KR20230087116A - Method and apparatus for entering parking tower - Google Patents

Abstract

According to an embodiment of the present invention, a parking tower entry method includes the steps of: determining whether a vehicle can enter the entrance of an elevator based on lidar detection data, camera detection data, and ultrasonic detection data; controlling the vehicle to park in the elevator, if access to the entrance of the elevator is possible; and determining whether the vehicle has completed entering the elevator. Therefore, the vehicle can safely park in the parking tower.

Description

Parking tower entry method and device {METHOD AND APPARATUS FOR ENTERING PARKING TOWER}

The present embodiments are applicable to vehicles in all fields, and more specifically, may be applied to a method and apparatus for entering a parking tower of an autonomous vehicle, for example.

The American Society of Automotive Engineers, SAE (Society of Automotive Engineers), subdivides autonomous driving levels into six levels, from level 0 to level 5, for example, as follows.

Level 0 (No Automation) is a stage in which the driver controls and takes responsibility for everything in driving. The driver drives all the time, and the system of the vehicle performs only auxiliary functions such as emergency notification. The subject of driving control is human, and the responsibility for variable detection and driving while driving is also at the human level.

Level 1 (Driver Assistance) is a stage of assisting the driver through adaptive cruise control and lane keeping functions. When the system is activated, it assists the driver by maintaining the speed and distance between the vehicle and the lane. The subject of driving control lies with the human and the system, and the responsibility for detecting variables that occur during driving and driving is all at the human level.

Level 2 (partial automation) is a stage in which the vehicle can simultaneously control the vehicle's steering and acceleration/deceleration with a human for a certain period of time under specific conditions. Steering on gentle curves and assisted driving to maintain a distance from the car in front are possible. However, variable detection and driving responsibility while driving are at the human level, and the driver always needs to monitor the driving situation, and the driver must immediately intervene in driving situations that the system does not recognize.

Level 3 (conditional automation) is a level in which the system takes charge of driving in sections under specific conditions, such as highways, and the driver intervenes only in case of danger. Driving control and detecting variables while driving are handled by the system, and unlike Level 2, the above monitoring is not required. However, if the system requirements are exceeded, the system requests the driver's immediate intervention.

At level 4 (high automation), autonomous driving is possible on most roads. Both driving control and driving responsibility lie with the system. Driver intervention is unnecessary on most roads except in restricted situations. However, since driver intervention may be requested under specific conditions such as bad weather, a driving control device through a human is required.

Level 5 (full automation) is a stage in which a driver is not required and driving is possible with only passengers. The occupant only inputs the destination, and the system takes care of driving in all conditions. At level 5, control devices for vehicle steering, acceleration, and deceleration are unnecessary.

However, in autonomous driving systems known to date, a function of automatically parking in a parking tower has not been developed.

In order to solve the above-described problems and the like, one embodiment of the present invention is to provide a system related to an autonomous vehicle capable of safely parking with a parking tower.

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

In the parking tower entry method according to any one of the embodiments of the present invention for solving the above problems, a vehicle can enter the entrance of the elevator based on lidar detection data, camera detection data, and ultrasonic detection data. Determining whether the entrance of the elevator is possible, controlling the vehicle to park in the elevator, and determining whether the vehicle has completed entering the elevator.

According to the embodiment, the step of determining whether the entrance of the elevator can be entered is the step of detecting the width and height of the elevator based on the LIDAR detection data, and the width and height of the detected elevator are compared to the overall width and height of the vehicle. Comparing and determining that the vehicle can enter the entrance of the elevator when the overall width of the vehicle is wider than the width of the elevator and the overall height of the vehicle is wider than the width of the elevator.

According to an embodiment, when the vehicle cannot enter the entrance of the elevator, generating an entry prohibition message is further included.

According to an embodiment, the controlling to park the car with the elevator includes detecting a light indicator based on the camera detection data, analyzing information on the detected light indicator, and controlling the parking with the elevator in response to the result of analyzing the light indicator. Including control steps.

According to an embodiment, the controlling to park the vehicle by the elevator includes controlling the vehicle to enter the elevator when the indicator light is green.

According to an embodiment, the controlling to park the elevator includes controlling the vehicle to stop when the indicator light is red.

According to an embodiment, the step of determining whether the entry of the elevator has been completed by the vehicle may include identifying an empty space between an external road of the elevator and a parking area of the elevator based on the ultrasonic sensing data, and moving into the empty space. When the vehicle enters, determining that the vehicle enters the elevator is completed.

According to the embodiment, detecting the inclination of the vehicle; and controlling the vehicle to reverse when the inclination is greater than or equal to a preset angle.

