CN107364442A - A kind of automatic stop process and system - Google Patents
A kind of automatic stop process and system Download PDFInfo
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- CN107364442A CN107364442A CN201710487102.4A CN201710487102A CN107364442A CN 107364442 A CN107364442 A CN 107364442A CN 201710487102 A CN201710487102 A CN 201710487102A CN 107364442 A CN107364442 A CN 107364442A
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- 230000006978 adaptation Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
- 230000007613 environmental effect Effects 0.000 claims description 4
- 230000004888 barrier function Effects 0.000 description 12
- 230000037396 body weight Effects 0.000 description 10
- 230000007246 mechanism Effects 0.000 description 8
- 238000003032 molecular docking Methods 0.000 description 8
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W2050/0001—Details of the control system
- B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
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Abstract
The present invention relates to a kind of automatic stop process and system, is related to parking of automobile field.Methods described includes：Collection vehicle positional information, and obtain the state on all parking stalls in the range of the pre-determined distance centered on vehicle；Calculate all parking spaces in the parking stall of vacant state；All parking spaces in the parking stall of vacant state are carried out being adapted to comparison according to pre-defined rule with the space of vehicle parking, obtain comparative result and determine final parking stall, according to the final parking stall planning parking path and vehicle is sent to, vehicle is rested in automatically in the final parking stall.Carry out being adapted to comparison with the space of vehicle parking by calculating the parking space on parking stall, and by it, so that car owner can accurately obtain the vacant parking stall of sufficient, the convenient parking in space.
Description
Technical field
The present invention relates to parking of automobile field, more particularly to a kind of automatic stop process and system.
Background technology
Car owner usually can be worried because of parking in vehicle processes are travelled, and is on the one hand that can not find suitable parking stall,
All the time can not stop；On the other hand it is due to then that shut-down operation level is relatively low, being parked in parking stall for vehicle safety can not be ensured.
Many parking stalls positioning and automatic parking method are disclosed in the prior art current, but many automatic pools
The space for not accounting for parking stall in the scheme of car is for caused difficulty of parking, because automatic parking depends on mostly
Program, it controls precise degrees to still have a certain distance compared with people, therefore, for the less space in parking stall,
Automatic parking still has danger, while has many schemes also to merely provide a kind of fuzzy concept of automatic parking, and its is specific
How to implement still without disclosed completely.
The content of the invention
The purpose of the present invention is intended at least solve above-mentioned technical problem.
Therefore, it is an object of the present invention to propose a kind of automatic stop process, can stop in vacant state
Optimal parking stall is selected on the basis of parking stall, and the automatic stopping of vehicle is realized according to the parking space on parking stall and vehicle.
Second object of the present invention is to propose a kind of automatic stopping device.
To reach above-mentioned purpose, a kind of automatic stop process that first aspect present invention proposes, methods described includes：
Collection vehicle positional information, and obtain the state on all parking stalls in the range of the pre-determined distance centered on vehicle；
Calculate all parking spaces in the parking stall of vacant state；
Occupation of land by all parking spaces in the parking stall of vacant state according to pre-defined rule and vehicle parking
Space carries out adaptation comparison, obtains comparative result and determines final parking stall；
According to the final parking stall planning parking path and vehicle is sent to, vehicle is rested in automatically and described finally stops
In parking stall.
Automatic stop process according to embodiments of the present invention is full by finding the parking stall of vacant state in du vehicule
Foot car owner finds the demand on vacant parking stall, while calculates the parking space on parking stall, and by its occupation of land with vehicle parking
Space carries out adaptation comparison, so that car owner can accurately obtain the vacant parking stall of sufficient, the convenient parking in space.
In one embodiment of the invention, according to all parking spaces in the parking stall of vacant state to institute
There is the parking stall in vacant state to be classified, including but not limited to：Motorbus parking stall, middle bus parking stall
With station wagon parking stall etc..
In another embodiment of the present invention, automatic stop process of the present invention is additionally included in the final parking of determination
The step of being preengage behind position the parking stall, specifically includes：
When it is determined that behind final parking stall, the parking stall being locked, and the parking stall state is updated from vacant state
For busy state, to prevent other car owners from repeating to preengage.
Second aspect of the present invention proposes a kind of automatic parking system, and the system includes：
Parking stall condition checkout gear, for collection vehicle positional information, and obtain the pre-determined distance centered on vehicle
In the range of all parking stalls state；
Parking space computing device, for calculating all parking spaces in the parking stall of vacant state；
Space comparison means, for all parking spaces in the parking stall of vacant state will to be established rules according to pre-
Then carry out being adapted to comparison with the space of vehicle parking, obtain comparative result and determine final parking stall；
As a result dispensing device, for planning parking path according to the final parking stall and being sent to vehicle, vehicle is made certainly
It is dynamic to rest in the final parking stall.
Automatic parking system according to embodiments of the present invention is full by finding the parking stall of vacant state in du vehicule
Foot car owner finds the demand on vacant parking stall, while calculates the parking space on parking stall, and by its occupation of land with vehicle parking
Space carries out adaptation comparison, so that car owner can accurately obtain the vacant parking stall of sufficient, the convenient parking in space.
In an embodiment of the invention, according to all parking spaces in the parking stall of vacant state to all
Classified in the parking stall of vacant state, including but not limited to：Motorbus parking stall, middle bus parking stall and
Station wagon parking stall etc..
In another embodiment of the present invention, the vehicle in automatic parking system of the present invention be additionally operable to it is determined that
The parking stall is preengage behind final parking stall, specifically included：
After car owner determines final parking stall, reservation information is uploaded to service by car owner by intelligent terminal or car-mounted terminal
Device, server are locked the parking stall after receiving reservation information, and the parking stall state is updated to from vacant state
Busy state, to prevent other car owners from repeating to preengage.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
Fig. 1 is the flow chart of the automatic stop process described in the embodiment of the present invention；
Fig. 2 is the flow chart that parking space is calculated in step of embodiment of the present invention S2；
Fig. 3 is to carry out parking space according to pre-defined rule with space in step of embodiment of the present invention S3 to be adapted to comparison
Flow chart；
Fig. 4 is that another kind is fitted parking space according to pre-defined rule and space in step of embodiment of the present invention S3
With the flow chart compared；
Fig. 5 is the flow chart for the space that vehicle parking is obtained in step of embodiment of the present invention S33；
Fig. 6 is the self-stopping flow chart of vehicle in step of embodiment of the present invention S4；
Fig. 7 is the flow chart of the automatic stop process described in another embodiment of the present invention formula；
Fig. 8 is that the signal of the automatic parking system described in the embodiment of the present invention transmits schematic diagram；
Fig. 9 is the principle schematic of the automatic parking system described in the embodiment of the present invention；
Figure 10 is the principle schematic of the parking space computing device described in the embodiment of the present invention；
Figure 11 is the principle schematic of the space comparison means described in the embodiment of the present invention；
Figure 12 is the principle schematic of the parking value computing module described in the embodiment of the present invention；
Figure 13 is the principle schematic of the result dispensing device described in the embodiment of the present invention；
Figure 14 is the principle schematic of the automatic parking system described in another embodiment of the present invention.
