KR20220085265A - Autonomous vehicle parking control system - Google Patents

Abstract

The autonomous vehicle parking control system according to an embodiment of the present invention is provided to a parking lot at preset intervals in a first direction and a second direction perpendicular to the first direction, an image acquisition module, configured to acquire an image; a parking map generating module configured to generate a divided parking map in a preset manner; a location tracking module configured to track the location of the autonomous vehicle in the parking lot to generate vehicle location information; a path generating module configured to generate a movement path of the autonomous vehicle including a parking path and an exit path and transmit it to an autonomous driving server that controls the movement of the autonomous vehicle; and a communication module configured to transmit/receive information on the autonomous driving vehicle to and from an owner terminal of the autonomous driving vehicle and an autonomous driving server controlling the movement of the autonomous driving vehicle.

Description

Autonomous vehicle parking control system {AUTONOMOUS VEHICLE PARKING CONTROL SYSTEM}

The present invention relates to an autonomous vehicle parking control system.

The autonomous parking system, which is being developed recently, finds a parking space in the parking lot by itself and performs autonomous parking in the corresponding parking space without the driver being on board.

In addition, the autonomous parking system performs autonomous driving until the driver exits the parking lot after turning on the engine according to a request from the driver.

For example, if the driver requests parking using a smartphone after getting out of the parking lot, the autonomous parking system enters the parking lot through autonomous driving, finds a parking space by itself, and parks the vehicle. When an exit is requested using a phone, the autonomous parking system performs autonomous driving from a parking position in the parking lot to the entrance of the parking lot.

Therefore, the driver does not have to go to the parking lot, and the time required to find a parking space and perform parking can be reduced.

However, since such an existing autonomous parking system performs parking through a sensor provided to the vehicle, it cannot detect a plurality of vehicles running in the parking lot at once, and accordingly, it inevitably entails a high risk of an accident.

In addition, several problems may occur in a parking lot where double parking is required to stop the operation once it is parked. For example, if you park in front of a place where double parking is required, the exit path of the vehicle parked behind is blocked. It inevitably entails hassle.

An embodiment of the present invention divides a parking lot to generate a parking map, provides a parking and exit route based on the generated parking map, and allows a vehicle requested to exit the vehicle to wait in advance at a designated place. An object of the present invention is to provide a parking control system.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned are clearly to those of ordinary skill in the art to which the present invention belongs from the description below. can be understood

According to one aspect of the present invention, an image is provided in a parking lot at preset intervals along a first direction and a second direction perpendicular to the first direction, and configured to acquire images of the parking lot and an autonomous vehicle in the parking lot acquisition module; a parking map generating module configured to generate a divided parking map in a preset manner; a location tracking module configured to track the location of the autonomous vehicle in the parking lot to generate vehicle location information; a path generating module configured to generate a movement path of the autonomous vehicle including a parking path and an exit path and transmit it to an autonomous driving server that controls the movement of the autonomous vehicle; and a communication module configured to transmit and receive information about the autonomous driving vehicle to and from an autonomous driving server controlling the movement of the autonomous driving vehicle owner terminal and the autonomous driving vehicle, the autonomous driving vehicle parking control system can be provided. .

In addition, the image acquisition module may include: an autonomous vehicle parking control system including at least one of a depth camera for generating a three-dimensional image and a general camera for generating a two-dimensional image.

In addition, the parking map generation module may include: a parking map generator configured to generate a parking map dividing the parking lot by generating a parking dividing line in a preset manner on the image for the parking lot; and a parking available space information generator configured to generate parking available space information based on the parking map and the parked vehicle location information, the autonomous vehicle parking control system may be provided.

In addition, the parking map generating unit: a first parking, configured to generate a first parking map by generating a first parking dividing line on the image for the first area to park the first car type in the first area of the parking lot map generation unit; and a second configured to generate a second parking map by creating a second parking dividing line on the image for the second zone to park a second vehicle type larger in size than the first vehicle type in a second zone of the parking lot a parking map generating unit, wherein the first parking dividing line is generated on the image for the first zone at a first interval along the first direction and at a second interval along the second direction a parking divider, wherein the second parking divider is a parking divider generated at a third interval wider than the first interval along the first direction on the image for the second area and the second parking divider along the second direction An autonomous vehicle parking control system including a parking dividing line generated at a fourth interval wider than the interval may be provided.

