CN109062206A - A kind of method and automatic driving vehicle of intelligent parking - Google Patents
A kind of method and automatic driving vehicle of intelligent parking Download PDFInfo
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- CN109062206A CN109062206A CN201810856853.3A CN201810856853A CN109062206A CN 109062206 A CN109062206 A CN 109062206A CN 201810856853 A CN201810856853 A CN 201810856853A CN 109062206 A CN109062206 A CN 109062206A
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- parking
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- driving vehicle
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- parking position
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- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 238000012937 correction Methods 0.000 claims abstract description 12
- 238000001514 detection method Methods 0.000 claims description 23
- 238000012545 processing Methods 0.000 claims description 3
- 238000012986 modification Methods 0.000 description 3
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of method of intelligent parking and automatic driving vehicles, are applied in automatic driving vehicle, include the following steps: that automatic driving vehicle enters parking area；Receive the transmission signal that parking position route is specified in instruction to parking area；Specified parking position is navigate in parking area according to route；And the data of the one or more sensors using the specified parking position in the distance to a declared goal for being parked in any Adjacent vehicles carry out parking position correction to the automatic driving vehicle being prepared to stop.
Description
Technical field
The present invention relates to automatic Pilot technical fields, in particular to the method and automatic Pilot of a kind of intelligent parking
Vehicle.
Background technique
Automatic driving device can be changed not doing to vehicle structure in automatic driving or test vehicle
Under the premise of making, the clutch pedal of automobile, brake pedal, gas pedal, transfer case shift mechanisms are carried out automatically controlling.In nothing
In the research of people's vehicle, automatic driving device allows for completing the instruction action that unmanned vehicle control issues, and controls automobile
Carry out automatic Pilot；It allows for adapting to different vehicle platforms, completes to operate the automatic Pilot of different automobiles.Meanwhile from
Dynamic pilot instrument can substitute experimenter and drive the uninteresting automobile experiment that vehicle completes high intensity, circulating repetition, reduction pair
The injury of driver.The environment of barrier around vehicle etc. is various.However, in above-mentioned conventional art, due to
Automatic Pilot is respectively switched to manual drive without making according to the operating quantity of driver, so for from automatic Pilot to hand
The intervention amount of the driver behavior of the dynamic driver for driving switching does not meet the environment around vehicle sometimes, it is desirable to be changed
It is kind.How to realize that automatic driving vehicle is rapidly performed by parking is to adapt to the universal urgent need skill to be solved of the following automatic driving vehicle
Art problem.
Summary of the invention
The invention proposes a kind of methods of intelligent parking, are applied in automatic driving vehicle, include the following steps:
Automatic driving vehicle enters parking area；
Receive the transmission signal that parking position route is specified in instruction to parking area；
Specified parking position is navigate in parking area according to route；
And use the one or more of the specified parking position in the distance to a declared goal for being parked in any Adjacent vehicles
The data of sensor carry out parking position correction to the automatic driving vehicle being prepared to stop.
The method receives and indicates that the transmission to the route for the stand distributed includes: from parking reservation system
Wireless transmission is received, the wireless transmission includes distributed parking position, the electronic map of the parking area and the road
Line indicates how to be navigated in parking area to reach the route of specified parking position.
The method, specified parking position of the use in the distance to a declared goal for being parked in any Adjacent vehicles
The data of one or more sensors carry out parking position correction to the automatic driving vehicle being prepared to stop and specifically include: starting
First detection sensor of the specified adjacent nearest two sides vehicle in parking position and the second detection sensing of specified parking position
Device indicates that automatic driving vehicle drives to parking position according to projected route by second detection sensor, passes through
First detection sensor sends feedback signal to the second detection sensor, and the second detection sensor is according to the first detection received
The signal of sensor, is weighted, and real-time update indicates that vehicle carries out traveling-position correction.
A kind of automatic driving vehicle, which is characterized in that use method as described in above-mentioned any one, comprising: one or
Multiple processors；System storage, is coupled to one or more processors, and system storage storage can be handled by one or more
The instruction that device executes；One or more sensors, for detecting the external environment near autonomous vehicle；One or more processing
Device is configured as executing the instruction of storage in the system memory, automatic driving vehicle is parked in parking area and is stopped
In parking stall, including the following contents: automatic driving vehicle enters parking area；It receives and specifies parking position in instruction to parking area
The transmission signal of route；Specified parking position is navigate in parking area according to route；And using in office from parking
The data of the one or more sensors of specified parking position in the distance to a declared goal of what Adjacent vehicles, it is automatic to what is be prepared to stop
It drives vehicle and carries out parking position correction.
