CN112908021A - Autonomous parking method and system for passenger - Google Patents
Autonomous parking method and system for passenger Download PDFInfo
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- G—PHYSICS
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- 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
- G08G1/148—Management of a network of parking areas
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
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- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/017—Detecting movement of traffic to be counted or controlled identifying vehicles
- G08G1/0175—Detecting movement of traffic to be counted or controlled identifying vehicles by photographing vehicles, e.g. when violating traffic rules
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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
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- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
- H04W4/44—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P] for communication between vehicles and infrastructures, e.g. vehicle-to-cloud [V2C] or vehicle-to-home [V2H]
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Abstract
A method and a system for autonomous parking of a passenger substitute comprise an AVP management system, a user terminal, a vehicle-mounted unit and a parking lot triggering unit, wherein a special parking triggering point area is set as a starting point position, a user only needs to get off a vehicle after driving the vehicle to the starting point position, and the AVP management system automatically completes a parking process from the starting point position to a parking position through interaction of the AVP management system, the user terminal and a vehicle end, so that the unmanned supervision of remote parking of the passenger substitute is finally realized, and the parking experience of the user is improved.
Description
Technical Field
The invention relates to the field of automatic driving and vehicle-road cooperation, in particular to a passenger-replacing parking technology.
Background
AVP, Automated Valet park, a remote passenger Parking system or an automatic passenger Parking system, is a technology for users to realize automatic Parking in and out of garages. By using the system, the user monitoring is not needed in the whole process, the user is completely liberated, the user experience of calling and taking away is realized, and the user does not need to participate in the processes of finding the parking space, parking and finding the car.
The traditional passenger-replacing parking process is as follows: after a driver parks the vehicle in a specific area, gets off the vehicle, and after confirming the contact way of the driver and checking the appearance and the damage condition of the vehicle, a special driver drives the vehicle to drive into a specific parking lot and a parking space, so that one-time passenger-replacing parking is completed. When the vehicle needs to be taken out, the designated driver drives the vehicle from the parking space to the getting-on area of the driver, and the vehicle key are handed over after the confirmation is correct. The flow shows that the traditional passenger car parking requires special passengers and parking personnel, and a certain degree of labor cost is required. In addition, the traditional passenger-assistant parking can not avoid the condition that a driver makes mistakes, so that drivers with abundant driving experiences are often hired as the driver, and the labor cost of the passenger-assistant parking is further increased. Even so, accidents such as scratching and rubbing of the vehicle caused by the designated driving sometimes occur. Under the limitation of various factors, the passenger car park is difficult to be popularized in a large scale. Although the traditional passenger parking mode also has new service carriers such as APP and the like nowadays along with the technical progress, the flow of passenger parking is simplified, but the dependence on manual work cannot be changed basically.
In recent years, various manufacturers have proposed respective autonomous parking schemes in order to supplement conventional passenger parking. The existing autonomous parking schemes mostly implement autonomous parking by installing software and hardware of an autonomous parking system on a vehicle. For example, chinese patent document CN201811493030.5 discloses a control method for automatic parking and an automatic parking system, which determine whether a parking space is a qualified parking space based on the parking space, control a vehicle to enter an automatic parking mode in response to the parking space being a qualified parking space, calculate a steering request amount and a torque request amount according to a relative position relationship between the vehicle and the qualified parking space, determine a steering control amount and a torque control amount based on the steering request amount and the torque request amount, and control the vehicle to park in a garage according to the steering control amount and the torque control amount. However, in the automatic parking mode of the scheme, a driver needs to respond to the stepping on the accelerator pedal, determine the torque control amount based on the opening degree of the accelerator pedal and the torque request amount, and control the vehicle to be kept in the automatic parking mode, so that a full-range passenger-riding parking mode cannot be really realized, and the parking requirement of the user in the last kilometer of a family area is met.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, the invention aims to provide a method for the independent parking of the passenger for the intelligent networked automobile, and the other aim is to provide a system for the independent parking of the passenger for the intelligent networked automobile, which realizes the interaction between an AVP management system and a user terminal and a vehicle end, finally realizes the unmanned supervision of remote passenger parking, and improves the parking experience of users.
The technical scheme adopted by the invention is as follows:
in a first aspect, the invention provides a method for intelligent networked automobile-oriented passenger-replacing autonomous parking, which comprises the following steps:
and (1) the AVP management system receives an AVP request and a parking lot designation instruction sent by a user terminal and determines whether to accept the request.
