CN113129633A

CN113129633A - Autonomous parking and autonomous calling method, AVP platform and vehicle terminal

Info

Publication number: CN113129633A
Application number: CN202110340700.5A
Authority: CN
Inventors: 张余
Original assignee: China United Network Communications Group Co Ltd
Current assignee: China United Network Communications Group Co Ltd
Priority date: 2021-03-30
Filing date: 2021-03-30
Publication date: 2021-07-16

Abstract

The invention provides an autonomous parking and calling method, an AVP platform and a vehicle terminal, wherein the method comprises the following steps: receiving an autonomous parking request sent by a mobile terminal; judging whether the vehicle terminal meets an autonomous parking condition or not according to the autonomous parking request; if the autonomous parking condition is met, sending a parking space acquisition request to a parking lot management system; receiving parking space position information sent by the parking lot management system based on the parking space acquisition request, and sending a current position information acquisition request to a vehicle terminal; and sending the current position information and the parking space position information returned by the vehicle terminal based on the current position information acquisition request to an edge server. The method, the AVP platform and the vehicle terminal can solve the problems that the existing intelligent independent parking and independent calling of the single vehicle are difficult to realize, so that the completely unmanned independent parking and independent calling landing have great challenges, and the large-scale popularization and use are difficult.

Description

Autonomous parking and autonomous calling method, AVP platform and vehicle terminal

Technical Field

The invention relates to the technical field of automatic driving, in particular to an autonomous parking and calling method, an AVP platform and a vehicle terminal.

Background

The autonomous parking is also called one-touch parking, which means that a user can park a currently driven vehicle into a designated or random parking space, and the autonomous calling is also called one-touch calling, which means that the user can call a vehicle on the parking space at a designated place.

However, the currently mainstream single-vehicle intelligent autonomous parking and autonomous calling are difficult to realize, so that the autonomous parking and autonomous calling landing which are completely unmanned have great challenges, and the large-scale popularization and use are difficult.

Disclosure of Invention

The invention aims to solve the technical problems of the prior art, and provides an autonomous parking and autonomous calling method, an AVP platform and a vehicle terminal, which are used for solving the problems of great challenges of autonomous parking and autonomous calling landing of a completely unmanned vehicle and difficulty in large-scale popularization and use caused by great difficulty in realizing the existing intelligent autonomous parking and autonomous calling of a single vehicle.

In a first aspect, an embodiment of the present invention provides an autonomous parking method, which is applied to an AVP platform, and the method includes:

receiving an autonomous parking request sent by a mobile terminal;

judging whether the vehicle terminal meets an autonomous parking condition or not according to the autonomous parking request;

if the autonomous parking condition is met, sending a parking space acquisition request to a parking lot management system;

receiving parking space position information sent by the parking lot management system based on the parking space acquisition request, and sending a current position information acquisition request to a vehicle terminal;

and sending the current position information returned by the vehicle terminal based on the current position information acquisition request and the parking space position information to an edge server, so that the edge server generates a target driving path according to the current position information, the parking space position information and prestored parking lot map information, splits the target driving path, acquires corresponding split track point information, and sends the track point information to the vehicle terminal in stages, wherein the track point information is used for triggering the vehicle terminal to control the vehicle to automatically drive according to the received track point information until the vehicle reaches the parking space.

Preferably, the determining whether the vehicle terminal satisfies the autonomous parking condition according to the autonomous parking request includes:

determining the vehicle terminal which is in a binding relationship with the mobile terminal in advance according to the autonomous parking request;

sending a vehicle state information acquisition request to the vehicle terminal;

receiving vehicle state information returned by the vehicle terminal based on the vehicle state information acquisition request, wherein the vehicle state information comprises: whether the gear is P gear, whether the vehicle is flamed out and whether the vehicle door is closed;

judging whether the vehicle terminal meets an autonomous parking condition or not according to the vehicle state information;

and if the gear is P gear, the vehicle is flamed out and the vehicle door is closed, judging that the vehicle terminal meets the autonomous parking condition, otherwise, judging that the autonomous parking condition is not met.

