KR20220070774A - Parking management device and method for autonomous vehicles - Google Patents

Abstract

The present invention relates to a parking management device and method for an autonomous vehicle. The device includes: a spatial arrangement information management unit which spatially arranges at least one parking space used in a parking process of an autonomous vehicle, and manages space arrangement information of parking lots managed as available or unavailable parking areas; a parking space determination unit which determines an available parking area having a parking complexity that satisfies a specific criterion by analyzing the space arrangement information at the time the autonomous vehicle enters; and a parking control unit which controls parking of the autonomous vehicle by providing information on the available parking area to the autonomous vehicle.

Description

Apparatus and method for parking management of autonomous vehicles

The present invention relates to a technology for designing and controlling a fully autonomous parking facility, and more particularly, a parking management device for an autonomous vehicle that controls so that the autonomous vehicle can be parked in an optimal place in consideration of the overall situation of the parking space and methods.

Currently, due to the development of technology, many things that were operated by human power are being replaced with automated systems. In addition, due to the development of the Internet, the introduction of numerous management systems using the Internet is active, and the number of management system developers using the Internet is rapidly increasing.

The automobile industry has grown with remarkable growth, but the growth has exceeded people's expectations, making it difficult to expand roads and expand parking spaces. The manpower invested in the management of the parking space also causes a lot of labor costs, and it causes high costs to maintain the parking lot, but the operation of the parking facility is still insufficient.

In addition, efforts to find parking spaces in crowded retail businesses, large public events, airports or busy downtown areas are required, and drivers are spending more time searching for vacant parking lots.

In the case of using a car for business purposes as the automobile culture becomes universal, it must be parked in a parking lot. There is a problem in that it is difficult to immediately check whether there is room remaining.

Conventionally, when there are many vehicles parked in parking lots such as buildings or department stores or public parking lots, new vehicles entering the parking lot often wander around the parking lot to find a suitable parking space. There is a problem with wasting time.

Korean Patent Registration No. 10-0911772 (2009.08.04)

An embodiment of the present invention is to provide a parking management apparatus and method for an autonomous vehicle that controls the autonomous vehicle to be parked in an optimal place in consideration of the overall situation of a parking space.

An embodiment of the present invention is to provide a parking management apparatus and method for an autonomous vehicle capable of operating an autonomous parking facility capable of accommodating more users by increasing space utilization through optimal design and operation.

An embodiment of the present invention aims to provide a parking management apparatus and method for an autonomous vehicle that can minimize congestion and congestion in a parking lot and can expect improved throughput of parking facilities and high user satisfaction through efficient distribution of parked vehicles.

Among the embodiments, the parking management device of the autonomous vehicle spatially arranges at least one parking space used in the parking process of the autonomous vehicle and manages spatial arrangement information of the parking lot, each of which is managed as an available or non-available parking area. a spatial arrangement information management unit; a parking space determining unit for determining an available parking area having a parking complexity satisfying a specific criterion by analyzing the spatial arrangement information at the time of entry of the autonomous vehicle; and a parking controller configured to control parking of the autonomous vehicle by providing information on the available parking area to the autonomous vehicle.

The spatial arrangement information management unit may configure the spatial arrangement information in a spatial arrangement based on a movement path and map the at least one parking space to the spatial arrangement.

The spatial arrangement information management unit may set one of the edge parking areas at both ends in the at least one parking space as a priority allocated parking area.

The spatial arrangement information management unit may periodically monitor the at least one parking space through a parking sensor that detects whether the non-autonomous driving vehicle is parked, and update the spatial arrangement information.

The parking space determiner may determine an average arrival distance of each of the at least one parking space and determine whether there is a priority allocated available parking area with respect to a parking space within a specific reach.

When the priority available parking area exists, the parking space determiner may select a priority available parking area in a parking space closest to the current location of the autonomous vehicle as the available parking area.

When the priority allocated available parking area does not exist, the parking space determining unit may select the next allocated available parking area, in which one immediately adjacent area is an unavailable parking area and the other immediately adjacent area is an available parking area, as the available parking area. have.

When the next available parking area does not exist, the parking space determining unit may determine whether a priority allocated available parking area or a next allocated available parking area exists for a parking space outside the specific reach.