And (2) the AVP management system receives the request, allocates available parking spaces according to the designated parking lot information, changes the parking space information into occupied parking spaces, and sends a parking instruction to the vehicle-mounted unit.
And (3) the parking lot triggering unit and the AVP management system interactively confirm vehicle information, and meanwhile, the vehicle-mounted unit enters the parking lot after confirming that the barrier gate state is the rod lifting completion state through data interaction with the field end management system.
Step (4), the vehicle-mounted unit plans a path from the parking trigger point to the parking position of the AVP vehicle in real time according to the acquired high-precision map data, the acquired obstacle information, the acquired guide information and the acquired real-time positioning information, and controls the running track of the AVP vehicle in real time until the AVP vehicle is parked in the parking space;
the parking trigger point is a specially set parking starting point position.
Further, in step (1), the AVP management system determines whether to accept the request, including:
(1.1) if the AVP management system judges that the AVP function can not be started (for example, the vehicle may not be in the specified getting-on/off area, the vehicle positioning fails, the AVP function is temporarily stopped in road construction, and the like), returning a request response to the user terminal, wherein the request response comprises the information of refusing the request.
And (1.2) if the AVP management system judges that the AVP function can be started, returning a request response to the user terminal, wherein the request response comprises the information of the passing request, and simultaneously sending an AVP parking instruction to the vehicle-mounted unit.
Further, the step (3) includes:
and (3.1) the parking lot triggering unit confirms the AVP vehicle according to the identification information, and the identification modes comprise license plate number identification, wireless network communication, RFID identification, two-dimensional code identification and the like.
And (3.2) if the parking lot triggering unit cannot confirm the AVP vehicle according to the identified information, sending abnormal information which cannot be related to the parking lot to an AVP management system, and informing a background of manual intervention to assist parking by the AVP management system.
And (3.3) if the parking lot triggering unit confirms the AVP vehicle according to the identified information, sending confirmation information to the AVP management system, and allowing the AVP vehicle to pass through the rod lifting, wherein the AVP vehicle enters the parking lot after the state of the barrier gate is confirmed to be that the rod lifting is completed through data interaction with the field end management system.
Further, before sending the confirmation information to the AVP management system in step 3.3, the parking lot triggering unit further needs to determine whether there is a vehicle in front queuing to enter the parking lot, which includes:
(3.3.1) if the parking lot triggering unit judges that vehicles in front queue to enter the parking lot, a queuing instruction is sent to the AVP management system, the AVP management system sends queuing and vehicle following path information to the vehicle-mounted unit, and the vehicle-mounted unit controls the AVP vehicles to start queuing and vehicle following.
And (3.3.2) if the parking lot triggering unit judges that no other vehicle exists in front of the AVP vehicle, sending confirmation information to the AVP management system.
Further, the step 4 comprises:
and (4.1) receiving the parking space number and the high-precision road map data with the parking space number from the AVP management system by the communication module of the vehicle-mounted unit.
And (4.2) the planning module of the vehicle-mounted unit plans a path from the parking trigger point to the parking space, and the vehicle-mounted unit starts to enter the AVP parking mode.
And (4.3) the navigation positioning module of the vehicle-mounted unit provides real-time positioning information to the planning module by combining high-precision road map data according to the planned path.
And (4.4) sensing information of obstacles such as pedestrians and vehicles, guiding information such as lane markings and steering marks and the like by a sensing module of the vehicle-mounted unit, generating behavior prediction information according to the obstacle information and the guiding information, and providing the obstacle information, the guiding information and the behavior prediction information to a planning module.
And (4.5) a planning module of the vehicle-mounted unit makes decision information according to the behavior prediction information, and plans a path in real time by combining the real-time positioning information provided by the navigation positioning module and the obstacle information and the guide information provided by the sensing module.
And (4.6) the planning module of the vehicle-mounted unit sends the real-time path to the control module, and the control module of the vehicle-mounted unit controls the AVP vehicle to run to the position near the parking space according to the received real-time path and controls the vehicle to park in the parking space.
Further, in the step (4.6), before controlling the vehicle to park in the parking space, it is determined whether the parking space is available, including:
and identifying the specified parking space through a sensing module of the vehicle-mounted unit.
