CN113129631A - Autonomous parking method, vehicle terminal and edge server - Google Patents
Autonomous parking method, vehicle terminal and edge server Download PDFInfo
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- CN113129631A CN113129631A CN202110339814.8A CN202110339814A CN113129631A CN 113129631 A CN113129631 A CN 113129631A CN 202110339814 A CN202110339814 A CN 202110339814A CN 113129631 A CN113129631 A CN 113129631A
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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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
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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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
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- G—PHYSICS
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- G08G—TRAFFIC CONTROL SYSTEMS
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Abstract
The invention provides an autonomous parking method, a vehicle terminal and an edge server, wherein the method comprises the following steps: acquiring a target driving path of autonomous parking, wherein the target driving path is used for triggering a vehicle to automatically drive according to the target driving path; acquiring position information of the vehicle in real time in the running process of the vehicle, and sending the acquired real-time position information and the target running path to an edge server; and carrying out deviation correction processing according to the deviation correction prompt. The method, the vehicle terminal and the edge server can solve the problems that in the existing method for intelligent autonomous parking of a single vehicle, a target driving route may deviate in the automatic driving process of the vehicle, the vehicle cannot be found in time especially in places with complex routes in a parking lot, and the power consumption of the vehicle is large easily due to real-time detection of the vehicle.
Description
Technical Field
The invention relates to the technical field of parking, in particular to an autonomous parking method, a vehicle terminal and an edge server.
Background
With the intensive research on parking technologies, the currently mainstream single-vehicle intelligent autonomous parking has a great defect, for example, in the automatic driving process of a vehicle, a situation of deviating from a target driving route may exist, especially for a place with a complicated route in a parking lot, the vehicle often cannot be found in time, and if the vehicle is detected in real time, the power consumption of the vehicle is easily large.
Disclosure of Invention
The invention aims to solve the technical problems that in the prior art, an autonomous parking method, a vehicle terminal and an edge server are provided, and the problems that in the existing method for intelligent autonomous parking of a single vehicle, a target driving route may deviate in the automatic driving process of the vehicle, particularly, the vehicle cannot be found in time in a parking lot in a place with a complicated route, and the vehicle is easy to consume more power if the vehicle is detected in real time are solved.
In a first aspect, an embodiment of the present invention provides an autonomous parking method, which is applied to a vehicle terminal, and the method includes:
acquiring a target driving path of autonomous parking, wherein the target driving path is used for triggering a vehicle to automatically drive according to the target driving path;
acquiring position information of the vehicle in real time in the running process of the vehicle, and sending the acquired real-time position information and the target running path to an edge server, so that the edge server judges whether the running track of the vehicle is on the target running path according to the real-time position information and the target running path, and sends a correction prompt to a vehicle terminal when the running track of the vehicle is judged to deviate from the target running path;
and carrying out deviation correction processing according to the deviation correction prompt.
Preferably, during the running of the vehicle, the method further comprises:
receiving obstacle warning information sent by the edge server when judging that the target driving path has an obstacle;
judging whether the obstacle needs to be avoided or not according to the obstacle warning information;
if yes, stopping and waiting until the obstacle disappearance information sent by the edge server is received, and continuing to drive according to the target driving path.
Preferably, before the obtaining of the target travel path for autonomous parking, the method further includes:
receiving a vehicle state information acquisition request sent by a TSP platform, wherein the vehicle state information acquisition request is sent after the TSP platform receives an autonomous parking request sent by a mobile terminal;
returning vehicle state information to the TSP platform to enable the TSP platform to judge whether the vehicle terminal meets the autonomous parking condition according to the returned vehicle state information, and sending an autonomous parking request to the AVP platform after the autonomous parking condition is met;
wherein the vehicle state information includes at least one of: whether the gear is P gear, whether the vehicle is flameout and whether the vehicle door is closed.
Preferably, after returning the vehicle status information to the TSP platform, the method further comprises:
receiving parking space position information sent by the AVP platform, wherein the parking space position information is obtained from a parking lot management system after the AVP platform sends a parking space obtaining request to the parking lot management system according to the autonomous parking request;
and generating the target driving path according to the current position information and the parking space position information.
Preferably, before the target travel path for autonomous parking is acquired, the method further includes:
sending a registration request to a network side, wherein the registration request comprises a vehicle identifier, a registration type and requested slice information, so that when the network side judges that a terminal is a vehicle terminal according to the registration type, the network side obtains corresponding subscription information, registers the vehicle terminal corresponding to the vehicle identifier according to the subscription information, and distributes network slices corresponding to the slice information;
and establishing PDU session connection with the edge server.
Preferably, after acquiring the target travel path for autonomous parking, the method further includes:
and when the fact that the vehicle is parked in the parking space is detected, sending the autonomous parking success information to the AVP platform, wherein the autonomous parking success information is used for triggering the AVP platform to send the parking success information to the TSP platform after receiving the autonomous parking success information and the vehicle parking success information sent by the edge server, and enabling the TSP platform to forward the parking success information to the mobile terminal.
