CN110264701A - A kind of automatic pick-up method and system of shared automobile operation station fixed point - Google Patents
A kind of automatic pick-up method and system of shared automobile operation station fixed point Download PDFInfo
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- CN110264701A CN110264701A CN201910661511.0A CN201910661511A CN110264701A CN 110264701 A CN110264701 A CN 110264701A CN 201910661511 A CN201910661511 A CN 201910661511A CN 110264701 A CN110264701 A CN 110264701A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 230000004888 barrier function Effects 0.000 claims description 16
- 230000004044 response Effects 0.000 claims description 7
- 230000009471 action Effects 0.000 claims description 3
- 230000001737 promoting effect Effects 0.000 abstract description 2
- 230000007306 turnover Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 7
- 238000011065 in-situ storage Methods 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0257—Control of position or course in two dimensions specially adapted to land vehicles using a radar
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/20—Monitoring the location of vehicles belonging to a group, e.g. fleet of vehicles, countable or determined number of vehicles
- G08G1/205—Indicating the location of the monitored vehicles as destination, e.g. accidents, stolen, rental
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
Abstract
The present invention relates to a kind of shared automobile operation stations to pinpoint automatic pick-up method and system, and this method includes receiving the pick-up instruction of server；It is instructed according to picking up the car, high-precision coordinate of the vehicle in parking station is obtained by laser radar；According to the coordinate of high-precision coordinate and the specified pick-up point prestored, navigation programming route is established；Vehicle is driven to drive to specified pick-up point according to navigation programming route with pre-set velocity.The present invention orders vehicle by cell phone application reservation in user, and vehicle fixes pick-up point out of station in the automatic cruising to station of parking stall, fixed point of picking up the car is picked up the car in user to station.The use vehicle turnover rate of automobile is shared in the experience for greatly promoting client and raising by this.
Description
Technical field
The present invention relates to shared automotive field more particularly to a kind of shared automobile operation station pinpoint automatic pick-up method and
System.
Background technique
Shared automobile refers to that many people share a vehicle, i.e. the driver only has the right to use to vehicle, will without ownership
Limited resource carries out the business model of effective distribution of resources, and prominent its " shared ", " point duty " feature can by cell phone application
Vehicle is ordered with reservation, then goes station fixed point to pick up the car, simple procedure is to help to delay to the supplement and promotion of existing travel pattern
The abrasion of traffic jam and highway is solved, air pollution is reduced, reduces the dependence to energy, development prospect is extremely wide.But
It is pick-up hardly possible, inefficiency, seriously affects customer experience.
At present can only be by way of finding rented vehicle in people to station, when parking lot is larger, and lower bicycle
When apart from parking exit farther out, user finds the vehicle to place an order can be time-consuming and laborious, directly results in user experience decline.
Summary of the invention
It is an object of the present invention in place of solving the above deficiencies in the existing technologies.
To achieve the above object, in a first aspect, the embodiment of the invention provides a kind of shared automobile operation stations to pinpoint certainly
Dynamic pick-up method, the pick-up instruction including receiving server；It is instructed according to picking up the car, vehicle is obtained in parking lot by laser radar
High-precision coordinate in standing；According to the coordinate of high-precision coordinate and the specified pick-up point prestored, navigation programming route is established；Driving
Vehicle drives to specified pick-up point according to navigation programming route with pre-set velocity.
In a kind of possible embodiment, vehicle is driven to travel with pre-set velocity according to navigation programming route guidance path
To specified pick-up point, specifically include；E-Gas and electronics gear driving vehicle are controlled with pre-set velocity according to navigation programming road
Diameter drives to specified pick-up point.
In a kind of possible further embodiment, drive vehicle with pre-set velocity according to navigation programming circuit planning diameter row
Specified pick-up point is sailed to, further include: control EPS driving vehicle is according to the automatic left and right turn of navigation programming route.
