Method and apparatus for determining airport terminal to park vehicle by automated valet driving system (AVDS)

1 . An automated valet driving method comprising:

identifying a subject vehicle for an automated valet driving system;

measuring, by vehicle-mounted sensors, illuminance, weather, and a state-of-charge (SoC) of a battery of the subject vehicle;

performing an autonomous driving operation for the subject vehicle based on a parking location for the subject vehicle,

wherein the parking location is determined based on a parking lot around an airport terminal by referring to at least one of an illuminance, a weather, and an electric charge level;

computing, by the system, an SoC threshold derived from at least a distance between terminal areas and an emergency-preparedness energy reserve, and selecting the parking location based on the measured SoC relative to the threshold; and

in response to the selected parking location, generating a drivable trajectory within an operational design domain and commanding a vehicle motion controller to execute the trajectory without human intervention,

wherein the operational design domain includes geographical, spatial, physical, and environmental factors in which autonomous driving of the subject vehicle is performed including at least one of an autonomous driving system management area, drivable illuminance, drivable weather, or drivable road friction.

2 . The automated valet driving method according to claim 1 , wherein performing the autonomous driving operation based on the parking location for the subject vehicle includes:

determining the illuminance,

wherein

when the illuminance is lower than a threshold, the parking location is determined, within a drop-off area of the airport terminal, based on at least one of a charging level of the subject vehicle, a parking fee, and the presence or absence of a parking spot in a vicinity of the drop-off area; and

when the illuminance is not lower than the threshold, the parking location is determined, within a pick-up area of the airport terminal, based on at least one of the charging level of the subject vehicle, the parking fee, and the presence or absence of a parking spot in a vicinity of the pick-up area.

3 . The automated valet driving method according to claim 1 , wherein performing the autonomous driving operation based on the parking location for the subject vehicle includes:

determining the weather,

wherein

when information about the determined weather falls within a specific weather-related range, the parking location is determined, within a drop-off area of the airport terminal, based on at least one of a charging level of the subject vehicle, a parking fee, and the presence or absence of a parking spot in a vicinity of the drop-off area; and

when information about the determined weather is included in a specific weather-related range, the parking location is determined, within a pick-up area of the airport terminal, based on at least one of the charging level of the subject vehicle, the parking fee, and the presence or absence of a parking spot in a vicinity of the pick-up area.

4 . The automated valet driving method according to claim 1 , wherein performing the autonomous driving operation based on the parking location for the subject vehicle includes:

checking a degree of electric charges,

wherein

when the degree of charges is less than a threshold, the parking location is determined to be a location around a drop-off area of the airport terminal,

wherein

the threshold is calculated based on at least one of a distance between a pick-up area and the drop-off area or emergency preparedness power; and

in a case in which the degree of charges is less than the threshold and a charging station related to a route that is created based on the drop-off area and the pick-up area exists, the parking location is determined based on the pick-up area of a driver of the subject vehicle.

5 . The automated valet driving method according to claim 1 , wherein performing the autonomous driving operation based on the parking location for the subject vehicle includes:

checking a degree of electric charges,

wherein

when the degree of charges is less than a driver's required value, the parking location is determined to be a location around a drop-off area of the airport terminal,

wherein

the driver's required value is calculated based on a driver's input signal; and

in a case in which the degree of charges is less than the driver's required value and a charging station related to a route that is created based on the drop-off area and the pick-up area exists, the parking location is determined based on the pick-up area of a driver of the subject vehicle.

6 . The automated valet driving method according to claim 1 , wherein performing the autonomous driving operation based on the parking location for the subject vehicle includes:

checking a driver's configuration of the subject vehicle,

wherein

the parking location is determined to be any one of a location around a drop-off area of the airport terminal or a pick-up area of the airport terminal,

wherein

the driver's configuration includes at least one of the illuminance, the weather, and the electric charge level; and

in a case in which the driver's configuration includes at least two of the illuminance, the weather, and the electric charge level, the parking location is determined based on a preset priority.

7 . An automated valet driving apparatus comprising:

a memory; and

one or more processors coupled to the memory,

wherein the one or more processors are configured to:

receive sensor measurements of illuminance, weather, and a state-of-charge (SoC) of a battery;

identify a subject vehicle for an automated valet driving system;

perform an autonomous driving operation for the subject vehicle based on a parking location for the subject vehicle,

wherein the parking location is determined based on a parking lot around an airport terminal by referring to at least one of an illuminance, a weather, and an electric charge level;

compute, by the processors, an SoC threshold derived from at least a distance between terminal areas and an emergency-preparedness energy reserve and select the parking location based on the measured SoC relative to the threshold; and

generate a drivable trajectory within an operational design domain and command a vehicle motion controller to execute the trajectory without human intervention,

wherein the operational design domain includes geographical, spatial, physical, and environmental factors in which autonomous driving of the subject vehicle is performed including at least one of an autonomous driving system management area, drivable illuminance, drivable weather, or drivable road friction.

8 . The automated valet driving apparatus according to claim 7 , wherein the one or more processors are configured to:

determine the illuminance,

wherein

when the illuminance is lower than a threshold, the parking location is determined, within a drop-off area of the airport terminal, based on at least one of a charging level of the subject vehicle, a parking fee, and the presence or absence of a parking spot in a vicinity of the drop-off area; and

when the illuminance is not lower than the threshold, the parking location is determined, within a pick-up area of the airport terminal, based on at least one of the charging level of the subject vehicle, the parking fee, and the presence or absence of a parking spot in a vicinity of the pick-up area.

9 . The automated valet driving apparatus according to claim 7 , wherein the one or more processors are configured to:

determine the weather

wherein

when information about the determined weather falls within a specific weather-related range, the parking location is determined, within a drop-off area of the airport terminal, based on at least one of a charging level of the subject vehicle, a parking fee, and the presence or absence of a parking spot in a vicinity of the drop-off area; and

when information about the determined weather is included in a specific weather-related range, the parking location is determined, within a pick-up area of the airport terminal, based on at least one of the charging level of the subject vehicle, the parking fee, and the presence or absence of a parking spot in a vicinity of the pick-up area.

10 . A vehicle comprising:

an interface configured to transmit and receive information to/from an automated valet driving system; and

a controller configured to control automated valet driving,

wherein the controller is configured to:

receive sensor measurements of illuminance, weather, and a state-of-charge (SoC) of a battery;

identify a subject vehicle for the automated valet driving system;

perform an autonomous driving operation for the subject vehicle based on a parking location for the subject vehicle,

wherein

information about the automated valet driving system is determined based on a parking lot around a terminal of an airport by referring to at least one of an illuminance, a weather, and an electric charge level;

compute an SoC threshold derived from at least a distance between terminal areas and an emergency-preparedness energy reserve and select the parking location based on the measured SoC relative to the threshold; and

generate a drivable trajectory within an operational design domain and command a vehicle motion controller to execute the trajectory without human intervention,

wherein the operational design domain includes geographical, spatial, physical, and environmental factors in which autonomous driving of the subject vehicle is performed including at least one of an autonomous driving system management area, drivable illuminance, drivable weather, or drivable road friction.