CN114802215B - Automatic parking system and method based on calculation force sharing and edge calculation - Google Patents

Automatic parking system and method based on calculation force sharing and edge calculation Download PDF

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Publication number
CN114802215B
CN114802215B CN202210607336.9A CN202210607336A CN114802215B CN 114802215 B CN114802215 B CN 114802215B CN 202210607336 A CN202210607336 A CN 202210607336A CN 114802215 B CN114802215 B CN 114802215B
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vehicle
road
parking
module
information
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CN114802215A (en
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王代毅
李增文
牛雷
陶鹏
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Chongqing Changan Automobile Co Ltd
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Chongqing Changan Automobile Co Ltd
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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
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/146—Display means
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)

Abstract

The invention relates to an automatic parking system and method based on calculation force sharing and edge calculation, wherein the system comprises a cloud end, a road end and a vehicle end which are in wireless communication connection with the cloud end, wherein the road end and the vehicle end can carry out calculation force sharing; the road end comprises a plurality of road end devices arranged in the parking lot, and the road end devices comprise a perception fusion module and a driving track planning module; the vehicle end includes a control module mounted on the vehicle. According to the road end and the vehicle end, the road end and the vehicle end share idle calculation force resources of the vehicle in the coverage area of the road end equipment through the calculation force sharing module, so that the calculation pressure of the road end equipment is reduced, the waste of the calculation force resources is reduced, and the calculation performance and the reliability of the road end equipment are improved; the perception fusion module and the driving track planning module are arranged at the road end, and the cloud is only responsible for selecting and enabling corresponding road end equipment to run and transmit and receive corresponding information, so that cloud computing pressure can be effectively reduced, time delay is reduced, and sudden scenes in a parking lot can be better dealt with.

Description

Automatic parking system and method based on calculation force sharing and edge calculation
Technical Field
The invention belongs to the technical field of automobile intellectualization, and particularly relates to an automatic parking system and method based on calculation force sharing and edge calculation.
Background
With the rapid development of economy, the average number of people in automobiles is higher and higher, so that most of the empty spaces in the parking lot are fewer and flow frequently, and people often need to spend a great deal of time to find the empty spaces when parking. With the development of the intellectualization of the automobile, the problem is effectively relieved, and the automobile with the auxiliary driving function can automatically drive to a parking space or assist a user to finish parking after entering the parking lot; however, in a parking lot with complex environment, a vehicle with L1-L2 level auxiliary driving function is automatically parked only by the intelligent degree of the vehicle, and the vehicle still has a certain danger.
With the progress of science and technology, vehicles are changing from vehicles to mobile intelligent terminals and distributed large-power centers, surrounding vehicles can provide power resources for vehicles which are automatically parking nearby, and the reliability of automatic parking is improved while idle power resources are effectively utilized. According to the scheme, environment data in a parking lot is acquired through an environment sensing module, positioning information of a vehicle is acquired through a positioning module, and data calculation and planning of a vehicle running track are completed on edge calculation nodes by combining a high-precision map; according to the scheme, computing power resources are provided through the edge computing nodes, and the reliability of automatic parking can be improved; however, the accuracy of the map and positioning information is required to be high and the computing pressure of the edge computing nodes may be overloaded when there are many vehicles parked in the parking lot. According to the scheme, environment data in a parking lot is obtained through a vehicle and an information acquisition unit of the parking lot together, and a central processing unit is used for completing data calculation and planning of a vehicle running track; although the scheme can finish parking under the condition of no positioning information, when the central processing unit finishes planning of a running track, a certain time delay exists, the central processing unit receives the vehicle data in the parking lot and the actual vehicle data in the parking lot, so that a safe and accurate parking scheme cannot be provided, and meanwhile, the scheme also has the problem that the calculation pressure of the central processing unit is possibly overloaded when more vehicles park in the parking lot.
Disclosure of Invention
Aiming at the defects of the prior art, the technical problem to be solved by the invention is to provide an automatic parking system and method based on calculation force sharing and edge calculation, which solves the problems of limited calculation force and poor reliability of the existing automatic parking scheme and achieves the effect of improving the utilization of calculation force resources and the reliability of automatic parking.