Embodiment
The principle and feature of the present invention are described below in conjunction with accompanying drawing, the given examples are served only to explain the present invention, and
It is non-to be used to limit the scope of the present invention.
As shown in figure 1, the present embodiment proposes a kind of automatic stop process, methods described includes：
S1, collection vehicle positional information, and obtain the shape on all parking stalls in the range of the pre-determined distance centered on vehicle
State.
Specifically, because in real life, the demand of parking stall will be far longer than the quantity of vehicle in itself, can not ensure
Vehicle is bound to have vacant parking stall on driving path, therefore, must be in suitable distance scope when searching vacant parking stall
Inside scan for, described distance range also should not be too remote, away from the destination and car that car owner can be caused to be gone if too far away
Apart from long, car owner then needs walking is far to get to destination for position, has had a strong impact on the Experience Degree of car owner's parking.
Preferably, in order to the purpose of extensive search parking stall can either be met, additionally it is possible to the walking distance of car owner is reduced, will
Maximum search distance range is arranged on the parking demand that can meet most car owners within 200m to 300m.If in pole
Its bustling business circles or the very big place of parking demand, the scope that can be adjusted the distance according to actual conditions are adjusted, regulation
According to that can be by the result of big data analysis this area's parking condition, it be specially：
Gather the parking data in the regular period；
All parking data are grouped according to the period, such as using early 6 points to early 9 points parking data as one
Group, using early 9 points to ten two points of parking data of noon as one group, the like, be divided into some groups by one day；
The parking data after packet is arranged and analyzed according to data statistics, the different time sections that acquisition can be for reference
Inside relatively stable parking data；
Car owner can carry out appropriate regulation by inquiring about Parking situation in current slot to the search area of parking stall.
S2, calculate all parking spaces in the parking stall of vacant state.
The parking space on the typically parking stall that we are just understanding is the space of parking stall parking area itself, but
It is that can be had been found that in actual docking process only using the space of parking stall parking area itself as actual parking space
Words be much can not meet demand, be to protect because if if the distance of two adjacent stalls in itself is just very near
Card vehicle smoothly can be parked in parking stall, therefore, it is necessary to detection calculating is carried out to the distance between adjacent stalls, with
Ensure the docking process of safety.
Specifically, as shown in Fig. 2 the mistake of all parking spaces in the parking stall of vacant state is calculated described in the S2
Cheng Wei：
The boundary coordinate on S21, collection all parking stalls in the range of the pre-determined distance centered on vehicle.
Specifically, the coordinate at collection four angles in parking stall, the parking stall is determined according to the coordinate at four angles in parking stall
Border, first, can determine position of the parking stall in world coordinate system, second, the distance between follow-up adjacent parking lot
Calculating provide foundation.
S22, according to the boundary coordinate calculate it is all in the inner space on the parking stall of vacant state, and all places
The exterior space of distance between the parking stall of vacant state and the adjacent boundary of adjacent stalls.
For the inner space on parking stall, to carry out calculating be necessary, because the inner space directly determines the parking stall
Whether vehicle can be held, we mentioned the necessity calculated for distance between adjacent stalls in detail in above-mentioned S2 steps
Property, therefore, detection and calculating to distance between adjacent parking stall are focused on herein.
General parking stall be all when setting it is arranged side by side side by side be uniformly arranged, from the point of view of right mind, only need
The distance between any two adjacent stalls are calculated, but due to the difference of geographical environment, it is uneven also to have arrangement
Situation, therefore, in order to ensure the degree of accuracy of calculating, parking security, don't fail to it is all parking bit boundarys detect
And the distance between all two adjacent parking bit boundarys are calculated, to ensure that car owner can interpolate that any one parking
Position whether there is enough parking spaces, to ensure that car owner can safely and smoothly stop.
Specifically, the calculating process of inner space can be according to the parking bit boundary area defined obtained in S21
To obtain, because parking stall typically has four borders, therefore, when calculating exterior space, it is necessary to rationally be selected border
Take, most convenient is efficiently that the distance between the adjacent boundary on two neighboring parking stall is calculated.
S23, all parking spaces in the parking stall of vacant state are determined according to the inner space and exterior space.
Obtained respectively on the basis of S21 and S22 parking stall inner space in itself and adjacent stalls it
Between distance exterior space, the parking required for being obtained in actual docking process based on the inner space and exterior space
Space, generally, inner space need to be only added with exterior space.
S3, the accounting for according to pre-defined rule and vehicle parking by all parking spaces in the parking stall of vacant state
Ground space carries out adaptation comparison, obtains comparative result and determines final parking stall.
All parking spaces in the parking stall of vacant state are had been obtained on the basis of above-mentioned steps, but not
The parking space on certain all parking stalls is all adapted with host vehicle, therefore, it is necessary to parking space and car by parking stall
The space of main vehicle is compared, as shown in figure 3, detailed process is：
S31, according to apart from vehicle by being closely ranked up successively to all parking stalls in vacant state to remote order.
Car owner is preferably the parking stall nearest apart from vehicle certainly in parking, if vehicle periphery does not have parking stall
It can consider to stop a long way off, therefore, in order to meet the parking of car owner selection, also to be arranged according to the far and near order apart from vehicle
To facilitate car owner to select parking stall after sequence.
Preferably, for some special road conditions, such as one-way road, roundabout lane, even some small branch roads etc., vehicle
The distance between parking stall and non-vehicle reach the distance of the parking stall institute actual travel, are directed to such case, then need
The actual travel distance that vehicle is reached to parking stall considers wherein, i.e., when vehicle reaches the actual travel distance and vehicle on parking stall
When air line distance between parking stall is inconsistent, it is defined by actual travel distance.
S32, the positional information on parking stall in vacant state and described sent to vehicle according to clooating sequence successively
Parking space in the parking stall of vacant state.