In a kind of possible embodiment, vehicle is driven to drive to specified take according to navigation programming route with pre-set velocity
Che Dian, further include: judge whether vehicle periphery has barrier by laser radar and ultrasonic radar；Have in response to vehicle periphery
Barrier, control EHB driving vehicle are braked.
In a kind of possible embodiment, vehicle is driven to drive to specified take according to navigation programming route with pre-set velocity
Che Dian, further include: judge whether vehicle deviates navigation programming route by laser radar sensor and IMU inertial navigation；Response
Guidance path is had deviated from vehicle, control EPS driving vehicle returns on navigation programming route.
In a kind of possible embodiment, vehicle is driven to drive to specified take according to navigation programming route with pre-set velocity
Che Dian, further includes: it is every after preset time period, it is specified by the way that whether laser radar and IMU inertial navigation detection vehicle reach
Pick-up point.
In a kind of possible embodiment, vehicle is driven to drive to specified take according to navigation programming route with pre-set velocity
Che Dian, further include: after vehicle reaches specified point of picking up the car, control EPB driving vehicle carries out parking braking.
Second aspect, the embodiment of the invention provides a kind of shared automobile operation stations to pinpoint automatic pick-up system, at least
Including laser radar, EHB, EPB, EPS, domain controller, E-Gas and electronics gear；Domain controller is used to receive server
Pick-up instruction after, high precision position coordinate of the vehicle in parking station is obtained by laser radar, and according to high precision position
The position coordinates for setting coordinate with the specified pick-up point prestored, establish navigation programming route；Domain controller is also used to through electronics oil
Door and electronics gear drive vehicle to drive to specified pick-up point according to navigation programming route with pre-set velocity；EPS is used to control in domain
Under the driving of device processed, according to the automatic left and right turn of navigation programming route；EHB is used for the driving brake system under the control of domain controller
Vehicle of uniting carries out brake；EPB is used for after vehicle reaches specified point of picking up the car, and drives braking system under the action of domain controller
Vehicle of uniting carries out parking braking.
It further include IMU in a kind of possible embodiment, for judging with laser radar and domain controller cooperation
Whether vehicle deviates navigation programming route and whether vehicle reaches specified stop.
It further include ultrasonic radar in a kind of possible embodiment, for matching with laser radar and domain controller
Conjunction judges whether vehicle periphery has barrier.
The present invention orders vehicle by cell phone application reservation in user, and vehicle is solid in the automatic cruising to station of parking stall out of station
Surely it picks up the car a little, fixed point of picking up the car is picked up the car in user to station.This is by the experience for greatly promoting client and improves shared automobile
With vehicle turnover rate.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for this
For the those of ordinary skill of field, without creative efforts, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is the process signal that a kind of shared automobile provided in an embodiment of the present invention runs that station pinpoints automatic pick-up method
Figure；
Fig. 2 is that a kind of shared automobile provided in an embodiment of the present invention runs the structural frames that station pinpoints automatic pick-up system
Figure；
Fig. 3 is that a kind of shared automobile provided in an embodiment of the present invention runs the structure distribution that station pinpoints automatic pick-up system
Figure；
Description of symbols:
1- laser radar, 2- electronic brake system, 3- electronic hydraulic brake system, 4- electric boosting steering system,
5- domain controller, 6- inertial navigation, 7- ultrasonic radar.
Specific embodiment
Specification embodiment of the invention and term " first " in claims and attached drawing, " second " etc. are for area
Not similar object, without being used to describe a particular order or precedence order.In addition, term " includes " and " having " and he
Any deformation, it is intended that cover it is non-exclusive include, for example, containing a series of steps or units.Method, system,
Product or equipment those of are not necessarily limited to be clearly listed step or unit, but may include be not clearly listed or for
The intrinsic other step or units of these process, methods, product or equipment.
