CN115004276A

CN115004276A - Automatic parking/picking method for parking lot, parking lot system and vehicle terminal

Info

Publication number: CN115004276A
Application number: CN202080094759.4A
Authority: CN
Inventors: 申琳; 粘凤菊; 丁树玺; 王昊; 姜兆娟
Original assignee: Schaeffler Technologies AG and Co KG
Current assignee: Schaeffler Technologies AG and Co KG
Priority date: 2020-05-14
Filing date: 2020-05-14
Publication date: 2022-09-02
Also published as: WO2021226908A1

Abstract

In the automatic parking/picking-up process, the parking lot system only needs to select a driving route and adjust and send route information in the driving route, the route information comprises direction information of all road sections in the driving route and road characteristic parameters of all mark points (211) in the road sections, and the vehicle terminal (1) realizes route finding based on the route information to control the vehicle (1A) to automatically drive. Thus, the efficiency of the automatic parking/pickup method is greatly improved. In addition, a parking lot system and a vehicle terminal (1) corresponding to the method are provided, and the parking lot system omits a large number of sensors and positioning equipment, so that the structure is simple and the cost is low.

Description

Automatic parking/picking method for parking lot, parking lot system and vehicle terminal

Technical Field

The invention relates to the field of automatic control of vehicles, in particular to an automatic parking/fetching method for a parking lot, a parking lot system adopting the automatic parking/fetching method for the parking lot and a vehicle terminal.

Background

In the existing valet parking system described in, for example, chinese patent publication No. CN107209518A, not only is it necessary for the central control unit to establish an accurate route map for the parking lot and to provide a large number of sensors in the parking lot to assist parking, but also the vehicle needs to perform self-localization and guidance by the central controller to achieve parking.

Therefore, on the one hand, the parking strategies in the above prior art are inefficient, resulting in inefficient parking in the parking methods for parking lots in the prior art; on the other hand, the costs of the parking lot and the vehicle itself are increased, resulting in a complicated structure and high costs of the parking system for the parking lot of the related art.

Disclosure of Invention

The present invention has been made to overcome or at least mitigate the above-mentioned deficiencies of the prior art. It is an object of the present invention to provide a novel automatic parking/retrieval method for a parking lot, which is more efficient than the prior art parking/retrieval method for a parking lot. Another object of the present invention is to provide a parking lot system and a vehicle terminal using the automatic parking/pickup method of the parking lot.

In order to achieve the above object, the present invention adopts the following technical solutions.

The invention provides an automatic parking/picking method for a parking lot, which comprises the following steps:

a route selection step of identifying a start position and a target position of a vehicle based on a request of the vehicle, and selecting a driving route from routes included in a parking lot model connecting the two positions, the parking lot model including route information of each route between each parking space of the parking lot and an entrance and an exit, the route information including direction information of each road section and road characteristic parameters of a marker point set in each road section; and

a route information transmitting step of transmitting the route information to the vehicle.

Preferably, the road characteristic parameters of each marking point include:

a distance parameter which is an absolute distance between a position corresponding to the marking point and the starting position along the driving route, or a relative distance between the position corresponding to the marking point and a position corresponding to the starting marking point of the road section where the marking point is located; and

and the radius parameter is the curvature radius of the road at the position corresponding to the mark point.

More preferably, when the request is a parking request,

the method further includes a route information adjusting step, before the route information transmitting step, in which the route information in the travel route is adjusted based on the travel route and the start position, and

in the route information transmitting step, the adjusted route information is transmitted to the vehicle.

More preferably, the parking lot model further includes a first predetermined distance along a different route between the position corresponding to each of the marking points and the predetermined position,

the route information adjusting step includes correcting the first predetermined distance of each marking point in the driving route by using the relative deviation value between the starting position and the predetermined position to obtain the absolute distance of each marking point.

More preferably, the parking lot model further comprises a second predetermined distance along the road section between the position corresponding to each marking point and the position corresponding to the starting marking point of the road section where the marking point is located,

the route information adjusting step includes correcting a second predetermined distance of each marking point in a road section where the start position is located by using a relative deviation value between the start position and a position corresponding to the start marking point to obtain the relative distance of the marking point in the road section, and using the second predetermined distance as the relative distance of each marking point in other road sections except the road section where the start position is located in the driving route.

More preferably, the route information adjusting step includes obtaining the relative deviation value by identifying a distance between a correction sign corresponding to the predetermined position in the parking lot and the start position.

More preferably, the route information further includes a correction distance corresponding to each correction flag in the driving route.

More preferably, the route information adjusting step further includes determining a correction distance corresponding to each correction sign in the travel route based on the travel route and the start position, and

the step of sending the route information further comprises sending the corrected distance corresponding to the corrected mark after adjustment.

More preferably, the routing step comprises: in each route from the start position to the target position in the parking lot, a route that conflicts with another vehicle traveling in the parking lot is excluded, and a route having the shortest distance is selected from the remaining routes as the traveling route.

More preferably, the position of each parking space corresponds to one mark point, and two ends of each road section correspond to one mark point;

in the same road section, the distance between the adjacent marking points along the road section is different; and/or

The greater the change frequency of the curvature radius of a curved section in the parking lot, the smaller the distance between adjacent marking points in the curved section.

The present invention also provides a parking lot system comprising:

a parking lot terminal for building a parking lot model, the parking lot terminal being capable of identifying a start position and a target position of a vehicle based on a request of the vehicle and selecting a driving route among all routes connecting between the two positions in the parking lot model, the route information including direction information of each section in the driving route and road characteristic parameters of all marking points and transmitting the route information to the vehicle; and

and the auxiliary driving terminal is arranged in the parking lot and can be identified by the vehicle, and the process that the vehicle automatically drives according to the route information can be corrected by utilizing the information corresponding to the auxiliary driving terminal.