If the designated parking space cannot be identified or the planning module makes a decision that the parking space cannot be used (for example, the parking space is occupied or the parking space has an obstacle), the vehicle-mounted unit sends a message that the parking space cannot be used to the AVP management system, and the AVP management system informs a background of manual intervention to assist parking.
If the specified parking space is identified and the planning module judges that the parking space can be used, a local path is planned, an automatic parking decision for continuing to go to the specified parking space is made, the navigation positioning module of the vehicle-mounted unit calculates the accurate position and posture of the AVP vehicle relative to the specified parking space, and the AVP vehicle is parked into the parking space through the control module.
Further, in step 4, in the AVP parking mode, the AVP management system also monitors AVP vehicle information in real time, such as vehicle position, vehicle track, vehicle status information, vehicle abnormality information, and the like, and sends the AVP vehicle information to the user terminal so that the user can grasp the position and situation of the vehicle at any time.
Further, when the vehicle is parked in the parking space, the intelligent ground lock system detects the AVP vehicle, and the ground lock automatically descends.
Still further, the method further comprises the step (5) of:
and (5.1) the AVP management system receives the vehicle taking request sent by the user terminal and sends a vehicle taking instruction to the vehicle-mounted unit.
(5.2) the vehicle-mounted unit plans a path of the AVP vehicle from the parking position to the parking trigger point, and controls the AVP vehicle to travel from the parking position to the parking trigger point in real time according to the path.
(5.3) the parking lot triggering unit sends a parking space vacation message to the AVP management system, and the AVP management system receives the parking space vacation message and changes the parking space information into idle.
And (5.4) the AVP management system sends a vehicle taking reminding message to the user terminal.
In a second aspect, the present invention provides a system for autonomous parking of a passenger for implementing the above method for autonomous parking of a passenger for an intelligent networked automobile, the system comprising: the AVP system comprises an AVP management system, a user terminal and an on-board unit, wherein the on-board unit is arranged in an AVP vehicle needing parking.
The AVP management system comprises a first communication module, a high-precision map module and a management module. The first communication module is used for carrying out two-way communication with the user terminal and the vehicle-mounted unit, the high-precision map module is used for storing high-precision map data required by automatic driving of the AVP vehicle, and the management module is used for managing parking lot information and AVP vehicle information.
The user terminal comprises a second communication module, and the second communication module is used for carrying out two-way communication with the AVP management system.
The vehicle-mounted unit comprises a third communication module, a sensing module, a navigation positioning module, a planning module and a control module. The third communication module is used for carrying out two-way communication with the AVP management system, the sensing module is used for acquiring barrier information and guide information on a parking path of the AVP vehicle, the navigation positioning module is used for providing real-time positioning information for the vehicle-mounted unit, the planning module is used for planning a local path in real time by the high-precision map data, the barrier information, the guide information and the real-time positioning information, and planning a path from a parking trigger point to a parking position of the AVP vehicle, and the control module is used for controlling a running track of the AVP vehicle in real time according to the planned path.
Further, the system also comprises a parking lot triggering unit.
The parking lot triggering unit comprises a fourth communication module and an identification module. The fourth communication module is used for carrying out two-way communication with the AVP management system and the like, and the identification module is used for identifying the AVP vehicle.
Furthermore, the system also comprises a barrier system and an intelligent locking system, wherein the barrier system is used for releasing the AVP vehicles which pass through the identification, and the intelligent locking system is used for automatically detecting whether the vehicles are parked on the parking spaces or not, and supporting remote control and automatic resetting.
Further, the high-precision map data comprises high-precision road map data and high-precision parking lot map data, the parking space numbers are bound with the high-precision map parking space numbers, and the planned path comprises a path from a parking trigger point to an empty parking space.
Further, the parking lot information comprises parking space occupation or idle information, and the AVP vehicle information comprises vehicle position, vehicle track, vehicle state information and vehicle abnormity information.
The control module is also used for controlling the running track of the AVP vehicle in real time according to the decision information of the control module.