In order to solve the technical problems, the invention adopts the following technical scheme:
the automatic parking system based on the calculation force sharing and the edge calculation comprises a cloud end, a road end and a vehicle end, wherein the road end and the vehicle end are in wireless communication connection with a cloud server, and the road end and the vehicle end can carry out the calculation force sharing;
The road end comprises a plurality of road end devices arranged in the parking lot, and the road end devices comprise a perception fusion module, a driving track planning module and a road end calculation force sharing module; the perception fusion module is used for acquiring environment information and vehicle state information in the coverage area of the road-end equipment; the driving track planning module is used for planning the driving track of the vehicle according to the environment information and transmitting the driving track to a vehicle end; the road end computing force sharing module is used for collecting idle computing force of the vehicle in the coverage area of the road end equipment and providing the obtained computing force for the perception fusion module and the driving track planning module;
The vehicle end comprises a control module and a vehicle end calculation force sharing module which are carried on the vehicle, and the control module controls the vehicle to run according to the running track; the vehicle-end computing force sharing module is used for sharing the idle computing force of the vehicle to the road-end equipment; the cloud end is used for storing and updating the internal information of the parking lot, receiving a parking request and a delivery request from a vehicle end, selecting a parking area of a vehicle according to the internal information of the parking lot and determining a parking guiding route.
Further, V2X modules are arranged on the vehicle end and the road end equipment, and the road end and the vehicle end realize calculation force sharing and information transmission through the V2X modules.
Further, the parking lot internal information comprises position information and parking space information of all road end devices in the parking lot; the status information of the vehicle includes license plate information and vehicle size information.
Further, the perception fusion module comprises a vision module, a radar module and a license plate recognition module; the vision module and the radar module are used for acquiring the vehicle size information, and the license plate recognition module is used for acquiring the license plate information.
Further, the road end equipment can be automatically connected with the vehicle end signal in the coverage area and activated, and when the vehicle exits the area covered by the current road end equipment, the vehicle end can automatically disconnect the signal connection with the current road end equipment.
Further, the system also comprises a mobile terminal which is in wireless communication connection with the cloud server, and the road end can transmit the running track to the mobile terminal; the mobile terminal is used for sending a parking request and a delivery request to the cloud end, and displaying the driving track to a user so as to guide the user to park manually.
The invention also comprises an automatic parking method based on the calculation force sharing and the edge calculation, which uses the automatic parking system based on the calculation force sharing and the edge calculation, and comprises the following steps:
1) The vehicle runs to a specified area at the entrance of the parking lot, and the vehicle end sends a parking request to the cloud;
2) After receiving a parking request, the cloud acquires and records state information of a vehicle through road side equipment positioned in a designated area of an entrance of the parking lot;
3) The cloud terminal selects a parking area of the vehicle according to the internal information of the parking lot and determines a parking guiding route;
4) The cloud sends a signal to enable all road-end devices on the parking guide route to be in a standby state;
5) The road end equipment of the area where the vehicle is located is connected with the vehicle end signal and activated;
6) The sensing fusion module of the road end equipment acquires environment information of a corresponding coverage area, and the driving track planning module plans the driving track of the vehicle according to the environment information and then transmits the driving track to the vehicle end;
7) The control module at the vehicle end controls the vehicle to run according to the running track in the step 6), when the vehicle is driven into the parking area, the step 8) is executed, otherwise, the step 5) is executed in a jumping mode;
8) The road end equipment of the parking area is connected with the vehicle end signal and activated;
9) The sensing fusion module of the road end equipment acquires environment information of a corresponding coverage area, the driving track planning module determines a parking space according to the state information of the vehicle, plans the driving track of the vehicle according to the environment information, and then transmits the driving track to the vehicle end;
10 The control module at the vehicle end controls the vehicle to park according to the running track in the step 9);
11 The road side equipment uploads the parking space information and the state information to the cloud end, and the cloud end updates the information in the parking lot according to the parking space information and the state information.
