CN113650604A - Automatic parking control method and device, electronic equipment and storage medium - Google Patents

Automatic parking control method and device, electronic equipment and storage medium Download PDF

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Publication number
CN113650604A
CN113650604A CN202111081672.6A CN202111081672A CN113650604A CN 113650604 A CN113650604 A CN 113650604A CN 202111081672 A CN202111081672 A CN 202111081672A CN 113650604 A CN113650604 A CN 113650604A
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parking
vehicle
path
space
parked
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谢兆夫
周泽斌
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Evergrande New Energy Automobile Investment Holding Group Co Ltd
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Evergrande New Energy Automobile Investment Holding Group Co Ltd
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Priority to CN202111081672.6A priority Critical patent/CN113650604A/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking

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  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Traffic Control Systems (AREA)

Abstract

The application discloses an automatic parking control method, an automatic parking control device, electronic equipment and a storage medium, which are used for solving the problem of low automatic parking efficiency. The scheme provided by the application comprises the following steps: receiving an automatic parking request; planning a first parking path of a vehicle to be parked according to the automatic parking request and the space occupation information of the target parking lot; if the situation that a newly increased free parking space exists in the target parking lot is monitored, a second parking path is planned according to the position of the vehicle to be parked and the newly increased free parking space; and when the parking cost of the second parking path is lower than that of the first parking path, controlling the vehicle to be parked to automatically park to the newly increased idle parking space along the second parking path, wherein the parking cost represents resources consumed by the vehicle to be parked to finish automatic parking along the parking path. According to the scheme of the embodiment of the application, the parking route of the vehicle can be optimized according to the parking cost after the newly added idle parking spaces are added, and the automatic parking efficiency is effectively improved.

Description

Automatic parking control method and device, electronic equipment and storage medium
Technical Field
The present application relates to the field of automatic driving, and in particular, to an automatic parking control method and apparatus, an electronic device, and a storage medium.
Background
In daily life, partial hotels and shopping malls provide passenger-replacing parking services for guests driving. The valet parking service is a service in which a service person replaces a guest to drive a vehicle into a parking lot and complete parking. For a parking lot with a large parking area, service personnel are difficult to timely know the position of a parking space and plan a rapid and efficient parking path. When vehicles in the parking lot are more, the parking lot may be jammed, and the parking lot may be contended, which requires more manpower and time.
If automatic parking is performed by using an automatic driving technique, although the manpower consumed by parking can be reduced, the automatic parking efficiency is often low, and the situations of congestion and parking stall scrambling can also occur.
How to improve the efficiency of automatic parking is the technical problem that this application will solve.
Disclosure of Invention
An embodiment of the application aims to provide an automatic parking control method, an automatic parking control device, an electronic device and a storage medium, and aims to solve the problem of low automatic parking efficiency.
In a first aspect, there is provided an automatic parking control method including:
receiving an automatic parking request, wherein the automatic parking request comprises information of a vehicle to be parked and information of a target parking lot for parking the vehicle to be parked;
planning a first parking path of the vehicle to be parked according to the automatic parking request and the space occupation information of the target parking lot, wherein the first parking path is used for controlling the vehicle to be parked to automatically park to an idle parking space of the target parking lot, and the space occupation information comprises the state of the parking space of the target parking lot;
if the situation that a newly increased free parking space exists in the target parking lot is monitored, a second parking path is planned according to the position of the vehicle to be parked and the newly increased free parking space;
and when the parking cost of the second parking path is lower than that of the first parking path, controlling the vehicle to be parked to automatically park to the newly increased idle parking space along the second parking path, wherein the parking cost represents resources consumed by the vehicle to be parked to finish automatic parking along the parking path.
In a second aspect, there is provided an automatic parking control apparatus including:
the system comprises a receiving module, a storage module and a control module, wherein the receiving module is used for receiving an automatic parking request, and the automatic parking request comprises information of a vehicle to be parked and information of a target parking lot for parking the vehicle to be parked;
the first planning module plans a first parking path of the vehicle to be parked according to the automatic parking request and the space occupation information of the target parking lot, wherein the first parking path is used for controlling the vehicle to be parked to automatically park in an idle parking space of the target parking lot, and the space occupation information comprises the state of the parking space of the target parking lot;
the second planning module is used for planning a second parking path according to the position of the vehicle to be parked and the newly increased free parking space if the newly increased free parking space is monitored in the target parking lot;
and the control module is used for controlling the vehicle to be parked to automatically park to the newly increased idle parking space along the second parking path when the parking cost of the second parking path is lower than the parking cost of the first parking path, wherein the parking cost represents resources consumed by the vehicle to be parked to finish automatic parking along the parking path.
In a third aspect, there is provided an automatic parking control method including:
receiving a vehicle departure request, wherein the vehicle departure request comprises information of a vehicle to be departed from a garage and information of a target parking lot where the vehicle to be departed is located;
planning a first departure path of the vehicle to be departed according to the vehicle departure request and the space occupation information of the target parking lot, wherein the first departure path is used for controlling the vehicle to be departed automatically, and the space occupation information comprises the state of a road of the target parking lot;
if the situation that a newly-added idle road exists in the target parking lot is monitored, a second departure path is planned according to the position of the vehicle to be departed and the newly-added idle road;
and when the departure cost of the second departure path is lower than that of the first departure path, controlling the vehicle to be departed to automatically depart along the second departure path, wherein the departure cost represents resources consumed by the vehicle to be departed to complete automatic departure along the departure path.
