CN106781688A - Pilotless automobile Entrance guides system and method - Google Patents
Pilotless automobile Entrance guides system and method Download PDFInfo
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- CN106781688A CN106781688A CN201710193866.2A CN201710193866A CN106781688A CN 106781688 A CN106781688 A CN 106781688A CN 201710193866 A CN201710193866 A CN 201710193866A CN 106781688 A CN106781688 A CN 106781688A
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- 238000004891 communication Methods 0.000 claims description 61
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- 238000013480 data collection Methods 0.000 claims description 9
- 230000002452 interceptive effect Effects 0.000 claims description 6
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
- G05D1/0295—Fleet control by at least one leading vehicle of the fleet
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Abstract
The invention discloses a kind of pilotless automobile Entrance guiding system and the bootstrap technique of the application system, guiding system includes mobile interchange client, vehicle guiding cloud platform, located at being directed the board units of vehicle, the banister at Entrance and image information collecting equipment.Bootstrap technique comprises the steps：Guiding system trigger；Vehicle guiding cloud platform carries out vehicle original state confirmation to being directed vehicle；Vehicle control parameters are calculated；Wagon control is performed, while vehicle guides cloud platform to travel vehicle carries out online simulation；Interrupt operation is carried out when interrupt condition is triggered, next step is otherwise carried out；Reach termination condition, escape leading.
Description
Technical field
The present invention relates to the intelligent vehicles technology field, more particularly to a kind of pilotless automobile Entrance guiding system
And using the bootstrap technique of the system.
Background technology
" motorized, intellectuality, net connectionization " is the future thrust of automobile；Wherein, it is unmanned, it is intelligent network connection
One important application of automobile.In unmanned scene, automated parking system is one of unmanned intelligent automobile important
Function.The function is intended to make vehicle in the case of driver does not carry out manual intervention, finds suitable parking stall, and berthed.
Existing scheme of parking only provide automobile small range find parking stall, and moor into the function of mooring out.The automatic pool of this small range
Car function solves a series of problems, such as unskilled driver is stopped, small size parking stall is accurately stopped.But existing automatic pool
Car system is only used from car onboard sensor, and investigative range is limited, to user using there is certain limitation, it is impossible to meet it is long away from
From needs of parking.
In actual life, vehicle is usually docked in parking lot.Vehicle with automatic parking function is moored in parking lot
Che Shi, driver needs the completion to include：Drive to Entrance, obtain admission qualification, into parking lot, find parking stall, from
Dynamic a series of actions such as park.In this process, driver needs frequent operation.In parking lot often have parking guidance system or
Guiding mark, the behavior of parking to driver is guided.But existing parking lot guide technology has many deficiencies：First, it is existing
It is driver to have parking lot guide technology to guide the object of parking, did not accounted for direct guiding driverless automobile and is stopped
Pool, it is necessary to driver voluntarily drive enter parking lot in, carry out shut-down operation；Secondly, the scene of prior art guiding is parking
In, parking method for guiding vehicles outside the venue is not provided；Again, the purpose of existing parking lot guide technology is often more adduction
Parking position is used to reason, not in control vehicle parking behavior.
The content of the invention
In view of this, it is an object of the invention to provide a kind of pilotless automobile Entrance guiding system and application
The bootstrap technique of the system, guiding driverless automobile is marched at Entrance from specified range, and completes to obtain admission
Qualification, admission information of vehicles confirm, gate control system is let pass etc., and a series of parking lots enter step, realize over long distances, it is more convenient
Guiding function, manual intervention is reduced, so as to reduce parking lot human cost, while more easily being parked for driver provides
Experience.
Pilotless automobile Entrance of the invention guides system, including mobile interchange client, vehicle guiding cloud
Platform, located at being directed the board units of vehicle, the banister at Entrance and image information collecting equipment；
The mobile interchange client is used to send reservation instruction and receive to vehicle guiding cloud platform to be guided from vehicle
The feedback information of cloud platform；
The vehicle guiding cloud platform is included for storing the data storage element of platform data, for undertaking bootup process
The Data Computation Unit of middle related data computing, for undertaking cloud platform and being directed vehicle, mobile interchange client, internet
Between and cloud platform each unit between real-time communication interaction communication unit and for controlling banister and image information collecting equipment
Gate control system control unit；
The data storage element includes HAD grades of map information data module, map association visual signature data module, car
Information data module, suggestion path of navigation data module, suggestion wagon control target output data storage module, vehicle-mounted set
Standby state-detection data module, Parking management data module, wagon control variable feedback measurement data module and vehicle
Real time positioning data；Wherein, the HAD grades of map information data module and map association visual signature data module are stored and are used for
Vehicle location, path of navigation planning and vehicle travel the data of online simulation；The vehicle information data module is used to store car
The data of parameter information；What the suggestion path of navigation data module storage platform was given be directed vehicle from designated area to
The data of the path of navigation of parking area at Entrance；The suggestion wagon control target output data storage module storage
Platform is deposited to being directed the data of suggestion output result given after vehicle traveling controlled quentity controlled variable is resolved；The mobile unit
State-detection data module stores the data of board units working condition；The Parking management data module storage parking
The data of parking lot management；The wagon control variable feedback measurement data module storage is fed back to by vehicle-state testing equipment
The reality output of platform controls measurement data and is directed the data of wagon control state estimation；The vehicle is fixed in real time
Position data module storage is directed the data of the location information of vehicle；
The Data Computation Unit includes vehicle localization module, path of navigation scale block, the target output of suggestion wagon control
Amount computing module, wagon control state estimation module, the real-time correcting module of boot parameter and guiding system operation step judge mould
Block；Wherein, the vehicle localization module is used for according to HAD grades of cartographic information, map association visual signature information and vehicle-mounted list
Unit's transmission picture carries out pose calculating；The path of navigation planning module be used for according to vehicle pose, HAD grades of cartographic information and
Guiding terminates parking position information and provides the optimal travel path of vehicle, and when platform is guided to the vehicle of more than two
When, coordination of being ranked to the course and traveling time of each vehicle；The suggestion wagon control target output meter
Calculate module be used for according to be directed information of vehicles, vehicle advance suggestion path, vehicle dynamic model, vehicle kinematics model with
And economic aviation fuel constraint calculates wagon control target output；The wagon control state estimation module is used for according to reality
Output measurement is estimated being directed vehicle-state；The real-time correcting module of boot parameter is used for basis and is directed car
Condition Monitoring Data, it is directed vehicle real-time status estimated data, is directed vehicle real-time positioning information to being directed vehicle
Advance suggestion path, be directed vehicle-state, be directed wagon control suggestion output aim parameter corrected in real time；The guiding
System operation step judge module is used to carry out the actual state of a control of vehicle online simulation, and to guiding system trigger bar
Part, interrupt processing condition, end condition, Entrance IMAQ condition, Entrance banister Switching Condition are sentenced
It is disconnected；
The communication unit includes System-Internet communication units, System-vehicle communication units and inside
Communication unit；Wherein, the System-Internet communication units are used to be communicated between Internet；It is described
System-vehicle communication units are used for and are directed to carry out information communication between vehicle；The intercom unit has been used for
Interacted into platform interior data call and facility information；
The board units include Vehicle-system communication units, vehicle-mounted ECU, control unit and vehicle data collection
Unit；Wherein, the Vehicle-system communication units are interacted for carrying out communication between vehicle guiding cloud platform；It is described
Vehicle-mounted ECU is connected with Vehicle-system communication units；Described control unit is used to perform vehicle guiding output, and anti-in real time
Feedback reality output amount；The vehicle data collection unit is used for collection vehicle speed information and vehicle-mounted camera image information；
Described image information collecting device is directed vehicle pictures for collection, and vehicle pictures are transferred into vehicle guiding
Cloud platform；The vehicle guiding cloud platform transmission vehicle pictures give mobile interchange client, after client confirms to information
Banister is opened.