The parking space determining unit uses a final allocated available parking area in which the immediately adjacent areas are unavailable parking areas when there is no priority allocated available parking area or next allocated available parking area with respect to the parking space outside the specific reach. A parking area can be selected.

The parking control unit may re-determine the available parking area having the parking complexity when the available parking area is occupied by a non-autonomous vehicle.

In the re-determination process, the parking control unit may determine a priority allocated available parking area, a next allocated available parking area, or a final allocated available parking area in a parking space closest to the traveling direction of the autonomous vehicle.

Among the embodiments, the parking management method of the autonomous vehicle spatially arranges at least one parking space used in the parking process of the autonomous vehicle and manages spatial arrangement information of the parking lot, each of which is managed as an available or non-available parking area to do; determining an available parking area having a parking complexity that satisfies a specific criterion by analyzing the spatial arrangement information at the time of entry of the autonomous vehicle; and controlling parking of the autonomous vehicle by providing information on the available parking area to the autonomous vehicle.

The determining includes selecting a priority available parking area in a parking space closest to the current location of the autonomous vehicle as the available parking area when there is a priority available parking area within a specific reach can do.

In the determining step, when the priority allocated available parking area does not exist, the next allocated available parking area in which one immediately adjacent area is an unavailable parking area and the other immediately adjacent area is an available parking area is selected as the available parking area may include steps.

The determining may include, if the next allocated available parking area does not exist, determining whether a priority allocated available parking area or a next allocated available parking area exists for a parking space outside the specific reach. have.

The disclosed technology may have the following effects. However, this does not mean that a specific embodiment should include all of the following effects or only the following effects, so the scope of the disclosed technology should not be understood as being limited thereby.

The apparatus and method for parking management of an autonomous vehicle according to the present invention can operate an autonomous parking facility capable of accommodating more users by increasing space utilization through optimal design and operation.

The apparatus and method for managing the parking of an autonomous vehicle according to the present invention can minimize congestion and congestion in the parking lot and improve the throughput of parking facilities and high user satisfaction through efficient distribution of parked vehicles.

1 is a view for explaining a parking management system according to the present invention.
FIG. 2 is a view for explaining a system configuration of the parking management apparatus of FIG. 1 .
FIG. 3 is a view for explaining a functional configuration of the parking management device of FIG. 1 .
4 is a flowchart illustrating a parking management process of an autonomous vehicle according to the present invention.
5 is a view for explaining an embodiment of autonomous parking and control according to the present invention.
6 is a view for explaining the operation of the parking management system according to the present invention.
7 to 9 are diagrams for explaining the operation of the parking arrangement algorithm according to the present invention.

Since the description of the present invention is merely an embodiment for structural or functional description, the scope of the present invention should not be construed as being limited by the embodiment described in the text. That is, since the embodiment may have various changes and may have various forms, it should be understood that the scope of the present invention includes equivalents capable of realizing the technical idea. In addition, since the object or effect presented in the present invention does not mean that a specific embodiment should include all of them or only such effects, it should not be understood that the scope of the present invention is limited thereby.

On the other hand, the meaning of the terms described in the present application should be understood as follows.

Terms such as “first” and “second” are for distinguishing one component from another, and the scope of rights should not be limited by these terms. For example, a first component may be termed a second component, and similarly, a second component may also be termed a first component.

When a component is referred to as being “connected to” another component, it may be directly connected to the other component, but it should be understood that other components may exist in between. On the other hand, when it is mentioned that a certain element is "directly connected" to another element, it should be understood that the other element does not exist in the middle. Meanwhile, other expressions describing the relationship between elements, that is, "between" and "between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The singular expression is to be understood as including the plural expression unless the context clearly dictates otherwise, and terms such as "comprises" or "have" refer to the embodied feature, number, step, action, component, part or these It is intended to indicate that a combination exists, and it should be understood that it does not preclude the possibility of the existence or addition of one or more other features or numbers, steps, operations, components, parts, or combinations thereof.

In each step, identification numbers (eg, a, b, c, etc.) are used for convenience of description, and identification numbers do not describe the order of each step, and each step clearly indicates a specific order in context. Unless otherwise specified, it may occur in a different order from the specified order. That is, each step may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.

The present invention can be embodied as computer-readable codes on a computer-readable recording medium, and the computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored. . Examples of the computer-readable recording medium include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like. In addition, the computer-readable recording medium is distributed in a computer system connected to a network, so that the computer-readable code can be stored and executed in a distributed manner.

All terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs, unless otherwise defined. Terms defined in general used in the dictionary should be interpreted as having the meaning consistent with the context of the related art, and cannot be interpreted as having an ideal or excessively formal meaning unless explicitly defined in the present application.

1 is a view for explaining a parking management system according to the present invention.

Referring to FIG. 1 , the parking management system 100 may include a vehicle 110 , a parking management device 130 , a database 150 , and an external system 170 .

The vehicle 110 is a transportation means for transporting passengers or cargo using power produced by an engine, and may correspond to a vehicle as a representative example. Also, the vehicle 110 is not limited to a vehicle, and may be understood as a concept including various transportation means that can move using power, such as a ship and an airplane. In an embodiment, the vehicle 110 may be connected to the parking management apparatus 130 through a network, and a plurality of vehicles 110 may be simultaneously connected to the parking management apparatus 130 .

In an embodiment, the vehicle 110 may include an autonomous driving function and, in this case, may include various sensors for autonomous driving. For example, the vehicle 110 may include an accelerator pedal sensor, a brake pedal sensor, a wheel acceleration sensor, a vehicle body acceleration sensor, a vehicle body vibration sensor, a global positioning system (GPS) sensor, and a steering angle sensor.

The parking management device 130 may be implemented as a server corresponding to a computer or program that controls so that the autonomous vehicle can be parked in an optimal place in consideration of the overall situation of the parking space in the parking lot. The parking management device 130 may be connected to the vehicle 110 through a wireless network, and may transmit/receive data to and from the vehicle 110 through the network. In addition, the parking management device 130 may operate in conjunction with the external system 170 to provide additional functions as necessary.

The database 150 may correspond to a storage device for storing various information required in the operation process of the parking management device 130 . The database 150 may store data necessary for parking lot management and may store information for determining a parking location, but is not necessarily limited thereto, and various forms in the process of the parking management device 130 managing congestion inside the parking lot to store the collected or processed information.

The external system 170 may correspond to a computing device or server for providing additional functions to the parking management device 130 and the process of managing a parking space inside a parking lot and providing parking management of an autonomous vehicle. For example, the external system 170 may include a payment system, an authentication system, and an artificial intelligence system.

FIG. 2 is a view for explaining a system configuration of the parking management device of FIG. 1 .

Referring to FIG. 2 , the parking management apparatus 130 may be implemented to include a processor 210 , a memory 230 , a user input/output unit 250 , and a network input/output unit 270 .

The processor 210 may execute a procedure for processing each step in the process of the parking management device 130 operating, and manage the memory 230 read or written throughout the process, and the memory 230 ) can schedule the synchronization time between volatile and non-volatile memory in The processor 210 can control the overall operation of the parking management device 130, and is electrically connected to the memory 230, the user input/output unit 250, and the network input/output unit 270 to control the data flow between them. can The processor 210 may be implemented as a CPU (Central Processing Unit) of the parking management device 130 .

The memory 230 is implemented as a non-volatile memory, such as a solid state drive (SSD) or a hard disk drive (HDD), and may include an auxiliary storage device used to store overall data required for the parking management device 130, It may include a main memory implemented as a volatile memory such as random access memory (RAM).

The user input/output unit 250 may include an environment for receiving a user input and an environment for outputting specific information to the user. For example, the user input/output unit 250 may include an input device including an adapter such as a touch pad, a touch screen, an on-screen keyboard, or a pointing device, and an output device including an adapter such as a monitor or a touch screen. In one embodiment, the user input/output unit 250 may correspond to a computing device connected through a remote connection, and in such a case, the parking management device 130 may be performed as an independent server.

The network input/output unit 270 includes an environment for connecting with an external device or system through a network, for example, a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), and a VAN (Wide Area Network) (VAN). It may include an adapter for communication such as Value Added Network).

FIG. 3 is a view for explaining a functional configuration of the parking management device of FIG. 1 .

Referring to FIG. 3 , the parking management apparatus 130 may include a space arrangement information management unit 310 , a parking space determination unit 330 , a parking control unit 350 , and a control unit 370 .

