CN112950975A - Automatic parking method, device, computer equipment and computer readable medium - Google Patents

Automatic parking method, device, computer equipment and computer readable medium Download PDF

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Publication number
CN112950975A
CN112950975A CN201911259507.8A CN201911259507A CN112950975A CN 112950975 A CN112950975 A CN 112950975A CN 201911259507 A CN201911259507 A CN 201911259507A CN 112950975 A CN112950975 A CN 112950975A
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China
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parking
vehicle
parked
information
historical
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康延辉
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ZTE Corp
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ZTE Corp
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    • 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
    • G08G1/096877—Systems involving transmission of navigation instructions to the vehicle where the input to the navigation device is provided by a suitable I/O arrangement
    • G08G1/096888—Systems involving transmission of navigation instructions to the vehicle where the input to the navigation device is provided by a suitable I/O arrangement where input information is obtained using learning systems, e.g. history databases
    • 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
    • G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Databases & Information Systems (AREA)
  • Traffic Control Systems (AREA)

Abstract

The automatic parking method comprises the steps of obtaining a vehicle type of a vehicle to be parked in an automatic parking mode, and if historical parking information of the vehicle type in a parking place of the parking place is retrieved and other vehicles are not parked in the parking place, sending historical parking information corresponding to one parking place where other vehicles are not parked to the vehicle to be parked so that the vehicle to be parked is parked in the corresponding parking place according to the historical parking information, wherein the historical parking information comprises parking place information and historical parking operation information; the embodiment of the disclosure can greatly improve the parking efficiency of the parking lot, reduce the rate of human accidents and improve the service efficiency of the parking lot; moreover, the existing parking lot software and hardware facilities are improved less, the implementation is easy, the cost is saved, and the problems of difficult parking and high accident rate of the indoor parking lot can be effectively solved. The present disclosure also provides an automatic parking apparatus, a computer device, and a computer readable medium.

Description

Automatic parking method, device, computer equipment and computer readable medium
Technical Field
The disclosure relates to the technical field of automatic driving, in particular to an automatic parking method, an automatic parking device, computer equipment and a computer readable medium.
Background
With the economic development of China, the quality of life of people is improved, automobiles begin to enter the lives of ordinary people, and the problem of difficult parking is more and more prominent. The parking stall kind is many, and the size position is different, leads to stopping difficult, and especially novice driver or the driver of just trading new car often stop not to advance the parking stall or need the longer time just can stop into, leads to the parking inefficiency from this, leads to the parking area to block up.
At present, most of domestic parking lots do not have workers commanding parking, and in the peak period, people do not help, and it is often found that four or five minutes or even longer is needed for parking one vehicle. Some people are unfamiliar with the parking space and do not stop at the accurate position, so that the vehicle and parking equipment are damaged when the vehicle is moved.
In the existing unmanned parking system, a driver stops a vehicle in a designated area, a hydraulic mechanism lifts a chassis of the vehicle, the chassis is used for towing the vehicle to park the vehicle to a parking space and put down, and the vehicle is towed to a designated position when the driver takes the vehicle. However, this unmanned parking system has higher requirement to the design in parking area, for example the parking area place needs very rule, and the corner requires great etc. uses this unmanned parking system to need reform transform current parking area by a wide margin, and the cost is higher. In addition, although there is a method of guiding parking by a GPS (Global Positioning System) System, the GPS signal is weak indoors and the guidance of parking cannot be performed indoors.
Disclosure of Invention
In view of the above-mentioned deficiencies in the prior art, the present disclosure provides an automatic parking method, apparatus, computer device and computer readable medium.
In a first aspect, an embodiment of the present disclosure provides an automatic parking method, where the method includes:
acquiring the vehicle type of a vehicle to be parked in an automatic parking mode;
retrieving historical parking information of the vehicle type in the parking lot, wherein the historical parking information comprises parking space information and historical parking operation information;
and if historical parking information of the vehicle type in the parking place in the parking lot is retrieved, and other vehicles are not parked in the parking place currently, sending the historical parking information corresponding to one parking place which is not parked with other vehicles to the vehicle to be parked, so that the vehicle to be parked is parked in the corresponding parking place according to the historical parking information.
In some embodiments, if historical parking information of a parking space of the vehicle type in the parking lot is retrieved, and no other vehicle is currently parked in the parking space, sending historical parking information corresponding to one of the parking spaces in which no other vehicle is parked to the vehicle to be parked, including:
if historical parking information of the vehicle type in the parking lot is retrieved, and at least two parking lots do not park other vehicles currently, determining optimal historical parking information from the historical parking information corresponding to the parking lots which do not park other vehicles currently;
and sending the optimal historical parking information to the vehicle to be parked.
In some embodiments, the optimal historical parking information includes one or more of: the parking time is shortest and the number of parking operations is least.