In a fourth aspect, there is provided an automatic parking control apparatus including:
the system comprises a receiving module, a storage module and a display module, wherein the receiving module is used for receiving a vehicle departure request, and the vehicle departure request comprises information of a vehicle to be departed from a storage and information of a target parking lot where the vehicle to be departed is located;
a third planning module, configured to plan a first departure path of the vehicle to be departed according to the vehicle departure request and the space occupation information of the target parking lot, where the first departure path is used to control the vehicle to be departed to automatically depart, and the space occupation information includes a state of a road of the target parking lot;
the fourth planning module is used for planning a second departure path according to the position of the vehicle to be departed and the newly-added idle road if the newly-added idle road is monitored to be in the target parking lot;
and the control module is used for controlling the vehicle to be departed to automatically depart along the second departure path when the departure cost of the second departure path is lower than the departure cost of the first departure path, wherein the departure cost represents resources consumed by the vehicle to be departed to finish automatic departure along the departure path.
In a fifth aspect, an electronic device is provided, the mobile terminal comprising a processor, a memory and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps of the method as in the first or third aspect.
A sixth aspect provides a computer readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of the method as in the first or third aspect.
In the embodiment of the application, an automatic parking request is received; planning a first parking path of a vehicle to be parked according to the automatic parking request and the space occupation information of the target parking lot; if the situation that a newly increased free parking space exists in the target parking lot is monitored, a second parking path is planned according to the position of the vehicle to be parked and the newly increased free parking space; and when the parking cost of the second parking path is lower than that of the first parking path, controlling the vehicle to be parked to automatically park to the newly increased idle parking space along the second parking path, wherein the parking cost represents resources consumed by the vehicle to be parked to finish automatic parking along the parking path. According to the scheme of the embodiment of the application, the parking route of the vehicle can be optimized according to the parking cost after the newly added idle parking spaces are added, and the automatic parking efficiency is effectively improved.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart illustrating an automatic parking control method according to an embodiment of the present application.
Fig. 2 is a second flowchart of an automatic parking control method according to an embodiment of the present application.
Fig. 3 is a third flowchart of an automatic parking control method according to an embodiment of the present application.
Fig. 4 is a fourth flowchart illustrating an automatic parking control method according to an embodiment of the present application.
Fig. 5 is a fifth flowchart illustrating an automatic parking control method according to an embodiment of the present application.
Fig. 6 is a sixth flowchart illustrating an automatic parking control method according to an embodiment of the present application.
Fig. 7 is a seventh flowchart illustrating an automatic parking control method according to an embodiment of the present application.
Fig. 8 is a system configuration diagram illustrating an implementation of the automatic parking control method according to an embodiment of the present application.
Fig. 9 is a schematic application scenario diagram of an automatic parking control method according to an embodiment of the present application.
Fig. 10 is an eighth flowchart illustrating an automatic parking control method according to an embodiment of the present application.
Fig. 11 is a schematic structural diagram of an automatic parking control apparatus according to an embodiment of the present application.
Fig. 12 is a schematic structural diagram of an automatic parking control apparatus according to another embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application. The reference numbers in the present application are only used for distinguishing the steps in the scheme and are not used for limiting the execution sequence of the steps, and the specific execution sequence is described in the specification.
In order to solve the problems in the prior art, embodiments of the present application provide an automatic parking control method, which may be widely applied to a scene with parking spaces, such as an above-ground or underground parking lot, a parking building, a roadside temporary parking lot, and the like.
As shown in fig. 1, an execution main body of an automatic parking control method provided in the embodiment of the present application may be a server, and the embodiment of the present application takes a parking lot terminal server as an example for description. Optionally, in practical application, a cloud or other form of server may also be used to execute the scheme provided in this embodiment. The method provided by the embodiment comprises the following steps:
s11: receiving an automatic parking request, wherein the automatic parking request comprises information of a vehicle to be parked and information of a target parking lot for parking the vehicle to be parked.
The automatic parking request may be generated and sent by the driver through the electronic terminal according to actual needs, for example, the automatic parking request may be a request generated by the vehicle-mounted terminal according to a received touch, voice, gesture or other form of instruction, or the automatic parking request may cause the driver to operate a request generated by a mobile phone, a tablet computer, an electronic watch or other electronic devices.
If the automatic parking request is generated by the vehicle-mounted terminal, the vehicle-mounted terminal can generate the automatic parking request based on the information of the vehicle. In addition, the information of the target parking lot to be parked may be determined according to the operation performed by the user, or the information of the target parking lot may be generated by identifying a nearby parking lot as the target parking lot according to the positioning module in the vehicle-mounted device. The information of the target parking lot may include, for example, a name, a geographical location, and the like of the target parking lot, or may use, as the information of the target parking lot, a name or location information of an office building or a mall to which the parking lot belongs. In practical application, a user can select a target parking lot by clicking a position on a map displayed by the terminal, and the terminal can determine information of the target parking lot according to the position clicked by the user. The information of the target parking lot is used to characterize in which parking lot the vehicle is to be parked.
If the automatic parking request is generated by an electronic terminal such as a mobile phone, a user can be guided to input information of a vehicle into the mobile phone in advance, and the information of the vehicle can be bound with a mobile phone number, a social account number or other identity accounts of the user. The information of the vehicle may include one or more of information such as an engine number, a license plate number, a vehicle color, a vehicle brand, a vehicle size, and the like of the vehicle, and the information of the vehicle may be used to distinguish different vehicles, so that the vehicle may be identified. When the automatic parking request is generated, the mobile phone can determine corresponding information of the vehicle to be parked according to the account number logged in by the user. In addition, nearby parking lots may be identified according to an operation performed by a user or a location module of the mobile phone to determine information of a target parking lot.
S12: and planning a first parking path of the vehicle to be parked according to the automatic parking request and the space occupation information of the target parking lot, wherein the first parking path is used for controlling the vehicle to be parked to automatically park to the free parking space of the target parking lot, and the space occupation information comprises the state of the parking space of the target parking lot.
