US20230089521A1

US20230089521A1 - System, method and apparatus for position-based parking of vehicle

Info

Publication number: US20230089521A1
Application number: US17/989,551
Authority: US
Inventors: Nan Wu
Original assignee: Beijing Tusimple Technology Co Ltd
Current assignee: Beijing Tusimple Technology Co Ltd
Priority date: 2018-02-11
Filing date: 2022-11-17
Publication date: 2023-03-23
Also published as: CN110162028A; US11532230B2; US20190279511A1

Abstract

An example system includes a roadside apparatus and an in-vehicle device for position-based parking of a vehicle, for example, in environments with weak GPS signals. The roadside apparatus determines a first posture data of a vehicle that includes a relative position and an orientation of the vehicle. The relative position is with respect to a predetermined location associated with the roadside apparatus. The roadside apparatus transmits the first posture data, and the in-vehicle device receives the first posture data. The in-vehicle device dynamically evaluates a predetermined rule with the first posture data. The predetermined rule defines a target posture data with respect to both relative position and orientation. The in-vehicle device controls, in response to the predetermined rule failing to be satisfied, the vehicle to perform a posture adjustment operation based on posture adjustment data determined from a difference between the target posture data and the first posture data.

Description

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a continuation of U.S. patent application Ser. No. 16/272,883, titled “SYSTEM, METHOD, AND APPARATUS FOR POSITION-BASED PARKING OF VEHICLE,” filed on Feb. 11, 2019, which claims the priority of and the benefits of Chinese Patent Application No. 201810143105.0 of the same title and content that was filed on Feb. 11, 2018, which is incorporated by reference herein in its entirety.

TECHNICAL FIELD

The present disclosure relates to intelligent transportation, and more particularly, to a system, a method and an apparatus for position-based parking of a vehicle.

BACKGROUND

With the development of unmanned driving technology, conventional manned vehicles have been replaced with unmanned vehicles in many application scenarios. In some application scenarios, e.g., in port areas, unmanned vehicles may need to be parked accurately at some specified positions, e.g., under a crane, and there may be very high requirements on the preciseness and accuracy of such position-based parking. However, in these scenarios, there may typically be weak Global Positioning System (GPS) signals or signal interference, such that it would be difficult to achieve accurate position-based parking of unmanned vehicles.
That is, in the related art, there is a problem that an unmanned vehicle cannot be parked at a specified position accurately in an environment with a weak GPS signal.