The method may include receiving a load warning message from the elevator and outputting the load warning message when the weight of the vehicle exceeds the maximum load of the elevator.

In the recording medium storing the parking tower entry method program according to any one of the embodiments of the present invention for solving the above problems, based on lidar sensing data, camera sensing data, and ultrasonic sensing data It is characterized in that it is determined whether the vehicle can enter the entrance of the elevator, and if the entrance of the elevator can be entered, the vehicle is controlled to park with the elevator, and whether or not the vehicle has completed entry into the elevator is characterized in that.

A parking tower entry device according to any one of the embodiments of the present invention for solving the above problems is a sensor unit for acquiring lidar sensing data, camera sensing data, and ultrasonic sensing data; It is determined whether or not the vehicle can enter the entrance of the elevator based on the lidar sensing data, the camera sensing data, and the ultrasonic sensing data, and if it is possible to enter the entrance of the elevator, control the vehicle to park in the elevator, and a processor that determines whether the vehicle has completed entry into the elevator.

An autonomous vehicle according to any one of the embodiments of the present invention for solving the above problems includes at least one sensor for detecting an object around the vehicle; And based on lidar detection data, camera detection data, and ultrasonic detection data from the sensor, it is determined whether the vehicle can enter the entrance of the elevator, and if it is possible to enter the entrance of the elevator, the vehicle is controlled to park in the elevator , and a parking tower entry device for determining whether the vehicle has completed entry into the elevator.

According to any one of the embodiments of the present invention, it is possible to provide an autonomous vehicle related system capable of quickly parking a vehicle in an elevator type parking tower.

According to any one of the embodiments of the present invention, a system capable of preventing an accident with an elevator when parking in an elevator-type parking tower is provided.

The effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the description below. will be.

1 is an overall block configuration diagram of an autonomous driving control system to which an autonomous driving device according to one of the embodiments of the present invention can be applied.
2 is an exemplary view showing an example in which an autonomous driving device according to any one of the embodiments of the present invention is applied to a vehicle.
Figure 3 is a block diagram for explaining a parking tower entry device according to any one of the embodiments of the present invention.
4 to 6 are views for explaining a parking tower parking operation according to an embodiment of the present invention.
7 is a flow chart illustrating a parking tower entry method according to an embodiment of the present invention.
8 is a diagram for explaining a parking stop operation of a parking tower according to an embodiment of the present invention.
9 is a view for explaining a parking warning notification of a parking tower according to an embodiment of the present invention.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a certain component is said to "include", it means that it may further include other components without excluding other components unless otherwise stated.

1 is an overall block configuration diagram of an autonomous driving control system to which an autonomous driving device according to one of the embodiments of the present invention can be applied. 2 is an exemplary view showing an example in which an autonomous driving device according to any one of the embodiments of the present invention is applied to a vehicle.

First, with reference to FIGS. 1 and 2 , the structure and function of an autonomous driving control system (eg, an autonomous vehicle) to which the autonomous driving device according to the present embodiments can be applied will be described.

As shown in FIG. 1 , the self-driving vehicle 1000 provides information about the vehicle through a driving information input interface 101, a driving information input interface 201, a passenger output interface 301, and a vehicle control output interface 401. It may be implemented around the autonomous driving integrated control unit 600 that transmits and receives data necessary for autonomous driving control. However, the autonomous driving integrated controller 600 may also be referred to as a controller, a processor, or simply a controller in this specification.

The autonomous driving integrated control unit 600 may obtain driving information according to a driver's manipulation of the user input unit 100 in the autonomous driving mode or the manual driving mode of the vehicle through the driving information input interface 101 . As shown in FIG. 1 , the user input unit 100 includes a driving mode switch 110 and a control panel 120 (eg, a navigation terminal mounted on a vehicle, a smartphone or tablet PC owned by a passenger, etc.) Accordingly, the driving information may include driving mode information and navigation information of the vehicle.

For example, the driving mode of the vehicle determined according to the driver's manipulation of the driving mode switch 110 (ie, autonomous driving mode/manual driving mode or sports mode/eco mode/safety mode) (Safe Mode/Normal Mode) may be transmitted to the autonomous driving integrated control unit 600 through the driving information input interface 101 as the driving information.

In addition, navigation information such as the passenger's destination input by the passenger through the control panel 120 and the route to the destination (the shortest route or preferred route selected by the passenger among the candidate routes to the destination) is driving information. It can be transmitted to the autonomous driving integrated control unit 600 through the input interface 101 .

Meanwhile, the control panel 120 may be implemented as a touch screen panel that provides a user interface (UI) for a driver to input or modify information for autonomous driving control of a vehicle. In this case, the aforementioned driving mode switch 110 ) may be implemented as a touch button on the control panel 120.

