CN112037567A - Passenger-riding parking method, device, equipment and storage medium - Google Patents
Passenger-riding parking method, device, equipment and storage medium Download PDFInfo
- Publication number
- CN112037567A CN112037567A CN202010920705.0A CN202010920705A CN112037567A CN 112037567 A CN112037567 A CN 112037567A CN 202010920705 A CN202010920705 A CN 202010920705A CN 112037567 A CN112037567 A CN 112037567A
- Authority
- CN
- China
- Prior art keywords
- parking
- vehicle
- information
- parking lot
- parking space
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a passenger-riding parking method, a passenger-riding parking device, passenger-riding parking equipment and a storage medium. The method comprises the following steps: when a vehicle arrives at a parking lot starting point, sending map information of the parking lot to the vehicle, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot; acquiring a parking request which is sent by the vehicle and carries target parking space information; and if the parking space state corresponding to the target parking space information is an idle state, modifying the parking space state corresponding to the target parking space information, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle.
Description
Technical Field
The embodiment of the invention relates to vehicle technology, in particular to a passenger-riding parking method, a passenger-riding parking device, passenger-riding parking equipment and a storage medium.
Background
With the development of the automatic driving technology, in order to solve the problem of difficult parking in a parking lot, various major host factories and scientific and technological companies have proposed products carrying passenger car parking technology. There are two kinds of main solutions at present, first, field end transformation scheme, install a plurality of sensors additional with the parking area, compensate the not enough of vehicle in the aspect of the perception, however field end transformation cost is too high, hardly popularizes. In the second scheme, the vehicle is provided with a laser radar or a camera, and the SLAM technology is adopted to complete vehicle positioning and track planning. However, the technology has a perception blind area when dealing with a vehicle turning scene, and has a safety risk.
Disclosure of Invention
The embodiment of the invention provides a passenger-replacing parking method, a passenger-replacing parking device, passenger-replacing parking equipment and a storage medium, which are used for solving the problems in the prior art, ensuring that a passing vehicle and a parking vehicle cannot generate collision risks and cannot interfere the parking process.
In a first aspect, an embodiment of the present invention provides a method for parking a car in a valet, including:
when a vehicle arrives at a parking lot starting point, sending map information of the parking lot to the vehicle, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
acquiring a parking request which is sent by the vehicle and carries target parking space information;
and if the parking space state corresponding to the target parking space information is an idle state, modifying the parking space state corresponding to the target parking space information, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle.
In a second aspect, an embodiment of the present invention provides a method for parking a car in a valet, including:
when a vehicle arrives at a parking lot starting point, obtaining map information of the parking lot from a parking lot control system, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
acquiring target parking space information, generating a parking request according to the target parking space information, and sending the parking request to the parking lot control system;
acquiring a recommended path sent by the parking lot control system;
and parking after the vehicle runs to a preset parking space distance corresponding to the target parking space information according to the recommended path and/or the path planned according to the map information.
In a third aspect, an embodiment of the present invention further provides a valet parking device, including:
a first transmitting module, configured to transmit map information of a parking lot to a vehicle when the vehicle reaches a parking lot starting point, wherein the map information includes: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
the acquisition module is used for acquiring a parking request which is sent by the vehicle and carries target parking space information;
and the second sending module is used for modifying the parking space state corresponding to the target parking space information if the parking space state corresponding to the target parking space information is an idle state, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle.
In a fourth aspect, an embodiment of the present invention further provides a valet parking device, where the device includes:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring map information of the parking lot from a parking lot control system when a vehicle arrives at a starting point of the parking lot, and the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
the second acquisition module is used for acquiring target parking space information, generating a parking request according to the target parking space information and sending the parking request to the parking lot control system;
the third acquisition module is used for acquiring the recommended path sent by the parking lot control system;
and the control module is used for parking after the vehicle runs to a preset parking space distance corresponding to the target parking space information according to the recommended path and/or the path planned according to the map information.
In a fifth aspect, an embodiment of the present invention further provides a computer device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the computer device implements the valet parking method according to any one of the embodiments of the present invention.
In a sixth aspect, the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program is executed by a processor to implement the method for valet parking according to any one of the embodiments of the present invention.
The embodiment of the invention sends the map information of the parking lot to the vehicle when the vehicle reaches the starting point of the parking lot, wherein the map information comprises the following steps: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot; acquiring a parking request which is sent by the vehicle and carries target parking space information; and if the parking space state corresponding to the target parking space information is an idle state, modifying the parking space state corresponding to the target parking space information, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle, so that the problems in the prior art are solved, the passing vehicle and the vehicle parking can be ensured not to generate collision risks, and the parking process can not be interfered.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
Fig. 1 is a flowchart of a method for parking a car as a substitute for a passenger in accordance with a first embodiment of the present invention;
FIG. 1a is a schematic representation of a parking lot according to a first embodiment of the present invention;
fig. 2 is a flowchart of a method for parking a passenger in a second embodiment of the present invention;
fig. 3 is a schematic structural diagram of a valet parking device according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a valet parking apparatus according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a computer device in the fifth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Fig. 1 is a flowchart of a valet parking method according to an embodiment of the present invention, where the present embodiment is applicable to a valet parking situation, and the method may be executed by a valet parking device according to an embodiment of the present invention, and the valet parking device may be implemented in a software and/or hardware manner, as shown in fig. 1, the method specifically includes the following steps:
s101, when a vehicle reaches a starting point of a parking lot, sending map information of the parking lot to the vehicle, wherein the map information comprises: the system comprises a parking lot map, line identification of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot.
The method for acquiring the vehicle to the starting point of the parking lot can be a message that the vehicle reaches the starting point of the parking lot and is sent to a parking lot control system by the vehicle, and the parking lot control system receives the message that the vehicle reaches the starting point of the parking lot; the vehicle may also be judged to arrive at the starting point of the parking lot according to the vehicle-mounted sensor, which is not limited in the embodiment of the present invention.
