CN103465906A - Parking lot automatic parking implementation method based on immediacy sense - Google Patents
Parking lot automatic parking implementation method based on immediacy sense Download PDFInfo
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Abstract
Description
Technical field
The present invention relates to the parking lot management technical field, especially a kind of parking area Automatic implementation based on telepresenc of utilizing the technology such as automatic parking, telepresenc and radio communication.
Background technology
Along with the development of automobile industry, the popularity rate of automobile will be more and more higher, and parking area will face large flow motor thereupon.Efficient these large flow motors of processing, maintain the parking area normal order and just seem very necessary.There is the problem of establishing light management of rebuilding in existing parking area, because negligence of management causes in parking area the arbitrarily problems such as parking, unordered parking.In addition, the efficiency of labor management parking area is very low.Automated parking system can realize that high efficiency parks, and utilizes the less time accurately to park cars safely, finally completes the processing of large flow motor.Automated parking system can be used as an important technology of parking lot management.
Automated parking system commonly used utilizes various Sensor monitoring road environments, and for example vision sensor, by travel direction and the speed of the cognitive control vehicle to the road ahead environment, thereby realize that autonomous parking is to empty parking space.Find by prior art documents, in the patent application of No. 20112041567.5, disclose a kind of model of mind car automatic parking device based on two CCD, realized the side coil automatic parking of micro-model car.In the patent application of No. 201110178777.3, use radar sensor and connected control system, realized a kind of automated parking system.In the patent application of No. 201210082767.4, a kind of all-terrain automatic parking system is disclosed, guarantee park efficiency, the park safety of chaufeur under various road conditions (sleet, mountain region, normal road conditions).Parking system in No. 200910040758.7 patent application takes full advantage of the various component equipments such as Reverse Sensor, camera, various sensor, Body control module and vehicle behavior controller, combining image treatment technology and various parking strategy, and creatively adopted the remote control trigger function, make chaufeur just can control vehicle outside car and carry out automatic parking, realized that outside car, the short range remote control is parked, but do not relate to the vehicle remote remote control, therefore add and do not there is the automatic parking function, park aspect the time and there is no positive effect saving chaufeur.
When above these systems break down, in the time of can't normally parking, still need the people to be in the action and park, this will have a strong impact on the management of whole parking area.The telepresenc command and control system can address this problem well, utilize at present the system based on the telepresenc Remote Control Vehicle that the article " design and the realization of THMR-V approach sense of vision command and control system " that is published in " computer project and application " is arranged, it builds the remote driving platform, be equipped with corresponding bearing circle, brake, throttles etc., realize the Long-distance Control vehicle.、
Summary of the invention
The technical matters that the present invention solves is to provide a kind of parking area automatic train stop implementation method based on telepresenc, the vehicle automatic parking of take is driven as auxiliary as Remote main, based on the telepresenc remote control system, realizes the efficient parking lot management of " single simultaneously moor many cars ".
The technical scheme that the present invention solves the problems of the technologies described above is:
Comprise the following steps:
Step 1, chaufeur enters storing cycle on the track in vehicle Dai Ting district, and by set vehicle in the automatic parking pattern, send information of vehicles with the rear management imformation system to parking system, the outstanding message management system starts automatic parking after distributing empty parking space and plan driving path for it;
Step 2, vehicle utilizes equipment of itself identification roadmarking, and the indication vehicle follows line and travels, until recognize into field mark; Now, open the parking stall recognition function;
Step 3, vehicle continues to follow line and travels, until recognize the parking stall sign, and determine whether empty parking space; Empty if, open the kinetic energy of parking; Otherwise, continue to travel until find empty parking space;
Step 4, vehicle utilizes equipment of itself to carry out automatic parking; After mooring parking stall, the information of parking is sent to management imformation system; Management imformation system sends to information of vehicles the mobile phone terminal of chaufeur again;
Step 5, while picking up the car, start by the remote control chamber process of picking up the car; Vehicle follows line and rolls parking area away from, while field mark being detected out, will the time of rolling away from be sent to management imformation system; Enter subsequently the zone of picking up the car in vehicle Dai Ting district, wait for that the car owner picks up the car;
In aforementioned arbitrary step, in the time of can't calculating next step action as vehicle, to the remote control chamber, send request, by the telepresenc remote control system, take over Remote Control Vehicle, complete the vehicle parking/process of picking up the car.