In some embodiments, the automatic parking method further comprises: and if the historical parking information of the vehicle type in the parking lot is searched, and other vehicles are parked in the parking lots currently, or the historical parking information of the vehicle type in the parking lot is not searched, informing the vehicle to be parked to exit the automatic parking mode.
In some embodiments, the obtaining the model of the vehicle to be parked includes: receiving an image comprising a license plate of a vehicle to be parked, and acquiring the vehicle type of the vehicle to be parked according to the image;
after the vehicle type of the vehicle to be parked is obtained according to the image and before the historical parking information of the vehicle type in the parking lot is retrieved, the method further comprises the following steps: receiving detected appearance parameters of a vehicle to be parked, and determining the vehicle type according to the appearance parameters;
the retrieving of the historical parking information of the vehicle type in the parking lot comprises: and if the vehicle type of the vehicle to be parked, which is acquired according to the image, is the same as the vehicle type determined according to the appearance parameters, searching the historical parking information of the vehicle type in the parking lot.
In another aspect, an embodiment of the present disclosure further provides an automatic parking method, including:
in the automatic parking mode, historical parking information sent by an automatic parking controller is received, wherein the historical parking information comprises parking space information and historical parking operation information;
and controlling the vehicle to be parked to run to the corresponding parking space according to the parking space information, and controlling the vehicle to be parked in the parking space according to the historical parking operation information.
In some embodiments, after receiving the historical parking information sent by the automatic parking controller and before controlling the vehicle to be parked to drive to the corresponding parking space according to the parking space information, the method further includes:
determining the position of a vehicle to be parked;
determining a driving route from the position of the vehicle to be parked to a parking space corresponding to the parking space information;
the control according to parking stall information waits that the vehicle that parks travels to corresponding parking stall includes: and if no other vehicle exists on the driving route, controlling the vehicle to be parked to drive to the corresponding parking space according to the parking space information.
In some embodiments, the automatic parking method further comprises:
when the vehicle to be parked passes through the preset mark of the parking lot, the parking operation information of the vehicle to be parked is acquired, wherein the parking operation information comprises: steering wheel angle, steering wheel angular velocity, steering wheel torque, brake pedal acceleration, brake pedal depth, accelerator pedal acceleration, and accelerator pedal depth;
and sending the parking operation information to the automatic parking controller.
In some embodiments, the obtaining parking operation information of the vehicle to be parked includes: acquiring parking operation information of the vehicle to be parked according to a preset period;
the sending the parking operation information to the automatic parking controller includes:
sending the parking operation information to the automatic parking controller according to the period; if the parking operation information acquired in the period is different from the parking operation information acquired in the previous period, the parking operation information acquired in the period is sent to the automatic parking controller; and if the parking operation information acquired in the period is the same as the parking operation information acquired in the previous period, the parking operation information acquired in the period is not sent to the automatic parking controller.
In some embodiments, the automatic parking method further comprises:
switching from the automatic parking mode to a manual parking mode when one or more of the following information is received: a brake control signal and a notification message sent by the automatic parking controller for exiting the automatic parking mode.
In another aspect, an embodiment of the present disclosure further provides an automatic parking controller, including: the system comprises a receiving module, a processing module and a sending module, wherein the receiving module is used for receiving an image comprising a license plate of a vehicle to be parked, and the vehicle to be parked is in an automatic parking mode;
the processing module is used for acquiring the vehicle type of the vehicle to be parked according to the image and retrieving historical parking information of the vehicle type in the parking lot;
the sending module is used for sending historical parking information corresponding to one parking space in which no other vehicle is parked to the vehicle to be parked when the processing module retrieves the historical parking information of the parking space of the vehicle in the vehicle type in the parking lot and the parking space does not currently park other vehicles, so that the vehicle to be parked is parked in the corresponding parking space according to the historical parking information.
In another aspect, an embodiment of the present disclosure further provides a vehicle-mounted terminal, including: the system comprises a receiving module and a control module, wherein the receiving module is used for receiving historical parking information sent by an automatic parking controller in an automatic parking mode, and the historical parking information comprises parking space information and historical parking operation information;
the control module is used for controlling the vehicle to be parked to run to the corresponding parking space according to the parking space information and controlling the vehicle to be parked in the parking space according to the historical parking operation information.
In another aspect, an embodiment of the present disclosure further provides a computer device, including: one or more processors and storage; the storage device stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the automatic parking method provided in the foregoing embodiments.
In still another aspect, the disclosed embodiments further provide a computer readable medium, on which a computer program is stored, wherein the computer program, when executed, implements the automatic parking method provided in the foregoing embodiments.
