CN112428987A - Automatic parking system and method interacting with parking lot - Google Patents
Automatic parking system and method interacting with parking lot Download PDFInfo
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- CN112428987A CN112428987A CN202011333491.3A CN202011333491A CN112428987A CN 112428987 A CN112428987 A CN 112428987A CN 202011333491 A CN202011333491 A CN 202011333491A CN 112428987 A CN112428987 A CN 112428987A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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Abstract
The invention discloses an automatic parking system interacting with a parking lot, which comprises an ultrasonic sensor device, a parking sensor device and a control device, wherein the ultrasonic sensor device is arranged around a vehicle body; the image acquisition devices are arranged below the left rearview mirror and the right rearview mirror of the vehicle and on the top of the front part and the rear part of the vehicle; the data processing system is used for processing the acquired data and the interactive data; the vehicle control device is used for controlling an actuating mechanism for driving the vehicle; the display screen device is used for displaying vehicle parameter information, barrier information around the vehicle, parking space information and a parking planning path; the wireless communication device is connected with the mobile terminal and the parking lot system through a wireless network, the automatic parking system and the whole vehicle are connected and communicated through a CAN bus, the parking lot system updates parking space information of a parking lot map in real time, and the parking lot map is marked with empty parking spaces, occupied parking spaces and vehicle position information. By performing information interaction among the automatic parking system, the parking lot system and the driver, the parking time is shortened, and the parking efficiency is greatly improved.
Description
Technical Field
The invention relates to the technical field of automatic parking systems, in particular to an automatic parking system and method interacting with a parking lot.
Background
With the development of society, the number of automobiles is increasing, and traffic accidents caused by parking are also increasing, which is a fact that the automobiles do not compete. Therefore, people put forward higher requirements on the convenience of automobile operation, and hopefully, the device can solve the inconvenience brought to people by automobile parking and eliminate unsafe factors in driving. The automatic parking system can solve the difficulties, improve the intelligence level and the safety of the vehicle, reduce the difficulty of parking of a driver and improve the safety and the driving comfort of the driver.
However, the parking space recognition function included in the automatic parking system also faces a problem, and in large parking lots with large traffic flow, such as shopping malls and hospitals, the automatic parking system needs a long time to search for an effective empty parking space; when the driver finishes the work and needs to leave, how to quickly find the vehicle in the large parking lot is difficult. How to quickly detect the empty parking space when entering the parking lot, saving the time for finding the empty parking space, and how to quickly and accurately find the parking space where the vehicle is when returning to the parking lot, which is a problem that needs to be solved urgently by an automatic parking system and a large-scale parking lot system. The invention is achieved accordingly.
Disclosure of Invention
In order to solve the technical problems that the time needed for finding an empty parking space in a large parking lot with large traffic flow is long and the location of a vehicle is difficult to locate when the vehicle is used, the invention provides an automatic parking system and a method interacting with the parking lot.
The technical scheme of the invention is as follows:
an automatic parking system interacting with a parking lot comprises an ultrasonic sensor device, an image acquisition device, a vehicle control device, a display screen device and a wireless communication device, wherein the ultrasonic sensor device, the image acquisition device, the vehicle control device, the display screen device and the wireless communication device are connected with a data processing system;
the ultrasonic sensor device is arranged around the vehicle body;
the image acquisition devices are arranged below the left rear-view mirror and the right rear-view mirror of the vehicle and on the top of the front part and the rear part of the vehicle;
the data processing system is used for processing the acquired data and the interactive data;
the vehicle control device is used for controlling an actuating mechanism for driving a vehicle;
the display screen device is used for displaying vehicle parameter information, barrier information around the vehicle, parking space information and a parking planning path;
the wireless communication device is connected with the mobile terminal and the parking lot system through a wireless network, the automatic parking system and the whole vehicle are in CAN bus connection communication, the parking lot system uses the license plate number as a vehicle unique identification mark to carry out vehicle positioning and tracking, and the parking space information of the parking lot map is updated in real time, the parking lot map is marked with an empty parking space, occupies the parking space, is searching the vehicle position of the empty parking space, and is leaving the vehicle position of the parking space, and the wireless communication device displays the acquired parking space information of the parking lot map on the display screen device.
In a preferred embodiment, 4 ultrasonic sensors are mounted on the front and rear bumpers of the vehicle, and 1 ultrasonic sensor is mounted on the front left, rear left, front right, and rear right of the side of the vehicle.