Described vehicle comprises number plate of vehicle, entry time and car owner's phone number to the information of vehicles of the management imformation system transmission of parking system.
Described vehicle indicates calculated target positions by parking stall, relatively the initial sum target location theory of computation track of parking; Comprise the speed of a motor vehicle, gear and wheel steering angle according to the various data that got by the CAN bus, calculate the actual position of automobile, control motor turning and the speed of a motor vehicle, automobile is moored into parking stall by the theory track of parking; Utilize vehicle body ultrasonic transduter on every side, measure the degree of depth of parking stall and the distance of obstacle, utilize the attitude of electronic compass measuring vehicle.
When described chaufeur need to be picked up the car, by the mode announcement information management system of note or phone.
The situation that described vehicle can't calculate next step action comprises the automotive run-off-road line, does not stop into parking stall for a long time, runs into obstacle and long-time attonity.
The invention has the beneficial effects as follows: (1) need not get involved the process of parking/pick up the car by chaufeur; Chaufeur only needs storing cycle in vehicle Dai Ting district, and vehicle will guide according to system, automatically complete and will park.(2) the telepresenc remote control system, for parking, improves Parking efficiency; Because vehicle has the autonomous parking function, the telepresenc remote control system at center helps many cars to park as required simultaneously, therefore, realized the process of " single simultaneously moor many cars ", greatly save manpower, improve the speed of parking, especially improve the parking efficiency of large parking lot.
The accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further described:
Fig. 1 is the structural representation that the present invention is based on the Automatic Carpark Control System of telepresenc;
Fig. 2 is the schematic diagram of the embodiment of management imformation system of the present invention;
Fig. 3 is the structural representation of the embodiment of telepresenc remote control system of the present invention;
Fig. 4 is the structural representation of the embodiment of the vehicle-mounted automated parking system of the present invention;
Fig. 5 is the structural representation of the embodiment of parking area roadnet.
The specific embodiment
As shown in Figure 1, be the structural representation of the Automatic Carpark Control System based on telepresenc of implementation method of the present invention.System is divided into remote control chamber and car park areas two parts.The remote control chamber comprises telepresenc command and control system, management imformation system and information display system.Its mode of operation is as follows: parking stall occupied information, the information of vehicles of management imformation system managing parking field, the request of parking, these information show by information display system, to facilitate center control staff's Remote Control Vehicle.Management imformation system is received while parking request, and notice telepresenc remote control system remote control vehicle ，You center control staff has assisted and parked.Car park areas comprises vehicle Dai Ting district and stop place, and vehicle Dai Ting district waits for for parking the vehicle stopped, and stop place is for parking cars.Introduce in detail structure and the mode of operation of subsystems below in conjunction with accompanying drawing.
