonomous driving toward the waiting area by receiving the departure time and the driving trajectory from the parking management system
A vehicle taking-out control system according to the driver's condition, characterized in that it comprises a. In response to the driver's request for getting out, selects a waiting place after taking out according to driver information, calculates the first travel time it takes when the driver moves from the driver's location to the waiting place, and autonomous driving parked in a parking space a time calculation step of calculating a second travel time taken when the vehicle moves to the waiting place;
Comparing the first movement time and the second movement time, the vehicle departure time and the driving trajectory from the parking space to the waiting area are transmitted to the autonomous vehicle, according to the time when the autonomous vehicle arrives at the waiting area a standby transmission step of transmitting the generated arrival time to the waiting place of the driver to the driver; and
An autonomous driving step in which the autonomous vehicle receives the departure time and the driving trajectory from the parking management system and performs autonomous driving toward the waiting place
A method of controlling the vehicle taking out according to the driver's condition, comprising: 11. The method of claim 10,
The time calculation step is
Performing an automatic mode of automatically selecting the waiting place by using the driver information or performing a manual mode in which the driver directly selects the waiting place and receives an input How to control exit. 12. The method of claim 11,
The time calculation step is
and selecting the waiting place by varying weights according to preference of a male driver or preference of a female driver in the automatic mode. 12. The method of claim 11,
The time calculation step is
and reflecting the waiting place directly selected by the driver in the manual mode in selecting the waiting place in the automatic mode through a learning process. 11. The method of claim 10,
The standby transmission step is
and notifying the driver of a time when the driver should arrive at the waiting place or the time when the autonomous vehicle arrives at the waiting place in advance of a predetermined time. 11. The method of claim 10,
The standby transmission step is
and delaying the un-parking time of the autonomous vehicle by a predetermined time when another vehicle is present in the waiting area, and delaying the time when the driver should arrive at the waiting area by a predetermined time. control method. 11. The method of claim 10,
The autonomous driving step is
The parking management system receives the real-time location of the autonomous vehicle moving along the driving trajectory, and comprises the step of correcting any one driving trajectory if there is another vehicle that conflicts with the driving trajectory. How to control the vehicle taking out according to the driver's condition. 11. The method of claim 10,
The autonomous driving step is
The parking management system receives the real-time location of the autonomous vehicle moving along the driving trajectory. A vehicle taking-out control method according to a driver's condition, comprising the step of doing so. 18. A computer-readable recording medium in which a program for executing the vehicle taking-out control method according to any one of claims 10 to 17 according to the driver's condition is recorded.

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