System and method for controlling parking of autonomous vehicle

1 . A system for controlling the parking of an autonomous vehicle, the system comprising a vehicle control device comprising a processor and a memory storing instructions executable by the processor,

wherein the processor is further configured to execute the instructions to:

obtain information related to the parking of the autonomous vehicle from a sensor within the autonomous vehicle and from an infrastructure sensor outside the autonomous vehicle;

obtain first obstacle information regarding an absolute position and a size of an obstacle in space measured by the infrastructure sensor, second obstacle information regarding a relative position between the obstacle and the autonomous vehicle, and third obstacle information regarding a relative direction of a front portion of the autonomous vehicle being oriented with respect to the obstacle;

verify the information obtained from the sensor within the autonomous vehicle, based on the first obstacle information, the second obstacle information, and the third obstacle information;

eliminate any blind spots of the sensor within the autonomous vehicle, based on the first obstacle information, the second obstacle information, and the third obstacle information;

determine a parking space, based on the information related to the parking of the autonomous vehicle;

set a parking route from a current position of the autonomous vehicle to the parking space; and

control the parking of the autonomous vehicle, based on the parking route.

2 . The system of claim 1 , wherein the processor is further configured to execute the instructions to:

obtain information about a position of the autonomous vehicle in space measured by the infrastructure sensor, and the direction in which the front portion of the autonomous vehicle is oriented; and

obtain information about the absolute and relative positions of at least one available parking space for the autonomous vehicle in space measured by the infrastructure sensor, as well as the size and the orientation of the available parking space.

3 . The system of claim 2 , wherein the processor is further configured to execute the instructions to:

Determine parking space an available parking space corresponding to a safe travel route calculated based on the position and the direction of the autonomous vehicle, the absolute and relative positions of the available parking space, and the size and the parking direction of the available parking space; and

plan and set the parking route to the determined parking space.

4 . The system of claim 3 , wherein the processor is further configured to execute the instructions to compare the parking route with a current position of the autonomous vehicle in real time and thereby adjust the parking route as needed.

5 . A non-transitory computer-readable recording medium storing a computer program that, when executed by a processor, causes the processor to perform operations defined in claim 1 .

6 . A method of controlling the parking of an autonomous vehicle, the method being performed by a vehicle control device comprising a processor and a memory, the method comprising:

obtaining information related to the parking of the autonomous vehicle from a sensor within the autonomous vehicle and from an infrastructure sensor outside the autonomous vehicle;

obtaining first obstacle information regarding an absolute position and a size of an obstacle in space measured by the infrastructure sensor, second obstacle information regarding a relative position between the obstacle and the autonomous vehicle, and third obstacle information regarding a relative direction of a front portion of the autonomous vehicle being oriented with respect to the obstacle;

verifying the information obtained from the sensor within the autonomous vehicle, based on the first obstacle information, the second obstacle information, and the third obstacle information;

eliminating any blind spots of the sensor within the autonomous vehicle, based on the first obstacle information, the second obstacle information, and the third obstacle information;

determining a parking space, based on the information related to parking of the autonomous vehicle, and setting a parking route from a current position of the autonomous vehicle to the parking space; and

controlling the parking of the autonomous vehicle, based on the parking route.

7 . The method of claim 6 , wherein the obtaining of the parking-related information of the autonomous vehicle comprises:

obtaining information about the position of the autonomous vehicle in space as measured by the infrastructure sensor, and the direction in which the front portion of the autonomous vehicle is oriented; and

obtaining information about the absolute and relative positions of at least one available parking space for the autonomous vehicle as measured by the infrastructure sensor, including

the size and parking orientation of the available parking space.

8 . The method of claim 7 , wherein setting the parking route comprises determining parking space an available parking space as the parking space, corresponding to a safe travel route calculated based on the position and the direction of the autonomous vehicle, the absolute and relative positions of the available parking space, and the size and the parking orientation of the available parking space, and planning and setting the parking route to the parking space.

9 . The method of claim 8 , wherein controlling the parking comprises comparing the parking route with the current position of the autonomous vehicle in real-time and thereby adjusting the parking route as needed.

10 . A non-transitory computer-readable recording medium storing a computer program computer for executing the method of claim 6 by using a computing device.