CN113112853A - Automatic passenger-replacing parking control method and device - Google Patents
Automatic passenger-replacing parking control method and device Download PDFInfo
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- CN113112853A CN113112853A CN202110326684.4A CN202110326684A CN113112853A CN 113112853 A CN113112853 A CN 113112853A CN 202110326684 A CN202110326684 A CN 202110326684A CN 113112853 A CN113112853 A CN 113112853A
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- 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
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
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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
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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Abstract
The invention provides an automatic passenger-replacing parking control method and device, belongs to the technical field of automatic driving, and can at least partially solve the problem that the existing unmanned automatic parking has high requirements on an industrial personal computer, so that the popularization and the use are difficult. The invention discloses an automatic passenger-replacing parking control method, which comprises the following steps: receiving a parking request sent by a vehicle end, wherein the parking request comprises initial position information; determining a recommended parking space according to the current parking space state information; generating a navigation route according to the initial position information and the position information of the recommended parking space, and sending the navigation route to the vehicle end; receiving real-time position information and environment data sent by the vehicle end according to a preset rule; sending a navigation route to the vehicle end according to the real-time position information; and judging the driving environment of the vehicle end according to the environment data, and sending a judgment result to the vehicle end.
Description
Technical Field
The invention belongs to the technical field of automatic parking, and particularly relates to an automatic passenger-replacing parking control method and device.
Background
The Internet of vehicles has become an important development direction of strategic emerging industries in China as the most potential application in the 5G and automobile fields, and is a research hotspot across fields and in a comprehensive manner at present. The government of the United states, Europe, Asia and other countries and regions highly attaches importance to the development of the Internet of vehicles industry, and the Internet of vehicles industry is taken as a strategic high point, and the development of the industry is promoted by establishing national policies or legislation. At present, the Internet of vehicles industry is raised to the national strategic height in China, and the industrial policy is continuously good. The car networking technology standard system has finished the top level design from the national standard level. The industrialization process of the internet of vehicles in China is gradually accelerated, and relatively complete industrial chain ecology including a communication chip, a communication module, terminal equipment, whole vehicle manufacturing, operation service, test authentication, high-precision positioning, map service and the like is formed around LTE-V2X.
The intelligent internet automobile technology taking unmanned driving as the development direction becomes a research hotspot, and is expected to lead a new generation of automobile industrial revolution and change the travel mode of people. However, the current industry consistently considers that unmanned driving of the L5 grade is realized on an actual traffic road, and the autonomous unmanned parking technology in a fixed scene is expected to fall to the ground earlier, which is helpful for solving some parking and traffic problems in urban areas with dense population.
With the deep research of the parking technology, the single-car intelligent autonomous parking which is mainly adopted at present has great defects, an environment sensing system adopts laser radar, millimeter wave radar, a vision camera, a high-precision navigation positioning system, a 360-degree looking-around system and the like, data acquired by the environment sensing system is provided for an industrial personal computer on a single car to be processed, the industrial personal computer needs to complete positioning, path planning and decision control functions, the requirements on the industrial personal computer are high, the power consumption is large, the problem that the autonomous parking which is completely unmanned has great challenges to land is caused, and the large-scale popularization and use are difficult.
Disclosure of Invention
The invention at least partially solves the problem that the existing unmanned automatic parking has high requirement on an industrial personal computer and causes difficulty in popularization and use, and provides an automatic passenger-replacing parking control method and device.
The technical scheme adopted for solving the technical problem of the invention is an automatic passenger-replacing parking control method, which comprises the following steps:
receiving a parking request sent by a vehicle end, wherein the parking request comprises initial position information;
determining a recommended parking space according to the current parking space state information;
generating a navigation route according to the initial position information and the position information of the recommended parking space, and sending the navigation route to the vehicle end;
receiving real-time position information and environment data sent by the vehicle end according to a preset rule;
sending a navigation route to the vehicle end according to the real-time position information; and judging the driving environment of the vehicle end according to the environment data, and sending a judgment result to the vehicle end.
Optionally, the step of determining the driving environment of the vehicle end according to the environment data and sending the determination result to the vehicle end includes:
and judging whether the vehicle end has obstacles or not according to the environment data, and if so, sending the related information of the obstacles to the vehicle end.
Optionally, the step of sending the navigation route to the vehicle end according to the real-time location information includes:
judging whether the vehicle end reaches the recommended parking space or not according to the real-time position information; when the fact that the vehicle end does not reach the recommended parking space is judged, a navigation route is sent to the vehicle end; and when the vehicle end is judged to reach the recommended parking space, sending a reaching instruction to the vehicle end.
