CN108482366A - Valet parking system and method based on Vehicular automatic driving - Google Patents
Valet parking system and method based on Vehicular automatic driving Download PDFInfo
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- CN108482366A CN108482366A CN201810245529.8A CN201810245529A CN108482366A CN 108482366 A CN108482366 A CN 108482366A CN 201810245529 A CN201810245529 A CN 201810245529A CN 108482366 A CN108482366 A CN 108482366A
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- 238000000034 method Methods 0.000 title claims abstract description 29
- 238000004891 communication Methods 0.000 claims abstract description 49
- 230000004927 fusion Effects 0.000 claims description 21
- 230000008447 perception Effects 0.000 claims description 19
- 230000004888 barrier function Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 10
- 230000033001 locomotion Effects 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 6
- 230000004044 response Effects 0.000 claims description 6
- 238000002604 ultrasonography Methods 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 230000006870 function Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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- 230000001419 dependent effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
- H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
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- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of valet parking system and method based on Vehicular automatic driving, including policy of Central Government system, instant positioning system, context aware systems, map navigation system and communication module, the context aware systems are connect with instant positioning system and policy of Central Government system respectively, instant positioning system is connect with map navigation system, and map navigation system is connect with policy of Central Government system and communication module respectively.The present invention can also realize in the environment of vehicle can not receive GPS signal and moor into or moor out function automatically.
Description
Technical field
The invention belongs to automobile automatic parking technical fields, and in particular to a kind of valet parking based on Vehicular automatic driving
System and method.
Background technology
There are two types of directions of parking at present, one is utilizing vehicle sensing system itself to realize, have positioning, navigation, determine
The abilities such as plan planning；Another is to rely on managing system of car parking, and sending control instruction from high in the clouds guides vehicle parking.
But direction two is too dependent on the infrastructure in parking lot, and there are the high requirements to vehicle simultaneously of park construction input
The level in direction one is also reached in control program, therefore direction one is the mainstream studied at present.
Invention content
The object of the present invention is to provide a kind of valet parking system and method based on Vehicular automatic driving, vehicle can not
In the environment of receiving GPS signal, it can also realize and moor into or moor out function automatically.
Valet parking system of the present invention based on Vehicular automatic driving, including policy of Central Government system, positioning immediately
System, context aware systems, map navigation system and communication module, the context aware systems respectively with instant positioning system and
Policy of Central Government system connects, and instant positioning system connect with map navigation system, map navigation system respectively with policy of Central Government system
System is connected with communication module；
The context aware systems include environment sensing Fusion Module, and before being connected respectively with environment sensing Fusion Module
To camera, millimetre-wave radar group, forward direction laser radar, look around camera and ultrasonic radar group；
The communication module is for receiving instruction of parking；
The communication module receive park instruction when, communication module obtains the high-precision map in current parking lot, and will be current
The high-precision map in parking lot imports map navigation system, while the instruction that will park is sent to policy of Central Government system；The environment
Perception Fusion Module receives the perception data of each sensors towards ambient and is merged to initial data, is formed in parking lot
Vehicle, people, traffic sign and characteristic point detection data；The instant positioning system carries out vehicle by the data after fusion
Positioning, and the real-time location information of vehicle is transferred to map navigation system；The map navigation system is knowing current vehicle
Location information after, in conjunction with the high-precision map in current parking lot, complete vehicle parking lot path planning；It determines in the center
Plan system controls vehicle according to the path automatic Pilot cooked up, and the policy of Central Government system obtains in real time during automatic Pilot
Perception data of the context aware systems to vehicle-periphery is taken, the automatic path planning avoidance if meeting barrier；If environment sense
Know that system discovery finds that the parking stall properly stopped, policy of Central Government system control vehicle are parked during automatic Pilot,
If in parking process context aware systems detect to have on the driving path of vehicle has friendship with vehicle relative movement orbit
The case where fork, policy of Central Government system control vehicle and actively avoid；When vehicle completes behavior of parking, policy of Central Government system gives communication mould
Block sends the location information of park completion and parking position.
Further, the communication module moors out instruction for receiving；
The communication module receives when parking instruction, and the map navigation system, which reversely plan to stop, sails out of the road in parking lot
Diameter, policy of Central Government system control vehicle are driven out to parking lot automatically according to the route；The instant positioning system and environment sensing system
System carries out positioning and perception to environment to vehicle in real time, and vehicle is avoided to collide.
Further, the forward direction camera is mounted on the front side of vehicle, for identification the lane line and mark of vehicle front
Board；
The millimetre-wave radar group includes the multiple millimetre-wave radars for the surrounding for being separately mounted to vehicle, can cover vehicle periphery
360 ° of all areas, the obstacle information for detecting vehicle's surroundings；
The forward direction laser radar is mounted on the front side of vehicle, the location information for detecting vehicle front barrier；
The relative position that camera is looked around for detecting parking stall line and vehicle and parking stall line is additionally operable to detection vehicle's surroundings
Obstacle information；
The ultrasonic radar group includes the multiple ultrasonic radars for the surrounding for being separately mounted to vehicle, can cover vehicle periphery
The empty parking stall of 360 ° of all areas, the barrier for detecting vehicle's surroundings, and search.