The space occupation information of the target parking lot in this step may be determined according to the information of the target parking lot. The method comprises the steps of determining a target parking lot where a vehicle is to be parked according to information of the target parking lot, and then obtaining space occupation information of the target parking lot.
The space occupation information of the target parking lot comprises the states of the parking spaces in the parking lot, wherein the states of the parking spaces are used for representing whether vehicles are parked in the parking spaces or not. For example, the status of the parking space includes an "unoccupied status" indicating that no vehicle is parked in the parking space and an "occupied status" indicating that a vehicle is parked in the parking space.
In addition, because the vehicle often needs to drive into the parking space through the passable road, if the road leading to the vacant parking space is occupied, the vehicle to be parked is difficult to drive to the vacant parking space for parking, and therefore, the parking is influenced by the occupied state of the road leading to the parking space. Optionally, the space occupation information may further include occupation state information of a road in the parking lot, position distribution information of obstacles located on the road or the parking space, lane driving direction information, and the like, and may be used to assist in planning a route where the vehicle parks in an idle parking space, avoid obstacles blocking parking, and reduce the probability of road congestion.
In addition, in order to further improve the matching degree of the parking spaces and the parked vehicles, parking paths can be planned in combination with parking space attribute information. The parking space attribute information may include, for example, a type of the parking space, size information of the parking space, whether the parking space is equipped with a charging pile, and the like. The type of parking space described above can be used to characterize whether the parking space is used for parking a four-wheel motor vehicle or a motorcycle. The size information of the parking space can comprise the length and width of the occupied space, and if an obstacle such as a ventilating duct and the like exists on the parking space, the size information of the parking space can also comprise the height of the parking space. According to the parking space attribute information, a vehicle to be parked can be planned to a proper parking space, and the problem of parking space resource waste is avoided.
The space occupation information can be monitored by a camera, an infrared sensor or other types of sensors arranged in the target parking lot, so that the space occupation information can be updated in the server.
In the step of planning the first parking path, the server first determines information of the vehicle to be parked and information of the target parking lot according to the automatic parking request. And then planning a first parking path for the vehicle to be parked according to the space occupation information of the parking lot.
For example, the server may use an entrance of the target parking lot as a starting point of the first parking path, use the vacant parking spaces represented by the space occupation information as an ending point of the first parking path, and determine a path from the starting point to the ending point according to a lane direction prestored by the server.
If the vehicle to be parked enters the target parking lot, the position of the vehicle to be parked can be obtained according to the information of the vehicle to be parked, and the first parking path is planned by taking the position of the vehicle to be parked as a starting point and taking the free parking space represented by the space occupation information as a terminal point.
In addition, if there are a plurality of free parking spaces in the target parking lot, the parking space closest to the starting point may be used as the end point of the first parking path. If the vehicle to be parked is a special type of vehicle, such as an electric automobile, the free parking space provided with the charging pile can be selected as the terminal point of the first parking path according to the requirement of the vehicle.
After generating the first parking path, the server may transmit the first parking path to the vehicle to be parked to instruct the vehicle to be parked to perform automatic parking according to the first parking path. Optionally, the first parking path is sent in a communication manner of receiving an automatic parking request. And if the server receives the automatic parking request sent by the vehicle-mounted terminal, feeding back the first parking path to the vehicle-mounted terminal. If the automatic parking request received by the server is sent by the mobile phone, the first parking path can be fed back to the mobile phone, and then the mobile phone sends the automatic parking request to the vehicle to be parked, so that the vehicle to be parked executes automatic parking along the first parking path.
S13: and if the situation that newly increased free parking spaces exist in the target parking lot is monitored, a second parking path is planned according to the positions of the vehicles to be parked and the newly increased free parking spaces.
After the first parking path is planned, the vehicle to be parked may perform automatic parking along the first parking path. And before the vehicle to be parked finishes automatic parking, if newly increased free parking spaces are monitored in the target parking lot, planning a second parking path according to the position of the vehicle to be parked and the newly increased free parking spaces. The starting point of the second parking path planned in the step is the position of the vehicle to be parked, and the end point is the newly added free parking space.
The positions of the newly added free parking spaces and the vehicles to be parked can be monitored by vehicles in the target parking lot and reported to the server, and can also be monitored by a camera or other types of sensors. The position of the vehicle to be parked can be specifically that a positioning module arranged in the vehicle to be parked obtains the position information of the vehicle and reports the position information to the server.
S14: and when the parking cost of the second parking path is lower than that of the first parking path, controlling the vehicle to be parked to automatically park to the newly increased idle parking space along the second parking path, wherein the parking cost represents resources consumed by the vehicle to be parked to finish automatic parking along the parking path.
In this step, parking costs for the first and second parking paths are first determined, respectively. The parking cost can be determined according to the oil quantity or electric quantity consumed by the vehicle to be parked to perform automatic parking along the parking path and the time, and the parking cost can also relate to the convenience degree of the vehicle to be driven out of the parking lot from the parking path end point parking space. For example, parking cost WcostCan be expressed in the following form:
Wcost＝f(C1,C2,C3)
wherein, C1Represents a time cost, C2Represents a cost of power consumption, C3Indicating the convenience of driving out. In the present embodiment, the parking cost is determined based on the three variable parameters described above, which may beThe variable quantity is positively correlated with the parking cost. The larger the time cost is, the longer the vehicle needs to finish automatic parking, the larger the benefit cost is, the more electric quantity the vehicle needs to finish automatic parking, and the larger the output convenience value is, the more inconvenience is. In practice, parking costs can also be determined on the basis of more or less variable variables.