As shown in Figure 2, the request of parking that management imformation system receives, processes and store parking space information, information of vehicles and the vehicle of parking area.Parking space information comprises, the situation that takies of all parking stalls of parking area, the current number plate of vehicle parked cars; Information of vehicles comprises, vehicle place car item, parking period, charging; The vehicle parking request, send the auxiliary request of parking at automatic parking failure conditions Xia，Xiang center for vehicle.This system operating mode is as follows: when vehicle sails the vehicle Dai Ting district of parking area into, vehicle sends to management imformation system by its number plate of vehicle, entry time, and management imformation system is distributed empty parking space and path planning for it, and vehicle starts automatic parking; When vehicle stops to the parking stall be apprised of, vehicle sends to management imformation system by parking space information, and management imformation system utilizes management software by the license plate number of this car, and record is carried out on entry time and parking stall; When chaufeur is prepared to pick up the car, to management imformation system, send the order of picking up the car; Now, by management imformation system, by the number-plate number, inquire about parking stall and information of vehicles, and transmission is rolled signal away to vehicle; When the pick up the car zone of Vehicle Driving Cycle to vehicle Dai Ting district, send out field time to management imformation system, the management software of this system will, according to the entry time of recording before, calculate the length of the halt of this vehicle at parking area, thereby calculate Parking Fee.Vehicle is independently travelling to parking position and the process of parking/pick up the car, if run into situation about can not process, comprise the automotive run-off-road line, do not stop into parking stall for a long time, run into obstacle and long-time attonity etc., the management imformation system at Jiang Xiang center sends the auxiliary request of parking, management imformation system is received while parking request, current request is made as to suspended state, and notice telepresenc system.The request that the center control staff waits in line by the response of telepresenc systematic order, now ask in executing state, vehicle is adjusted to normal lane, or assist it to complete and park/pick up the car, it is completion status that current request is set, and vehicle is proceeded autonomous driving until complete and park/pick up the car.From above process, many cars can be parked at synchronization, at synchronization, may reach tens even tens etc. pending request, by these requests of management imformation system unified management, employing arrives first first " one-to-many " response mode of response, and order notifies the telepresenc system to be processed.In this explanation for example, suppose that on average the park time of each car from the admission to the parking position is 10 minutes, because vehicle in the most of the time can automatic parking, the request of parking is just proposed when running into situation about can not process, the telepresenc system only (for example need be spent the very short time, half a minute) Remote Control Vehicle is to normal lane, so system can realize the process of " single simultaneously moor many cars " fully.In addition, can decide according to the scale of parking area the number of required telepresenc system.
As shown in Figure 3, be the structural representation of the embodiment of telepresenc command and control system of the present invention.We adopt and improve the telepresenc system of existing remote-control vehicle, and system mainly comprises four parts: remote driving platform, Measurement &control computer, display equipment, Wireless Telecom Equipment.Remote driving platform simulating vehicle, the order of output vehicular drive is to Measurement &control computer; Measurement &control computer while and remote driving platform, communication facilities is connected with display equipment, reception is from the data of remote driving platform and Wireless Telecom Equipment, and sends data to on-the-spot vehicle and display equipment, realized the management of vehicular drive order, live video and vehicle status data.Remote Control Vehicle telepresenc system different from the past, we are with camera identification remote driving person's head pose, to realize the scene switching at vehicle scene; On the basis of realizing the telepresenc systemic-function, reduced the sensor device that human body head is dressed.
Again as shown in Figure 3, the remote driving platform has been equipped with bearing circle, throttle, brake measurement mechanism and camera.When the bearing circle of operating and remote controlling operator platform, throttle and brake, by Remote Control Vehicle, can be realized corresponding action; Cam device gathers the video data in remote driving platform zone, is sent to Measurement &control computer, for the further processing of video data.On the remote driving platform, the state of bearing circle and throttle is measured by the absolute light code-disc, and the state of brake is measured by precision resistor.By above-mentioned installed bearing circle, throttle, brake, camera, the remote driving platform utilizes the Wireless Telecom Equipment Remote Control Vehicle.