Preferably, when the request is a parking request, the parking lot terminal is further capable of adjusting route information based on the travel route and the start position, and transmitting the adjusted route information to the vehicle.

More preferably, the parking lot terminal includes:

a total control unit for storing data of the parking lot model, determining the target position, selecting a driving route, and adjusting the route information;

a roadside communication unit in data communication with the head control unit and transmitting and receiving information to and from the vehicle; and

and the roadside information acquisition units are in data communication with the general control unit and at least used for identifying the starting position of the vehicle, the using state of the parking spaces in the parking lot and the using state of preset positions at the entrances and exits of the parking lot.

More preferably, the driving assistance terminal includes a plurality of correction marks provided in a straight section within the parking lot, the route information being adjustable by recognizing the correction marks and the driving distance calculated by the vehicle being correctable.

More preferably, the driving assistance terminal includes a lane line provided to each straight section of the parking lot and extending in an extending direction of the corresponding straight section, so that the vehicle can automatically drive in the corresponding straight section in accordance with the lane line.

The automatic parking/picking method for the parking lot of the invention further comprises the following steps:

a route information receiving step of receiving route information of a driving route from a start position to a target position of a vehicle, the driving route being a route selected from among a parking lot model including route information of each route between each parking space of the parking lot and an entrance and an exit, the route information including direction information of each road section in each route and road characteristic parameters of a marking point set in each road section; and

a vehicle travel control step of controlling the vehicle to automatically travel from the start position to the target position along the travel route in accordance with the route information.

Preferably, the vehicle running control step further includes transmitting positioning information for positioning the position of the vehicle in the parking lot when the vehicle runs through the position corresponding to the marking point.

More preferably, the road characteristic parameters of each marking point include:

a distance parameter which is an absolute distance between the position corresponding to the marking point and the starting position of the vehicle along the driving route or a relative distance between the position corresponding to the marking point and the position corresponding to the starting marking point of the road section where the marking point is located; and

More preferably, the vehicle travel control step includes:

and calculating the running distance actually traveled by the vehicle based on the running speed, the wheel steering angle and the running time of the vehicle, and calculating to obtain the wheel steering angle by using the radius parameter of the mark point when the running distance is equal to the distance parameter of the mark point, so that the actual steering angle of the corresponding wheel is adjusted according to the wheel steering angle.

More preferably, the route information further includes a correction distance corresponding to each correction sign in the driving route,

the vehicle travel control step further includes: and in the case that the vehicle is identified to pass through a correction mark in the driving route, replacing the driving distance by a correction distance corresponding to the correction mark so as to correct the calculated driving distance.

More preferably, the vehicle travel control step further includes: identifying a lane line of a straight section in the driving route to assist the vehicle in driving along the straight section.

The present invention also provides a vehicle terminal provided to the vehicle and used to make a request to a parking lot system, the vehicle terminal being capable of receiving route information of a travel route from a starting position to a target position of the vehicle determined by the parking lot system, the route information including direction information of each link in the travel route and road characteristic parameters of all marked points, the vehicle terminal being capable of controlling the vehicle to automatically travel from the starting position to the target position of the vehicle along the travel route according to the route information.

Preferably, the vehicle terminal includes:

an in-vehicle control unit capable of calculating a travel distance of the vehicle and controlling an execution unit to operate so that the vehicle automatically travels;

a plurality of on-board information acquisition units in data communication with the on-board control unit and configured to measure at least a speed, a wheel steering angle, and a travel time of the vehicle;

the execution unit is used for adjusting the speed and the wheel steering angle of the vehicle; and

an on-board communication unit in data communication with the on-board control unit and configured to receive information from and transmit information to the parking lot system.

Thus, by adopting the technical scheme, in the process of automatic parking/picking up by using the automatic parking/picking up method of the parking lot, the parking lot system only needs to select a driving route and adjust (select) and send route information in the driving route, wherein the route information comprises direction information of each road section in the driving route and road characteristic parameters of each marking point in the road section, and the vehicle terminal realizes road finding based on the received route information to control the automatic driving of the vehicle, thereby greatly improving the efficiency of the automatic parking/picking up method. In addition, the parking lot system corresponding to the method omits a large number of sensors and positioning equipment, thereby having simple structure and low cost.

Drawings

Fig. 1a shows a schematic overall structure of a parking lot system and a vehicle terminal according to an embodiment of the present invention; fig. 1b shows a block diagram of the parking lot system and the vehicle terminal in fig. 1 a.

Fig. 2 shows a work flow diagram of an example of an automatic parking/pickup method for a parking lot according to the present invention employed in the parking lot system and the vehicle terminal shown in fig. 1a and 1 b.

Description of the reference numerals

1A vehicle 1 vehicle terminal 11 vehicle control unit 12a camera 12b wheel speed/steering angle sensor 12c radar 13 execution unit 14 vehicle communication unit

The 2A parking lot 2A1 corrects the sign 2A2 lane line 2 parking lot terminal 21 total control unit 211 marks the point 22 roadside information collection unit 23 roadside communication unit.

Detailed Description

Exemplary embodiments of the present invention are described below with reference to the accompanying drawings. The structures of the parking lot system and the vehicle terminal according to an embodiment of the present invention will be first described below.

(Structure of parking lot System and vehicle terminal according to the invention)

Specifically, as shown in fig. 1A and 1b, in the present embodiment, a vehicle terminal 1 is provided at an appropriate location of a vehicle 1A, the vehicle terminal 1 including an in-vehicle control unit 11, a plurality of in-vehicle information acquisition units 12a to 12c, an execution unit 13, and an in-vehicle communication unit 14.

