CN110517525B - Passenger-riding parking method based on label system - Google Patents
Passenger-riding parking method based on label system Download PDFInfo
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- CN110517525B CN110517525B CN201910749718.3A CN201910749718A CN110517525B CN 110517525 B CN110517525 B CN 110517525B CN 201910749718 A CN201910749718 A CN 201910749718A CN 110517525 B CN110517525 B CN 110517525B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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Abstract
The embodiment of the invention relates to a passenger-replacing parking method based on a label system, which comprises the steps of obtaining site configuration information according to serial number information of a parking lot; receiving a target parking space; and calling a global path planning algorithm according to the target parking space and the label topological graph to obtain a global planning topological path. The invention adopts the label system for positioning, avoids high cost field end reconstruction cost or high precision ground acquisition cost, further, the label system positioning of the invention is a local positioning mode, does not depend on a global positioning mode, is beneficial to popularization and use in fields without GPS information such as underground parking, and the invention adopts fluorescent labels to reduce the dependence on environmental light in the local positioning mode based on the forms of labels, road signs and the like.
Description
Technical Field
The invention relates to the field of automatic driving, in particular to a passenger-assistant parking method based on a label system.
Background
In recent years, the problem of difficulty in parking is increasingly obvious, on one hand, the number of automobiles is continuously increased, and on the other hand, the number of parking spaces in a parking lot is limited, so that a driver needs to spend a large amount of time for searching for free parking spaces in the parking lot, and therefore vehicle congestion and scratch accidents caused by the fact are frequent. Therefore, a fully automated parking system is needed to solve such problems.
The full-automatic parking system mainly depends on a sensor carried by a vehicle, applies a multi-sensor fusion algorithm to detect information such as environments, road signs, signal lines and the like of a parking lot and parking places in real time, automatically plans a path, and completes the processes of parking place detection and parking in place by controlling an accelerator, a brake and a steering system of the vehicle.
At present, the passenger-replacing parking schemes are roughly divided into two types:
the first one is based on a vehicle end transformation scheme, namely, a field end is not transformed, a laser radar or a camera is used at the vehicle end, a SLAM mode is adopted for positioning, and the passenger-replacing parking is completed by combining a roaming mode or a parking space issuing mode;
the other method is based on a field side transformation scheme, namely, the vehicle end is not transformed, a large number of positioning devices such as laser radars, cameras or UWB and the like are arranged at the field side to position the vehicle, and the vehicle is matched with roaming or other modes to finish passenger-replacing parking.
The two parking solutions, although simple in principle, do not solve the aforementioned problems very well.
The first scheme requires high-precision map acquisition at the site end, and when the site end changes, the map maintenance cost is high. If adopt laser radar sensor, the cost is higher, if adopt the camera sensor, then higher to external light dependence.
The second field end transformation scheme has higher cost and larger volume production resistance, and when the field end is changed, more sensors need to be added for supplement.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a passenger-assistant parking method based on a label system, which adopts the label system for positioning to avoid high cost field end transformation cost or high-precision ground acquisition cost.
In view of this, an embodiment of the present invention provides a method for parking a car as a valet based on a tag system, where the method includes:
receiving parking lot number information detected by an intelligent vehicle;
acquiring site configuration information according to the parking lot number information; the field configuration information comprises a label topological graph and a parking space management service mode corresponding to the parking field;
receiving a target parking space;
and calling a global path planning algorithm according to the target parking space and the label topological graph to obtain a global planning topological path.
Preferably, before the receiving the parking lot number information detected by the smart vehicle, the method further includes:
acquiring map information of a parking lot;
establishing a label system of the parking lot according to the map information of the parking lot; the label system comprises parking lot number information and a corresponding label topological graph.
Further preferably, the label topological graph comprises one or more of an area label, a tracking label, a road section label, an intersection label, a speed limit label, a ramp label and a parking space label; the system for establishing the label of the parking lot according to the map information of the parking lot specifically comprises:
configuring one or more of the area label, the tracking label, the road section label, the intersection label, the speed limit label, the ramp label and the parking space label according to the map information of the parking lot, so as to generate a label topological graph of the parking lot;
and establishing an incidence relation between the parking lot number information and the label topological graph, and generating the label system.