In addition, the autonomous driving integrated control unit 600 may obtain driving information indicating a driving state of the vehicle through the driving information input interface 201 . The driving information includes the steering angle formed by the occupant operating the steering wheel, the stroke of the accelerator pedal or the brake pedal formed by depressing the accelerator or brake pedal, and vehicle speed, acceleration, yaw, pitch, and behavior formed in the vehicle. and roll, etc., and may include various types of information representing the driving state and behavior of the vehicle. As shown in FIG. ) 220, vehicle speed sensor 230, acceleration sensor 240, and yaw/pitch/roll sensor 250.

Furthermore, vehicle driving information may include vehicle location information, and vehicle location information may be acquired through a Global Positioning System (GPS) receiver 260 applied to the vehicle. Such driving information may be transmitted to the autonomous driving integrated control unit 600 through the driving information input interface 201 and used to control driving of the vehicle in the autonomous driving mode or the manual driving mode.

In addition, the autonomous driving integrated control unit 600 may transmit driving state information provided to the occupant in the autonomous driving mode or the manual driving mode of the vehicle to the output unit 300 through the occupant output interface 301 . That is, the autonomous driving integrated control unit 600 transmits driving state information of the vehicle to the output unit 300 so that the driver can drive the vehicle autonomously or manually based on the driving state information output through the output unit 300. The driving state information may include various information indicating the driving state of the vehicle, such as a current driving mode, a shift range, and a vehicle speed.

In addition, when it is determined that a driver needs to be warned in the autonomous driving mode or manual driving mode of the vehicle along with the driving state information, the autonomous driving integrated control unit 600 outputs warning information through the occupant output interface 301 to the output unit. 300 so that the output unit 300 outputs a warning to the driver. In order to audibly and visually output such driving state information and warning information, the output unit 300 may include a speaker 310 and a display device 320 as shown in FIG. 1 . At this time, the display device 320 may be implemented as the same device as the aforementioned control panel 120 or may be implemented as a separate and independent device.

In addition, the autonomous driving integrated control unit 600 may transmit control information for driving control of the vehicle in the autonomous driving mode or the manual driving mode of the vehicle to the lower control system 400 applied to the vehicle through the vehicle control output interface 401. there is. As shown in FIG. 1 , the sub-control system 400 for vehicle driving control may include an engine control system 410, a braking control system 420, and a steering control system 430, and an autonomous driving integrated control unit. 600 may transmit engine control information, braking control information, and steering control information as the control information to each lower control system 410 , 420 , and 430 through the vehicle control output interface 401 . Accordingly, the engine control system 410 may increase or decrease fuel supplied to the engine to control the vehicle speed and acceleration, and the braking control system 420 may control braking of the vehicle by adjusting the braking force of the vehicle. The steering control system 430 may control steering of the vehicle through a steering device applied to the vehicle (eg, a Motor Driven Power Steering (MDPS) system).

As described above, the autonomous driving integrated control unit 600 according to the present embodiment transmits driving information according to the driver's manipulation and driving information indicating the driving state of the vehicle through the driving information input interface 101 and the driving information input interface 201, respectively. obtained, driving state information and warning information generated according to the autonomous driving algorithm may be transmitted to the output unit 300 through the occupant output interface 301, and control information generated according to the autonomous driving algorithm may be transmitted to the vehicle control output interface. It can be transmitted to the lower control system 400 through 401 and operated to control the driving of the vehicle.

On the other hand, in order to ensure stable autonomous driving of the vehicle, it is necessary to continuously monitor the driving state by accurately measuring the driving environment of the vehicle and control the driving according to the measured driving environment. To this end, the autonomous driving device of the present embodiment As shown in FIG. 1 , a sensor unit 500 may be included to detect objects around the vehicle, such as surrounding vehicles, pedestrians, roads, or fixed facilities (eg, traffic lights, milestones, traffic signs, construction fences, etc.).

As shown in FIG. 1 , the sensor unit 500 may include one or more of a lidar sensor 510 , a radar sensor 520 , and a camera sensor 530 to detect surrounding objects outside the vehicle.

The lidar sensor 510 may detect surrounding objects outside the vehicle by transmitting a laser signal to the surroundings of the vehicle and receiving a signal reflected back by the object, and a set distance and settings predefined according to the specifications thereof. A surrounding object located within a vertical field of view and a set vertical field of view may be detected. The lidar sensor 510 may include a front lidar sensor 511, an upper lidar sensor 512, and a rear lidar sensor 513 installed on the front, top, and rear of the vehicle, respectively, but their installation locations and the number of installations is not limited to a specific embodiment. A threshold value for determining the validity of the laser signal reflected by the corresponding object and returned may be stored in advance in a memory (not shown) of the autonomous driving integrated control unit 600, and the autonomous driving integrated control unit 600 is a lidar sensor. The location (including the distance to the object), speed, and direction of movement of the object may be determined by measuring the time for the laser signal transmitted through 510 to be reflected by the object and return.