The in-vehicle control unit 11 can store data (e.g., data of route information in the travel route from the parking lot terminal 2, the route information including data corresponding to direction information of each link in the travel route and data corresponding to the road characteristic parameter and the correction sign 2a1 of each marker point 211 in each link), can receive and temporarily store sensed data (e.g., data of the correction sign 2a1 and the lane line 2a2 recognized by the camera 12a, data corresponding to the wheel speed and the wheel steering angle sensed by the wheel speed/steering angle sensor 12b, and data corresponding to other vehicles in travel sensed by the radar 12c, etc.) from the plurality of in-vehicle information collection units 12a to 12c, can perform calculation based on the sensed data (e.g., calculation of the travel distance and the wheel steering angle of the vehicle 1A, etc.), can receive communication data from the in-vehicle communication unit 14 and transmit communication data to the in-vehicle communication unit 14, and can control other units including the execution unit 13 to operate.

The plurality of on-board information collection units 12a to 12c are in data communication with the on-board control unit 11. The on-vehicle information collection units 12a to 12c are for sensing the correction marks 2a1 and lane lines 2a2 in the travel route selected by the parking lot terminal 2, for sensing parameters of the vehicle 1A itself including the wheel rotation speed, the wheel steering angle, and the travel time of the vehicle 1A, and for sensing the positions of other vehicles in travel, and are capable of transmitting the sensed data to the on-vehicle control unit 11, thereby assisting the on-vehicle control unit 11 in controlling the vehicle 1A to automatically travel. In the present embodiment, the plurality of on-vehicle information collection units 12a to 12c include, but are not limited to, a camera 12a, a wheel speed/steering angle sensor 12b, and a radar 12c (e.g., an ultrasonic radar).

The execution unit 13 is controlled by the in-vehicle control unit 11. The execution unit 13 includes at least a vehicle steering/braking device for adjusting the wheel steering angle of the vehicle 1A and adjusting the running speed of the vehicle 1A according to the control of the in-vehicle control unit 11.

The in-vehicle communication unit 14 is in data communication with the in-vehicle control unit 11. In the present embodiment, the in-vehicle communication unit 14 is a V2X vehicle device (an in-vehicle device for the vehicle 1A to communicate with various external devices) so that the vehicle terminal 1 of the vehicle 1A can communicate with the parking lot terminal 2 of the parking lot 2A and the vehicle terminals 1 of the other vehicles 1A.

Specifically, as shown in fig. 1a and 1b, in the present embodiment, the parking lot system includes a parking lot terminal 2 and an auxiliary travel terminal (a correction flag 2A1 and a lane line 2A2) provided in a parking lot 2A.

The parking lot terminal 2 is provided at an appropriate position of the parking lot 2A, and the parking lot terminal 2 includes a general control unit 21, a roadside information collection unit 22, and a roadside communication unit 23.

The total control unit 21 can store data (for example, route information of all routes in the parking lot model, which includes data such as direction information corresponding to all the links in each route and data corresponding to road characteristic parameters and correction signs 2A1 of each marker point 211 in all the links in advance), can receive and process sensed data (for example, use states of the identified start position of the vehicle 1A and predetermined positions such as a parking space and an entrance and an exit of the parking lot 2A) from the plurality of roadside information collecting units 22 (for example, determine a target position which the vehicle 1A is expected to reach, select a travel route based on the start position and the target position and optionally adjust route information in the travel route, etc.), can receive communication data of the roadside communication unit 23 and can transmit the communication data to the roadside communication unit 23 and control other components to operate.

The multiple roadside information acquisition units 22 are in data communication with the master control unit 21. The plurality of roadside information collection units 22 are capable of sensing the use state of predetermined locations such as the parking spaces and entrances and exits of the parking lot 2A and of identifying the start position where the vehicle 1A is located in the case where the vehicle 1A makes a parking request or a vehicle pickup request, and of transmitting the state information and the start position information to the general control unit 21.

The roadside communication unit 23 is in data communication with the general control unit 21. In the present embodiment, the roadside communication unit 23 is a V2X roadside device so that the parking lot terminal 2 of the parking lot 2A can communicate with the vehicle terminal 1 of each vehicle 1A.

In the present embodiment, the auxiliary travel terminal includes the correction flag 2A1 provided at an appropriate position of each road section of the parking lot 2A and the lane line 2A2 provided at each straight road section of the parking lot 2A for being recognized by the vehicle 1A to correct the process of the vehicle 1A automatically traveling according to the route information using the information corresponding to the auxiliary travel terminal.

On the one hand, the correction flag 2A1 may be provided at the entrance of the parking lot 2A, and based on the identification of the start position of the vehicle 1A that issued the parking request, a relative deviation value of the start position of the vehicle 1A with respect to the correction flag 2A1 provided at the entrance of the parking lot 2A is obtained, so that the road characteristic parameter of the corresponding marker point 211 in the travel route and the correction distance of the correction flag 2A1 may be adjusted using the relative deviation value. On the other hand, the correction flag 2A1 may be provided at a predetermined position of each straight link in the parking lot 2A (for example, at a position of the straight link at a distance of 1/3 from one end of the link), the correction flag 2A1 may be recognized by the camera 12A of the vehicle terminal 1, and the result of the travel distance of the vehicle 1A calculated by the vehicle terminal 1 during automatic travel of the vehicle 1A may be corrected by the correction distance corresponding to the correction flag 2A1, thereby eliminating an accumulated error of the calculated travel distance of the vehicle 1A. A specific method of correction using this correction flag 2a1 will be specifically described below in the description of the parking lot automatic parking/pickup method.