When the parking cost of the second parking path is lower than that of the first parking path, it is indicated that the automatic parking of the vehicle along the second parking path is better, and at the moment, the vehicle to be parked can be indicated to stop parking along the first parking path, and the automatic parking is executed along the second parking path instead, so that the automatic parking efficiency is effectively improved.
If the parking cost of the second parking path is higher than that of the first parking path, the vehicle to be parked continues to perform automatic parking along the first parking path without sending the second parking path.
In practical application, the occupation situation of each parking space in the parking lot changes frequently. In the process of automatic parking of a vehicle along a parking path, the vehicle may just come out of a parking space nearby, and a new vacant parking space appears. If the parking is still performed along the original parking path, a new vacant parking space may be passed, which causes resource waste and lowers the parking efficiency. According to the scheme provided by the embodiment of the application, the parking cost can be compared to judge which parking path the vehicle to be parked along to execute optimal parking, automatic parking can be flexibly completed along the optimal parking path, the automatic parking efficiency is effectively improved, the resource waste is avoided, and intelligent parking is realized.
Based on the solution provided by the foregoing embodiment, optionally, as shown in fig. 2, the method further includes:
s21: and receiving state information sent by the vehicles in the target parking lot, wherein the state information comprises the parking states of the vehicles and/or the space occupation states of the target parking lot collected by the vehicles.
The state information may be collected by sensors disposed on the vehicle, such as a surround camera, a distance measuring sensor, and the like disposed around the vehicle. The vehicle can generate state information according to the image data and the obstacle position data acquired by the sensors, and report the state information to the sensors.
S22: and updating the space occupation information of the target parking lot according to the state information sent by the vehicle.
The status information sent by the vehicles in the target parking lot can characterize the real-time space occupancy within the parking lot. The space occupation information is updated according to the state information, so that the real-time performance of the space occupation information can be improved, the effectiveness of a planned parking route is ensured, and the condition that different vehicles compete for the same parking space is avoided.
Based on the solution provided by the above embodiment, optionally, as shown in fig. 3, the space occupation state of the target parking lot collected by the vehicle includes a parking space state, and the parking space state includes at least one of the following states:
a park-in state, a park-out state, an idle state, and an occupied state.
The parking state refers to a parking space state that the vehicle reaches the position near the parking space at the end of the parking path and is parking in the parking space process. The parked state is a state in which the vehicle is exiting the space. The idle state refers to a parking space state in which no vehicle is parked. The occupied state refers to a state in which a vehicle occupies a space.
The state of the parking space can be determined by data collected by the vehicle sensor, for example, when the vehicle passes through the parking space, the camera around the vehicle shoots that the parking space is free, and then the parking space can be determined to be in a free state.
Wherein, the step S22 includes:
s31: and when the state information comprises the state of the parking space in the parking-in state or the parking-out state, updating the road adjacent to the parking space in the parking-in state or the parking-out state into the occupied state.
In the process of parking in a parking space and driving out of the parking space, a road adjacent to the parking space is often occupied, and if other vehicles drive along the road, the vehicles need to be parked to wait for the vehicles to finish the action of parking in the parking space or driving out of the parking space and then can continue to drive. Therefore, when the parking space is in a parking state or a parking out state, the adjacent roads can not normally pass. In this step, the roads adjacent to the parking spaces in the parking-in and parking-out states in the space occupation state are updated to the occupied states. In the process of planning the parking route, the route with the highest traffic efficiency can be planned according to the states of the roads recorded in the space occupation state, so that the vehicles can avoid the occupied roads in the automatic parking process, unnecessary waiting is avoided, and the parking efficiency is improved.
Based on the solution provided by the above embodiment, optionally, as shown in fig. 4, if it is detected that there is a newly added vacant parking space in the target parking lot, the method further includes:
s41: and acquiring the position of the vehicle to be parked according to the information of the vehicle to be parked.
In this step, a communication connection can be established with the vehicle to be parked according to the information of the vehicle to be parked, so as to monitor the position of the vehicle to be parked in real time.
Or, the information of the vehicle to be parked can comprise the license plate number, the color of the vehicle, the model of the vehicle or other vehicle characteristics which are easy to identify, and the position of the vehicle to be parked is identified and tracked by a camera arranged in the target parking lot according to the monitoring picture.
Wherein, the step S13 includes:
s42: and planning a second parking path passing through the road in the idle state by taking the position of the vehicle to be parked as a starting point and the newly increased idle parking space as an end point.
After the first parking path is sent to the vehicle to be parked, the vehicle often starts to perform automatic parking along the first parking path, and if a newly-added free parking space occurs before the automatic parking is completed, the server performs the step to plan a second parking path. Since the vehicle to be parked performs parking along the first parking path and is in a driving state, the position of the vehicle can be obtained in real time as a starting point in the step, and the second parking path is planned.
In the step, the automatic parking efficiency can be improved by planning the road with the path in the idle state, unnecessary waiting of the vehicle is avoided, and the automatic parking efficiency is effectively improved.
Based on the scheme provided by the above embodiment, optionally, as shown in fig. 5, the state of the parking space further includes a predetermined state;
wherein, the step S14 includes:
s51: sending the second parking path to the vehicle to be parked so as to control the vehicle to be parked to automatically park to the newly increased idle parking space along the second parking path;
s52: and updating the state of the parking space at the end position of the second parking path in the space occupation information to be a preset state, wherein the parking space in the preset state cannot be planned as the end of the parking path.
The predetermined state specifically means that the parking space has been planned as a parking space of the vehicle, that is, the parking space has been planned as a parking path as an end point and sent to the vehicle. Although the vehicle is not parked in the parking space in the preset state, in order to avoid different vehicles from contending for the same parking space, the parking space in the preset state is not taken as a terminal point to plan a parking path, and the corresponding relation between the parking space and the vehicle is ensured.