Further, the method also comprises the following steps:
12 A vehicle end of a vehicle positioned on the parking space sends a request for leaving a warehouse to the cloud end;
13 The cloud end determines a delivery guiding route after receiving the delivery request;
14 The cloud sends a signal to enable all road-end devices on the delivery guiding route to be in a standby state;
15 The road end equipment of the area where the vehicle is located is connected with the vehicle end signal and activated;
16 The perception fusion module of the road end equipment acquires the environment information of the corresponding coverage area, and the driving track planning module plans the driving track of the vehicle according to the environment information and then transmits the driving track to the vehicle end;
17 The control module at the vehicle end controls the vehicle to run according to the running track in the step 16), and after the vehicle runs to the specified area of the exit of the parking lot, the step 18) is executed, otherwise, the step 15) is executed in a jumping mode;
18 The road side equipment uploads the state information to the cloud end, and the cloud end updates the information in the parking lot according to the state information.
Further, when step 6), step 9) and step 16) are performed, the road side device may collect the idle calculation force of the vehicle in the area covered by the road side device through the road side calculation force sharing module and provide the obtained calculation force to the perception fusion module and the driving track planning module.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the automatic parking system based on the calculation force sharing and the edge calculation, the road end and the vehicle end share the idle calculation force resources of the vehicle in the coverage area of the road end equipment through the calculation force sharing module, so that the calculation pressure of the road end equipment is reduced, the waste of the calculation force resources is reduced, and the calculation performance and the reliability of the road end equipment are improved.
2. According to the automatic parking system based on calculation force sharing and edge calculation, the sensing fusion module and the driving track planning module are arranged at the road end, and the cloud is only responsible for selecting and enabling corresponding road end equipment to operate and transmit and receive corresponding information, so that the cloud calculation pressure can be effectively reduced, the time delay is reduced, and sudden scenes in a parking lot can be better dealt with.
3. According to the automatic parking system based on the calculation force sharing and the edge calculation, when the road-end equipment does not receive the signals sent by the cloud and the vehicle to be parked does not enter the coverage area of the road-end equipment, the road-end equipment is not activated, and energy waste can be effectively reduced.
4. According to the automatic parking system based on calculation force sharing and edge calculation, information is transmitted and received through the cloud, and aiming at vehicles without automatic driving capability, a driver can conveniently access the cloud to obtain the internal information of a parking lot through the mobile terminal, and a parking request is sent through the mobile terminal, so that the driver is guided to drive the vehicle to a proper parking space through road end equipment, and the time for searching the parking space by the user is reduced.
Drawings
FIG. 1 is a block diagram of an automated parking system based on computing power sharing and edge computation, according to an embodiment;
fig. 2 is a flowchart of an automatic parking method based on the calculation force sharing and the edge calculation according to an embodiment.
Detailed Description
The following describes the embodiments of the present invention in further detail with reference to the drawings.
Examples:
Referring to fig. 1, an automatic parking system based on calculation force sharing and edge calculation includes a cloud end (i.e., a cloud server), a road end and a vehicle end, wherein the road end and the vehicle end are connected with the cloud server through wireless communication (4G/5G), and the road end and the vehicle end realize calculation force sharing and information transmission through a V2X technology.
The road end comprises a plurality of road end devices (represented by RSU 1～RSUn in figure 1) arranged in the parking lot, and the road end devices comprise a V2X module, a perception fusion module, a driving track planning module and a road end calculation force sharing module; the perception fusion module is used for acquiring environment information in the coverage area of the road end equipment and state information of the vehicle, wherein the state information of the vehicle comprises license plate information and vehicle size information; the perception fusion module comprises a vision module, a radar module and a license plate recognition module; the visual module and the radar module are used for acquiring the vehicle size information, and the license plate recognition module is used for acquiring license plate information; in the embodiment, the radar module adopts millimeter wave radar; the driving track planning module is used for planning the driving track of the vehicle according to the environment information and transmitting the driving track to a vehicle end; the road end computing force sharing module is used for collecting idle computing force of the vehicle in the coverage area of the road end equipment and providing the obtained computing force for the perception fusion module and the driving track planning module.
The vehicle end comprises a V2X module, a control module and a vehicle end calculation force sharing module which are mounted on the vehicle, and the control module controls the vehicle to run according to the running track; the vehicle-end computing force sharing module is used for sharing the idle computing force of the vehicle to the road-end equipment; the road end equipment can be automatically connected with the vehicle end signal in the coverage area and activated, and when the vehicle exits the area covered by the current road end equipment, the vehicle end can automatically disconnect the signal connection with the current road end equipment.