The method includes the steps that the type of a vehicle to be parked in an automatic parking mode is obtained, if historical parking information of the vehicle in the parking place of the vehicle in the type is retrieved, and other vehicles are not parked in the parking place currently, historical parking information corresponding to one parking place where other vehicles are not parked is sent to the vehicle to be parked, so that the vehicle to be parked is parked in the corresponding parking place according to the historical parking information, wherein the historical parking information comprises parking place information and historical parking operation information; the embodiment of the disclosure can greatly improve the parking efficiency of the parking lot, reduce the rate of human accidents and improve the service efficiency of the parking lot; moreover, the existing parking lot software and hardware facilities are improved less, the implementation is easy, the cost is saved, and the problems of difficult parking and high accident rate of the indoor parking lot can be effectively solved.
Drawings
FIG. 1 is a schematic diagram of an automated parking system architecture according to an embodiment of the present disclosure;
fig. 2 is a schematic flow chart of an automatic parking method according to an embodiment of the disclosure;
FIG. 3 is a schematic flow chart illustrating a process for determining optimal historical parking information according to an embodiment of the present disclosure;
fig. 4 is a schematic plan view of a parking lot provided by an embodiment of the present disclosure;
fig. 5 is a second schematic flow chart of an automatic parking method according to an embodiment of the disclosure;
fig. 6 is a schematic flow chart of a process of sending parking operation information by a vehicle to be parked according to an embodiment of the present disclosure;
fig. 7 is a schematic structural diagram of an automatic parking controller according to an embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of the in-vehicle terminal provided in the embodiment of the present disclosure.
Detailed Description
Example embodiments will be described more fully hereinafter with reference to the accompanying drawings, but which may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Embodiments described herein may be described with reference to plan and/or cross-sectional views in light of idealized schematic illustrations of the disclosure. Accordingly, the example illustrations can be modified in accordance with manufacturing techniques and/or tolerances. Accordingly, the embodiments are not limited to the embodiments shown in the drawings, but include modifications of configurations formed based on a manufacturing process. Thus, the regions illustrated in the figures have schematic properties, and the shapes of the regions shown in the figures illustrate specific shapes of regions of elements, but are not intended to be limiting.
Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
The disclosed embodiment provides an automatic parking method, which is applied to an automatic parking system, as shown in fig. 1, the automatic parking system includes: the parking system comprises a vehicle to be parked, an RSU (Road Side Unit), an automatic parking controller, a parking lot sensor and a database server, wherein the vehicle comprises an ECU (Electronic Control Unit) and an OBU (On board Unit). The parking lot sensor is used for collecting the appearance parameters of the vehicle to be parked and transmitting the appearance parameters to the automatic parking controller. The ECU is used for collecting the parking operation information of the driver to the vehicle and transmitting the information to the OBU through a CAN (Controller Area Network) bus. The OBU transmits the parking operation information to the RSU via V2X (Vehicle to electric) wireless communication technology. The RSU transmits the parking operation information to the automatic parking controller. The database server is used for recording historical parking operation information in the parking lot. In the automatic parking mode, the automatic parking controller transmits historical parking information matched with a vehicle to be parked to the OBU through the RSU, the ECU acquires the historical parking information from the OBU through the CAN bus, and controls a walking execution mechanism of the vehicle to park the vehicle into a corresponding parking space according to the historical parking information.
As shown in fig. 2, the automatic parking method provided by the embodiment of the present disclosure includes the following steps:
and step 11, acquiring the vehicle type of the vehicle to be parked in the automatic parking mode.
In the embodiment of the disclosure, the vehicle to be parked is in the automatic parking mode, that is, after the driver drives the vehicle into the parking lot, the driver starts the automatic parking mode, so that the vehicle can automatically drive to a corresponding parking space and park in the parking space according to the related information sent by the automatic parking controller.
In this step, when the vehicle to be parked enters the parking lot area, the image acquisition device acquires an image including a license plate of the vehicle to be parked and sends the image to the automatic parking controller. The automatic parking controller determines the license plate number of the vehicle to be parked from the image comprising the license plate of the vehicle to be parked by using an image recognition algorithm, and inquires vehicle registration information from a traffic management platform, so that the vehicle type corresponding to the license plate number is determined.
And step 12, searching historical parking information of the vehicle type in the parking lot.
In this step, the automatic parking controller searches the database server for whether or not there is historical parking information for the vehicle of the vehicle type determined in step 12.
And step 13, if historical parking information of the vehicle type in the parking place in the parking lot is retrieved, and no other vehicle is parked in the parking place currently, sending the historical parking information corresponding to one parking place which is not parked with the other vehicle to the vehicle to be parked, so that the vehicle to be parked is parked in the corresponding parking place according to the historical parking information.
The historical parking information may include parking space information and historical parking operation information, and the parking space information may include a parking space number, a position, and the like. The historical parking operation information refers to the parking operation information of the vehicle with the same type as the vehicle to be parked in the parking lot, and the parking operation information can comprise: steering wheel angle, steering wheel angular velocity, steering wheel torque, brake pedal acceleration, brake pedal depth, accelerator pedal acceleration, accelerator pedal depth, and the like.