In an optimal technical scheme, the data processing system is further connected with an early warning device, the early warning device comprises a voice early warning module and a color early warning module, after the information of the type, the direction and the distance of obstacles around the vehicle is obtained, voice early warning is carried out according to a grading early warning strategy and vehicle state information, and/or the distance ranges of the obstacles at different positions are marked in different color areas on a display screen device.
The invention also discloses an automatic parking method interacting with the parking lot, which comprises the following steps:
s01: when the vehicle runs to the entrance of the parking lot, sending a connection request to the parking lot system;
s02: after the authentication is passed, the parking lot system uses the license plate number as a unique identification mark of the vehicle to carry out vehicle positioning and tracking;
s03: processing the collected parking lot graphic information by a parking lot system background to obtain information of empty parking spaces, occupied parking spaces, vehicle positions of the empty parking spaces being searched and vehicle positions of leaving parking spaces, and marking the information on a parking lot map by using different colors or different shapes;
s04: the method comprises the following steps that the background of a parking lot system updates the information of empty parking spaces in real time, identifies vehicles connected into the parking lot system, transmits a parking lot parking space map with each vehicle as the center to an automatic parking system of the vehicle, and displays the parking lot parking space map on a display screen device of the vehicle;
s05: and after the automatic parking system selects an effective empty parking space, entering a vehicle parking mode to park.
In a preferred technical scheme, the method further comprises the step of sending a vehicle position request to a parking lot system through the mobile terminal, and the parking lot system sends vehicle information to the mobile terminal.
Compared with the prior art, the invention has the advantages that:
according to the invention, through information interaction among the automatic parking system, the parking lot system and the driver, the parking time is shortened, and the parking efficiency is greatly improved. The problem of find parking stall required time long, when using car in the large-scale parking area that traffic flow is big location vehicle position difficult is solved, the time of looking for the empty parking stall when having practiced thrift to get into the parking area, and enable the driver to accurately find the parking stall that the vehicle was located rapidly when returning the parking area, avoided the emergence of the traffic jam condition in the parking area, promoted automatic parking system's user experience.
Drawings
The invention is further described with reference to the following figures and examples:
FIG. 1 is a functional block diagram of an automated parking system of the present invention interacting with a parking lot;
FIG. 2 is a flow chart of an automated parking method of the present invention interacting with a parking lot;
fig. 3 is a schematic diagram of map information of an intelligent parking lot according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings in conjunction with the following detailed description. It should be understood that the description is intended to be exemplary only, and is not intended to limit the scope of the present invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example (b):
the preferred embodiments of the present invention will be further described with reference to the accompanying drawings.
As shown in fig. 1, an automatic parking system interacting with a parking lot includes an ultrasonic sensor device, an image acquisition device, a vehicle control device, a display screen device, and a wireless communication device connected to a data processing system;
the ultrasonic sensor device is arranged around the vehicle body;
the image acquisition devices are arranged below the left rearview mirror and the right rearview mirror of the vehicle and on the top of the front part and the rear part of the vehicle; the image acquisition device is a high-definition all-round-looking camera;
the data processing system is used for processing the acquired data and the interactive data;
the vehicle control device is used for controlling an actuating mechanism for driving the vehicle;
the display screen device is used for displaying vehicle parameter information, barrier information around the vehicle, parking space information and a parking planning path;
the wireless communication device is connected with the mobile terminal and the parking lot system through a wireless network, the automatic parking system and the whole vehicle are in CAN bus connection communication, the parking lot system uses the license plate number as a vehicle unique identification mark to carry out vehicle positioning and tracking, and the parking space information of the parking lot map is updated in real time, the parking lot map is marked with an empty parking space, occupies the parking space, is searching the vehicle position of the empty parking space and is leaving the vehicle position of the parking space, and the wireless communication device displays the acquired parking space information of the parking lot map on the display screen device.
In a preferred technical scheme, 4 ultrasonic sensors are respectively installed at the front bumper and the rear bumper of a vehicle, 1 ultrasonic sensor is respectively installed at the left front part, the left rear part, the right front part and the right rear part of the side of the vehicle, and the total number of the ultrasonic sensors is 12, so that the distance information of obstacles around the vehicle can be acquired in real time.
The data processing system is used for processing, analyzing and fusing the waveform data acquired by the ultrasonic sensor and the image information acquired by the camera, carrying out early warning according to the result and planning and tracking the parking path; the intelligent parking lot system is used for data interaction and processing.