The line identifier of the parking space in the parking lot may include a line identifier for identifying the parking space in the parking lot, a vehicle position marking line in the parking lot, a low-speed driving identifier, and a low-speed driving releasing identifier, which is not limited in the embodiment of the present invention.
Wherein the status information of the parking spaces in the parking lot may include: an idle state, an occupied state, and a predetermined state.
The real-time position information of the mobile vehicle in the parking lot may be obtained through a camera in the parking lot, or may be obtained through information sent by the vehicle to a parking lot control system, which is not limited in this embodiment of the present invention.
The parking lot map may be a map within a parking lot for identifying a route within the parking lot and an environment of the parking lot.
Specifically, when a vehicle arrives at a parking lot starting point, map information of the parking lot is sent to the vehicle, wherein the map information includes: line identification of parking spaces in the parking lot, status information of the parking spaces in the parking lot, and real-time location information of moving vehicles in the parking lot. For example, the vehicle arrives at the starting point of the parking lot, and the vehicle acquires the current real-time map information of the parking lot from the parking lot control system by using V2X communication. The map information contains a map of the parking lot, line identifications of the various locations of the parking lot, status information (free, occupied, reserved) of the various parking spaces, and real-time location information of the various mobile vehicles within the parking lot.
And S102, obtaining a parking request which is sent by the vehicle and carries the target parking space information.
And the parking request carries target parking space information. The target parking space information may be parking space identification information, or may also be picture information corresponding to a parking space clicked by a user, or may be a parking space identification or picture information selected by the user through a mobile terminal, or may also be picture information or parking space identification information corresponding to a target parking space automatically selected by a vehicle, which is not limited in this embodiment of the present invention.
The parking request can be generated according to target parking space information; the parking request can be generated in a manner that a user clicks a target parking space on a display screen in the vehicle to generate the parking request; the parking request can be generated in a mode that a target parking space is automatically selected for the vehicle, and the parking request is generated according to the target parking space selected by the vehicle; or the user may select a target parking space through the mobile terminal, and generate a parking request according to the target parking space, where the mobile terminal may be located in a vehicle or in another location, which is not limited in this embodiment of the present invention.
Specifically, the parking request carrying the target parking space information sent by the vehicle may be, for example, that the driver or the vehicle selects a target parking space from the vacant parking spaces and requests the parking lot control system.
S103, if the parking space state corresponding to the target parking space information is an idle state, modifying the parking space state corresponding to the target parking space information, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle.
Specifically, if the parking space state corresponding to the target parking space information is an idle state, the parking space state corresponding to the target parking space information is modified into an occupied state, a recommended path is generated according to the target parking space information, and the recommended path is sent to the vehicle.
Optionally, the method further includes:
receiving vehicle pose information and vehicle motion information sent by the vehicle;
determining a marking area where a vehicle is located by acquiring a vehicle image and vehicle surrounding environment information;
and determining the motion state information of the vehicle according to the vehicle pose information, the vehicle motion information and the marking area where the vehicle is located, and updating the map information according to the motion state information of the vehicle.
The vehicle pose information includes vehicle position information and vehicle state information, for example, the vehicle position may be acquired by an on-vehicle sensor, and the vehicle motion information may be information such as a speed of the vehicle, an acceleration of the vehicle, and a steering wheel angle acquired by the on-vehicle sensor. The embodiment of the invention does not specifically limit the vehicle pose information and the vehicle motion information.
Specifically, a camera arranged in the parking lot is used for collecting vehicle images and vehicle surrounding environment information. And determining the marked line area where the vehicle is located according to the vehicle image and the vehicle surrounding environment information. For example, the marked line region where the vehicle is located may be located by an image of the vehicle and its surroundings acquired by a camera in the parking lot.
Specifically, the motion state information of the vehicle is determined according to the vehicle pose information, the vehicle motion information and the marking line area where the vehicle is located, and the map information is updated according to the motion state information of the vehicle, for example, the vehicle pose information and the vehicle motion information uploaded by the vehicle are combined in the marking line area where the vehicle is located to be summarized as the motion state information of the vehicle, and the map information is updated according to the motion state information.
Optionally, the method further includes:
obtaining parking area range information sent by the vehicle;
setting an area corresponding to the parking area range information as an unviable area;
and after a parking completion message sent by the vehicle is acquired, setting the unviable area as a passable area.
The parking area range information comprises parking spaces and areas which need to be passed by the parking near the parking spaces.
Specifically, if the vehicle is parking, the parking area range information sent by the vehicle is acquired; setting an area corresponding to the parking area range information as an unviable area; and after a parking completion message sent by the vehicle is acquired, setting the unviable area as a passable area. For example, the vehicle a that is parking may need to upload the area range information used for parking the vehicle a to the parking lot control system, and the parking lot control system sets the area as the unviable area and prohibits other vehicles from passing through during the parking process of the vehicle a. After the parking of the vehicle a is finished, the parking lot control system sets the area as a passable area and allows other vehicles to pass through. When the vehicle travels, the impassable area is identified through the map information, the vehicle waits in the safe area, and the vehicle continues to travel when the impassable area is available.
In a specific example, as shown in fig. 1a, an embodiment of the present invention provides a method for parking a car for a valet, which includes a parking lot control system, a parking lot road marking facility, and an intelligent vehicle with a context awareness function. The parking lot control system is composed of a plurality of camera devices 170, a parking lot control device 150 and a communication device 160. The camera devices are distributed above roads and above parking spaces. The camera device above the road transmits the vehicle entering the parking lot and the surrounding image thereof to the parking lot control device, and the camera device above the parking space transmits the surrounding image of the parking space to the parking lot control device.