In a second aspect, an embodiment of the present invention provides an autonomous parking method, which is applied to an edge server, and the method includes:
receiving real-time position information and a target driving path sent by a vehicle terminal;
and judging whether the running track of the vehicle is on the target running path or not according to the real-time position information and the target running path, and sending a deviation correction prompt to a vehicle terminal when the running track of the vehicle is judged to deviate from the target running path, so that the vehicle terminal performs deviation correction processing according to the deviation correction prompt.
Preferably, after receiving the target driving path transmitted by the vehicle terminal, the method further includes:
judging whether an obstacle exists on the target driving path, if so, sending obstacle warning information to the vehicle terminal so that the vehicle terminal judges whether the obstacle needs to be avoided according to the obstacle warning information, and if so, stopping and waiting;
and when the obstacle disappears, sending obstacle disappearance information to the vehicle terminal so that the vehicle terminal continues to run according to the target running path.
In a third aspect, an embodiment of the present invention provides a vehicle terminal, including:
the system comprises a target path acquisition module, a target driving path acquisition module and a target driving path acquisition module, wherein the target driving path acquisition module is used for acquiring a target driving path of autonomous parking, and the target driving path is used for triggering a vehicle to automatically drive according to the target driving path;
the position path sending module is connected with the target path acquiring module and used for acquiring position information of the position path in real time in the running process of the vehicle, and sending the acquired real-time position information and the target running path to the edge server, so that the edge server judges whether the running track of the vehicle is on the target running path according to the real-time position information and the target running path, and sends correction reminding to a vehicle terminal when the running track of the vehicle is judged to deviate from the target running path;
and the deviation rectifying module is connected with the position path sending module and used for rectifying deviation according to the deviation rectifying prompt.
In a fourth aspect, an embodiment of the present invention provides an edge server, including:
the position path receiving module is used for receiving the real-time position information and the target driving path sent by the vehicle terminal;
and the deviation correction reminding module is connected with the position path receiving module and used for judging whether the running track of the vehicle is on the target running path or not according to the real-time position information and the target running path and sending deviation correction reminding to a vehicle terminal when the running track of the vehicle is judged to deviate from the target running path, so that the vehicle terminal carries out deviation correction processing according to the deviation correction reminding.
According to the autonomous parking method, the vehicle terminal and the edge server provided by the embodiment of the invention, through the combination of the vehicle terminal and the edge server, in the vehicle driving process, the vehicle terminal acquires the position information of the vehicle terminal in real time, and sends the acquired real-time position information and the target driving path to the edge server, so that the edge server receives the real-time position information and the target driving path, judges whether the driving path of the vehicle is on the target driving path in real time, and sends out deviation correction prompt when judging that the driving path of the vehicle deviates from the target driving path, thereby enabling the vehicle terminal to timely perform deviation correction processing according to the deviation correction prompt. The method solves the problems that the existing method for intelligent autonomous parking of the single vehicle possibly deviates from a target driving route in the automatic driving process of the vehicle, particularly for places with complex routes in a parking lot, the vehicle cannot be found in time, and the power consumption of the vehicle is high easily if the vehicle is detected in real time.
Drawings
FIG. 1: the method is a scene schematic diagram of autonomous parking according to an embodiment of the invention;
FIG. 2: a flowchart of a method for autonomous parking according to embodiment 1 of the present invention;
FIG. 3: the method is an interactive schematic diagram of the autonomous parking method according to the embodiment of the invention;
FIG. 4: a flowchart of an autonomous parking method according to embodiment 2 of the present invention;
FIG. 5: is a schematic structural diagram of a vehicle terminal according to embodiment 3 of the present invention;
FIG. 6: a schematic structural diagram of an edge server in embodiment 4 of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solution of the present invention, the following detailed description will be made with reference to the accompanying drawings.
It is to be understood that the specific embodiments and figures described herein are merely illustrative of the invention and are not limiting of the invention.
It is to be understood that the embodiments and features of the embodiments can be combined with each other without conflict.
It is to be understood that, for the convenience of description, only parts related to the present invention are shown in the drawings of the present invention, and parts not related to the present invention are not shown in the drawings.
It should be understood that each unit and module related in the embodiments of the present invention may correspond to only one physical structure, may also be composed of multiple physical structures, or multiple units and modules may also be integrated into one physical structure.
It will be understood that, without conflict, the functions, steps, etc. noted in the flowchart and block diagrams of the present invention may occur in an order different from that noted in the figures.
It is to be understood that the flowchart and block diagrams of the present invention illustrate the architecture, functionality, and operation of possible implementations of systems, apparatus, devices and methods according to various embodiments of the present invention. Each block in the flowchart or block diagrams may represent a unit, module, segment, code, which comprises executable instructions for implementing the specified function(s). Furthermore, each block or combination of blocks in the block diagrams and flowchart illustrations can be implemented by a hardware-based system that performs the specified functions or by a combination of hardware and computer instructions.
It is to be understood that the units and modules involved in the embodiments of the present invention may be implemented by software, and may also be implemented by hardware, for example, the units and modules may be located in a processor.