And the vehicle control device is used for controlling the running of the automobile such as the angle, the direction and the power assistance according to the instruction and executing automatic parking with the whole automobile.
The data processing system is also connected with an early warning device, the early warning device comprises a voice early warning module and a color early warning module, after the category, the direction and the distance information of obstacles around the vehicle are obtained, voice early warning is carried out according to a grading early warning strategy and vehicle state information, and/or the distance ranges of the obstacles at different positions are marked on the display screen device in different color areas.
The communication device is used for transmitting data between the automatic parking system and the whole vehicle in a communication mode of CAN bus connection; the automatic parking system, the driver mobile phone, the intelligent parking lot system and other intelligent devices can adopt communication modes such as a 4G network, a 5G network and a parking lot wireless network for data transmission. It should be noted that communication modes between the entire vehicle and the intelligent parking lot system, between the entire vehicle and the driver's mobile phone, and between the intelligent parking lot system and the driver's mobile phone are also various, for example, a vehicle-mounted bluetooth device, a 4G network, a 5G network, a parking lot wireless network, and the like.
As shown in fig. 2, the present invention also discloses an automatic parking method interacting with a parking lot, comprising the following steps:
s01: when the vehicle runs to the entrance of the parking lot, sending a connection request to the parking lot system;
s02: after the authentication is passed, the parking lot system uses the license plate number as a unique identification mark of the vehicle to carry out vehicle positioning and tracking;
s03: processing the collected parking lot graphic information by a parking lot system background to obtain information of empty parking spaces, occupied parking spaces, vehicle positions of the empty parking spaces being searched and vehicle positions of leaving parking spaces, and marking the information on a parking lot map by using different colors or different shapes;
s04: the method comprises the following steps that the background of a parking lot system updates the information of empty parking spaces in real time, identifies vehicles connected into the parking lot system, transmits a parking lot parking space map with each vehicle as the center to an automatic parking system of the vehicle, and displays the parking lot parking space map on a display screen device of the vehicle;
s05: and after the automatic parking system selects an effective empty parking space, entering a vehicle parking mode to park.
In a preferred technical scheme, the method further comprises the step of sending a vehicle position request to a parking lot system through the mobile terminal, and the parking lot system sends vehicle information to the mobile terminal.
The interaction scheme of the automatic parking system and the intelligent parking lot system is described in detail as follows:
1. when the vehicle is driven to the entrance of the intelligent parking lot, the parking lot system can use the license plate number as the unique identification mark of the vehicle to carry out vehicle positioning and tracking.
2. When the vehicle is driven to an entrance of the intelligent parking lot, the vehicle and an automatic parking system on the vehicle can be connected to a parking lot map in any mode of vehicle-mounted Bluetooth, a 4G network, a 5G network, a parking lot wireless network and the like, and map information is displayed on a display screen at the vehicle end. The parking lot map contains information such as the existing empty parking space, the occupied parking space, the position of a vehicle seeking the empty parking space, the position of the vehicle leaving the parking space and the like, and the vehicles and the parking space information under different conditions are displayed in different colors or different shapes, so that the parking lot map is suitable for the situation of multiple vehicles.
As shown in fig. 3, the following settings are currently made: "green square" represents an existing empty space, "blue square" is located at a position that represents that the space is occupied, "yellow triangle & square" represents a vehicle that is seeking an empty space or is parking, "yellow hexagon" represents a vehicle that is parking out or is ready to leave.
3. The driver can clearly see the distribution condition of the hollow parking space information in the parking lot, so that the time spent on blindly searching for the hollow parking space after entering the parking lot is greatly reduced. And the driver freely decides which area to go to according to the empty parking space information on the map.
4. And in the process that the driver drives to the target empty parking space area, the automatic parking system searches the parking spaces in real time. Meanwhile, the parking lot graphic information collected by a plurality of high-definition cameras installed in the parking lot is processed, the parking lot system background updates the empty parking space information in real time, then automatically identifies each vehicle connected into the parking lot system, transmits a parking lot parking space map with each vehicle as the center to the automatic parking system of the vehicle, and displays the parking lot parking space map on a vehicle end display screen of the vehicle.