The invention has the beneficial effects that:
according to the invention, the special parking trigger point area is set as the starting point position, the user only needs to drive the vehicle to the starting point position and then get off, the AVP management system automatically completes the parking process from the starting point position to the parking position, and the problem that the existing AVP scheme cannot provide a full-automatic passenger-assistant parking process is solved, so that the parking system and method with high automation degree are provided, and the parking experience of the user is improved.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the embodiments of the invention without limiting the embodiments of the invention. In the drawings:
fig. 1 is a schematic structural diagram of an embodiment of the intelligent networked automobile-oriented passenger autonomous parking system in the invention.
Detailed Description
Referring to fig. 1, the guest-representative autonomous parking system includes: the AVP management system comprises an AVP management system, a user terminal, an on-board unit and a parking lot triggering unit.
The AVP management system comprises a first communication module, a high-precision map module and a management module.
The first communication module is used for carrying out two-way communication with the user terminal and the vehicle-mounted unit.
The high-precision map module is used for storing high-precision map data required by automatic driving of the AVP vehicle.
The management module is used for managing parking lot information and AVP vehicle information.
The user terminal comprises a second communication module, and the second communication module is used for carrying out two-way communication with the AVP management system.
The vehicle-mounted unit configuration comprises a third communication module, a sensing module, a navigation positioning module, a planning module and a control module.
The third communication module is used for carrying out two-way communication with the AVP management system.
The sensing module is used for acquiring obstacle information and guiding information on the AVP vehicle parking path.
The navigation positioning module is used for providing real-time positioning information for the vehicle-mounted unit.
The planning module is used for planning a local path in real time according to the high-precision map data, the obstacle information, the guiding information and the real-time positioning information, and planning a path from a parking trigger point to a parking position of the AVP vehicle.
The control module is used for controlling the running track of the AVP vehicle in real time according to the planned path.
The parking lot triggering unit comprises a fourth communication module and an identification module.
The fourth communication module is used for carrying out two-way communication with the AVP management system.
The identification module is used for identifying the AVP vehicle.
The intelligent road barrier further comprises a barrier gate system and an intelligent ground lock system; the barrier gate system is used for releasing the AVP vehicle which passes the identification. The intelligent ground lock system is used for automatically detecting whether a vehicle is parked on the parking space or not, and supports remote control and automatic reset.
The following system exemplifies the parking and pickup method of the user:
(1) the user drives the AVP vehicle needing to be parked into the designated getting-on and getting-off area (namely the specially-set parking trigger point), the driver gets off the vehicle, the user opens the user terminal, and the AVP is confirmed to be needed in the terminal.
(2) The second communication module of the user terminal sends an AVP request to the first communication module of the AVP management system, and the AVP management system receives the AVP request from the user terminal and determines whether to accept the request.
If the AVP management system judges that the AVP function can not be started, a request response is returned to the user terminal, and the request response comprises information of refusing the request. The case where the AVP function cannot be started includes, for example, that the vehicle may not be in a specified boarding and alighting area, that the vehicle positioning fails, that the AVP function is temporarily stopped in road construction, and the like.
And if the AVP management system judges that the AVP function can be started, returning a request response to the user terminal, wherein the request response comprises information passing the request and simultaneously informs a parking lot triggering unit, the parking lot triggering unit confirms the AVP vehicle according to the identification information, and the identification modes comprise license plate number identification, wireless network communication, RFID identification, two-dimensional code identification and the like.
And thirdly, if the parking lot triggering unit cannot confirm the AVP vehicle according to the identified information, sending abnormal information which cannot be associated with the parking lot to an AVP management system, and when the AVP management system receives the abnormal information which cannot be associated with the M parking lot, informing a background of manual intervention to assist parking.
If the parking lot triggering unit judges that vehicles are queued to enter the parking lot, a queuing instruction is sent to the AVP management system, the AVP management system sends queuing and vehicle following path information to the vehicle-mounted unit, and when the vehicle-mounted unit receives the queuing and vehicle following path information, the AVP vehicles are controlled to start queuing and vehicle following;
if the parking lot triggering unit confirms that no other vehicle is in front of the AVP vehicle according to the identified information and can directly enter the parking lot for parking, the parking lot triggering unit sends confirmation information to the AVP management system and lifts the rod to release the AVP vehicle; and the AVP vehicle enters the airport after confirming that the barrier gate state is the rod lifting completion through data interaction with a field end management system.
(3) Meanwhile, when the AVP management system receives the confirmation information, the parking spaces are allocated according to the parking lot information (namely, the parking space occupation or the free information), and if the allocated parking spaces are N, the N parking space information is changed into occupation.