Pilotless automobile Entrance bootstrap technique of the invention, comprises the following steps：
P1：Guiding system trigger；
P2：Vehicle guiding cloud platform carries out vehicle original state confirmation to being directed vehicle；
P3：Vehicle control parameters are calculated；
P4：Wagon control is performed, while vehicle guides cloud platform to travel vehicle carries out online simulation；
P5：Interrupt operation is carried out when interrupt condition is triggered, next step is otherwise carried out；
P6：Reach termination condition, escape leading.
Further, step P1 includes following triggering step：
P1-1：Client is preengage：It is intended to parked vehicle and enters pilotless automobile Entrance guiding system designated area,
Parking client opens the unmanned pattern for being intended to parked vehicle, and parking client guides cloud by mobile interchange client to vehicle
Platform sends reserve requests, and vehicle guiding cloud platform receives reserve requests information, is intended to parked vehicle type information and parking visitor
Family identity information；
P1-2：Guiding cloud system determines whether parking stall：Vehicle guides cloud platform to be berthed according to parking being intended to of being provided of client
Vehicle type information, compares parking position management data, determines whether to meet the parking stall of requirement of berthing；If without satisfaction
Berth the parking stall of requirement, then do not trigger entrance guiding system；Feedback of the information extremely parking client's mobile interchange client；If car
Guiding cloud platform search out the parking stall for meeting vehicle parking requirement, then carry out next step；
P1-3：Judge whether System-vehicle interactions are normal：Vehicle guides cloud platform to be led to parked vehicle is intended to
News interaction；First, with client identity information as interactive key of stopping, vehicle guides cloud platform to carry out identity with desire parked vehicle and tests
Card, defines interactive authority；Then, vehicle guiding cloud platform carries out communication test with parked vehicle is intended to, and test is tested i.e. after passing through
Show that System-vehicle interactions are normal, carry out next step；It is still obstructed after trial n times if interaction is obstructed
Freely, then entrance guiding system, feedback of the information to client's mobile interchange client of stopping are not triggered.
P1-4：Transmission vehicle-mounted camera data：It is intended to parked vehicle and surrenders vehicle data collection list to vehicle guiding cloud platform
First Compliance control authority, and transmit vehicle-mounted camera acquired image information to vehicle guiding cloud platform；
P1-5：Vehicle high-precision is positioned：Vehicle guides cloud platform to being intended to parked vehicle vehicle-mounted camera acquired image
Information extraction visual signature, associates it visual signature data with map and is contrasted, so as to carry out high accuracy positioning；
P1-6：Judge whether vehicle enters body of a map or chart：Vehicle guiding cloud platform is calculated and is intended to parked vehicle location information, than
To HAD grades of map information data, judge to be intended to whether parked vehicle enters in HAD grades of map coverage of collection in advance；If
It is intended to parked vehicle and comes into body of a map or chart, then carries out next step；Otherwise, entrance guiding system is not triggered, and feedback of the information is extremely
Parking client's mobile interchange client.
P1-7：Transmission board units information：Vehicle guiding cloud platform sends the inspection request of board units information, car to be berthed
Receive request, transmission includes the board units information of board units type and the running status of the board units；
P1-8：Judge whether vehicle on-board unit meets condition：Vehicle guides cloud platform to being intended to the car that parked vehicle is provided
Carrier unit information is tested comparison, if vehicle guiding cloud platform judges that being intended to parked vehicle meets unmanned by comparing
Board units condition necessary to Car Park Entrance guiding system operation, then trigger the system；If being intended to parked vehicle to carry
The board units type information of confession is unsatisfactory for requiring that do not trigger entrance guiding system then, feedback of the information is mutual to client's movement of stopping
Connection client.
Further, comprised the following steps in step P2：
P2-1：Board units state confirmation：Vehicle guides board units state of the cloud platform again to being directed vehicle to enter
Row confirmation, if being unsatisfactory for pilotless automobile Entrance guiding system operation conditions, shape is sent to vehicle is directed
State adjust request, and reaffirm；
P2-2：Information of vehicles confirms：Vehicle guides cloud platform to being directed kinetic model information, the kinematics mould of vehicle
Vehicle parameter information, type of vehicle classification information, multiple cars that are directed are by the excellent of same position needed for type information, wagon control
First level constraint information is confirmed；
P2-3：The initial pose of vehicle confirms：Vehicle guides cloud platform by HAD grades of map information data:Map association is regarded
Feel characteristic and be directed the view data of vehicle on-board camera collection, carry out high accuracy positioning and count to being directed vehicle
Calculate the initialization posture for being directed vehicle.
Step P3 includes following side by side the step of carry out：
P3-1：Vehicle guides cloud platform according to vehicle initialization pose is directed, and its travel path is planned, and will
The path transmission is directed vehicle；Vehicle guides cloud platform according to vehicle dynamic models, vehicle movement model information, vehicle control
Vehicle parameter information, type of vehicle classification information, multiple are directed priority restrictions information of the car by same position needed for system
And path planning, wagon control suggestion output aim parameter is calculated, and the suggestion output quantity is transferred to is directed vehicle；
P3-2：Vehicle guides cloud platform to associate visual signature data and quilt according to vehicle initialization pose, map is directed
The view data of guiding vehicle vehicle-mounted camera collection, real-time high-precision positioning is carried out to being directed vehicle；
P3-3：It is directed vehicle and initializes pose, information of vehicles, suggestion path, suggestion control mesh according to vehicle is directed
Scalar, vehicle-state feedback information, actual control is carried out, while the actual control measurement that will be directed vehicle feeds back to car
Guiding cloud platform, vehicle guide platform is according to the actual control measurement real-time estimation vehicle shape for being directed vehicle feedback
State.
Further, it is further comprising the steps of between step P3 and step P4：Vehicle guiding cloud platform is high to being directed vehicle
Precision location information, car status information, suggestion routing information, suggestion control targe amount information carry out real-time update, amendment.
Further, the interrupt operation in step P5 includes following side by side the step of carry out：
P5-1：When vehicle speed is directed more than thousand ms/h of K, vehicle guiding cloud platform sends to being directed vehicle
Brake instruction, and carry out re-starting vehicle location to being directed vehicle；Be directed vehicle complete positioning after, retriggered without
People's driving Entrance guiding system；
P5-2：When System-Vehicle communicating interrupts, packet loss is excessive causes pilotless automobile parking lot to enter for communication
When mouth guiding system cannot proceed, vehicle guiding cloud platform sends brake instruction to being directed vehicle, and re-starts
System-vehicle communication checks confirm；After the confirmation of System-vehicle communication checks, the unmanned vapour of retriggered
Car Entrance guides system；
P5-3：When be directed vehicle Online simulated routes safe range with map can not travel zone it is Chong Die after, car
Guiding cloud platform sends brake instruction to being directed vehicle, and carries out re-starting vehicle location to being directed vehicle；In quilt
After guiding vehicle completes positioning, retriggered pilotless automobile Entrance guiding system；
P5-4：Many of system prediction be directed vehicle in the same time safe range partly or entirely overlap after, vehicle guiding cloud
Platform sends brake instruction to being directed vehicle, and according to be directed vehicle march to path at safe range lap position away from
From, determine many cars pass through priority；According to level is preferentially passed through, the vehicle unmanned vapour of retriggered successively is directed to each
Car Entrance guides system；Each was directed the vehicle triggered time at intervals of M seconds；To the suggestion travel path of each vehicle
Resolved again with controlled output aim parameter；
P5-5：When the state of a control information for being directed vehicle is lost, guiding system is caused to complete closed-loop control, online
During simulation steps, vehicle guiding cloud platform sends brake instruction, retriggered pilotless automobile parking lot to being directed vehicle
Entrance guides system.
