CN113147743A - Automatic parking method, system and storage medium - Google Patents
Automatic parking method, system and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
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Abstract
The invention discloses an automatic parking method, a system and a storage medium, wherein the method comprises the following steps: obtaining a parking instruction, and obtaining target vehicle information and a parking demand of a target vehicle according to the parking instruction; acquiring parking space information, and distributing target parking spaces according to the parking space information, the target vehicle information and the parking demand; obtaining a parking area map, and planning a vehicle driving path according to the parking area map and a target parking space; generating a vehicle control instruction according to the target parking space, the parking area map and the vehicle running path; and sending a vehicle control command to the target vehicle, and controlling the target vehicle to park into the target parking space according to the vehicle control command. The target parking space is issued by the background of the intelligent parking lot, and a target vehicle is not required to be searched; the vehicle driving path of the target vehicle is planned by the background of the intelligent parking lot without the planning of a vehicle-end controller, so that the vehicle without the automatic parking assistance or the passenger-replacing parking function completes the passenger-replacing parking.
Description
Technical Field
The invention relates to the technical field of automatic parking of automobiles, in particular to an automatic parking method, an automatic parking system and a storage medium.
Background
The passenger car parking technology is the development direction of the current car parking system. The existing mass production vehicle mainly uses a parking auxiliary system, and main sensors are a camera and an ultrasonic radar. The passenger-replacing parking system needs the vehicle to be equipped with the laser radar, so that the cost is too high, and large-scale mass production cannot be realized.
Disclosure of Invention
The invention aims to overcome the defects of the background technology and provides an automatic parking method, a system and a storage medium, wherein a target parking space is issued by an intelligent parking lot background without searching for a target vehicle; the vehicle driving path of the target vehicle is planned by the background of the intelligent parking lot without the planning of a vehicle-end controller, so that the vehicle without the automatic parking assistance or the passenger-replacing parking function completes the passenger-replacing parking.
In a first aspect, there is provided an automatic parking method including the steps of:
obtaining a parking instruction, and obtaining target vehicle information and a parking demand of a target vehicle according to the parking instruction;
acquiring parking space information, and distributing target parking spaces according to the parking space information, the target vehicle information and the parking demand;
obtaining a parking area map, and planning a vehicle driving path according to the parking area map and the target parking space;
generating a vehicle control instruction according to the target parking space, the parking area map and the vehicle running path;
and sending the vehicle control command to a target vehicle, and controlling the target vehicle to park in the target parking space according to the vehicle control command.
According to the first aspect, in a first possible implementation manner of the first aspect, before the step of obtaining the parking instruction, and obtaining the target vehicle information and the parking demand of the target vehicle according to the parking instruction, the method includes the following steps:
obtaining a parking area map, and obtaining a channel area, obstacle information and intersection information according to the parking area map;
selecting a plurality of path points according to the channel area, the barrier information and the intersection information, and planning a standard driving path among the path points;
the step of obtaining the parking area map and planning the vehicle running path according to the parking area map and the target parking space comprises the following steps:
and planning a vehicle driving path according to the parking area map, the standard driving path and the target parking space.
According to the first aspect, in a second possible implementation manner of the first aspect, the step of "obtaining parking space information and allocating a target parking space according to the parking space information, the target vehicle information, and the parking demand" includes the following steps:
acquiring parking space information, and acquiring idle parking space information according to the parking space information;
acquiring distributable parking spaces according to the free parking space information, the target vehicle information and the parking demand;
if only one allocable parking space exists, the allocable parking space is allocated as the target parking space;
if a plurality of allocable parking spaces exist, acquiring a plurality of parking space positions corresponding to the plurality of allocable parking spaces;
and selecting the target parking space according to the plurality of parking space positions.
According to a second possible implementation manner of the first aspect, in a third possible implementation manner of the first aspect, the step of "selecting the target parking space according to the plurality of parking space positions" includes the following steps:
obtaining distance values between a plurality of parking space positions and a target vehicle;
and selecting the target parking space according to the distance value.
According to the first aspect, in a fourth possible implementation manner of the first aspect, the step of "sending the vehicle control instruction to the target vehicle and controlling the target vehicle to park in the target parking space according to the vehicle control instruction" includes the following steps:
sending the vehicle control instruction to a target vehicle, and controlling the target vehicle to run according to the vehicle running path according to the vehicle control instruction;
if the fault information on the vehicle running path is received and the target vehicle does not pass through the position corresponding to the fault information, acquiring first real-time position information of the target vehicle;
replanning a new vehicle driving path according to the target parking space, the parking area map, the fault information and the first real-time position information;
and controlling the target vehicle to park according to the new vehicle running path to enter the target parking space.