In addition, before the vehicle to be parked is parked in the parking space in the preset state, other vehicles may report that the parking space is in the idle state, and at the moment, the server does not need to update the preset state of the parking space into the idle state and keeps the preset state.
In addition, if the vehicle to be parked leaves the second parking path or a better parking path is planned for the vehicle, the state of the end parking space of the second parking path is updated to be an idle state so as to be used for parking other vehicles.
According to the scheme provided by the embodiment of the application, the corresponding relation between the vehicles and the parking spaces is guaranteed in a preset mode, and the situation that a plurality of vehicles strive for the same parking space is avoided. Effectively improve the efficiency of parking, improve the resource utilization ratio in parking stall.
Based on the solutions provided in the above embodiments, optionally, as shown in fig. 6, the parking state of the vehicle includes at least one of the following states:
a state of driving into the target parking lot, a state in execution of automatic parking, and a state of completion of automatic parking.
The parking state of the vehicle can be reported to the server by the vehicle, and can also be acquired by a camera or other sensors arranged in the parking lot. The state of driving into the target parking lot refers to a state in which the vehicle has entered the target parking lot and a parking route is not transmitted to the vehicle. The state in execution of automatic parking refers to a state in which a parking route has been transmitted to the vehicle and the vehicle has not completed automatic parking. The state in which automatic parking is completed means that the vehicle has been parked into the parking space by automatic parking.
Wherein the automatic parking request is generated by the mobile terminal, and after step S11, the method further includes:
s61: and sending the parking state of the vehicle to the mobile terminal.
In practical application, a driver can generate the automatic parking request through a mobile phone or other mobile terminals, and control the mobile terminal to send the automatic parking request to a server corresponding to a target parking lot. The vehicle to be parked corresponding to the automatic parking request can communicate with the server in the target parking lot to finish automatic parking according to the received parking path without controlling the vehicle by a driver or a passenger. The driver and the crew can get off the vehicle after driving the vehicle to be parked into the target parking lot, and the server can update and send the parking state of the vehicle to the mobile terminal in real time, so that the driver and the crew can conveniently check the parking state of the vehicle in real time through the mobile terminal.
In order to solve the problems in the prior art, an embodiment of the present application further provides an automatic parking control method, as shown in fig. 7, including:
s71: receiving a vehicle departure request, wherein the vehicle departure request comprises information of a vehicle to be departed from a garage and information of a target parking lot where the vehicle to be departed is located;
s72: planning a first departure path of the vehicle to be departed according to the vehicle departure request and the space occupation information of the target parking lot, wherein the first departure path is used for controlling the vehicle to be departed automatically, and the space occupation information comprises the state of a road of the target parking lot;
s73: if the situation that a newly-added idle road exists in the target parking lot is monitored, a second departure path is planned according to the position of the vehicle to be departed and the newly-added idle road;
s74: and when the departure cost of the second departure path is lower than that of the first departure path, controlling the vehicle to be departed to automatically depart along the second departure path, wherein the departure cost represents resources consumed by the vehicle to be departed to complete automatic departure along the departure path.
Steps S71-S74 in the present embodiment correspond to steps S11-S14 in the above-described embodiment, and can be performed in a similar manner. The starting point of the departure path may be the position of the vehicle to be departed or the parking space, and the ending point of the departure path is the exit of the target parking space. When there are a plurality of exits of the target parking lot, the exit selected by the driver may be determined as the end point of the departure path. Or, under the condition that the driver starts the navigation through the mobile phone or the vehicle-mounted terminal, a proper exit is selected from the exits of the parking lots according to the driving direction of the navigation to be used as the terminal point of the departure path, so that the vehicle can efficiently drive along the navigation route after leaving the parking lot.
Optionally, the scheme provided in this embodiment may further include:
receiving state information sent by vehicles in the target parking lot, wherein the state information comprises the parking states of the vehicles and/or space occupation states of the target parking lot acquired by the vehicles;
and updating the space occupation information of the target parking lot according to the state information sent by the vehicle.
Optionally, the space occupation state of the target parking lot collected by the vehicle includes a parking space state, and the parking space state includes at least one of:
a mid-park state, an idle state, and an occupied state;
wherein, updating the space occupation information of the target parking lot according to the state information sent by the vehicle comprises:
and when the state information comprises the state of the parking space in the parking-in state or the parking-out state, updating the road adjacent to the parking space in the parking-in state or the parking-out state into the occupied state.
Optionally, if it is monitored that there is a newly added free road in the target parking lot, the method further includes:
acquiring the position of the vehicle to be discharged according to the information of the vehicle to be discharged;
wherein, according to the position of the vehicle to be departed and the newly-added idle road, planning a second departure path, comprising:
and planning a second parking path passing through the newly-added idle road by taking the position of the vehicle to be departed as a starting point and the exit of the target parking lot as a terminal point.
Optionally, the parking state of the vehicle includes at least one of:
a state of driving into the target parking lot, a state in execution of automatic parking, and a state of completion of automatic parking;
the vehicle leaving request is generated by a mobile terminal, and after receiving the vehicle leaving request, the method further comprises the following steps:
and sending the parking state of the vehicle to the mobile terminal.
The effect achieved by each step in this embodiment is the same as the technical effect explained in the above embodiments, and is not described herein again to avoid repetition.
In the following, the present solution is further explained by referring to an example, and fig. 8 shows a system structure diagram of the automatic parking control method provided by one embodiment of the foregoing people. The system comprises a field terminal scheduling server, a personal mobile terminal and a vehicle.