SUMMARY

In view of the above problem, the present disclosure provides a system, a method and an apparatus for position-based parking of a vehicle, capable of solving the problem in the related art that an unmanned vehicle cannot be parked at a specified position accurately in an environment with a weak GPS signal.
In an aspect of the embodiments of the present disclosure, a system for position-based parking of a vehicle is provided. The system includes a roadside device and the vehicle. The roadside device is located within a predetermined range from a predetermined position and includes a sensing device, a roadside processing device and a communication device. The vehicle includes a vehicle-mounted processing device and a communication device. In the roadside device, the sensing device is configured to obtain positioning condition data regarding position-based parking of the vehicle at the predetermined position, the roadside processing device is configured to determine posture data of the vehicle based on the positioning condition data of the vehicle, and the communication device is configured to transmit the posture data of the vehicle to the vehicle. In the vehicle, the communication device is configured to receive the posture data from the roadside device, and the vehicle-mounted processing device is configured to decide whether the posture data satisfies a predetermined positioning rule, and if not, determine posture adjustment data for the vehicle and control the vehicle to perform a posture adjustment operation based on the posture adjustment data.
In some embodiments, the roadside processing device being configured to determine the posture data of the vehicle based on the positioning condition data of the vehicle may include the roadside processing device being configured to: simulate a positioning condition of the vehicle on a map based on the positioning condition data of the vehicle; and determine the posture data of the vehicle based on the positioning condition of the vehicle on the map.
In some embodiments, the vehicle-mounted processing device being configured to determine the posture adjustment data for the vehicle may include the vehicle-mounted processing device being configured to: compare the posture data of the vehicle with standard positioning data in the predetermined positioning rule and determine a difference between the posture data of the vehicle and the standard positioning data as the posture adjustment data for the vehicle.
In some embodiments, the vehicle-mounted processing device may further be configured to: determine that the position-based parking has completed when deciding that the posture data satisfies the predetermined positioning rule.
In some embodiments, the posture data of the vehicle may include at least one of: a direction of the vehicle, a position of the vehicle relative to the predetermined position, or a distance between the vehicle and the predetermined position.
In some embodiments, the posture adjustment operation may include at least one of: an engine operation, a steering wheel operation, a throttle operation or a brake operation.
In some embodiments, the sensing device may include at least one camera and/or a laser radar, and the positioning condition data may include image data and/or point cloud data.
In another aspect of the embodiments of the present disclosure, a method for position-based parking of a vehicle is provided. The method includes: deciding, by a vehicle-mounted processing device of the vehicle, whether received posture data satisfies a predetermined positioning rule, the posture data being received by a communication device of the vehicle, during position-based parking of the vehicle at a predetermined position, from a roadside device located within a predetermined range from the predetermined position; determining posture adjustment data for the vehicle when the received posture data does not satisfy the predetermined positioning rule; and controlling the vehicle to perform a posture adjustment operation based on the posture adjustment data.
In some embodiments, the operation of determining the posture adjustment data for the vehicle may include: comparing, by the vehicle-mounted processing device, the posture data of the vehicle with standard positioning data in the predetermined positioning rule and determining a difference between the posture data of the vehicle and the standard positioning data as the posture adjustment data for the vehicle.
In some embodiments, the method may further include: determining, by the vehicle-mounted processing device, that the position-based parking has completed when deciding that the posture data satisfies the predetermined positioning rule.
In some embodiments, the posture data of the vehicle may include at least one of: a direction of the vehicle, a position of the vehicle relative to the predetermined position, or a distance between the vehicle and the predetermined position.
In some embodiments, the posture adjustment operation may include at least one of: an engine operation, a steering wheel operation, a throttle operation or a brake operation.