According to the first aspect, in a fifth possible implementation manner of the first aspect, the step of "sending the vehicle control command to the target vehicle and controlling the target vehicle to park in the target parking space according to the vehicle control command" includes the following steps:
sending the vehicle control instruction to a target vehicle, and controlling the target vehicle to run according to the vehicle running path according to the vehicle control instruction;
acquiring second real-time position information of the target vehicle;
if the second real-time position information does not accord with the vehicle running path, replanning and updating the vehicle running path according to the target parking space, the parking area map and the second real-time position information;
and controlling the target vehicle to park according to the updated vehicle driving path to enter the target parking space.
According to the first aspect, in a sixth possible implementation manner of the first aspect, after the step of "sending the vehicle control command to the target vehicle and controlling the target vehicle to park in the target parking space according to the vehicle control command", the method includes the following steps:
when a target vehicle is parked into the target parking space, acquiring estimated parking time according to the parking demand;
counting the remaining parking time according to the estimated parking time;
when the remaining parking time is less than the preset time, obtaining a user operation instruction;
if the user operation instruction is to increase the parking time, adjusting the remaining parking time according to the user operation instruction;
and if the user operation instruction is the parking duration, acquiring a user exiting instruction, and marking the available time of the target parking space according to the user exiting instruction.
According to a sixth possible implementation manner of the first aspect, in a seventh possible implementation manner of the first aspect, the step of "obtaining parking space information and allocating a target parking space according to the parking space information, the target vehicle information, and the parking demand" includes the following steps:
acquiring parking space information, and if no free parking space exists in the parking space information, acquiring an available parking space, wherein the available parking space is a non-free parking space with available time less than preset waiting time;
and allocating target parking spaces according to the available parking spaces, the target vehicle information and the parking demands.
In a second aspect, there is provided an automatic parking system comprising:
the parking instruction acquisition module is used for acquiring a parking instruction and acquiring target vehicle information and a parking demand of a target vehicle according to the parking instruction;
the parking space allocation module is in communication connection with the parking instruction acquisition module and is used for acquiring parking space information and allocating a target parking space according to the parking space information, the target vehicle information and the parking requirement;
the path planning module is in communication connection with the parking space allocation module and is used for acquiring a parking area map and planning a vehicle running path according to the parking area map and the target parking space;
the instruction generating module is in communication connection with the parking space distribution module and the path planning module and is used for generating a vehicle control instruction according to the target parking space, the parking area map and the vehicle running path;
and the vehicle control module is in communication connection with the instruction generation module and is used for sending the vehicle control instruction to a target vehicle and controlling the target vehicle to park into the target parking space according to the vehicle control instruction.
In a third aspect, a storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, realizes the automatic parking method as described above.
Compared with the prior art, the target parking space is issued by the background of the intelligent parking lot, and a target vehicle is not required to be searched; the vehicle driving path of the target vehicle is planned by the background of the intelligent parking lot without the planning of a vehicle-end controller, so that the vehicle without the automatic parking assistance or the passenger-replacing parking function completes the passenger-replacing parking.
Drawings
Fig. 1 is a schematic flow chart of an automatic parking method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating an automatic parking method according to another embodiment of the present invention;
FIG. 3 is a schematic flow chart illustrating an automatic parking method according to another embodiment of the present invention;
fig. 4 is a schematic structural diagram of an automatic parking system according to an embodiment of the present invention.
Reference numerals:
100. an automatic parking system; 110. a parking instruction acquisition module; 120. a parking space analysis module; 130. a path planning module; 140. an instruction generation module; 150. a vehicle control module.
Detailed Description
Reference will now be made in detail to the present embodiments of the invention, examples of which are illustrated in the accompanying drawings. While the invention will be described in conjunction with the specific embodiments, it will be understood that they are not intended to limit the invention to the embodiments described. On the contrary, it is intended to cover alternatives, modifications, and equivalents as may be included within the spirit and scope of the invention as defined by the appended claims. It should be noted that the method steps described herein may be implemented by any functional block or functional arrangement, and that any functional block or functional arrangement may be implemented as a physical entity or a logical entity, or a combination of both.
In order that those skilled in the art will better understand the present invention, the following detailed description of the invention is provided in conjunction with the accompanying drawings and the detailed description of the invention.
Note that: the example to be described next is only a specific example, and does not limit the embodiments of the present invention necessarily to the following specific steps, values, conditions, data, orders, and the like. Those skilled in the art can, upon reading this specification, utilize the concepts of the present invention to construct more embodiments than those specifically described herein.