The lane line 2A2 is provided on each straight road section within the parking lot 2A and extends in the extending direction of the corresponding road section. In the case where the vehicle 1A can recognize the lane line 2a2 using the camera 12a, the lane line 2a2 can assist the vehicle 1A in automatically traveling in each straight section.

It should be noted that although fig. 1a shows that a plurality of marking points 211 are set up on each road segment of the parking lot 2A, the marking points 211 belong to virtual markings set up in the process of modeling the parking lot 2A and do not exist physically. Therefore, the marker point 211 will be specifically described in the following description of the parking lot automatic parking/pickup method.

Having described the specific structure of the vehicle terminal and the parking lot system according to an embodiment of the present invention, an automatic parking/pickup method for a parking lot according to the present invention will be described below based on the vehicle terminal and the parking lot system.

(Process of the parking lot automatic parking/pickup method according to the present invention)

The operation process of the automatic parking/pickup method for a parking lot according to the present invention can be divided into two parts, one part is performed in the vehicle terminal 1, and the other part is performed in the parking lot system. The process of the method can be summarized as follows.

A parking lot model corresponding to the parking lot 2A is established in advance in the parking lot terminal 2 of the parking lot system, the parking lot model including all feasible routes (including route information) between each parking space of the parking lot 2A and the entrance and the exit, the route information including link information of each link in the corresponding route and road characteristic parameters of the plurality of marking points 211 set in each link of the parking lot 2A and correction distances corresponding to the correction marks 2A 1. Based on the request of the vehicle terminal 1, the parking lot terminal 2 determines the starting position of the vehicle 1A and the target position scheduled to arrive from the parking lot model and selects a travel route among all routes connecting between the two positions. The direction information of each link in the travel route and the road characteristic parameters of all the marker points 211 are optionally adjusted based on the travel route and the start position, and then the direction information of each link in the travel route (after adjustment if made) and the road characteristic parameters of all the marker points 211 in each link are transmitted to the vehicle terminal 1 in the form of a data packet.

The vehicle terminal 1 receives the data packet to obtain the direction information of each road section in the driving route and the road characteristic parameters of all the mark points 211 in each road section, and further, the vehicle terminal 1 controls the vehicle 1A to automatically drive from the initial position to the target position along the driving route according to the direction information of each road section and the road characteristic parameters of each mark point 211, so as to park in the corresponding parking space or wait for taking the vehicle at the exit of the parking space 2A.

A specific procedure of the parking lot automatic parking/pickup method according to the present invention will be described below, taking as an example that the vehicle 1A is at the entrance of the parking lot 2A and the vehicle terminal 1 makes a parking request.

As shown in fig. 2, in S20, a parking lot model is previously established in the parking lot terminal 2.

Referring to fig. 1a, a parking lot 2A includes a plurality of straight sections and a plurality of curved sections connected to each other, and thus a parking lot model corresponding thereto includes not only all feasible routes between a parking space and an entrance and an exit but also direction information in each section of all routes and correction distances corresponding to a large number of marking points 211 established in each section and a correction sign 2A1, each marking point 211 including a road characteristic parameter of a position where the marking point 211 is located. As described above, the marker 211 does not really exist but is only a set of data.

More specifically, the direction information in each road segment may be defined by taking the marker point 211 corresponding to one of the two ends of the road segment as the start marker point for the vehicle 1A to pass through the road segment.

Each mark point 211 at least includes two parameters, a distance parameter and a radius parameter. The distance parameter can be defined in two ways for each vehicle 1A making a parking request. In the first mode, for each road segment in the driving route, the distance parameter is the relative distance between the position corresponding to each mark point 211 in the road segment and the position corresponding to the starting mark point along the road segment; in another manner, the distance parameter is an absolute distance along the travel route between the position corresponding to the marker point 211 and the start position of the vehicle 1A identified by the parking lot terminal 2 for the entire travel route. The first mode is more preferable than the second mode. Further, the radius parameter is a curvature radius of the road segment at the position corresponding to the mark point 211, and the radius parameter is zero when the road segment is a straight road segment.

In addition, at least the following conditions should be satisfied in the setup process in the parking lot model.

(1) When the direction information of the road segments in the parking lot model is different, the two different road segments should be regarded even if other parameters are the same.

(2) In the process of setting up the marking points 211, whether in a curved road section or a straight road section, each road section includes a plurality of different marking points 211 and the distance between two adjacent marking points 211 may be different, and two ends of each road section respectively correspond to one marking point 211.

(3) The distance between adjacent mark points 211 on a curved road section where the curvature radius changes frequently should be as small as possible (as shown in tables 1 and 2 below, table 1 corresponds to the mark point 211 defined in the first manner, and table 2 corresponds to the mark point 211 defined in the second manner), so that the accumulated error during the automatic running of the vehicle can be reduced as much as possible.

[ Table 1]

[ Table 2]

(4) In the straight road segment, each parking space in the parking lot 2A corresponds to a mark point 211 (which may be called a parking space mark point, and is used as an end mark point during parking, and is used as an initial mark point during picking up), and table 3 below shows information corresponding to the straight road segment including the parking space mark point and the correction mark 2A 1. In table 3, since the radius parameter is zero in the straight link, data corresponding to the radius parameter is omitted in table 3.

[ Table 3]

The parking space mark points correspond to the parking spaces to serve as start mark points/end mark points for automatic driving of the vehicle 1A, and can also be used as mark points corresponding to end points of road sections, that is to say, the parking space mark points can be used for dividing different road sections.