Specifically, after distance order is determined, positional information and the parking on parking stall are sent to vehicle successively
Space, the acquisition of positional information can be in world coordinates according to the parking stall is obtained by the bit boundary that stops in said process
Position, position of the parking stall in world coordinate system directly can also be gathered using satellite, to realize positioning function, simultaneously
The parking space on the parking stall is sent to vehicle, for having the car owner of certain parking experience, according to the position on parking stall
Can information and parking space can be to be adapted to and emergency judges, direct can travels vehicle to being adapted to stop
The parking stall of car nearby carries out shut-down operation.And more it is short of for parking experience or parking stall parking space and vehicle parking
The more close situation for being difficult to judge of space, then need to carry out follow-up step.
S33, according to the positional information on the parking stall in vacant state, described in the parking stall of vacant state
The space of parking space and vehicle parking obtains each optimal parking value corresponding to the parking stall in vacant state.
Specifically, in step S33, the positional information in the parking stall of vacant state reflects parking stall apart from vehicle
Distance, the parking space in the parking stall of vacant state reflect the parking space capacity on the parking stall, if can have and fill
The space of foot carries out emergency, and the space of vehicle parking reflects the space occupied needed for vehicle parking, wherein not only
Only include the floor area occupied by vehicle entirety, the spatial area occupied in car door opening is further comprises, based on this
Point, the acquisition process of the space of the vehicle parking are illustrated in figure 5：
S331, obtain the vehicle whole body coordinate information that vehicle is sent.
Specifically, multiple collection points are set on vehicle whole body surface, such as in the headstock front end of vehicle, parking stall rear end, car
Corner or the left and right sides rearview mirror, no matter set wherein, as long as the coordinate setting on vehicle whole body surface can be realized
, the body outline for calculating vehicle is gathered according to the multiple collection point, and then can know vehicle under static state
Floor space.
S332, obtain vehicle send car owner freely come in and go out vehicle when car door minimum opening degree.
In actual docking process, when car owner after the completion of parking will leave vehicle, if with being stopped on adjacent stalls
Vehicle distances it is too near when, car door is difficult to open, even if it is also extremely inconvenient to open discrepancy, or even accidentally car door will touch
Bump against adjacent vehicle.The main reason for causing this problem is exactly that only considered occupation of land when calculating the space of vehicle parking
Area, and have ignored spatial area.Therefore, this embodiment introduces car door minimum opening degree.
Described minimum opening degree is also what is varied with each individual, and opening degree when the petite people of stature passes in and out car door is without too
Greatly, opening degree during tall and sturdy people disengaging car door is then very big, and in order to solve this problem, most direct method is exactly
The value larger using opening degree is as a reference value, to adapt to most crowds.The mode of another determination minimum opening degree is such as
Under：
Intelligent weight sensor is set on seat, and for detecting car owner's body weight information, the body weight information includes
Body weight, fat content, moisture etc.；
Camera is set in the ceiling of vehicle interior or the front of seat, for shooting the relative of car owner head and seat
Highly；
The set location sensor on the guide rail of the under-seat of vehicle, the position of seat is adjusted for detecting car owner；
Camera is set on the side of vehicle accelerator pedal, for shooting leg curvature angle of the car owner during traveling；
According to the relative altitude of car owner head and seat, the leg curvature angle during traveling of position and car owner of seat
Degree calculates the height of car owner；
Car owner's stature ratio can be calculated according to the height of the car owner calculated and car owner's body weight information, the stature ratio
Example can represent that the coefficient U=aX+bY+cZ+dH, wherein X are body weight, and Y is fat content with a unified coefficient U,
Z is moisture, and H is height, and wherein a, b, c and d are coefficient factor, and carrying out data by mass data pushes over and can obtain
, it can be seen that, coefficient U is more big then to represent that stature is biger and tall, and coefficient U is smaller then to represent that stature is slenderrer；
Coefficient U determine after i.e. can determine that vehicle car owner stature how, passing through default stature ratio and car door
The corresponding relation of minimum opening degree can determine that current vehicle door minimum opening degree.
Said process is final to determine car door minimum opening degree, objective public affairs completely by being detected to car owner's body information
Just, the requirement of all vehicles is met.
S333, the vehicle parking determined according to vehicle whole body co-ordinate position information and car door minimum opening degree
Space.
Specifically, wherein, vehicle whole body co-ordinate position information reflects the floor area of vehicle region, and car door is most
Small opening degree then reflects the spatial area of vehicle region, and it is empty to obtain the actual occupation of land of vehicle parking by both synthesis
Between, make no matter it can find the parking stall being adapted with vehicle in which position.
The process of the space of vehicle parking is to determine above, is obtaining the parking space and vehicle on parking stall successively
It is necessary to whether meet that parking demand judge to parking stall after the space of parking, sieve is passed through in said process
The parking stall of vacant state is extracted out by the mode of choosing, below only need to be to the parking space in the parking stall of vacant state
It is compared with the space of vehicle parking, objectively, as long as the parking space in the parking stall of vacant state
Space more than vehicle parking just disclosure satisfy that basic parking demand.But it is to be able to which is preferably reflected and stops
Parking stall is more suitable for stopping, it is also necessary to which parking stall is further screened.Screening technique described in the present embodiment is root first
Parking stall is scored according to the positional information in the parking stall of vacant state, closer to vehicle position, score is higher,
Corresponding to the space for calculating the area value and vehicle parking corresponding to the parking space in the parking stall of vacant state again
Area value difference, the difference then illustrates vehicle and is parked in existing surplus behind parking stall, and surplus is bigger, then explanation parking
It is safer, it is more smooth.Difference is divided into several segments, score corresponding to the bigger segment of difference is higher, and difference is smaller
Segment corresponding to score it is lower, the summation of the score corresponding to above-mentioned two parking stall is then parking value, and summation is bigger,
Then parking value is also bigger, also means that the parking stall is easier, safe stop.
Table 1
Table 1 is the calculating process of the parking value illustrated by taking normal domestic use car as an example, and from table 1, P1 and P2 are most
Good parking stall, however, this scoring event also simply ideally, at present, most common because ground resource is nervous
The ground parking position of car is not many all in 11 to 13.5 square meters or so, the parking stall more than 13.5 square meters, and if once
When parking stall area has been reached more than 20 square meters, then it can assert that the parking stall is available to in-between car deactivation, at this moment, if small
Type car, which occupies the parking stall, can cause the wasting of resources, and based on this point, the present embodiment is preferably according to described all in vacant
The parking space on the parking stall of state is classified to all parking stalls in vacant state, including but not limited to：Greatly
Type car parking stall, middle bus parking stall and station wagon parking stall etc..
Parking stall is classified according to the parking space on parking stall, so as to realize the distribution of the rationalization of vehicle resources,
The corresponding parking space scope of its specific classification can be divided according to existing rules and regulations or actual conditions.
S34, by being sent in the parking stall of vacant state to vehicle corresponding to maximum parking value.