In a second aspect, an embodiment of the present invention provides an autonomous parking method, which is applied to a vehicle terminal, and the method includes:

receiving a current position information acquisition request sent by an AVP platform, wherein the current position information acquisition request is sent after the AVP platform receives an autonomous parking request sent by a mobile terminal and judges that the vehicle terminal meets an autonomous parking condition, and the current position information acquisition request is sent after receiving parking space position information sent by a parking lot management system;

receiving track point information sent by an edge server in stages, wherein the track point information is obtained by splitting a target driving path after the edge server generates the target driving path according to the current position information, the parking space position information and the prestored parking lot map information sent by the AVP platform;

and automatically driving according to the received track point information until the parking space is reached.

Preferably, before receiving the current location information obtaining request sent by the AVP platform, the method further includes:

receiving a vehicle state information acquisition request sent by an AVP platform, wherein the vehicle state information acquisition request is sent when the AVP platform determines that a vehicle terminal which is in a binding relationship with the mobile terminal in advance is a home terminal according to the autonomous parking request;

returning vehicle state information to the AVP platform, wherein the vehicle state information comprises: whether the gear is a P gear, whether the vehicle is flamed out or not and whether the vehicle door is closed or not are judged, and the vehicle state information is used for triggering the AVP platform to receive the vehicle state information and then judging whether the vehicle terminal meets the autonomous parking condition or not according to the vehicle state information;

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, while automatically driving according to the received track point information, the method further comprises:

sending vehicle running information to the edge server in real time, wherein the vehicle running information comprises real-time position information, speed information and course angle information, so that the edge server judges whether track point information of the next stage needs to be issued to the vehicle terminal or not according to the real-time position information and the speed information;

receiving a deviation correction prompt sent by the edge server when the vehicle running track is judged to deviate from the track point based on the track point information and the course angle information;

performing correction processing according to the correction prompt;

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 obstacle disappearance information sent by the edge server is received, and then continuing to drive according to the track point information.

In a third aspect, an embodiment of the present invention provides an autonomous taxi calling method, which is applied to an AVP platform, and the method includes:

the method for autonomous parking according to the first aspect; and the number of the first and second groups,

receiving an autonomous taxi calling request sent by a mobile terminal, wherein the autonomous taxi calling request carries parking position information;

judging whether the vehicle terminal meets the autonomous taxi calling condition or not according to the autonomous taxi calling request;

if the autonomous calling condition is met, sending a current position information acquisition request to the vehicle terminal;

receiving current position information returned by the vehicle terminal based on the current position information acquisition request;

and sending the current position information and the parking position information to an edge server, so that the edge server generates a target running path according to the current position information, the parking position information and prestored parking lot map information, splits the target running path, acquires corresponding split track point information, and sends the track point information to a vehicle terminal in stages, wherein the track point information is used for triggering the vehicle terminal to control the vehicle to automatically run according to the received track point information until the parking position is reached.

Preferably, the determining whether the vehicle terminal satisfies the autonomous taxi calling condition according to the autonomous taxi calling request includes:

determining the vehicle terminal which is in a binding relationship with the mobile terminal in advance according to the autonomous taxi calling request;

judging whether the vehicle terminal meets an autonomous taxi calling condition or not according to the vehicle state information;

and if the gear is P gear, the vehicle is flamed out and the vehicle door is closed, judging that the vehicle terminal meets the autonomous vehicle calling condition, otherwise, not meeting the autonomous vehicle calling condition.

In a fourth aspect, an embodiment of the present invention provides an autonomous taxi calling method, which is applied to a vehicle terminal, and the method includes:

the method for autonomous parking according to the second aspect; and the number of the first and second groups,

receiving a current position information acquisition request sent by an AVP platform, wherein the current position information acquisition request is sent after the AVP platform receives an autonomous taxi calling request sent by a mobile terminal and judges that a taxi terminal meets autonomous taxi calling conditions, and the autonomous taxi calling request carries parking position information;

receiving track point information sent by an edge server in stages, wherein the track point information is obtained by splitting a target driving path after the edge server generates the target driving path according to the current position information, parking position information and prestored parking lot map information sent by an AVP platform;

and automatically driving according to the received track point information until the parking position is reached.

receiving a vehicle state information acquisition request sent by an AVP platform, wherein the vehicle state information acquisition request is sent when the AVP platform determines that a vehicle terminal which is in a binding relationship with the mobile terminal in advance is a home terminal according to the autonomous taxi calling request;

returning vehicle state information to the AVP platform, wherein the vehicle state information comprises: whether the gear is a P gear, whether a vehicle is flamed out or not and whether a vehicle door is closed or not are judged, wherein the vehicle state information is used for triggering the AVP platform to receive the vehicle state information and then judging whether the vehicle terminal meets the autonomous taxi calling condition or not according to the vehicle state information;

performing correction processing according to the correction prompt;

In a fifth aspect, an embodiment of the present invention provides an AVP platform, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the method for autonomous parking according to the first aspect, or implements the method for autonomous summoning according to the third aspect.