The parking lot control device 150 locates the position of the vehicle according to the image of the vehicle and its surroundings (position locating mark) in the road, and determines whether the parking space is parked by the vehicle according to the parking space image. The parking lot control device has a parking space occupation decision right, and the parking space is defined as: idle, occupied and predefined three states. The method comprises the steps that a vehicle entering a parking lot acquires parking space state information through information interaction with a parking lot control device, a parking space is selected from free parking spaces and applied to the parking lot control device, and if the parking lot control device arbitrates that the parking space can be used by the vehicle, the parking space is marked to be reserved. And the parking lot control device updates the map information of the parking lot according to the vehicle position information and the parking space state information.
The map information of the parking lot comprises three parts of information: first, the parking lot electronic map includes position information of parking spaces, road information (turning radius, lane width), and mark line information on a road (position of a mark line, distance of a mark line). Second, the status information (free, occupied, reserved) of each parking space in the parking lot. Thirdly, the motion information of all vehicles in the parking lot, such as: the position, the movement speed, the driving direction and the impassable area applied to the parking lot control system when the vehicle parks ensure that the passing vehicle and the parked vehicle do not generate collision risk and do not interfere the parking process of the passing vehicle. The real-time electronic map information is sent to all vehicles in the parking lot through the communication device, and vehicle control decision is facilitated.
The parking lot pavement marking facility comprises vehicle position marked lines 100, 105, 115, 140, 120 and 130. The vehicle position marker 105 is a continuous line segment, the vehicle position marker 140 is a broken line, and the vehicle recognizes that the left side is a broken line and the right side is a solid line, and thus it is confirmed that the vehicle is on the right side of the road. The spacing between the position markers 100 is a fixed distance L1 (e.g., 3m) and the spacing between the parking markers 115 is a fixed distance L2 (e.g., 2.5 m). The vehicle can correct the estimated position of the vehicle by identifying the marking 100 and the parking space marking 115, and meanwhile, the camera device determines the position of the vehicle through the marking. The low speed driving mark 120 is a plurality of continuous solid lines, which is located in front of the turning point of the parking lot, and is used for braking the vehicle for low speed driving. The low-speed running cancellation mark 130 is a mark for canceling low-speed running when the plurality of dotted lines are located at the turning position and the vehicle turns into a straight line.
The intelligent vehicle 180 with environment perception is provided with a look-around device, a radar device and a V2X communication device, and the vehicle can be controlled transversely and longitudinally. The vehicle all-around viewing device distorts images of the cameras, completes splicing of images around the vehicle through whole vehicle calibration, and has the function of identifying lane lines on two sides of the vehicle and front and rear identification lines of the vehicle. By recognizing the lane lines on both sides, the vehicle keeps driving in the center of the lane. The spliced image can mark the position of the contact point of the rear wheel of the vehicle and the ground in the image, when the vehicle passes through the marking line, the position of the ground marking line in the image is used for calibration calculation, and the vehicle position information is verified and corrected. The V2X communication device can realize the communication between vehicles and a parking lot control system, and complete the functions of updating the real-time electronic map of the parking lot and reserving the parking position. The radar device is used for detecting the distance of obstacles around the vehicle, and the vehicle is braked and stopped after encountering the obstacles.
The scheme has the redundancy characteristic, if the separated-line identification inside the parking lot is damaged and part of cameras are shielded, the vehicle can be navigated and positioned according to the electronic map, and the obstacle is detected through the radar, so that safe driving is ensured; if the vehicle is damaged by surrounding vision or radar, the vehicle can acquire environmental information in real time according to the electronic map to drive safely, and the vehicle can apply for an impassable area to wait for rescue of personnel when necessary, or a parking lot control system controls the vehicle to drive into a safe area, so that the smooth road of the parking lot is ensured.
According to the technical scheme provided by the embodiment of the invention, the parking lot adopts the line identification and the camera device for positioning the vehicle, so that the cost is low; the parking lot control system generates real-time map information, is rich in information and has a safety function; developing a line recognition function by utilizing a vehicle look-around device, so that a vehicle can be controlled to run in a lane line; through the information interaction of the parking lot and the cooperation of the parking lot, the whole system has a safety redundancy function.
According to the technical scheme of the embodiment, when a vehicle reaches a starting point of a parking lot, map information of the parking lot is sent to the vehicle, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot; acquiring a parking request which is sent by the vehicle and carries target parking space information; and if the parking space state corresponding to the target parking space information is an idle state, modifying the parking space state corresponding to the target parking space information, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle, so that the problems in the prior art are solved, the passing vehicle and the vehicle parking can be ensured not to generate collision risks, and the parking process can not be interfered.
Example two
Fig. 2 is a flowchart of a valet parking method according to an embodiment of the present invention, where the present embodiment is applicable to a valet parking situation, and the method may be executed by a valet parking device according to an embodiment of the present invention, and the device may be implemented in a software and/or hardware manner, as shown in fig. 2, the method specifically includes the following steps:
s210, when the vehicle reaches a starting point of the parking lot, obtaining map information of the parking lot from a parking lot control system, wherein the map information comprises: the system comprises a parking lot map, line identification of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot.
The method for acquiring the vehicle to the starting point of the parking lot can be a message that the vehicle reaches the starting point of the parking lot and is sent to a parking lot control system by the vehicle, and the parking lot control system receives the message that the vehicle reaches the starting point of the parking lot; the vehicle may also be judged to arrive at the starting point of the parking lot according to the vehicle-mounted sensor, which is not limited in the embodiment of the present invention.
The line identifier of the parking space in the parking lot may include a line identifier for identifying the parking space in the parking lot, a vehicle position marking line in the parking lot, a low-speed driving identifier, and a low-speed driving releasing identifier, which is not limited in the embodiment of the present invention.