Specifically, parking value is bigger, then it represents that the parking stall is all to close very much for distance or parking space
Suitable, then it is undoubtedly splendid selection for car owner.But for this also simply represents most of car owner, for
For the car owner of fraction, optimal being not necessarily is most suitable.
Preferably, as shown in figure 4, according to the order of parking value from big to small to being arranged in the parking stall of vacant state
Sequence, and parking value is more than or equal to being sent in the parking stall of vacant state to vehicle corresponding to default threshold value.
Specifically, although parking value can reflect the whether convenient state of the parking on parking stall to a certain extent,
It is not but most suitable for some car owners to be, as shown in table 1, although P1 and P2 parking value is maximum, it stops
Area corresponding to the parking space of parking stall is then less than P5 and P6, and P5 and P6 is not very apart from the distance of vehicle yet
Far, a part of car owner also can select P5 and P6 to be stopped for from the point of view of the parking of more safe ready.Therefore, if
It is only inconsiderate complete using the parking stall corresponding to maximum parking value as final parking stall.
Based on this, car owner can by vehicle to set parking value threshold value, will be greater than the threshold value it is all corresponding to stop
Parking stall sends vehicle, and is presented to car owner by vehicle, gives the fully autonomous selection space of car owner.In addition, the threshold value set is not
Only parking value, or the distance between area and vehicle corresponding to the parking space on parking stall etc., comprehensive nothing
Dead angle provides facility for car owner.
S4, according to the final parking stall planning parking path and be sent to vehicle, make vehicle rest in automatically it is described most
In whole parking stall.
Specifically, after selectable parking stall is sent to vehicle, car owner can select what is be best suitable for according to the preference of oneself
Parking stall, can also be stopped completely according to optimal parking stall, vehicle is accommodated wherein so that the more convenient operation of car owner and
Observation, meanwhile, also remote reviewing can be realized by vehicle.
Preferably, as shown in fig. 6, according to the final parking stall planning parking path and being sent to vehicle, vehicle is made certainly
Moving the process rested in the final parking stall is：
S41, obtain the vehicle whole body environmental information that vehicle is sent.
Specifically, the vehicle whole body environment described in step S41 can be realized by several ultrasonic sensors and camera,
Ultrasonic sensor is used to detect the distance between vehicle and peripheral obstacle, may be mounted on the front/rear collision bumper of vehicle,
Car door is first-class, and camera is respectively mounted in surface of vehicle surrounding, obtains 360 ° of panoramic informations of vehicle periphery, and by range information and
Image information is sent to processor and analyzed and processed.
Relative position relation between S42, calculating parking stall boundary coordinate and vehicle whole body coordinate.
Specifically, vehicle and parking stall generally are rectangle, therefore can be according to boundary length difference by Vehicle length
The whole body coordinate in direction is corresponding with the boundary coordinate of parking stall length direction, the whole body coordinate of vehicle-width direction and parking stall
The boundary coordinate of width is corresponding, and by corresponding coordinate calculate parking stall boundary coordinate and vehicle whole body coordinate it
Between relative position relation, and then the inclination of direction of the vehicle when stopping into parking stall and vehicle body relative to parking stall can be known
Angle.
S43, according to the relative position between vehicle whole body environment and parking stall boundary coordinate and vehicle whole body coordinate
Planned in relation pair vehicle parking path；
Specifically, one can be cooked up according to the relative position on the position of vehicle periphery barrier, vehicle and parking stall
Optimal parking path, and stopped according to the path planning, detailed process is：
Ultrasonic sensor produces ultrasonic wave, and the ultrasonic wave sent is received after barrier reflects by ultrasonic probe, and
The actual range between vehicle and barrier is calculated by processor.The barrier that ultrasound examination arrives is easily detected by for some
Hinder thing, such as barrier is shorter, can aid in being acquired by camera, and carry out analysis ranging by processor.In conjunction with car
Vehicle and the real-time relative position relation on parking stall in avoiding barrier, so as to successfully cook up parking path.
S44, the vehicle parking path of planning is sent to vehicle, vehicle parking path of the vehicle along planning is stopped automatically
Car.
Specifically, after the vehicle parking path of planning is sent into vehicle, vehicle interior actuating mechanism controls vehicle is automatic
Parking, the vehicle interior executing agency include electric boosting steering system, engine management system, control system of speed variator,
Electronic parking system and full-automatic control system of parking, selection allow vehicle automatic stopping, after selection, open electronic parking
System parking, electric boosting steering system is according to the steering angle of the vehicle parking route calculation outgoing direction disk of planning, engine
Management system calculates engine and increases torsion, drop torsion moment of torsion, and control system of speed variator calculates gear value, and automatically park control system
System receives what the electric boosting steering system, engine management system, control system of speed variator and electronic parking system were sent
Every terms of information controls vehicle according to the driving path automatic Pilot cooked up.
As shown in fig. 7, the present embodiment proposes another automatic stop process, methods described includes：
S1, collection vehicle positional information, and obtain the shape on all parking stalls in the range of the pre-determined distance centered on vehicle
State；
S2, calculate all parking spaces in the parking stall of vacant state；
S3, the accounting for according to pre-defined rule and vehicle parking by all parking spaces in the parking stall of vacant state
Ground space carries out adaptation comparison, obtains comparative result and determines final parking stall, and the final parking stall is preengage；
S4, according to the final parking stall planning parking path and be sent to vehicle, make vehicle rest in automatically it is described most
In whole parking stall.
The present embodiment is added compared with a upper embodiment it is determined that being carried out behind final parking stall to the parking stall pre-
About the step of.
Car owner is after it have selected the parking stall to be stopped, due to the limitation of distance be present, it is easy to arrival occurs and stops
Parking stall occupied situation is had been found that behind parking stall so that car owner can only separately seek other parking stalls, but find next time
Be likely to there is similar situation, it is as a result all in vain, to find repeatedly and repeatedly be possible to find.For
Such case is just highly desirable to introduce the mechanism of reservation.
Specifically, after final parking stall is determined by vehicle, reservation information is uploaded onto the server, server receives
By the parking stall with being locked after reservation information, and the parking stall state is updated to busy state from vacant state, to prevent
Only other car owners repeat to preengage.
For the parking stall of pay parking, itself have and be responsible for parking stall order in managing parking field specially
Mechanism or department, after car owner is preengage parking stall, the webserver can send reservation information to the mechanism or department
Terminal server in, due in reservation information entrainment of parking space information and preengage car owner license board information, therefore, once
When there is other vehicles occupancy, it can be prevented or be reminded in time, prevent other car owner's mistakenly stops.