It should be noted that the scene diagram described in the embodiment of the present application is for more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation to the technical solution provided in the embodiment of the present application, and as a person having ordinary skill in the art knows that along with the evolution of the network architecture and the appearance of a new service scenario, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.
Fig. 1 is a schematic view of an autonomous parking scene provided in an embodiment of the present application, where each part is described as follows:
(1) the user of the mobile terminal can download and install an APP client of a TSP (Telematics Service Provider) platform in advance, and register the APP client on the TSP platform of a car factory to be bound with the vehicle terminal.
(2) The TSP platform is an internet of vehicles platform of a vehicle factory, and can be respectively connected with a mobile terminal, a vehicle terminal and an AVP (Automated Valet Parking) platform through a 5G network.
(3) The vehicle terminal may include an OBU (On board Unit) and a positioning device installed On the vehicle, such as an RTK (Real-time kinematic) terminal or a camera based On visual positioning or a laser radar, and has capabilities of high-precision map, path planning, and deviation correction processing.
(4) The AVP platform has the capabilities of equipment management and vehicle management, and can realize the functions of one-key parking, one-key car calling, parking space inquiry, parking space reservation and the like.
(5) The parking lot management system is a management system which is provided for a parking service provider and is used for providing parking service, and the AVP platform can be interacted with the management system to realize the inquiry of parking spaces.
(6) And the parking lot end (field end for short) is provided with an RTK base station, an intelligent camera, a laser radar, a millimeter wave radar and other auxiliary positioning equipment and obstacle image acquisition equipment. The camera, the laser radar and the millimeter wave radar are in butt joint with an edge server located in field end edge cloud through an embedded 5G industrial module, or are in butt joint with the edge server through a wired network, and the field end is provided with the geomagnetism of NB-IoT (Narrow Band Internet of Things) so as to timely report parking space state information to the parking lot management system.
(7) The Edge server, for example, may be an MEC (Mobile Edge Computing), is located in the 5G network Edge cloud, and specifically may include an Edge server located at the parking lot end and an Edge server not located at the parking lot end, and when the vehicle travels to the parking lot entrance, the vehicle terminal will release a PDU (Protocol Data Unit) session connection with the Edge server not located at the parking lot end, and establish a PDU session connection with the Edge server located at the parking lot end.
Based on the scene diagram shown in fig. 1, the following describes a related embodiment of autonomous parking according to the present application.
Example 1:
the embodiment provides an autonomous parking method, which is applied to a vehicle terminal and comprises the following steps of:
step S102: acquiring a target driving path of autonomous parking, wherein the target driving path is used for triggering a vehicle to automatically drive according to the target driving path;
step S104: the method comprises the steps that in the running process of a vehicle, position information of the vehicle is collected in real time, the collected real-time position information and a target running path are sent to an edge server, so that the edge server judges whether a running track of the vehicle is on the target running path or not according to the real-time position information and the target running path, and when the running track of the vehicle deviates from the target running path, a correction reminding is sent to a vehicle terminal;
step S106: and carrying out deviation correction processing according to the deviation correction prompt.
In this embodiment, in order to avoid that the vehicle cannot find a deviation from the target driving route in time during driving, and meanwhile, in order to reduce the power consumption of the vehicle and ensure the accuracy of the driving route of the vehicle, the edge server may perform deviation correction judgment, the edge server may fit real-time position information of the vehicle with the target driving route, judge whether the vehicle deviates from the target driving route, and send out a deviation correction prompt to the vehicle terminal in time when the deviation from the target driving route is judged, where the deviation correction prompt may include related information for instructing the vehicle to perform correction processing, so that the vehicle can perform deviation correction processing according to the deviation correction prompt, thereby returning to the correct target driving route again.
According to the method for autonomous parking, through the combination of the vehicle terminal and the edge server, in the driving process of the vehicle, the vehicle terminal acquires the position information of the vehicle terminal in real time, and sends the acquired real-time position information and the target driving path to the edge server, so that after the edge server receives the real-time position information and the target driving path, whether the driving path of the vehicle is on the target driving path or not is judged in real time, and a deviation correction prompt is sent out when the driving path of the vehicle deviates from the target driving path, so that the vehicle terminal can timely perform deviation correction processing according to the deviation correction prompt. The method solves the problems that the existing method for intelligent autonomous parking of the single vehicle possibly deviates from a target driving route in the automatic driving process of the vehicle, particularly for places with complex routes in a parking lot, the vehicle cannot be found in time, and the power consumption of the vehicle is high easily if the vehicle is detected in real time.
Optionally, during the running of the vehicle, the method may further include:
receiving obstacle warning information sent by an edge server when judging that an obstacle exists in a target driving path;
judging whether the obstacle needs to be avoided or not according to the obstacle warning information;
if so, stopping and waiting until the obstacle disappearance information sent by the edge server is received, and then continuing to drive according to the target driving path.