Wherein the status information of the parking spaces in the parking lot may include: an idle state, an occupied state, and a predetermined state.
The real-time position information of the mobile vehicle in the parking lot may be obtained through a camera in the parking lot, or may be obtained through information sent by the vehicle to a parking lot control system, which is not limited in this embodiment of the present invention.
The parking lot map may be a map within a parking lot for identifying a route within the parking lot and an environment of the parking lot.
Specifically, when the vehicle reaches a parking lot starting point, map information of the parking lot is acquired from a parking lot control system, wherein the map information includes: the parking lot map, the line identifiers of the parking spaces in the parking lot, the state information of the parking spaces in the parking lot, and the real-time position information of the mobile vehicles in the parking lot may be, for example, when the vehicles arrive at the starting point of the parking lot, the vehicles acquire the current parking lot real-time map information from the parking lot control system by using V2X communication. The map information contains a map of the parking lot, line identifications of the various locations of the parking lot, status information (free, occupied, reserved) of the various parking spaces, and real-time location information of the various mobile vehicles within the parking lot.
S220, obtaining target parking space information, generating a parking request according to the target parking space information, and sending the parking request to the parking lot control system.
And the parking request carries target parking space information. The target parking space information may be parking space identification information, or may also be picture information corresponding to a parking space clicked by a user, or may be a parking space identification or picture information selected by the user through a mobile terminal, or may also be picture information or parking space identification information corresponding to a target parking space automatically selected by a vehicle, which is not limited in this embodiment of the present invention.
The parking request can be generated according to target parking space information; the parking request can be generated in a manner that a user clicks a target parking space on a display screen in the vehicle to generate the parking request; the parking request can be generated in a mode that a target parking space is automatically selected for the vehicle, and the parking request is generated according to the target parking space selected by the vehicle; or the user may select a target parking space through the mobile terminal, and generate a parking request according to the target parking space, where the mobile terminal may be located in a vehicle or in another location, which is not limited in this embodiment of the present invention.
Specifically, the target parking space information is acquired, a parking request is generated according to the target parking space information, and the parking request is sent to the parking lot control system, for example, a driver or a vehicle selects a target parking space from the free parking spaces and requests the parking lot control system.
And S230, acquiring the recommended path sent by the parking lot control system.
And the recommended path is determined by the parking lot control system according to the target parking space information carried by the parking request.
Specifically, the vehicle receives the recommended route sent by the parking lot control system.
And S240, parking after the vehicle drives to a parking space preset distance corresponding to the target parking space information according to the recommended path and/or the path planned according to the map information.
The preset distance may be set according to a requirement, and the preset distance may also be determined according to information such as a length and a width of the vehicle, which is not limited in the embodiment of the present invention.
Specifically, after the vehicle travels to a preset parking space distance corresponding to the target parking space information according to the recommended route, the vehicle is parked.
For example, the vehicle may travel according to the recommended path sent by the parking lot control system, may also autonomously complete path planning according to the map information, or may travel according to the recommended path sent by the parking lot control system and autonomously complete path planning according to the map information to determine a final planned path, and then travel to a position near the parking space corresponding to the target parking space information according to the final planned path.
In the process of vehicle traveling, whether an unviable area applied by other vehicles exists in front of the vehicle can be obtained through the real-time map, if the unviable area exists, the vehicle stops traveling at a safe area, the vehicle waits for the parking of the vehicle in front to be finished, and the unviable area is cancelled.
Optionally, the method further includes:
estimating vehicle pose information through the wheel speed pulse signal and the course angle signal;
correcting the vehicle pose information through the number of marking lines of the vehicle passing through the ground;
sending the corrected vehicle pose information to the parking lot control system;
and controlling the vehicle to run in the two lane lines by identifying the lane lines on the two sides of the vehicle.
Specifically, the vehicle estimates the self pose through a wheel speed pulse signal and a course angle signal. Meanwhile, the estimated vehicle pose information is corrected by memorizing the number of the mark lines passing through the ground. And sending the vehicle pose information to a parking lot control system. The vehicle is controlled to be in the two lane lines by identifying the lane lines on the two sides of the vehicle.
Optionally, the method further includes:
and determining the running speed of the vehicle according to the low-speed running mark and the low-speed ending mark.
Specifically, the vehicle obtains the position information of the vehicle and the position and speed information of other vehicles in the electronic map through the map information of the parking lot sent by the parking lot control system, combines the distance information of surrounding obstacles detected by the vehicle radar, and makes a control decision to prevent the vehicle from colliding. And the vehicle determines the running speed of the vehicle according to the low-speed running identifier and the low-speed ending identifier.
