System, method, infrastructure, and vehicle for automated valet parkinig
An automated valet parking system, an automated valet parking method, and an automated valet parking infrastructure, and a vehicle having an automated valet parking feature are disclosed. In particular, the vehicle can autonomously move to and park in a designated parking spot by communicating with the infrastructure. In addition, the vehicle can autonomously move to a pickup area from a parking spot by communicating with the infrastructure.
1. An automated valet parking infrastructure comprising:
a memory configured to store data;
a communication circuit configured to communicate with a vehicle; and
a processor configured to:
receive a parking request from the vehicle,
determine a target parking place for the vehicle,
determine sensors required for automated valet parking of the vehicle,
obtain information of sensors mounted in the vehicle and operated normally,
compared the required sensors and the obtained information of sensors,
determine whether automated valet parking for the vehicle is allowed in the target parking place based on the comparison results;
when the automated valet parking in the target parking place is allowed, support the automated valet parking of the vehicle;
request to the vehicle to perform each of desired operations;
receive, from the vehicle, an operation execution result for each of the desired operations; and
determine whether the desired operations are performed normally based on the received operation execution results.
2. The automated valet parking infrastructure according to claim 1 , wherein the processor is configured to determine the required sensors based on the determined target parking place.
3. The automated valet parking infrastructure according to claim 1 , wherein the processor is further configured to:
request a response to the vehicle for the at least one sensor;
receive the response from the vehicle; and
check whether the at least one sensor operates normally based on the received response.
4. The automated valet parking infrastructure according to claim 3 , wherein the processor is further configured to determine whether the at least one sensor operates normally based on whether the received response satisfies a predetermined reference condition.
5. The automated valet parking infrastructure according to claim 4 , wherein the at least one sensor includes at least one of a camera, an ultrasonic sensor, a radar sensor, a LiDAR sensor, an infrared sensor, a thermal sensor, a position sensor, or a millimeter wave sensor.
6. The automated valet parking infrastructure according to claim 1 , wherein the processor is further configured to:
determine whether automated valet parking for the vehicle is allowed in the target parking place based on the comparison results and the determination whether the desired operations for the automated valet parking of the vehicle are performed normally.
7. The automated valet parking infrastructure according to claim 6 , wherein the desired operations include at least one operation selected from among transmission of an error signal, emergency braking, steering, acceleration and braking, gear shifting, ignition on/off operation, and door locking/unlocking.
8. The automated valet parking infrastructure according to claim 1 , wherein the processor is further configured to: when the automated valet parking in the target parking place is not allowed, provide the vehicle with information on a different parking facility in which automated valet parking of the vehicle is allowed based on the information of sensors that are mounted in the vehicle and operate normally.
9. The automated valet parking infrastructure according to claim 1 , wherein the processor is further configured to receive a control authority for the vehicle from the vehicle after receiving the parking request.
10. The automated valet parking infrastructure according to claim 9 , wherein the processor is further configured to return the control authority for the vehicle after the automated valet parking for the vehicle is finished.
11. The automated valet parking infrastructure according to claim 1 , wherein the processor is further configured to transmit an emergency stop instruction to the vehicle when any fault is detected inside or outside the vehicle.
12. The automated valet parking infrastructure according to claim 1 , wherein the processor is further configured to transmit to the vehicle at least one of the target parking place and a guide route leading to the target parking place to support the automated valet parking of the vehicle.
13. An operation method of an infrastructure for automated valet parking, the method comprising:
receiving a parking request from a vehicle;
determining a target parking place for the vehicle;
determining sensors required for automated valet parking of the vehicle;
obtaining information of sensors mounted in the vehicle and operated normally;
comparing the required sensors and the obtained information of sensors;
determining whether automated valet parking for the vehicle is allowed in the target parking place based on the comparison results;
when the automated valet parking in the target parking place is allowed, supporting the automated valet parking of the vehicle;
requesting to the vehicle to perform each of desired operations;
receiving, from the vehicle, an operation execution result for each of the desired operations; and
determining whether the desired operations are performed normally based on the received operation execution results.
14. A non-transitory computer-readable recording medium having a program recorded thereon, the program to direct a processor of an infrastructure to perform acts of:
receiving a parking request from a vehicle;
determining a target parking place for the vehicle;
determining sensors required for automated valet parking of the vehicle;
obtaining information of sensors mounted in the vehicle and operated normally;
comparing the required sensors and the obtained information of sensors;
determining whether automated valet parking for the vehicle is allowed in the target parking place based on the comparison results;
when the automated valet parking in the target parking place is allowed, supporting the automated valet parking of the vehicle;
requesting to the vehicle to perform each of desired operations;
receiving, from the vehicle, an operation execution result for each of the desired operations; and
determining whether the desired operations are performed normally based on the received operation execution results.