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

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.

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.