In this step, if the automatic parking controller retrieves historical parking information of a certain parking space or certain parking spaces of the vehicle type in the parking lot, which indicates that a vehicle of the same vehicle type as the vehicle to be parked has been parked in the parking lot, it is further determined whether an unoccupied parking space exists in the parking spaces, if an unoccupied parking space exists, historical parking information corresponding to one of the unoccupied parking spaces is sent to the vehicle to be parked, and the vehicle to be parked can guide the vehicle to be parked to the corresponding parking space (i.e., the unoccupied parking space) according to the parking space information and park the vehicle according to the historical parking operation information.
It should be noted that, if the automatic parking controller retrieves historical parking information of a vehicle of the same vehicle type, and a parking space corresponding to the historical parking information is not occupied currently, the historical parking information is sent to the automatic parking controller. If the automatic parking controller retrieves historical parking information of vehicles of the same type and the parking spaces corresponding to the historical parking information are not occupied, selecting one historical parking information from the historical parking information and sending the historical parking information to the automatic parking controller to serve as a parking basis of the vehicle to be parked. The specific implementation of selecting a historical parking information is described in detail later in conjunction with fig. 3.
As can be seen from steps 11 to 13, in the automatic parking method provided by the embodiment of the present disclosure, the vehicle type of the vehicle to be parked in the automatic parking mode is obtained, and if historical parking information of the vehicle type in a parking space in the parking lot is retrieved and no other vehicle is currently parked in the parking space, historical parking information corresponding to one of the parking spaces in which no other vehicle is parked is sent to the vehicle to be parked, so that the vehicle to be parked is parked in the corresponding parking space according to the historical parking information, where the historical parking information includes parking space information and historical parking operation information; the embodiment of the disclosure can greatly improve the parking efficiency of the parking lot, reduce the rate of human accidents and improve the service efficiency of the parking lot; moreover, the existing parking lot software and hardware facilities are improved less, the implementation is easy, the cost is saved, and the problems of difficult parking and high accident rate of the indoor parking lot can be effectively solved.
In some embodiments, as shown in fig. 3, if historical parking information of a parking space of the vehicle type in the parking lot is retrieved, and no other vehicle is currently parked in the parking space, sending historical parking information corresponding to one of the parking spaces in which no other vehicle is parked to the vehicle to be parked (i.e., step 13), including the following steps:
step 131, if historical parking information of the vehicle type in the parking space in the parking lot is retrieved, and at least two parking spaces do not currently park other vehicles, determining optimal historical parking information from the historical parking information corresponding to the parking spaces where no other vehicles are currently parked.
In some embodiments, the optimal historical parking information includes one or more of: the parking time is shortest and the number of parking operations is least. The number of parking operations may include the number of times of repeatedly operating the steering wheel when the driver parks in the parking space, the number of times of getting in and out of the parking space when the driver parks in the parking space, and the like.
And step 132, sending the optimal historical parking information to the vehicle to be parked.
In some embodiments, the automatic parking method may further include the steps of: and if the historical parking information of the vehicle type in the parking lot is searched, and other vehicles are parked in the parking lots currently, or the historical parking information of the vehicle type in the parking lot is not searched, informing the vehicle to be parked to exit the automatic parking mode. That is, if no other vehicle of the same type as the vehicle to be parked has been heard in the parking lot, or another vehicle of the same type as the vehicle to be parked has been parked in the parking lot, but the parking space is currently occupied, the historical parking data cannot be used as a basis for controlling the vehicle to be parked to park, so that the vehicle to be parked is notified to exit the automatic parking mode and enter the manual parking mode, so that the driver can operate and control the vehicle to be parked to park in other vacant parking spaces in the parking lot.
In some embodiments, in order to ensure the accuracy of the parking information, the vehicle type may be determined by detecting an appearance parameter of the vehicle to ensure the accuracy of the vehicle type. Therefore, after acquiring the vehicle type of the vehicle to be parked according to the image (i.e. step 11), and before retrieving the historical parking information of the vehicle type in the local parking lot (i.e. step 12), the method further comprises: and receiving the detected appearance parameters of the vehicle to be parked, and determining the vehicle type according to the appearance parameters. Accordingly, the retrieving the historical parking information of the vehicle type in the parking lot (i.e. step 12) includes: and if the type of the vehicle to be parked, which is acquired according to the image, is the same as the type determined according to the appearance parameters, searching the historical parking information of the vehicle of the type in the parking lot.