As shown in figure 8, the present embodiment proposes a kind of automatic parking system, the system passes through collection vehicle and the number on parking stall
It is believed that breath uploads onto the server, and sent after server process to vehicle, car owner and can independently select required parking stall, make car
It is automatic rest in needed in parking stall, alternatively, it is also possible to which the information for being sent to vehicle is sent in mobile terminal, facilitate car
It is main to be observed.
Specifically, as shown in figure 9, the system includes：
Parking stall condition checkout gear 101, for collection vehicle positional information, and obtain centered on vehicle it is default away from
The state on all parking stalls from the range of.
Because in real life, the demand of parking stall will be far longer than the quantity of vehicle in itself, can not ensure that vehicle exists
It is bound to have vacant parking stall on driving path, therefore, must be carried out when searching vacant parking stall in the range of suitable distance
Search, described distance range also should not be too remote, away from can cause the destination to be gone of car owner and parking stall distance if too far away
Long, car owner then needs walking is far to get to destination, has had a strong impact on the Experience Degree of car owner's parking.
Preferably, in order to the purpose of extensive search parking stall can either be met, additionally it is possible to the walking distance of car owner is reduced, will
Maximum search distance range is arranged on the parking demand that can meet most car owners within 200m to 300m.If in pole
Its bustling business circles or the very big place of parking demand, the scope that can be adjusted the distance according to actual conditions are adjusted, regulation
According to that can be by the result of big data analysis this area's parking condition, it be specially：
Gather the parking data in the regular period；
All parking data are grouped according to the period, such as using early 6 points to early 9 points parking data as one
Group, using early 9 points to ten two points of parking data of noon as one group, the like, be divided into some groups by one day；
The parking data after packet is arranged and analyzed according to data statistics, the different time sections that acquisition can be for reference
Inside relatively stable parking data；
Car owner can carry out appropriate regulation by inquiring about Parking situation in current slot to the search area of parking stall.
Parking space computing device 102, for calculating all parking spaces in the parking stall of vacant state.
The parking space on the typically parking stall that we are just understanding is the space of parking stall parking area itself, but
It is that can be had been found that in actual docking process only using the space of parking stall parking area itself as actual parking space
Words be much can not meet demand, be to protect because if if the distance of two adjacent stalls in itself is just very near
Card vehicle smoothly can be parked in parking stall, therefore, it is necessary to detection calculating is carried out to the distance between adjacent stalls, with
Ensure the docking process of safety.
Specifically, as shown in Figure 10, the parking space computing device 102 specifically includes：
Vehicle coordinate acquisition module 1021, for gathering all parking stalls in the range of the pre-determined distance centered on vehicle
Boundary coordinate.
Specifically, the coordinate at collection four angles in parking stall, the parking stall is determined according to the coordinate at four angles in parking stall
Border, first, can determine position of the parking stall in world coordinate system, second, the distance between follow-up adjacent parking lot
Calculating provide foundation.
Stop bit space computing module 1022, for calculating all parkings in vacant state according to the boundary coordinate
The inner space of position, and the outside of all distances between the parking stall of vacant state and the adjacent boundary of adjacent stalls
Space.
For the inner space on parking stall, to carry out calculating be necessary, because the inner space directly determines the parking stall
Whether vehicle can be held, we mentioned the necessity calculated for distance between adjacent stalls in detail above, therefore,
The detection and calculating to distance between adjacent parking stall are focused on herein.
General parking stall be all when setting it is arranged side by side side by side be uniformly arranged, from the point of view of right mind, only need
The distance between any two adjacent stalls are calculated, but due to the difference of geographical environment, it is uneven also to have arrangement
Situation, therefore, in order to ensure the degree of accuracy of calculating, parking security, don't fail to it is all parking bit boundarys detect
And the distance between all two adjacent parking bit boundarys are calculated, to ensure that car owner can interpolate that any one parking
Position whether there is enough parking spaces, to ensure that car owner can safely and smoothly stop.
Specifically, the calculating process of inner space can be according to the parking stall obtained in vehicle coordinate acquisition module 1021
Border area defined obtains, because parking stall typically has four borders, therefore, when calculating exterior space, it is necessary to
Rational choice is carried out to border, most convenient is efficiently that the distance between the adjacent boundary on two neighboring parking stall is counted
Calculate.
Parking space computing module 1023, for being determined all to be in vacant shape according to the inner space and exterior space
The parking space on the parking stall of state.
Obtained respectively on the basis of vehicle coordinate acquisition module 1021 and parking bit space computing module 1022
The exterior space of distance between parking stall inner space in itself and adjacent stalls, it is empty based on the inner space and outside
Between can obtain in actual docking process required for parking space, generally, only need to be by inner space and exterior space
Addition.
Space comparison means 103, for by all parking spaces in the parking stall of vacant state according to predetermined
Rule carries out being adapted to comparison with the space of vehicle parking, obtains comparative result and determines final parking stall.
All parkings in the parking stall of vacant state are had been obtained on the basis of parking space computing device 102
Space, but the parking space on not necessarily all parking stall is all adapted with host vehicle, therefore, it is necessary to parking stall is stopped
Car space is compared with the space of host vehicle, and as shown in Figure 11, the space comparison means 103 specifically includes：
Distance-taxis module 1031, for according to apart from vehicle by being closely in vacant state to all successively to remote order
Parking stall be ranked up.
Car owner is preferably the parking stall nearest apart from vehicle certainly in parking, if vehicle periphery does not have parking stall
It can consider to stop a long way off, therefore, in order to meet the parking of car owner selection, also to be arranged according to the far and near order apart from vehicle
To facilitate car owner to select parking stall after sequence.
Preferably, for some special road conditions, such as one-way road, roundabout lane, even some small branch roads etc., vehicle
The distance between parking stall and non-vehicle reach the distance of the parking stall institute actual travel, are directed to such case, then need
The actual travel distance that vehicle is reached to parking stall considers wherein, i.e., when vehicle reaches the actual travel distance and vehicle on parking stall
When air line distance between parking stall is inconsistent, it is defined by actual travel distance.
Information sending module 1032, for sending the parking stall in vacant state to vehicle successively according to clooating sequence
Positional information and the parking space in the parking stall of vacant state.
Specifically, after distance order is determined, positional information and the parking on parking stall are sent to vehicle successively
Space, the acquisition of positional information can be in world coordinates according to the parking stall is obtained by the bit boundary that stops in said process
Position, position of the parking stall in world coordinate system directly can also be gathered using satellite, to realize positioning function, simultaneously
The parking space on the parking stall is sent to vehicle, for having the car owner of certain parking experience, according to the position on parking stall
Can information and parking space can be to be adapted to and emergency judges, direct can travels vehicle to being adapted to stop
The parking stall of car nearby carries out shut-down operation.And more it is short of for parking experience or parking stall parking space and vehicle parking
The more close situation for being difficult to judge of space, then need to carry out follow-up step.