In addition, the parking map generating unit further includes: a third parking map generating unit, configured to generate a third parking map by generating a third parking dividing line on the image for a third area of the parking lot, wherein the third parking The dividing line is a parking dividing line generated at a fifth interval along a third direction that is a direction between the first direction and the second direction on the image for the third area and a fourth direction perpendicular to the third direction. An autonomous vehicle parking control system including a parking dividing line generated at a sixth interval may be provided.

In addition, the location tracking module includes: a unique number granting unit configured to assign a unique number to each autonomous vehicle in the parking lot; Based on the image of the vehicle acquired from the entrance and exit of the parking lot and the image of the vehicle acquired in the parking lot with respect to the vehicle to which the unique number is assigned, a location tracking unit configured to track the location of the vehicle to which the unique number is assigned Including, an autonomous vehicle parking control system may be provided.

In addition, the route generating module may include: a parking route generator configured to generate a parking route based on vehicle location information about the first vehicle that has transmitted the parking request information, the available parking space information, and a movement route of another vehicle; an un-parking path generator configured to generate an un-parking route based on vehicle location information about the second vehicle that has transmitted the un-parking request information, location information of a parking lot entrance, and a movement route of another vehicle; and a path transmission configured to transmit corresponding data to the communication module in order to transmit a path generated for movement of the autonomous driving vehicle, including the parking path and the exit path, to an autonomous driving server that controls the movement of the autonomous driving vehicle An autonomous vehicle parking control system comprising a unit may be provided.

In addition, the parking path generation unit determines the vehicle type of the first vehicle through the image of the first vehicle and determines which zone to park in the first zone and the second zone to generate parking zone information, There may be provided an autonomous vehicle parking control system, configured to generate the parking route by further considering area information.

In addition, the route generating module further comprises: a route modifying unit configured to correct the parking route or the un-parking route when the first vehicle deviates from the parking route or the second vehicle deviates from the un-parking route , an autonomous vehicle parking control system may be provided.

In addition, the route generating module is configured to: when it is determined that the third vehicle is parked on the exit path of the second vehicle, based on the current location of the third vehicle and the available parking space information, The autonomous vehicle parking control system may be provided, further comprising a parking position adjustment unit configured to generate a parking position adjustment path that is a path for moving the third vehicle to another available parking space by minimizing the moving distance.

In addition, the route generating module further comprises: an un-parking path generator configured to generate an un-parking route for moving the owner's vehicle to an un-parking place when un-parking request information is received from the owner terminal of the autonomous vehicle. , an autonomous vehicle parking control system may be provided.

In addition, the un-parking path generation unit: When receiving un-parking request information for a fourth vehicle from the autonomous vehicle owner terminal, a first path from the vehicle location for the fourth vehicle to a first un-parking place a first un-parking path generating unit, configured to generate an un-parking route; and when it is determined that the owner of the fourth vehicle waiting at the first un-parking place does not board the fourth vehicle within the first time, the path from the vehicle location for the fourth vehicle to the second un-parking place is An autonomous vehicle parking control system may be provided, including a second un-parking path generating unit configured to generate a second un-parking path.

In addition, the un-parking waiting path generation unit: While waiting at the second un-parking location, it is determined that the owner of the fourth vehicle does not board the fourth vehicle within a second time period, or the autonomous vehicle owner terminal sends the fourth vehicle to the fourth vehicle. and a third waiting-for-parking path generating unit, configured to generate a third waiting-for-parking path that is a path from the vehicle location to the available parking space for the fourth vehicle when receiving un-parking cancellation request information for the fourth vehicle A vehicle parking control system may be provided.

In addition, upon receiving the exit request information from the terminal of the owner of the autonomous vehicle, the scheduled departure time is calculated based on the distance from the location of the vehicle to be exited to the exit waiting area and the level of congestion of the exit waiting area. The autonomous vehicle parking control system may be provided, further comprising a scheduled departure time calculation module configured to be transmitted to the owner terminal of the driving vehicle.

In addition, an autonomous vehicle parking control system may be provided in which the level of un-parking congestion is calculated based on the ratio of the number of waiting vehicles at the time of receiving the un-parking request information to the total number of waiting vehicles in the waiting area for un-parking. .