The appearance parameters may include one or any combination of the following: vehicle height, vehicle width, wheel base and vehicle length. The appearance parameters of the vehicle to be parked may be acquired using a parking lot sensor provided in the parking lot. As shown in fig. 4, a parking sensor (not shown) is disposed in a designated area (e.g., a standard parking area) of the parking lot, which may be an entrance area of the parking lot. When the vehicle to be parked enters the designated area of the parking lot, the parking lot sensor is triggered to acquire the appearance parameters of the vehicle to be parked.
Another embodiment of the present disclosure provides an automatic parking method, as shown in fig. 5, the method including the steps of:
and 21, receiving historical parking information sent by the automatic parking controller in the automatic parking mode.
In this step, if the vehicle to be parked is in the automatic parking mode, after the vehicle enters the parking lot area, the OBU of the vehicle to be parked may receive the historical parking information sent by the automatic parking controller through the RSU. The historical parking information comprises parking space information and historical parking operation information. The parking space information may include a parking space number, a position, etc., and the parking operation information may include: steering wheel angle, steering wheel angular velocity, steering wheel torque, brake pedal acceleration, brake pedal depth, accelerator pedal acceleration, accelerator pedal depth, and the like.
And step 22, controlling the vehicle to be parked to the corresponding parking space according to the parking space information, and controlling the vehicle to be parked in the parking space according to the historical parking operation information.
In this step, the OBU of the vehicle to be parked unpacks the acquired historical operation information data, analyzes the data into a frame sequence with time as a sequence, communicates with the ECU through the CAN bus, and caches the historical operation information data to the ECU. The ECU takes out corresponding data according to time sequence, converts data of an electronic accelerator (namely an accelerator pedal), a brake (namely a brake pedal) and a steering machine (namely a steering wheel) into corresponding parameters of a throttle valve controller, a brake booster pump controller and a directional actuator, and performs interpolation calculation according to historical accumulated error information. And the ECU respectively sends the calculated control parameters to a traveling execution mechanism such as an electronic throttle controller, a brake booster pump controller, a directional actuator and the like through a CAN bus, so that the vehicle to be parked is controlled to travel to a corresponding parking space and complete parking. And finishing the parking process after the rear tire of the vehicle is in contact with the limiter and the engine is turned off.
In some embodiments, after receiving the historical parking information sent by the automatic parking controller (i.e. step 21) and before controlling the vehicle to be parked to travel to the corresponding parking space according to the parking space information (i.e. step 22), the method further includes: and determining the position of the vehicle to be parked, and determining a driving route from the position of the vehicle to be parked to a parking space corresponding to the parking space information. Correspondingly, the controlling the vehicle to be parked to the corresponding parking space according to the parking space information (i.e. step 22) includes: and if no other vehicles exist on the driving route, controlling the vehicle to be parked to drive to the corresponding parking space according to the parking space information. In the embodiment, the vehicle to be parked does not automatically park according to the historical parking information after receiving the historical parking information, but whether other vehicles exist on a driving route from the current position of the vehicle to be parked to the target parking space is judged, and the vehicle to be parked is controlled to drive to the target parking space and park in the target parking space under the condition that no other vehicles exist, so that the safety of automatic parking is improved.
It should be noted that, if there are other vehicles on the driving route, the vehicle to be parked may wait for a preset time in place, and after the other vehicles leave the driving route, the vehicle to be parked is controlled to drive to the corresponding parking space according to the parking space information. If there is another vehicle on the traveling route, the automatic parking mode may be directly switched to the manual parking mode.
In some embodiments, as shown in fig. 4 and 6 in combination, the automatic parking method further includes the steps of:
and step 31, when the vehicle to be parked passes through the preset mark of the parking lot, acquiring parking operation information of the vehicle to be parked.
The parking operation information includes: steering wheel angle, steering wheel angular velocity, steering wheel torque, brake pedal acceleration, brake pedal depth, accelerator pedal acceleration, and accelerator pedal depth.
In this step, as shown in fig. 4, the vehicle to be parked enters a specified area (e.g., a standard parking area), i.e., a parking operation information collection process is triggered. The standard parking area is provided with a mark in the vehicle driving direction, as shown in fig. 4, the arrow direction is the driving direction, the mark is a sensing line and comprises a start line 1 and a start line 2, and when a vehicle to be parked passes through the start line 1 or the start line 2, the parking operation information is collected. And a vehicle-mounted sensor on the vehicle to be parked acquires parking operation information in the parking process of the vehicle and reports the parking operation information to the ECU.
And step 32, sending the parking operation information to the automatic parking controller.
In this step, the ECU transmits the parking operation information to the OBU through the CAN bus, the OBU transmits the parking operation information to the RSU through the V2X, the RSU may transmit the parking operation information to the automatic parking controller through the 5G network or the wired network, and the database server creates the data record storage area to record and store the parking operation information.
It should be noted that, no matter whether the vehicle to be parked is in the automatic parking mode, the automatic parking controller may obtain the parking operation information of the vehicle, so as to be used as the basis for controlling other vehicles to park in the parking space in the following.