Again as shown in Figure 3, Measurement &control computer receives the data (comprising the state of bearing circle, throttle, brake and the video data of camera) from remote driving platform upper sensor, and process these data, after the data that will process by Wireless Telecom Equipment, be sent to by Remote Control Vehicle, to realize the control to actual vehicle.For the camera video data, the object detection method of Measurement &control computer utilization based on video detects remote driving person's head movement state from video data.Herein, we quote the head pose recognition methods in the article " A New Representation Method of Head Images for Head Pose Estimation " that is published in IEEE image processing international conference (IEEE International Conference on Image Processing, ICIP).The described object detection method based on video comprises training process and testing process, below introduces in detail respectively.Described training process comprises three steps: the facial image that at first gathers different attitudes, the present invention in the camera coverage scope every 30 degree as a kind of human face posture (corresponding to left and right directions and above-below direction), gather several facial images as training image under each attitude; Utilize all training images of Laplace operator pretreatment of skin color feature and Gaussian transformation, realize the strengthening of face characteristic; Pretreated image under each attitude is carried out to principal component analysis (PCA), extract than the people's face under this kind of attitude of the vector representation of low-dimensional.Described testing process comprises three steps: at first input picture is carried out to pretreatment, utilize the Laplace operator pretreatment input picture of skin color feature and Gaussian transformation; Then pretreated image is carried out to principal component analysis (PCA), extract the vector than low-dimensional, and calculate the distance between the low dimensional vector under this vector and each attitude of calculating in training process, identify the attitude with minor increment, and think the attitude that this person's face attitude is remote driving person's head in input picture; The remote driving person's head gone out by the kalman filter method Tracking Recognition, realize head movement state recognition (as left-handed turning, right-hand turning, come back, bow).Described head movement status data will be for controlling by the rotation of the monopod video camera on Remote Control Vehicle.Measurement &control computer is sent to the status data of described head movement status data and bearing circle, throttle, brake by Remote Control Vehicle by Wireless Telecom Equipment.Measurement &control computer also receives from the data by Remote Control Vehicle and (comprises live video by Wireless Telecom Equipment, with the real-time status of vehicle as oil mass, the water yield, speed, range number, electric weight and vehicle state of a control), rear by the VGA interface, these data are presented on telltale, so that the operator understands presence states in time.
Again as shown in Figure 3, display equipment is comprised of a plurality of telltales.Described telltale is placed in respectively remote driving person's different directions, and 4 directions (front, rear, left and right) are arranged at most.Described telltale receives the data from Measurement &control computer by the VGA interface, after by live video and be presented at by the operating and controlling vehicle state on the screen of telltale.This live video is to be taken by the pick up camera by Remote Control Vehicle at first, after import Measurement &control computer into by Wireless Telecom Equipment, finally by telltale, shown.By live video, the operator can understand the vehicle-surroundings environment, so that the operator carries out next step operation, controls travelling of actual vehicle.
As shown in Figure 4, be the structural representation of the embodiment of the vehicle-mounted automated parking system of the present invention, we adopt existing automated parking system, comprise central processing unit, sensor unit, wireless communication unit and man-machine interaction unit.Central processing unit is obtained vehicle running state by the CAN data bus on car and is comprised the speed of a motor vehicle, gear, wheel steering angle signal, controls parking system, and the sensing data of its receiving sensor unit is realized lane mark and empty parking space identification; By wireless communication unit and remote control chamber, undertaken alternately; By the man-machine interaction unit finishing man-machine interaction, in order to set vehicle automatic parking pattern, show vehicle running state; By the CAN data bus, with the power system of vehicle, with steering swivel system, be connected, control Vehicle Driving Cycle and turn to for realizing.Sensor unit comprises ultrasonic transduter, pick up camera, opto-electronic pickup, electronic compass.Sonic sensor is arranged on the vehicle body surrounding, each four of front and back, and each two of left and right, for detection of obstacles and the range observation of the process of parking.Vehicle be equipped with one can 360 degree rotations the The Cloud Terrace camera, for aid identification lane mark and empty parking space.At vehicle during by the remote control of remote control chamber, the image transmission of pick up camera is to the telepresenc command and control system, and in ancillary chamber, chaufeur completes the remote control process of parking.Opto-electronic pickup follows line for vehicle and detects.Electronic compass is used for the drift angle of measuring vehicle, thereby knows vehicle attitude.Wireless communication unit adopts the WIFI cordless communication network, for vehicle and managing system of car parking, carries out communication, comprises vehicle control command, real-time video, real-time vehicle state.Man-machine interaction unit is used touch display screen, gathers the input of chaufeur, shows the motoring condition of vehicle, comprises the speed of a motor vehicle, electric weight, vehicle state of a control.