The radar sensor 520 may detect surrounding objects outside the vehicle by radiating electromagnetic waves around the vehicle and receiving a signal reflected back by the object, and a set distance and a set vertical angle of view are predefined according to the specification. and a surrounding object located within a set horizontal view angle range may be detected. The radar sensor 520 may include a front radar sensor 521, a left radar sensor 521, a right radar sensor 522, and a rear radar sensor 523 installed on the front, left side, right side, and rear of the vehicle, respectively. However, the installation location and number of installations are not limited to specific embodiments. The autonomous driving integrated control unit 600 determines the location (including the distance to the corresponding object), speed, and direction of movement of the object through a method of analyzing the power of electromagnetic waves transmitted and received through the radar sensor 520. can do.

The camera sensor 530 may detect surrounding objects outside the vehicle by capturing an image of the surroundings of the vehicle, and may detect surrounding objects located within a range of a predefined set distance, set vertical angle of view, and set horizontal angle of view according to the specification. .

The camera sensors 530 may include a front camera sensor 531, a left camera sensor 532, a right camera sensor 533, and a rear camera sensor 534 installed on the front, left, right, and rear surfaces of the vehicle, respectively. However, the installation location and number of installations are not limited to specific embodiments. The self-driving integrated controller can determine the location (including the distance to the object), speed, and direction of movement of the object by applying predefined image processing to the image captured through the camera sensor 530. there is.

In addition, an internal camera sensor 535 for capturing an image of the inside of the vehicle may be mounted at a predetermined position inside the vehicle (eg, a rear view mirror), and the autonomous driving integrated control unit 600 uses the internal camera sensor 535 A guide or warning may be output to the occupant through the above-described output unit 300 by monitoring the occupant's behavior and condition based on the acquired image.

In addition to the lidar sensor 510, the radar sensor 520, and the camera sensor 530, the sensor unit 500 may further include an ultrasonic sensor 540 as shown in FIG. Various types of sensors for detecting surrounding objects may be further employed in the sensor unit 500 .

2 shows that a front lidar sensor 511 or a front radar sensor 521 is installed on the front of the vehicle, and a rear lidar sensor 513 or rear radar sensor 524 is installed on the rear of the vehicle to help understand the present embodiment. It is installed on the front camera sensor 531, left camera sensor 532, right camera sensor 533 and rear camera sensor 534 are installed on the front, left side, right side and rear side of the vehicle, respectively. , As described above, the installation position and number of installations of each sensor are not limited to a specific embodiment.

Furthermore, the sensor unit 500 is configured to detect vital signs (eg, heart rate, electrocardiogram, respiration, blood pressure, body temperature, brain wave, blood flow (pulse wave), blood sugar, etc.) It may further include a biosensor, and the biosensor may include a heart rate sensor, an electrocardiogram sensor, a respiration sensor, a blood pressure sensor, a body temperature sensor, an electroencephalogram sensor, a photoplethysmography sensor, and a blood sugar sensor. .

Finally, the sensor unit 500 additionally adds a microphone 550, and the internal microphone 551 and the external microphone 552 are used for different purposes.

The internal microphone 551 may be used, for example, to analyze the voice of a passenger in the autonomous vehicle 1000 based on AI or to immediately respond to a direct voice command.

On the other hand, the external microphone 552 can be used, for example, to respond appropriately to safe driving by analyzing various sounds generated from the outside of the autonomous vehicle 1000 with various analysis tools such as deep learning.

For reference, the symbols shown in FIG. 2 may perform the same or similar functions as those shown in FIG. 1, and FIG. 2 shows the relative positional relationship of each component compared to FIG. Based on) was illustrated in more detail.

Figure 3 is a block diagram for explaining a parking tower entry device according to any one of the embodiments of the present invention.

Referring to FIG. 3 , the parking tower access device 2000 may include a sensor unit 2100, a communication unit 2200, a processor unit 2300, a vehicle control unit 2400, and an output unit 2500.

The sensor unit 2100 may obtain sensing data from sensors of the vehicle 1000 entering the parking tower. The sensing data may include lidar sensing data, camera sensing data, and ultrasonic sensing data.

When the parking tower entry device of the vehicle 1000 is activated, the sensor unit 2100 may operate a lidar installed in the vehicle to obtain lidar detection data.