Referring to fig. 1, an embodiment of the present invention provides an automatic parking method, including the following steps:
s100, a parking instruction is obtained, and target vehicle information and a parking demand of a target vehicle are obtained according to the parking instruction;
s200, acquiring parking space information, and distributing a target parking space according to the parking space information, the target vehicle information and the parking demand;
s300, obtaining a parking area map, and planning a vehicle running path according to the parking area map and the target parking space;
s400, generating a vehicle control command according to the target parking space, the parking area map and the vehicle running path;
s500, the vehicle control instruction is sent to a target vehicle, and the target vehicle is controlled to park in the target parking space according to the vehicle control instruction.
Specifically, in this embodiment, the user drives the target vehicle to enter the parking and passenger dropping area, and the target vehicle is equipped with a V2X device, which includes a hit or GPS positioning device, and can perform positioning and also perform information transmission with the V2X device at the parking lot end. The invention is applied to a parking lot end system, the parking lot end system obtains a parking instruction sent by a user through intelligent equipment, and the intelligent equipment comprises but is not limited to a mobile phone, a tablet APP, special parking equipment and the like. And acquiring target vehicle information and parking requirements of the target vehicle according to the parking instruction, wherein the target vehicle information comprises but is not limited to a license plate number of the target vehicle, a vehicle model, a vehicle size, a vehicle wheel base, a minimum turning radius and the like, so that a parking space with a proper size can be conveniently selected for parking. The parking demand includes a predicted parking time, an exit position after the parking is ended, and the like.
And acquiring all parking space information in the current parking range, and allocating the target parking space according to the parking space information, the target vehicle information and the parking requirement. And then obtaining a parking area map, and planning a vehicle driving path according to the parking area map and the target parking space, wherein areas which cannot be driven, such as walls, columns, areas to be repaired and the like, in the parking area map are marked.
And generating a vehicle control command according to the target parking space, the parking area map and the vehicle running path, sending the vehicle control command to the target vehicle, and controlling the target vehicle to park in the target parking space according to the vehicle control command. The target vehicle needs to be equipped with a sensor with an automatic driving function above the L2 level and V2X equipment, and the V2X equipment is provided with a positioning device (a thousand seeking or GPS) for positioning the vehicle and is used for receiving a planned path and an actuator command sent by a parking lot background and sending information such as vehicle positioning.
The target vehicle does not need expensive sensors such as laser radar and a controller with passenger parking or parking auxiliary functions. The target parking space is issued by the background of the intelligent parking lot without searching by a target vehicle; the vehicle driving path of the target vehicle is planned by the background of the intelligent parking lot without the planning of a vehicle-end controller, so that the vehicle without the automatic parking assistance or the passenger-replacing parking function completes the passenger-replacing parking.
Optionally, as shown in fig. 2, in another embodiment of the present invention, before the step of "S100 obtaining a parking instruction, obtaining target vehicle information and a parking demand of a target vehicle according to the parking instruction", the method includes the following steps:
s010 obtains a parking area map, and obtains a channel area, obstacle information and intersection information according to the parking area map;
s020, selecting a plurality of path points according to the channel area, the obstacle information and the intersection information, and planning a standard driving path among the path points;
the step of "S300 obtaining a parking area map and planning a vehicle driving path according to the parking area map and the target parking space" includes the steps of:
s310, planning a vehicle driving path according to the parking area map, the standard driving path and the target parking space.
Specifically, in the present embodiment, a parking area map is obtained before providing the parking service, and a passage area, obstacle information, and intersection information are obtained according to the parking area map, where the passage area is an area where the vehicle can travel through, the obstacle includes, but is not limited to, an object that the vehicle cannot pass through, such as a wall and a pillar, and the intersection information is position information where the vehicle can turn around when passing through the passage area.
And selecting a plurality of path points according to the channel areas, the barrier information and the intersection information, wherein the path points can be directly selected from the intersections of each channel, or nodes in the path points can be selected as the path points by analyzing the whole map, and the path points are positions with high passing possibility in the driving process of the vehicle. And planning a standard driving path among the path points, and storing the standard driving path. And when the channel area, the obstacle information and the intersection information are changed, reselecting the path point and planning the standard driving path.
When a vehicle driving path is planned subsequently, the vehicle driving path is planned according to a parking area map, a standard driving path and a target parking space, path points which are passed by a target vehicle in a parking process are determined according to the positions of the target vehicle and the target parking space, and the vehicle driving path is rapidly determined according to the standard driving path between the path points.
The invention uses the path point system, can calculate the path in advance and add the path into the whole system, reduces the calculation amount of the running path of the vehicle when parking, and accelerates the time required by the whole parking process.
Optionally, in another embodiment of the present invention, the step of "S200 obtaining parking space information and allocating a target parking space according to the parking space information, the target vehicle information, and the parking demand" includes the following steps:
s210, acquiring parking space information, and acquiring idle parking space information according to the parking space information;
s220, acquiring allocable parking spaces according to the free parking space information, the target vehicle information and the parking demand;
s230, if only one allocable parking space exists, the allocable parking space is allocated as the target parking space;
s240, if a plurality of allocable parking spaces exist, acquiring a plurality of parking space positions corresponding to the plurality of allocable parking spaces;
s250, selecting the target parking space according to the plurality of parking space positions.