In the embodiment, in order to widen the view of obstacle detection, avoid that the vehicle terminal of the obstacle located at the corner of the parking lot cannot detect in time, and in order to reduce the power consumption of the vehicle terminal, the obstacle detection is performed by the edge server. In the process of starting a vehicle and driving to a parking space, a camera or a millimeter wave radar or a laser radar at a field end sends video or image data collected on a target driving path to an edge server through a 5G network or a wired network in real time, so that the edge server detects obstacles according to the collected data, judges whether the obstacles exist on the target driving path in real time, and sends obstacle warning information to a vehicle terminal by the edge server when the obstacles exist.
Optionally, before obtaining the target driving path for autonomous parking, the method may further include:
receiving a vehicle state information acquisition request sent by a TSP platform, wherein the vehicle state information acquisition request is sent after the TSP platform receives an autonomous parking request sent by a mobile terminal;
returning vehicle state information to the TSP platform to enable the TSP platform to judge whether the vehicle terminal meets the autonomous parking condition according to the returned vehicle state information, and sending an autonomous parking request to the AVP platform after the autonomous parking condition is met;
wherein the vehicle state information includes at least one of: whether the gear is P gear, whether the vehicle is flameout and whether the vehicle door is closed.
In this embodiment, when the vehicle travels to the entrance of the parking lot, the user can stop the vehicle at the entrance of the parking lot or any position in the parking lot, and close the door after getting off the vehicle. At the moment, a user can send an autonomous parking request to the TSP platform of the car factory by clicking the one-key parking function on the mobile terminal APP, the TSP platform sends a vehicle state information acquisition request to the vehicle terminal after receiving the request, the vehicle terminal returns the vehicle state information to the TSP platform, and the TSP platform judges whether the vehicle terminal meets the autonomous parking condition or not after receiving the vehicle state information. In order to train good habits of a user, avoid the occurrence of safety accidents caused by the fact that the vehicle moves forwards and backwards due to uneven road surface when the user gets off the vehicle without flameout or without being hooked into the P gear and send an autonomous parking request through the mobile terminal, and avoid the occurrence of vehicle scraping accidents caused by the fact that the vehicle door is not completely closed due to user errors in the autonomous parking process, the autonomous parking condition is that the vehicle is flameout, the gear is the P gear and the vehicle door is closed.
Optionally, after returning the vehicle status information to the TSP platform, the method may further comprise:
receiving parking space position information sent by an AVP platform, wherein the parking space position information is obtained from a parking lot management system after the AVP platform sends a parking space obtaining request to the parking lot management system according to the autonomous parking request;
and generating a target driving path according to the current position information and the parking space position information.
In this embodiment, after the AVP platform determines the parking space, the AVP platform sends the parking space position information to the vehicle terminal, and controls the vehicle to start the automatic ignition, after the vehicle terminal receives the parking space position information, the vehicle terminal generates a target driving path according to the current position information and the parking space position information, and the vehicle starts to automatically drive according to the target driving path.
Optionally, before obtaining the target driving path for autonomous parking, the method may further include:
sending a registration request to a network side, wherein the registration request comprises a vehicle identifier, a registration type and requested slice information, so that when the network side judges that the terminal is a vehicle terminal according to the registration type, the network side acquires corresponding subscription information, registers the vehicle terminal corresponding to the vehicle identifier according to the subscription information and distributes network slices corresponding to the slice information;
a PDU session connection is established with the edge server.
In the present embodiment, the vehicle terminal has successfully registered with the 5G network before the mobile terminal sends the autonomous parking request to the TSP platform. Specifically, the vehicle terminal is powered on and then sends a registration request to the 5G base station, where the registration request includes a vehicle Identifier, such as SUPI (Subscription Permanent Identifier) or 5G-GUTI (global uniform temporal UE Identity), a registration type (initial registration) indicating that the terminal is a vehicle terminal, and requested slice information, such as NSSAI (network slice selection assistance information), and may further include parameters such as last Access TAI (Tracking Area Identifier), security parameters, UE 5GC capability, PDU session status, PDU session to be activated, a subsequent request, micro (multimedia integrated connectivity) preference, etc. the 5G base station selects an appropriate AMF (multimedia Access Function) according to the registration request of the vehicle terminal, access and mobility Management function), and forwards the registration request to the AMF, and the AMF receives the registration request and then selects a suitable UDM (Unified Data Management function) to acquire the subscription information of the vehicle terminal, where the subscription information of the vehicle terminal indicates that the terminal type is a vehicle terminal, and the allocated slice is a slice specifically allocated to the internet of vehicles in a Unified manner. And after receiving the subscription information of the vehicle-mounted terminal sent by the UDM, the AMF generates context information, and sends registration success information to the vehicle terminal. The method comprises the steps that a PDU Session establishment request is sent to a 5G base station after a vehicle terminal is successfully registered, the 5G base station forwards the request to an AMF (advanced multimedia messaging Function), the AMF selects a proper SMF (Session Management Function) according to subscription information, the SMF selects a UPF (User plane Function) directly connected with a base station of a cell where the vehicle-mounted terminal is located according to slice information of the vehicle terminal so as to determine an edge server establishing PDU Session connection with the vehicle terminal, and the vehicle terminal establishes PDU Session connection with the edge server of the cell where the vehicle terminal is located. When a vehicle drives to an entrance of a parking lot, a vehicle terminal is switched to a base station at the position from the base station at the registration time, the SMF selects a UPF directly connected with the base station of a cell where the vehicle terminal is located so as to determine an edge server establishing PDU session connection with the vehicle terminal, the vehicle terminal releases the PDU session connection with the last edge server, and simultaneously, the PDU session connection is established with an edge server located at a field end of the cell where the vehicle terminal is located.