In some embodiments, the acquiring parking operation information of the vehicle to be parked (i.e., step 31) includes: and acquiring parking operation information of the vehicle to be parked according to a preset period. Accordingly, the transmitting the parking operation information to the automatic parking controller (i.e., step 32) includes: sending the parking operation information to an automatic parking controller according to the period; if the parking operation information acquired in the period is different from the parking operation information acquired in the previous period, the parking operation information acquired in the period is sent to the automatic parking controller; and if the parking operation information acquired in the period is the same as the parking operation information acquired in the previous period, the parking operation information acquired in the period is not sent to the automatic parking controller.
In the embodiment, the ECU collects parking operation information according to a preset period, and sends the collected parking operation information to the OBU through the CAN bus, and the OBU filters the received data (i.e., the parking operation information), and when the parameter data is not changed, the parameter data is considered as invalid data, and the invalid data is filtered, i.e., the data is not reported any more, and only the changed data is reported.
In order to improve the safety and ensure the safety of passengers in the vehicle, in some embodiments, the automatic parking method further comprises the following steps: switching from the automatic parking mode to the manual parking mode when one or more of the following information is received: a brake control signal and a notification message sent by the automatic parking controller for exiting the automatic parking mode. That is, in the automatic parking, if the driver finds danger, the manual parking mode is switched as long as the driver steps on the brake, and the entire parking action is immediately stopped.
Further, in some embodiments, the automatic parking method further comprises the steps of: and obtaining the reversing radar information, if the reversing path and/or the running path have obstacles or dangerous conditions according to the reversing radar information, controlling the vehicle to be parked to park, and sending the reversing radar information to the automatic parking controller.
The system realizes a rapid and safe parking function by utilizing modern control and communication technology and auxiliary driving technology. The vehicle-mounted network is connected with the network of the parking lot, relevant data in the vehicle parking process are collected and stored in the database server, when the same type of vehicle enters a parking area and is in an automatic parking mode, the automatic parking controller downloads the stored parking data of the same type of vehicle to the vehicle to be parked through the RSU, and the vehicle to be parked is automatically parked in a position according to a parking space corresponding to the parking data. The automatic parking controller determines the parking quality according to a preset selection strategy and provides higher historical parking information for vehicles of the same type, so that the parking efficiency of a parking lot is improved.
Based on the same technical concept, an embodiment of the present disclosure further provides an automatic parking controller, as shown in fig. 7, the automatic parking controller includes: the processing module 71 and the sending module 72, the processing module 71 is configured to obtain a vehicle type of the vehicle to be parked in the automatic parking mode, and retrieve historical parking information of the vehicle type in the parking lot.
The sending module 72 is configured to, when the processing module 71 retrieves historical parking information of a parking space of the vehicle type in the parking lot and no other vehicle is currently parked in the parking space, send historical parking information corresponding to one of the parking spaces in which no other vehicle is parked to the vehicle to be parked, so that the vehicle to be parked is parked in the corresponding parking space according to the historical parking information.
In some embodiments, the processing module 71 is configured to, when historical parking information of parking spaces of vehicles of the vehicle type in the parking lot is retrieved, and at least two of the parking spaces currently do not park other vehicles, determine optimal historical parking information from the historical parking information corresponding to the parking spaces where no other vehicles currently park is.
The sending module 72 is configured to send the optimal historical parking information to the vehicle to be parked.
In some embodiments, the optimal historical parking information includes one or more of: the parking time is shortest and the number of parking operations is least.
In some embodiments, the processing module 71 is further configured to notify the vehicle to be parked to exit the automatic parking mode when historical parking information of a parking space in the parking lot is retrieved, and other vehicles are currently parked in the parking space, or when historical parking information of a vehicle of the vehicle type in the parking lot is not retrieved.
In some embodiments, the automatic parking controller further comprises a receiving module for receiving the detected appearance parameters of the vehicle to be parked.
The processing module 71 is further configured to determine a vehicle type according to the appearance parameters; and when the type of the vehicle to be parked obtained according to the image is the same as the type determined according to the appearance parameters, retrieving historical parking information of the vehicle of the type in the parking lot.
Based on the same concept, an embodiment of the present disclosure further provides a vehicle-mounted terminal, as shown in fig. 8, where the vehicle-mounted terminal includes a receiving module 81 and a control module 82, and the receiving module 81 is configured to receive, in an automatic parking mode, historical parking information sent by an automatic parking controller, where the historical parking information includes parking space information and historical parking operation information.
The control module 82 is configured to control the vehicle to be parked to the corresponding parking space according to the parking space information, and control the vehicle to be parked in the parking space according to the historical parking operation information.