The autonomous vehicle parking control system according to an embodiment of the present invention divides a parking lot to generate a parking map, provides parking and exit routes based on the generated parking map, and provides a vehicle requesting exit to a designated place in advance. You can make it wait.

On the other hand, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be able

1 is a block diagram showing each configuration of an autonomous vehicle parking control system 10 according to an embodiment of the present invention.
2 is a block diagram showing each configuration of the parking map generating module 200 .
3A to 3C are exemplary views illustrating a state in which a parking map is generated through the parking map generating unit 210 .
4 is a block diagram showing each configuration of the location tracking module 300 .
5 is a block diagram showing each configuration of the path generation module 400 .
6A is a view showing a state before the parking position is adjusted by the parking position adjusting unit 450 .
6B is a view illustrating a state after the parking position is adjusted by the parking position adjusting unit 450 .

Other advantages and features of the present invention, and a method for achieving them will become apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms, and only this embodiment serves to complete the disclosure of the present invention, and to obtain common knowledge in the technical field to which the present invention pertains. It is provided to fully inform the possessor of the scope of the invention, and the present invention is only defined by the scope of the claims. Even if not defined, all terms (including technical or scientific terms) used herein have the same meaning as commonly accepted by common technology in the prior art to which this invention belongs. Terms defined by general dictionaries may be interpreted as having the same meaning as in the related description and/or in the text of the present application, and shall not be conceptualized or overly formally construed even if the expression is not explicitly defined herein. won't

The terminology used herein is for the purpose of describing the embodiments and is not intended to limit the present invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, 'comprise' and/or the various conjugations of this verb, eg, 'comprising', 'comprising', 'comprising', 'comprising', etc., refer to the stated composition, ingredient, component, A step, operation and/or element does not exclude the presence or addition of one or more other compositions, components, components, steps, operations and/or elements.

As used herein, the term 'and/or' refers to each of the listed components or various combinations thereof. Meanwhile, terms such as '~ unit', '~ group', '~ block', and '~ module' used throughout this specification may mean a unit that processes at least one function or operation. For example, it can mean software, a hardware component such as an FPGA or an ASIC. However, '~ part', '~ group', '~ block', and '~ module' are not meant to be limited to software or hardware. '~ unit', '~ group', '~ block', and '~ module' may be configured to reside in an addressable storage medium or to regenerate one or more processors. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings of the present specification.

1 is a block diagram showing each configuration of an autonomous vehicle parking control system 10 according to an embodiment of the present invention.

Referring to FIG. 1 , the autonomous vehicle parking control system 10 includes an image acquisition module 100 , a parking map generation module 200 , a location tracking module 300 , a route generation module 400 , and a communication module 500 . includes

The image acquisition module 100 is provided to the parking lot at preset intervals along a first direction and a second direction perpendicular to the first direction, and is configured to acquire images of the parking lot and the autonomous vehicle in the parking lot.

For example, when the parking lot is provided in a rectangular shape, the first direction may be a longer side direction of the parking lot, and thus the second direction may be a shorter side direction of the parking lot.

The image acquisition module 100 may include at least one of a depth camera 110 for generating a 3D image and a general digital camera 120 for generating a 2D image.

In the case of the depth camera 110, a stereo method for generating a three-dimensional image by combining an image sensor for generating a two-dimensional image may be employed.

The parking map generating module 200 is configured to generate a divided parking map in a preset manner.

The location tracking module 300 is configured to track the location of the autonomous vehicle in the parking lot to generate vehicle location information.

The path generation module 400 is configured to generate a movement path of the autonomous vehicle including a parking path and an exit path and transmit it to an autonomous driving server that controls the movement of the autonomous vehicle.

The communication module 500 is configured to transmit and receive information about the autonomous driving vehicle to the autonomous driving server that controls the movement of the autonomous driving vehicle owner terminal and the autonomous driving vehicle.

2 is a block diagram showing each configuration of the parking map generating module 200 .

Referring to FIG. 2 , the parking map generating module 200 may include a parking map generating unit 210 .

The parking map generator 210 may generate a parking map in which the parking lot is divided by generating a parking dividing line in a preset manner on the image of the parking lot acquired through the image acquisition module 100 .