In an aspect of the embodiments of the present disclosure, an apparatus in a vehicle for position-based parking of the vehicle is provided. The apparatus includes a processor and at least one memory storing at least one machine executable instruction. The processor is operative to execute the at least one machine executable instruction to: decide whether received posture data satisfies a predetermined positioning rule, the posture data being received by a communication device of the vehicle, during position-based parking of the vehicle at a predetermined position, from a roadside device located within a predetermined range from the predetermined position; determine posture adjustment data for the vehicle when the received posture data does not satisfy the predetermined positioning rule; and control the vehicle to perform a posture adjustment operation based on the posture adjustment data.
In some embodiments, the processor being operative to execute the at least one machine executable instruction to determine the posture adjustment data for the vehicle may include the processor being operative to execute the at least one machine executable instruction to: compare the posture data of the vehicle with standard positioning data in the predetermined positioning rule and determine a difference between the posture data of the vehicle and the standard positioning data as the posture adjustment data for the vehicle.
In some embodiments, the processor may further be operative to execute the at least one machine executable instruction to: determine that the position-based parking has completed when deciding that the posture data satisfies the predetermined positioning rule.
In some embodiments, the posture data of the vehicle may include at least one of: a direction of the vehicle, a position of the vehicle relative to the predetermined position, or a distance between the vehicle and the predetermined position.
In some embodiments, the posture adjustment operation may include at least one of: an engine operation, a steering wheel operation, a throttle operation or a brake operation.
In an aspect of the embodiments of the present disclosure, an apparatus in a vehicle for position-based parking of the vehicle is provided. The apparatus includes a deciding unit, a determining unit and a control unit. During position-based parking of the vehicle at a predetermined position, the deciding unit is configured to decide whether received posture data satisfies a predetermined positioning rule, the posture data being received by a communication device of the vehicle from a roadside device located within a predetermined range from the predetermined position during position-based parking of the vehicle at the predetermined position; the determining unit is configured to determine posture adjustment data for the vehicle when the deciding unit decides that the received posture data does not satisfy the predetermined positioning rule; and the control unit is configured to control the vehicle to perform a posture adjustment operation based on the posture adjustment data.
In some embodiments, the determining unit being configured to determine the posture adjustment data for the vehicle may include the determining unit being configured to: compare the posture data of the vehicle with standard positioning data in the predetermined positioning rule and determine a difference between the posture data of the vehicle and the standard positioning data as the posture adjustment data for the vehicle.
In some embodiments, the determining unit may further be configured to: determine that the position-based parking has completed when the deciding unit decides that the posture data satisfies the predetermined positioning rule.
In some embodiments, the posture data of the vehicle may include at least one of: a direction of the vehicle, a position of the vehicle relative to the predetermined position, or a distance between the vehicle and the predetermined position.
In some embodiments, the posture adjustment operation may include at least one of: an engine operation, a steering wheel operation, a throttle operation or a brake operation.
With the solutions according to the embodiments of the present disclosure, a roadside device is provided within a predetermined range from a predetermined position. The roadside device obtains positioning condition data regarding position-based parking of a vehicle at the predetermined position, determines posture data of the vehicle based on the positioning condition data of the vehicle, and transmits the posture data to the vehicle. The vehicle decides whether the posture data satisfies a predetermined positioning rule, and if not, determines posture adjustment data for the vehicle and controls the vehicle to perform a posture adjustment operation based on the posture adjustment data. In this way, the vehicle may be parked at the predetermined position accurately even with a weak GPS signal, thereby solving the problem in the related art that an unmanned vehicle cannot be parked at a specified position accurately in an environment with a weak GPS signal.