In a sixth aspect, an embodiment of the present invention provides a vehicle terminal, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, where the processor, when executing the computer program, implements the method for autonomous parking according to the second aspect, or implements the method for autonomous summoning according to the fourth aspect.

According to the autonomous parking and calling method, the AVP platform and the vehicle terminal, autonomous parking and calling are achieved through the combination mode of the AVP platform, the APP client side, the vehicle terminal, the edge server and the parking lot management system, and the difficulty and cost of achieving autonomous calling through a single-vehicle intelligent mode can be reduced.

Drawings

FIG. 1: the method is a scene schematic diagram of autonomous parking and calling in 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: the interactive schematic diagram of the autonomous taxi calling method is shown in the embodiment of the invention;

FIG. 5: a flowchart of an autonomous parking method according to embodiment 2 of the present invention;

FIG. 6: is a flow chart of a method for autonomous taxi-calling in embodiment 3 of the present invention;

FIG. 7: is a flow chart of a method for autonomous taxi-calling in embodiment 4 of the present invention;

FIG. 8: is a schematic structural diagram of an AVP platform according to embodiment 5 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 can download and install an APP client of an AVP (Automated Valet Parking) platform in advance, register the APP client on the AVP platform through the APP and bind the APP client with the vehicle terminal.

(2) 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.

(3) 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.

(4) 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.

(5) 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.

(6) 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 related embodiments of autonomous parking and autonomous summoning according to the present application.

Example 1:

the embodiment provides an autonomous parking method, which is applied to an AVP platform and comprises the following steps of:

step S102: receiving an autonomous parking request sent by a mobile terminal;

it should be noted that the vehicle terminal has successfully registered with the 5G network before the mobile terminal sends the autonomous parking request to the AVP 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.

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 this time, the user can send an autonomous parking request to the AVP platform by clicking the one-click parking function on the mobile terminal APP.

Step S104: and judging whether the vehicle terminal meets the autonomous parking condition or not according to the autonomous parking request.

Alternatively, the judging whether the vehicle terminal satisfies the autonomous parking condition according to the autonomous parking request may include:

determining a vehicle terminal which is in a binding relationship with the mobile terminal in advance according to the autonomous parking request;

sending a vehicle state information acquisition request to a vehicle terminal;

judging whether the vehicle terminal meets the autonomous parking condition or not according to the vehicle state information;

In the embodiment, in order to train good habits of a user, the occurrence of a safety accident caused by the fact that the vehicle moves forward and backward due to uneven road surface due to the fact that the user gets off the vehicle without flameout or without being hooked into the P range and the occurrence of a vehicle scratch accident caused by the fact that the vehicle door is not completely closed due to the user error in the autonomous parking process is avoided, and the autonomous parking condition is preferably that the vehicle has flameout, the gear is the P range and the vehicle door is closed.

Step S106: if the autonomous parking condition is met, sending a parking space acquisition request to a parking lot management system;

step S108: receiving parking space position information sent by a parking lot management system based on a parking space acquisition request, and sending a current position information acquisition request to a vehicle terminal;

step S110: the method comprises the steps of sending current position information and parking space position information returned by a vehicle terminal based on a current position information obtaining request to an edge server, enabling the edge server to generate a target driving path according to the current position information, the parking space position information and prestored parking lot map information, splitting the target driving path, obtaining corresponding split track point information, and sending track point information to the vehicle terminal in stages, wherein the track point information is used for triggering the vehicle terminal to control a vehicle to automatically drive according to the received track point information until the vehicle reaches a parking space.