3A to 3C are exemplary views illustrating a state in which a parking map is generated through the parking map generating unit 210 .

2 and 3A to 3C , the parking map generating unit 210 includes a first parking map generating unit 211 , a second parking map generating unit 212 , and a third parking map generating unit 213 . may include

The first parking map generating unit 211 may be configured to generate the first parking map by generating a first parking dividing line on the image for the first area to park the first car type in the first area of the parking lot.

In this case, the first parking dividing line may include a parking dividing line generated at a first interval along a first direction and a parking dividing line generated at a second interval along a second direction on the image of the first zone.

For example, referring to FIG. 3A , the first parking map generating unit 211 is configured to park the first vehicle type, which is a passenger car, in the first area that is the first underground parking lot on the image for the first underground parking lot. Partition lines can be created. More specifically, the first parking map generating unit 211 generates a first parking dividing line, wherein the first parking dividing line is a parking dividing line generated at first intervals along a first direction of the first underground parking lot and the first underground parking lot. and a parking dividing line generated at second intervals along a second direction of

The second parking map generating unit 212 generates a second parking map by generating a second parking dividing line on the image for the second area to park a second vehicle type larger in size than the first vehicle type in the second area of the parking lot. can be configured to create

In this case, the second parking stray line is a parking dividing line generated at a third interval wider than the first interval along the first direction on the image for the second zone and a fourth interval wider than the second interval along the second direction. May include parking dividers.

For example, referring to FIG. 3B , the second parking map generating unit 212 is configured to park the second vehicle type, which is an SUV, in the second area, which is the second underground parking lot, on the image for the second underground parking lot. Partition lines can be created. More specifically, the second parking map generating unit 212 generates a second parking dividing line, the second parking dividing line being the parking dividing line created at third intervals along the first direction of the second underground parking lot and the second underground parking lot. may include a parking dividing line generated at fourth intervals along the second direction of the .

The third parking map generating unit 213 may be configured to generate the third parking map by generating the third parking dividing line in the third manner on the image for the third area of the parking lot.

At this time, the third parking dividing line is generated at a fifth interval along the third direction, which is a direction between the first and second directions, on the image for the third zone, and along the fourth direction perpendicular to the third direction. It may include a parking dividing line generated at the sixth interval.

For example, referring to FIG. 3C , the third parking map generating unit 213 is configured to park the third vehicle type, which is a motorcycle, in the third area, which is the third underground parking lot, on the image for the third underground parking lot. Partition lines can be created. To be more specific, the third parking map generating unit 213 generates a third parking dividing line, the third parking dividing line being the parking dividing line created at fifth intervals along the third direction of the third underground parking lot and the third underground parking lot. may include a parking dividing line generated at sixth intervals along the fourth direction of the .

In the case of the fifth and sixth intervals, when the third zone is an area for motorcycle parking, it may be provided closer than the first to fourth intervals, and in contrast, when the third zone is an area for bus parking, the third It may be provided further than the first to fourth intervals.

In summary, in the case of the third parking dividing line generated through the third parking map generating unit 213, when the parking lot is provided in a shape other than a rectangular shape, the third direction is selected by the autonomous driving vehicle parking control system 10 operator The fifth and sixth intervals can also be freely adjusted according to the selection of the autonomous vehicle parking control system 10 operator, thereby enabling more parking in the third zone.

Referring back to FIG. 2 , the parking map generating module 200 may include a parking available space information generating unit 220 .

The available parking space information generating unit 220 may be configured to generate available parking space information based on the parking map and the parked vehicle location information.

In more detail, the available parking space information generating unit 220 displays the location of the autonomous vehicle identified by the location tracking module 300 on the parking map generated by the parking map generating unit 210 . Thereafter, if the autonomous vehicle is stopped for a preset time in a parking area on the parking map, it is determined that the vehicle is in a parked state. That is, the available parking space information generating unit 220 considers an area in which the autonomous vehicle is not parked on the parking area as a parking available space, and generates parking space information based on this.

4 is a block diagram showing each configuration of the location tracking module 300 .

Referring to FIG. 4 , the location tracking module 300 may include a unique number granting unit 310 and a location tracking unit 320 .

The unique number assignment unit 310 may be configured to assign a unique number to each autonomous vehicle in the parking lot.