Further, the system closure operation in step P6 is comprised the following steps：
P6-1：It is directed vehicle and stops at vehicle stop line region at Entrance；
P6-2：The collection of image information collecting equipment is directed vehicle pictures, and vehicle pictures are transferred into vehicle guiding cloud
Platform；
P6-3：Vehicle guiding cloud platform transmission vehicle pictures give parking client's movement interaction client；
P6-4：Client confirms to information above, in this, as the associated documents for guiding vehicle to enter parking lot；
P6-5：Banister is opened, and guiding terminates.
Further, it is further comprising the steps of before step P6-1：
P6-0：Pose is adjusted：Vehicle guides cloud platform to guide cloud to the online simulation positional distance vehicle for being directed vehicle
When the distance of the suggestion Route guiding terminal that platform is given is less than threshold value, acquisition is directed vehicle pose and state of a control letter
Breath；Be directed vehicle pose using information above real-time adjustment, make to be directed vehicle towards banister, rest in stop line lock a long way
Side, during parking headstock with a distance from stop line within L meters；When the adjustment of vehicle pose terminates, all guiding outputs, vehicle are completed
Guiding cloud platform sends cutoff command.
Further, the N is 5-10, and the M is 5-15, and the K is 3-10, and the L is 0.3-1.0.
Beneficial effects of the present invention：Pilotless automobile Entrance of the invention guides system and using the system
Bootstrap technique, bootable pilotless automobile is marched at Entrance from specified range, and is completed to obtain admission qualification, entered
A series of parking lots such as field information of vehicles confirms, gate control system clearance enter step, realize long range, more easily guide work(
Can, manual intervention is reduced, so that parking lot human cost is reduced, while more easily park experience for driver provides；Entirely
Journey can be carried out in the case of unattended, and in this process, parking client only needs to for vehicle to be parked in designated area, so
Other step operations are carried out using client afterwards, it is quick and easy.
Brief description of the drawings
Fig. 1 is that vehicle guides cloud platform system architecture diagram；
Fig. 2 is to be directed vehicle on-board cellular construction block diagram；
Fig. 3 is that pilotless automobile Entrance guides system trigger flow chart；
Fig. 4 is that pilotless automobile Entrance guides vehicle guiding work block diagram；
Fig. 5 a to Fig. 5 e are pilotless automobile Entrance guiding system break process chart；
Fig. 6 a are composition schematic diagram at pilotless automobile Entrance guiding system end；
It is equipment interaction diagrams at pilotless automobile Entrance guiding system end shown in Fig. 6 b；
Fig. 7 is that vehicle pose adjustment flow chart is directed at pilotless automobile Entrance guiding system end.
Specific embodiment
The pilotless automobile Entrance guiding system that the present invention is provided, including mobile interchange client, vehicle draw
Lead cloud platform, located at being directed the board units of vehicle, the banister at Entrance and image information collecting equipment.
The pilotless automobile Entrance bootstrap technique that the present invention is provided, comprises the steps：
First, whether vehicle guide system meets system trigger condition to parking lot, the state for being directed vehicle successively, carries out
Confirm, judge.
2nd, vehicle guiding cloud platform is obtained and is directed vehicle image information, and image information is processed, and obtains vision special
Levy；And associate visual signature storehouse and compare with preset HAD grades of high accuracy map, map using this visual signature, so as to carry out
Real-time high-precision is positioned.High-precision locating method is vision slam methods, main to include setting up characteristics map, closed loop detection, regard
Feel odometer.
3rd, vehicle guiding cloud platform is using being directed vehicle high-precision location information, HAD grade of high accuracy cartographic information, many
Coordination data enters in garage, and planning is directed vehicle traveling suggestion path.
4th, according to being directed information of vehicles, being directed vehicle traveling suggestion path and economic aviation fuel constraint, car is calculated
Control target output.
5th, using vehicle-state monitoring unit is directed, the actual controlled quentity controlled variable output quantity data of vehicle are fed back in measurement, so that right
Vehicle-state is directed to be estimated.
6th, basis is directed vehicle real-time high-precision location information, vehicle dynamic model, vehicle kinematics model, quilt
Guide the information of vehicles of vehicle, vehicle state estimation data, wagon control suggestion output aim parameter be directed, to being directed vehicle
Carry out actual closed-loop control.
7th, basis is directed vehicle-state Monitoring Data, is directed vehicle real-time status estimated data, is directed vehicle reality
When high accuracy positioning information, to be directed vehicle advance suggestion path, be directed vehicle-state, be directed wagon control suggestion it is defeated
Go out aim parameter to be corrected in real time.Online simulation is directed vehicle travel condition and traveling position and posture.
8th, according to situations below, judge whether guiding system carries out interrupt operation：A. speed is more than threshold value；b.system-
Vehicle communication failures；C. real-time online analog position exceeds safe range；D. predict that many garages enter position in the same time and exceed peace
Gamut；E. wagon control status information is lost.
9th, when distance is less than threshold value between online simulation position and guiding terminal, guiding system enters end flow.According to
Vehicle posture information, vehicle stop line identification information, are finally stopped pose to being directed vehicle and are adjusted.Complete pose adjustment
Afterwards, vehicle parking is directed, guiding system validation is directed vehicle-state.
Tenth, it is directed vehicle and is parked in stop line region, vehicle guiding cloud platform is carried out really to being directed vehicle end-state
After recognizing, image capture device collection is directed vehicle image information at Entrance.Vehicle guides cloud platform by picture transfer
To client, client confirms to it.Banister is opened, and the guiding of automatic driving vehicle Entrance terminates, and starts parking lot
Inside guiding.
Specifically, the invention will be further described with reference to the accompanying drawings and examples：
Fig. 1 is to guide cloud platform system architecture diagram according to the vehicle of the embodiment of the present invention, and vehicle guiding cloud is listed in detail
The relevant components unit of plateform system, including：Data storage element 11, Data Computation Unit 12, communication unit 13 and gate inhibition system
System control unit 14.Wherein, the storage of data storage element 11 vehicle guides the associated core data of cloud platform system；Communication unit
12 undertake vehicle guiding cloud platform and be directed vehicle, car cloud net, between Internet, client, and vehicle guiding cloud
Real-time communication interactive function inside plateform system；Data Computation Unit 13 undertakes the related data fortune in vehicle bootup process
Calculate；When gate control system control unit 14 undertakes guiding cloud system into end flow, that is, after guiding vehicle to reach guiding terminal, door
Prohibit banister, the control work of image acquisition device.