The step of "S250 selecting the target parking space according to the plurality of parking space positions" includes the steps of:
s251, obtaining distance values between a plurality of parking space positions and a target vehicle;
and S252, selecting the target parking space according to the distance value.
Specifically, in this embodiment, all parking space information in the parking area is acquired, and the free parking space information is acquired according to the parking space information. The free parking space information includes, but is not limited to, the parking space position, the parking space size, and the parking space surrounding environment. And acquiring distributable parking spaces according to the free parking space information, the target vehicle information and the parking requirement, wherein the size of the free parking spaces is enough to accommodate the target vehicle, and the surrounding environment of the free parking spaces is enough to park the target vehicle, so that the steering requirements of the target vehicle such as the minimum turning radius are met.
And if only one allocable parking space exists, directly allocating the allocable parking space as a target parking space, and planning the target vehicle. If a plurality of allocable parking spaces exist, a plurality of parking space positions corresponding to the plurality of allocable parking spaces are obtained, the distance values between the plurality of parking space positions and the target vehicle are analyzed, the target parking space is selected according to the distance values, and the allocable parking space closest to the target parking space is selected as the target parking space.
Furthermore, the user drives the target vehicle to enter the parking and passenger dropping area, and the parking and passenger dropping area is generally fixed, so that the distance between each parking space and the parking and passenger dropping area can be calculated in advance, and the marks are arranged according to the distance, so that when a plurality of assignable parking spaces are obtained through analysis, the parking space closest to the assignable parking spaces is directly determined according to the marks, and data analysis is not needed.
Optionally, in another embodiment of the present invention, the step of "S500 sending the vehicle control command to the target vehicle, and controlling the target vehicle to park in the target parking space according to the vehicle control command" includes the following steps:
s510, the vehicle control instruction is sent to a target vehicle, and the target vehicle is controlled to run according to the vehicle running path according to the vehicle control instruction;
s520, if the fault information on the vehicle running path is received and the target vehicle does not pass through the position corresponding to the fault information, acquiring first real-time position information of the target vehicle;
s530, a new vehicle running path is planned again according to the target parking space, the parking area map, the fault information and the first real-time position information;
and S540, controlling the target vehicle to park according to the new vehicle driving path to enter the target parking space.
Specifically, in the present embodiment, a vehicle control instruction is sent to a target vehicle, and the target vehicle is controlled to travel along a vehicle travel path according to the vehicle control instruction. During the running process of the target vehicle, whether an obstacle exists on a current running path is detected through a sensor (a millimeter wave radar, an ultrasonic radar and a camera), and the sensor configuration meets the L2 level automatic driving. If the controller of the parking lot end equipment receives fault information on a vehicle running path, the fault information can be obtained and reported by a target vehicle or obtained by detection of other vehicles to be parked or monitoring equipment of a parking area. And if the target vehicle does not pass through the position corresponding to the fault information, acquiring current first real-time position information of the target vehicle, replanning a new vehicle running path according to the target parking space, the parking area map, the fault information and the first real-time position information, and controlling the target vehicle to park according to the new vehicle running path to enter the target parking space.
In the process that the target vehicle is parked in the target parking space, the obstacle condition on the vehicle running path of the target vehicle is continuously monitored, so that the path is updated in time, and the waste of time caused by the target vehicle being blocked is avoided.
Optionally, in another embodiment of the present invention, the step of "S500 sending the vehicle control command to the target vehicle, and controlling the target vehicle to park in the target parking space according to the vehicle control command" includes the following steps:
s560, sending the vehicle control command to a target vehicle, and controlling the target vehicle to run according to the vehicle running path according to the vehicle control command;
s570, acquiring second real-time position information of the target vehicle;
s580, if the second real-time location information does not match the vehicle driving path, replanning and updating the vehicle driving path according to the target parking space, the parking area map, and the second real-time location information;
s590 the target vehicle is controlled to park according to the updated vehicle running path and enter the target parking space.
Specifically, in the present embodiment, a vehicle control instruction is sent to a target vehicle, and the target vehicle is controlled to travel along a vehicle travel path according to the vehicle control instruction. And acquiring second real-time position information of the target vehicle in the running process of the target vehicle. If the second real-time position information does not accord with the vehicle running path, the target vehicle deviates from the planned route, the vehicle running path is re-planned and updated according to the target parking space, the parking area map and the second real-time position information, and the target vehicle is controlled to park according to the updated vehicle running path and enter the target parking space.