Further, further include high in the clouds, the communication module obtains instruction of parking from high in the clouds, moors out instruction and currently stop
The high-precision map in parking lot.
Valet parking method of the present invention based on Vehicular automatic driving, using as described in the present invention based on vehicle
The valet parking system of automatic Pilot, method include：
Vehicle enters parking lot from parking lot doorway and parks：
Received in response to the communication module park instruction when, the communication module obtains current parking lot accurately
Figure, and the high-precision map in current parking lot is imported into map navigation system, while the instruction that will park is sent to policy of Central Government system
System；The environment sensing Fusion Module receives the perception data of each sensors towards ambient and is merged to initial data, shape
Vehicle, people, traffic sign in pairs of parking lot（Such as parking stall line, track）And characteristic point（Such as column, Sign Board）Detection
Data；The instant positioning system positions vehicle by the data after fusion, and the real-time location information of vehicle is passed
It is defeated by map navigation system；The map navigation system is after knowing the location information of current vehicle, in conjunction with current parking lot
High-precision map, path planning of the completion vehicle in parking lot；The policy of Central Government system controls vehicle according to the road cooked up
Diameter automatic Pilot, the policy of Central Government system obtain context aware systems to vehicle-periphery in real time during automatic Pilot
Perception data, the automatic path planning avoidance if meeting barrier；If context aware systems discovery is sent out during automatic Pilot
The parking stall now properly stopped, policy of Central Government system control vehicle is parked, if in parking process context aware systems
Detect to have on the driving path of vehicle has the case where intersecting, policy of Central Government system to control vehicle with vehicle relative movement orbit
Actively avoid；When vehicle completes behavior of parking, policy of Central Government system sends out the position of park completion and parking position to communication module
Information.
Further, further include：
Vehicle is driven out to from parking stall and sails out of parking lot：
Received in response to the communication module park instruction when, the map navigation system reversely plan stop sails out of parking lot
Path, policy of Central Government system control vehicle be driven out to parking lot automatically according to the route；The instant positioning system and environment sense
Know that system carries out positioning and perception to environment to vehicle in real time, vehicle is avoided to collide.
Further, the vehicle enters from parking lot doorway during parking lot parks：
After policy of Central Government system sends the location information of park completion and parking position to communication module, the communication module will
The information is uploaded to high in the clouds, and gives the relevant mobile terminal of vehicle and send dead ship condition information and parking position information.
Further, the vehicle is driven out to from parking stall and sails out of in parking lot：
After vehicle is driven out to parking lot and is parked in precalculated position, communication module sends the position where current vehicle by high in the clouds
On to mobile terminal associated with vehicle.
Further, the method on the empty parking stall of searching is：
Parking stall is labeled in the high-precision map in current parking lot, when vehicle enters parking stall area, passes through ultrasound
Wave radar group and the data that camera is perceived are looked around to judge the empty parking stall between vehicle and vehicle.
Further, during driving a vehicle, parking and moor out, the barrier-avoiding method of vehicle is vehicle：
Vehicle using in context aware systems forward direction camera and look around camera along lane line, the Sign Board in garage
It is required that traveling, while thering is the barrier intersected to carry out using the direction of motion of all the sensors pair in context aware systems and vehicle
Evacuation detours.
Beneficial effects of the present invention：It can on the basis of vehicle existing sensor platform, using instant regular technology,
In the environment of can not receive GPS signal, valet parking is completed in conjunction with automated parking system according to regulation route running
Function；It effectively prevents the dependence to high accuracy positioning and underground parking is excessively transformed to adapt to the function of valet parking.
Description of the drawings
Fig. 1 is the functional block diagram of the valet parking system of the present invention based on Vehicular automatic driving；
Fig. 2 is the functional block diagram of context aware systems in the present invention；
In figure：1, policy of Central Government system, 2, instant positioning system, 3, map navigation system, 4, context aware systems, 4a, environment
Perceiving Fusion Module, 4b, forward direction camera, 4c, millimetre-wave radar group, 4e, 4d, forward direction laser radar look around camera, 4f,
Ultrasonic radar group, 5, communication module, 6, high in the clouds.
Specific implementation mode
The invention will be further described below in conjunction with the accompanying drawings.
Valet parking system based on Vehicular automatic driving as shown in Figure 1, including policy of Central Government system 1, positioning immediately
System 2, context aware systems 4, map navigation system 3 and communication module 5；Context aware systems 4 respectively with instant positioning system 2
Connected with policy of Central Government system 1, instant positioning system 2 connect with map navigation system 3, map navigation system 3 respectively with center
Decision system 1 and communication module 5 connect.In the present embodiment, communication module 5 is vehicle-mounted T-BOX.