(5) Further, when the parking lot model is established, the route information should include the correction distance corresponding to each correction mark 2a1, and the correction distance of the correction mark 2a1 is adjusted while adjusting the road characteristic parameter of each marking point 211 described below. It should be noted that the correction flag 2a1 set at the entrance of the parking lot adjusts the route information based on the home position of the vehicle 1A without adjusting the correction distance corresponding to the correction flag 2a 1.

In order to build the above parking lot model, the parking lot terminal 2 should collect in advance the road characteristic parameters of the marking points 211 of all the road segments within the parking lot 2A. This can be achieved by the test vehicle slowly traveling at a fixed speed along all the sections of the parking lot 2A. In the process of collecting the road characteristic parameters by using the test vehicle, the running speed, the wheel steering angle and the running time of the test vehicle may be measured and recorded, and the road characteristic parameters of the respective desired marking points 211 can be obtained by appropriate arithmetic operations using these parameters.

By adopting the above method, in the process of building the parking lot model, all the route information between any two positions in the parking lot 2A is stored in the total control unit 21 of the parking lot terminal 2. After the general control unit 21 has selected the driving route, the general control unit 21 adjusts the route west according to the starting position of the vehicle 1A and the driving route, and then transmits to the vehicle-mounted communication unit 14 of the vehicle terminal 1 through the roadside communication unit 23, and further can transmit to the vehicle-mounted control unit 11.

In S11, when the vehicle 1A needs to park in the parking lot 2A, the vehicle terminal 1 of the vehicle 1A makes a parking request to the parking lot terminal 2.

In S21, the parking lot terminal 2 receives the parking request made by the vehicle terminal 1 of the vehicle 1A, and performs the following operation in response to the parking request.

In S221, based on the parking request of the vehicle terminal 1, the parking lot terminal 2 first identifies the start position of the vehicle 1A that made the parking request, and meanwhile, uses the multiple roadside information collection units 22 of the parking lot terminal 2 to find an unoccupied parking space (e.g., the unoccupied parking space closest to the start position) and designates the position corresponding to the parking space marker point 211 corresponding to the parking space as the target position (the marker point 211 is the end marker point) that the vehicle 1A intends to reach.

Further, after the above start position and target position are recognized, for the vehicle 1A that has made the parking request, the travel route (for example, the route having the shortest distance) that saves the most time without colliding with the other traveling vehicles 1A is found from all the routes connecting the start position and target position, based on the start position and target position and the position information in the parking lot 2A fed back by each traveling vehicle 1A received in S222.

In step S23, based on the start position and the travel route, the parking lot terminal 2 adjusts the route information, that is, adjusts the direction information of each link in the travel route and the road characteristic parameters of all the marking points 211 in each link and the correction distances corresponding to all the correction signs 2a 1.

For the direction information of each link, after the travel route has been selected, a start marking point of each link in the travel route is determined, thereby determining the direction information of each link constituting the travel route.

For the road characteristic parameter of the marker point 211 of each link, the road characteristic parameter included in each marker point 211 in the driving route may be adjusted by the following method.

In the case where the distance parameter stored in the marker 211 is the above-mentioned relative distance, when the start position of the vehicle 1A making the parking request coincides with the predetermined position at the entrance of the above-mentioned parking lot 2A, the relative distance values along the link between the marker 211 in each link and the start marker of the link, which are stored in advance by the overall control unit 21, are respectively given to the distance parameters of the corresponding marker 211. In the case where the distance parameter stored in the marker 211 is the above-mentioned relative distance, when the starting position of the vehicle 1A making the parking request does not coincide with the predetermined position at the entrance of the above-mentioned parking lot 2A, a relative deviation value along the section where the two positions are located between the two positions is recognized and the relative distance along the section between each marker 211 and the starting marker in the section stored in advance in the general control unit 21 is corrected using the relative deviation value; for the distance parameters of the marking points 211 in the remaining links in the driving route, it is sufficient that the relative distance values along the link between the marking points 211 in each link and the start marking point of the link stored in the general control unit 21 are still assigned to the distance parameters of the corresponding marking points 211, respectively, without having to perform correction using the above-mentioned relative deviation values.

In the case where the distance parameter stored in the marker 211 is the absolute distance, when the starting position of the vehicle 1A making the parking request coincides with the predetermined position at the entrance of the parking lot 2A, the distance values along the travel route between each marker 211 and the predetermined position at the entrance of the parking lot 2A, which are stored in advance by the general control unit 21, are assigned to the distance parameters of the corresponding marker 211, respectively. When the distance parameter stored in the marker 211 is the absolute distance, if the starting position of the vehicle 1A making the parking request does not coincide with the predetermined position at the entrance of the parking lot 2A, a relative deviation value along the travel route between the two positions is recognized, and arithmetic operation is performed using the relative deviation value and the distance value along the travel route between each marker 211 and the predetermined position at the entrance of the parking lot 2A stored in advance in the central control unit 21, and then the obtained result is given to the distance parameter of the corresponding marker 211.

In this way, the distance parameter required for each marker point 211 can be accurately obtained regardless of whether the start position of the vehicle 1A that has made the parking request coincides with the predetermined position at the entrance of the parking lot 2A.

In addition, since the radius parameter of each marker 211 coincides with the link curvature radius of the position corresponding to each marker 211, the radius parameter of each marker 211 may be a constant value. That is, when the road segment corresponding to the position corresponding to each mark point 211 is a straight road segment, the radius parameter of the mark point 211 is zero; when the road segment corresponding to the position corresponding to each marking point 211 is a curved road segment, the radius parameter of the marking point 211 is equal to the curvature radius of the curved road segment at the position corresponding to the marking point 211.

Further, the correction distance of each correction flag 2a1 in the travel route may be adjusted in the same way as the method of adjusting the distance parameter of each marker point 211 in the travel route.