The invention monitors the position of the target vehicle in real time in the parking process of the target vehicle, replans when the deviation is found, responds quickly and reduces the probability of problems in the parking process.
Optionally, as shown in fig. 3, in another embodiment of the present invention, after the step of "S500 sending the vehicle control command to the target vehicle, and controlling the target vehicle to park in the target parking space according to the vehicle control command", the method includes the following steps:
s600, after a target vehicle is parked into the target parking space, acquiring estimated parking time according to the parking demand;
s650, calculating the remaining parking time according to the estimated parking time;
s700, when the remaining parking time is less than the preset time, obtaining a user operation instruction;
s750, if the user operation instruction is to increase the parking time, adjusting the remaining parking time according to the user operation instruction;
s800, if the user operation instruction is the parking maintaining duration, acquiring a user exiting instruction, and marking the available time of the target parking space according to the user exiting instruction.
Specifically, in this embodiment, after the target vehicle parks in the target parking space, the expected parking time is obtained according to the parking demand, and the remaining parking time is counted according to the expected parking time, that is, the countdown of the remaining parking time is started. The time at which the remaining parking time period is started to be calculated may also be calculated from the time when the user submits the parking instruction, which depends on different calculation manners and is not particularly limited. And when the remaining parking time is less than the preset time, sending a prompt message to the user, for example, sending the prompt message to an intelligent hand back bound by the user, and acquiring a user operation instruction. And if the user operation instruction is to increase the parking time, adjusting the remaining parking time according to the user operation instruction.
If the user operation instruction is the parking duration keeping time, namely the user does not need to increase the parking duration, further obtaining a user exit instruction, wherein the user exit instruction comprises target vehicle exit time, a target vehicle exit position and the like, the target vehicle exit time is default to the remaining parking time, but the user can input the target vehicle exit time according to the self requirement, and finally, the available time of the target parking space is marked according to the user exit instruction. For the target vehicle exit time, a preset exit time length may be set, and a difference between the target vehicle exit time and the current time is less than or equal to the preset exit time length.
In addition, if the prompting message is sent to the user when the remaining parking time is detected to be less than the preset time, and the instruction sent by the user is not received within the preset waiting time, the preset parking time is automatically increased.
When the remaining parking time is too small, the invention prompts the user to operate so as to increase the parking time or prompt the user to drive out on time, thereby more efficiently using the whole parking resource.
Optionally, in another embodiment of the present invention, the step of "S200 obtaining parking space information and allocating a target parking space according to the parking space information, the target vehicle information, and the parking demand" includes the following steps:
s280, parking space information is obtained, if no free parking space exists in the parking space information, an available parking space is obtained, and the available parking space is a non-free parking space with available time less than preset waiting time;
and S290, allocating a target parking space according to the available parking space, the target vehicle information and the parking demand.
Specifically, in this embodiment, when a parking instruction is received, all pieces of parking space information are acquired, and if there is no free parking space. And selecting the available parking spaces according to the available time of the non-free parking spaces, wherein the parking spaces marked with the available time are all the parking spaces which are confirmed to be driven out by the user after the user sends the user driving-out instruction, and the parking spaces which are not confirmed to be driven out by the user after the user does not send the user driving-out instruction are marked by the remaining parking time. And then allocating the target parking space according to the available parking space, the target vehicle information and the parking requirement, wherein the parking space with shorter available time can be preferentially selected as the target parking space under the condition that the size of the parking space allows.
The invention carries out classification management on the current non-idle parking spaces through the residual parking time and the available time decibels so as to integrate and utilize the parking resources more efficiently.
The invention provides an automatic parking method, which is applied to a parking lot end system, wherein a target vehicle is provided with a V2X device, the device comprises a searching or GPS positioning device, can perform positioning, and can also perform information transmission with a V2X device of the parking lot end system. The parking lot end system is provided with a high-precision map, V2X drive test equipment, parking space monitoring equipment and a background system.
The intelligent device can simultaneously display the current position, the running path, the vehicle state, parking, vehicle taking and other auxiliary information of the target vehicle, so that the user can know the real-time parking situation.
Step 1, a driver drives a target vehicle to enter a parking and passenger dropping area.
And 2, filling target vehicle information and parking requirements through an intelligent device such as a mobile phone App, generating a parking instruction and clicking 'start parking'.
And 3, receiving a 'starting parking' instruction of the target vehicle by the parking lot end system. And the target vehicle generates a parking instruction to the parking lot end system through the V2X device, and acquires target vehicle information and parking requirements of the target vehicle according to the parking instruction.
And 4, intelligently distributing the target parking spaces by the parking lot end system according to the parking space information, the target vehicle information and the parking requirement.