Further preferably, the map information includes parking space information and road section information; configuring one or more of the area tag, the tracking tag, the road segment tag, the intersection tag, the speed limit tag, the ramp tag and the parking space tag according to the map information of the parking lot, so that generating the tag topological graph of the parking lot specifically comprises:
configuring the parking space label according to the parking space information in the map information;
and configuring one or more of the area label, the tracking label, the road section label, the intersection label, the speed limit label and the ramp label according to the road section information in the map information.
Further preferably, after the building of the tag system of the parking lot according to the map information of the parking lot, the method further includes:
the parking place labels are arranged on corresponding parking places;
and arranging the area label, the tracking label, the road section label, the intersection label, the speed limit label and the ramp label at corresponding positions of the parking lot.
Preferably, the parking space management service mode comprises a roaming mode and a server-specified parking space mode;
after the obtaining of the site configuration information according to the parking lot number information, the method further includes:
judging whether the parking space management mode is a server-specified parking space mode or not;
and when the parking space management mode is a server-appointed parking space mode, receiving a target parking space issued by the server.
Further preferably, after the determining whether the parking space management mode is the server-specified parking space mode, the method further includes:
when the parking space management mode is not the designated parking space mode of the server, entering a roaming mode;
performing roaming type global path planning according to the label topological graph, and judging whether an available parking space is detected;
and when the available parking spaces are detected, parking is carried out, and the parking state is uploaded to the server.
Preferably, the method further comprises:
sending the global planned topological path to the intelligent vehicle;
and parking the intelligent vehicle according to the global planning topological path.
Preferably, the parking space state information comprises idle state and occupied state; after the intelligent vehicle parks according to the globally planned topological path, the method further comprises:
and when the intelligent vehicle reaches the target parking space, changing the parking space state information corresponding to the target parking space into occupied parking space.
Preferably, the label in the label system is made of a fluorescent material.
The invention provides a passenger-replacing parking method based on a label system, which adopts the label system for positioning, avoids high-cost field end transformation cost or high-precision ground acquisition cost, further adopts a local positioning mode which is independent of a global positioning mode, is beneficial to popularization and use in fields without GPS information such as underground parking and the like, and adopts fluorescent labels to reduce the dependence on ambient light in the local positioning mode based on the forms of labels, road signs and the like.
Drawings
Fig. 1 is a flowchart of a passenger agent parking method based on a tag system according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a label system according to an embodiment of the present invention;
FIG. 3 is a topology diagram of a tag system according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a path planning result based on the label system according to the embodiment of the present invention.
Detailed Description
The technical solution of the present invention is further described in detail by the accompanying drawings and embodiments.
The passenger-assistant parking method provided by the embodiment of the invention is realized based on the label system, adopts the label system for positioning, avoids high cost field end reconstruction cost or high-precision ground acquisition cost, is in a local positioning mode, does not depend on a global positioning mode, and is favorable for popularization and use in fields without GPS information, such as underground parking and the like, wherein the labels in the label system are made of fluorescent materials, and the dependence on ambient light in the local positioning mode based on the forms of labels, road signs and the like is reduced.
The passenger car parking method based on the label system is realized based on the label system of the parking lot, so that before introducing the passenger car parking method, the establishment of the label system is explained, and the method mainly comprises the following steps:
and step 11, obtaining the map information of the parking lot.
The valet parking method provided by the embodiment of the invention is realized based on the label system, so that the label system is firstly established, and the steps 11 and 12 are the establishment process of the label system.
The label system is established based on the map information of the parking lot, the map information of the parking lot can be collected through the sensor, and compared with the prior art, the invention has the advantages that the requirement on the precision of the collected map is not high, and the high-precision map information is not required.
And step 12, establishing a label system of the parking lot according to the map information of the parking lot.
Referring to fig. 1 to fig. 3, the label system includes parking lot number information and a corresponding label topology, that is, the label system may include a plurality of parking lot number information and a plurality of label topology, each parking lot number information corresponds to one label topology, the label topology includes one or more of an area label, a tracking label, a section label, an intersection label, a speed limit label, a ramp label, and a parking space label, and it should be noted that the label type includes the area label, the tracking label, the section label, the intersection label, the speed limit label, a ramp classification label, and the parking space label, but is not limited to the above label type, and the expandable label type, such as a ramp label, a speed reduction label, and the like, and each label is specifically described below:
area labeling: an area label is placed at the start of the intelligent vehicle AVP. The label is used for representing the current target parking lot number, and the parking lot configuration information and the available parking space information can be downloaded from the server.