Optionally, after acquiring the target driving path of the autonomous parking, the method may further include:
and when the fact that the vehicle is parked in the parking space is detected, sending the autonomous parking success information to the AVP platform, wherein the autonomous parking success information is used for triggering the AVP platform to send the parking success information to the TSP platform after receiving the autonomous parking success information and the vehicle parking success information sent by the edge server, and enabling the TSP platform to forward the parking success information to the mobile terminal.
In a specific embodiment, referring to fig. 3, an interaction diagram of a method for autonomous parking according to an embodiment of the present invention is shown. In this embodiment, the method includes the following steps:
step S01: the mobile terminal sends an autonomous parking request to the TSP platform;
note that, before this, the vehicle terminal has successfully registered with the 5G network. Specifically, the vehicle terminal sends a registration request to the 5G base station after being powered on, where the registration request may include parameters such as a registration type (initial registration), SUPI or 5G-GUTI, TAI of last access (if available), security parameters, NSSAI of the request, UE 5GC capability, PDU session status, PDU session to be activated, subsequent request, and MICO mode preference, and the terminal may be determined to be a vehicle terminal according to the registration type. And the 5G base station selects a proper AMF according to the registration request of the vehicle terminal and forwards the registration request to the AMF, the AMF receives the registration request and then selects a proper UDM to acquire the subscription information of the vehicle terminal, the subscription information of the vehicle terminal indicates that the terminal is the vehicle terminal, and the distributed slices are slices which are specially distributed to the Internet of vehicles in a unified mode. And after receiving the subscription information of the vehicle-mounted terminal sent by the UDM, the AMF generates context information, and sends registration success information to the vehicle terminal. And the vehicle terminal sends a PDU session establishment request to the 5G base station after successful registration, the 5G base station forwards the request to the AMF, the AMF selects a proper SMF according to the subscription information and selects a UPF directly connected with a base station of a cell where the vehicle terminal is located according to the slice information of the vehicle terminal so as to determine an edge server establishing PDU session connection with the vehicle terminal, and the vehicle terminal establishes PDU session connection with the edge server of the cell where the vehicle terminal is located.
In the embodiment, when the vehicle drives to the entrance of the parking lot, the vehicle terminal is switched to the base station at the registration time from the base station at the registration time, the SMF selects the UPF directly connected with the base station of the cell where the vehicle terminal is located so as to determine the edge server establishing the PDU session connection with the vehicle terminal, the vehicle terminal releases the PDU session connection with the last edge server, and simultaneously establishes the PDU session connection with the edge server at the field end of the cell where the vehicle terminal is located.
In this embodiment, the user can stop the vehicle at the entrance of the parking lot or at any position in the parking lot, and close the door after getting off the vehicle. At this time, the user can send an autonomous parking request to the TSP platform of the car factory by clicking the one-touch parking function on the mobile terminal APP, so as to realize one-touch parking.
Step S02: the TSP platform sends a vehicle state information acquisition request to the vehicle terminal;
specifically, after receiving the autonomous parking request, the TSP platform sends a vehicle state information acquisition request to a vehicle terminal bound to the mobile terminal APP to query current state information of the vehicle, where the state information may include whether windows and doors are closed, whether the vehicle is stalled, whether a gear is a P gear, whether no person is in the vehicle, and the like. In order to train good habits of a user and avoid the occurrence of safety accidents caused by the fact that the vehicle moves forwards and backwards due to uneven road surface because the user gets off the vehicle without flameout or without being in the P gear and sends an autonomous parking request through the mobile terminal, the state information preferably indicates whether the vehicle is flameout or not and whether the gear is the P gear or not, and if the vehicle is not flameout, the gear is not the P gear, the user is reminded in time. Meanwhile, in order to avoid the occurrence of a vehicle scratch accident caused by incomplete closing of the vehicle door due to a user error during autonomous parking of the vehicle, the state information is also preferably whether the vehicle door is closed.
Step S03: the vehicle terminal returns vehicle state information to the TSP platform;
steps S04 to S05: the TSP platform judges whether the vehicle terminal meets the autonomous parking condition according to the returned vehicle state information, and if so, the TSP platform sends an autonomous parking request to the AVP platform;
specifically, if the vehicle is shut down, the gear is the P gear, and the vehicle door is closed, it is determined that the vehicle terminal meets the autonomous parking condition, and in addition, the autonomous parking condition may be further additionally set according to needs, for example, the vehicle window may be closed, and no one in the vehicle may be set as meeting the autonomous parking condition.
Step S06: and after receiving the autonomous parking request, the AVP platform sends a parking space acquisition request to the parking lot management system.