The parking lot layout can separate the vehicle exit and entrance of the intelligent parking lot, thereby avoiding the interference of the vehicle planning route entering and exiting. Each parking space has a label (similar to S001), and the closer to an exit, the larger the label value is, the parking space allocation can preferentially allocate the parking space with the larger label value. In practice, the number of outlets and inlets may be more than one, so that the labels can be distinguished based on different outlets and inlets.
The parking lot end system performs global path planning according to the allocated target parking spaces and the position information of other vehicles (obstacle vehicles) in the parking lot.
The global path planning of the parking lot end system is based on an A-search algorithm commonly used in a navigation system, a path from a current position to an end point is planned to serve as a global path according to a vehicle state, a road label point, a vehicle minimum turning radius and end point information by combining a road section topological relation in a high-precision map, and meanwhile, the travel state is continuously updated in the driving process, the A-search algorithm is a direct search method which is most effective in solving the shortest path in a static road network, the search speed is increased by introducing a heuristic function, and the cost function is as follows: (n) ═ g (n) + h (n)
Where g (n) represents the actual cost of reaching node n from the starting point, and h (n) represents the estimated cost of reaching the end point from node n.
The following optimization processing is adopted, and the global path planning speed of the system can be improved.
1. The map is preprocessed to indicate which areas are unreachable, such as parking spaces, walls, pillars, etc. where the vehicle has been parked. Moreover, Boolean type judgment information is added to the nodes when the array is traversed, and whether the nodes are in two lists can be directly judged according to the judgment information after the map is initialized without repeated traversing operation.
2. Large squares are used for long paths and small squares are used when approaching the target.
3. A waypoint system is used or the path may be pre-calculated and added to the overall system. And setting path points (similar to T0001) at all intersections of the parking lot. The global path of the vehicle can be divided into a starting point, namely path point 1, path point 2, path point 3 … …, path point X and an end point, and the routes among the path points can be loaded into the system in advance.
The planned path is divided into two sections: 1, driving to a path of a target parking space; 2, parking path. The path 1 has certain universality, and the path 2 needs to be planned according to the minimum turning radius of the vehicle.
And 5, receiving a vehicle control instruction sent by the parking lot end system by the target vehicle, wherein the vehicle control instruction comprises a target parking space, a parking area map and a vehicle running path, and tracking the target vehicle.
And 6, the target vehicle end sends position information to the parking lot end system in real time through the V2X equipment, and the parking lot end system judges whether the position of the target vehicle is on a planned path. And positioning is carried out based on a GPS or a kilogramme, and the position information is transmitted back to the parking lot end system in real time, and the parking lot end system compares the position of the target vehicle with the planned path and judges whether the target vehicle deviates.
And 7, if the position of the target vehicle is not on the planned vehicle running path, replanning the path according to the current position and the actuator instruction, and issuing the replanned path and the actuator instruction to the target vehicle. (this can also be compared by the onboard controller, but adds to the cost of the vehicle).
And 8, detecting whether the current running path has an obstacle or not by the target vehicle through a sensor (a millimeter wave radar, an ultrasonic radar and a camera), wherein the sensor configuration meets the L2 level automatic driving.
And 9, if the obstacle is found to obstruct the target vehicle from running, stopping the target vehicle, and sending the obstacle information to the parking lot end system.
And step 10, the parking lot end system replans the route according to the current vehicle position and the obstacle position by combining the information of the field end and sends the route to the target vehicle.
And step 11, parking the target vehicle according to the path and the actuator instruction. The whole parking process is tracking driving, and the path is planned by a parking lot end system, so that the cost of a vehicle controller is reduced.
And step 12, judging whether the vehicle is parked successfully or not by the parking space monitoring system of the parking lot end system, and if not, re-planning a parking path. (the image of the reversing camera and the radar detection information can be uploaded to a parking lot end system, and the parking lot end system judges whether the parking is successful or not according to the acquired reversing information).
And step 13, if the parking is successful, the parking lot end system issues parking success and parking space position information to the intelligent equipment of the user, and the parking place position information is displayed through the intelligent equipment.
As shown in fig. 4, the present invention provides an automatic parking system 100 including:
a parking instruction obtaining module 110, configured to obtain a parking instruction, and obtain target vehicle information and a parking demand of a target vehicle according to the parking instruction;
the parking space allocation module 120 is in communication connection with the parking instruction acquisition module 110, and is configured to acquire parking space information and allocate a target parking space according to the parking space information, the target vehicle information, and the parking demand;
a path planning module 130, communicatively connected to the parking space allocation module 120, configured to obtain a parking area map, and plan a vehicle driving path according to the parking area map and the target parking space;
the instruction generating module 140 is in communication connection with the parking space allocation module 120 and the path planning module 130, and is configured to generate a vehicle control instruction according to the target parking space, the parking area map, and the vehicle driving path;
and the vehicle control module 150 is in communication connection with the instruction generation module 140, and is configured to send the vehicle control instruction to the target vehicle, and control the target vehicle to park in the target parking space according to the vehicle control instruction.