Data stored by data storage element 11 include：HAD grades of map information data 111, map association visual signature
Data 112, vehicle information data 113, it is proposed that path of navigation data 114, it is proposed that wagon control target output data storage
115, mobile unit state-detection data 116, Parking management data 117, wagon control variable feedback measurement data
118, vehicle real-time high-precision location data 119.Data storage element 11 can specially store data above by corresponding module,
I.e. data storage element 11 may include to include HAD grades of map information data module, map association visual signature data module, vehicle
Information data module, suggestion path of navigation data module, suggestion wagon control target output data storage module, mobile unit
State-detection data module, Parking management data module, wagon control variable feedback measurement data module and vehicle reality
When location data.
Wherein, HAD grades of map information data 111 associates visual signature data 112 with map and is positioned for vehicle high-precision
Step, path of navigation planning step and vehicle traveling online simulation step.Vehicle information data 113 includes that testing vehicle register is wireless
Identification code, license plate number, vehicle color information, type of vehicle classification information, logo information, vehicle dynamic model information, vehicle
Kinematics model information, client-side information, board units information, the relevant parameter information used needed for wagon control.Suggestion
Path of navigation data 114 refer to that vehicle guiding cloud platform is provided, vehicle from designated area to Entrance at parking area
Path of navigation.Suggestion wagon control target output data storage 115 refers to according to kinetic model, the kinematics for being directed vehicle
Model, it is multiple be directed car by the priority restrictions of same position, economic aviation fuel target and be directed information of vehicles, it is right
After vehicle traveling controlled quentity controlled variable is resolved, the suggestion output result for being given.Mobile unit state-detection data 116 refer to board units
Operating state data.Parking management data 117 refer to parking lot berthed associated vehicle information in parking stall, berth room letter
Cease, parking stall holding time of berthing, parking stall reservation are moored and set into the time of mooring out, Entrance guiding vehicle queueing message, parking lot
Standby working condition detection data, multiple real-time travel path datas for being directed vehicle.Wagon control feedback of status data 118 refer to
Vehicle-state testing equipment feeds back to the reality output control measurement of vehicle guiding cloud system, is directed wagon control state
Estimate.Vehicle real-time high-precision location data 119 refers to the high accuracy positioning information for being directed vehicle.
Data Computation Unit 12 includes：Vehicle high-precision positioning 121, path of navigation planning 122, it is proposed that wagon control target
Output quantity calculates 123, and wagon control state estimation 124, boot parameter corrects 125 in real time, and guiding system operation step judges
126.Data Computation Unit 12 can specially realize that the above is operated by corresponding module, i.e., Data Computation Unit 12 is fixed including vehicle
Position module, path of navigation scale block, suggestion wagon control target output computing module, wagon control state estimation module, draw
Lead the real-time correcting module of parameter and guiding system operation step judge module.
Wherein, vehicle high-precision positioning 121 refer to vehicles according to HAD grade cartographic information, map associate visual signature information with
And the pose that board units transmission picture is carried out is calculated.Path of navigation planning 122 refer to vehicles guiding cloud platforms according to vehicle pose,
HAD grades of cartographic information and guiding terminate parking position information and provide the optimal travel path of vehicle；And vehicle guiding cloud platform
When vehicle to more than two is guided, coordination of being ranked to the course and traveling time of each vehicle.Suggestion
Wagon control target output calculates 123 and refers to that basis is directed information of vehicles, vehicle traveling suggestion path, dynamics of vehicle mould
Type, vehicle kinematics model and economic aviation fuel constraint, calculate wagon control target output.Wagon control state estimation
124 fingers are directed vehicle-state monitoring unit, and the reality output measurement of wagon control is fed back into vehicle guiding cloud platform,
Vehicle guiding cloud platform is estimated being directed vehicle-state.Amendment 125 refers to boot parameter in real time, according to being directed vehicle shape
State Monitoring Data, it is directed vehicle real-time status estimated data, vehicle real-time high-precision location information is directed, to being directed car
Advance suggestion path, be directed vehicle-state, be directed wagon control suggestion output aim parameter corrected in real time.Guiding system
System operating procedure judges 126 fingers, and online simulation is carried out to the actual state of a control of vehicle by vehicle guiding cloud platform, and to guiding
System trigger condition, interrupt processing condition, end condition, Entrance IMAQ condition, Entrance banister switch
Condition is judged.
Communication unit 13 includes：System-Internet communication units 131, System-vehicle communication units 132,
Intercom unit 133.
Wherein, System-Internet communication units 131 are used for vehicle guiding cloud platform and Internet communications, mainly
Function is to complete parking client to be interacted with vehicle guiding cloud platform, information of vehicles inquiry, vehicle dynamic model, vehicle movement
Learn model supplemental queries.System-vehicle communication units 132 are used for vehicle and guide cloud platform information communication, communication with vehicle
Information includes：Vehicle image information, testing vehicle register wireless identification code, car status information, wagon control feedback information, suggestion are drawn
Guiding path information, vehicle dynamic model information, suggestion wagon control target output.Intercom unit 133 is mainly used in
Vehicle guiding cloud platform internal data is completed to call and facility information interaction.
Fig. 2 show vehicle on-board cellular construction composition according to embodiments of the present invention, including Vehicle-system communications
Unit 22, vehicle-mounted ECU 23, control unit 24 and vehicle data collection unit 25.
Wherein, Vehicle-system communication units 22 complete the communication interworking that vehicle guides cloud platform with vehicle.
Board units have two kinds with the connecting communication mode of Vehicle-system communication units 22：One kind is brought to vehicle and opens data
The Share Permissions of collecting unit 25, data acquisition unit 25 is directly by Vehicle-system communication units 22 and guiding vehicle cloud
Platform communication interaction；It is another then be related data by after the treatment of vehicle-mounted ECU 23, by Vehicle-system communication units
22, carry out data communication with guiding vehicle cloud platform.What deserves to be explained is both connected modes can be made with unrestricted choice combination
With judging that applicable basis are mainly：Information Security is set, hardware transport is set and realizes setting from car system function module
Put.
Control unit 24 includes controlling organization 242 and controlled output measurement feedback unit 241, is mainly used in performing car
Guiding output, and Real-time Feedback reality output amount.Vehicle data collection unit 25 mainly includes：It is vehicle speed sensor 251, vehicle-mounted
Camera 252, for collection vehicle speed information and vehicle-mounted camera image information.Controlled output measurement feedback unit
241 can include vehicle speed sensor 251, it is also possible to install vehicle speed measurement equipment additional in addition.
Fig. 3 show pilotless automobile Entrance guiding system trigger flow chart according to embodiments of the present invention.
As shown in Figure 3, pilotless automobile Entrance guiding system trigger step is as follows：
Client reservation 31：It is intended to parked vehicle and enters pilotless automobile Entrance guiding system designated area, stops
Car.Parking client opens the unmanned pattern for being intended to parked vehicle.Parking client is guided by mobile interchange client to vehicle
Cloud platform sends reserve requests.Vehicle guiding cloud platform receives reserve requests information, is intended to parked vehicle type information and parking
Client identity information.
Guiding cloud system determines whether parking stall 32：Vehicle guides the desire parked vehicle that cloud platform is provided according to parking client
Type information, compares parking position management data 117, determines whether to meet the parking stall of requirement of berthing.If without satisfaction
Berth the parking stall of requirement, then do not trigger this entrance guiding system 392, feedback of the information to client's mobile interchange client of stopping.
If vehicle guiding cloud platform searches out the parking stall for meeting vehicle parking requirement, next step is carried out.