The spatial arrangement information management unit 310 spatially arranges at least one parking space used in the parking process of the autonomous vehicle and manages spatial arrangement information of the parking lot, each of which is managed as an available or unavailable parking area. That is, the spatial arrangement information of the parking lot may be defined as a virtual spatial area in which the internal structure of the parking lot is reflected, and the corresponding spatial area may include a parking area defined by corresponding to the parking space of the parking lot, respectively. Accordingly, the spatial arrangement information may include information on the internal structure and parking space of the corresponding parking lot, and location and arrangement information of a parking area corresponding to each parking space. In this case, each parking area may be classified into an available parking area and an unavailable parking area. That is, the available parking area may correspond to a parking area in which the vehicle 110 is not currently parked, and the unavailable parking area may correspond to a parking area in which the vehicle 110 is currently parked and thus cannot be parked.

In an embodiment, the spatial arrangement information management unit 310 may configure the spatial arrangement information as a spatial arrangement based on a movement path and map at least one parking space to the spatial arrangement. Here, the spatial arrangement based on the movement path may correspond to a space arrangement in which the location of the destination to be moved after parking in the corresponding space area is set. That is, the spatial arrangement information management unit 310 maps the space arrangement of the parking lot to the space arrangement so that a specific vehicle 110 enters the parking lot based on the space arrangement, parks in a specific parking space, and then moves to the destination. information can be calculated.

In an embodiment, the spatial arrangement information management unit 310 may set one of the edge parking areas at both ends in at least one parking space as a priority allocated parking area. When the spatial arrangement is in the form of a two-dimensional arrangement, it can be assumed that the parking area corresponding to both edges of each row has sufficient space in the opposite space. In this case, the edge parking areas at both ends may be considered preferentially, and the spatial arrangement information management unit 310 may set the corresponding parking area as a priority allocated parking area.

In one embodiment, the spatial arrangement information management unit 310 may update the spatial arrangement information by periodically monitoring at least one parking space through a parking detection sensor that detects whether the non-autonomous driving vehicle is parked. That is, the spatial arrangement information management unit 310 may periodically monitor the information on the parking state of the parking lot to keep the spatial arrangement information up to date.

The parking space determiner 330 may determine an available parking area having a parking complexity that satisfies a specific criterion by analyzing the space arrangement information at the time of entry of the autonomous vehicle. That is, the parking complexity may be calculated using the parking time required for parking and the moving distance to the destination after parking as main variables. The parking space determining unit 330 may calculate a parking complexity for each available parking area based on the spatial arrangement information, and may determine a parking area having the smallest parking complexity as the available parking area.

In another embodiment, the parking space determining unit 330 may calculate the parking complexity for each row when the spatial arrangement information is in the form of a two-dimensional arrangement. In this case, the parking complexity may be calculated based on an expected parking time based on the parking state of each row. In addition, when the optimal parking area for each row is determined, the parking space determiner 330 may finally determine a parking area having the smallest distance to the destination as an available parking area. In this case, if necessary, the parking complexity for each parking area may be calculated as a result of integrating the calculated parking time for each row and the distance to the destination.

In an embodiment, the parking space determiner 330 may determine an average arrival distance for each of at least one parking space and determine whether there is a priority allocated available parking area with respect to a parking space within a specific reach. More specifically, the parking space determiner 330 may calculate the reach distance from at least one entrance for each parking space in the parking lot, and may determine the average reach distance corresponding to the average of the reach distances. If the average arrival distance is smaller than the reference value (ie, a specific arrival distance), the parking space determiner 330 may determine whether there is a priority allocated available parking area for the corresponding parking spaces.

In an embodiment, the parking space determiner 330 may select, as the available parking area, a priority allocated available parking area in a parking space closest to the current location of the autonomous vehicle when there is a priority allocated available parking area. In addition, the parking space determiner 330 may select a priority allocated available parking area in the closest parking space to the destination location as the available parking area. In addition, the parking space determiner 330 may select a priority allocated available parking area in a parking space in which the sum of the distance from the current location of the autonomous vehicle and the distance to the destination is the minimum as the available parking area.