In a specific example, the valet parking method specifically comprises the following steps:
s1: when the vehicle arrives at the starting point of the parking lot, the vehicle acquires the map information of the current parking lot from the parking lot control system by using the V2X communication. The map information includes a parking lot map, line identifiers of positions of the parking lot, state information (free, occupied, reserved) of parking spaces, and real-time position information of mobile vehicles in the parking lot. The driver or the vehicle selects a target parking space from the parking spaces in the idle state and requests a parking lot control system, if the driver or the vehicle is approved, the step is switched to the step S2, and if the driver or the vehicle is not approved, the step S1 is repeated;
s2: the parking lot control system sets the parking place state preset by the vehicle as preset, other vehicles can not preset the parking place any more, and meanwhile, the recommended path of the vehicle reaching the parking place is sent to the vehicle; go to step S3;
s3: and the vehicle estimates the self pose through the wheel speed pulse signal and the course angle signal. Meanwhile, the estimated pose is corrected by memorizing the number of the mark lines passing through the ground. And sending the pose information to a parking lot control system. The vehicle is controlled to be in the two lane lines by identifying the lane lines on the two sides of the vehicle. Jumping to step S4;
s4: the parking lot control system acquires the vehicle image and the surrounding environment thereof through the camera device, positions the marking area where the vehicle is located, combines the position and attitude information and the vehicle motion information uploaded by the vehicle, summarizes the position and attitude information into the motion state information of the vehicle, and updates the motion state information to the real-time electronic map of the parking lot. Go to step S5;
s5: the vehicle updates the real-time electronic map to obtain the position information of the vehicle and the position and speed information of other vehicles in the electronic map, integrates the distance information of obstacles around the radar detection of the vehicle, performs control decision, and prevents the vehicle from colliding. And the vehicle determines the running speed of the vehicle according to the low-speed running identifier and the low-speed ending identifier. If other vehicles in the driving path perform the parking task, jumping to step S6, and if the vehicles safely drive to the target parking space, jumping to step S7;
s6: the method comprises the steps that a parked vehicle A needs to upload area range information used for parking of the vehicle A to a parking lot control system, the parking lot control system sets an area as an unviable area in the parking process of the vehicle A, and other vehicles are forbidden to pass. After the parking of the vehicle a is finished, the parking lot control system sets the area as a passable area and allows other vehicles to pass through. In the process of advancing, identifying an impassable area through a real-time electronic map, waiting in a safety area of the vehicle, and continuing advancing when the vehicle can pass;
s7: and after the target parking space is reached, identifying the parking space through the image, and parking. While the impassable area is set as shown in step S6.
The parking lot in the embodiment of the invention adopts the line identification, and is used for positioning, correcting and detecting the vehicle, positioning the vehicle position and deciding the vehicle acceleration and deceleration control strategy. The position marking line has the following characteristics: firstly, the vehicle identifies the lane where the vehicle is located by distinguishing the vehicle from a left dashed solid line and a right dashed solid line; secondly, the right position marking distance information can be obtained from map information and can be used for positioning the vehicle position; thirdly, the low speed identification line and the low speed identification releasing line (not limited to the form defined in the patent, but may be realized by different colors) can be used for vehicle acceleration and deceleration strategy control. When a vehicle parks, the parking lot management system is applied for a traffic stop area, so that a passing vehicle part can interfere the parking process of the vehicle, and the parking lot management system has safety characteristics; the vehicle utilizes the look-around device to complete the functions of vehicle positioning and lane keeping by the technology of identifying lane lines on two sides; the parking space states comprise three states of idle, occupied and scheduled, and the vehicle can only be selected from the idle parking spaces to be used as a target parking position. The parking lot map information includes a parking lot map, parking space state information of the parking lot, and vehicle information (including a position, a speed, a direction, and a no-pass area applied during parking). The vehicle uploads the information to a parking lot control system, and meanwhile, vehicle state information in the whole parking lot environment is obtained from the parking lot control system and is used as a control decision.
The technical scheme provided by the embodiment of the invention has a redundancy characteristic, if the branch line identification inside the parking lot is damaged and part of cameras are shielded, the vehicle can be navigated and positioned according to the electronic map, and the radar is used for detecting the obstacles to ensure safe driving; if the vehicle is damaged by surrounding vision or radar, the vehicle can acquire environmental information in real time according to the electronic map to drive safely, and the vehicle can apply for an impassable area to wait for rescue of personnel when necessary, or a parking lot control system controls the vehicle to drive into a safe area, so that the smooth road of the parking lot is ensured.
According to the technical scheme of the embodiment, when a vehicle reaches a starting point of a parking lot, map information of the parking lot is acquired from a parking lot control system, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot; acquiring target parking space information, generating a parking request according to the target parking space information, and sending the parking request to the parking lot control system; acquiring a recommended path sent by the parking lot control system; and parking after the vehicle drives to the preset parking space distance corresponding to the target parking space information according to the recommended path and/or the path planned according to the map information so as to solve the problems in the prior art, ensure that the passing vehicle and the parking vehicle do not generate collision risk and do not interfere the parking process.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a passenger car parking device according to a third embodiment of the present invention. The present embodiment is applicable to a passenger parking device, which may be implemented in software and/or hardware, and may be integrated in any device providing a passenger parking function, as shown in fig. 3, where the passenger parking device specifically includes: a first sending module 310, an obtaining module 320, and a second sending module 330.
The first sending module 310 is configured to send map information of a parking lot to a vehicle when the vehicle reaches a parking lot starting point, where the map information includes: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
the obtaining module 320 is configured to obtain a parking request that is sent by the vehicle and carries target parking space information;
the second sending module 330 is configured to modify the parking space state corresponding to the target parking space information if the parking space state corresponding to the target parking space information is an idle state, generate a recommended path according to the target parking space information, and send the recommended path to the vehicle.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme of the embodiment, when a vehicle reaches a starting point of a parking lot, map information of the parking lot is sent to the vehicle, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot; acquiring a parking request which is sent by the vehicle and carries target parking space information; and if the parking space state corresponding to the target parking space information is an idle state, modifying the parking space state corresponding to the target parking space information, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle, so that the problems in the prior art are solved, the passing vehicle and the vehicle parking can be ensured not to generate collision risks, and the parking process can not be interfered.
Example four
Fig. 4 is a schematic structural diagram of a passenger car parking device according to a fourth embodiment of the present invention. The present embodiment is applicable to a passenger parking device, which may be implemented in software and/or hardware, and may be integrated in any device providing a passenger parking function, as shown in fig. 4, where the passenger parking device specifically includes: a first acquisition module 410, a second acquisition module 420, a third acquisition module 430, and a control module 440.