BRIEF DESCRIPTION OF THE DRAWINGS

The figures are provided for facilitating further understanding of the present disclosure. The figures constitute a portion of the description and can be used in combination with the embodiments of the present disclosure to interpret, rather than limiting, the present disclosure. In the figures:

FIG. 1 a is a schematic diagram showing a system for position-based parking of a vehicle according to some embodiments of the present disclosure;

FIG. 1 b is a block diagram showing a structure of a system for position-based parking of a vehicle according to some embodiments of the present disclosure;

FIG. 2 is a flowchart illustrating a method for position-based parking of a vehicle according to some embodiments of the present disclosure;

FIG. 3 is a block diagram showing a structure of an apparatus for position-based parking of a vehicle according to some embodiments of the present disclosure; and

FIG. 4 is a block diagram showing another structure of an apparatus for position-based parking of a vehicle according to some embodiments of the present disclosure.

DETAILED DESCRIPTION OF THE EMBODIMENTS

In the following, the solutions according to the embodiments of the present disclosure will be described clearly and completely with reference to the figures, such that the solutions can be better understood by those skilled in the art. Obviously, the embodiments described below are only some, rather than all, of the embodiments of the present disclosure.
All other embodiments that can be obtained by those skilled in the art based on the embodiments described in the present disclosure without any inventive efforts are to be encompassed by the scope of the present disclosure.
In the related art, in some application scenarios, unmanned vehicles may need to be parked accurately at some specified (or predetermined) positions. However, in these scenarios, there may typically be weak GPS signals or signal interference, such that it would be difficult to achieve accurate position-based parking of unmanned vehicles. In view of this, the embodiments of the present disclosure provide solutions for position-based parking of a vehicle, so as to solve the above problem.
In the solutions according to the embodiments of the present disclosure, a roadside device is provided within a predetermined range from a predetermined position. The roadside device obtains positioning condition data regarding position-based parking of a vehicle at the predetermined position, determines posture data of the vehicle based on the positioning condition data of the vehicle, and transmits the posture data to the vehicle. The vehicle decides whether the posture data satisfies a predetermined positioning rule, and if not, determines posture adjustment data for the vehicle and controls the vehicle to perform a posture adjustment operation based on the posture adjustment data. In this way, the vehicle may be parked at the predetermined position accurately even with a weak GPS signal, thereby solving the problem in the related art that an unmanned vehicle cannot be parked at a specified position accurately in an environment with a weak GPS signal.
The core idea of the present disclosure has been described above. The solutions according to the embodiments of the present disclosure will be described in further detail below with reference to the figures, such that they can be better understood by those skilled in the art and that the above objects, features and advantages of the embodiments of the present disclosure will become more apparent.
The system for position-based parking of a vehicle according to the embodiments of the present disclosure can be applied in various environments such as a coastal port area, a highway port area, a mining area, a warehouse or an industrial park. FIG. 1 a is illustrated with reference to an example of a coastal port area. FIG. 1 a shows a system for position-based parking of a vehicle according to some embodiments of the present disclosure. The system includes a roadside device 1 and the vehicle 2. The roadside device 1 may be located within a predetermined range B from a predetermined position A. The predetermined position A may be set depending on requirements of application scenarios, e.g., as a loading and unloading position of a crane. The shape and/or size of the predetermined range B may be set depending on requirements of application scenarios, such that the roadside device 1 may monitor the position-based parking condition of the vehicle and communicate with the vehicle 2. The roadside device 1 may be installed at a predetermined height to avoid obstruction by objects or signal interference, thereby monitoring the vehicle 2 or communicating with the vehicle 2 effectively.
FIG. 1 b shows a structure of a system for position-based parking of a vehicle according to some embodiments of the present disclosure. As shown, the roadside device 1 includes a sensing device 11, a roadside processing device 12 and a communication device 13. The vehicle 2 includes a vehicle-mounted processing device 21 and a communication device 22.
In the roadside device 1, the sensing device 11 may be configured to obtain positioning condition data regarding position-based parking of the vehicle 2 at the predetermined position A. The sensing device 11 may include at least one camera for obtaining image data of the vehicle and its surrounding environment and/or a laser radar for obtaining point cloud of the vehicle and its surrounding environment. That is, the positioning condition data may include the image data and/or the point cloud data. The sensing device 11 may further include other sensors depending on requirements of specific application scenarios. In this case, the positioning condition data may further include data obtained by the other sensors.
The roadside processing device 12 may be configured to determine posture data of the vehicle based on the positioning condition data of the vehicle. The roadside processing device 12 may process positioning condition data preliminarily to obtain related data, e.g., the posture data of the vehicle, and communicate the related data with the vehicle 2, such that the amount of data to be communicated may be reduced and the processing speed and efficiency at the vehicle may be improved.
The roadside processing device 12 may determine the posture data of the vehicle based on the positioning condition data of the vehicle by performing the following steps.
At step S1, the roadside processing device 12 may simulate a positioning condition of the vehicle on a map based on the positioning condition data of the vehicle.
At step S2, the posture data of the vehicle may be determined based on the positioning condition of the vehicle on the map.