The mobile terminal is in communication connection with the server, the mobile terminal can send an instruction of entering the parking lot or an instruction of exiting the parking lot to the server, and the server can feed back the vehicle execution task progress to the mobile terminal.
The server is in communication connection with the vehicle, and the server can transmit global path planning information for indicating the vehicle to enter or exit to the vehicle, and can also transmit parking lot map data so that the vehicle can drive along the planned path. The vehicle can report the task execution state, the parking space number and the vehicle position information of the vehicle to the server.
In fig. 8, a system configuration diagram including five vehicles, one server, and one mobile terminal is shown, and in practical applications, the number of devices in the system is not limited to the number or form shown in the middle. For example, the number of the mobile terminals may be multiple, and the server may include a main server and at least one standby server, etc.
The functions of each part in the system are respectively described as follows:
personal mobile terminal: the user can carry out instruction operation of parking in the parking lot and parking out of the parking lot on the vehicle at a designated place through an application program of the mobile phone client. The user can obtain the current task execution progress of the vehicle through the mobile phone client application program, such as: currently, the task distance or time to complete parking or to reach the destination is estimated.
The field terminal dispatching server: the field server is used as a service terminal for connecting the user side and the vehicle side. And converting the instruction of the user into an engineering instruction which can be executed by the passenger-riding vehicle. The parking lot maps are respectively stored in a field end server and a vehicle end for carrying out passenger-riding parking of vehicles. When a user sends a passenger-replacing parking instruction to a field-end server through a mobile terminal, the field-end server performs comprehensive analysis according to the current position of a vehicle and parking space state information in a parking space, and plans an optimal path from a current starting point to a parking space to be parked based on a current mainstream global path planning algorithm, such as Dijistra, A, a Breadth First Search (BFS) and a Depth First Search (DFS).
And the parking spaces are monitored by vehicle position information fed back by other vehicles or field end sensors, and the parking spaces corresponding to the vehicles are subjected to state division.
And (4) parking space state list:
is predetermined
In parking
In parking out
Idle
Occupation of
The following description is made with reference to the examples of the parking spaces:
is predetermined to:
for a parking lot with a plurality of entrances, other vehicles for passenger parking for a later time can be subjected to global path planning by a field terminal, but due to the fact that the passing paths are different, some empty parking spaces on the driving or coming-in paths can be reserved by other vehicles in advance, and therefore the parking spaces cannot be used as target parking spaces of the vehicles for passenger parking for the later time, and the situation that a plurality of vehicles compete for the same parking space is avoided.
During parking:
the vehicle end executes the passenger parking task and sends the current state signal of the vehicle to the field end server through the Internet of vehicles intelligent terminal T-BOX (telematics BOX) hardware, and the field end server can obtain the position of the parking space of the vehicle for the passenger parking. And marking the parking space of the parking lot.
Idle:
the idle parking space judgment mode has multiple types, and any one of the following modes can be judged as the identification of the idle parking space:
1. the camera arranged at the field end identifies the parking space state, and if no vehicle exists in the parking space, the parking space is determined to be in an idle state.
2. The parking space is not marked as the end point of the global planned path of the vehicle, and the final coordinate of the vehicle after parking is finished is not located in the parking space range.
Occupation:
the same judgment mode as the idle mode is just the opposite judgment logic to the idle mode.
During parking out:
in principle co-parking, the vehicle executing the task sends the state of the current passenger parking system to the field server.
During parking of the parking space, the attribute of parking means that the vehicles occupy the space in a certain area in front of the parking space for a short time. Therefore, global path planning factors of other vehicles need to be judged for the attribute parking spaces in the two states.
The reserved attribute of the parking space means that a certain spatial region in front of the parking space will be occupied in a certain period of time in the future, and therefore, the reserved attribute of the parking space can also be used as a reference factor for global path planning.
And (4) re-planning the global path, wherein the field end server is used for re-planning the new free parking space position and the cost W consumed by the new path according to the current position of the passenger parking vehicle in the map, the attributes (reserved, in-parking and out-parking) of each parking space in the parking field, and the new free parking space positioncost(factors include time car book C1Power consumption cost C2Convenience of going out C3) And performing global path re-planning on the vehicles which are performing the tasks and comprehensively deciding whether the vehicles which need to perform the tasks execute a new path or not.
As shown in fig. 9, the re-planned path. The vehicle executing the parking task for the passenger is originally aimed at the parking space A1. because the original vehicle in the parking space B3 is driven out, the field end carries out global path re-planning on the vehicle executing the parking task for the passenger, and finally the target parking space of the vehicle is changed from the original parking space A1 to the parking space B3.
Vehicle:
the vehicle is used as a final implementation carrier for executing the passenger parking task, and the vehicle end system performs state division on the passenger parking task of the vehicle, as shown in the following list:
vehicle end task list:
start valet parking (driving in)
In driving in
In parking
Finish the task of parking a ride instead of a passenger
Start valet parking (drive-out)
In parking out
In driving out
Start valet parking (coming in)
After the passenger leaves the vehicle, the passenger sends a parking start instruction to the field server through the personal mobile terminal, and at the moment, the field server communicates with the vehicle terminal T-box communication module and confirms whether the vehicle terminal has the map data of the parking lot. And then the field terminal carries out global path planning on the vehicle according to the current position of the vehicle, and the vehicle starts to execute the passenger-replacing parking task after receiving the path information of the driving-in global path.
During driving:
and the vehicle drives into the parking lot according to the global path information released by the field terminal, and performs path tracking driving according to the specified global route.
During parking:
after the vehicle arrives at the designated parking space, the vehicle realizes the automatic parking function through the vehicle-mounted local planning and internal control module. In some parking spaces with narrow spaces or complex environments (suspended fire hydrants), multiple rubbings may be generated for vehicles to park in the parking spaces, and therefore, the driving space in front of the vehicles is occupied.