Further optionally, when it is determined that the vehicle end does not reach the recommended parking space, the step of sending the navigation route to the vehicle includes:
and when the vehicle end is judged not to reach the recommended parking space, judging whether the vehicle end is separated from a previously sent navigation route or not according to the real-time position information, if so, generating a new navigation route according to the current real-time position information and the position information of the recommended parking space, and sending the new navigation route to the vehicle end.
Optionally, before receiving the parking request sent by the vehicle side, the method further includes: and establishing a PDU session with the vehicle end.
Another technical solution adopted to solve the technical problem of the present invention is an automatic passenger-assistant parking control device, comprising:
the system comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving a parking request sent by a vehicle terminal, and the parking request comprises initial position information; the system is also used for receiving the real-time position information and the environmental data sent by the vehicle end according to a preset rule;
the parking space determining unit is used for determining a recommended parking space according to the current parking space state information;
the navigation generating unit is used for generating a navigation route according to the initial position information and the position information of the recommended parking space and sending the navigation route to the vehicle end; the real-time position information is used for sending a navigation route to the vehicle end;
and the environment judgment unit is used for judging the driving environment of the vehicle end according to the environment data and sending a judgment result to the vehicle end.
Optionally, the environment determining unit is specifically configured to:
and judging whether the vehicle end has obstacles or not according to the environment data, and if so, sending the related information of the obstacles to the vehicle end.
Optionally, the navigation generating unit is specifically configured to:
judging whether the vehicle end reaches the recommended parking space or not according to the real-time position information; when the fact that the vehicle end does not reach the recommended parking space is judged, a navigation route is sent to the vehicle end; and when the vehicle end is judged to reach the recommended parking space, sending a reaching instruction to the vehicle end.
Further optionally, the navigation generating unit is specifically configured to:
and when the vehicle end is judged not to reach the recommended parking space, judging whether the vehicle end is separated from a previously sent navigation route or not according to the real-time position information, if so, generating a new navigation route according to the current real-time position information and the position information of the recommended parking space, and sending the new navigation route to the vehicle end.
Optionally, the automatic valet parking control device further includes: and the communication unit is used for establishing a PDU session with the vehicle terminal before receiving the parking request sent by the vehicle terminal.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of an automatic valet parking control method according to an embodiment of the present invention;
FIG. 2 is a flow chart of another method for automated valet parking control in accordance with an embodiment of the present invention;
fig. 3 is a block diagram of an automatic valet parking control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by like reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale. Moreover, certain well-known elements may not be shown in the figures.
In the following description, numerous specific details of the invention, such as structure, materials, dimensions, processing techniques and techniques of components, are set forth in order to provide a more thorough understanding of the invention. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details.
Example 1:
as shown in fig. 1, the present embodiment provides an automatic valet parking control method, which can be implemented by an automatic valet parking control device, where each unit in the automatic valet parking control device can be arranged on three sides of a vehicle-mounted end, a parking lot end and an edge node end. The automatic passenger-replacing parking control method comprises the following steps:
and S11, the receiving unit receives a parking request sent by the vehicle terminal, wherein the parking request comprises initial position information.
And S12, the parking space determining unit determines a recommended parking space according to the current parking space state information.
And S13, the navigation generating unit generates a navigation route according to the initial position information and the position information of the recommended parking space, and sends the navigation route to the vehicle side.
And S14, the receiving unit receives the real-time position information and the environment data sent by the vehicle end according to a preset rule.
S15, the navigation generating unit sends a navigation route to the vehicle end according to the real-time position information; the environment judgment unit judges the driving environment of the vehicle end according to the environment data and sends the judgment result to the vehicle end.
In the automatic parking control method provided by the embodiment, the parking request of the vehicle end is received and processed at the edge node, the recommended parking space is determined according to the parking space state obtained from the parking lot section, the path planning, decision making and the like of automatic parking are realized, and the requirements on the industrial personal computer on a single vehicle are reduced.
Example 2:
as shown in fig. 2, the automatic valet parking control method provided in this embodiment may be implemented by an automatic valet parking control device, and each unit in the automatic valet parking control device may be implemented by being disposed on three sides of a vehicle-mounted end, a parking lot end, and an edge node end.