Tracking the label: the label is placed at the intersection-free intersection, has no special function and is only used for generating a reference path by path planning.
Road section label: a road section tag is placed on each road section branch, and by detecting the tag, the vehicle can obtain which road section branch the vehicle is currently located on, similar to the road name. The label information is used for global path planning.
And (3) crossing labels: a plurality of intersection tags are placed at each intersection. The intersection label is used for guiding the vehicle to drive to the right direction, and the label information is used for global path planning.
Speed limit label: and each road section is provided with a speed limit label, and the label is used for speed limit information when the intelligent vehicle runs on the road section.
Ramp label: for indicating the slope situation of each road section.
Parking stall label: comprising two parts. One part is the parking stall reinforcing label for detect the parking stall, and the other part is the parking stall number label, is used for confirming this parking stall number. The tag information is used for parking path planning.
Specifically, one or more of an area label, a tracking label, a road section label, an intersection label, a speed limit label, a ramp label and a parking space label are configured according to map information of the parking lot, so that a label topological graph of the parking lot is generated; and establishing an incidence relation between the parking lot number information and the label topological graph, and generating a label system.
More specifically, the map information in the parking lot includes parking space information and road section information; configuring one or more of an area label, a tracking label, a road section label, an intersection label, a speed limit label, a ramp label and a parking space label according to the map information of the parking lot, so that the generated label topological graph of the parking lot specifically comprises the following steps: configuring a parking space label according to the parking space information in the map information; and configuring one or more of an area label, a tracking label, a road section label, an intersection label, a speed limit label and a ramp label according to the road section information in the map information.
After that, the parking space labels are arranged on the corresponding parking spaces, and the area labels, the tracking labels, the road section labels, the intersection labels, the speed limit labels and the ramp labels are arranged at the corresponding positions of the parking lot.
It should be noted that all tag types can be extended to other forms besides letters and numbers, such as two-dimensional codes, numbers, letter combinations, and the like. The label setting rules can adopt other similar rules to complete the global path planning. Label applications are also applied to places other than floors, such as walls or ceilings. In a preferred embodiment, the label of the present invention is a fluorescent label, reducing the dependence on ambient light in localized positioning based on labels, road signs, etc.
The invention adopts the label system for positioning, thereby avoiding high cost field end reconstruction cost or high precision ground acquisition cost. The tag system is positioned in a local positioning mode, does not depend on a global positioning mode, and is favorable for popularization and use in places without GPS information, such as underground parking and the like.
Fig. 1 is a flowchart of a passenger car parking method based on a tag system according to an embodiment of the present invention, and as shown in fig. 1, the method includes the following steps:
After the intelligent vehicle parks at a designated Parking spot outside a Parking lot, an automobile passenger Parking (AVP) function is started by using a mobile phone side App side, and a vehicle-mounted system detects the number information of the Parking lot.
And 102, acquiring site configuration information according to the parking lot number information.
And downloading field configuration information from a label system prestored in the server according to the parking field serial number, wherein the field configuration information comprises a label topological graph of the parking lot and a parking space management service mode.
In a preferred embodiment, the parking space management service mode comprises a roaming mode and a server-specified parking space mode, the server-specified parking space mode indicates that the server can enter the AVP mode, and the server-specified parking space mode indicates that the server cannot enter the AVP mode, the server-specified parking space mode enters the roaming parking space searching mode. Therefore, after acquiring the site configuration information according to the parking lot number information, the method further includes: and judging whether the parking space management mode is the designated parking space mode of the server.
When the parking space management mode is the server-assigned parking space mode, the parking lot is the AVP parking mode, the assigned target parking space mode refers to that the cloud system can issue the target parking space, and the vehicle parks according to the issued target parking space. And receiving the target parking space issued by the server, and executing step 103.