The location tracking unit 320 is configured to track the location of the vehicle to which the unique number is assigned, based on the image of the vehicle acquired at the entrance and exit of the parking lot and the image of the vehicle acquired in the parking lot with respect to the vehicle to which the unique number is assigned. can be

In more detail, the unique number assigning unit 310 may assign a unique number to each autonomous vehicle when each autonomous vehicle enters the parking lot through the entrance of the parking lot. Thereafter, the location tracking unit 320 identifies the same vehicle by comparing the image of the vehicle acquired at the entrance and exit of the parking lot with the image of the vehicle acquired in the parking lot, and continuously tracks the movement of each autonomous vehicle to which a unique number is assigned. can do.

5 is a block diagram showing each configuration of the path generation module 400 .

Referring to FIG. 5 , the path generation module 400 may include a parking path generation unit 410 , an exit path generation unit 420 , and a path transmission unit 430 .

The parking route generator 410 may be configured to generate a parking route based on vehicle location information about the first vehicle that has transmitted the parking request information, information about a parking space available, and a movement route of another vehicle.

For example, when the owner of the first vehicle among the autonomous vehicles intends to park his/her vehicle through the autonomous vehicle parking control system 10 , the owner of the first vehicle owns the autonomous vehicle owner terminal It is possible to transmit the parking request information to the autonomous vehicle parking control system 10 through . The communication module 500 receives this parking request information and transmits it to the path generating module 400 , and the parking path generating unit 410 included in the path generating module 400 receives the parking request information and generates a parking path. can do. At this time, the parking path generating unit 410 based on the vehicle location of the first vehicle identified through the location tracking unit 320 and the available parking space information identified through the available parking space information generating unit 220, the first vehicle You can create a parking path that is a path to the nearest available parking space from your current location. In this case, the parking path generating unit 410 may prevent a collision with another vehicle by generating a parking path in consideration of the movement paths of other vehicles.

In addition, the parking path generation unit 410 determines the vehicle type of the first vehicle through the image of the first vehicle, determines which zone to park in the first zone and the second zone, generates parking zone information, and provides parking zone information. It may be configured to generate a parking route by further considering.

For example, when it is determined that the first vehicle is a passenger car through the image of the first vehicle, the parking path generation unit 410 sets the first basement parking lot corresponding to the first area, which is a space for parking the passenger car, into the parking area. can be determined to generate parking area information. Therefore, in this case, the parking path generating unit 410 is based on the available parking space information in the first area among the available parking space information identified through the available parking space information generating unit 220, the current location of the first vehicle and You can create a parking path that is a path to the nearest available parking space.

The un-parking path generation unit 420 may be configured to generate an un-parking route based on vehicle location information about the second vehicle that has transmitted the un-parking request information, location information of a parking lot entrance, and a movement path of another vehicle.

For example, when the owner of the second vehicle among the autonomous vehicles intends to take out his/her vehicle through the autonomous vehicle parking control system 10 , the owner of the second vehicle owns the autonomous vehicle owner terminal Through this, it is possible to transmit the exit request information to the autonomous vehicle parking control system 10 . The communication module 500 receives the un-parking request information and transmits it to the route generating module 400, and the un-parking path generator 420 included in the route generating module 400 receives the un-parking request information and generates an un-parking route. can do. At this time, the exit path generation unit 420 is based on the vehicle location of the second vehicle identified through the location tracking unit 320 and the location information of the parking lot entrance, the exit path that is the path from the current location of the second vehicle to the parking lot entrance can create In this case, the un-parking path generating unit 420 may prevent a collision with another vehicle by generating an un-parking path in consideration of the movement paths of other vehicles.

The route transmitter 430 autonomously drives the route generated for the movement of the autonomous vehicle, including the parking route generated by the parking route generator 410 and the un-parking route generated by the parking route generator 420 . It may be configured to transmit the corresponding data to the communication module 500 in order to transmit it to the autonomous driving server that controls the movement of the vehicle.

Referring back to FIG. 5 , the path generating module 400 may further include a path modifying unit 440 .

The path correction unit 440 may be configured to correct the parking path or the un-parking path when the first vehicle deviates from the parking path or the second vehicle deviates from the un-parking path.