System-vehicle interaction whether normal 33：Vehicle guides cloud platform to carry out communication with desire parked vehicle and interacts.
First, with client identity information as interactive key of stopping, vehicle guiding cloud platform carries out authentication with parked vehicle is intended to, and defines
Interaction authority.Then vehicle guiding cloud platform carries out communication test with parked vehicle is intended to.The step of the above two is completed, System-
Vehicle interactions are normal, carry out next step.If interaction is obstructed, attempt n times (N can be 5-10, preferably 8) after
It is still obstructed, then this entrance guiding system 392, feedback of the information to client's mobile interchange client of stopping are not triggered.
Transmission vehicle-mounted camera data 34：It is intended to parked vehicle and surrenders vehicle data collection unit 25 to vehicle guiding cloud platform
Compliance control authority, and transmit the acquired image information of vehicle-mounted camera 252 to vehicle guiding cloud platform.
Vehicle high-precision positioning 35：Vehicle guides cloud platform to being intended to the acquired image of parked vehicle vehicle-mounted camera 252
Information extraction visual signature, associates it visual signature data 112 with map and is contrasted, so as to carry out high accuracy positioning.
Whether vehicle enters body of a map or chart 36：Vehicle guiding cloud platform is calculated and is intended to parked vehicle location information, compares HAD grades
Map information data 111, judges to be intended to whether parked vehicle enters in HAD grades of map coverage of collection in advance.If being intended to stop
Park and come into body of a map or chart, then carry out next step.Otherwise, this entrance guiding system 392 is not triggered, and feedback of the information is extremely
Parking client's mobile interchange client.
Transmission board units information 37：Vehicle guiding cloud platform sends the inspection request of board units information, and request includes：Nothing
The running status of board units type and the board units necessary to people's driving Entrance guiding system operation.It is intended to
Parked vehicle receives request, transmits board units information.
Whether vehicle on-board unit meets condition 38：Vehicle guides cloud platform to being intended to the board units letter that parked vehicle is provided
Cease comparison of testing.If vehicle guiding cloud platform judges that being intended to parked vehicle meets pilotless automobile parking by comparing
Board units condition necessary to the entrance guiding system operation of field, then trigger the system 391.If being intended to the car that parked vehicle is provided
Carrier unit type information is unsatisfactory for requiring, does not then trigger this entrance and guide system 392, feedback of the information to the client's mobile interchange that stops
Client.If be intended to parked vehicle provide board units type information meet require, but the board units running status not
Meet and require, then board units state, Xiang Yuting according to necessary to pilotless automobile Entrance guides system operation
Park and send adjustment board units status request, after being intended to parked vehicle adjustment, rejudge whether vehicle on-board unit meets
Condition 38.
Fig. 4 show vehicle guiding work block diagram according to embodiments of the present invention, and workflow starts from shown in Fig. 3 in figure
Triggering pilotless automobile Entrance guiding the step of system 391.
First, vehicle guiding cloud platform carries out vehicle original state confirmation 42 to being directed vehicle.Vehicle original state has
Body includes：Board units state confirmation 421, information of vehicles confirms that the initial pose of 422, vehicle confirms 423.Board units state is true
Recognize board units state of the 421 finger vehicles guiding cloud platform again to being directed vehicle to confirm.If being unsatisfactory for nobody to drive
Car Park Entrance guiding system operation conditions are sailed, then sends state adjust request to being directed vehicle, and reaffirm.Car
Validation of information 422 refers to vehicle guiding cloud platform to being directed kinetic model information, kinematics model information, the car of vehicle
Control needed for vehicle parameter information, type of vehicle classification information, multiple be directed priority restrictions of the car by same position
Information is confirmed that relevant information available sources can have two ways：First, the preset information module by being directed vehicle is provided
Own vehicle information；2nd, vehicle brand, type information are provided by client of stopping, then there is vehicle to guide cloud platform in preset number
Retrieved according in storehouse.The initial pose of vehicle confirms that 423 refer to that vehicle guiding cloud platform is closed by HAD grades of map information data 111, map
Join visual signature data 112 and be directed the view data of the collection of vehicle on-board camera 252, height is carried out to being directed vehicle
Precision positions and calculates the initialization posture for being directed vehicle.Now, high-precision locating method is closing in vision-SLAM
Ring detection method, while for visual odometry provides initialization data.Vehicle guiding cloud platform confirms to be directed vehicle initialization
Pose, uses as the init state for carrying out to the auto model path planning.
Then pilotless automobile Entrance guiding system enters next step, and vehicle control parameters calculate 43.Car
It is main in control parameter calculation procedure 43 to include three the step of carry out simultaneously.These three steps are carried out simultaneously, and shared ginseng
Number, result.The specific steps of vehicle control parameters calculation procedure 43 are described below：
A, vehicle guiding cloud platform carry out planning 433 to its travel path according to vehicle initialization pose is directed, and will
The path transmission is directed vehicle.Vehicle guides cloud platform according to vehicle dynamic models, vehicle movement model information, vehicle control
Vehicle parameter information, type of vehicle classification information, multiple are directed priority restrictions information of the car by same position needed for system
And path planning, wagon control suggestion output aim parameter 434 is calculated, and the suggestion output quantity is transferred to is directed vehicle.
B, vehicle guiding cloud platform according to being directed vehicle initialization pose, map associate visual signature data 112 and
The view data of the collection of vehicle on-board camera 252 is directed, real-time high-precision positioning is carried out to being directed vehicle.Now, it is high
Precision positioning methods are vision-SLAM methods, mainly including visual odometry, the foundation of visual signature map, closed loop detection.
C, be directed vehicle according to be directed vehicle initialization pose, information of vehicles 113, suggestion path 114, suggestion control
Aim parameter 115, vehicle-state feedback information 118, actual control 44 is carried out, while the actual control measurement of vehicle will be directed
Value feeds back to vehicle guiding cloud platform, and vehicle guide platform is estimated in real time according to the actual control measurement for being directed vehicle feedback
Meter vehicle-state.
In vehicle control parameters calculation procedure 43, vehicle guides cloud platform to being directed vehicle high-precision location information, car
Status information, suggestion routing information, suggestion control targe amount information carry out real-time update, amendment.
It is directed vehicle and initializes pose, information of vehicles 113, suggestion path 114, suggestion control mesh according to vehicle is directed
Scalar 115, vehicle-state feedback information 118, vehicle real-time high-precision location information 119, actual control is carried out to being directed vehicle
System 44.Vehicle control parameters calculation procedure 43 and wagon control perform step 44 and form a closed-loop control.Meanwhile, according to
HAD grades of cartographic information 111, information of vehicles 113, suggestion path 114, wagon control state feedback information 118, vehicle are high-precision in real time
Degree location information 119, vehicle guides cloud platform to travel vehicle and carries out online simulation 45.
Guide cloud platform to carry out the status information of online simulation 45, mobile unit state-detection to vehicle traveling according to vehicle to believe
Breath 116, whether Parking management information 117 judges whether to reach the trigger condition of interrupt processing, carries out interrupt operation
46, as shown in Figure 5.
Finally, after pilotless automobile Entrance guiding system reaches termination condition, the system enters end and flows
Journey 47, as shown in Figure 6,7.Wherein Fig. 7 show be directed vehicle guiding system end parking before, pose adjustment related streams
Journey；Then to be directed vehicle after guiding system end parking, pilotless automobile Entrance guiding system is completed Fig. 6
End operation flow.