Before the method for controlling automatic valet parking, the method further includes: and the automatic valet parking control device establishes a PDU session with the vehicle end. The steps may specifically include: s201, after the vehicle-mounted terminal is started up, a registration request is sent to a 5G base station, wherein the registration request comprises parameters such as a registration type (initial registration), SUPI (user permanent identifier) or 5G-GUTI (5G Global Unique UE Identity; 5G Globally Unique Temporary UE Identity), TAI (if available) accessed last time, a security parameter, NSSAI (Single Network Session Selection Association) of the request, a UE 5GC capability, a PDU session state, a PDU session needing to be activated, a follow-up request, MICO mode preference and the like. S202, the 5G base station selects a proper AMF (5G core access and mobility management function), and forwards the registration request of the vehicle-mounted terminal. S203, after receiving the registration request, the AMF selects a proper UDM to acquire the subscription information of the vehicle-mounted terminal. And S204, indicating that the terminal type is the vehicle-mounted terminal in the subscription information, wherein the distributed slices are slices which are specially distributed to the Internet of vehicles in a unified mode. S205, the AMF receives the subscription information of the vehicle-mounted terminal sent by the UDM and generates context information. S206, the AMF sends registration success information to the vehicle-mounted terminal. And S207, the vehicle-mounted terminal sends a PDU session establishment request to the 5G base station after the registration is successful. S208, the 5G base station forwards the request to the AMF. S209, the AMF selects a proper SMF according to the subscription information. And S2010, the SMF selects the UDF directly connected with the base station of the cell where the vehicle-mounted terminal is located according to the slice information of the vehicle-mounted terminal. S2011, the vehicle-mounted terminal establishes PDU session connection with the MEC of the cell where the vehicle-mounted terminal is located. S2012, when the vehicle drives to the entrance of the parking lot, the vehicle-mounted terminal is switched to the base station at the registered base station, the SMF selects the UDF directly connected with the base station of the cell where the vehicle-mounted terminal is located, and the vehicle-mounted terminal establishes PDU session connection with the MEC of the cell where the vehicle-mounted terminal is located.
The automatic passenger-riding-substitute parking control method provided by the embodiment comprises the following steps:
and S21, the receiving unit receives a parking request sent by the vehicle terminal, wherein the parking request comprises initial position information.
Specifically, the user can be connected with the vehicle-mounted terminal through the mobile terminal, and communication between the mobile terminal and the vehicle is achieved. The mobile terminal can be a mobile phone, an Ipad and other electronic equipment which can be provided with a vehicle-mounted control APP, and when a user gets off the vehicle, an automatic parking request can be input through the mobile terminal. Of course, the autonomous parking phase may also be initiated after a certain time period after pressing the autonomous parking request on the vehicle control panel.
After the user sends the parking request, the receiving unit at the edge node side receives the parking request and the real-time position information sent by the user.
And S22, the parking space determining unit determines a recommended parking space according to the current parking space state information.
The parking space state information comprises states of occupied parking spaces, reserved parking spaces, idle parking spaces and the like. In this step, the parking space determining unit selects a vacant parking space with a superior position as a recommended parking space according to the state information of the individual parking spaces in the parking lot. The conditions with superior positions can include conditions of parking convenience, close distance from an entrance and an exit of the parking lot and the like.
Optionally, this embodiment further includes: the method comprises the steps of obtaining the occupation information of each parking space of the parking lot, wherein the steps comprise: detecting whether a ferromagnetic object exists on the parking space; and when the ferromagnetic object exists on the parking space, judging the motion state of the ferromagnetic object, and determining that the parking space is in an occupied state or an idle state according to the judgment result. Specifically, in this embodiment, the detection unit may be disposed near the parking space to detect whether a ferromagnetic object exists on the parking space. Specifically, the detection unit may include: a dual-mode geomagnetic sensor and an NB-IoT module. When a vehicle enters or exits the parking space, the geomagnetic detection and the radar detection are combined, the geomagnetic sensor detects ferromagnetic objects on the parking space, and the Doppler radar sensor detects moving objects on the parking space simultaneously, so that the parking space occupation/idle state can be judged and switched. When the dual-mode geomagnetic sensor identifies that a vehicle enters or exits, the parking space occupation/parking space vacancy information is sent to the edge end MEC through the NB-IOT network.
And S23, the navigation generating unit generates a navigation route according to the initial position information and the position information of the recommended parking space, and sends the navigation route to the vehicle side.
In this step, when the position information and the navigation information are sent to the vehicle, the navigation track points can be issued according to the frequency. The technology for generating the navigation route according to the initial position information and the position information of the recommended parking space may refer to related prior art, and is not described in detail in this embodiment.
And S24, the receiving unit receives the real-time position information and the environment data sent by the vehicle end according to a preset rule.