5. After the automatic parking system selects an effective empty parking space, a driver clicks the start of parking to enable the automatic parking system to enter a vehicle parking mode, and the driver leaves the vehicle after parking action is finished. If the automatic parking system of the vehicle has the remote control parking function, after the automatic parking system selects an effective empty parking space, the driver leaves the vehicle, then the remote control parking function is started through the automatic parking APP (or other remote control modes) of the mobile phone, and the vehicle automatically finishes the parking action.
6. After parking is finished, the current parking space map and the parking space information are obtained in a mode that a driver manually saves the current parking space map and the parking space information to the local or parking lot background for sending.
7. When a driver wants to get a vehicle, after the driver enters a parking lot, the driver sends a vehicle position request to a parking lot system through a mobile phone, the parking lot system sends vehicle information to the mobile phone of the driver, and the driver can quickly and accurately find the vehicle according to the obtained vehicle position information by means of parking lot map navigation.
The following is described in detail with reference to specific examples:
example 1:
1. the driver drives the vehicle to the parking lot entrance.
2. The vehicle carries out information connection with the parking area through vehicle-mounted Bluetooth, displays the parking area map on the vehicle central control display screen, displays the information such as the current empty parking space, the occupied parking space, the vehicle position of seeking the empty parking space, the vehicle position of leaving the parking space on the map, and the vehicle and the parking space information of different conditions are displayed with different colors.
3. And the driver drives the vehicle to the empty parking space area according to the empty parking space information in the display screen and the parking lot map navigation.
4. And in the process of driving to an empty parking space area by a driver, the automatic parking system searches the parking space in real time.
5. And taking the position of the vehicle as a center, updating the information of the empty parking space in real time by the background of the parking lot, and displaying the information on a central control screen of the vehicle.
6. After the length and the width of the empty parking space defined by the automatic parking system are met, the automatic parking system can select one empty parking space closest to the self vehicle as an effective empty parking space, and the system prompts a driver to find the effective empty parking space.
7. And clicking a parking button on a vehicle-mounted display screen of the automatic parking system by a driver, then starting the automatic parking system to automatically park the vehicle, and leaving the vehicle after parking is finished.
8. When a driver enters a parking lot to take a vehicle, the driver sends a vehicle position request to the parking lot system through the mobile phone and then receives vehicle position information sent to the mobile phone by the parking lot system.
9. The driver can quickly find the vehicle by means of parking lot map navigation according to the received vehicle position information.
Example 2:
1. the driver drives the vehicle to the parking lot entrance.
2. The vehicle is in information connection with the parking lot through the 4G network, a map of the parking lot is displayed on a vehicle central control display screen, information such as an existing empty parking space, an occupied parking space, a vehicle position where the empty parking space is being searched, a vehicle position leaving the parking space and the like is displayed on the map, and the vehicle and parking space information under different conditions are displayed in different colors.
3. And the driver drives the vehicle to the empty parking space area according to the empty parking space information in the display screen and the parking lot map navigation.
4. And in the process of driving to an empty parking space area by a driver, the automatic parking system searches the parking space in real time.
5. And taking the position of the vehicle as a center, updating the information of the empty parking space in real time by the background of the parking lot, and displaying the information on a central control screen of the vehicle.
6. After the length and the width of the empty parking spaces defined by the automatic parking system are met, the automatic parking system can select one empty parking space closest to the vehicle as an effective empty parking space, at the moment, the driver gets off and leaves, and clicks a remote control parking start button in the automatic parking system APP on the mobile phone, so that the vehicle starts to park.
7. After the automatic parking system parks the vehicle into the parking space, the automatic parking system APP on the mobile phone can receive the information that the parking is finished even if the driver is not around the vehicle.
8. When a driver enters a parking lot to pick up a vehicle, a vehicle position request is sent to a parking lot system through a mobile phone, and vehicle position information is sent to the mobile phone of the driver by a parking lot system background.
9. The driver can quickly find the vehicle by means of parking lot map navigation according to the received vehicle position information.
Example 3:
1. the driver drives the vehicle to the parking lot entrance.
2. The vehicle is in information connection with the parking lot through the 4G network, a parking lot map is displayed on a vehicle central control display screen, the existing empty parking space information, the parking space information of other parked vehicles, the vehicle position information of the empty parking space being searched, the vehicle position information of the leaving parking space and the new empty parking space position information to be vacated are displayed on the map, and the vehicles and the parking space information under different conditions are displayed in different colors.
3. And the driver drives the vehicle to the empty parking space area according to the empty parking space information in the display screen and the parking lot map navigation.
4. And in the process of driving to an empty parking space area by a driver, the automatic parking system searches the parking space in real time.