The cloud end is used for storing and updating the internal information of the parking lot, receiving a parking request and a delivery request from a vehicle end, selecting a parking area of a vehicle according to the internal information of the parking lot and determining a parking guiding route; the parking lot internal information comprises position information and parking space information of all road end devices in the parking lot.
In this embodiment, the automatic parking system further includes a mobile terminal, where the mobile terminal is connected to the cloud server in a wireless communication manner, and the road end may transmit the driving track to the mobile terminal; the mobile terminal is used for sending a parking request and a delivery request to the cloud end, and displaying the running track to a user so as to guide the user to park manually;
Therefore, information is received and transmitted through the cloud, a driver can access the cloud conveniently to obtain the internal information of the parking lot through the mobile terminal for vehicles without automatic driving capability, a parking request is sent through the mobile terminal, and the road side equipment guides the driver to drive the vehicles to a proper parking space, so that the time for the user to find the parking space is reduced.
According to the automatic parking system based on the calculation force sharing and the edge calculation, the road end and the vehicle end share the idle calculation force resources of the vehicle in the coverage area of the road end equipment through the calculation force sharing module, so that the calculation pressure of the road end equipment is reduced, the waste of the calculation force resources is reduced, and the calculation performance of the road end equipment is improved; the perception fusion module and the driving track planning module are arranged at the road end, and the cloud end is only responsible for selecting and enabling corresponding road end equipment to run and transmit and receive corresponding information, so that the delay can be effectively reduced, and sudden scenes in a parking lot can be better dealt with; when the road end equipment does not receive the signal sent by the cloud and the vehicle to be parked does not enter the coverage area of the road end equipment, the road end equipment cannot be activated, and energy waste can be effectively reduced.
Referring to fig. 2, the present invention further includes an automatic parking method based on the calculation of the calculation force sharing and the edge calculation, using an automatic parking system based on the calculation force sharing and the edge calculation as described above, comprising the steps of:
1) The vehicle runs to a specified area at the entrance of the parking lot, and the vehicle end sends a parking request to the cloud;
2) After receiving a parking request, the cloud acquires and records state information of a vehicle through road side equipment positioned in a designated area of an entrance of the parking lot;
3) The cloud selects a parking area of the vehicle according to the internal information of the parking lot (namely, the area with the empty parking space is found through the parking space information, and if the empty parking space is not available, the vehicle is directly ended) and determines a parking guiding route;
4) The cloud sends a signal to enable all road-end devices on the parking guide route to be in a standby state; the cloud terminal selects all road end devices on the parking guide route according to the region of the empty space found in the step 3) and the positions of all road end devices in the parking lot in the information in the parking lot.
5) The road end equipment of the area where the vehicle is located is connected with the vehicle end signal and activated; when a vehicle enters an area covered by road end equipment, the vehicle end is automatically connected with the road end equipment through signals; when the vehicle exits the area covered by the road end equipment, the vehicle end automatically breaks the signal connection with the road end equipment;
6) The perception fusion module of the road end equipment acquires the environmental information of the corresponding coverage area, and the driving track planning module plans the driving track of the vehicle according to the environmental information (the driving track at the moment is only the driving track of the determined parking area) and then transmits the driving track to the vehicle end;
At this time, the road end device can collect the idle calculation force of the vehicle in the coverage area of the road end device through the road end calculation force sharing module, and provide the obtained calculation force for the perception fusion module and the driving track planning module so as to reduce the calculation pressure of the road end device.
7) The control module at the vehicle end controls the vehicle to run according to the running track in the step 6), when the vehicle is driven into the parking area, the step 8) is executed, otherwise, the step 5) is executed in a jumping mode;
8) The road end equipment of the parking area is connected with the vehicle end signal and activated;
9) The perception fusion module of the road end equipment acquires environment information of a corresponding coverage area, the driving track planning module determines a parking space according to the state information of the vehicle (namely, selects a proper parking space in a parking area according to the size information of the vehicle) and plans the driving track of the vehicle according to the environment information (the driving track at the moment is the driving track of the determined parking space), and then the driving track is transmitted to the vehicle end;
at this time, the road end device can collect the idle calculation force of the vehicle in the coverage area of the road end device through the road end calculation force sharing module, and provide the obtained calculation force for the perception fusion module and the driving track planning module so as to reduce the calculation pressure of the road end device.