That is, the roadside processing device 12 may locate the image data and/or the point cloud data of the vehicle and its surrounding environment as obtained by the sensing device 11 onto map data, simulate the positioning condition of the vehicle on the map for analysis and obtain the posture data of the vehicle. The specific algorithm used here can be set depending on requirements of specific application scenarios, and the present disclosure is not limited to any specific algorithm.
The posture data of the vehicle may include at least one of: a direction of the vehicle, a position of the vehicle relative to the predetermined position, or a distance between the vehicle and the predetermined position. Depending on requirements of specific application scenarios, the posture data may further include various types of other data, including e.g., a distance between the vehicle body and a lane line, an angle between the vehicle body and a lane line, a tilt angle of the vehicle body, or the like.
The communication device 13 may be configured to transmit the posture data of the vehicle to the vehicle 2. The communication device 13 may use various communication protocols, including e.g., WiFi, 4G or Vehicle to Everything (V2X), to ensure effective communication between the roadside device 1 and the vehicle 2.
In the vehicle 2, the communication device 22 may be configured to receive the posture data from the roadside device, by using the communication protocol corresponding to the protocol used by the communication device 13 in the roadside device.
The vehicle-mounted processing device 21 may be configured to decide whether the posture data satisfies a predetermined positioning rule, and if not, determine posture adjustment data for the vehicle and control the vehicle 2 to perform a posture adjustment operation based on the posture adjustment data. The vehicle-mounted processing device 21 determines that the position-based parking has completed when deciding that the posture data satisfies the predetermined positioning rule.
The operation principles of the vehicle 2 will be explained below.
FIG. 2 is a flowchart illustrating a method for position-based parking of a vehicle according to some embodiments of the present disclosure. The method includes the following steps.
At step 21, during position-based parking of the vehicle at a predetermined position, a communication device of the vehicle receives posture data from a roadside device located within a predetermined range from the predetermined position.
As described above, the communication device of the vehicle may communicate with the roadside device using various communication protocols to obtain the posture data transmitted from the roadside device. The posture data may include at least one of: a direction of the vehicle, a position of the vehicle relative to the predetermined position, or a distance between the vehicle and the predetermined position.
At step 22, a vehicle-mounted processing device of the vehicle decides whether the posture data satisfies a predetermined positioning rule. If so, the method proceeds with step 23; or otherwise the method proceeds with step 24.
For example, the predetermined positioning rule may include:
a) a location of the predetermined position A;
b) a distance between the front of the vehicle and the predetermined position not being larger than 10 cm; and
c) a direction the front of the vehicle faces being within X±Y, where X denotes a direction and Y denotes an offset.
Here, standard positioning data may include: the location of the predetermined position, and the direction the front of the vehicle faces being X.
The posture data of the vehicle may include: the distance between the front of the vehicle and the predetermined position being 1 m, and the direction the front of the vehicle faces being X+Z, where Z is an offset towards a particular direction and Z>Y.
Apparently the posture data of the vehicle does not satisfy the positioning rule.
At step 23, it is determined that the position-based parking has completed and the method ends.
At step 24, posture adjustment data for the vehicle is determined.
Here, the vehicle-mounted processing device 21 may determine the posture adjustment data based on the posture data of the vehicle and the predetermined positioning rule by performing the following steps.
At step Sa, the posture data of the vehicle is compared with the standard positioning data in the predetermined positioning rule to determine a difference between the posture data of the vehicle and the standard positioning data.
At step Sb, the difference is determined as the posture adjustment data for the vehicle.
For example, when the posture data of the vehicle includes the distance between the front of the vehicle and the predetermined position being 1 m and the direction the front of the vehicle faces being X+Z, and the standard positioning data includes the location of the predetermined position and the direction the front of the vehicle faces being X, the posture data of the vehicle and the standard positioning data may be compared to determine the differences between their respective parameters as the posture adjustment data, e.g., the vehicle to move 1 m forward and the angle of the vehicle to be adjusted by −Z.
At step 25, the vehicle is controlled to perform a posture adjustment operation based on the posture adjustment data.
Here, the posture adjustment operation to be performed by the vehicle-mounted processing device may include at least one of: an engine operation, a steering wheel operation, a throttle operation or a brake operation. Other operations can be performed depending on requirements of specific application scenarios.
For example, based on the posture adjustment data including the vehicle to move 1 m forward and the angle of the vehicle to be adjusted by −Z, the posture adjustment operation may include: an engine operation, a steering wheel operation for angle adjustment of −Z, a steering wheel resetting operation, a throttle operation and a brake operation.
With the solutions according to the embodiments of the present disclosure, a roadside device is provided within a predetermined range from a predetermined position. The roadside device obtains positioning condition data regarding position-based parking of a vehicle at the predetermined position, determines posture data of the vehicle based on the positioning condition data of the vehicle, and transmits the posture data to the vehicle. The vehicle decides whether the posture data satisfies a predetermined positioning rule, and if not, determines posture adjustment data for the vehicle and controls the vehicle to perform a posture adjustment operation based on the posture adjustment data. In this way, the vehicle may be parked at the predetermined position accurately even with a weak GPS signal, thereby solving the problem in the related art that an unmanned vehicle cannot be parked at a specified position accurately in an environment with a weak GPS signal.