(4) The AVP management system sends the path and high-precision road map data to the vehicle-mounted unit of the AVP vehicle, and the communication module of the vehicle-mounted unit receives the path and high-precision road map data from the AVP management system.
Firstly, a planning module of a vehicle-mounted unit plans a path from a parking trigger point to a parking space, and the vehicle-mounted unit starts to enter an AVP parking mode; in this mode, the AVP management system also monitors AVP vehicle information, such as vehicle position, vehicle trajectory, vehicle status information, vehicle abnormality information, etc., in real time, and sends it to the user terminal so that the user can grasp the position and situation of his vehicle at any time.
And secondly, the navigation positioning module of the vehicle-mounted unit provides real-time positioning information to the planning module according to the planned path by combining with high-precision road map data.
Sensing information of obstacles such as pedestrians and vehicles, guiding information such as lane markings and steering marks and the like by a sensing module of the vehicle-mounted unit, generating behavior prediction information according to the obstacle information and the guiding information, and providing the obstacle information, the guiding information and the behavior prediction information for a planning module.
And fourthly, the planning module of the vehicle-mounted unit makes decision information according to the behavior prediction information, and plans a path in real time by combining the real-time positioning information provided by the navigation positioning module and the obstacle information and the guidance information provided by the sensing module.
And fifthly, the planning module of the vehicle-mounted unit sends the real-time path to the control module, and the control module of the vehicle-mounted unit controls the AVP vehicle to run to the position near the parking space according to the received real-time path. Meanwhile, the planning module makes a decision whether the N parking spaces can be used or not, and a sensing module of the vehicle-mounted unit identifies the designated parking spaces.
If the sensing module cannot identify the designated N parking spaces or the planning module makes a decision that the N parking spaces cannot be used (for example, the parking spaces are occupied or the parking spaces have obstacles), the vehicle-mounted unit sends the information that the N parking spaces cannot be used to the AVP management system, and when the AVP management system receives the information that the N parking spaces cannot be used, the AVP management system informs a background of manual intervention to assist parking.
If the sensing module identifies the appointed N parking spaces and the planning module of the vehicle-mounted unit judges that the N parking spaces can be used, a local path is planned, a decision for continuing to go to the N parking spaces is made, the navigation and positioning module of the vehicle-mounted unit calculates the accurate position and the attitude of the AVP vehicle relative to the N parking spaces, and the AVP vehicle is parked into the N parking spaces through the control module.
(5) The in-vehicle unit ends the parking mode.
(6) When a subsequent user needs to pick up a vehicle, a vehicle-picking request is sent to the AVP management system through the user terminal, the AVP management system sends a vehicle-picking instruction to the vehicle-mounted unit, and the vehicle-mounted unit plans a path from the N parking spaces to the parking trigger point of the AVP vehicle and enters a vehicle-picking mode.
Firstly, a navigation positioning module of a vehicle-mounted unit provides real-time positioning information to a planning module according to planning path information and by combining with high-precision parking lot map data, a sensing module of the vehicle-mounted unit senses barrier information such as pedestrians and vehicles and guiding information such as lane markings and steering marks, behavior prediction information is generated according to the barrier information and the guiding information, and the barrier information, the guiding information and the behavior prediction information are provided for the planning module.
And secondly, a planning module of the vehicle-mounted unit makes decision information according to the behavior prediction information, and plans a local path in real time on the basis of the planned path by combining the real-time positioning information provided by the navigation positioning module and the obstacle information and the guidance information provided by the sensing module.
And the planning module of the vehicle-mounted unit sends the real-time local path to the control module, and the control module of the vehicle-mounted unit controls the AVP vehicle to run from the N parking spaces to the parking lot outlet according to the received real-time local path. And a planning module of the vehicle-mounted unit sends a message of leaving the N parking spaces to the AVP management system, the AVP management system changes the N parking space information to be free, and the intelligent ground lock system automatically lifts the ground lock.