When the parking space management mode is not the designated parking space mode of the server, the parking place enters a roaming parking space searching mode, the roaming parking space searching mode means that no designated target parking space is issued, and the vehicle independently searches for vacant parking spaces. Then, performing roaming type global path planning according to the label topological graph, and judging whether an idle available parking space is detected; when the available parking space is detected, parking is carried out, the parking state is uploaded to the server, and the server sets the state of the parking space as occupied. When the available parking spaces are not detected, judging whether to finish one-time circular search of the parking lot, specifically, judging whether to finish one-time search of parking spaces in a parking place by the vehicle according to a driving path of the vehicle; when one-time cyclic searching of the parking lot is finished and no available parking space is found, uploading searching failure information to a server; and when the cyclic searching of the parking lot is not completed, continuously searching for the available parking spaces.
And step 103, receiving the target parking space.
The server can detect the state information of the parking spaces of the parking lot according to the parking lot where the vehicle is located, the parking space state information comprises idle space and occupied space, the server selects the idle space as a target parking space and issues the target parking space to the vehicle, and the vehicle receives the target parking space issued by the server.
In a preferred embodiment, in order to ensure that the vehicle can still park normally when the server fails or the network state is not good, when the vehicle-mounted system does not receive the target parking space issued by the server within a preset time, the parking mode of the passenger instead of the parking mode is switched to the parking space roaming and searching mode, it should be noted that a person skilled in the art can set the preset time as required, for example, 30 seconds or 1 minute.
And step 104, calling a global path planning algorithm according to the target parking space and the label topological graph to obtain a global planning topological path.
The globally planned topological path refers to a globally planned topological path corresponding to the designated target parking space mode, the vehicle-mounted system calculates to obtain the globally planned topological path by using a globally planned algorithm according to the current vehicle position and the position of the target parking space and based on a label topological graph of the parking lot, and the globally planned topological path is composed of a plurality of labels, and is specifically shown in fig. 4.
After that, the server sends the global planning topological path to the intelligent vehicle, and the intelligent vehicle parks according to the global planning topological path. Specifically, the vehicle runs according to the globally planned topological path until the vehicle runs to the target parking space. In order to ensure whether the parking space is currently available, after the vehicle reaches the target parking space and before the vehicle parks, whether the target parking space is available needs to be judged, namely whether the parking space is occupied by other vehicles is detected through the vehicle-mounted sensor.
When the sensor does not detect other vehicles in the parking space, parking is carried out when the target parking space is available, when the intelligent vehicle reaches the target parking space, parking space state information corresponding to the target parking space is changed into occupation, the parking state is uploaded to the server, and the server sets the state of the parking space as occupation.
When the sensor detects other vehicles at the parking space, the target parking space is unavailable, the cloud system is updated, and the next target parking space issued by the server is received again.
In order to better understand the method for parking a valet provided by the present invention, a specific example of the method for parking a valet is described below with reference to fig. 2 to 4.
Firstly, after the intelligent vehicle parks at a designated parking spot outside a parking lot, the mobile phone App end starts the AVP function. At this time, the intelligent vehicle detects that the parking lot number is S1, as shown in fig. 2, downloads the lot configuration information from the server according to the lot number, waits for the server to issue the available parking slots, and downloads the tag topology map of the parking lot as shown in fig. 3.
Secondly, the available parking space sent by the cloud parking space management service received by the intelligent vehicle is S107-P123, and the parking space is set as a target parking space.
According to the target parking space and the site label topological graph, a global path planning algorithm is investigated to obtain a global planning topological path: s101- > S201- > B- > E- > S105- > S106- > D- > C- > S107.
The path planning module generates a reference path segment by segment according to the position and the type of the tag detected by the current vehicle, and controls the vehicle to run according to the reference path, as shown in fig. 4.
And when the vehicle runs to the road section S107, the parking space labels and the parking space numbers are detected, and a parking path planning algorithm is investigated to park when the target parking space is detected.
The invention provides a passenger-replacing parking method based on a label system, which adopts the label system for positioning, avoids high-cost field end transformation cost or high-precision ground acquisition cost, further adopts a local positioning mode which is independent of a global positioning mode, is beneficial to popularization and use in fields without GPS information such as underground parking and the like, and adopts fluorescent labels to reduce the dependence on ambient light in the local positioning mode based on the forms of labels, road signs and the like.