The lidar sensing data may include the width and height of a platform entrance for entering a parking tower.

The sensor unit 2100 may obtain camera detection data of a front side of the vehicle from a camera installed in the vehicle. At this time, a light may be installed in the parking tower to obtain camera detection data. Lights can be installed inside the elevator for entering the parking tower. Also, the indicator light may be installed above the entrance of the elevator. The indicator light may be displayed in a text and color corresponding to the entry of the vehicle.

The camera detection data may include a position of a light disposed in the parking tower, a color of the light, and a phrase indicated by the light.

The sensor unit 2100 may obtain ultrasonic sensing data around the vehicle from an ultrasonic sensor installed in the vehicle. The ultrasonic sensing data may include location information of a nearby object according to the movement of the vehicle.

The communication unit 2200 may communicate with other components in the vehicle to control the entry of the vehicle into the parking tower according to the present invention.

In addition, the communication unit 2200 may receive a signal for controlling parking tower entry through wireless communication with the parking tower.

For example, the communication unit 2200 may receive the weight of a vehicle in a vehicle elevator system of a parking tower.

The processor unit 2300 may control operations and functions of the parking tower access device 100 . In addition, the processor unit 2300 may integrate all other components of the parking tower entry device 100 to perform all of their operations and functions.

The processor unit 2300 may generate expected parking data of the vehicle 1000 entering the parking tower based on the sensing data obtained from the sensor unit 2100 . Here, the expected parking data is at least one of the vehicle 1000's stop, forward movement, expected movement direction, distance between the vehicle 1000 and the elevator, vehicle type, or vehicle specification information (eg, vehicle weight, vehicle overall length, vehicle overall width, and vehicle overall height). ) may include at least one of

The processor unit 2300 may compare rider sensing data and vehicle specifications to determine whether the vehicle can enter the elevator entrance.

For example, whether it is possible to enter the elevator entrance may be determined based on the width and height of the elevator entrance and the width and height of the vehicle 1000 . It may be determined that entry into the entrance of the elevator is possible only when the entrance of the elevator is greater than the overall height and width of the vehicle.

Thereafter, the processor unit 2300 may compare the parking area of the elevator and vehicle specifications of the vehicle based on the rider sensing data to determine whether or not the vehicle can board the elevator.

For example, whether or not an elevator can be boarded may be determined based on the width and length of the parking area, the vehicle's overall height, and the vehicle's overall length. When the width and length of the parking area are greater than the total width and length of the vehicle, it can be determined that the elevator can be boarded.

Whether entry to the elevator is possible or whether it is possible to board the elevator may be used in the operation of the processor unit 2300 . As an example, the processor unit 2300 may display the reason for not being able to enter the vehicle through the output unit 2500 when it is not possible to enter the elevator entrance or when it is not possible to board the elevator.

For example, the processor unit 2300 may transmit a control signal to the output unit 2500 so that the horn sounds when it is impossible to enter the elevator or when it is impossible to board the elevator.

Also, the processor unit 2300 may determine whether the vehicle can move forward based on camera detection data.

The processor unit 2300 may determine whether or not the vehicle can move based on the color of an indicator light among camera detection data.

For example, the processor unit 2300 may determine that, when the color of an indicator light among camera detection data is green, it is a vehicle forward signal. The processor unit 2300 may determine a red indicator light among camera detection data as a stop signal.

The processor unit 2300 may determine whether or not the vehicle can move based on the phrase of the indicator light among the camera detection data.

For example, the processor unit 2300 may determine that a vehicle moving forward signal when an indicator light among camera detection data is a phrase such as 'entry' or 'moving forward'. The processor unit 2300 may determine a vehicle stop signal when an indicator light among camera detection data is a phrase such as 'stop' or 'disabled'.

Whether to enter can be used for the operation of the processor unit 2300. As an example, the processor unit 2300 may transmit an acceleration control signal to the vehicle controller 2400 when the vehicle can move forward. Also, the processor unit 2300 may transmit a deceleration control signal to the vehicle controller 2400 when the vehicle cannot move forward.

Meanwhile, the processor unit 2300 may determine whether a vehicle collides based on ultrasonic sensing data.

Also, the processor unit 2300 may determine whether entry into the elevator has been completed based on the ultrasound sensing data.

For example, the processor unit 2300 may determine that the vehicle has entered the elevator when the vehicle enters the elevator and an empty space is identified between the road outside the elevator and the elevator parking area based on the ultrasonic sensing data.

