SYSTEM, METHOD AND APPARATUS FOR POSITION-BASED PARKING OF VEHICLE

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.