To this end, the route correction unit 440 continuously monitors the location of each autonomous vehicle through the location tracking unit 320 to re-enter the existing route when deviating from the set route. In this process, the route correction unit 440 may also consider information collected through a sensor attached to each autonomous vehicle, thereby enabling safer vehicle control.

6A is a view showing a state before the parking position is adjusted by the parking position adjusting unit 450 .

6B is a view illustrating a state after the parking position is adjusted by the parking position adjusting unit 450 .

5, 6A, and 6B , the path generating module 400 may further include a parking position adjusting unit 450 .

When it is determined that the third vehicle 33 is parked on the exit path of the second vehicle 32, the parking position adjusting unit 450 is based on the current location of the third vehicle 33 and the available parking space information, It may be configured to generate a parking position adjustment path that is a path for moving the third vehicle 33 to another available parking space by minimizing the moving distance of the third vehicle 33 .

For example, referring to FIG. 6A , it can be seen that the third vehicle 33 is parked on the exit path of the second vehicle 32 , and the rear surface of the second vehicle 32 is blocked by the wall of the parking lot. In order for the second vehicle 32 to take out, the parking position of the third vehicle 33 needs to be adjusted. At this time, the parking position adjusting unit 450 minimizes the moving distance of the third vehicle 33 to the third vehicle 33 . ) to create a parking position adjustment path to move to another parking space. Referring to FIG. 6B , it can be seen that the third vehicle 33 has moved to the left through the parking position adjustment path generated through the above process.

Referring back to FIG. 5 , the path generating module 400 may further include a waiting for taking out path generating unit 460 .

The un-parking path generation unit 460 may be configured to generate an un-parking route for moving the owner's vehicle to the un-parking place when receiving un-parking request information from the owner terminal of the autonomous vehicle.

For example, the parking waiting place may correspond to a space adjacent to a space where the owner of the autonomous driving vehicle enters a parking lot, and may be mainly provided in an area adjacent to an elevator, an escalator, or a staircase. Such a parking waiting place may not be a place for parking, but a place for waiting for a while to board the autonomous vehicle.

The unpacking standby path generating unit 460 may include a first unpacking standby path generating unit 461 and a second unpacking standby path generating unit 462 .

When receiving the un-parking request information for the fourth vehicle from the autonomous driving vehicle owner terminal 461 , the first un-parking path generating unit 461 is a first, which is a path from the vehicle location for the fourth vehicle to the first un-parking place. It may be configured to create an exit waiting route.

For example, the first un-parking waiting area may be an un-parking waiting area provided in an area closest to the elevator. That is, it may be the easiest place for the owner of the autonomous vehicle to get on the vehicle and directly exit the parking lot. In summary, the first un-parking path refers to a path for moving the fourth vehicle from a parking position to the first un-parking waiting location.

When it is determined that the owner of the fourth vehicle waiting at the first un-parking waiting location has not boarded the fourth vehicle within the first time, the second un-parking path generating unit 462 is configured to generate the second vehicle from the vehicle location for the fourth vehicle. 2 It may be configured to generate a second un-parking path that is a path to the un-parking place.

For example, the second un-parking waiting area may be a separately provided un-parking waiting area at a slightly further distance from the elevator than the first un-parking waiting area. That is, the owner of the autonomous vehicle transmits the un-parking request information to the autonomous vehicle parking control system 10 and the fourth vehicle stays in the first un-parking place for 5 minutes, but the vehicle owner does not board the fourth vehicle within that time. When it is determined that there is no vehicle, it is necessary to move the fourth vehicle to the second un-parking waiting area in order to prevent the first un-parking waiting area from being congested. In summary, the second un-parking path refers to a path for moving the fourth vehicle from the first un-parking waiting area to the second un-parking waiting area.

The waiting-for-parking path generating unit 460 may further include a third waiting-for-parking path generating unit 463 .

The third un-parking route generating unit 463 is configured to determine that the owner of the fourth vehicle has not boarded the fourth vehicle within the second time while waiting at the second un-parking location, or sends the autonomous vehicle owner terminal to the fourth vehicle. When the un-parking cancellation request information for the vehicle is received, it may be configured to generate a third waiting-for-parking path that is a path from the vehicle location for the fourth vehicle to the available parking space.