As shown in Figure 5, it is the structural representation of the embodiment of parking area roadnet of the present invention, we with reference to and improve the existing roadnet for automatic parking, system is comprised of two zones, first is vehicle Dai Ting district, by many tracks, formed, every track leads to the not same district of parking area, and lane width is 3 meters, and background color is white, the black colored car diatom of one wide 20 centimetres is arranged in the middle of track, follow line for vehicle and travel.Chaufeur is put into vehicle on the track in vehicle Dai Ting district, and can leave vehicle after setting the automatic parking pattern.Another zone is stop place, and this regional road is through special reticle design.Its track is consistent with the lane mark in vehicle Dai Ting district.Entrance in each district is provided with into field mark, is and the black line segment of lane mark square crossing, and width is 20 centimetres, and length and lane width are equal to.Being provided with the parking stall sign at each place, parking stall, is two the black line segments vertical with lane mark, and width is 20 centimetres, and length is 70 centimetres, is distributed in the both sides of lane mark.At EXIT, place is provided with out field mark, is and two black line segments of lane mark square crossing, and width is 20 centimetres, and length and lane width are equal to, and two line segment spacings are 40 centimetres.Entrance all indicates the parking stall numbering, and vehicle carried out the identification of car item before stopping parking stall.
The parking lot management detailed step that the present invention is based on telepresenc is as follows:
Step 1: chaufeur enters storing cycle on the track in vehicle Dai Ting district, and by the human-computer interaction interface of vehicle module, set the automatic parking pattern, after treating that chaufeur leaves vehicle, management imformation system to center sends information of vehicles, comprises number plate of vehicle, entry time and car owner's phone number; The outstanding message management system is distributed empty parking space and planning driving path for it, and vehicle starts automatic parking.
Step 2: vehicle module utilizes opto-electronic pickup and pick up camera identification roadmarking, and the indication vehicle follows line and travels, until recognize into field mark.Now, open the parking stall recognition function.
Step 3: vehicle continues to follow line and travels, until recognize the parking stall sign, the rotary head camera, determine whether empty parking space.Empty if, open the function of parking.Otherwise, continue to travel until find empty parking space.Vehicle is on the berth enter parking stall before, need to carry out car item identification (can utilize ripe licence plate recognition method to realize, repeat no more).
Step 4: vehicle indicates calculated target positions by parking stall, relatively the initial sum target location theory of computation track of parking.Comprise the speed of a motor vehicle, gear and wheel steering angle according to the various data that got by the CAN bus, calculate the actual position of automobile, control motor turning and the speed of a motor vehicle, automobile is moored into parking stall by the theory track of parking.Utilize vehicle body ultrasonic transduter on every side, measure the degree of depth of parking stall and the distance of obstacle, utilize the attitude of electronic compass measuring vehicle.When vehicle is moored into parking stall, wireless communication unit car item sends to management imformation system.The management imformation system of parking area sends to information of vehicles the mobile phone terminal of chaufeur again.This step is utilized existing automatic parking technology.
Step 5: when chaufeur need to be picked up the car, by the mode announcement information management system of note or phone, by the remote control chamber, start the process of picking up the car.Vehicle follows line and rolls parking area away from, while field mark being detected out, will the time of rolling away from be sent to management imformation system, to facilitate charging.Enter subsequently the zone of picking up the car in vehicle Dai Ting district, wait for that the car owner picks up the car.
In described step 1, step 2, step 3, step 4 and step 5, when vehicle can't calculate next step action, comprise the automotive run-off-road line, do not stop into parking stall for a long time, run into obstacle and long-time attonity etc., send request by wireless communication unit to the remote control chamber at any time, take over Remote Control Vehicle by the telepresenc command and control system, complete the vehicle parking/process of picking up the car.Whole system, in response a plurality of whens request of parking, adopts the response mode of " one-to-many ", and the request of parking is assisted in ordinal response.
The above is that specific description of embodiments of the present invention, not limiting the scope of the invention; All equivalents that can obtain according to aforementioned description, within all being encompassed in protection scope of the present invention.
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| CN103839264A (en) * | 2014-02-25 | 2014-06-04 | 中国科学院自动化研究所 | Detection method of lane line |
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| CN107851385A (en) * | 2015-08-04 | 2018-03-27 | 罗伯特·博世有限公司 | For positioning the scheme of the Subject in parking lot |
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