The first obtaining module 410 is configured to obtain map information of a parking lot from a parking lot control system when a vehicle arrives at a parking lot starting point, where the map information includes: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
the second obtaining module 420 is configured to obtain target parking space information, generate a parking request according to the target parking space information, and send the parking request to the parking lot control system;
a third obtaining module 430, configured to obtain a recommended path sent by the parking lot control system;
and the control module 440 is configured to park after the vehicle travels to a preset parking space distance corresponding to the target parking space information according to the recommended path and/or the path planned according to the map information.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme of the embodiment, when a vehicle reaches a starting point of a parking lot, map information of the parking lot is acquired from a parking lot control system, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot; acquiring target parking space information, generating a parking request according to the target parking space information, and sending the parking request to the parking lot control system; acquiring a recommended path sent by the parking lot control system; and parking after the vehicle drives to the preset parking space distance corresponding to the target parking space information according to the recommended path and/or the path planned according to the map information so as to solve the problems in the prior art, ensure that the passing vehicle and the parking vehicle do not generate collision risk and do not interfere the parking process.
EXAMPLE five
Fig. 5 is a schematic structural diagram of a computer device in a third embodiment of the present invention. FIG. 5 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 5 is only an example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 5, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 5, and commonly referred to as a "hard drive"). Although not shown in FIG. 5, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running the program stored in the system memory 28, for example, to implement the valet parking method provided by the embodiment of the present invention:
when a vehicle arrives at a parking lot starting point, sending map information of the parking lot to the vehicle, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
acquiring a parking request which is sent by the vehicle and carries target parking space information;
and if the parking space state corresponding to the target parking space information is an idle state, modifying the parking space state corresponding to the target parking space information, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle.
Or, the method for passenger-substitute parking provided by the embodiment of the invention is realized:
when a vehicle arrives at a parking lot starting point, obtaining map information of the parking lot from a parking lot control system, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
acquiring target parking space information, generating a parking request according to the target parking space information, and sending the parking request to the parking lot control system;
acquiring a recommended path sent by the parking lot control system;
and parking after the vehicle runs to a preset parking space distance corresponding to the target parking space information according to the recommended path and/or the path planned according to the map information.
EXAMPLE six
A sixth embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for parking a car as a passenger agent according to all embodiments of the present invention:
when a vehicle arrives at a parking lot starting point, sending map information of the parking lot to the vehicle, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
acquiring a parking request which is sent by the vehicle and carries target parking space information;
and if the parking space state corresponding to the target parking space information is an idle state, modifying the parking space state corresponding to the target parking space information, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle.
Or, the method for passenger-substitute parking provided by the embodiment of the invention is realized:
when a vehicle arrives at a parking lot starting point, obtaining map information of the parking lot from a parking lot control system, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
acquiring target parking space information, generating a parking request according to the target parking space information, and sending the parking request to the parking lot control system;
acquiring a recommended path sent by the parking lot control system;
and parking after the vehicle runs to a preset parking space distance corresponding to the target parking space information according to the recommended path and/or the path planned according to the map information.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, or the like, as well as conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A method of valet parking, comprising:
when a vehicle arrives at a parking lot starting point, sending map information of the parking lot to the vehicle, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
acquiring a parking request which is sent by the vehicle and carries target parking space information;
and if the parking space state corresponding to the target parking space information is an idle state, modifying the parking space state corresponding to the target parking space information, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle.
2. The method of claim 1, further comprising:
receiving vehicle pose information and vehicle motion information sent by the vehicle;
determining a marking area where a vehicle is located by acquiring a vehicle image and vehicle surrounding environment information;
and determining the motion state information of the vehicle according to the vehicle pose information, the vehicle motion information and the marking area where the vehicle is located, and updating the map information according to the motion state information of the vehicle.
3. The method of claim 1, further comprising:
obtaining parking area range information sent by the vehicle;
setting an area corresponding to the parking area range information as an unviable area;
and after a parking completion message sent by the vehicle is acquired, setting the unviable area as a passable area.
4. A method of valet parking, comprising:
when a vehicle arrives at a parking lot starting point, obtaining map information of the parking lot from a parking lot control system, wherein the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
acquiring target parking space information, generating a parking request according to the target parking space information, and sending the parking request to the parking lot control system;
acquiring a recommended path sent by the parking lot control system;
and parking after the vehicle runs to a preset parking space distance corresponding to the target parking space information according to the recommended path and/or the path planned according to the map information.
5. The method of claim 4, further comprising:
estimating vehicle pose information through the wheel speed pulse signal and the course angle signal;
correcting the vehicle pose information through the number of marking lines of the vehicle passing through the ground;
sending the corrected vehicle pose information to the parking lot control system;
and controlling the vehicle to run in the two lane lines by identifying the lane lines on the two sides of the vehicle.
6. The method of claim 4, further comprising:
and determining the running speed of the vehicle according to the low-speed running mark and the low-speed ending mark.
7. A valet parking device, comprising:
a first transmitting module, configured to transmit map information of a parking lot to a vehicle when the vehicle reaches a parking lot starting point, wherein the map information includes: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
the acquisition module is used for acquiring a parking request which is sent by the vehicle and carries target parking space information;
and the second sending module is used for modifying the parking space state corresponding to the target parking space information if the parking space state corresponding to the target parking space information is an idle state, generating a recommended path according to the target parking space information, and sending the recommended path to the vehicle.