When shared user vehicle is placed an order pick-up by mobile phone, mobile phone mobile terminal by pick-up request instruction and is taken by 4G network
Parking lot station GPS position information is sent to Cloud Server, and Cloud Server will pick up the car to instruct by 4G network is sent to pick-up station GPS
Idle shared automobile DCU domain controller in location information, pick up the car in parking stall and station according to high-precision map in station
Point path planning, DCU domain controller driving EPS turn left, turn right, throttle and gear is driven to move forward and backward, when sharp
Driving EHB carries out emergency stop when optical radar detects obstacle, and vehicle cruise to pick-up point postpones driving EPB and carries out parking braking.
With reference to the accompanying drawings and examples, technical scheme of the present invention will be described in further detail.
Such as Fig. 1, the embodiment of the present invention, which is provided, pinpoints automatic pick-up method with a kind of shared automobile operation station, including following
Step:
Step 101, the pick-up instruction of server is received.
Step 102, it is instructed according to the pick-up, high-precision of the vehicle in parking station is obtained by laser radar and is sat
Mark.
Step 103, according to the coordinate of the high-precision coordinate and the specified pick-up point prestored, navigation programming route is established.
Step 104, vehicle is driven to drive to specified pick-up point according to the navigation programming route with pre-set velocity.
In one example, vehicle is driven to drive to finger according to the navigation programming route with pre-set velocity in step 104
Surely it picks up the car a little, specifically includes:
Step 1041, vehicle is driven to travel with pre-set velocity according to navigation programming route by E-Gas and electronics gear
To specified pick-up point.
In one example, vehicle in the process of moving, in addition to moving forward, it is also necessary to which left and right turn is driven in step 104
Motor-car drives to specified pick-up point according to the navigation programming route with pre-set velocity, further includes:
Step 1042, driving EPS is according to the automatic left and right turn of the navigation programming route.
In one example, vehicle in the process of moving, in addition to moving forward, it is also necessary to be advised to the barrier of surrounding
It keeps away, drives vehicle to drive to specified pick-up point according to the navigation programming route with pre-set velocity in step 104, further includes:
Step 1043, judge whether vehicle periphery has barrier by laser radar and ultrasonic radar.
Step 1044, there is barrier in response to vehicle periphery, driving EHB carries out brake.
In one example, the whole process from vehicle launch to stopping brake needs to verify whether vehicle is according to leading
Planning path of navigating traveling, drive vehicle to drive to specified take according to the navigation programming route with pre-set velocity in step 104
Che Dian, further includes:
Step 1045, judge whether vehicle deviates navigation programming route by laser radar sensor and IMU inertial navigation；
Step 1046, navigation programming route is had deviated from response to vehicle, driving vehicle returns on navigation programming route.
Illustratively, it needs to judge whether vehicle travels in road road sign by laser radar sensor and IMU inertial navigation
Line center can drive vehicle to return on roadmarking center if deviating from roadmarking center.
Further include:
Step 1047, every after preset time period, detect whether vehicle reaches by laser radar and IMU inertial navigation
Specified pick-up point.
Illustratively, every to pass through 10s, detect whether a vehicle has had arrived at specified take by laser radar and IMU
Che Dian continues to carry out navigation traveling according to navigation programming route if do not reached,
Wherein, before vehicle reaches specified point of picking up the car, barrier or because vehicle may be encountered in the process of moving
Failure problems lead to temporary parking.At this point, domain controller can judge the temporary parking time, exceed schedule time, than
As stopped more than 10 minutes, domain controller can send prompting message to background server, and server can be short by APP or mobile phone
The form of letter notifies operation maintenance personnel to in-situ processing.
If it is because encountering temporary parking caused by barrier, after exceeding schedule time, illustrate on navigation programming route,
Barrier is still had in front of vehicle, is notified that operation maintenance personnel to in-situ processing.
In addition to being that there are obstacles on navigation programming route, it is also possible to it is that vehicle itself breaks down in the process of moving,
Cause temporary parking too long, is also notified that operation maintenance personnel to in-situ processing at this time.