The parking lot terminal 2 then transmits the adjusted route information to the vehicle-mounted communication unit 14 of the vehicle terminal 1 of the vehicle 1A via the roadside communication unit 23.

At S12, the in-vehicle communication unit 14 of the vehicle terminal 1 receives the adjusted route information of the travel route from the roadside communication unit 23 of the parking lot terminal 2, and transmits the information to the in-vehicle control unit 11 of the vehicle terminal 1.

In S13, the vehicle terminal 1 controls the vehicle 1A to automatically travel from the start position to the target position according to the adjusted route information along the travel route.

In the automatic driving process, the vehicle terminal 1 calculates the driving distance traveled by the vehicle 1A through the wheel rotation speed, the wheel steering angle and the driving time acquired by the vehicle-mounted information acquisition unit, that is, the vehicle terminal 1 always calculates the current driving distance of the vehicle by using the parameters of the vehicle. Then, the travel distance is used to compare with the distance parameter in each of the marking points 211 in the travel route. When the travel distance coincides with the distance parameter, it indicates that the vehicle 1A is traveling past the corresponding marker point 211. At this time, on one hand, the vehicle terminal 1 may calculate a new wheel steering angle by using the radius parameter in the mark point 211, or by using the radius parameter of the mark point 211 next to the mark point 211 in the direction of the road segment, or by using the corresponding curvature radius in the interpolation curve fitted by using the radius parameters of all the mark points 211 in the road segment, and control the execution unit 13 to adjust the steering angle of each steered wheel; on the other hand, the vehicle terminal 1 transmits the position information of the vehicle 1A to the parking lot terminal 2 via the vehicle-mounted communication unit 14 (corresponding to S222). Therefore, using the distance parameter in each marker point 211 in the travel route as a determination condition, when the vehicle 1A travels the same travel distance as the distance parameter of each marker point 211, the vehicle 1A achieves accurate wheel steering angle adjustment at the position where each marker point 211 is located, thereby enabling the vehicle 1A to travel automatically and correctly along the travel route. Also during automatic travel, the vehicle terminal 1 can feed back position information to the parking lot terminal 2 for the parking lot terminal 2 to refer to when selecting a travel route for the other vehicle 1A.

In addition, during the above-described automatic travel, the travel distance calculated by the vehicle terminal 1 may generate an accumulated error due to various factors, and such an accumulated error may cause the travel distance calculated by the vehicle terminal 1 to not accurately reflect the actual distance traveled by the vehicle 1A on the travel route or on each link, and therefore, it is necessary to correct the travel distance calculated by the vehicle terminal 1 using the corrected distance of the correction flag 2a1 provided on the travel route. The correction flag 2a1 may be recognized by the in-vehicle information acquisition unit of the vehicle terminal 1. When the in-vehicle information collection unit of the vehicle terminal 1 recognizes the corresponding correction flag 2a1, the in-vehicle control unit 11 of the vehicle terminal 1 replaces the correction distance received from the parking lot terminal 2 corresponding to the correction flag 2a1 with the travel distance calculated by the vehicle terminal 1, thereby correcting the accumulated error generated by the calculation of the travel distance by the vehicle terminal 1 before recognizing the correction flag 2a 1. Also, in the case of traveling through curved sections with the vehicle, the marking points 211 in each curved section should be set as densely as possible, so as to eliminate the cumulative error caused by the inaccuracy of turning when the vehicle is automatically traveling due to the adoption of the above-described method.

Further, in order to assist the above-described automatic travel, the on-vehicle information collection unit 22 of the vehicle terminal 1 is also able to recognize the lane line 2a2 on the straight section, thereby causing the vehicle 1A to travel along the lane line 2a 2. This gives a good assistance to the automatic travel of the vehicle 1A along the straight section.

Finally, in S14, the vehicle 1A reaches the target position corresponding to the end mark point, that is, reaches the front of the designated unoccupied parking space, and the vehicle terminal 1 controls the vehicle 1A to reverse into the parking space.

The present invention has been described in detail with reference to the embodiments, but it should be understood that the present invention is not limited to the embodiments.

i. Although the parking method of the parking lot automatic parking/pickup method according to the present invention has been described only in the above embodiment with the vehicle terminal 1 making a request for parking, it should be understood that the pickup method when the vehicle terminal 1 makes a request for pickup is substantially the same as the above parking method. However, it should be noted that when the vehicle 1A makes a vehicle pickup request instead of a parking request, the starting position of the vehicle 1A is the parking space mark point corresponding to the parking space where the vehicle is located, so that the route information of the driving route from the parking space mark point to the exit of the parking lot, which is stored in the parking lot model in advance, can be directly used, and the route information does not need to be adjusted.

In addition, the technical idea of the present invention is not limited to the implementation of the above parking/picking up of a vehicle, and the method according to the present invention may be employed, for example, when the vehicle 1A needs to move between two spaces of the parking lot 2A or when the vehicle 1A passes through the parking lot directly from the entrance of the parking lot 2A to the exit of the parking lot 2A.

Also, the technical idea of the present invention can be applied to other places for vehicle scheduling than a parking lot.

in the entire parking lot automatic parking/pickup method, it should be understood that the execution unit 13 maintains the vehicle 1A at an appropriate traveling speed (generally, a lower traveling speed). It is also possible to provide the vehicle 1A with an adaptive cruise system and to bring it into an on state to prevent a collision between the running vehicles 1A.

in the above embodiment, since the parking lot terminal 2 only needs to select the travel route, selectively adjust the route information of the travel route, and transmit the route information to the vehicle terminal 1 after receiving the request transmitted from the vehicle terminal 1, the vehicle terminal 1 itself does not need to plan the route, and only needs to receive the data from the parking lot terminal 2 and automatically travel according to the route information included in the data. Therefore, the automatic parking/pickup system according to the present invention does not need to locate the position of the vehicle 1A based on GPS, so that the automatic parking/pickup method and system according to the present invention are also applicable to places where GPS signals are very weak, such as underground parking lots.