In this embodiment, in order to improve the flexibility of path planning, the edge server issues track point information to the vehicle terminal in stages, and compared with directly sending a global planned path to the vehicle terminal, the problem of insufficient flexibility caused by global path planning limitation can be avoided. In the vehicle running process, the edge server can judge whether track point information is issued in real time, if not, the edge server judges whether next track point information is issued according to the vehicle running information, and if so, the edge server can further judge whether an obstacle exists between the current track point and the next track point, and if not, the edge server sends the next track point information to the vehicle terminal. If an obstacle exists between the current track point and the next track point, the edge server can perform path planning again, obtain new next track point information and issue the next track point information to the vehicle terminal until the vehicle reaches the parking space.

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 AVP 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 AVP platform by clicking the one-touch parking function on the mobile terminal APP, so as to realize one-touch parking.

Step S02: the AVP platform sends a vehicle state information acquisition request to a vehicle terminal;

specifically, after receiving the autonomous parking request, the AVP platform sends a vehicle state information acquisition request to a vehicle terminal bound by 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 in a flameout state, 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 AVP platform;

steps S04 to S05: the AVP platform judges whether the vehicle terminal meets the autonomous parking condition according to the returned vehicle state information, and if so, the AVP platform sends a parking space acquisition request to a parking lot management system;

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: the parking lot management system returns parking space information to the AVP platform;

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 S07: after the parking space is determined, the AVP platform sends a current position information acquisition request to the vehicle terminal and controls the vehicle to automatically ignite and start;

step S08: the vehicle terminal returns the current position information to the AVP platform;

specifically, an RTK terminal of the vehicle terminal receives the measurement error of the RTK base station and then calculates the current specific position of the vehicle, and the vehicle terminal sends the specific position to the AVP platform.

Step S09: the AVP platform sends the current position information and the parking space position information of the vehicle terminal to the edge server;

steps S10 to S11: the edge server generates a target driving path according to the current position information, the parking space position information and the parking lot high-precision map information of the vehicle terminal, splits the target driving path, obtains corresponding split track points, and sends first track point information to the vehicle terminal.

Specifically, the edge server sends corresponding track point information to the vehicle terminal in stages according to the real-time position information of the vehicle terminal until the parking space is reached, the track point is composed of XYZ coordinate values, after the edge server generates a target driving path, the target driving path is split, namely the target driving path is divided into a plurality of segments from a starting point to a destination point, the segment points are split track points, and the edge server sends first track point information to the vehicle terminal.

Steps S12 to S13: after receiving the track point information sent by the edge server, the vehicle terminal controls the vehicle to automatically run according to the received track point information and simultaneously sends vehicle running information to the edge server in real time;

specifically, the vehicle terminal controls the vehicle to travel along the track point, obtains absolute coordinate values through RTK, compares the track, judges whether the track deviates from the track, and sends vehicle travel information to the edge server in real time, wherein the vehicle travel information comprises real-time position information, speed information, course angle information and the like.

Steps S14 to S15: the edge server judges whether the vehicle running track deviates from the track point or not, and when the deviation of the vehicle running track deviates from the track point, 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 track point information and the vehicle running information in stages, and judges whether the vehicle running track deviates from the track point, for example, whether the direction of the vehicle deviates according to the course angle information and the track point information can be judged, and when the vehicle running track deviates from the track point, 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. Meanwhile, the edge server judges whether track point information of the next stage needs to be issued to the vehicle terminal according to the real-time position information and/or the speed information of the vehicle terminal.

Step S16: 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 S17: and the vehicle terminal judges whether to avoid the obstacle, and if so, the vehicle terminal stops and waits until obstacle disappearance information sent by the edge server is received and then continues to run according to the track point information.

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 continues to run according to the track point information.

Step S18: and the edge server judges whether the track point information is completely issued, if not, judges whether the next track point information is issued according to the vehicle running information, and can further judge whether an obstacle exists between the current track point and the next track point when the judgment result is yes, and if not, sends the next track point information to the vehicle terminal.

Specifically, in order to improve the flexibility of path planning, the edge server issues track point information to the vehicle terminal in stages, and compared with directly sending a global planned path to the vehicle terminal, the problem of insufficient flexibility caused by global path planning limitation can be solved. In the vehicle running process, the edge server can judge whether track point information is issued in real time, if not, the edge server judges whether next track point information is issued according to the vehicle running information, and if so, the edge server can further judge whether an obstacle exists between the current track point and the next track point, and if not, the edge server sends the next track point information to the vehicle terminal. If an obstacle exists between the current track point and the next track point, the edge server can perform path planning again, obtain new next track point information and issue the next track point information to the vehicle terminal until the vehicle reaches the parking space.