In one embodiment, the parking space determiner 330 is the next allocated available parking area, the area immediately adjacent to one side is the unavailable parking area and the area immediately next to the other is the available parking area when there is no priority allocated available parking area Available parking areas can be selected. That is, the next available parking area may correspond to a parking area in which the vehicle 110 is parked in only one of both parking areas. The parking space determining unit 330 may first determine an available parking area from the priority allocated available parking area, and if there is no priority allocated available parking area that meets the condition, determine an available parking area from the next allocated available parking area can

In one embodiment, the parking space determining unit 330 determines whether there is a priority allocated available parking area or a next allocated available parking area with respect to a parking space outside a specific reach when there is no next allocated available parking area can That is, the parking space determining unit 330 may primarily determine an available parking area for a parking space within a specific reach, and if it is difficult to determine an available parking area within the specific reach, secondarily An available parking area can be determined for a parking space outside the reach. In addition, the parking space determiner 330 may determine the available parking area sequentially after determining the priority allocated available parking area and the next allocated available parking area even for a parking space outside a specific reach distance.

In an embodiment, the parking space determining unit 330 determines that if there is no priority allocated available parking area or next allocated available parking area with respect to a parking space outside a specific reach, both adjacent areas are unavailable parking areas. The allocated available parking area can be selected as the available parking area. That is, the parking space determiner 330 may determine the available parking areas in the order of a parking area in which both sides are empty, parking areas in which only one of both sides is empty, and a parking area in which both sides are parked.

The parking control unit 350 may control parking of the autonomous vehicle by providing information on the available parking area to the autonomous vehicle. The parking control unit 350 may update the database 150 while providing information on an available parking area to the autonomous vehicle, and may finally update the database 150 by receiving a parking result from the autonomous vehicle.

In an embodiment, when the available parking area is occupied by a non-autonomous driving vehicle, the parking control unit 350 may re-determine an available parking area having a parking complexity. That is, the parking control unit 350 may control the parking of the autonomous vehicle based on the available parking area, but when the available parking area is used by the non-autonomous vehicle in a state where the parking of the autonomous vehicle is not completed The available parking area may be re-determined by re-performing the parking complexity calculation process. In this case, the available parking area occupied by the non-autonomous driving vehicle may be updated as an unavailable parking area.

In an embodiment, the parking control unit 350 may determine a priority allocated available parking area, a next allocated available parking area, or a final allocated available parking area in the parking space closest to the traveling direction of the autonomous vehicle during the re-determination process. That is, the parking control unit 350 may re-determine the available parking area by reflecting the current location of the autonomous vehicle as a result of the autonomous vehicle's parking operation being performed for a predetermined time. In this case, a priority allocated available parking area, a next allocated available parking area, or a final allocated available parking area may be determined based on the current location of the autonomous vehicle.

The control unit 370 may control the overall operation of the parking management device 130 , and may manage the control flow or data flow between the space arrangement information management unit 310 , the parking space determining unit 330 , and the parking control unit 350 . .

4 is a flowchart illustrating a parking management process of an autonomous vehicle according to the present invention.

Referring to FIG. 4 , the parking management device 130 spatially arranges at least one parking space used in the parking process of the autonomous vehicle through the spatial arrangement information management unit 310 , and each is an available or non-available parking area. It is possible to manage the spatial arrangement information of the managed parking lot (step S410). In addition, the parking management device 130 may determine an available parking area having a parking complexity that satisfies a specific criterion by analyzing the space arrangement information at the time of entry of the autonomous vehicle through the parking space determiner 330 (step S430 ). ). In addition, the parking management device 130 may control the parking of the autonomous vehicle by providing information about the available parking area to the autonomous vehicle through the parking control unit 350 (step S450).

5 is a view for explaining an embodiment of autonomous parking and control according to the present invention.

Referring to FIG. 5 , the parking management device 130 can support to minimize the movement in the parking lot by always providing the optimal parking location regardless of the number of vehicles in the parking lot and providing the parking location to the autonomous vehicle. In addition, the parking management device 130 may support to minimize the overall congestion of the parking lot by excluding the surrounding parking space from consideration when the congestion degree of a specific section is high.

On the other hand, the parking management device 130 may operate to preferentially allocate a parking space with a minimum distance to the destination when receiving a request for special treatment of the elderly, the disabled, etc., and when the parking of the vehicle is completed, the vehicle 110 It is possible to update the database 150 by receiving the parking location confirmed from the.

6 is a view for explaining the operation of the parking management system according to the present invention.