Parking value computing module 1033, for the positional information according to the parking stall in vacant state, the place
The parking for being each in vacant state is obtained in the parking space on the parking stall of vacant state and the space of vehicle parking
Parking value corresponding to position.
Specifically, the positional information in the parking stall of vacant state reflects distance of the parking stall apart from vehicle, it is in
The parking space on the parking stall of vacant state reflects the parking space capacity on the parking stall, if can have the space peace of abundance
Stopped entirely, the space of vehicle parking reflects the space occupied needed for vehicle parking, wherein not only including car
Floor area occupied by entirety, further comprises the spatial area occupied in car door opening, based on this point, such as Figure 12 institutes
Show, the parking value computing module 1033 specifically also includes：
Vehicle coordinate gathers submodule 10331, for obtaining the vehicle whole body coordinate information of vehicle transmission.
Specifically, multiple collection points are set on vehicle whole body surface, such as in the headstock front end of vehicle, parking stall rear end, car
Corner or the left and right sides rearview mirror, no matter set wherein, as long as the coordinate setting on vehicle whole body surface can be realized
, the body outline for calculating vehicle is gathered according to the multiple collection point, and then can know vehicle under static state
Floor space.
Extreme value acquisition module 10332, for obtain vehicle transmission car owner freely come in and go out vehicle when car door minimum folding
Degree.
In actual docking process, when car owner after the completion of parking will leave vehicle, if with being stopped on adjacent stalls
Vehicle distances it is too near when, car door is difficult to open, even if it is also extremely inconvenient to open discrepancy, or even accidentally car door will touch
Bump against adjacent vehicle.The main reason for causing this problem is exactly that only considered occupation of land when calculating the space of vehicle parking
Area, and have ignored spatial area.Therefore, this embodiment introduces car door minimum opening degree, the minimum value is car owner's freedom
Car door minimum opening degree during discrepancy vehicle.
Described minimum opening degree is also what is varied with each individual, and opening degree when the petite people of stature passes in and out car door is without too
Greatly, opening degree during tall and sturdy people disengaging car door is then very big, and in order to solve this problem, most direct method is exactly
The value larger using opening degree is as a reference value, to adapt to most crowds.The mode of another determination minimum opening degree is such as
Under：
Intelligent weight sensor is set on seat, and for detecting car owner's body weight information, the body weight information includes
Body weight, fat content, moisture etc.；
Camera is set in the ceiling of vehicle interior or the front of seat, for shooting the relative of car owner head and seat
Highly；
The set location sensor on the guide rail of the under-seat of vehicle, the position of seat is adjusted for detecting car owner；
Camera is set on the side of vehicle accelerator pedal, for shooting leg curvature angle of the car owner during traveling；
According to the relative altitude of car owner head and seat, the leg curvature angle during traveling of position and car owner of seat
Degree calculates the height of car owner；
Car owner's stature ratio can be calculated according to the height of the car owner calculated and car owner's body weight information, the stature ratio
Example can represent that the coefficient U=aX+bY+cZ+dH, wherein X are body weight, and Y is fat content with a unified coefficient U,
Z is moisture, and H is height, and wherein a, b, c and d are coefficient factor, and carrying out data by mass data pushes over and can obtain
, it can be seen that, coefficient U is more big then to represent that stature is biger and tall, and coefficient U is smaller then to represent that stature is slenderrer；
Coefficient U determine after i.e. can determine that vehicle car owner stature how, passing through default stature ratio and car door
The corresponding relation of minimum opening degree can determine that current vehicle door minimum opening degree.
Said process is final to determine car door minimum opening degree, objective public affairs completely by being detected to car owner's body information
Just, the requirement of all vehicles is met.
Space computing module 10333, for being opened according to vehicle whole body co-ordinate position information and car door minimum
The right space for determining the vehicle parking.
Specifically, wherein, vehicle whole body co-ordinate position information reflects the floor area of vehicle region, and car door is most
Small opening degree then reflects the spatial area of vehicle region, and it is empty to obtain the actual occupation of land of vehicle parking by both synthesis
Between, make no matter it can find the parking stall being adapted with vehicle in which position.
The process of the space of vehicle parking is to determine above, is obtaining the parking space and vehicle on parking stall successively
It is necessary to whether meet that parking demand judge to parking stall after the space of parking, sieve is passed through in said process
The parking stall of vacant state is extracted out by the mode of choosing, below only need to be to the parking space in the parking stall of vacant state
It is compared with the space of vehicle parking, objectively, as long as the parking space in the parking stall of vacant state
Space more than vehicle parking just disclosure satisfy that basic parking demand.But it is to be able to which is preferably reflected and stops
Parking stall is more suitable for stopping, it is also necessary to which parking stall is further screened.Screening technique described in the present embodiment is root first
Parking stall is scored according to the positional information in the parking stall of vacant state, closer to vehicle position, score is higher,
Corresponding to the space for calculating the area value and vehicle parking corresponding to the parking space in the parking stall of vacant state again
Area value difference, the difference then illustrates vehicle and is parked in existing surplus behind parking stall, and surplus is bigger, then explanation parking
It is safer, it is more smooth.Difference is divided into several segments, score corresponding to the bigger segment of difference is higher, and difference is smaller
Segment corresponding to score it is lower, the summation of the score corresponding to above-mentioned two parking stall is then parking value, and summation is bigger,
Then parking value is also bigger, also means that the parking stall is easier, safe stop.
Preferably, according to all parking spaces in the parking stall of vacant state to all in vacant state
Parking stall is classified, including but not limited to：Motorbus parking stall, middle bus parking stall and station wagon parking stall
Deng.
Parking stall is classified according to the parking space on parking stall, so as to realize the distribution of the rationalization of vehicle resources,
The corresponding parking space scope of its specific classification can be divided according to existing rules and regulations or actual conditions.
Parking stall sending module 1034, for by corresponding to maximum parking value in the parking stall of vacant state send to
Vehicle.
Specifically, parking value is bigger, then it represents that the parking stall is all to close very much for distance or parking space
Suitable, then it is undoubtedly splendid selection for car owner.But for this also simply represents most of car owner, for
For the car owner of fraction, optimal being not necessarily is most suitable.
Preferably, according to parking value order from big to small to being ranked up in the parking stall of vacant state, and will stop
Car value is more than or equal to being sent in the parking stall of vacant state to vehicle corresponding to default threshold value.