Step S19: and if the track point information is completely issued, the edge server judges whether the vehicle arrives at the parking space according to the vehicle driving information, and if so, the edge server sends the information of the arriving parking space to the vehicle terminal.

Step S20: when the vehicle is parked in the parking space, the vehicle terminal sends the automatic parking success information to the AVP platform.

Specifically, after receiving the information of reaching the parking space, the vehicle terminal enters an automatic parking mode, the vehicle successfully parks in the parking space, and the vehicle terminal sends the information of successful autonomous parking to the AVP platform.

Step S21: 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.

Step S22: and after receiving the parking success information sent by the vehicle terminal and the edge server, the AVP platform sends the parking success information to the mobile terminal.

In the embodiment, the automatic parking is realized in a combined mode of the AVP platform, the APP client, the vehicle terminal, the edge server and the parking lot management system, and the difficulty and the cost of realizing the automatic parking in a single-vehicle intelligent mode can be reduced.

In a specific embodiment, after a vehicle is parked in a parking space by the above-mentioned method for autonomous parking, accordingly, the vehicle on the parking space may be summoned by the method for autonomous summoning, and referring to fig. 4, an interaction diagram of a method for autonomous summoning provided by an embodiment of the present invention is shown. In this embodiment, the method includes the following steps:

step S31: the mobile terminal sends an automatic taxi calling request to the AVP platform;

in the present embodiment, the vehicle is parked after the parking space. A user can send an autonomous taxi calling request to the AVP platform by clicking a one-key taxi calling function on the mobile terminal APP so as to realize one-key taxi calling.

Step S32: the AVP platform sends a vehicle state information acquisition request to a vehicle terminal;

specifically, after receiving the autonomous taxi calling request, the AVP platform sends a vehicle state information acquisition request to a vehicle terminal bound by 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 shut down, whether a gear is a P gear, whether no person is in the vehicle, and the like.

Step S33: the vehicle terminal returns vehicle state information to the AVP platform;

steps S34 to S35: the AVP platform judges whether the vehicle terminal meets the autonomous taxi calling condition according to the returned vehicle state information, and if the vehicle terminal meets the autonomous taxi calling condition, the AVP platform sends a current position information acquisition request to the vehicle terminal and controls the automatic ignition starting of the vehicle;

step S36: the vehicle terminal returns the current position information to the AVP platform;

specifically, if the RTK mode is adopted to realize positioning, the RTK terminal of the vehicle end receives the measurement error of the RTK base station and then calculates the current specific position of the vehicle, if the visual positioning mode is adopted to realize positioning, the vehicle end camera carries out positioning according to the currently shot image, if the laser radar mode is adopted to realize positioning, the vehicle end laser radar carries out positioning according to the currently scanned point cloud map, and the vehicle end sends the specific position to the AVP platform.

Step S37: the AVP platform sends the current position information and parking position information of the vehicle terminal to an edge server;

steps S38 to S39: the edge server generates a target driving path according to the current position information, parking position information and parking lot high-precision map information of the vehicle terminal, splits the target driving path, obtains corresponding split track points, and sends first track point information to the vehicle terminal.

Steps S40 to S41: after receiving the track point information sent by the edge server, the vehicle terminal controls the vehicle to automatically run according to the received track point information and simultaneously sends vehicle running information to the edge server in real time;

Steps S42 to S43: the edge server judges whether the vehicle running track deviates from the track point or not, and when the deviation of the vehicle running track deviates from the track point, 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.

Step S44: 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.

Step S45: and the vehicle terminal judges whether to avoid the obstacle, and if so, the vehicle terminal stops and waits until obstacle disappearance information sent by the edge server is received and then continues to run according to the track point information.

Step S46: and the edge server judges whether the track point information is completely issued, if not, judges whether the next track point information is issued according to the vehicle running information, and can further judge whether an obstacle exists between the current track point and the next track point when the judgment result is yes, and if not, sends the next track point information to the vehicle terminal.