8. A valet parking device, comprising:
the system comprises a first acquisition module, a second acquisition module and a third acquisition module, wherein the first acquisition module is used for acquiring map information of the parking lot from a parking lot control system when a vehicle arrives at a starting point of the parking lot, and the map information comprises: the method comprises the following steps of (1) obtaining a parking lot map, line identifications of parking places in the parking lot, state information of the parking places in the parking lot and real-time position information of moving vehicles in the parking lot;
the second acquisition module is used for acquiring target parking space information, generating a parking request according to the target parking space information and sending the parking request to the parking lot control system;
the third acquisition module is used for acquiring the recommended path sent by the parking lot control system;
and the control module is used for parking after the vehicle runs to a preset parking space distance corresponding to the target parking space information according to the recommended path and/or the path planned according to the map information.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor when executing the program implements the valet parking method as recited in any of claims 1-6.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a method for valet parking according to any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010920705.0A CN112037567A (en) | 2020-09-04 | 2020-09-04 | Passenger-riding parking method, device, equipment and storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010920705.0A CN112037567A (en) | 2020-09-04 | 2020-09-04 | Passenger-riding parking method, device, equipment and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112037567A true CN112037567A (en) | 2020-12-04 |
Family
ID=73591403
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010920705.0A Pending CN112037567A (en) | 2020-09-04 | 2020-09-04 | Passenger-riding parking method, device, equipment and storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112037567A (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112767740A (en) * | 2021-02-04 | 2021-05-07 | 广州小鹏自动驾驶科技有限公司 | Parking lot selection method and device |
| CN112927542A (en) * | 2021-02-03 | 2021-06-08 | 芜湖泊啦图信息科技有限公司 | Intelligent dispatching system and method for multiple vehicles in parking lot |
| CN113112853A (en) * | 2021-03-26 | 2021-07-13 | 中国联合网络通信集团有限公司 | Automatic passenger-replacing parking control method and device |
| CN113147743A (en) * | 2021-04-27 | 2021-07-23 | 东风汽车集团股份有限公司 | Automatic parking method, system and storage medium |
| CN113744560A (en) * | 2021-09-15 | 2021-12-03 | 厦门科拓通讯技术股份有限公司 | Automatic parking method and device for parking lot, server and machine-readable storage medium |
| CN113865602A (en) * | 2021-08-18 | 2021-12-31 | 西人马帝言(北京)科技有限公司 | Vehicle positioning method, device, equipment and storage medium |
| CN113870613A (en) * | 2021-10-14 | 2021-12-31 | 中国第一汽车股份有限公司 | Parking space determination method and device, electronic equipment and storage medium |
| CN113895428A (en) * | 2021-10-19 | 2022-01-07 | 深圳市万集科技有限公司 | Parking method, parking device, computer readable storage medium and terminal equipment |
| CN114373324A (en) * | 2021-12-01 | 2022-04-19 | 江铃汽车股份有限公司 | Parking space information sharing method and system |
| CN114937369A (en) * | 2022-04-06 | 2022-08-23 | 福思(杭州)智能科技有限公司 | Autonomous valet parking method, system, vehicle, parking lot terminal, device and medium |
| CN115273536A (en) * | 2022-08-03 | 2022-11-01 | 北斗星通智联科技有限责任公司 | Passenger-riding parking control method and device, control terminal and storage medium |
| CN115384484A (en) * | 2022-10-28 | 2022-11-25 | 禾多科技（北京）有限公司 | Parking assisting method, parking assisting device, electronic equipment and computer readable medium |
| CN115410401A (en) * | 2022-08-30 | 2022-11-29 | 深圳市神州路路通网络科技有限公司 | Parking space display and recommendation method and device based on vehicle data sharing in parking lot |
| CN115862367A (en) * | 2022-11-28 | 2023-03-28 | 合肥工业大学 | Control method for running path of passenger-replacing parking robot platform |
| CN115862330A (en) * | 2022-11-29 | 2023-03-28 | 中国第一汽车股份有限公司 | Vehicle control method and device, vehicle and computer readable storage medium |
| US11794737B2 (en) | 2021-04-07 | 2023-10-24 | Ford Global Technologies, Llc | Vehicle operation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106781623A (en) * | 2015-11-23 | 2017-05-31 | 乐金电子研发中心(上海)有限公司 | A kind of parking lot automobile navigation method and system |
| CN107167155A (en) * | 2017-05-08 | 2017-09-15 | 江苏大学 | A kind of underground parking curved ramp path planning and path following method |
| CN109693666A (en) * | 2019-02-02 | 2019-04-30 | 中国第一汽车股份有限公司 | A kind of man-machine interactive system and method for parking for parking |
| CN109767646A (en) * | 2019-02-28 | 2019-05-17 | 北京智行者科技有限公司 | It parks method and device |
| CN109817018A (en) * | 2019-02-20 | 2019-05-28 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of automatic parking method and relevant apparatus |
| CN110599793A (en) * | 2019-08-16 | 2019-12-20 | 深圳市智绘科技有限公司 | Intelligent internet-oriented autonomous parking system and method for vehicle |
| CN110796889A (en) * | 2019-01-25 | 2020-02-14 | 长城汽车股份有限公司 | Parking space determining method and device for passenger-riding parking |
-
2020
- 2020-09-04 CN CN202010920705.0A patent/CN112037567A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106781623A (en) * | 2015-11-23 | 2017-05-31 | 乐金电子研发中心(上海)有限公司 | A kind of parking lot automobile navigation method and system |
| CN107167155A (en) * | 2017-05-08 | 2017-09-15 | 江苏大学 | A kind of underground parking curved ramp path planning and path following method |
| CN110796889A (en) * | 2019-01-25 | 2020-02-14 | 长城汽车股份有限公司 | Parking space determining method and device for passenger-riding parking |