Based on the same inventive concept, an apparatus for position-based parking of a vehicle is provided according to some embodiments of the present disclosure.
FIG. 3 is a block diagram showing a structure of an apparatus for position-based parking of a vehicle according to some embodiments of the present disclosure. The apparatus is provided in the vehicle and includes a processor 31 and at least one memory 32 storing at least one machine executable instruction.
During position-based parking of the vehicle at a predetermined position, a communication device of the vehicle receives posture data from a roadside device.
In the apparatus shown in FIG. 3 , the processor 31 may be operative to execute the at least one machine executable instruction stored in the memory 32 to decide whether the posture data satisfies a predetermined positioning rule, determine posture adjustment data for the vehicle when the received posture data does not satisfy the predetermined positioning rule and control the vehicle to perform a posture adjustment operation based on the posture adjustment data. The processor 31 is further operative to execute the at least one machine executable instruction to determine that the position-based parking has completed when deciding that the posture data satisfies the predetermined positioning rule.
In some embodiments, the processor may be operative to execute the at least one machine executable instruction to determine the posture adjustment data for the vehicle by: comparing the posture data of the vehicle with standard positioning data in the predetermined positioning rule and determining a difference between the posture data of the vehicle and the standard positioning data as the posture adjustment data for the vehicle.
Here, the posture data of the vehicle may include at least one of: a direction of the vehicle, a position of the vehicle relative to the predetermined position, or a distance between the vehicle and the predetermined position. The posture adjustment operation may include at least one of: an engine operation, a steering wheel operation, a throttle operation or a brake operation.
With the solutions according to the embodiments of the present disclosure, a roadside device is provided within a predetermined range from a predetermined position. The roadside device obtains positioning condition data regarding position-based parking of a vehicle at the predetermined position, determines posture data of the vehicle based on the positioning condition data of the vehicle, and transmits the posture data to the vehicle. The vehicle decides whether the posture data satisfies a predetermined positioning rule, and if not, determines posture adjustment data for the vehicle and controls the vehicle to perform a posture adjustment operation based on the posture adjustment data. In this way, the vehicle may be parked at the predetermined position accurately even with a weak GPS signal, thereby solving the problem in the related art that an unmanned vehicle cannot be parked at a specified position accurately in an environment with a weak GPS signal.
Based on the same inventive concept, an apparatus for position-based parking of a vehicle is provided according to an embodiment of the present disclosure.
FIG. 4 is a block diagram showing a structure of an apparatus for position-based parking of a vehicle according to an embodiment of the present disclosure. The apparatus is provided in the vehicle and includes a deciding unit, a determining unit and a control unit.
During position-based parking of the vehicle at a predetermined position, the deciding unit 41 may be configured to decide whether received posture data satisfies a predetermined positioning rule. The posture data is received by a communication device of the vehicle from a roadside device located within a predetermined range from the predetermined position during position-based parking of the vehicle at the predetermined position. The posture data of the vehicle may include at least one of: a direction of the vehicle, a position of the vehicle relative to the predetermined position, or a distance between the vehicle and the predetermined position.
The determining unit 42 may be configured to determine posture adjustment data for the vehicle when the deciding unit decides that the received posture data does not satisfy the predetermined positioning rule. In some embodiments, the determining unit 42 may further be configured to: determine that the position-based parking has completed when the deciding unit decides that the posture data satisfies the predetermined positioning rule.
In some embodiments, the determining unit 42 may determine the posture adjustment data for the vehicle by: comparing the posture data of the vehicle with standard positioning data in the predetermined positioning rule and determining a difference between the posture data of the vehicle and the standard positioning data as the posture adjustment data for the vehicle.
The control unit 43 is configured to control the vehicle to perform a posture adjustment operation based on the posture adjustment data.
In some embodiments, the posture adjustment operation may include at least one of: an engine operation, a steering wheel operation, a throttle operation or a brake operation.
With the solutions according to the embodiments of the present disclosure, a roadside device is provided within a predetermined range from a predetermined position. The roadside device obtains positioning condition data regarding position-based parking of a vehicle at the predetermined position, determines posture data of the vehicle based on the positioning condition data of the vehicle, and transmits the posture data to the vehicle. The vehicle decides whether the posture data satisfies a predetermined positioning rule, and if not, determines posture adjustment data for the vehicle and controls the vehicle to perform a posture adjustment operation based on the posture adjustment data. In this way, the vehicle may be parked at the predetermined position accurately even with a weak GPS signal, thereby solving the problem in the related art that an unmanned vehicle cannot be parked at a specified position accurately in an environment with a weak GPS signal.
Obviously, various modifications and variants can be made to the present disclosure by those skilled in the art without departing from the spirit and scope of the present disclosure. Therefore, these modifications and variants are to be encompassed by the present disclosure if they fall within the scope of the present disclosure as defined by the claims and their equivalents.