Step S47: and if the track point information is issued, the edge server judges whether the vehicle arrives at the parking position according to the vehicle running information, and if so, the edge server sends the information of arriving at the parking position to the vehicle terminal.

Step S48: and after the vehicle reaches the parking position, the vehicle terminal sends one-key vehicle calling success information to the AVP platform.

Step S49: the edge server acquires image information after the vehicle reaches the parking position, judges whether the vehicle meets the parking requirement or not according to the image information, and sends vehicle calling success information to the AVP platform if the vehicle meets the parking requirement.

Step S50: and after receiving the successful car calling information sent by the vehicle terminal and the edge server, the AVP platform sends the successful car calling information to the mobile terminal.

In this embodiment, realize independently calling the car through the combination mode of AVP platform, APP customer end, vehicle terminal, edge server and parking area management system, can reduce the degree of difficulty and the cost that realize independently calling the car through the single car intelligent mode.

Example 2:

as shown in fig. 5, the present embodiment provides an autonomous parking method, applied to a vehicle terminal, the method including:

step S202: receiving a current position information acquisition request sent by an AVP platform, wherein the current position information acquisition request is sent after the AVP platform receives an autonomous parking request sent by a mobile terminal and judges that the vehicle terminal meets an autonomous parking condition, and the current position information acquisition request is sent after receiving parking space position information sent by a parking lot management system;

step S204: receiving track point information sent by an edge server in stages, wherein the track point information is obtained by splitting a target driving path after the edge server generates the target driving path according to current position information, parking space position information and prestored parking lot map information sent by an AVP platform;

step S206: and automatically driving according to the received track point information until the parking space is reached.

Optionally, before receiving the current location information obtaining request sent by the AVP platform, the method may further include:

receiving a vehicle state information acquisition request sent by an AVP platform, wherein the vehicle state information acquisition request is sent when the AVP platform determines that a vehicle terminal which is in a binding relationship with a mobile terminal in advance is a home terminal according to an autonomous parking request;

returning vehicle state information to the AVP platform, wherein the vehicle state information comprises: whether the gear is a P gear, whether the vehicle is flamed out or not and whether the vehicle door is closed or not are judged, and the vehicle state information is used for triggering the AVP platform to receive the vehicle state information and judging whether the vehicle terminal meets the autonomous parking condition or not according to the vehicle state information;

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.

Optionally, while automatically driving according to the received track point information, the method may further include:

the method comprises the steps that vehicle running information is sent to an edge server in real time, wherein the vehicle running information comprises real-time position information, speed information and course angle information, so that the edge server judges whether track point information of the next stage needs to be issued to a vehicle terminal or not according to the real-time position information and the speed information;

receiving a deviation correction prompt sent by the edge server when the vehicle running track deviates from the track point based on the track point information and the course angle information;

performing correction processing according to the correction reminding;

receiving obstacle warning information sent by an edge server when judging that an obstacle exists in a target driving path;

Example 3:

as shown in fig. 6, the present embodiment provides an autonomous taxi calling method, applied to an AVP platform, the method including:

the method for autonomous parking according to embodiment 1; and the number of the first and second groups,

step S302: receiving an autonomous taxi calling request sent by a mobile terminal, wherein the autonomous taxi calling request carries parking position information;

step S304: judging whether the vehicle terminal meets the autonomous taxi calling condition or not according to the autonomous taxi calling request;

step S306: if the autonomous calling condition is met, sending a current position information acquisition request to the vehicle terminal;

step S308: receiving current position information returned by the vehicle terminal based on the current position information acquisition request;

step S310: the method comprises the steps of sending current position information and parking position information to an edge server, enabling the edge server to generate a target driving path according to the current position information, the parking position information and prestored parking lot map information, splitting the target driving path, obtaining corresponding split track point information, and sending track point information to a vehicle terminal in stages, wherein the track point information is used for triggering the vehicle terminal to control a vehicle to automatically drive according to the received track point information until the parking position is reached.

Optionally, the determining whether the vehicle terminal satisfies the autonomous taxi calling condition according to the autonomous taxi calling request may include:

determining a vehicle terminal which is in a binding relationship with the mobile terminal in advance according to the autonomous taxi calling request;

sending a vehicle state information acquisition request to a vehicle terminal;

judging whether the vehicle terminal meets the autonomous taxi calling condition or not according to the vehicle state information;

and if the gear is P gear, the vehicle is flamed out and the vehicle door is closed, judging that the vehicle terminal meets the autonomous calling condition, otherwise, not meeting the autonomous calling condition.