In some embodiments, the control module 82 is further configured to determine a position of a vehicle to be parked, and determine a driving route from the position of the vehicle to be parked to a parking space corresponding to the parking space information; and when no other vehicle exists on the driving route, controlling the vehicle to be parked to drive to the corresponding parking space according to the parking space information.
In some embodiments, the receiving module 81 is further configured to, when the vehicle to be parked passes through a preset mark of the parking lot, acquire parking operation information of the vehicle to be parked, where the parking operation information includes: steering wheel angle, steering wheel angular velocity, steering wheel torque, brake pedal acceleration, brake pedal depth, accelerator pedal acceleration, and accelerator pedal depth.
The vehicle-mounted terminal further comprises a sending module, and the sending module is further used for sending the parking operation information to the automatic parking controller.
In some embodiments, the receiving module 81 is configured to obtain the parking operation information of the vehicle to be parked according to a preset period.
The sending module is used for sending the parking operation information to the automatic parking controller according to the period; when the parking operation information acquired in the period is different from the parking operation information acquired in the previous period, the parking operation information acquired in the period is sent to the automatic parking controller; and when the parking operation information acquired in the period is the same as the parking operation information acquired in the previous period, the parking operation information acquired in the period is not sent to the automatic parking controller.
In some embodiments, the receiving module 81 is further configured to receive a brake control signal and/or a notification message sent by the automatic parking controller to exit the automatic parking mode.
The control module 82 is further configured to switch from the automatic parking mode to the manual parking mode when the receiving module 81 receives one or more of the following information: a brake control signal and a notification message sent by the automatic parking controller for exiting the automatic parking mode.
An embodiment of the present disclosure further provides a computer device, including: one or more processors and storage; the storage device stores one or more programs, and when the one or more programs are executed by the one or more processors, the one or more processors implement the automatic parking method provided in the foregoing embodiments.
The disclosed embodiments also provide a computer readable medium, on which a computer program is stored, wherein the computer program, when executed, implements the automatic parking method provided by the foregoing embodiments.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods disclosed above, functional modules/units in the apparatus, may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted in a generic and descriptive sense only and not for purposes of limitation. In some instances, features, characteristics and/or elements described in connection with a particular embodiment may be used alone or in combination with features, characteristics and/or elements described in connection with other embodiments, unless expressly stated otherwise, as would be apparent to one skilled in the art. It will, therefore, be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention encompassed by the appended claims.

Claims (14)

1. An automatic parking method comprising:
acquiring the vehicle type of a vehicle to be parked in an automatic parking mode;
retrieving historical parking information of the vehicle type in the parking lot, wherein the historical parking information comprises parking space information and historical parking operation information;
and if historical parking information of the vehicle type in the parking place in the parking lot is retrieved, and other vehicles are not parked in the parking place currently, sending the historical parking information corresponding to one parking place which is not parked with other vehicles to the vehicle to be parked, so that the vehicle to be parked is parked in the corresponding parking place according to the historical parking information.
2. The method of claim 1, wherein if historical parking information of a parking space in the parking lot is retrieved for the vehicle of the vehicle type and no other vehicle is currently parked in the parking space, sending the historical parking information corresponding to one parking space in which no other vehicle is parked to the vehicle to be parked, comprises:
if historical parking information of the vehicle type in the parking lot is retrieved, and at least two parking lots do not park other vehicles currently, determining optimal historical parking information from the historical parking information corresponding to the parking lots which do not park other vehicles currently;
and sending the optimal historical parking information to the vehicle to be parked.
3. The method of claim 2, wherein the optimal historical parking information comprises one or more of: the parking time is shortest and the number of parking operations is least.
4. The method of claim 1, further comprising: and if the historical parking information of the vehicle type in the parking lot is searched, and other vehicles are parked in the parking lots currently, or the historical parking information of the vehicle type in the parking lot is not searched, informing the vehicle to be parked to exit the automatic parking mode.
5. The method of any one of claims 1-4, wherein said obtaining a model of a vehicle to be parked comprises: receiving an image comprising a license plate of a vehicle to be parked, and acquiring the vehicle type of the vehicle to be parked according to the image;
after the vehicle type of the vehicle to be parked is obtained according to the image and before the historical parking information of the vehicle type in the parking lot is retrieved, the method further comprises the following steps: receiving detected appearance parameters of a vehicle to be parked, and determining the vehicle type according to the appearance parameters;
the retrieving of the historical parking information of the vehicle type in the parking lot comprises: and if the vehicle type of the vehicle to be parked, which is acquired according to the image, is the same as the vehicle type determined according to the appearance parameters, searching the historical parking information of the vehicle type in the parking lot.
6. An automatic parking method comprising:
in the automatic parking mode, historical parking information sent by an automatic parking controller is received, wherein the historical parking information comprises parking space information and historical parking operation information;
and controlling the vehicle to be parked to run to the corresponding parking space according to the parking space information, and controlling the vehicle to be parked in the parking space according to the historical parking operation information.