Claims

What is claimed is:

1. A system comprising:

a roadside apparatus configured to:

determine, based on sensor data collected via a sensing device of the roadside apparatus, a first posture data of a vehicle that includes (i) a first relative position of the vehicle with respect to a predetermined location associated with the roadside apparatus, and (ii) a first orientation of the vehicle, and

transmit the first posture data of the vehicle; and

an in-vehicle device for the vehicle configured to:

receive the first posture data from the roadside apparatus,

dynamically evaluate a predetermined rule with the first posture data, wherein the predetermined rule defines a target posture data that includes (i) a target relative position of the vehicle with respect to the predetermined location, and (ii) a target orientation of the vehicle, and

in response to the predetermined rule failing to be satisfied, control the vehicle to perform a posture adjustment operation according to posture adjustment data determined from a difference between the target posture data and the first posture data.

2. The system of claim 1, wherein the in-vehicle device is configured to:

stop a dynamic evaluation of the predetermined rule in response to the predetermined rule being satisfied.

3. The system of claim 1, wherein the predetermined location is located within an environment in which a GPS signal is weak.

4. The system of claim 1, wherein the predetermined location is based on a loading and unloading position of a crane.

5. The system of claim 1, wherein the roadside apparatus is positioned at a predetermined height that minimizes signal interference when communicating with the in-vehicle device.

6. The system of claim 1, wherein the target relative position is located less than or equal to 10 cm from the predetermined location.

7. The system of claim 1, wherein the target orientation of the target posture data defines a range of directions based on a predetermined direction X and a predetermined offset Y.

8. The system of claim 1, wherein the roadside apparatus is configured to determine the first posture data based on a simulation of the vehicle on a map.

9. The system of claim 1, wherein the in-vehicle device is configured to communicate with the roadside apparatus via a Vehicle-to-Everything (V2X) communication protocol.

10. The system of claim 1, further comprising the vehicle, wherein the vehicle is unmanned, and wherein the in-vehicle device is configured to control the vehicle based on at least one of an engine operation, a steering wheel operation, a steering wheel resetting operation, a throttle operation, and a brake operation.

11. A method comprising:

receiving, by an in-vehicle device in a vehicle, a first posture data from a roadside apparatus located outside of the vehicle, wherein the first posture data includes (i) a first relative position of the vehicle with respect to a predetermined location associated with the roadside apparatus, and (ii) a first orientation of the vehicle;

dynamically evaluating a predetermined rule with the first posture data, wherein the predetermined rule defines a target posture data that includes (i) a target relative position of the vehicle with respect to the predetermined location, and (ii) a target orientation of the vehicle;

in response to the predetermined rule failing to be satisfied, determining a posture adjustment data based on a difference between the target posture data and the first posture data; and

controlling, by the in-vehicle device, the vehicle to perform a posture adjustment operation according to the posture adjustment data.

12. The method of claim 11, further comprising:

receiving a second posture data from the roadside apparatus;

dynamically evaluating the predetermined rule with the second posture data; and

in response to the predetermined rule being satisfied by the second posture data, stopping a parking operation of the vehicle.

13. The method of claim 11, wherein the first posture data received from the roadside apparatus is more accurate than a GPS-based position estimate due to the predetermined location being located in an environment with a weak GPS signal.

14. The method of claim 11, wherein the target relative position is located less than or equal to a predetermined offset away from the predetermined location.

15. The method of claim 11, wherein the target orientation defines a range of directions based on a predetermined direction X and a predetermined offset Y on either side of the predetermined direction X.

16. The method of claim 11, wherein the posture adjustment data describes an adjustment to at least one of a position of the vehicle or an orientation of the vehicle.

17. A method comprising:

detecting, by a roadside apparatus that is associated with a predetermined location, a vehicle via one or more sensing devices;

determining, by the roadside apparatus, a posture data of the vehicle that includes (i) a relative position of the vehicle with respect to the predetermined location, and (ii) a first orientation of the vehicle; and

transmitting, by the roadside apparatus, the posture data to an in-vehicle device of the vehicle to cause the vehicle to perform a posture adjustment operation.

18. The method of claim 17, wherein the one or more sensing devices includes a laser radar, and the vehicle is detected via point cloud data collected by the laser radar.

19. The method of claim 17, wherein the predetermined location is located within an environment in which a strength of GPS signals does not meet a threshold strength to perform a GPS-based positioning operation.

20. The method of claim 17, wherein the first orientation of the vehicle is determined based on simulating the relative position of the vehicle on a map.