Example 4:

as shown in fig. 7, the present embodiment provides an autonomous taxi calling method, applied to a vehicle terminal, the method including:

step S402: receiving a current position information acquisition request sent by an AVP platform, wherein the current position information acquisition request is sent after the AVP platform receives an autonomous taxi calling request sent by a mobile terminal and judges that a taxi terminal meets autonomous taxi calling conditions, and the autonomous taxi calling request carries parking position information;

step S404: receiving track point information sent by an edge server in stages, wherein the track point information is obtained by splitting a target driving path after the edge server generates the target driving path according to current position information, parking position information and prestored parking lot map information sent by an AVP platform;

step S406: and automatically driving according to the received track point information until the parking position is reached.

receiving a vehicle state information acquisition request sent by an AVP platform, wherein the vehicle state information acquisition request is sent when the AVP platform determines that a vehicle terminal which is in a binding relationship with a mobile terminal in advance is a home terminal according to an autonomous taxi calling request;

returning vehicle state information to the AVP platform, wherein the vehicle state information comprises: whether the gear is P gear, whether the vehicle is flamed out or not and whether the vehicle door is closed or not are judged, and the vehicle state information is used for triggering the AVP platform to receive the vehicle state information and judging whether the vehicle terminal meets the autonomous taxi calling condition or not according to the vehicle state information;

performing correction processing according to the correction reminding;

Example 5:

as shown in fig. 8, the present embodiment provides an AVP platform, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and when the processor executes the computer program, the processor implements the method for autonomous parking according to embodiment 1, or implements the method for autonomous summoning according to embodiment 3.

Example 6:

the present embodiment provides a vehicle terminal, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method for autonomous parking according to embodiment 2 or implements the method for autonomous summoning according to embodiment 4 when executing the computer program.

Embodiments 2 to 6 provide the method for autonomous parking and autonomous car-calling, the AVP platform, and the vehicle terminal, which implement autonomous parking and autonomous car-calling by combining the AVP platform, the APP client, the vehicle terminal, the edge server, and the parking lot management system, and can reduce the difficulty and cost of implementing autonomous car-calling by a single-car intelligent manner.

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

1. An autonomous parking method applied to an AVP platform is characterized by comprising the following steps:

receiving an autonomous parking request sent by a mobile terminal;

2. The method for autonomous parking according to claim 1, wherein the determining whether a vehicle terminal satisfies an autonomous parking condition according to the autonomous parking request includes:

3. An autonomous parking method applied to a vehicle terminal is characterized by comprising the following steps:

4. The method for autonomous parking according to claim 3, wherein before receiving the current location information acquisition request transmitted by the AVP platform, the method further comprises:

5. The method for autonomous parking according to claim 3, wherein before receiving the current location information acquisition request transmitted by the AVP platform, the method further comprises:

and establishing PDU session connection with the edge server.

6. The method for autonomous parking according to claim 4, wherein the method further comprises, while automatically traveling according to the received track point information:

performing correction processing according to the correction prompt;

7. An autonomous taxi calling method, applied to an AVP platform, the method comprising:

the method of autonomous parking according to any one of claims 1 or 2; and the number of the first and second groups,

8. The method of autonomous summoning according to claim 7, wherein said determining whether a vehicle terminal satisfies an autonomous summoning condition according to the autonomous summoning request includes:

9. An autonomous taxi calling method, applied to a vehicle terminal, the method comprising:

the method of autonomous parking of any of claims 3-6; and the number of the first and second groups,

10. The method according to claim 9, wherein before receiving the current location information acquisition request sent by the AVP platform, the method further comprises:

11. The method of autonomous summoning as claimed in claim 10, wherein while automatically driving according to the received track point information, the method further comprises:

performing correction processing according to the correction prompt;

12. An AVP platform comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the method of autonomous parking of claim 1 or 2, or implements the method of autonomous summoning of claim 7 or 8.

13. A vehicle terminal comprising a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor when executing the computer program implements a method of autonomous parking according to any of claims 3-6 or implements a method of autonomous summoning according to any of claims 9-11.