Wherein the predetermined rule may be according to a predetermined frequency, or according to navigation track points.
In this embodiment, an environment detection module may be provided at the vehicle end to acquire environmental data around the vehicle in real time. Specifically, the environment detection module may include a camera, a millimeter wave radar, an ultrasonic radar, and the like provided outside the vehicle. The camera is used for collecting image information of obstacles around the vehicle, and the millimeter wave radar and the ultrasonic radar can be used for detecting obstacle distance and dynamic information around the vehicle.
S25, the navigation generating unit sends a navigation route to the vehicle end according to the real-time position information; the environment judgment unit judges the driving environment of the vehicle end according to the environment data and sends the judgment result to the vehicle end.
In this step, the step of sending the navigation route to the vehicle end according to the real-time position information includes: judging whether the vehicle end reaches the recommended parking space or not according to the real-time position information; when the fact that the vehicle end does not reach the recommended parking space is judged, a navigation route is sent to the vehicle end; and when the vehicle end is judged to reach the recommended parking space, sending an arrival instruction to the vehicle end.
Optionally, the step of judging the driving environment of the vehicle end according to the environmental data and sending the judgment result to the vehicle end includes: and judging whether the vehicle end has obstacles or not according to the environment data, and if so, sending the related information of the obstacles to the vehicle end.
In this embodiment, the environment detection module at the parking lot end may send the acquired environment data to the environment judgment unit at the edge node end, and the environment judgment unit judges the driving environment of the vehicle end according to the environment data, determines the obstacle situation around the vehicle, and sends the judgment result to the vehicle end, so that the vehicle can park autonomously and smoothly.
Optionally, in the automatic valet parking control method provided in this embodiment, when it is determined that the vehicle end does not reach the recommended parking space, the step of sending the navigation route to the vehicle includes: and when the vehicle end is judged not to reach the recommended parking space, judging whether the vehicle end is separated from the previously sent navigation route or not according to the real-time position information, if so, generating a new navigation route according to the current real-time position information and the position information of the recommended parking space, and sending the new navigation route to the vehicle end.
In the automatic parking control method provided by this embodiment, the edge node introduces data, application, and intelligence to the edge side of the base station, on one hand, by reducing data transmission routing nodes, deploys services in the edge node to reduce end-to-end communication delay, and by local calculation of the 5G network and other cellular networks and edge node car-to-car platforms, gives auxiliary driving information to the vehicle-mounted end, and compared with the existing network delay, the vehicle-to-vehicle delay can be reduced to within 20 ms. On the other hand, the edge nodes serve as local service hosting environments and can support deployment of local vehicle networking services with geographic and regional characteristics and higher throughput, path optimization analysis, driving and parking guidance, safety auxiliary information pushing, regional vehicle service guiding and the like can be achieved through the edge node vehicle networking platform, path planning, decision making and the like of automatic parking are achieved, and requirements for an industrial personal computer on a single vehicle are reduced.
Example 3:
as shown in fig. 3, the present embodiment provides an automatic valet parking control apparatus that can control a vehicle to park according to the automatic parking control method provided in embodiment 1 or embodiment 2. The automatic passenger-replacing parking control device comprises: the parking system comprises a receiving unit, a parking space determining unit, a navigation generating unit and an environment judging unit.
The receiving unit is used for receiving a parking request sent by a vehicle end, wherein the parking request comprises initial position information; and the system is also used for receiving the real-time position information and the environmental data sent by the vehicle end according to a preset rule.
The parking space determining unit is used for determining a recommended parking space according to the current parking space state information.
The navigation generating unit is used for generating a navigation route according to the initial position information and the position information of the recommended parking space and sending the navigation route to the vehicle end; and the navigation system is also used for sending the navigation route to the vehicle end according to the real-time position information.
The environment judgment unit is used for judging the driving environment of the vehicle end according to the environment data and sending the judgment result to the vehicle end.
Optionally, the environment determining unit is specifically configured to: and judging whether the vehicle end has obstacles or not according to the environment data, and if so, sending the related information of the obstacles to the vehicle end.
Optionally, the navigation generating unit is specifically configured to: judging whether the vehicle end reaches the recommended parking space or not according to the real-time position information; when the fact that the vehicle end does not reach the recommended parking space is judged, a navigation route is sent to the vehicle end; and when the vehicle end is judged to reach the recommended parking space, sending an arrival instruction to the vehicle end.