Specifically, although parking value can reflect the whether convenient state of the parking on parking stall to a certain extent,
It is not but most suitable for some car owners to be, as shown in table 1, although P1 and P2 parking value is maximum, it stops
Area corresponding to the parking space of parking stall is then less than P5 and P6, and P5 and P6 is not very apart from the distance of vehicle yet
Far, a part of car owner also can select P5 and P6 to be stopped for from the point of view of the parking of more safe ready.Therefore, if
It is only inconsiderate complete using the parking stall corresponding to maximum parking value as final parking stall.
Based on this, car owner can by vehicle to set parking value threshold value, will be greater than the threshold value it is all corresponding to stop
Parking stall sends vehicle, and is presented to car owner by vehicle, gives the fully autonomous selection space of car owner.In addition, the threshold value set is not
Only parking value, or the distance between area and vehicle corresponding to the parking space on parking stall etc., comprehensive nothing
Dead angle provides facility for car owner.
As a result dispensing device 104, for planning parking path according to the final parking stall and being sent to vehicle, vehicle is made
Automatically rest in the final parking stall.
Specifically, after selectable parking stall is sent to vehicle, car owner can select what is be best suitable for according to the preference of oneself
Parking stall, can also be stopped completely according to optimal parking stall, vehicle is accommodated wherein so that the more convenient operation of car owner and
Observation, meanwhile, also remote reviewing can be realized by vehicle.
Preferably, as shown in figure 13, the result dispensing device 104 also includes：
Environment acquisition module 1041, for obtaining the vehicle whole body environmental information of vehicle transmission.
Specifically, described vehicle whole body environment can be realized by several ultrasonic sensors and camera, ultrasonic wave
Sensor is used to detect the distance between vehicle and peripheral obstacle, may be mounted on the front/rear collision bumper of vehicle, on car door
Deng being respectively mounted camera in surface of vehicle surrounding, obtain 360 ° of panoramic informations of vehicle periphery, and range information and image are believed
Breath is sent to processor and analyzed and processed.
Position computation module 1042, closed for calculating the relative position between parking stall boundary coordinate and vehicle whole body coordinate
System.
Specifically, vehicle and parking stall generally are rectangle, therefore can be according to boundary length difference by Vehicle length
The whole body coordinate in direction is corresponding with the boundary coordinate of parking stall length direction, the whole body coordinate of vehicle-width direction and parking stall
The boundary coordinate of width is corresponding, and by corresponding coordinate calculate parking stall boundary coordinate and vehicle whole body coordinate it
Between relative position relation, and then the inclination of direction of the vehicle when stopping into parking stall and vehicle body relative to parking stall can be known
Angle.
Path planning module 1043, for being sat according to vehicle whole body environment and parking stall boundary coordinate with the vehicle whole body
Relative position relation between mark is planned vehicle parking path.
Specifically, one can be cooked up according to the relative position on the position of vehicle periphery barrier, vehicle and parking stall
Optimal parking path, and stopped according to the path planning, detailed process is：
Ultrasonic sensor produces ultrasonic wave, and the ultrasonic wave sent is received after barrier reflects by ultrasonic probe, and
The actual range between vehicle and barrier is calculated by processor.The barrier that ultrasound examination arrives is easily detected by for some
Hinder thing, such as barrier is shorter makes, and can aid in being acquired by camera, and carry out analysis ranging by processor.In conjunction with
Vehicle vehicle and real-time relative position relation on parking stall in avoiding barrier, so as to successfully cook up parking path.
Automatic control module 1044, for the vehicle parking path of planning to be sent into vehicle, make car of the vehicle along planning
Parking path automatic stopping.
Specifically, after the vehicle parking path of planning is sent into vehicle, vehicle interior actuating mechanism controls vehicle is automatic
Parking, the vehicle interior executing agency include electric boosting steering system, engine management system, control system of speed variator,
Electronic parking system and full-automatic control system of parking, selection allow vehicle automatic stopping, after selection, open electronic parking
System parking, electric boosting steering system is according to the steering angle of the vehicle parking route calculation outgoing direction disk of planning, engine
Management system calculates engine and increases torsion, drop torsion moment of torsion, and control system of speed variator calculates gear value, and automatically park control system
System receives what the electric boosting steering system, engine management system, control system of speed variator and electronic parking system were sent
Every terms of information controls vehicle according to the driving path automatic Pilot cooked up.
As shown in figure 14, the present embodiment proposes another automatic parking system, and the system includes：
Parking stall condition checkout gear 101, for obtaining all parking stalls in the range of the pre-determined distance centered on vehicle
State；
Parking space computing device 102, for calculating all parking spaces in the parking stall of vacant state；
Space comparison means 103, for by all parking spaces in the parking stall of vacant state according to predetermined
Rule carries out being adapted to comparison with the space of vehicle parking, obtains comparative result and sends to vehicle；
As a result dispensing device 104, for determining final parking stall, and according to the parking space on parking stall and vehicle parking
Space controls vehicle automatic stopping.
Device for displaying predetermined 105, for it is determined that final parking stall, preengages the parking stall.
The present embodiment is added compared with a upper embodiment for being carried out after determining final parking stall to the parking stall
The device for displaying predetermined 105 of reservation.
Car owner is after it have selected the parking stall to be stopped, due to the limitation of distance be present, it is easy to arrival occurs and stops
Parking stall occupied situation is had been found that behind parking stall so that car owner can only separately seek other parking stalls, but find next time
Be likely to there is similar situation, it is as a result all in vain, to find repeatedly and repeatedly be possible to find.For
Such case is just highly desirable to introduce the mechanism of reservation.
Specifically, after final parking stall is determined by vehicle, reservation information is uploaded onto the server, server receives
By the parking stall with being locked after reservation information, and the parking stall state is updated to busy state from vacant state, to prevent
Only other car owners repeat to preengage.
For the parking stall of pay parking, itself have and be responsible for parking stall order in managing parking field specially
Mechanism or department, after car owner is preengage parking stall, the webserver can send reservation information to the mechanism or department
Terminal server in, due in reservation information entrainment of parking space information and preengage car owner license board information, therefore, once
When there is other vehicles occupancy, it can be prevented or be reminded in time, prevent other car owner's mistakenly stops.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy for combining the embodiment or example description
Point is contained at least one embodiment or example of the present invention.In this manual, to the schematic representation of above-mentioned term not
Identical embodiment or example must be directed to.Moreover, specific features, structure, material or the feature of description can be with office
Combined in an appropriate manner in one or more embodiments or example.In addition, in the case of not conflicting, the skill of this area
Art personnel can be tied the different embodiments or example and the feature of different embodiments or example described in this specification
Close and combine.
Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment is example
Property, it is impossible to limitation of the present invention is interpreted as, one of ordinary skill in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, changed, replacing and modification.
Claims (10)
1. a kind of automatic stop process, it is characterised in that methods described includes：
Collection vehicle positional information, and obtain the state on all parking stalls in the range of the pre-determined distance centered on vehicle；
Calculate all parking spaces in the parking stall of vacant state；
Space by all parking spaces in the parking stall of vacant state according to pre-defined rule and vehicle parking
Adaptation comparison is carried out, comparative result is obtained and determines final parking stall；
According to the final parking stall planning parking path and vehicle is sent to, vehicle is rested in the final parking stall automatically
In.
2. a kind of automatic stop process according to claim 1, it is characterised in that the calculating is all to be in vacant state
The process of parking space on parking stall be：
Gather the boundary coordinate on all parking stalls in the range of the pre-determined distance centered on vehicle；
Calculated according to the boundary coordinate all in the inner space on the parking stall of vacant state, and all be in vacant shape
The exterior space of distance between the parking stall of state and the adjacent boundary of adjacent stalls；
All parking spaces in the parking stall of vacant state are determined according to the inner space and exterior space.
3. a kind of automatic stop process according to claim 2, it is characterised in that described all to be in vacant shape by described
The parking space on the parking stall of state carries out being adapted to comparison according to pre-defined rule with the space of vehicle parking, obtains comparative result
It is determined that the process on final parking stall is：
According to apart from vehicle by being closely ranked up successively to all parking stalls in vacant state to remote order；
The positional information on the parking stall in vacant state and described in vacant is sent to vehicle according to clooating sequence successively
The parking space on the parking stall of state；
According to the positional information in the parking stall of vacant state, the parking space in the parking stall of vacant state
And the space of vehicle parking obtains each parking value corresponding to the parking stall in vacant state；
According to the order of parking value from big to small to being ranked up in the parking stall of vacant state, and parking value is more than or waited
In being sent in the parking stall of vacant state to vehicle corresponding to default threshold value.
4. a kind of automatic stop process according to claim 2, it is characterised in that described all to be in vacant shape by described
The parking space on the parking stall of state carries out being adapted to comparison according to pre-defined rule with the space of vehicle parking, obtains comparative result
It is determined that the process on final parking stall is：
According to apart from vehicle by being closely ranked up successively to all parking stalls in vacant state to remote order；
The positional information on the parking stall in vacant state and the vacant state are sent to vehicle according to clooating sequence successively
Parking stall parking space；
According to the positional information in the parking stall of vacant state, the parking space in the parking stall of vacant state
And the space of vehicle parking obtains each parking value corresponding to the parking stall in vacant state；
By being sent in the parking stall of vacant state to vehicle corresponding to maximum parking value.
5. a kind of automatic stop process according to claim 3 or 4, it is characterised in that the occupation of land of the vehicle parking is empty
Between acquisition process be：
Obtain the vehicle whole body coordinate information that vehicle is sent；
Obtain vehicle send car owner freely come in and go out vehicle when car door minimum opening degree；
The space of the vehicle parking is determined according to vehicle whole body co-ordinate position information and car door minimum opening degree.
6. a kind of automatic stop process according to claim 5, it is characterised in that stopped according to the final parking stall planning
Bus or train route footpath is simultaneously sent to vehicle, makes the process that vehicle rests in the final parking stall automatically be：
Obtain the vehicle whole body environmental information that vehicle is sent；
Calculate the relative position relation between parking stall boundary coordinate and vehicle whole body coordinate；
According to the relative position relation between vehicle whole body environment and parking stall boundary coordinate and vehicle whole body coordinate to car
Parking path is planned；
The vehicle parking path of planning is sent to vehicle, makes vehicle parking path automatic stopping of the vehicle along planning.
7. a kind of automatic parking system, it is characterised in that the system includes：
Parking stall condition checkout gear, for collection vehicle positional information, and obtain the pre-determined distance scope centered on vehicle
The state on interior all parking stalls；
Parking space computing device, for calculating all parking spaces in the parking stall of vacant state；
Space comparison means, for by by all parking spaces in the parking stall of vacant state according to pre-defined rule with
The space of vehicle parking carries out adaptation comparison, obtains comparative result and determines final parking stall；
As a result dispensing device, for planning parking path according to the final parking stall and being sent to vehicle, vehicle is made to stop automatically
Lean against in the final parking stall.
8. a kind of automatic parking system according to claim 7, it is characterised in that the parking space computing device is specific
Including：
Vehicle coordinate acquisition module, the border for gathering all parking stalls in the range of the pre-determined distance centered on vehicle are sat
Mark；
Stop bit space computing module, all in the inside on the parking stall of vacant state for being calculated according to the boundary coordinate
Space, and the exterior space of all distances between the parking stall of vacant state and the adjacent boundary of adjacent stalls；
Parking space computing module, for determining all parkings in vacant state according to the inner space and exterior space
The parking space of position.
9. a kind of automatic parking system according to claim 8, it is characterised in that the space comparison means specifically wraps
Include：
Distance-taxis module, for according to apart from vehicle by closely to remote order successively to all in the parking stall of vacant state
It is ranked up；
Information sending module, for sending the positional information on the parking stall in vacant state to vehicle successively according to clooating sequence
And the parking space in the parking stall of vacant state；
Parking value computing module, for the positional information according to the parking stall in vacant state, described it is in vacant shape
The parking space on the parking stall of state and the space of vehicle parking are obtained corresponding to each parking stall in vacant state
Parking value；
Parking stall sending module, for according to parking value order from big to small to being arranged in the parking stall of vacant state
Sequence, and parking value is more than or equal to being sent in the parking stall of vacant state to vehicle corresponding to default threshold value；Or will
Being sent in the parking stall of vacant state to vehicle corresponding to maximum parking value.
10. a kind of automatic parking system according to claim 9, it is characterised in that vehicle specifically includes：
Environment acquisition module, for obtaining the vehicle whole body environmental information of vehicle transmission；
Position computation module, for calculating the relative position relation between parking stall boundary coordinate and vehicle whole body coordinate；
Path planning module, for according between vehicle whole body environment and parking stall boundary coordinate and vehicle whole body coordinate
Relative position relation is planned vehicle parking path；
Automatic control module, for the vehicle parking path of planning to be sent into vehicle, make vehicle parking road of the vehicle along planning
Footpath automatic stopping.
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| PCT/CN2017/097449 WO2018232915A1 (en) | 2017-06-23 | 2017-08-15 | Automatic parking method and system |
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Also Published As
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| CN107364442B (en) | 2019-08-23 |
| WO2018232915A1 (en) | 2018-12-27 |
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