Automated valet parking

An automated valet parking (AVP) system in an autonomous vehicle, the system comprising:

• a sensor configured to sense an environment surrounding the autonomous vehicle and output sensor data;
• and
• an electronic processor configured to
• receive user input activating an AVP mode of the autonomous vehicle,
• in response to activation of the AVP mode, detect, based on the sensor data, a guideline along a first aisle of a parking lot,
• control the autonomous vehicle to travel along the guideline of the first aisle,
• determine that the autonomous vehicle has reached a first intersection by detecting, based on the sensor data, a first stop line projected across the first aisle, wherein the first intersection does not include a guideline,
• in response to detecting the first stop line, control the autonomous vehicle to stop in the first aisle at the first intersection,
• detect a deactivation of the first stop line and a projection of a first guideline connector through the first intersection, the first guideline connector connecting the guideline of the first aisle to a guideline of a second aisle in a predetermined direction,
• control the autonomous vehicle to travel along the first guideline connector and along the guideline of the second aisle,
• detect, while travelling along the guideline of the second aisle, an available parking space, and
• in response to detecting the available parking space, control the autonomous vehicle to park in the available parking space.

An autonomous valet parking (AVP) server for a parking lot, the AVP server comprising:

• an electronic processor configured to
• detect, based on sensor data received from a plurality of object detection sensors in the parking lot, that an autonomous vehicle is travelling along a guideline of a first aisle in the parking lot,
• detect that the autonomous vehicle is stopped at a first intersection of the parking lot based on image data received from an image sensor located at the first intersection,
• in response to detecting that the autonomous vehicle is stopped at the first intersection, select a direction for guiding the autonomous vehicle to an available parking space, and
• control a first light projector located at the first intersection to project a first guideline connector that connects the guideline of the first aisle to a guideline of a second aisle in the selected direction, wherein detection of the first guideline connector by the autonomous vehicle causes the autonomous vehicle to travel along the first guideline connector to the second aisle.