And fourthly, at the exit of the parking lot, the parking lot triggering unit confirms the AVP vehicle according to the identification information, the parking lot triggering unit sends the identification information to the AVP management system, the AVP management system receives the identification information and confirms that the AVP vehicle leaves the parking lot, the parking lot triggering unit opens the railing of the parking lot, and the AVP vehicle leaves the parking lot. And the navigation positioning module of the vehicle-mounted unit confirms that the vehicle reaches a parking trigger point according to the real-time positioning information, the AVP management system sends a vehicle taking reminding message to the user terminal, and the user finishes vehicle taking.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
Claims (10)
1. A method for autonomous parking of a passenger, the method comprising the steps of:
(1) the AVP management system receives an AVP request and a parking lot designation instruction sent by a user terminal and judges whether to accept the request;
(2) the AVP management system receives the request, allocates available parking spaces according to the designated parking lot information, changes the parking space information into occupied parking spaces, and sends parking instructions to the vehicle-mounted unit, and the vehicle-mounted unit controls vehicles to enter the parking spaces;
(3) the parking lot triggering unit and the AVP management system interactively confirm vehicle information, and meanwhile, the vehicle-mounted unit enters the parking lot after confirming that the barrier gate state is in a rod lifting state through data interaction with the field end management system;
(4) the vehicle-mounted unit plans a path from a parking trigger point to the parking position of the AVP vehicle in real time, and controls the running track of the AVP vehicle in real time until the AVP vehicle is parked into a parking space;
the parking trigger point is a specially set parking starting point position.
2. The method for autonomous parking of a dummy according to claim 1, wherein the step (1) of the AVP management system determining whether to accept the request comprises:
(1.1) if the AVP management system judges that the AVP function can not be started, returning a request response to the user terminal, wherein the request response comprises information of refusing the request;
and (1.2) if the AVP management system judges that the AVP function can be started, returning a request response to the user terminal, wherein the request response comprises the information of the passing request, and simultaneously sending an AVP parking instruction to the vehicle-mounted unit.
3. The method for passenger-assisted autonomous parking according to claim 1, wherein the step (3) includes:
(3.1) the parking lot triggering unit confirms the AVP vehicle according to the identification information, and the identification modes comprise license plate number identification, wireless network communication, RFID identification, two-dimensional code identification and the like;
(3.2) if the parking lot triggering unit cannot confirm the AVP vehicle according to the identified information, sending abnormal information which cannot be associated with the parking lot to an AVP management system, and informing a background of manual intervention to assist parking by the AVP management system;
and (3.3) if the parking lot triggering unit confirms the AVP vehicle according to the identified information, sending confirmation information to the AVP management system, releasing the AVP vehicle by raising the rod, and entering the parking lot after confirming that the state of the barrier gate is the rod raising completion state by the AVP vehicle through data interaction with the field end management system.
4. The method for autonomous parking of a passenger as claimed in claim 1, wherein step 3.3 is that before sending the confirmation message to the AVP management system, the parking lot triggering unit further determines whether there is a vehicle in front queuing into the parking lot, and the method comprises:
(3.3.1) if the parking lot triggering unit judges that vehicles in front queue to enter the parking lot, a queuing instruction is sent to the AVP management system, the AVP management system sends queuing and vehicle following path information to the vehicle-mounted unit, and the vehicle-mounted unit controls the AVP vehicles to start queuing and vehicle following;
and (3.3.2) if the parking lot triggering unit judges that no other vehicle exists in front of the AVP vehicle, sending confirmation information to the AVP management system.
5. The method for autonomous parking of a dummy according to claim 1, wherein the step 4 includes:
(4.1) a communication module of the vehicle-mounted unit receives the parking space number and the high-precision road map data with the parking space number pushed by the AVP management system;
(4.2) the planning module of the vehicle-mounted unit plans a path from a parking trigger point to a parking space, and the vehicle-mounted unit starts to enter an AVP parking mode;
(4.3) the navigation positioning module of the vehicle-mounted unit provides real-time positioning information to the planning module according to the planned path by combining with high-precision road map data;
(4.4) sensing information of obstacles such as pedestrians and vehicles, and guiding information such as lane markings and steering marks by a sensing module of the vehicle-mounted unit, generating behavior prediction information according to the obstacle information and the guiding information, and providing the obstacle information, the guiding information and the behavior prediction information for a planning module;
(4.5) a planning module of the vehicle-mounted unit makes decision information according to the behavior prediction information, and plans a path in real time by combining the real-time positioning information provided by the navigation positioning module and the obstacle information and the guidance information provided by the sensing module;
and (4.6) the planning module of the vehicle-mounted unit sends the real-time path to the control module, and the control module of the vehicle-mounted unit controls the AVP vehicle to run to the position near the specified parking space according to the received real-time path and controls the vehicle to park in the specified parking space.