7. The method of claim 6, wherein after receiving the historical parking information sent by the automatic parking controller and before controlling the vehicle to be parked to drive to the corresponding parking space according to the parking space information, the method further comprises:
determining the position of a vehicle to be parked;
determining a driving route from the position of the vehicle to be parked to a parking space corresponding to the parking space information;
the control according to parking stall information waits that the vehicle that parks travels to corresponding parking stall includes: and if no other vehicle exists on the driving route, controlling the vehicle to be parked to drive to the corresponding parking space according to the parking space information.
8. The method of claim 6, further comprising:
when the vehicle to be parked passes through the preset mark of the parking lot, the parking operation information of the vehicle to be parked is acquired, wherein the parking operation information comprises: steering wheel angle, steering wheel angular velocity, steering wheel torque, brake pedal acceleration, brake pedal depth, accelerator pedal acceleration, and accelerator pedal depth;
and sending the parking operation information to the automatic parking controller.
9. The method of claim 8, wherein the acquiring parking operation information of the vehicle to be parked comprises: acquiring parking operation information of the vehicle to be parked according to a preset period;
the sending the parking operation information to the automatic parking controller includes:
sending the parking operation information to the automatic parking controller according to the period; if the parking operation information acquired in the period is different from the parking operation information acquired in the previous period, the parking operation information acquired in the period is sent to the automatic parking controller; and if the parking operation information acquired in the period is the same as the parking operation information acquired in the previous period, the parking operation information acquired in the period is not sent to the automatic parking controller.
10. The method of any of claims 6-9, further comprising:
switching from the automatic parking mode to a manual parking mode when one or more of the following information is received: a brake control signal and a notification message sent by the automatic parking controller for exiting the automatic parking mode.
11. An automatic parking controller comprising: the system comprises a processing module and a sending module, wherein the processing module is used for acquiring the vehicle type of a vehicle to be parked in an automatic parking mode and retrieving the historical parking information of the vehicle type in the parking lot;
the sending module is used for sending historical parking information corresponding to one parking space in which no other vehicle is parked to the vehicle to be parked when the processing module retrieves the historical parking information of the parking space of the vehicle in the vehicle type in the parking lot and the parking space does not currently park other vehicles, so that the vehicle to be parked is parked in the corresponding parking space according to the historical parking information.
12. An in-vehicle terminal comprising: the system comprises a receiving module and a control module, wherein the receiving module is used for receiving historical parking information sent by an automatic parking controller in an automatic parking mode, and the historical parking information comprises parking space information and historical parking operation information;
the control module is used for controlling the vehicle to be parked to run to the corresponding parking space according to the parking space information and controlling the vehicle to be parked in the parking space according to the historical parking operation information.
13. A computer device, comprising:
one or more processors;
a storage device having one or more programs stored thereon;
the one or more programs, when executed by the one or more processors, cause the one or more processors to implement the automated parking method of any of claims 1-10.
14. A computer-readable medium on which a computer program is stored, wherein the program, when executed, implements the automatic parking method according to any one of claims 1-10.
CN201911259507.8A 2019-12-10 2019-12-10 Automatic parking method, device, computer equipment and computer readable medium Pending CN112950975A (en)

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Application Number Priority Date Filing Date Title
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Publication number Priority date Publication date Assignee Title
JP2013117780A (en) * 2011-12-01 2013-06-13 Denso Corp Parking position guidance system and parking position guidance device for vehicle
US20160068158A1 (en) * 2014-09-10 2016-03-10 Ford Global Technologies, Llc Automatic park and reminder system and method of use
CN109727478A (en) * 2017-10-27 2019-05-07 丰田自动车株式会社 Database generating means, parking lot retrieval device and method
CN109785652A (en) * 2019-01-29 2019-05-21 广州大学 A kind of automatic stopping control method, device, system, medium and equipment
CN110517527A (en) * 2019-08-21 2019-11-29 同济大学 Isomerous multi-source wireless sensor network and its it is autonomous nobody park method

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2013117780A (en) * 2011-12-01 2013-06-13 Denso Corp Parking position guidance system and parking position guidance device for vehicle
US20160068158A1 (en) * 2014-09-10 2016-03-10 Ford Global Technologies, Llc Automatic park and reminder system and method of use
CN109727478A (en) * 2017-10-27 2019-05-07 丰田自动车株式会社 Database generating means, parking lot retrieval device and method
CN109785652A (en) * 2019-01-29 2019-05-21 广州大学 A kind of automatic stopping control method, device, system, medium and equipment
CN110517527A (en) * 2019-08-21 2019-11-29 同济大学 Isomerous multi-source wireless sensor network and its it is autonomous nobody park method

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