| CN109693666A (en) * | 2019-02-02 | 2019-04-30 | 中国第一汽车股份有限公司 | A kind of man-machine interactive system and method for parking for parking |
| CN109817018A (en) * | 2019-02-20 | 2019-05-28 | 东软睿驰汽车技术（沈阳）有限公司 | A kind of automatic parking method and relevant apparatus |
| CN109767646A (en) * | 2019-02-28 | 2019-05-17 | 北京智行者科技有限公司 | It parks method and device |
| CN110599793A (en) * | 2019-08-16 | 2019-12-20 | 深圳市智绘科技有限公司 | Intelligent internet-oriented autonomous parking system and method for vehicle |
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112927542A (en) * | 2021-02-03 | 2021-06-08 | 芜湖泊啦图信息科技有限公司 | Intelligent dispatching system and method for multiple vehicles in parking lot |
| CN112767740A (en) * | 2021-02-04 | 2021-05-07 | 广州小鹏自动驾驶科技有限公司 | Parking lot selection method and device |
| CN112767740B (en) * | 2021-02-04 | 2022-08-16 | 广州小鹏自动驾驶科技有限公司 | Parking lot selection method and device |
| CN113112853A (en) * | 2021-03-26 | 2021-07-13 | 中国联合网络通信集团有限公司 | Automatic passenger-replacing parking control method and device |
| US11794737B2 (en) | 2021-04-07 | 2023-10-24 | Ford Global Technologies, Llc | Vehicle operation |
| CN113147743A (en) * | 2021-04-27 | 2021-07-23 | 东风汽车集团股份有限公司 | Automatic parking method, system and storage medium |
| CN113865602A (en) * | 2021-08-18 | 2021-12-31 | 西人马帝言(北京)科技有限公司 | Vehicle positioning method, device, equipment and storage medium |
| CN113744560A (en) * | 2021-09-15 | 2021-12-03 | 厦门科拓通讯技术股份有限公司 | Automatic parking method and device for parking lot, server and machine-readable storage medium |
| CN113870613A (en) * | 2021-10-14 | 2021-12-31 | 中国第一汽车股份有限公司 | Parking space determination method and device, electronic equipment and storage medium |
| CN113895428A (en) * | 2021-10-19 | 2022-01-07 | 深圳市万集科技有限公司 | Parking method, parking device, computer readable storage medium and terminal equipment |
| CN113895428B (en) * | 2021-10-19 | 2024-01-23 | 深圳市万集科技有限公司 | Parking method and device, computer readable storage medium and terminal equipment |
| CN114373324A (en) * | 2021-12-01 | 2022-04-19 | 江铃汽车股份有限公司 | Parking space information sharing method and system |
| CN114937369A (en) * | 2022-04-06 | 2022-08-23 | 福思(杭州)智能科技有限公司 | Autonomous valet parking method, system, vehicle, parking lot terminal, device and medium |
| CN115273536A (en) * | 2022-08-03 | 2022-11-01 | 北斗星通智联科技有限责任公司 | Passenger-riding parking control method and device, control terminal and storage medium |
| CN115410401A (en) * | 2022-08-30 | 2022-11-29 | 深圳市神州路路通网络科技有限公司 | Parking space display and recommendation method and device based on vehicle data sharing in parking lot |
| CN115384484A (en) * | 2022-10-28 | 2022-11-25 | 禾多科技（北京）有限公司 | Parking assisting method, parking assisting device, electronic equipment and computer readable medium |
| CN115862367A (en) * | 2022-11-28 | 2023-03-28 | 合肥工业大学 | Control method for running path of passenger-replacing parking robot platform |
| CN115862367B (en) * | 2022-11-28 | 2023-11-24 | 合肥工业大学 | Control method for operation path of passenger parking robot platform |
| CN115862330A (en) * | 2022-11-29 | 2023-03-28 | 中国第一汽车股份有限公司 | Vehicle control method and device, vehicle and computer readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112037567A (en) | Passenger-riding parking method, device, equipment and storage medium | |
| US11249474B2 (en) | Safety of autonomous vehicles using a virtual augmented support environment | |
| CN109808709B (en) | Vehicle driving guarantee method, device and equipment and readable storage medium | |
| JP6614464B6 (en) | Vehicle scheduling method, apparatus, equipment, and storage medium | |
| CN110928284B (en) | Method, apparatus, medium and system for assisting in controlling automatic driving of vehicle | |
| US11332132B2 (en) | Method of handling occlusions at intersections in operation of autonomous vehicle | |
| CN107792077B (en) | Method and system for confirming whether road section is suitable for autonomous vehicle driving | |
| CN109949439B (en) | Driving live-action information labeling method and device, electronic equipment and medium | |
| CN111775940B (en) | Automatic channel changing method, device, equipment and storage medium | |
| JP2021527903A (en) | Vehicle control methods, devices, devices, programs and computer storage media | |
| CN110928286B (en) | Method, apparatus, medium and system for controlling automatic driving of vehicle | |
| US20150166069A1 (en) | Autonomous driving style learning | |
| US20150105933A1 (en) | Remote vehicle monitoring | |
| CN110036426B (en) | Control device and control method | |
| CN112673231A (en) | Method for updating an environment map, device for carrying out the method steps of the method on the vehicle side, vehicle, device for carrying out the method steps of the method on the central computer side, and computer-readable storage medium | |
| CN110696826B (en) | Method and device for controlling a vehicle | |
| CN110333725B (en) | Method, system, equipment and storage medium for automatically driving to avoid pedestrians | |
| CN112141110A (en) | Vehicle lane changing method, device, equipment and storage medium | |
| CN114179821A (en) | Solution, device and storage medium for supporting at least partially automated guidance of a motor vehicle | |
| CN110654380B (en) | Method and device for controlling a vehicle | |
| CN115465262A (en) | Method, device and storage medium for at least partially automatically transferring a motor vehicle | |
| CN111599217B (en) | Autonomous parking system architecture, architecture implementation method, terminal and storage medium | |
| WO2019065696A1 (en) | Feature data structure | |
| CN110138485B (en) | Vehicle-mounted information broadcasting system, method, device and storage medium | |
| CN110942651B (en) | Vehicle failure processing method, vehicle-mounted equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201204 |
|
| RJ01 | Rejection of invention patent application after publication |