6. The method for autonomous parking of a dummy according to claim 1, wherein the step (4.6) of determining whether a parking space is available before controlling the vehicle to park in the designated parking space comprises:
identifying a designated parking space through a sensing module of the vehicle-mounted unit;
if the specified parking space cannot be identified or the planning module makes a decision that the parking space cannot be used, the vehicle-mounted unit sends a message that the parking space cannot be used to the AVP management system, and the AVP management system informs a background of manual intervention to assist parking;
if the specified parking space is identified and the planning module judges that the parking space can be used, a local path is planned, the navigation positioning module of the vehicle-mounted unit calculates the accurate position and the attitude of the AVP vehicle relative to the specified parking space, and the AVP vehicle is parked into the parking space through the control module.
7. A method for autonomous parking of a passenger as defined in claim 1, wherein in the AVP parking mode, the AVP management system further monitors AVP vehicle information such as vehicle position, vehicle track, vehicle status information, vehicle abnormality information, etc. in real time, and sends the information to the user terminal so that the user can grasp the position and situation of his vehicle at any time; preferably, when the vehicle is parked in the parking space, the intelligent ground lock system detects the AVP vehicle and the ground lock automatically descends.
8. The method of autonomous parking of a dummy according to claim 1, further comprising,
(5) the vehicle taking method comprises the following steps:
(5.1) the AVP management system receives a vehicle taking request sent by the user terminal and sends a vehicle taking instruction to the vehicle-mounted unit;
(5.2) the vehicle-mounted unit plans a path of the AVP vehicle from the parking position to the parking trigger point, and controls the AVP vehicle to travel from the parking position to the parking trigger point in real time according to the path;
(5.3) the parking lot triggering unit sends a parking space vacation message to the AVP management system, and the AVP management system receives the parking space vacation message and changes the parking space information into idle;
and (5.4) the AVP management system sends a vehicle taking reminding message to the user terminal.
9. A guest-substitute autonomous parking system comprising: the AVP management system, the user terminal, the vehicle-mounted unit and the parking lot triggering unit are used for realizing the passenger-replacing autonomous parking method of claims 1 to 8, and are characterized in that:
the AVP management system comprises a first communication module, a high-precision map module and a management module;
the first communication module is used for carrying out two-way communication with the user terminal and the vehicle-mounted unit;
the high-precision map module is used for storing high-precision map data required by automatic driving of the AVP vehicle;
the management module is used for managing parking lot information and AVP vehicle information;
the user terminal comprises a second communication module, and the second communication module is used for carrying out two-way communication with the AVP management system;
the vehicle-mounted unit configuration comprises a third communication module, a sensing module, a navigation positioning module, a planning module and a control module;
the third communication module is used for carrying out two-way communication with the AVP management system;
the sensing module is used for acquiring obstacle information and guiding information on the AVP vehicle parking path;
the navigation positioning module is used for providing real-time positioning information for the vehicle-mounted unit;
the planning module is used for planning a local path in real time according to the high-precision map data, the obstacle information, the guide information and the real-time positioning information and planning a path from a parking trigger point to a parking position of the AVP vehicle;
the control module is used for controlling the running track of the AVP vehicle in real time according to the planned path;
the parking lot triggering unit comprises a fourth communication module, an identification module and a barrier gate system;
the fourth communication module is used for carrying out two-way communication with the AVP management system;
the identification module is used for identifying the AVP vehicle.
10. The system of claim 9, further comprising a barrier system and an intelligent locking system;
the barrier gate system is used for releasing the AVP vehicle which passes the identification;
the intelligent ground lock system is used for automatically detecting whether a vehicle is parked on a parking space or not, and supporting remote control and automatic reset;
preferably, the high-precision map data comprises high-precision road map data and high-precision parking lot map data, and the parking space number of the parking lot is bound with the parking space number of the high-precision parking lot map; the planned path comprises a path from a parking trigger point to an empty parking space;
further preferably, the parking lot information includes parking space occupation or idle information, and the AVP vehicle information includes vehicle position, vehicle track, vehicle state information, and vehicle abnormality information; furthermore, the control module is also used for controlling the running track of the AVP vehicle in real time according to the decision information of the control module.
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