The automatic driving vehicle, one or more of sensors include one group of sensor, one group of sensor
Including one or more sensors selected from the following: camera, LIDAR sensor, radar sensor and ultrasonic sensor.
The automatic driving vehicle, one or more of processors, which are configured as executing, is stored in the system storage
Instruction in device is to use the data from one or more of sensors to be parked in distributed stand including quilt
It is configured to execute one or more of places storage of described instruction in the system memory to use data to use from the group
The data of sensor are parked in specified stand.
The automatic driving vehicle, one or more of processors, which are configured as executing, is stored in the system storage
Instruction in device includes one or more of processors with the transmission for receiving the stand including being distributed, it is one or
Multiple processors are configured as executing storage in the system memory including the speed changer for specifying parking position, wherein based on autonomous
The size of vehicle distributes distributed parking position.
The automatic driving vehicle, one or more of processors are configured as executing storage in the system memory
Instruction to receive transmission from parking reservation system include: one or more of processors, be configured as executing and be stored in and be
Instruction in system memory is to receive before automotive vehicle enters parking area from the transmission of parking reservation system.
The automatic driving vehicle, further includes parking timing module, automatic payment module, and the parking timing module connects
The automatic payment module is connect, the parking timing module is described for that will be sent to the automatic payment module down time
It include block chain generation unit in automatic payment module, the block chain generation unit is used to be believed according to the timing of timing module
Number, generating includes down time and the block-identified symbol for paying expense, sends automatic Pilot control for the block-identified symbol
Center.
Advantageous effects obtained by the present invention are: carrying out signal detection by multiple sensors, customize automatic Pilot
The intelligent parking of vehicle, the adjustment of position when carrying out detecting the parking of vehicle by the sensor of the adjacent vehicle in parking position,
Position feedback is carried out in time, can fast and accurately control the parking of automatic driving vehicle, and identify by block chain, is pacified in time
The vehicle parking charging problem of full progress automatic driving vehicle facilitates the quick parking and payment of vehicle.
Detailed description of the invention
From following description with reference to the accompanying drawings it will be further appreciated that the present invention.Component in figure is not drawn necessarily to scale,
But it focuses on and shows in the principle of embodiment.In the figure in different views, identical appended drawing reference is specified to be corresponded to
Part.
Fig. 1 is the method schematic diagram of intelligent parking of the invention.
Specific embodiment
In order to enable the objectives, technical solutions, and advantages of the present invention are more clearly understood, below in conjunction with embodiment, to this
Invention is further elaborated；It should be appreciated that described herein, the specific embodiments are only for explaining the present invention, and does not have to
It is of the invention in limiting.To those skilled in the art, after access is described in detail below, other systems of the present embodiment
System, method and/or feature will become obvious.All such additional systems, method, feature and advantage are intended to be included in
It in this specification, is included within the scope of the invention, and by the protection of the appended claims.In description described in detail below
The other feature of the disclosed embodiments, and these characteristic roots will be apparent according to described in detail below.
As shown in Figure 1, be applied in automatic driving vehicle the invention proposes a kind of method of intelligent parking, packet
Include following steps:
Automatic driving vehicle enters parking area；
Receive the transmission signal that parking position route is specified in instruction to parking area；
Specified parking position is navigate in parking area according to route；
And use the one or more of the specified parking position in the distance to a declared goal for being parked in any Adjacent vehicles
The data of sensor carry out parking position correction to the automatic driving vehicle being prepared to stop.
The method receives and indicates that the transmission to the route for the stand distributed includes: from parking reservation system
Wireless transmission is received, the wireless transmission includes distributed parking position, the electronic map of the parking area and the road
Line indicates how to be navigated in parking area to reach the route of specified parking position.
The method, specified parking position of the use in the distance to a declared goal for being parked in any Adjacent vehicles
The data of one or more sensors carry out parking position correction to the automatic driving vehicle being prepared to stop and specifically include: starting
First detection sensor of the specified adjacent nearest two sides vehicle in parking position and the second detection sensing of specified parking position
Device indicates that automatic driving vehicle drives to parking position according to projected route by second detection sensor, passes through
First detection sensor sends feedback signal to the second detection sensor, and the second detection sensor is according to the first detection received
The signal of sensor, is weighted, and real-time update indicates that vehicle carries out traveling-position correction.