In one example, vehicle is driven to drive to finger according to the navigation programming route with pre-set velocity in step 104
Surely it picks up the car a little, further includes:
Step 1048, after vehicle reaches specified point of picking up the car, parking braking is carried out by EPB.
The embodiment of the present invention also provides a kind of shared automobile operation station fixed point automatic pick-up system, includes at least laser thunder
Up to 1, electronic brake system (Electrical Park Brake, EPB), electronic hydraulic brake system (Electric
Hydraulic Brake, EHB), electric boosting steering system (Electric Power Steering, EPS), domain controller 5,
E-Gas and electronics gear, as shown in Figures 2 and 3.
The domain controller 5 is used for after receiving the pick-up instruction of server, is obtained vehicle by laser radar 7 and is stopped
High-precision coordinate in station, and according to the coordinate of the high-precision coordinate and the specified pick-up point prestored, establish navigation programming
Path.
The domain controller 5 is also used to drive vehicle to lead with pre-set velocity according to described by E-Gas and electronics gear
Boat planning path drives to specified pick-up point.
The electric boosting steering system 4 is used under the driving of domain controller 5, automatic according to the navigation programming route
Left and right turn.
The electronic hydraulic brake system 3 is used for the driving under the control of domain controller 5 and carries out brake.
The electronic brake system 2 is used for after vehicle reaches specified point of picking up the car, under the action of domain controller 5 into
Row parking braking.
In one example, above system further include inertial navigation ((Inertial Measurement Unit, IMU),
Inertial navigation 6 is used to judge whether vehicle deviates navigation programming route, Yi Jiche with laser radar 1 and the cooperation of domain controller 5
Whether reach specified stop.
In one example, above system further includes ultrasonic radar 7, is used for and laser radar 1 and domain controller 5
Cooperation judges whether vehicle periphery has barrier.
Illustratively, as Fig. 3, vehicle's surroundings are provided with 12 ultrasonic radars, roof is provided with a laser radar,
In, the distance of reaction of ultrasonic radar is generally 3-5 meters, low-response, although the laser radar at top only one, can be with
Carry out panorama 360 to scan, barrier 3D model established by point cloud chart, incudes the barrier of surrounding, the induction of laser radar away from
From generally 80-150 meters, it is sufficient to the vehicle reaction time is given, but since laser radar is located at top, in the especially close position of vehicle
It sets there are certain blind area, general range of the detection less than 2 meters or so before vehicle, so taking ultrasonic radar and laser radar
Complementary mode detects the barrier of vehicle periphery.In navigation programming route, navigated by IMU inertial navigation
Bias check is displaced by the quadratic integral of accelerometer in IMU inertial navigation, and rate-of-turn gyroscope once integrates
To angle direction, determine that guidance path deviates situation real-time, quickly.
In one example, the model VLP-16 of laser radar.
In one example, the model 0263013968 of ultrasonic radar.
In one example, the model EPBi of EPB.
In one example, the model iBooster of EHB.
In one example, the model 892403 of EPS.
In one example, the model SPAN-IGM-A1 of IMU.
In one example, the model zFAS of domain controller.
Above specific embodiment has carried out further in detail the purpose of the present invention, technical scheme and beneficial effects
Illustrate, it should be understood that the above is only a specific embodiment of the invention, the protection model that is not intended to limit the present invention
It encloses, all within the spirits and principles of the present invention, any modification, equivalent substitution, improvement and etc. done should be included in the present invention
Protection scope within.
Claims (10)
1. a kind of shared automobile operation station pinpoints automatic pick-up method characterized by comprising
Receive the pick-up instruction of server；
It is instructed according to the pick-up, high-precision coordinate of the vehicle in parking station is obtained by laser radar；
According to the coordinate of the high-precision coordinate and the specified pick-up point prestored, navigation programming route is established；
Vehicle is driven to drive to specified pick-up point according to the navigation programming route with pre-set velocity.