Further optionally, the navigation generating unit is specifically configured to: and when the vehicle end is judged not to reach the recommended parking space, judging whether the vehicle end is separated from the previously sent navigation route or not according to the real-time position information, if so, generating a new navigation route according to the current real-time position information and the position information of the recommended parking space, and sending the new navigation route to the vehicle end.
Optionally, in this embodiment, the method further includes: and the communication unit is used for establishing a PDU session with the vehicle terminal before receiving the parking request sent by the vehicle terminal.
The automatic parking control device provided by the embodiment receives and processes the parking request of the vehicle end at the edge node, determines the recommended parking space according to the parking space state obtained from the parking lot section, realizes path planning, decision making and the like of automatic parking, and reduces the requirements on the industrial personal computer on a single vehicle.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. An automatic passenger-replacing parking control method is characterized by comprising the following steps:
receiving a parking request sent by a vehicle end, wherein the parking request comprises initial position information;
determining a recommended parking space according to the current parking space state information;
generating a navigation route according to the initial position information and the position information of the recommended parking space, and sending the navigation route to the vehicle end;
receiving real-time position information and environment data sent by the vehicle end according to a preset rule;
sending a navigation route to the vehicle end according to the real-time position information; and judging the driving environment of the vehicle end according to the environment data, and sending a judgment result to the vehicle end.
2. The method for controlling an automated valet parking according to claim 1, wherein the step of determining a driving environment of the vehicle side according to the environment data and sending a determination result to the vehicle side includes:
and judging whether the vehicle end has obstacles or not according to the environment data, and if so, sending the related information of the obstacles to the vehicle end.
3. The method for controlling an automated valet parking according to claim 1, wherein the step of sending a navigation route to the vehicle side according to the real-time location information includes:
judging whether the vehicle end reaches the recommended parking space or not according to the real-time position information; when the fact that the vehicle end does not reach the recommended parking space is judged, a navigation route is sent to the vehicle end; and when the vehicle end is judged to reach the recommended parking space, sending a reaching instruction to the vehicle end.
4. The method according to claim 3, wherein the step of sending a navigation route to the vehicle when it is determined that the vehicle end has not reached the recommended parking space comprises:
and when the vehicle end is judged not to reach the recommended parking space, judging whether the vehicle end is separated from a previously sent navigation route or not according to the real-time position information, if so, generating a new navigation route according to the current real-time position information and the position information of the recommended parking space, and sending the new navigation route to the vehicle end.
5. The method for controlling automated valet parking according to claim 1, further comprising, before receiving a parking request transmitted from a vehicle side:
and establishing a PDU session with the vehicle end.
6. An automatic valet parking control device, comprising:
the system comprises a receiving unit, a processing unit and a processing unit, wherein the receiving unit is used for receiving a parking request sent by a vehicle terminal, and the parking request comprises initial position information; the system is also used for receiving the real-time position information and the environmental data sent by the vehicle end according to a preset rule;
the parking space determining unit is used for determining a recommended parking space according to the current parking space state information;
the navigation generating unit is used for generating a navigation route according to the initial position information and the position information of the recommended parking space and sending the navigation route to the vehicle end; the real-time position information is used for sending a navigation route to the vehicle end;
and the environment judgment unit is used for judging the driving environment of the vehicle end according to the environment data and sending a judgment result to the vehicle end.
7. The automatic valet parking control device according to claim 6, wherein the environment determination unit is specifically configured to:
and judging whether the vehicle end has obstacles or not according to the environment data, and if so, sending the related information of the obstacles to the vehicle end.
8. The automotive valet parking control device according to claim 6, wherein the navigation generation unit is specifically configured to:
judging whether the vehicle end reaches the recommended parking space or not according to the real-time position information; when the fact that the vehicle end does not reach the recommended parking space is judged, a navigation route is sent to the vehicle end; and when the vehicle end is judged to reach the recommended parking space, sending a reaching instruction to the vehicle end.
9. The automotive valet parking control device according to claim 8, wherein the navigation generation unit is specifically configured to:
and when the vehicle end is judged not to reach the recommended parking space, judging whether the vehicle end is separated from a previously sent navigation route or not according to the real-time position information, if so, generating a new navigation route according to the current real-time position information and the position information of the recommended parking space, and sending the new navigation route to the vehicle end.
10. The automated valet parking control apparatus according to claim 6, further comprising: and the communication unit is used for establishing a PDU session with the vehicle terminal before receiving the parking request sent by the vehicle terminal.
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| CN112530195A (en) * | 2020-12-04 | 2021-03-19 | 中国联合网络通信集团有限公司 | Autonomous passenger-riding parking method and system |
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