Step S07: and after the parking space is determined, the AVP platform sends parking space position information to the vehicle terminal and controls the vehicle to automatically ignite and start.
Specifically, the parking lot management system realizes real-time monitoring of the state information of each parking space in the parking lot through the geomagnetic field with NB-IoT installed at the site end, and after receiving a parking space acquisition request sent by the AVP platform, selects any one of the free parking spaces to return the parking space information to the AVP platform.
Step S08: and after receiving the parking space position information, the vehicle terminal generates a target driving path according to the current position information and the parking space position information, and the vehicle starts to automatically drive according to the target driving path.
Specifically, after receiving the parking space position information, the vehicle terminal performs global path planning according to the current position information and the parking space position information to generate a target driving path, and the vehicle starts to automatically drive according to the target driving path.
Step S09: and the vehicle terminal acquires the position information of the vehicle terminal in real time in the driving process of the vehicle and sends the acquired position information and the target driving path to the edge server.
Steps S10 to S11: the edge server judges whether the running track of the vehicle is on the target running path or not, and when the running track of the vehicle deviates from the target running path, the edge server sends a deviation correction prompt to the vehicle terminal so that the vehicle terminal can perform deviation correction processing according to the deviation correction prompt.
Specifically, the edge server performs running track fitting according to the target running path and the position information, namely, whether the running track of the vehicle is on the target running path is judged, and when the running track of the vehicle deviates from the target running path, the edge server sends a deviation correction prompt to the vehicle terminal so that the vehicle terminal performs deviation correction processing according to the deviation correction prompt.
Step S12: and the edge server judges whether the target driving path has the obstacle or not in real time, and if so, sends obstacle alarm information to the vehicle terminal.
In the embodiment, in order to widen the view of obstacle detection, avoid the situation that the vehicle terminal of the obstacle located at the corner cannot detect in time, and in order to reduce the power consumption of the vehicle terminal, the obstacle detection is performed by the edge server. In the process of starting a vehicle and driving to a parking space, a camera or a millimeter wave radar or a laser radar at a field end sends video or image data collected on a target driving path to an edge server through a 5G network or a wired network in real time, so that the edge server detects obstacles according to the collected data, judges whether the obstacles exist on the target driving path in real time, and sends obstacle warning information to a vehicle terminal by the edge server when the obstacles exist.
Step S13: and the vehicle terminal judges whether to avoid the obstacle, and if so, the vehicle terminal stops and waits until the obstacle disappearance information sent by the edge server is received and then continues to run according to the target running path.
Specifically, the vehicle terminal judges whether the obstacle needs to be avoided according to the obstacle warning information sent by the edge server. And if the obstacle is required to be avoided, the vehicle terminal automatically stops and waits until the edge server sends the obstacle disappearance information, and then the vehicle terminal continues to run according to the target running path.
Step S14: when the vehicle is parked in the parking space, the vehicle terminal sends the automatic parking success information to the AVP platform.
Specifically, after the vehicle reaches the parking space, the automatic parking mode is entered, the vehicle is successfully parked in the parking space, and the vehicle terminal sends the automatic parking success information to the AVP platform.
Step S15: the edge server acquires image information of the vehicle after the vehicle is parked in the parking space, judges whether the vehicle meets the parking requirement or not according to the image information, and sends vehicle parking success information to the AVP platform if the vehicle meets the parking requirement.
Specifically, the edge server judges whether the vehicle is parked in the parking space according to vehicle position information acquired in real time, when the vehicle is parked in the parking space, the field end camera sends image information after parking to the edge server, the edge server judges whether parking meets requirements, such as whether the vehicle is in the range of the parking space, and if the parking meets the requirements, vehicle parking success information is sent to the AVP platform.
Steps S16 to S17: after receiving the successful parking information sent by the vehicle terminal and the edge server, the AVP platform sends the successful parking information to the TSP platform, and the TSP platform forwards the successful parking information to the mobile terminal.
In the embodiment, the independent parking is realized through the combination mode of the TSP platform, the APP client, the vehicle terminal, the edge server, the AVP platform and the parking lot management system, and the difficulty and the cost of realizing the independent parking through a single-vehicle intelligent mode can be reduced.
Example 2:
as shown in fig. 4, the present embodiment provides an autonomous parking method, applied to an edge server, the method including:
step S202: receiving real-time position information and a target driving path sent by a vehicle terminal;
step S204: and judging whether the running track of the vehicle is on the target running path or not according to the real-time position information and the target running path, and sending a deviation correction prompt to the vehicle terminal when the running track of the vehicle is judged to deviate from the target running path, so that the vehicle terminal performs deviation correction processing according to the deviation correction prompt.
Optionally, after receiving the target driving path sent by the vehicle terminal, the method may further include:
judging whether an obstacle exists on a target driving path, if so, sending obstacle warning information to a vehicle terminal so that the vehicle terminal judges whether the obstacle needs to be avoided according to the obstacle warning information, and if so, stopping and waiting;
and when the obstacle disappears, sending obstacle disappearance information to the vehicle terminal so that the vehicle terminal continues to run according to the target running path.