For example, if it is determined that the owner of the autonomous vehicle has not boarded the vehicle waiting in the second waiting area for 10 minutes or requests to cancel the vehicle, in order to prevent the second waiting area from being congested, the fourth vehicle needs to be moved back to the available parking space. In summary, the third un-parking waiting path refers to a path for moving the fourth vehicle from the second un-parking waiting place to the additional space again.

Referring back to FIG. 1 , the autonomous vehicle parking control system 10 may further include a scheduled departure time calculation module 600 .

When the exit request information is received from the self-driving vehicle owner terminal, the expected departure time calculation module 600 is the scheduled departure time based on the distance from the location of the vehicle to be exited to the exiting waiting area and the level of congestion of the exiting waiting area. It may be configured to calculate and transmit to the terminal of the owner of the autonomous vehicle.

In this case, the level of un-parking congestion may be calculated based on a ratio of the number of vehicles waiting in the un-parking place at the time when the un-parking request information is received from the total number of waiting vehicles in the un-parking place.

For example, when the owner of the fourth vehicle transmits the un-parking request information for the fourth vehicle to the autonomous driving vehicle parking control system 10 , the scheduled departure time calculation module 600 starts from the location where the fourth vehicle is parked. By calculating the distance to the first un-parking waiting place, the estimated arrival time to the un-parking waiting place may be calculated. Also, when the level of congestion in the waiting area for taking out is high, the expected departure time calculation module 600 may delay the scheduled arrival time in proportion to the congestion level.

In the above, the present invention has been described through examples, but the above examples are merely for explaining the spirit of the present invention and are not limited thereto. Those skilled in the art will understand that various modifications may be made to the above-described embodiments. The scope of the present invention is determined only through interpretation of the appended claims.

10: Autonomous vehicle parking control system
32: second vehicle
33: third vehicle
100: image acquisition module
110: depth camera
120: general digital camera
200: parking map generation module
210: parking map generator
211: first parking map generating unit
212: second parking map generating unit
213: third parking map generating unit
220: parking space information generating unit
300: location tracking module
310: unique number granting unit
320: location tracking unit
400: path generation module
410: parking path generator
420: exit path generation unit
430: route transmission unit
440: path correction unit
450: parking position adjustment unit
460: exit waiting path generation unit
461: first exit standby path generating unit
462: second exit standby path generating unit
463: Third vehicle exit standby path generating unit
500: communication module
600: Estimated departure time calculation module

Claims (15)