Whether or not the vehicle collides and whether the entry to the elevator has been completed may be used in the operation of the processor unit 2300 . As an example, the processor unit 2300 may transmit a deceleration control signal to the vehicle controller 2400 when it is determined that the vehicle collides with the elevator.

The vehicle control unit 2400 may control driving of the vehicle based on acceleration and deceleration control signals from the processor unit 2300 .

In addition, the output unit 2500 may generate a signal for controlling the indicator light of the elevator 3000 and transmit it through the communication unit 150 . This is to promote the safety of a driver located outside the vehicle through blinking and lighting of lamps when the elevator 3000 rapidly decelerates or brakes according to a vehicle movement control signal.

4 to 6 are views for explaining the operation of parking tower parking according to an embodiment of the present invention.

Referring to FIG. 4 , after the driver gets off, the parking tower entry device 2000 may display a start notification to the outside. Emergency blinkers can operate as a start reminder.

The parking tower entry device 2000 may receive rider sensing data through a lidar disposed in front of the vehicle 1000.

The parking tower entry device 2000 may receive data about the entrance of the elevator 3000 among rider sensing data. Thereafter, the parking tower access device 2000 may compare the width and height of the elevator 3000 received through LIDAR with the overall width and height of the vehicle among the stored vehicle specifications.

Accordingly, the parking tower entry device 2000 may determine whether or not the vehicle 1000 can enter the entrance of the elevator 3000 through this.

Also, the parking tower entry device 2000 may receive data about a parking area within the elevator 3000 among rider sensing data. The parking tower access device 2000 may compare the width and length of the parking area within the elevator 3000 with the overall vehicle height and overall vehicle length among stored vehicle specifications.

Accordingly, the parking tower entry device 2000 can determine whether the vehicle 1000 can enter the parking area of the elevator 3000.

When the parking tower entry device 2000 determines that it cannot enter the entrance of the elevator 3000 or the parking area according to the rider sensing data, it may output a notification to the outside through a clock.

For example, the parking tower entry device 2000 may control the clock of the vehicle 1000 to operate when the vehicle 1000 fails to enter the elevator 3000 . At this time, the number of times of operation of the clockion may be set to 2 times, but is not particularly limited in the present invention, and the number of times of operation of the clockion may be changed according to the state of the vehicle 1000.

In addition, when the vehicle 1000 cannot enter the elevator 3000, the parking tower entry device 2000 may generate an entry prohibition message. The parking tower access device 2000 may output the generated entry prohibition message to the cluster inside the vehicle.

Referring to FIG. 5 , the parking tower entry device 2000 may determine the indicator light 3100 through camera detection data when it is determined that entry into the elevator 3000 is possible through lidar detection data.

The parking tower entry device 2000 may determine stop and entry signals based on the text and color of the indicator light 3100 located in front of the vehicle based on camera detection data.

The parking tower entry device 2000 may determine the entry and stop signals of the vehicle 1000 based on the determined color of the indicator light 3100.

When the indicator light 3100 is green, the parking tower entry device 2000 may determine this as a forward signal of the vehicle 1000. In addition, when the indicator light 3100 is red, the parking tower entry device 2000 may determine this as a stop signal for the vehicle 1000.

Meanwhile, the parking tower entry device 2000 may determine the forward movement of the vehicle 1000 and a signal based on the determined character of the indicator light 3100.

The parking tower entry device 2000 may determine the entry signal of the vehicle 1000 when the text of the indicator light 3100 is 'entry' or 'advance'. In addition, the parking tower entry device 2000 may determine that the indicator light 3100 indicates a stop signal of the vehicle 1000 when the text is 'disabled' or 'stop'.

When the vehicle 1000 moves forward, the parking tower entry device 2000 may continue to advance the vehicle 1000 until a stop signal is input.

When the vehicle 1000 moves forward, the parking tower entry device 2000 may determine whether the vehicle 1000 collides based on ultrasonic data. Thereafter, the parking tower entry device 2000 may transmit an entry and stop signal to the vehicle 1000 based on whether or not the vehicle 1000 collides.

When the parking tower entry device 2000 does not determine that the vehicle 1000 collides, it may provide an entry signal to the vehicle 1000. In addition, the parking tower entry device 2000 may provide a stop signal to the vehicle 1000 when it is determined that the vehicle 1000 collides.

Meanwhile, when the vehicle 1000 moves forward, the parking tower entry device 2000 may keep the center of the vehicle 1000 coincident with the center of the parking area based on lidar detection data.

As shown in FIG. 6, when the parking tower entry device 2000 cannot determine the stop and entry signals according to the indicator light 3100 through camera data, the end of the rear bumper of the vehicle 1000 is the elevator 3000. ) can be advanced until it is completely inside.