10 The control module at the vehicle end controls the vehicle to park according to the running track in the step 9);
11 The road side equipment uploads the parking space information and the state information (namely, the parking space information corresponds to the license plate information of the vehicle) to the cloud side, and the cloud side updates the internal information of the parking lot according to the parking space information and the state information (namely, updates the parking space information, wherein the parking space information comprises the parking space information and the license plate information of the vehicle on the parking space, and when no vehicle exists on the parking space, no license plate information exists).
12 A vehicle end of a vehicle positioned on the parking space sends a request for leaving a warehouse to the cloud end;
13 The cloud end determines a delivery guiding route after receiving the delivery request;
14 The cloud sends a signal to enable all road-end devices on the delivery guiding route to be in a standby state;
15 The road end equipment of the area where the vehicle is located is connected with the vehicle end signal and activated;
16 The perception fusion module of the road end equipment acquires the environmental information of the corresponding coverage area, and the driving track planning module plans the driving track of the vehicle according to the environmental information (the driving track at the moment is the driving track of the appointed area of the parking lot exit with the destination), and then transmits the driving track to the vehicle end;
At this time, the road end equipment can collect the idle calculation force of the vehicle in the coverage area of the road end equipment through the road end calculation force sharing module and provide the obtained calculation force for the perception fusion module and the driving track planning module so as to reduce the calculation pressure of the road end equipment and improve the running stability and the automatic parking reliability of the automatic parking system.
17 The control module at the vehicle end controls the vehicle to run according to the running track in the step 16), and after the vehicle runs to the specified area of the exit of the parking lot, the step 18) is executed, otherwise, the step 15) is executed in a jumping mode;
18 The state information is uploaded to the cloud end by the road side equipment, the cloud end updates the internal information of the parking lot according to the state information (when the vehicle is parked, license plate information corresponds to the parking space information), after the vehicle is delivered out of the garage, the corresponding parking space information is determined through the license plate information, and then license plate information corresponding to the parking space information in the internal information of the parking lot is cleared.
In addition, in order to adapt to a vehicle without automatic driving capability, a user can be connected with a cloud server through wireless communication of a mobile terminal (such as a mobile phone), the mobile terminal is bound with state information of the vehicle, after the mobile terminal sends a parking request and a delivery request to the cloud, road side equipment transmits the driving track to the mobile terminal, and the mobile terminal displays the driving track to the user through a display screen so as to guide the user to park manually, so that the time for the user to search a parking space and select a parking line is reduced.
Finally, it is noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same, and although the present invention has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made thereto without departing from the spirit and scope of the technical solution of the present invention, which is intended to be covered by the scope of the claims of the present invention.

Claims (9)

1. An automatic parking system based on calculation force sharing and edge calculation is characterized in that: the system comprises a cloud end, a road end and a vehicle end, wherein the road end and the vehicle end are in wireless communication connection with a cloud server, and the road end and the vehicle end can share calculation force;
The road end comprises a plurality of road end devices arranged in the parking lot, and the road end devices comprise a perception fusion module, a driving track planning module and a road end calculation force sharing module; the perception fusion module is used for acquiring environment information and vehicle state information in the coverage area of the road-end equipment; the driving track planning module is used for planning the driving track of the vehicle according to the environment information and transmitting the driving track to a vehicle end; the road end computing force sharing module is used for collecting idle computing force of the vehicle in the coverage area of the road end equipment and providing the obtained computing force for the perception fusion module and the driving track planning module;
The vehicle end comprises a control module and a vehicle end calculation force sharing module which are carried on the vehicle, and the control module controls the vehicle to run according to the running track; the vehicle-end computing force sharing module is used for sharing the idle computing force of the vehicle to the road-end equipment; the cloud end is used for storing and updating the internal information of the parking lot, receiving a parking request and a delivery request from a vehicle end, selecting a parking area of a vehicle according to the internal information of the parking lot and determining a parking guiding route.
2. An automated parking system based on force sharing and edge computing as defined in claim 1, wherein: V2X modules are arranged on the vehicle end and the road end equipment, and the road end and the vehicle end realize calculation force sharing and information transmission through the V2X modules.