2. shared automobile operation station according to claim 1 pinpoints automatic pick-up method, which is characterized in that the driving
Vehicle drives to specified pick-up point according to the navigation programming route with pre-set velocity, specifically includes；
Control E-Gas and electronics gear drive vehicle to drive to specified pick-up point according to navigation programming route with pre-set velocity.
3. shared automobile operation station according to claim 2 pinpoints automatic pick-up method, which is characterized in that the driving
Vehicle drives to specified pick-up point according to the navigation programming route with pre-set velocity, further include:
EPS driving vehicle is controlled according to the automatic left and right turn of the navigation programming route.
4. shared automobile operation station according to claim 1 pinpoints automatic pick-up method, which is characterized in that the driving
Vehicle drives to specified pick-up point according to the navigation programming route with pre-set velocity, further include:
Judge whether vehicle periphery has barrier by laser radar and ultrasonic radar；
There is barrier in response to vehicle periphery, control EHB driving vehicle is braked.
5. shared automobile operation station according to claim 1 pinpoints automatic pick-up method, which is characterized in that the driving
Vehicle drives to specified pick-up point according to the navigation programming route with pre-set velocity, further include:
Judge whether vehicle deviates navigation programming route by laser radar sensor and IMU inertial navigation；
Guidance path is had deviated from response to vehicle, control EPS driving vehicle returns on navigation programming route.
6. shared automobile operation station according to claim 1 pinpoints automatic pick-up method, which is characterized in that the driving
Vehicle drives to specified pick-up point according to the navigation programming route with pre-set velocity, further include:
It is every after preset time period, detect whether vehicle reaches specified pick-up point by laser radar and IMU inertial navigation.
7. shared automobile operation station according to claim 6 pinpoints automatic pick-up method, which is characterized in that the driving
Vehicle drives to specified pick-up point according to the navigation programming route with pre-set velocity, further include:
After vehicle reaches specified point of picking up the car, control EPB driving vehicle carries out parking braking.
8. a kind of shared automobile operation station pinpoints automatic pick-up system, which is characterized in that include at least laser radar, EHB,
EPB, EPS, domain controller, E-Gas and electronics gear；
The domain controller is used for after receiving the pick-up instruction of server, obtains vehicle in parking station by laser radar
High precision position coordinate, and according to the high precision position coordinate and the position coordinates of specified pick-up point prestored, foundation is led
Boat planning path；
The domain controller is also used to drive vehicle to advise with pre-set velocity according to the navigation by E-Gas and electronics gear
Route is drawn to specified pick-up point；
The EPS is used under the driving of domain controller, according to the automatic left and right turn of the navigation programming route；
The EHB is used to drive vehicle to carry out brake under the control of domain controller；
The EPB is used for after vehicle reaches specified point of picking up the car, and drives vehicle to carry out parking braking under the action of domain controller.
9. pinpointing automatic pick-up system according to shared automobile operation station according to any one of claims 8, which is characterized in that it further include IMU,
For judging whether vehicle deviates navigation programming route and whether vehicle reaches with laser radar and domain controller cooperation
Specified stop.
10. pinpointing automatic pick-up system according to shared automobile operation station according to any one of claims 8, which is characterized in that further include surpassing
Sound radar, for judging whether vehicle periphery has barrier with laser radar and domain controller cooperation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910661511.0A CN110264701A (en) | 2019-07-22 | 2019-07-22 | A kind of automatic pick-up method and system of shared automobile operation station fixed point |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910661511.0A CN110264701A (en) | 2019-07-22 | 2019-07-22 | A kind of automatic pick-up method and system of shared automobile operation station fixed point |
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2019
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| DE102005015995A1 (en) * | 2005-04-07 | 2006-10-12 | Robert Bosch Gmbh | Electrical system for high load power consumption devices e.g. electro hydraulic brake (EHB) or electric power steering (EPS) of motor vehicle, connects power consumption device to capacitor via semiconductor switch |
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