The path planning module 130 is configured to obtain a parking area map, and obtain a channel area, obstacle information, and intersection information according to the parking area map; selecting a plurality of path points according to the channel area, the barrier information and the intersection information, and planning a standard driving path among the path points; and planning a vehicle driving path according to the parking area map, the standard driving path and the target parking space.
The parking space allocation module 120 is configured to obtain parking space information and obtain free parking space information according to the parking space information; acquiring distributable parking spaces according to the free parking space information, the target vehicle information and the parking demand; if only one allocable parking space exists, the allocable parking space is allocated as the target parking space; if a plurality of allocable parking spaces exist, acquiring a plurality of parking space positions corresponding to the plurality of allocable parking spaces; and selecting the target parking space according to the plurality of parking space positions. Wherein, specifically include: obtaining distance values between a plurality of parking space positions and a target vehicle; and selecting the target parking space according to the distance value.
The vehicle control module 150 is configured to send the vehicle control instruction to a target vehicle, and control the target vehicle to travel according to the vehicle travel path according to the vehicle control instruction; if the fault information on the vehicle running path is received and the target vehicle does not pass through the position corresponding to the fault information, acquiring first real-time position information of the target vehicle; replanning a new vehicle driving path according to the target parking space, the parking area map, the fault information and the first real-time position information; and controlling the target vehicle to park according to the new vehicle running path to enter the target parking space.
The vehicle control module 150 is configured to send the vehicle control instruction to a target vehicle, and control the target vehicle to travel according to the vehicle travel path according to the vehicle control instruction; acquiring second real-time position information of the target vehicle; if the second real-time position information does not accord with the vehicle running path, replanning and updating the vehicle running path according to the target parking space, the parking area map and the second real-time position information; and controlling the target vehicle to park according to the updated vehicle driving path to enter the target parking space.
The vehicle control module 150 is configured to obtain a predicted parking time according to the parking demand after a target vehicle enters the target parking space for parking; counting the remaining parking time according to the estimated parking time; when the remaining parking time is less than the preset time, obtaining a user operation instruction; if the user operation instruction is to increase the parking time, adjusting the remaining parking time according to the user operation instruction; and if the user operation instruction is the parking duration, acquiring a user exiting instruction, and marking the available time of the target parking space according to the user exiting instruction.
The parking space allocation module 120 is configured to acquire parking space information, and acquire an available parking space if there is no free parking space in the parking space information, where the available parking space is a non-free parking space whose available time is less than a preset waiting time; and allocating target parking spaces according to the available parking spaces, the target vehicle information and the parking demands.
Specifically, the functions of each module in this embodiment have been described in detail in the corresponding method embodiment, and thus are not described in detail again.
Based on the same inventive concept, the embodiments of the present application further provide a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements all or part of the method steps of the above method.
The present invention can implement all or part of the processes of the above methods, and can also be implemented by using a computer program to instruct related hardware, where the computer program can be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the above method embodiments can be implemented. Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer readable medium may include: any entity or device capable of carrying computer program code, recording medium, U.S. disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution media, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, in accordance with legislation and patent practice, the computer readable medium does not include electrical carrier signals and telecommunications signals.
Based on the same inventive concept, an embodiment of the present application further provides an electronic device, which includes a memory and a processor, where the memory stores a computer program running on the processor, and the processor executes the computer program to implement all or part of the method steps in the method.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. The general purpose processor may be a microprocessor or the processor may be any conventional processor or the like, the processor being the control center of the computer device and the various interfaces and lines connecting the various parts of the overall computer device.
The memory may be used to store computer programs and/or modules, and the processor may implement various functions of the computer device by executing or executing the computer programs and/or modules stored in the memory, as well as by invoking data stored in the memory. The memory may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required by at least one function (e.g., a sound playing function, an image playing function, etc.); the storage data area may store data (e.g., audio data, video data, etc.) created according to the use of the cellular phone. In addition, the memory may include high speed random access memory, and may also include non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), at least one magnetic disk storage device, a Flash memory device, or other volatile solid state storage device.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, server, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention has been described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), servers and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. An automatic parking method, characterized by comprising the steps of:
obtaining a parking instruction, and obtaining target vehicle information and a parking demand of a target vehicle according to the parking instruction;
acquiring parking space information, and distributing target parking spaces according to the parking space information, the target vehicle information and the parking demand;
obtaining a parking area map, and planning a vehicle driving path according to the parking area map and the target parking space;
generating a vehicle control instruction according to the target parking space, the parking area map and the vehicle running path;
and sending the vehicle control command to a target vehicle, and controlling the target vehicle to park in the target parking space according to the vehicle control command.