Fig. 5 show guiding system break process chart according to embodiments of the present invention.According to different trigger conditions
Flow in Fig. 5 is divided into five subgraphs of a, b, c, d, e carries out embodiment description, and five subgraphs do not exist the relations of dependence, category
System break handling process is guided in five kinds of pilotless automobile Entrances arranged side by side.
As illustrated in fig. 5 a, triggering situation is interrupt processing flow of the speed more than threshold value 51a.Wherein threshold value can be according to pre-
Put HAD grades of cartographic information situation to be adjusted, the threshold value is that (K can be 3-10 to thousand ms/h of K, preferably 5).When being directed car
When car number is more than the threshold value, vehicle guiding cloud platform sends brake instruction 52 to being directed vehicle, and enters to being directed vehicle
Row re-starts vehicle location 53.After vehicle completion positioning is directed, retriggered pilotless automobile Entrance draws
Guiding systems 54.
As illustrated in fig. 5b, triggering situation is the interrupt processing flow of System-Vehicle communication failures 51b.
System-Vehicle communicating interrupts, communication packet loss are excessive to cause pilotless automobile Entrance to guide system
When system cannot proceed, vehicle guiding cloud platform sends brake instruction 52 to being directed vehicle, and re-starts System-
Vehicle communication checks confirm 53b.After the confirmation of System-vehicle communication checks, retriggered pilotless automobile stops
Parking lot entrance guiding system 54.
As shown in Figure 5 c, triggering situation is infeasible with map to be directed vehicle Online simulated routes safe range
Recessed region overlaps 51c, guides the interrupt processing flow of system.The safe range for being directed vehicle Online simulated routes is referred specifically to
Two kinds of scopes：What the first, vehicle guiding cloud flat interest cartographic information was given to suggestion path planning 122 both sides can travel range；2nd,
According to the online emulation modes for being directed vehicle, it is being directed at vehicle real-time high-precision anchor point, the safety for being given
Scope.Can ensure outside this scope：When the first, being directed vehicle traveling, do not collide mutually more；2nd, it is directed vehicle and other is quiet
State object does not collide；3rd, outside this safe range, after being directed vehicle emergency brake, guiding system can be planned again
Go out the feasible vehicle pose that is directed and adjust route.It is directed vehicle Online simulated routes safe range infeasible with map
51c after recessed region overlap, vehicle guides cloud platform to send brake instruction 52 to being directed vehicle, and carries out weight to being directed vehicle
Newly carry out vehicle location 53.After vehicle completion positioning is directed, retriggered pilotless automobile Entrance guiding system
System 54.
It is that triggering situation is to be directed vehicle safe range is partly or entirely weighed in the same time system prediction more shown in Fig. 5 d
Folded interrupt processing flow.Guiding system prediction goes out, and is directed vehicle safe range at a time more and partly or entirely weighs
Folded 51d.Now, illustrate that multiple is directed vehicle and is carved with risk of collision at this moment.The triggering situation is specifically divided into：First, to quilt more
When the suggestion travel path and controlled output aim parameter for guiding vehicle are resolved, vehicle guiding cloud platform does not consider this position
Vehicle is preferentially by sequence constraint, it is necessary to course and controlled output aim parameter that vehicle is overlapped to safe range are coordinated
Planning；2nd, when vehicle guiding cloud platform is resolved more to the suggestion travel path and controlled output aim parameter that are directed vehicle,
Optimal result is present in the same time with position safe range overlap；3rd, when being directed vehicle to multiple and carrying out online simulation, detection
Go out multiple and be directed vehicle and safe range overlapping phenomenon in the same time occur in same position.
After being directed vehicle more system prediction safe range partly or entirely overlapping 51d in the same time, vehicle guiding cloud platform
Send brake instruction 52 to being directed vehicle, and according to be directed vehicle march to path at safe range lap position away from
From, determine many cars pass through priority 53d.According to preferentially by level, to each be directed vehicle successively retriggered nobody drive
Sail Car Park Entrance guiding system 54d.Each is directed the vehicle triggered time, and (M can be for 5-15, preferably at intervals of M seconds
10).Consider preferential by constraint, suggestion travel path and controlled output aim parameter to each vehicle resolve 55d again.
It is that the state of a control information for being directed vehicle is lost shown in Fig. 5 e, causes guiding system to complete closed loop control
System, online simulation step, or cause guiding systematic error excessive.Now, system trigger interrupt processing step.Vehicle guiding cloud is put down
Platform sends brake instruction 52, retriggered pilotless automobile Entrance guiding system 54 to being directed vehicle.
Fig. 6 is equipment interaction block diagram at pilotless automobile Entrance guiding system end.It is nothing shown in Fig. 6 a
Key components at people's driving Entrance guiding system end, wherein 61a represents vehicle guiding cloud platform, 62a
Expression be directed vehicle, 63a represent parking lot banister, 64a represent image information collecting equipment, 65a represent vehicle stop line,
66a represents parking client's mobile interchange client.For pilotless automobile Entrance guides system end shown in Fig. 6 b
Place's equipment interaction diagrams, also for the system finally terminates flow.
It is directed vehicle and stops at vehicle stop line region 61b at Entrance, vehicle stop line region refers to vehicle
Stop line lock side a long way.Image information collecting equipment 64a collections are directed vehicle pictures, and vehicle pictures are transferred into vehicle
Guiding cloud platform 62b.Vehicle pictures content must be included：License board information, car colouring information, logo information, car appearance information.Vehicle
Guiding cloud platform transmission vehicle pictures give parking client's movement interaction client 63b.Client confirms to information above
64b, the associated documents in parking lot are entered in this, as guiding vehicle.Banister is opened, and guiding terminates 65b.
Fig. 7 show the pose adjustment stream for being directed vehicle at pilotless automobile Entrance guiding system end
Cheng Tu.Vehicle guides the suggestion path that cloud platform guides cloud platform to provide on the online simulation positional distance vehicle for being directed vehicle
71 when guiding the distance of terminal to be less than threshold value, this threshold value can be adjusted according to actual conditions, it is proposed that threshold value is 5m.Now,
Pilotless automobile Entrance guiding system starts termination process.It is directed vehicle and obtains pose and state of a control information
72, including：It is directed the real-time high-precision location information 721 of vehicle；It is directed the real-time control status information 722 of vehicle；Together
When, acquisition is directed vehicle on-board image information, and starts to recognize terminated line.Pose and control are obtained using vehicle is directed
Status information 72, real-time adjustment is directed vehicle pose 73.Pose should be after adjustment：Vehicle towards banister is directed, is rested in
Stop line lock side a long way, during parking headstock with a distance from stop line L meters (L can be 0.3-1.0, preferably 0.5) within, do not press
Stop line.Terminate in the adjustment of vehicle pose, complete all guiding outputs, vehicle guiding cloud platform sends cutoff command 74.Guiding
System is reaffirmed and is directed vehicle-state 75.Now, pilotless automobile Entrance guiding system sets into destination county
Standby interaction flow 76.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
Good embodiment has been described in detail to the present invention, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent, and without deviating from the objective and scope of technical solution of the present invention, it all should cover at this
In the middle of the right of invention.