Example 3:
as shown in fig. 5, the present embodiment provides a vehicle terminal including:
the target path obtaining module 21 is configured to obtain a target driving path for autonomous parking, where the target driving path is used to trigger a vehicle to automatically drive according to the target driving path;
the position path sending module 22 is connected with the target path obtaining module 21 and is used for acquiring position information of the vehicle in real time in the vehicle running process, sending the acquired real-time position information and the target running path to the edge server, so that the edge server judges whether the running track of the vehicle is on the target running path according to the real-time position information and the target running path, and sending a deviation correction prompt to a vehicle terminal when the running track of the vehicle is judged to deviate from the target running path;
and the deviation rectifying module 23 is connected with the position path sending module 22 and is used for rectifying deviation according to the deviation rectifying prompt.
Optionally, the method may further include:
the alarm receiving module is used for receiving obstacle alarm information sent by the edge server when judging that the target driving path has an obstacle;
the obstacle avoidance judging module is used for judging whether the obstacle avoidance is needed or not according to the obstacle warning information;
and the obstacle avoidance processing module is used for stopping and waiting until obstacle disappearance information sent by the edge server is received and then continuing to drive according to the target driving path if the obstacle avoidance processing module is used for stopping and waiting.
Optionally, the method may further include:
the system comprises a first receiving module, a second receiving module and a third receiving module, wherein the first receiving module is used for receiving a vehicle state information obtaining request sent by a TSP platform, and the vehicle state information obtaining request is sent by the TSP platform after receiving an autonomous parking request sent by a mobile terminal;
the first returning module is used for returning the vehicle state information to the TSP platform so that the TSP platform judges whether the vehicle terminal meets the autonomous parking condition according to the returned vehicle state information and sends an autonomous parking request to the AVP platform after the autonomous parking condition is met;
wherein the vehicle state information includes at least one of: whether the gear is P gear, whether the vehicle is flameout and whether the vehicle door is closed.
Optionally, the method may further include:
the second receiving module is used for receiving the parking space position information sent by the AVP platform, and the parking space position information is obtained from the parking lot management system after the AVP platform sends a parking space obtaining request to the parking lot management system according to the autonomous parking request;
and the target path generating module is used for generating a target driving path according to the current position information and the parking space position information.
Optionally, the method may further include:
the first sending module is used for sending a registration request to the network side, wherein the registration request comprises a vehicle identifier, a registration type and requested slice information, so that when the network side judges that the terminal is a vehicle terminal according to the registration type, the corresponding subscription information is obtained, the vehicle terminal corresponding to the vehicle identifier is registered according to the subscription information, and a network slice corresponding to the slice information is distributed;
and the session connection module is used for establishing PDU session connection with the edge server.
Optionally, the method may further include:
and the second sending module is used for sending the autonomous parking success information to the AVP platform after detecting that the vehicle is parked in the parking space, wherein the autonomous parking success information is used for triggering the AVP platform to send the parking success information to the TSP platform after receiving the autonomous parking success information and the vehicle parking success information sent by the edge server, and the TSP platform is enabled to forward the parking success information to the mobile terminal.
Example 4:
as shown in fig. 6, the present embodiment provides an edge server, including:
the position path receiving module 31 is used for receiving the real-time position information and the target driving path sent by the vehicle terminal;
and the deviation correction reminding module 32 is connected with the position path receiving module 31 and is used for judging whether the running track of the vehicle is on the target running path according to the real-time position information and the target running path and sending deviation correction reminding to the vehicle terminal when the running track of the vehicle is judged to deviate from the target running path, so that the vehicle terminal performs deviation correction processing according to the deviation correction reminding.
Optionally, the method may further include:
the obstacle judging module is used for judging whether an obstacle exists on a target running path or not, if so, obstacle warning information is sent to the vehicle terminal, so that the vehicle terminal judges whether the obstacle needs to be avoided or not according to the obstacle warning information, and if so, the vehicle terminal stops for waiting;
and the third sending module is used for sending obstacle disappearance information to the vehicle terminal when the obstacle disappearance is detected so as to enable the vehicle terminal to continue to run according to the target running path.
In the autonomous parking method, the vehicle terminal, and the edge server provided in embodiments 2 to 4, through combination of the vehicle terminal and the edge server, in a vehicle driving process, the vehicle terminal acquires position information of itself in real time, and sends the acquired real-time position information and a target driving path to the edge server, so that after receiving the real-time position information and the target driving path, the edge server determines whether a driving track of the vehicle is on the target driving path in real time, and sends a deviation correction prompt when determining that the driving track of the vehicle deviates from the target driving path, so that the vehicle terminal can perform deviation correction processing in time according to the deviation correction prompt. The method solves the problems that the existing method for intelligent autonomous parking of the single vehicle possibly deviates from a target driving route in the automatic driving process of the vehicle, particularly for places with complex routes in a parking lot, the vehicle cannot be found in time, and the power consumption of the vehicle is high easily if the vehicle is detected in real time.
It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.