And (3) finishing the passenger-replacing parking task:
the state is divided into two sub-states, one is to finish the passenger-replacing parking of driving into the parking space of the parking lot, and the other is to finish the passenger-replacing parking of driving out of the parking space of the parking lot. The site server will also synchronize the completed status to the user's personal mobile.
Start valet parking (drive-out)
The same as the start of the passenger-replacing parking (driving in), a user sends a command of driving out the vehicle from the parking lot through a personal mobile terminal, and after receiving the command, the field terminal server plans a global path plan with the position as a starting point and the user designates the position as a terminal point.
During parking out:
as described above for the parked state. If there is an unexpected obstacle some distance ahead, it may result in the vehicle repeatedly rubbing its garage there. Thereby occupying a running space in front of the vehicle.
In the process of exiting:
and the vehicle exits the parking lot according to the global path information released by the field terminal, and performs path tracking driving according to the specified global route.
The flow chart of the path planning of the vehicle parked as a passenger is shown in fig. 10, and the parking lot site end server performs global path planning on the vehicle to be parked as a passenger and sends the planned global path to the vehicle. And in the process of executing the passenger-replacing parking task, a new free parking space is generated in the parking lot, the site end server carries out global path planning based on the new parking space, and if the comprehensive cost of the new path is lower than that of the original path, the site end sends the new global path to the vehicle. And if the comprehensive cost of the new path is higher than that of the original path, the field end server does not send the new path to the vehicle end, and the vehicle still runs according to the original path. Meanwhile, if another new parking space is generated, the field end server performs global path planning on the newly generated parking space and then compares the path with the path of the currently executed task. Therefore, the process of continuously iteratively updating and optimizing is achieved.
The scheme provided by the embodiment effectively solves the global planning problem of releasing the vehicles in the parking lot with the terminal server of the parking lot, and when other vehicles exit the parking lot, a new global path is generated, the field side server performs comprehensive cost analysis based on a global view angle, so that the vehicles always execute the optimal global path, the efficiency problem of the passenger parking is solved, and the performance of the passenger parking system is effectively improved.
The scheme provided by the embodiment is based on the problems that the optimal planned route for getting in and out of the parking lot is planned by executing the communication between the car end and the field end of the passenger-replacing parking task, and the real-time planning is carried out based on the global parking space information of the parking lot. The intelligent parking lot server comprehensively calculates an optimal global planning path route of the vehicle for executing the passenger-replacing parking task based on the map of the parking lot and the states of the parking lots fed back by each vehicle end or the sensor, and releases the optimal global planning path route to the vehicle in the passenger-replacing parking task for execution.
The scheme provided by the embodiment effectively solves the global planning problem of releasing the vehicles in the parking lot with the terminal server of the parking lot, and when other vehicles exit the parking lot, a new global path is generated, the field terminal server analyzes the comprehensive cost of the new path and the old path based on the global view angle, so that the vehicles are always in the optimal global path, the efficiency problem of the passenger-riding parking for the passenger is solved, and the performance of the passenger-riding parking system is improved.
In order to solve the problems in the prior art, an embodiment of the present invention further provides an automatic parking control device, as shown in fig. 11, including:
the receiving module 111 receives an automatic parking request, where the automatic parking request includes information of a vehicle to be parked and information of a target parking lot for parking the vehicle to be parked;
a first planning module 112, configured to plan a first parking path of the vehicle to be parked according to the automatic parking request and the space occupation information of the target parking lot, where the first parking path is used to control the vehicle to be parked to automatically park in an empty parking space of the target parking lot, and the space occupation information includes a status of the parking space of the target parking lot;
a second planning module 113, configured to plan a second parking path according to the location of the vehicle to be parked and the newly added free parking space if it is detected that the newly added free parking space exists in the target parking lot;
and the control module 114, when the parking cost of the second parking path is lower than the parking cost of the first parking path, controlling the vehicle to be parked to automatically park in the newly increased spare parking space along the second parking path, where the parking cost represents resources consumed by the vehicle to be parked to finish automatic parking along the parking path.
In the embodiment of the application, an automatic parking request is received; planning a first parking path of a vehicle to be parked according to the automatic parking request and the space occupation information of the target parking lot; if the situation that a newly increased free parking space exists in the target parking lot is monitored, a second parking path is planned according to the position of the vehicle to be parked and the newly increased free parking space; and when the parking cost of the second parking path is lower than that of the first parking path, controlling the vehicle to be parked to automatically park to the newly increased idle parking space along the second parking path, wherein the parking cost represents resources consumed by the vehicle to be parked to finish automatic parking along the parking path. According to the scheme of the embodiment of the application, the parking route of the vehicle can be optimized according to the parking cost after the newly added idle parking spaces are added, and the automatic parking efficiency is effectively improved.
In order to solve the problems in the prior art, an embodiment of the present invention further provides an automatic parking control device, as shown in fig. 12, including:
the receiving module 121 is configured to receive a vehicle departure request, where the vehicle departure request includes information of a vehicle to be departed from a garage and information of a target parking lot where the vehicle to be departed is located;
a third planning module 122, configured to plan a first departure path of the vehicle to be departed according to the vehicle departure request and the space occupation information of the target parking lot, where the first departure path is used to control the vehicle to be departed to automatically depart, and the space occupation information includes a state of a road of the target parking lot;
a fourth planning module 123, configured to plan a second departure path according to the location of the vehicle to be departed and the newly added idle road if it is monitored that the newly added idle road exists in the target parking lot;
and the control module 124 is configured to control the vehicle to be departed to automatically depart along the second departure path when the departure cost of the second departure path is lower than the departure cost of the first departure path, where the departure cost represents resources consumed by the vehicle to be departed to complete automatic departure along the departure path.