3. An automated parking system based on force sharing and edge computing as defined in claim 1, wherein: the parking lot internal information comprises position information and parking space information of all road end devices in the parking lot; the status information of the vehicle includes license plate information and vehicle size information.
4. An automated parking system based on force sharing and edge computing as defined in claim 3, wherein: the perception fusion module comprises a vision module, a radar module and a license plate recognition module; the vision module and the radar module are used for acquiring the vehicle size information, and the license plate recognition module is used for acquiring the license plate information.
5. An automated parking system based on force sharing and edge computing as defined in claim 1, wherein: the road end equipment can be automatically connected with the vehicle end signal in the coverage area and activated, and when the vehicle exits the area covered by the current road end equipment, the vehicle end can automatically disconnect the signal connection with the current road end equipment.
6. An automated parking system based on force sharing and edge computing as defined in claim 1, wherein: the road end can transmit the running track to the mobile terminal; the mobile terminal is used for sending a parking request and a delivery request to the cloud end, and displaying the driving track to a user so as to guide the user to park manually.
7. An automatic parking method based on calculation force sharing and edge calculation is characterized in that: use of an automated parking system based on computational force sharing and edge computation according to any of claims 1-6, comprising the steps of:
1) The vehicle runs to a specified area at the entrance of the parking lot, and the vehicle end sends a parking request to the cloud;
2) After receiving a parking request, the cloud acquires and records state information of a vehicle through road side equipment positioned in a designated area of an entrance of the parking lot;
3) The cloud terminal selects a parking area of the vehicle according to the internal information of the parking lot and determines a parking guiding route;
4) The cloud sends a signal to enable all road-end devices on the parking guide route to be in a standby state;
5) The road end equipment of the area where the vehicle is located is connected with the vehicle end signal and activated;
6) The sensing fusion module of the road end equipment acquires environment information of a corresponding coverage area, and the driving track planning module plans the driving track of the vehicle according to the environment information and then transmits the driving track to the vehicle end;
7) The control module at the vehicle end controls the vehicle to run according to the running track in the step 6), when the vehicle is driven into the parking area, the step 8) is executed, otherwise, the step 5) is executed in a jumping mode;
8) The road end equipment of the parking area is connected with the vehicle end signal and activated;
9) The sensing fusion module of the road end equipment acquires environment information of a corresponding coverage area, the driving track planning module determines a parking space according to the state information of the vehicle, plans the driving track of the vehicle according to the environment information, and then transmits the driving track to the vehicle end;
10 The control module at the vehicle end controls the vehicle to park according to the running track in the step 9);
11 The road side equipment uploads the parking space information and the state information to the cloud end, and the cloud end updates the information in the parking lot according to the parking space information and the state information.
8. The automatic parking method based on the calculation force sharing and the edge calculation according to claim 7, wherein: the method also comprises the following steps:
12 A vehicle end of a vehicle positioned on the parking space sends a request for leaving a warehouse to the cloud end;
13 The cloud end determines a delivery guiding route after receiving the delivery request;
14 The cloud sends a signal to enable all road-end devices on the delivery guiding route to be in a standby state;
15 The road end equipment of the area where the vehicle is located is connected with the vehicle end signal and activated;
16 The perception fusion module of the road end equipment acquires the environment information of the corresponding coverage area, and the driving track planning module plans the driving track of the vehicle according to the environment information and then transmits the driving track to the vehicle end;
17 The control module at the vehicle end controls the vehicle to run according to the running track in the step 16), and after the vehicle runs to the specified area of the exit of the parking lot, the step 18) is executed, otherwise, the step 15) is executed in a jumping mode;
18 The road side equipment uploads the state information to the cloud end, and the cloud end updates the information in the parking lot according to the state information.
9. The automatic parking method based on the calculation force sharing and the edge calculation according to claim 8, wherein: and 6), step 9) and step 16) are carried out, the road end equipment can collect idle calculation force of the vehicle in the area covered by the road end equipment through the road end calculation force sharing module and provide the obtained calculation force for the perception fusion module and the driving track planning module.
CN202210607336.9A 2022-05-31 2022-05-31 Automatic parking system and method based on calculation force sharing and edge calculation Active CN114802215B (en)

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