Claims (10)
1. a kind of pilotless automobile Entrance guides system, it is characterised in that：Draw including mobile interchange client, vehicle
Lead cloud platform, located at being directed the board units of vehicle, the banister at Entrance and image information collecting equipment；
The mobile interchange client is used to send reservation instruction and receive to vehicle guiding cloud platform to be put down from vehicle guiding cloud
The feedback information of platform；
Vehicle guiding cloud platform include for store platform data data storage element, for undertaking phase in bootup process
Close data operation Data Computation Unit, for undertaking cloud platform and being directed between vehicle, mobile interchange client, internet
And between cloud platform each unit real-time communication interaction communication unit and the door for controlling banister and image information collecting equipment
Access control system control unit；
The data storage element includes HAD grades of map information data module, map association visual signature data module, vehicle letter
Breath data module, suggestion path of navigation data module, suggestion wagon control target output data storage module, mobile unit shape
State detection data module, Parking management data module, wagon control variable feedback measurement data module and vehicle are real-time
Location data；Wherein, the HAD grades of map information data module and map association visual signature data module are stored for vehicle
Positioning, path of navigation planning and vehicle travel the data of online simulation；The vehicle information data module is used to store vehicle ginseng
The data of number information；What the suggestion path of navigation data module storage platform was given is directed vehicle from designated area to parking
The data of the path of navigation of field porch parking area；The suggestion wagon control target output data storage module storage is flat
Platform is to being directed the data of suggestion output result given after vehicle traveling controlled quentity controlled variable is resolved；The mobile unit state
Detection data module stores the data of board units working condition；Stop in the Parking management data module storage parking lot
The data of car management；The wagon control variable feedback measurement data module storage feeds back to platform by vehicle-state testing equipment
Reality output control measurement data and be directed the data of wagon control state estimation；The vehicle positions number in real time
The data of the location information of vehicle are directed according to module storage；
The Data Computation Unit includes vehicle localization module, path of navigation scale block, suggestion wagon control target output meter
Calculate module, wagon control state estimation module, the real-time correcting module of boot parameter and guiding system operation step judge module；Its
In, the vehicle localization module is used for according to HAD grades of cartographic information, map association visual signature information and board units transmission
Picture carries out pose calculating；The path of navigation planning module is used for according to vehicle pose, HAD grades of cartographic information and guiding eventually
Only parking position information provides the optimal travel path of vehicle, and when platform is guided to the vehicle of more than two, to each
The course and traveling time of individual vehicle are ranked coordination；The suggestion wagon control target output computing module is used
Information of vehicles, vehicle traveling suggestion path, vehicle dynamic model, vehicle kinematics model and economic combustion are directed in basis
Oiliness constraint calculates wagon control target output；The wagon control state estimation module is used to be measured according to reality output
Value is estimated being directed vehicle-state；The real-time correcting module of boot parameter is used for basis and is directed vehicle-state prison
Data are surveyed, vehicle real-time status estimated data is directed, is directed vehicle real-time positioning information to being directed vehicle traveling suggestion
Path, be directed vehicle-state, be directed wagon control suggestion output aim parameter corrected in real time；The guiding system operation
Step judge module is used to carry out the actual state of a control of vehicle online simulation, and to guiding system trigger condition, interruption at
Manage bar part, end condition, Entrance IMAQ condition, Entrance banister Switching Condition are judged；
The communication unit includes System-Internet communication units, System-vehicle communication units and intercommunication
Unit；Wherein, the System-Internet communication units are used to be communicated between Internet；The System-
Vehicle communication units are used for and are directed to carry out information communication between vehicle；The intercom unit is used to complete platform
Internal data is called and facility information is interacted；
The board units include Vehicle-system communication units, vehicle-mounted ECU, control unit and vehicle data collection list
Unit；Wherein, the Vehicle-system communication units are interacted for carrying out communication between vehicle guiding cloud platform；The car
ECU is carried to be connected with Vehicle-system communication units；Described control unit is used to perform vehicle guiding output, and Real-time Feedback
Reality output amount；The vehicle data collection unit is used for collection vehicle speed information and vehicle-mounted camera image information；
Described image information collecting device is directed vehicle pictures for collection, and vehicle pictures are transferred into vehicle guiding cloud put down
Platform；The vehicle guiding cloud platform transmits banister after vehicle pictures confirm to mobile interchange client, client to information
Open.
2. a kind of pilotless automobile Entrance bootstrap technique, it is characterised in that comprise the following steps：
P1：Guiding system trigger；
P2：Vehicle guiding cloud platform carries out vehicle original state confirmation to being directed vehicle；
P3：Vehicle control parameters are calculated；
P4：Wagon control is performed, while vehicle guides cloud platform to travel vehicle carries out online simulation；
P5：Interrupt operation is carried out when interrupt condition is triggered, next step is otherwise carried out；
P6：Reach termination condition, escape leading.
3. people according to claim 2 driving Entrance bootstrap technique, it is characterised in that step P1 includes
Hereinafter trigger step：
P1-1：Client is preengage：It is intended to parked vehicle and enters pilotless automobile Entrance guiding system designated area, parking
Client opens the unmanned pattern for being intended to parked vehicle, and parking client guides cloud platform by mobile interchange client to vehicle
Reserve requests are sent, vehicle guiding cloud platform receives reserve requests information, is intended to parked vehicle type information and parking client's body
Part information；
P1-2：Guiding cloud system determines whether parking stall：Vehicle guides the desire parked vehicle that cloud platform is provided according to parking client
Type information, compares parking position management data, determines whether to meet the parking stall of requirement of berthing；If berthed without satisfaction
It is required that parking stall, then do not trigger entrance guiding system；Feedback of the information extremely parking client's mobile interchange client；If vehicle draws
Lead cloud platform and search out the parking stall for meeting vehicle parking requirement, then carry out next step；
P1-3：Judge whether System-vehicle interactions are normal：Vehicle guides cloud platform and is intended to parked vehicle carries out communication friendship
Mutually；First, with client identity information as interactive key of stopping, vehicle guiding cloud platform carries out authentication with parked vehicle is intended to,
Define interactive authority；Then, vehicle guiding cloud platform carries out communication test with parked vehicle is intended to, and test is tested after passing through and shown
System-vehicle interactions are normal, carry out next step；It is still obstructed after trial n times if interaction is obstructed, then
Entrance guiding system, feedback of the information to client's mobile interchange client of stopping are not triggered.
P1-4：Transmission vehicle-mounted camera data：Desire parked vehicle is surrendered vehicle data collection unit and is total to vehicle guiding cloud platform
Control authority is enjoyed, and transmits vehicle-mounted camera acquired image information to vehicle and guide cloud platform；
P1-5：Vehicle high-precision is positioned：Vehicle guides cloud platform to being intended to parked vehicle vehicle-mounted camera acquired image information
Visual signature is extracted, it is associated into visual signature data with map and is contrasted, so as to carry out high accuracy positioning；
P1-6：Judge whether vehicle enters body of a map or chart：Vehicle guiding cloud platform is calculated and is intended to parked vehicle location information, is compared
HAD grades of map information data, judges to be intended to whether parked vehicle enters in HAD grades of map coverage of collection in advance；If be intended to
Parked vehicle comes into body of a map or chart, then carry out next step；Otherwise, entrance guiding system is not triggered, and feedback of the information is to stopping
Car client's mobile interchange client.