Thereafter, the parking tower entry device 2000 may determine whether the vehicle 1000 completely enters the elevator 3000 through ultrasonic data. When the vehicle 1000 enters the elevator 3000, the parking tower entry device 2000 can identify an empty space 4200 between the road 4100 outside the elevator 3000 and the parking area 3200 of the elevator 3000. there is. When the vehicle 1000 enters the empty space, the parking tower entry device 2000 may determine that it has completely entered.

7 is a flow chart illustrating a parking tower entry method according to an embodiment of the present invention.

Referring to FIG. 7 , the vehicle 1000 may acquire sensing data including lidar sensing data, camera sensing data, and ultrasonic sensing data (S701).

After the step S701, the vehicle 1000 may determine whether or not the vehicle 1000 can enter the entrance of the elevator 3000 based on lidar detection data, camera detection data, and ultrasonic detection data (S703).

After step S703, if it is impossible to enter the entrance of the elevator 3000, the vehicle 1000 may output an entry impossibility alarm (S704).

After the step S703, if it is possible to enter the elevator 3000, the vehicle 1000 can enter the elevator 3000 (S705).

After the step S705, the vehicle 1000 may detect the indicator light 3100 in the elevator 3000 based on the camera detection data and analyze the information of the detected indicator light 3100 (S707).

After the step S707, if the detected indicator light 3100 is green, the vehicle 1000 can keep entering the elevator 3000 (S709).

After the step S707, the vehicle 1000 may stop entering the elevator 3000 when the detected indicator light 3100 is red (S710). Thereafter, the vehicle 1000 may perform step S707 again.

After the step S709, the vehicle 1000 may determine whether entry into the elevator 3000 has been completed (S711).

After the step S711, the vehicle 1000 may stop when entering the elevator 3000 is completed (S713).

8 is a diagram for explaining a parking stop operation of a parking tower according to an embodiment of the present invention.

Referring to FIG. 8 , the parking tower entry device 2000 may determine the inclination of the floor of the elevator 3000 when the vehicle 1000 enters the elevator 3000 .

For the slope of the floor of the elevator 3000, lidar detection data, camera data, and ultrasonic data received from the sensor unit 2100 can be used, and a gyro sensor and a posture sensor (eg, It can be obtained through vehicle attitude information, vehicle tilt information, vehicle angle information, etc. obtained from sensors (yaw sensor, roll sensor, pitch sensor), and the like.

When the vehicle 1000 enters the elevator 3000, the parking tower entry device 2000 may control the vehicle 1000 to stop moving forward and move backward when the elevator 3000 has a predetermined inclination or higher. This is to prevent enormous property damage when an accident occurs in the case of the vehicle elevator 3000 when the vehicle 1000 enters the elevator 3000 .

At this time, the inclination of the vehicle 1000 for reversing may be set to 10 degrees or more, but is not particularly limited in the present invention, and the inclination for determining the reverse of the vehicle 1000 changes according to the state of the vehicle 1000. It can be.

9 is a diagram for explaining a parking warning notification of a parking tower according to an embodiment of the present invention.

Referring to FIG. 9 , the parking tower entry device 2000 may receive a signal according to the weight of the vehicle 1000 from the vehicle elevator 3000 system 5000 when the elevator 3000 of the vehicle 1000 is stopped. .

The parking tower access device 2000 may output an overweight message received from the elevator 3000 when the weight of the vehicle 1000 exceeds the maximum load that the elevator 3000 can load.

When receiving an overweight message from the vehicle elevator 3000 system, the parking tower entry device 2000 may control the clock of the vehicle 1000 to operate.

In addition, the parking tower entry device 2000 may transmit a warning message to the user terminal when receiving an overweight message from the vehicle elevator 3000 system. At this time, the overweight message may be a text message such as 'vehicle load is exceeded' to a mobile phone.

As another aspect of the present invention, the operation of the above-described proposal or invention is implemented, implemented, or implemented by a “computer” (a comprehensive concept including a system on chip (SoC) or a microprocessor) It may also be provided as executable code or an application that stores or includes the code, a computer-readable storage medium, or a computer program product, which also falls within the scope of the present invention.

Detailed descriptions of the preferred embodiments of the present invention disclosed as described above are provided to enable those skilled in the art to implement and practice the present invention. Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will understand that the present invention can be variously modified and changed without departing from the scope of the present invention. For example, those skilled in the art can use each configuration described in the above-described embodiments in a way of combining each other.