Although it is explained in the above embodiment that the correction distance corresponding to the correction flag 2a1 is adjusted and then transmitted to the vehicle terminal 1, and the travel distance calculated by the vehicle terminal 1 is corrected by the correction distance which is recognized by the on-vehicle information collection system of the vehicle terminal 1 by the correction flag 2a1, the present invention is not limited thereto.

The corrected distance of the correction flag 2a1 may be stored in the parking lot terminal 2 instead of being transmitted to the vehicle terminal 1 directly after adjustment, the vehicle 1A may be identified by the information collecting unit provided in the correction flag 2a1, the corrected distance corresponding to the correction flag 2a1 may be transmitted to the vehicle terminal 1 after the vehicle 1 (for example, the license plate of the vehicle 1A) is identified, and the calculated travel distance of the vehicle terminal 1 may be replaced with the corrected distance. In this case, the information acquisition unit provided to the correction sign 2a1 may include a millimeter wave radar sensor and/or a license plate recognition camera.

v. although it is not described in the above embodiments how to divide straight road sections and curved road sections, it should be understood that the division may be performed according to the size of the radius of curvature of each road section. For example, a road segment is a straight road segment when the radius of curvature of the road segment is greater than a certain value, and is a curved road segment when the radius of curvature of the road segment is, for example, less than or equal to the certain value.

Although it is described in the above embodiment that the parking lot terminal 2 performs the subsequent processes again based on the request of the vehicle terminal 1, the present invention is not limited thereto. For example, the parking lot terminal 2 may recognize that the vehicle 1A travels to an entrance of the parking lot 2A to actively push a route for navigation. The parking lot terminal 2 of the present invention is not limited to be set in the parking lot 2A, and may be a remote server (cloud server). Thus, the terminal can be theoretically disposed at any position as long as the functions described in the present invention can be realized; and can realize the function of controlling a plurality of parking areas simultaneously under the condition of adopting the cloud server.

Claims

An automatic parking/pickup method for a parking lot, comprising:

a route selection step of identifying a start position and a target position of a vehicle (1A) based on a request of the vehicle (1A), and selecting a travel route among routes connecting between the two positions included in a parking lot model including route information of each route between each parking space and an entrance and an exit of the parking lot (2A), the route information including direction information of each link and road characteristic parameters of a marking point (211) set in each link; and

a route information transmission step of transmitting the route information to the vehicle (1A).
The automatic parking/pickup method according to claim 1, wherein the road characteristic parameters of each marker point (211) include:

the distance parameter is the absolute distance between the position corresponding to the mark point (211) and the starting position along the driving route, or the relative distance between the position corresponding to the mark point (211) and the position corresponding to the starting mark point of the road section where the mark point (211) is located; and

and the radius parameter is the curvature radius of the road at the position corresponding to the marking point (211).
The automated parking/retrieval method for a parking lot according to claim 1 or 2, wherein when the request is a parking request,

the method further includes a route information adjusting step, before the route information transmitting step, in which the route information in the travel route is adjusted based on the travel route and the start position, and

in the route information transmission step, the adjusted route information is transmitted to the vehicle (1A).
The automated parking/pickup method for a parking lot according to claim 3, wherein said parking lot model further comprises a first predetermined distance along a different route between a position corresponding to each of said marking points (211) and a predetermined position,

the route information adjusting step comprises the step of correcting the first preset distance of each marking point (211) in the driving route by using the relative deviation value between the starting position and the preset position to obtain the absolute distance of each marking point (211).
The automatic parking/pickup method for a parking lot according to claim 3, wherein said parking lot model further comprises a second predetermined distance along a road section between a position corresponding to each of said marking points (211) and a position corresponding to a start marking point of the road section where the marking point is located,

the route information adjusting step comprises the steps of correcting a second preset distance of each marking point (211) in a road section where the starting position is located by using a relative deviation value between the starting position and a position corresponding to the starting marking point to obtain the relative distance of the marking point (211) in the road section, and using the second preset distance as the relative distance of each marking point (211) in other road sections except the road section where the starting position is located in the driving route.
The automatic parking/pickup method for a parking lot according to claim 4 or 5, wherein said route information adjusting step includes obtaining said relative deviation value by recognizing a distance between a correction mark (2A1) corresponding to said predetermined position in said parking lot (2A) and said start position.
The automatic parking/pickup method for a parking lot according to any one of claims 1 to 6, wherein the route information further includes a correction distance corresponding to each correction flag (2A1) in the driving route.
The automatic parking/pickup method for a parking lot according to claim 7 when dependent on any one of claims 3 to 6,

the route information adjusting step further includes determining a correction distance corresponding to each correction sign (2A1) in the travel route based on the travel route and the start position, and

the route information sending step further comprises sending the corrected distance corresponding to the adjusted correction mark (2A 1).
The automated parking/pickup method for a parking lot according to any one of claims 1 to 8, wherein said route selection step comprises: in each route from the start position to the target position in the parking lot (2A), a route that collides with another vehicle traveling in the parking lot (2A) is excluded, and a route having the shortest distance is selected from the remaining routes as the traveling route.
The automatic parking/pickup method for a parking lot according to any one of claims 1 to 9,

the position of each parking space corresponds to one mark point (211) respectively, and two ends of each road section correspond to one mark point (211) respectively;