Referring to FIG. 6 , the parking management system 100 may include a vehicle 110 , a parking management device 130 , and a database 150 . In FIG. 6 , the vehicle 110 may correspond to a user vehicle or may correspond to an autonomous vehicle. The parking management device 130 may operate as a control server, and the database 150 may operate as a parking lot DB. On the other hand, the parking lot DB may be implemented as a device independent of the control server and may be interlocked, or may be included in the control server to constitute one physical device as shown in FIG. 6 .

The user's vehicle may selectively transmit a special processing request to the control server when entering the parking lot, and the control server may provide information on the available parking area by automatically detecting the user's vehicle entry. In addition, the control server may transmit the parking location to the user's vehicle and at the same time deliver the temporary parking location to the parking lot DB to wait for DB update. If the user's vehicle is parked at the corresponding parking location, the confirmed parking location may be transmitted to the parking lot DB. In this case, the parking management system 100 may detect whether the vehicle 110 is parked through a parking sensor installed in the parking lot. The parking lot DB may deliver parking lot information for the parking arrangement process operated by the control server. On the other hand, the parking lot DB may store information about the available parking space, the destination location, the degree of internal congestion in consideration of the parking and taking-out vehicle.

7 to 9 are diagrams for explaining the operation of the parking arrangement algorithm according to the present invention.

Referring to FIG. 7 , the parking management device 130 may implement an autonomous control system capable of controlling the parking of the vehicle 110 , and may include a parking arrangement algorithm. The parking arrangement algorithm can contribute to solving the problem that the density of vehicles inside the parking lot increases by parking in an arbitrary order when the size of the available parking space is limited, and the arrangement order of the vehicles 110 may be inefficient.

In particular, in the case of an autonomous vehicle, when it is parked in the space on either side, it is necessary to minimize the inefficiency by applying the optimal parking arrangement algorithm because the amount of computation or time required for parking and exiting is inefficient.

More specifically, the operation of the parking arrangement algorithm will be described as follows. First, two assumptions can be applied. In other words, it can be assumed that 1) only the calculation cost for parking is taken into account because the vehicle's exit pattern is unpredictable, and 2) when at least one of the spaces is empty, the amount of calculation required for parking of the autonomous vehicle is significantly reduced. . The parking arrangement algorithm is explained by taking the parking lot as an example of a two-dimensional rectangular arrangement. Of course, even when the size of each row is different, the present algorithm may be equally applicable. In addition, the location of the destination after parking can be assumed as the first column of the array, and if the destination is in the middle of the row, it can be applied to two independent arrays by dividing it into two rows based on the destination.

Thereafter, the parking arrangement algorithm may calculate an optimal parking location for each row of the parking lot. In the case of FIG. 7 , if parking is arbitrarily as shown in figure (a), the cost of parking in the remaining parking space may be high for option 1, and option 2 may not be ideal because it is far from the destination. Therefore, it may be ideal if the parking order is determined as shown in Figure (b). (Here, the left/right most vehicles in a row are assumed to have sufficient space on their respective left/right sides)

That is, in the ideal case, even though three vehicles are parked in four parking spaces, it can be confirmed that the parking cost of all vehicles is small and the distance to the trade-off destination is also minimized. The same description may be applied to the cases of FIGS. 8 and 9 as well. In addition, the vehicle can be arranged by applying an inductive method with a step size of 3 to a row of an arbitrary size. As a result, in the case of FIGS. 8 and 9 , it may be the same as the principle in which vehicles 1 and 2 and vehicles 3 and 4 are arranged.

The parking management device 130 according to the present invention may calculate an optimal parking location for each row of the parking lot according to a parking arrangement algorithm, and then allocate a parking location to a location closest to the destination among them. That is, the parking management device 130 may transmit the optimal parking position when the autonomous vehicle enters the parking lot. This allows autonomous vehicles to park directly without having to walk around the parking lot to find a parking location.

In addition, the parking management device 130 may allocate the location of the lane when the passenger inside the vehicle is the elderly or disabled, or when a lot of vehicles are crowded in a specific location inside the parking lot and it is congested. Accordingly, the parking management device 130 minimizes the time required for one vehicle 110 to park, and by designating a parking location, it is possible to minimize the movement required inside the parking lot. In addition, the parking management device 130 can prevent vehicles from being excessively driven to a specific location inside the parking lot, and can improve the overall efficiency of the parking lot.

Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art can variously modify and change the present invention within the scope without departing from the spirit and scope of the present invention as set forth in the claims below. You will understand that it can be done.

100: parking management system
110: vehicle 130: parking management device
150: database 170: external system
210: processor 230: memory
250: user input/output unit 270: network input/output unit
310: space arrangement information management unit 330: parking space determining unit
350: parking control 370: control

Claims (15)

a spatial arrangement information management unit which spatially arranges at least one parking space used in the parking process of the autonomous vehicle and manages the spatial arrangement information of the parking lot, each of which is managed as an available or unavailable parking area;
a parking space determining unit that analyzes the spatial arrangement information at the time of entry of the autonomous vehicle to determine an available parking area having a parking complexity that satisfies a specific criterion; and
and a parking control unit controlling parking of the autonomous vehicle by providing information on the available parking area to the autonomous vehicle.
According to claim 1, wherein the spatial arrangement information management unit
The apparatus for managing parking of an autonomous vehicle, characterized in that the spatial arrangement information is configured as a spatial arrangement based on a movement path and the at least one parking space is mapped to the spatial arrangement.
The method of claim 2, wherein the spatial arrangement information management unit
A parking management apparatus for an autonomous vehicle, characterized in that one of the edge parking areas at both ends in the at least one parking space is set as a priority allocated parking area.
According to claim 1, wherein the spatial arrangement information management unit
The apparatus for managing parking of an autonomous vehicle, characterized in that the space arrangement information is updated by periodically monitoring the at least one parking space through a parking sensor detecting whether the non-autonomous vehicle is parked.
According to claim 1, wherein the parking space determining unit
and determining an average arrival distance for each of the at least one parking space, and determining whether there is a preferentially allocated available parking area for a parking space within a specific reach distance.
The method of claim 5, wherein the parking space determining unit
When the priority available parking area exists, the priority allocated available parking area in a parking space closest to the current location of the autonomous vehicle is selected as the available parking area.
The method of claim 6, wherein the parking space determining unit
Autonomy, characterized in that when the priority allocated available parking area does not exist, the next allocated available parking area in which one immediately adjacent area is an unavailable parking area and the other immediately adjacent area is an available parking area is selected as the available parking area Parking management system for driving vehicles.
The method of claim 7, wherein the parking space determining unit
Parking management of an autonomous vehicle, characterized in that it is determined whether there is a priority allocated available parking area or a next allocated available parking area with respect to a parking space outside the specific reach when the next allocated available parking area does not exist Device.
The method of claim 8, wherein the parking space determining unit
If there is no priority allocated available parking area or next allocated available parking area with respect to the parking space outside the specific reach, the last allocated available parking area in which the adjacent areas are unavailable parking areas is selected as the available parking area A parking management device for an autonomous vehicle, characterized in that.
According to claim 1, wherein the parking control
and re-determining the available parking area having the parking complexity when the available parking area is occupied by the non-autonomous vehicle.
The method of claim 10, wherein the parking control
In the re-determination process, a priority allocated available parking area, a next allocated available parking area, or a final allocated available parking area is determined in a parking space closest to the traveling direction of the autonomous vehicle.
Spatially arranging at least one parking space used in the parking process of the autonomous vehicle and managing spatial arrangement information of the parking lot, each of which is managed as an available or unavailable parking area;
determining an available parking area having a parking complexity that satisfies a specific criterion by analyzing the spatial arrangement information at the time of entry of the autonomous vehicle; and
and controlling parking of the autonomous vehicle by providing information on the available parking area to the autonomous vehicle.
13. The method of claim 12, wherein the determining comprises:
If there is a priority available parking area within a specific reach, selecting a priority available parking area in a parking space closest to the current location of the autonomous vehicle as the available parking area A parking management method for autonomous vehicles.
14. The method of claim 13, wherein the determining step
When the priority allocated available parking area does not exist, selecting the next allocated available parking area, in which one immediately adjacent area is an unavailable parking area and the other immediately adjacent area is an available parking area, as the available parking area A parking management method for an autonomous vehicle characterized by its characteristics.
15. The method of claim 14, wherein the determining step
If the next available parking area does not exist, determining whether there is a priority allocated available parking area or a next allocated available parking area with respect to a parking space outside the specific reach; Vehicle parking management method.

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