an image acquisition module provided at preset intervals along a first direction and a second direction perpendicular to the first direction in the parking lot, and configured to acquire images of the parking lot and the autonomous vehicle in the parking lot;
a parking map generating module configured to generate a divided parking map in a preset manner;
a location tracking module configured to track the location of the autonomous vehicle in the parking lot to generate vehicle location information;
a path generating module configured to generate a movement path of the autonomous vehicle including a parking path and an exit path and transmit it to an autonomous driving server that controls the movement of the autonomous vehicle; and
and a communication module configured to transmit/receive information about the autonomous driving vehicle to and from an autonomous driving server controlling the movement of the autonomous driving vehicle and an owner terminal of the autonomous driving vehicle. According to claim 1,
The image acquisition module includes:
An autonomous vehicle parking control system comprising at least one of a depth camera generating a three-dimensional image and a general camera generating a two-dimensional image. According to claim 1,
The parking map generation module includes:
a parking map generating unit configured to generate a parking map dividing the parking lot by generating a parking dividing line in a preset manner on the image for the parking lot; and
and a parking available space information generator configured to generate parking available space information based on the parking map and the parked vehicle location information. 4. The method of claim 3,
The parking map generator includes:
a first parking map generating unit, configured to generate a first parking map by generating a first parking dividing line on the image for the first area to park a first vehicle type in the first area of the parking lot; and
a second parking, configured to generate a second parking map by creating a second parking divider on the image for the second zone to park a second vehicle type larger in size than the first vehicle type in a second zone of the parking lot a map generating unit;
The first parking dividing line includes a parking dividing line generated at a first interval along the first direction and a parking dividing line generated at a second interval along the second direction on the image for the first zone,
The second parking dividing line is a parking dividing line generated at a third interval wider than the first interval along the first direction on the image for the second zone and a fourth interval wider than the second interval along the second direction An autonomous vehicle parking control system including a parking dividing line created by 5. The method of claim 4,
The parking map generator includes:
a third parking map generating unit, configured to generate a third parking map by generating a third parking dividing line on the image for a third area of the parking lot;
The third parking dividing line is a parking dividing line generated at fifth intervals along a third direction, which is a direction between the first direction and the second direction, on the image for the third zone, and a third perpendicular to the third direction. An autonomous vehicle parking control system including a parking dividing line generated at 6th intervals along 4 directions. According to claim 1,
The location tracking module includes:
a unique number granting unit configured to assign a unique number to each autonomous vehicle in the parking lot; and
A location tracking unit configured to track the location of the vehicle to which the unique number is assigned, based on the image of the vehicle acquired at the entrance of the parking lot and the image of the vehicle acquired in the parking lot with respect to the vehicle to which the unique number is assigned Self-driving vehicle parking control system including. 5. The method of claim 4,
The path creation module includes:
a parking path generating unit configured to generate a parking path based on vehicle location information about the first vehicle that has transmitted the parking request information, the available parking space information, and a movement path of another vehicle;
an un-parking path generator configured to generate an un-parking route based on vehicle location information about the second vehicle that has transmitted the un-parking request information, location information of a parking lot entrance, and a movement route of another vehicle; and
A path transmission unit configured to transmit corresponding data to the communication module in order to transmit a path generated for movement of the autonomous vehicle, including the parking path and the exit path, to the autonomous driving server that controls the movement of the autonomous vehicle Self-driving vehicle parking control system including. 8. The method of claim 7,
The parking path generation unit determines the vehicle type of the first vehicle through the image of the first vehicle, determines which zone to park in the first zone and the second zone, generates parking zone information, and the parking zone information An autonomous vehicle parking control system configured to generate the parking path by further considering 8. The method of claim 7,
The path creation module includes:
and a path correction unit configured to correct the parking path or the un-parking path when the first vehicle deviates from the parking path or the second vehicle deviates from the un-parking path. 10. The method of claim 9,
The path creation module includes:
When it is determined that the third vehicle is parked on the un-parking path of the second vehicle, based on the current location of the third vehicle and the available parking space information, the movement distance of the third vehicle is minimized based on the third vehicle. The autonomous vehicle parking control system further comprising a parking position adjustment unit configured to generate a parking position adjustment path that is a path for moving the vehicle to another available parking space. 8. The method of claim 7,
The path creation module includes:
The self-driving vehicle parking control system further comprising: an un-parking path generating unit configured to generate an un-parking route for moving the owner's vehicle to an un-parking location when receiving un-parking request information from the owner terminal of the autonomous vehicle. 12. The method of claim 11,
The exit waiting route generating unit includes:
When receiving the un-parking request information for the fourth vehicle from the owner terminal of the autonomous vehicle, the first un-parking path is configured to generate a first un-parking path that is a path from the vehicle location for the fourth vehicle to the first un-parking place. 1 an exit standby path generating unit; and
When it is determined that the owner of the fourth vehicle waiting at the first un-parking place does not board the fourth vehicle within the first time, the second, which is a path from the vehicle location for the fourth vehicle to the second un-parking place 2 The autonomous vehicle parking control system including a second waiting-for-parking path generating unit, configured to generate a waiting-for-parking path. 13. The method of claim 12,
The exit waiting route generating unit includes:
When it is determined that the owner of the fourth vehicle has not boarded the fourth vehicle within the second time while waiting at the second waiting area for un-parking, or when un-parking request information for the fourth vehicle is received from the owner terminal of the autonomous vehicle , a third waiting-to-take-out path generating unit, configured to generate a third waiting-for-parking path that is a path from the vehicle location for the fourth vehicle to the available parking space. 12. The method of claim 11,
When the self-driving vehicle owner terminal receives the un-parking request information, the autonomous driving vehicle calculates the scheduled departure time based on the distance from the location of the vehicle to be pulled out to the un-parking location and the level of congestion of the un-parking location. Self-driving vehicle parking control system further comprising a module for calculating expected departure time configured to be transmitted to the owner terminal of 15. The method of claim 14,
The self-driving vehicle parking control system is calculated based on a ratio of the number of waiting vehicles at the time of receiving the exit request information to the total number of waiting vehicles in the waiting area for exiting the vehicle.

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