-the distance along the road segment between adjacent marker points (211) is different in the same road segment; and/or

The greater the frequency of change of the radius of curvature of a curved section in the parking lot, the smaller the distance between adjacent marking points (211) in the curved section.
A parking lot system, the parking lot system comprising:

a parking lot terminal (2) for building a parking lot model, the parking lot terminal (2) being capable of identifying a start position and a target position of a vehicle (1A) based on a request of the vehicle (1A) and selecting a travel route among all routes connecting between the two positions in the parking lot model, the route information including direction information of each section in the travel route and road characteristic parameters of all marking points (211) and transmitting the route information to the vehicle (1A); and

and an auxiliary driving terminal which is arranged in the parking lot and can be recognized by the vehicle (1A), and the process of the vehicle (1A) automatically driving according to the route information can be corrected by using the information corresponding to the auxiliary driving terminal.
The parking lot system according to claim 11, wherein when the request is a parking request, the parking lot terminal (2) is further capable of adjusting route information based on the travel route and the start position and transmitting the adjusted route information to the vehicle (1A).
Parking lot system according to claim 12, characterized in that the parking lot terminal (2) comprises:

a total control unit (21) for storing data of the parking lot model, determining the target position, selecting a driving route, and adjusting the route information;

a roadside communication unit (23) in data communication with the central control unit (21) and transmitting information to and receiving information from the vehicle (1A); and

a plurality of roadside information collection units (22) in data communication with the general control unit (21) and configured to identify at least a start position of the vehicle (1A), a usage state of a parking space within the parking lot (2A), and usage states of predetermined positions at an entrance and an exit of the parking lot (2A).
The parking lot system according to claim 12 or 13, characterized in that the auxiliary travel terminal comprises a plurality of correction marks (2A1) provided in a straight section within the parking lot (2A), the route information being adjustable and the travel distance calculated by the vehicle (1A) being correctable by recognizing the correction marks (2A 1).
A parking lot system according to any one of claims 12 to 14, characterized in that said auxiliary travel terminal comprises a lane line (2A2) provided to each straight section of said parking lot (2A) and extending along an extending direction of the corresponding straight section so that said vehicle (1A) can automatically travel in the corresponding straight section in accordance with said lane line (2A 2).
An automatic parking/pickup method for a parking lot, comprising:

a route information receiving step of receiving route information of a travel route from a start position to a target position of a vehicle (1A), the travel route being a route selected from among parking lot models including route information of respective routes between respective parking spaces and entrances and exits of the parking lots (2A), the route information including direction information of respective links in the respective routes and road characteristic parameters of marking points (211) set in the respective links; and

a vehicle travel control step of controlling the vehicle (1A) to automatically travel from the start position to the target position along the travel route in accordance with the route information.
The automatic parking/pickup method for a parking lot as claimed in claim 16, wherein said vehicle running control step further comprises transmitting positioning information for positioning a position of said vehicle (1A) within said parking lot (2A) when said vehicle (1A) runs through a position corresponding to said marking point (211).
The automatic parking/pickup method according to claim 16 or 17 wherein the road characteristic parameters of each marking point (211) comprise:

the distance parameter is an absolute distance between the position corresponding to the mark point (211) and the starting position of the vehicle along the driving route or a relative distance between the position corresponding to the mark point (211) and the position corresponding to the starting mark point of the road section where the mark point (211) is located; and

and the radius parameter is the curvature radius of the road at the position corresponding to the marking point (211).
The automatic parking/pickup method for a parking lot according to claim 18, wherein said vehicle travel control step comprises:

and calculating the running distance actually traveled by the vehicle (1A) based on the running speed, the wheel steering angle and the running time of the vehicle (1A), and calculating the wheel steering angle by using the radius parameter of the mark point (211) when the running distance is equal to the distance parameter of the mark point (211), so as to adjust the actual steering angle of the corresponding wheel according to the wheel steering angle.
The parking lot automatic parking/pickup method according to claim 19, wherein said route information further includes a correction distance corresponding to each correction flag (2A1) in said traveling route,

the vehicle travel control step further includes: in the case where it is recognized that the vehicle (1A) passes a correction flag (2a1) in the travel route, the travel distance is replaced by a correction distance corresponding to the correction flag (2a1) to correct the calculated travel distance.
The automatic parking/pickup method for a parking lot according to any one of claims 16 to 20, wherein said vehicle running control step further comprises: identifying a lane line (2A2) of a straight section in the driving route to assist the vehicle (1A) to drive along the straight section.
A vehicle terminal, the vehicle terminal (1) being provided to the vehicle (1A) and being configured to make a request to a parking lot system, the vehicle terminal (1) being capable of receiving route information of a travel route from a start position to a target position of the vehicle (1A) determined by the parking lot system, the route information including direction information of each segment in the travel route and road characteristic parameters of all marking points (211), the vehicle terminal (1) being capable of controlling the vehicle (1A) to automatically travel from the start position to the target position of the vehicle (1A) along the travel route in accordance with the route information.
The vehicle terminal according to claim 22, characterized in that the vehicle terminal (1) comprises:

an in-vehicle control unit (11) that can calculate the travel distance of the vehicle (1A) and control an execution unit (13) to operate so that the vehicle (1A) automatically travels;

a plurality of on-board information acquisition units in data communication with the on-board control unit (11) and configured to measure at least a speed, a wheel steering angle and a travel time of the vehicle (1A);

the execution unit (13) is used for adjusting the speed and the wheel steering angle of the vehicle (1A); and

an on-board communication unit (14) in data communication with the on-board control unit (11) and configured to receive information from and transmit information to the parking lot system.