2. The automatic parking method according to claim 1, wherein the step of "obtaining a parking instruction, obtaining target vehicle information and a parking demand of the target vehicle according to the parking instruction" is preceded by the steps of:
obtaining a parking area map, and obtaining a channel area, obstacle information and intersection information according to the parking area map;
selecting a plurality of path points according to the channel area, the barrier information and the intersection information, and planning a standard driving path among the path points;
the step of obtaining the parking area map and planning the vehicle running path according to the parking area map and the target parking space comprises the following steps:
and planning a vehicle driving path according to the parking area map, the standard driving path and the target parking space.
3. The automatic parking method according to claim 1, wherein the step of acquiring the parking space information and allocating the target parking space according to the parking space information, the target vehicle information, and the parking demand comprises the steps of:
acquiring parking space information, and acquiring idle parking space information according to the parking space information;
acquiring distributable parking spaces according to the free parking space information, the target vehicle information and the parking demand;
if only one allocable parking space exists, the allocable parking space is allocated as the target parking space;
if a plurality of allocable parking spaces exist, acquiring a plurality of parking space positions corresponding to the plurality of allocable parking spaces;
and selecting the target parking space according to the plurality of parking space positions.
4. The automatic parking method according to claim 3, wherein the step of "selecting the target slot based on a plurality of the slot positions" includes the steps of:
obtaining distance values between a plurality of parking space positions and a target vehicle;
and selecting the target parking space according to the distance value.
5. The automatic parking method according to claim 1, wherein the step of "transmitting the vehicle control command to the target vehicle and controlling the target vehicle to park in the target space according to the vehicle control command" comprises the steps of:
sending the vehicle control instruction to a target vehicle, and controlling the target vehicle to run according to the vehicle running path according to the vehicle control instruction;
if the fault information on the vehicle running path is received and the target vehicle does not pass through the position corresponding to the fault information, acquiring first real-time position information of the target vehicle;
replanning a new vehicle driving path according to the target parking space, the parking area map, the fault information and the first real-time position information;
and controlling the target vehicle to park according to the new vehicle running path to enter the target parking space.
6. The automatic parking method according to claim 1, wherein the step of "transmitting the vehicle control command to the target vehicle and controlling the target vehicle to park in the target space according to the vehicle control command" comprises the steps of:
sending the vehicle control instruction to a target vehicle, and controlling the target vehicle to run according to the vehicle running path according to the vehicle control instruction;
acquiring second real-time position information of the target vehicle;
if the second real-time position information does not accord with the vehicle running path, replanning and updating the vehicle running path according to the target parking space, the parking area map and the second real-time position information;
and controlling the target vehicle to park according to the updated vehicle driving path to enter the target parking space.
7. The automatic parking method according to claim 1, wherein after the step of "sending the vehicle control command to the target vehicle and controlling the target vehicle to park in the target parking space according to the vehicle control command", the method comprises the steps of:
when a target vehicle is parked into the target parking space, acquiring estimated parking time according to the parking demand;
counting the remaining parking time according to the estimated parking time;
when the remaining parking time is less than the preset time, obtaining a user operation instruction;
if the user operation instruction is to increase the parking time, adjusting the remaining parking time according to the user operation instruction;
and if the user operation instruction is the parking duration, acquiring a user exiting instruction, and marking the available time of the target parking space according to the user exiting instruction.
8. The automatic parking method according to claim 7, wherein the step of acquiring the parking space information and allocating the target parking space according to the parking space information, the target vehicle information, and the parking demand comprises the steps of:
acquiring parking space information, and if no free parking space exists in the parking space information, acquiring an available parking space, wherein the available parking space is a non-free parking space with available time less than preset waiting time;
and allocating target parking spaces according to the available parking spaces, the target vehicle information and the parking demands.
9. An automatic parking system, comprising:
the parking instruction acquisition module is used for acquiring a parking instruction and acquiring target vehicle information and a parking demand of a target vehicle according to the parking instruction;
the parking space allocation module is in communication connection with the parking instruction acquisition module and is used for acquiring parking space information and allocating a target parking space according to the parking space information, the target vehicle information and the parking requirement;
the path planning module is in communication connection with the parking space allocation module and is used for acquiring a parking area map and planning a vehicle running path according to the parking area map and the target parking space;
the instruction generating module is in communication connection with the parking space distribution module and the path planning module and is used for generating a vehicle control instruction according to the target parking space, the parking area map and the vehicle running path;
and the vehicle control module is in communication connection with the instruction generation module and is used for sending the vehicle control instruction to a target vehicle and controlling the target vehicle to park into the target parking space according to the vehicle control instruction.
10. A storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the automatic parking method according to any one of claims 1 to 8.
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