Claims (10)
1. An autonomous parking method, applied to a vehicle terminal, the method comprising:
acquiring a target driving path of autonomous parking, wherein the target driving path is used for triggering a vehicle to automatically drive according to the target driving path;
acquiring position information of the vehicle in real time in the running process of the vehicle, and sending the acquired real-time position information and the target running path to an edge server, so that the edge server judges whether the running track of the vehicle is on the target running path according to the real-time position information and the target running path, and sends a correction prompt to a vehicle terminal when the running track of the vehicle is judged to deviate from the target running path;
and carrying out deviation correction processing according to the deviation correction prompt.
2. The method of autonomous parking of claim 1, wherein during travel of the vehicle, the method further comprises:
receiving obstacle warning information sent by the edge server when judging that the target driving path has an obstacle;
judging whether the obstacle needs to be avoided or not according to the obstacle warning information;
if yes, stopping and waiting until the obstacle disappearance information sent by the edge server is received, and continuing to drive according to the target driving path.
3. The method of autonomous parking according to claim 1, wherein before the obtaining of the target travel path of autonomous parking, the method further comprises:
receiving a vehicle state information acquisition request sent by a TSP platform, wherein the vehicle state information acquisition request is sent after the TSP platform receives an autonomous parking request sent by a mobile terminal;
returning vehicle state information to the TSP platform to enable the TSP platform to judge whether the vehicle terminal meets the autonomous parking condition according to the returned vehicle state information, and sending an autonomous parking request to the AVP platform after the autonomous parking condition is met;
wherein the vehicle state information includes at least one of: whether the gear is P gear, whether the vehicle is flameout and whether the vehicle door is closed.
4. The method of autonomous parking of claim 3 wherein after returning vehicle status information to the TSP platform, the method further comprises:
receiving parking space position information sent by the AVP platform, wherein the parking space position information is obtained from a parking lot management system after the AVP platform sends a parking space obtaining request to the parking lot management system according to the autonomous parking request;
and generating the target driving path according to the current position information and the parking space position information.
5. The method of autonomous parking according to claim 1, wherein before acquiring the target travel path of autonomous parking, the method further comprises:
sending a registration request to a network side, wherein the registration request comprises a vehicle identifier, a registration type and requested slice information, so that when the network side judges that a terminal is a vehicle terminal according to the registration type, the network side obtains corresponding subscription information, registers the vehicle terminal corresponding to the vehicle identifier according to the subscription information, and distributes network slices corresponding to the slice information;
and establishing PDU session connection with the edge server.
6. The method of autonomous parking according to claim 4, wherein after acquiring a target travel path of autonomous parking, the method further comprises:
and when the fact that the vehicle is parked in the parking space is detected, sending the autonomous parking success information to the AVP platform, wherein the autonomous parking success information is used for triggering the AVP platform to send the parking success information to the TSP platform after receiving the autonomous parking success information and the vehicle parking success information sent by the edge server, and enabling the TSP platform to forward the parking success information to the mobile terminal.
7. A method for autonomous parking, applied to an edge server, the method comprising:
receiving real-time position information and a target driving path sent by a vehicle terminal;
and judging whether the running track of the vehicle is on the target running path or not according to the real-time position information and the target running path, and sending a deviation correction prompt to a vehicle terminal when the running track of the vehicle is judged to deviate from the target running path, so that the vehicle terminal performs deviation correction processing according to the deviation correction prompt.
8. The method of autonomous parking according to claim 7, wherein after receiving the target travel path transmitted by the vehicle terminal, the method further comprises:
judging whether an obstacle exists on the target driving path, if so, sending obstacle warning information to the vehicle terminal so that the vehicle terminal judges whether the obstacle needs to be avoided according to the obstacle warning information, and if so, stopping and waiting;
and when the obstacle disappears, sending obstacle disappearance information to the vehicle terminal so that the vehicle terminal continues to run according to the target running path.
9. A vehicle terminal, comprising:
the system comprises a target path acquisition module, a target driving path acquisition module and a target driving path acquisition module, wherein the target driving path acquisition module is used for acquiring a target driving path of autonomous parking, and the target driving path is used for triggering a vehicle to automatically drive according to the target driving path;
the position path sending module is connected with the target path acquiring module and used for acquiring position information of the position path in real time in the running process of the vehicle, and sending the acquired real-time position information and the target running path to the edge server, so that the edge server judges whether the running track of the vehicle is on the target running path according to the real-time position information and the target running path, and sends correction reminding to a vehicle terminal when the running track of the vehicle is judged to deviate from the target running path;
and the deviation rectifying module is connected with the position path sending module and used for rectifying deviation according to the deviation rectifying prompt.
10. An edge server, comprising:
the position path receiving module is used for receiving the real-time position information and the target driving path sent by the vehicle terminal;
and the deviation correction reminding module is connected with the position path receiving module and used for judging whether the running track of the vehicle is on the target running path or not according to the real-time position information and the target running path and sending deviation correction reminding to a vehicle terminal when the running track of the vehicle is judged to deviate from the target running path, so that the vehicle terminal carries out deviation correction processing according to the deviation correction reminding.
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