A kind of automatic driving vehicle, which is characterized in that use method as described in above-mentioned any one, comprising: one or
Multiple processors；System storage, is coupled to one or more processors, and system storage storage can be handled by one or more
The instruction that device executes；One or more sensors, for detecting the external environment near autonomous vehicle；One or more processing
Device is configured as executing the instruction of storage in the system memory, automatic driving vehicle is parked in parking area and is stopped
In parking stall, including the following contents: automatic driving vehicle enters parking area；It receives and specifies parking position in instruction to parking area
The transmission signal of route；Specified parking position is navigate in parking area according to route；And using in office from parking
The data of the one or more sensors of specified parking position in the distance to a declared goal of what Adjacent vehicles, it is automatic to what is be prepared to stop
It drives vehicle and carries out parking position correction.
The automatic driving vehicle, one or more of sensors include one group of sensor, one group of sensor
Including one or more sensors selected from the following: camera, LIDAR sensor, radar sensor and ultrasonic sensor.
The automatic driving vehicle, one or more of processors, which are configured as executing, is stored in the system storage
Instruction in device is to use the data from one or more of sensors to be parked in distributed stand including quilt
It is configured to execute one or more of places storage of described instruction in the system memory to use data to use from the group
The data of sensor are parked in specified stand.
The automatic driving vehicle, one or more of processors, which are configured as executing, is stored in the system storage
Instruction in device includes one or more of processors with the transmission for receiving the stand including being distributed, it is one or
Multiple processors are configured as executing storage in the system memory including the speed changer for specifying parking position, wherein based on autonomous
The size of vehicle distributes distributed parking position.
The automatic driving vehicle, one or more of processors are configured as executing storage in the system memory
Instruction to receive transmission from parking reservation system include: one or more of processors, be configured as executing and be stored in and be
Instruction in system memory is to receive before automotive vehicle enters parking area from the transmission of parking reservation system.
The automatic driving vehicle, further includes parking timing module, automatic payment module, and the parking timing module connects
The automatic payment module is connect, the parking timing module is described for that will be sent to the automatic payment module down time
It include block chain generation unit in automatic payment module, the block chain generation unit is used to be believed according to the timing of timing module
Number, generating includes down time and the block-identified symbol for paying expense, sends automatic Pilot control for the block-identified symbol
Center.
Advantageous effects obtained by the present invention are: carrying out signal detection by multiple sensors, customize automatic Pilot
The intelligent parking of vehicle, the adjustment of position when carrying out detecting the parking of vehicle by the sensor of the adjacent vehicle in parking position,
Position feedback is carried out in time,
The parking of automatic driving vehicle can be fast and accurately controlled, and is identified by block chain, in time the progress of safety
The vehicle parking charging problem of automatic driving vehicle facilitates the quick parking and payment of vehicle.
Although describing the present invention by reference to various embodiments above, but it is to be understood that of the invention not departing from
In the case where range, many changes and modifications can be carried out.Therefore, be intended to foregoing detailed description be considered as it is illustrative and
It is unrestricted, and it is to be understood that following following claims (including all equivalents) is intended to limit spirit and model of the invention
It encloses.The above embodiment is interpreted as being merely to illustrate the present invention rather than limit the scope of the invention.It is reading
After the content of record of the invention, technical staff can be made various changes or modifications the present invention, these equivalence changes and
Modification equally falls into the scope of the claims in the present invention.
Claims (9)
1. a kind of method of intelligent parking, which is characterized in that it is applied in automatic driving vehicle, includes the following steps:
Automatic driving vehicle enters parking area；
Receive the transmission signal that parking position route is specified in instruction to parking area；
Specified parking position is navigate in parking area according to route；
And use one or more sensings of the specified parking position in the distance to a declared goal for being parked in any Adjacent vehicles
The data of device carry out parking position correction to the automatic driving vehicle being prepared to stop.
2. the method according to claim 1, wherein receiving the biography indicated to the route for the stand distributed
Defeated includes: to receive wireless transmission from parking reservation system, and the wireless transmission includes distributed parking position, the parking area
The electronic map in domain and the route indicate how to be navigated in parking area to reach the route of specified parking position.