Those of skill would further appreciate that the various illustrative components and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied in hardware, a software module executed by a processor, or a combination of the two. The software module may be disposed in a random access memory (RA tag system-based valet parking method), a memory, a read-only memory (RO tag system-based valet parking method), an electrically programmable RO tag system-based valet parking method, an electrically erasable programmable RO tag system-based valet parking method, a register, a hard disk, a removable disk, a CD-RO tag system-based valet parking method, or any other form of storage medium known in the art.
The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are merely exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (6)
1. A passenger car parking method based on a label system is characterized by comprising the following steps:
receiving parking lot number information detected by an intelligent vehicle;
acquiring site configuration information according to the parking lot number information; the field configuration information comprises a label topological graph and a parking space management service mode corresponding to the parking field;
receiving a target parking space;
calling a global path planning algorithm according to the target parking space and the label topological graph to obtain a global planning topological path;
the parking space management service mode comprises a roaming mode and a server-specified parking space mode;
after the obtaining of the site configuration information according to the parking lot number information, the method further includes:
judging whether the parking space management mode is a server-specified parking space mode or not;
when the parking space management mode is a server-specified parking space mode, receiving a target parking space issued by the server;
after the determining whether the parking space management mode is the server-specified parking space mode, the method further includes:
when the parking space management mode is not the designated parking space mode of the server, entering a roaming mode;
performing roaming type global path planning according to the label topological graph, and judging whether an available parking space is detected;
when the available parking spaces are detected, parking is carried out, and the parking state is uploaded to the server;
before the receiving parking lot number information detected by the smart vehicle, the method further comprises:
acquiring map information of a parking lot;
establishing a label system of the parking lot according to the map information of the parking lot; the label system comprises parking lot number information and a corresponding label topological graph;
the label topological graph comprises one or more of an area label, a tracking label, a road section label, an intersection label, a speed limit label, a ramp label and a parking space label; the system for establishing the label of the parking lot according to the map information of the parking lot specifically comprises:
configuring one or more of the area label, the tracking label, the road section label, the intersection label, the speed limit label, the ramp label and the parking space label according to the map information of the parking lot, so as to generate a label topological graph of the parking lot;
and establishing an incidence relation between the parking lot number information and the label topological graph, and generating the label system.
2. The tag system-based valet parking method according to claim 1, wherein the map information includes parking space information and road section information; configuring one or more of the area tag, the tracking tag, the road segment tag, the intersection tag, the speed limit tag, the ramp tag and the parking space tag according to the map information of the parking lot, so that generating the tag topological graph of the parking lot specifically comprises:
configuring the parking space label according to the parking space information in the map information;
and configuring one or more of the area label, the tracking label, the road section label, the intersection label, the speed limit label and the ramp label according to the road section information in the map information.
3. The tag system based valet parking method according to claim 1, wherein after the building of the tag system of the parking lot according to the map information of the parking lot, the method further comprises:
the parking place labels are arranged on corresponding parking places;
and arranging the area label, the tracking label, the road section label, the intersection label, the speed limit label and the ramp label at corresponding positions of the parking lot.
4. The tag system based valet parking method of claim 1, further comprising:
sending the global planned topological path to the intelligent vehicle;
and parking the intelligent vehicle according to the global planning topological path.
5. The tag system-based valet parking method according to claim 1, wherein the parking space state information includes free and occupied; after the intelligent vehicle parks according to the globally planned topological path, the method further comprises:
and when the intelligent vehicle reaches the target parking space, changing the parking space state information corresponding to the target parking space into occupied parking space.
6. The method for valet parking based on a label system of claim 1, wherein the label in the label system is made of fluorescent material.
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| CN114333393B (en) * | 2020-09-30 | 2024-03-19 | 北京智行者科技股份有限公司 | Scheduling method and scheduling system for bus parking |
| CN114333395B (en) * | 2020-09-30 | 2023-08-01 | 北京智行者科技股份有限公司 | Parking method and system based on label system |
| CN112614379A (en) * | 2020-12-10 | 2021-04-06 | 奇瑞汽车股份有限公司 | Autonomous parking navigation method and device |
| CN113492841B (en) * | 2021-07-22 | 2022-09-06 | 上汽通用五菱汽车股份有限公司 | Parking control method and device and computer readable storage medium |
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