5. And taking the position of the vehicle as a center, updating the information of the empty parking space in real time by the background of the parking lot, and displaying the information on a central control screen of the vehicle.
6. After the automatic parking system selects the effective empty parking space according to the parking requirement, the system prompts a driver to find the effective empty parking space.
7. And clicking a parking button on a vehicle-mounted display screen of the automatic parking system by a driver, then starting the automatic parking system to automatically park the vehicle, and leaving the vehicle after parking is finished.
8. When a driver enters a parking lot to pick up a vehicle, a vehicle position request is sent to a parking lot system through the intelligent automobile key, and the parking lot system background sends vehicle position information to the intelligent automobile key.
9. The driver inputs the received vehicle position information in a parking lot map on the mobile phone, and can quickly find the vehicle by means of navigation of the parking lot map.
It is to be understood that the above-described embodiments of the present invention are merely illustrative of or explaining the principles of the invention and are not to be construed as limiting the invention. Therefore, any modification, equivalent replacement, improvement and the like made without departing from the spirit and scope of the present invention should be included in the protection scope of the present invention. Further, it is intended that the appended claims cover all such variations and modifications as fall within the scope and boundaries of the appended claims or the equivalents of such scope and boundaries.
Claims (5)
1. An automatic parking system interacting with a parking lot is characterized by comprising an ultrasonic sensor device, an image acquisition device, a vehicle control device, a display screen device and a wireless communication device, wherein the ultrasonic sensor device, the image acquisition device, the vehicle control device, the display screen device and the wireless communication device are connected with a data processing system;
the ultrasonic sensor device is arranged around the vehicle body;
the image acquisition devices are arranged below the left rear-view mirror and the right rear-view mirror of the vehicle and on the top of the front part and the rear part of the vehicle;
the data processing system is used for processing the acquired data and the interactive data;
the vehicle control device is used for controlling an actuating mechanism for driving a vehicle;
the display screen device is used for displaying vehicle parameter information, barrier information around the vehicle, parking space information and a parking planning path;
the wireless communication device is connected with the mobile terminal and the parking lot system through a wireless network, the automatic parking system and the whole vehicle are in CAN bus connection communication, the parking lot system uses the license plate number as a vehicle unique identification mark to carry out vehicle positioning and tracking, and the parking space information of the parking lot map is updated in real time, the parking lot map is marked with an empty parking space, occupies the parking space, is searching the vehicle position of the empty parking space, and is leaving the vehicle position of the parking space, and the wireless communication device displays the acquired parking space information of the parking lot map on the display screen device.
2. The automatic parking system interacting with a parking lot of claim 1, wherein 4 ultrasonic sensors are installed at front and rear bumpers of the vehicle, respectively, and 1 ultrasonic sensor is installed at front left, rear left, front right, and rear right of a side of the vehicle, respectively.
3. The automatic parking system interacting with the parking lot according to claim 1, wherein the data processing system is further connected with an early warning device, the early warning device comprises a voice early warning module and a color early warning module, after the information of the category, the direction and the distance of the obstacles around the vehicle is obtained, voice early warning is performed according to a grading early warning strategy and the vehicle state information, and/or the distance ranges of the obstacles at different positions are marked in different color areas on a display screen device.
4. An automatic parking method interacting with a parking lot, comprising the steps of:
s01: when the vehicle runs to the entrance of the parking lot, sending a connection request to the parking lot system;
s02: after the authentication is passed, the parking lot system uses the license plate number as a unique identification mark of the vehicle to carry out vehicle positioning and tracking;
s03: processing the collected parking lot graphic information by a parking lot system background to obtain information of empty parking spaces, occupied parking spaces, vehicle positions of the empty parking spaces being searched and vehicle positions of leaving parking spaces, and marking the information on a parking lot map by using different colors or different shapes;
s04: the method comprises the following steps that the background of a parking lot system updates the information of empty parking spaces in real time, identifies vehicles connected into the parking lot system, transmits a parking lot parking space map with each vehicle as the center to an automatic parking system of the vehicle, and displays the parking lot parking space map on a display screen device of the vehicle;
s05: and after the automatic parking system selects an effective empty parking space, entering a vehicle parking mode to park.
5. The method of automated parking interacting with a parking lot of claim 4, further comprising sending a vehicle location request to a parking lot system through the mobile terminal, the parking lot system sending vehicle information to the mobile terminal.
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