3. the method as described in claim 1, which is characterized in that the use from be parked in any Adjacent vehicles it is specified away from
The data of one or more sensors from interior specified parking position carry out parking stall to the automatic driving vehicle being prepared to stop
It sets correction to specifically include: starting the first detection sensor of the specified adjacent nearest two sides vehicle in parking position, and specify and stop
Second detection sensor of truck position indicates that automatic driving vehicle is carried out according to projected route by second detection sensor
Parking position is driven to, feedback signal is sent to the second detection sensor, the second detection sensor by the first detection sensor
It according to the signal of the first detection sensor received, is weighted, real-time update indicates that vehicle carries out traveling-position school
Just.
4. a kind of automatic driving vehicle, which is characterized in that use method as claimed in any one of claims 1-3, comprising: one
A or multiple processors；System storage, is coupled to one or more processors, and system storage storage can be by one or more
The instruction that processor executes；One or more sensors, for detecting the external environment near autonomous vehicle；At one or more
Device is managed, is configured as executing the instruction of storage in the system memory, automatic driving vehicle is parked in parking area
In parking stall, including the following contents: automatic driving vehicle enters parking area；It receives and specifies parking stall in instruction to parking area
Set the transmission signal of route；Specified parking position is navigate in parking area according to route；And it is parked in using coming from
The data of the one or more sensors of specified parking position in the distance to a declared goal of any Adjacent vehicles, to be prepared to stop from
The dynamic vehicle that drives carries out parking position correction.
5. automatic driving vehicle according to claim 4, which is characterized in that one or more of sensors include one group
Sensor, one group of sensor include one or more sensors selected from the following: camera, LIDAR sensor, radar biography
Sensor and ultrasonic sensor.
6. automatic driving vehicle according to claim 5, which is characterized in that one or more of processors are configured as
The instruction being stored in the system storage is executed to use the data from one or more of sensors to be parked in institute
It is stored in the system memory in the stand of distribution including being configured as executing one or more of places of described instruction
Specified stand is parked in use data to use the data from this group of sensor.
7. automatic driving vehicle according to claim 6, which is characterized in that one or more of processors are configured as
It includes one that the instruction being stored in the system storage, which is executed, with the transmission for receiving the stand including being distributed
Or multiple processors, one or more of processors are configured as executing storage in the system memory including specified parking stall
The speed changer set, wherein the size based on autonomous vehicle distributes distributed parking position.
8. automatic driving vehicle according to claim 6, which is characterized in that one or more of processors are configured as
It includes: one or more of processing that the instruction of storage in the system memory, which is executed, to receive transmission from parking reservation system
Device is configured as executing the instruction of storage in the system memory to receive before automotive vehicle enters parking area from parking
The transmission of reservation system.
9. automatic driving vehicle according to claim 6, which is characterized in that further include parking timing module, automatic payment
Module, the parking timing module connect the automatic payment module, and the parking timing module will be for will send down time
It include block chain generation unit in the automatic payment module to the automatic payment module, the block chain generation unit is used
In the timing signal according to timing module, generating includes down time and the block-identified symbol for paying expense, by the block mark
Know symbol and is sent to automatic Pilot control centre.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810856853.3A CN109062206A (en) | 2018-07-31 | 2018-07-31 | A kind of method and automatic driving vehicle of intelligent parking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810856853.3A CN109062206A (en) | 2018-07-31 | 2018-07-31 | A kind of method and automatic driving vehicle of intelligent parking |
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| CN109062206A true CN109062206A (en) | 2018-12-21 |
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| CN201810856853.3A Pending CN109062206A (en) | 2018-07-31 | 2018-07-31 | A kind of method and automatic driving vehicle of intelligent parking |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111696382A (en) * | 2020-06-08 | 2020-09-22 | 深圳裹动智驾科技有限公司 | Intelligent parking method for automatic driving vehicle and intelligent control equipment |
| CN113619610A (en) * | 2021-09-18 | 2021-11-09 | 一汽解放汽车有限公司 | Vehicle driving mode switching method and device, computer equipment and storage medium |
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| CN101789188A (en) * | 2010-03-24 | 2010-07-28 | 天津信电科技发展有限公司 | Dynamic parking navigation system used at inner part of parking lot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111696382A (en) * | 2020-06-08 | 2020-09-22 | 深圳裹动智驾科技有限公司 | Intelligent parking method for automatic driving vehicle and intelligent control equipment |
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| CN113619610B (en) * | 2021-09-18 | 2024-01-05 | 一汽解放汽车有限公司 | Vehicle driving mode switching method, device, computer equipment and storage medium |
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