According to the scheme provided by the embodiment of the application, the departure route of the vehicle can be optimized according to the parking cost after the newly added idle road appears, and the efficiency of the vehicle automatically driving away from the parking lot is effectively improved.
Preferably, an embodiment of the present application further provides an electronic device, which includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, and when the computer program is executed by the processor, the electronic device implements each process of the above embodiment of the automatic parking control method, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of the above-mentioned embodiment of the automatic parking control method, and can achieve the same technical effect, and in order to avoid repetition, details are not repeated here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (10)

1. An automatic parking control method characterized by comprising:
receiving an automatic parking request, wherein the automatic parking request comprises information of a vehicle to be parked and information of a target parking lot for parking the vehicle to be parked;
planning a first parking path of the vehicle to be parked according to the automatic parking request and the space occupation information of the target parking lot, wherein the first parking path is used for controlling the vehicle to be parked to automatically park to an idle parking space of the target parking lot, and the space occupation information comprises the state of the parking space of the target parking lot;
if the situation that a newly increased free parking space exists in the target parking lot is monitored, a second parking path is planned according to the position of the vehicle to be parked and the newly increased free parking space;
and when the parking cost of the second parking path is lower than that of the first parking path, controlling the vehicle to be parked to automatically park to the newly increased idle parking space along the second parking path, wherein the parking cost represents resources consumed by the vehicle to be parked to finish automatic parking along the parking path.
2. The method of claim 1, further comprising:
receiving state information sent by vehicles in the target parking lot, wherein the state information comprises the parking states of the vehicles and/or space occupation states of the target parking lot acquired by the vehicles;
and updating the space occupation information of the target parking lot according to the state information sent by the vehicle.
3. The method of claim 2, wherein the vehicle collected space occupancy status of the target parking lot comprises a status of a space, the status of the space comprising at least one of:
a mid-park state, an idle state, and an occupied state;
wherein, updating the space occupation information of the target parking lot according to the state information sent by the vehicle comprises:
and when the state information comprises the state of the parking space in the parking-in state or the parking-out state, updating the road adjacent to the parking space in the parking-in state or the parking-out state into the occupied state.
4. The method of claim 3, wherein if a new free slot is detected in the target parking lot, further comprising:
acquiring the position of the vehicle to be parked according to the information of the vehicle to be parked;
wherein, plan the second route of parking according to the position of the vehicle of waiting to park and the newly-increased idle parking stall, include:
and planning a second parking path passing through the road in the idle state by taking the position of the vehicle to be parked as a starting point and the newly increased idle parking space as an end point.
5. The method of claim 3, wherein the status of the slot further comprises a predetermined status;
when the parking cost of the second parking path is lower than that of the first parking path, controlling the vehicle to be parked to automatically park in the newly increased vacant parking space along the second parking path, including:
sending the second parking path to the vehicle to be parked so as to control the vehicle to be parked to automatically park to the newly increased idle parking space along the second parking path;
and updating the state of the parking space at the end position of the second parking path in the space occupation information to be a preset state, wherein the parking space in the preset state cannot be planned as the end of the parking path.
6. The method of claim 5, wherein the vehicle parking status comprises at least one of:
a state of driving into the target parking lot, a state in execution of automatic parking, and a state of completion of automatic parking;
the automatic parking request is generated by the mobile terminal, and after receiving the automatic parking request, the method further comprises the following steps:
and sending the parking state of the vehicle to the mobile terminal.
7. An automatic parking control method characterized by comprising:
receiving a vehicle departure request, wherein the vehicle departure request comprises information of a vehicle to be departed from a garage and information of a target parking lot where the vehicle to be departed is located;
planning a first departure path of the vehicle to be departed according to the vehicle departure request and the space occupation information of the target parking lot, wherein the first departure path is used for controlling the vehicle to be departed automatically, and the space occupation information comprises the state of a road of the target parking lot;
if the situation that a newly-added idle road exists in the target parking lot is monitored, a second departure path is planned according to the position of the vehicle to be departed and the newly-added idle road;
and when the departure cost of the second departure path is lower than that of the first departure path, controlling the vehicle to be departed to automatically depart along the second departure path, wherein the departure cost represents resources consumed by the vehicle to be departed to complete automatic departure along the departure path.
8. An automatic parking control apparatus, characterized by comprising:
the system comprises a receiving module, a storage module and a control module, wherein the receiving module is used for receiving an automatic parking request, and the automatic parking request comprises information of a vehicle to be parked and information of a target parking lot for parking the vehicle to be parked;
the first planning module plans a first parking path of the vehicle to be parked according to the automatic parking request and the space occupation information of the target parking lot, wherein the first parking path is used for controlling the vehicle to be parked to automatically park in an idle parking space of the target parking lot, and the space occupation information comprises the state of the parking space of the target parking lot;
the second planning module is used for planning a second parking path according to the position of the vehicle to be parked and the newly increased free parking space if the newly increased free parking space is monitored in the target parking lot;
and the control module is used for controlling the vehicle to be parked to automatically park to the newly increased idle parking space along the second parking path when the parking cost of the second parking path is lower than the parking cost of the first parking path, wherein the parking cost represents resources consumed by the vehicle to be parked to finish automatic parking along the parking path.
9. An electronic device, comprising: memory, processor and computer program stored on the memory and executable on the processor, which computer program, when executed by the processor, carries out the steps of the method according to any one of claims 1 to 7.
10. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
CN202111081672.6A 2021-09-15 2021-09-15 Automatic parking control method and device, electronic equipment and storage medium Pending CN113650604A (en)

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Application publication date: 20211116