P1-7：Transmission board units information：Vehicle guiding cloud platform sends the inspection request of board units information, is intended to parked vehicle and connects
Asked, transmission includes the board units information of board units type and the running status of the board units；
P1-8：Judge whether vehicle on-board unit meets condition：Vehicle guides cloud platform to being intended to the vehicle-mounted list that parked vehicle is provided
Metamessage is tested comparison, if vehicle guiding cloud platform judges that being intended to parked vehicle meets pilotless automobile by comparing
Board units condition necessary to Entrance guiding system operation, then trigger the system；If being intended to what parked vehicle was provided
Board units type information is unsatisfactory for requiring that do not trigger entrance guiding system then, feedback of the information is objective to the client's mobile interchange that stops
Family end.
4. people according to claim 3 driving Entrance bootstrap technique, it is characterised in that step P2 includes
Following steps：
P2-1：Board units state confirmation：Board units state of the vehicle guiding cloud platform again to being directed vehicle is carried out really
Recognize, if being unsatisfactory for pilotless automobile Entrance guiding system operation conditions, state tune is sent to vehicle is directed
Whole request, and reaffirm；
P2-2：Information of vehicles confirms：Vehicle guides cloud platform to being directed kinetic model information, the kinematics model letter of vehicle
Breath, vehicle parameter information, type of vehicle classification information, multiple needed for wagon control are directed priority of the car by same position
Constraint information is confirmed；
P2-3：The initial pose of vehicle confirms：Vehicle guides cloud platform by HAD grades of map information data:Map association vision is special
Levy data and be directed the view data of vehicle on-board camera collection, carry out high accuracy positioning and calculate to being directed vehicle
It is directed the initialization posture of vehicle.
5. people according to claim 4 driving Entrance bootstrap technique, it is characterised in that step P3 includes
Below the step of carrying out side by side：
P3-1：Vehicle guides cloud platform according to vehicle initialization pose is directed, and its travel path is planned, Bing Jianggai roads
Footpath is transferred to and is directed vehicle；Vehicle guides cloud platform according to vehicle dynamic models, vehicle movement model information, wagon control institute
Need vehicle parameter information, type of vehicle classification information, it is multiple be directed car by the priority restrictions information of same position and
Path planning, calculates wagon control suggestion output aim parameter, and the suggestion output quantity is transferred to is directed vehicle；
P3-2：Vehicle guiding cloud platform is associated and visual signature data and is directed according to vehicle initialization pose, map is directed
The view data of vehicle on-board camera collection, real-time high-precision positioning is carried out to being directed vehicle；
P3-3：Be directed vehicle according to be directed vehicle initialization pose, information of vehicles, suggestion path, suggestion control targe amount,
Vehicle-state feedback information, actual control is carried out, while the actual control measurement that will be directed vehicle feeds back to vehicle and draws
Cloud platform is led, vehicle guide platform is according to the actual control measurement real-time estimation vehicle-state for being directed vehicle feedback.
6. people according to claim 4 driving Entrance bootstrap technique, it is characterised in that step P3 and step
It is further comprising the steps of between P4：Vehicle guides cloud platform to being directed vehicle high-precision location information, car status information, building
View routing information, suggestion control targe amount information carry out real-time update, amendment.
7. people according to claim 5 driving Entrance bootstrap technique, it is characterised in that in step P5
Disconnected operation includes following arranged side by side the step of carry out：
P5-1：When vehicle speed is directed more than thousand ms/h of K, vehicle guiding cloud platform sends brake to being directed vehicle
Instruction, and carry out re-starting vehicle location to being directed vehicle；Be directed vehicle complete positioning after, retriggered nobody drive
Sail Car Park Entrance guiding system；
P5-2：When System-Vehicle communicating interrupts, packet loss is excessive causes pilotless automobile Entrance to draw for communication
When guiding systems cannot proceed, vehicle guiding cloud platform sends brake instruction to being directed vehicle, and re-starts System-
Vehicle communication checks confirm；After the confirmation of System-vehicle communication checks, retriggered pilotless automobile parking lot
Entrance guides system；
P5-3：When be directed vehicle Online simulated routes safe range with map can not travel zone it is Chong Die after, vehicle draws
Lead cloud platform and send brake instruction to being directed vehicle, and carry out re-starting vehicle location to being directed vehicle；It is being directed
After vehicle completes positioning, retriggered pilotless automobile Entrance guiding system；
P5-4：Many of system prediction be directed vehicle in the same time safe range partly or entirely overlap after, vehicle guiding cloud platform
Brake instruction is sent to being directed vehicle, and march to path distance at safe range lap position according to vehicle is directed,
Determine that many cars pass through priority；According to level is preferentially passed through, vehicle retriggered pilotless automobile successively is directed to each
Entrance guides system；Each was directed the vehicle triggered time at intervals of M seconds；To the suggestion travel path of each vehicle and
Controlled output aim parameter is resolved again；
P5-5：When the state of a control information for being directed vehicle is lost, guiding system is caused to complete closed-loop control, online simulation
During step, vehicle guiding cloud platform sends brake instruction, retriggered pilotless automobile Entrance to being directed vehicle
Guiding system.
8. people according to claim 7 driving Entrance bootstrap technique, it is characterised in that be in step P6
System terminates operation and comprises the following steps：
P6-1：It is directed vehicle and stops at vehicle stop line region at Entrance；
P6-2：The collection of image information collecting equipment is directed vehicle pictures, and vehicle pictures are transferred into vehicle guiding cloud platform；
P6-3：Vehicle guiding cloud platform transmission vehicle pictures give parking client's movement interaction client；
P6-4：Client confirms to information above, in this, as the associated documents for guiding vehicle to enter parking lot；
P6-5：Banister is opened, and guiding terminates.
9. people according to claim 8 driving Entrance bootstrap technique, it is characterised in that step P6-1 it
It is preceding further comprising the steps of：
P6-0：Pose is adjusted：Vehicle guides cloud platform to guide cloud platform to the online simulation positional distance vehicle for being directed vehicle
When the distance of the suggestion Route guiding terminal for being given is less than threshold value, acquisition is directed vehicle pose and state of a control information；Profit
Be directed vehicle pose with information above real-time adjustment, make to be directed vehicle towards banister, rest in stop line lock side a long way,
During parking headstock with a distance from stop line within L meters；When the adjustment of vehicle pose terminates, all guiding outputs, vehicle guiding are completed
Cloud platform sends cutoff command.
10. people according to claim 9 driving Entrance bootstrap technique, it is characterised in that：The N is 5-
10, the M are 5-15, and the K is 3-10, and the L is 0.3-1.0.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710193866.2A CN106781688B (en) | 2017-03-28 | 2017-03-28 | Pilotless automobile Entrance guides system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710193866.2A CN106781688B (en) | 2017-03-28 | 2017-03-28 | Pilotless automobile Entrance guides system and method |
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| Publication Number | Publication Date |
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| CN107390689A (en) * | 2017-07-21 | 2017-11-24 | 北京图森未来科技有限公司 | Realize system and method, the relevant device of vehicle automatic transportation |
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| CN108090435B (en) * | 2017-12-13 | 2022-01-25 | 深圳市航盛电子股份有限公司 | Parking available area identification method, system and medium |
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| CN108961813A (en) * | 2018-06-22 | 2018-12-07 | 华北水利水电大学 | A kind of novel intelligent parking lot |
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| DE102020121139A1 (en) | 2020-08-11 | 2022-02-17 | Ford Global Technologies, Llc | Method for operating a motor vehicle |
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| CN113223326B (en) * | 2021-04-28 | 2022-11-11 | 上海电科智能系统股份有限公司 | Multi-vehicle multi-control multi-source low-speed auxiliary parking system based on road side |
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