Accordingly, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

2000: Parking tower access device
2100: sensor unit
2200: Ministry of Communications
2300: processor unit
2400: vehicle control unit
2500: output unit

Claims (20)

Determining whether a vehicle can enter the entrance of the elevator based on lidar sensing data, camera sensing data, and ultrasonic sensing data;
controlling the vehicle to park with the elevator when the entrance of the elevator is possible; and
Including the step of determining whether the vehicle has completed entry into the elevator
How to enter the parking tower.
According to claim 1,
The step of determining whether the elevator can enter the entrance is
Sensing the width and height of the elevator based on the lidar detection data;
comparing the detected width and height of the elevator with the overall width and height of the vehicle; and
Determining that the vehicle can enter the entrance of the elevator when the overall width of the vehicle is wider than the width of the elevator and the overall height of the vehicle is wider than the width of the elevator
How to enter the parking tower.
According to claim 2,
Further comprising generating an entry prohibition message when the vehicle cannot enter the entrance of the elevator
How to enter the parking tower.
According to claim 1,
The step of controlling to park with the elevator is
sensing an indicator light based on the camera detection data;
Analyzing information of the detected indicator light; and
Controlling to park the elevator in response to a result of analyzing the indicator light;
A parking tower entry method comprising a.
According to claim 4,
The step of controlling to park with the elevator is
When the indicator light is green, controlling the vehicle to enter the elevator
Including parking tower entry way.
According to claim 4,
The step of controlling to park with the elevator is
When the indicator light is red, controlling the vehicle to stop
How to enter the parking tower.
According to claim 1,
The step of determining whether the vehicle has completed entering the elevator
determining an empty space between an external road of the elevator and a parking area of the elevator based on the ultrasonic sensing data; and
When the vehicle enters the empty space, determining that the vehicle enters the elevator is completed
How to enter the parking tower.
According to claim 1,
detecting an inclination of the vehicle; and
controlling the vehicle to reverse when the inclination is greater than or equal to a preset angle;
A parking tower entry method further comprising a.
According to claim 1,
receiving a load warning message from the elevator when the weight of the vehicle exceeds the maximum load of the elevator; and
outputting the load warning message;
A parking tower entry method comprising a.
In the recording medium storing the parking tower entry method program,
Based on the lidar detection data, the camera detection data, and the ultrasonic detection data, it is determined whether the vehicle can enter the entrance of the elevator, and if the entrance of the elevator can be entered, the vehicle is controlled to be parked in the elevator, Determining whether elevator entry is complete
A recording medium that stores a parking tower entry method program.
a sensor unit that obtains lidar sensing data, camera sensing data, and ultrasonic sensing data;
Based on the lidar sensing data, the camera sensing data, and the ultrasonic sensing data, it is determined whether or not the entrance of the elevator of the vehicle can be entered,
When the entrance of the elevator is possible, control the vehicle to park with the elevator,
Including a processor for determining whether the vehicle has completed entry into the elevator
Parking tower access device.
According to claim 11,
The processor
Sensing the width and height of the elevator based on the lidar detection data;
Compare the width and height of the detected elevator with the full width and height of the vehicle;
When the overall width of the vehicle is wider than the width of the elevator and the overall height of the vehicle is wider than the width of the elevator, determining that the vehicle can enter the entrance of the elevator
Parking tower access device.
According to claim 12,
The processor
Generating an entry prohibition message when the vehicle cannot enter the entrance of the elevator
Parking tower access device.
According to claim 11,
The processor
Detect an indicator light based on the camera detection data;
Analyze the information of the detected indicator light,
Controlling parking with the elevator in response to the indicator light analysis result
Parking tower access device.
According to claim 14,
The processor
Controlling the vehicle to enter the elevator when the detected indicator light is green
Parking tower access device.
According to claim 14,
The processor
When the indicator light is red, controlling the vehicle to stop
Parking tower access device.
According to claim 11,
The processor
Identifying an empty space between an external road of the elevator and a parking area of the elevator based on the ultrasonic sensing data;
When the vehicle enters the empty space, determining that the vehicle enters the elevator is completed
Parking tower access device.
According to claim 11,
The processor
Detect the inclination of the vehicle;
Controlling the vehicle to reverse when the inclination is equal to or greater than a preset angle
Parking tower access device.
According to claim 11,
A communication unit configured to receive a load warning message from the elevator when the weight of the vehicle exceeds the maximum load of the elevator;
The processor
Controlling the output of the received load warning message
Parking tower access device.
At least one or more sensors for detecting objects around the vehicle; and
Based on lidar detection data, camera detection data, and ultrasonic detection data from the sensor, it is determined whether the vehicle can enter the entrance of the elevator, and if the entrance of the elevator can be entered, the vehicle is controlled to park in the elevator, An autonomous vehicle comprising a parking tower entry device for determining whether the vehicle has completed entering the elevator.

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