As shown in Fig. 2, the context aware systems 4 include environment sensing Fusion Module 4a, and respectively with environment sensing
Forward direction camera 4b that Fusion Module 4a is connected, millimetre-wave radar group 4c, forward direction laser radar 4d, camera 4e and super is looked around
Sound radar group 4f.Wherein：
The forward direction camera 4b is mounted on the front side of vehicle, for identification the lane line and Sign Board of vehicle front；Specification trolley
Parking lot track route, coordinate instant positioning system 2.
The millimetre-wave radar group 4c includes the multiple millimetre-wave radars for the surrounding for being separately mounted to vehicle, can cover vehicle
The all areas of 360 ° of surrounding, the obstacle information for detecting vehicle's surroundings；It enables the vehicle to follow or hide sport(s) car
；Millimetre-wave radar may be that instant positioning system 2 provides matched data simultaneously.
The forward direction laser radar 4d is mounted on the front side of vehicle, the location information for detecting vehicle front barrier；
Forward direction laser radar is preceding to the relatively accurate location information of barrier as being capable of providing, to be preceding to camera and millimetre-wave radar
Redundant data is provided to support；Forward direction laser radar is the main sensors of instant positioning system 2 simultaneously, for determining for vehicle itself
Position.
The camera 4e major functions of looking around are the detections for parking stall line, judge the opposite position of vehicle and parking stall line
It sets, and automatic parking function is completed with ultrasonic radar data fusion；In addition, vehicle's surroundings movement can be detected by looking around camera
Obstacle information.
The ultrasonic radar group 4f includes the multiple ultrasonic radars for the surrounding for being separately mounted to vehicle, can cover vehicle
The empty parking stall of all areas of 360 ° of surrounding, the barrier for detecting vehicle's surroundings, and search；Automated parking system master
Want one of sensor.
Instant positioning system 2 is matched before to the detection data and cartographic information of laser radar, other are being merged
Sensor obtains more accurate information to the testing result of same object, provides the positioning accuracy of vehicle.
Cartographic information and the path planning rule that map navigation system 3 is provided according to parking lot, in conjunction with instant positioning system
Related position information, planning comes from the traffic route of vehicle.
Policy of Central Government system 1 is used to coordinate switching of the vehicle in automatic Pilot state and state of parking, by sensing above
Executing agency is controlled after the sensing results decision rule of device to run according to predeterminated target.
The communication module 5 is used to receive park instruction and instruction of parking, and obtains current parking lot accurately
Figure.
In the present embodiment, the valet parking system based on Vehicular automatic driving further includes high in the clouds 6（Or internet）, described
The high-precision map that communication module 5 obtains instruction of parking from high in the clouds 6, moors out instruction and current parking lot.
The operation principle of the present embodiment is as follows：
When the communication module 5 receives instruction of parking（Driver can be sent out by the APP on mobile terminal）When, communication module
5 obtain the high-precision map in current parking lot, and the high-precision map in current parking lot is imported map navigation system 3, simultaneously
The instruction that will park is sent to policy of Central Government system 1；The environment sensing Fusion Module receives the perception of each sensors towards ambient
Data simultaneously merge initial data, form the detection data to vehicle, people, traffic sign and characteristic point in parking lot；Institute
It states instant positioning system 2 to position vehicle by the data after fusion, and the real-time location information of vehicle is transferred to ground
Figure navigation system 3；The map navigation system 3 is after knowing the location information of current vehicle, in conjunction with the high-precision of current parking lot
Spend map, path planning of the completion vehicle in parking lot；The policy of Central Government system 1 control vehicle according to the path cooked up from
Dynamic to drive, the policy of Central Government system 1 obtains context aware systems 4 to vehicle-periphery in real time during automatic Pilot
Perception data, the automatic path planning avoidance if meeting barrier；If the discovery of context aware systems 4 is found during automatic Pilot
The parking stall properly stopped, policy of Central Government system 4 can control vehicle parking, while system mode is switched to automatic parking state
And start to park, if in parking process context aware systems 4 detect have on the driving path of vehicle it is opposite with vehicle
Movement locus has the case where intersection, policy of Central Government system 4 to control vehicle and actively avoid；When vehicle completes behavior of parking, center is determined
Plan system 1 can start to park the location information of completion and parking position to T-BOX, and T-BOX can be uploaded to cloud according to by the information
End 6 simultaneously sends dead ship condition information and parking position information to driver.
When the communication module 5 receives instruction of parking（Driver can be sent out by the APP on mobile terminal）When, it is described
Map navigation system 3 reversely plans that the path in parking lot is sailed out of in parking, and it is automatic according to the route that policy of Central Government system 1 controls vehicle
It is driven out to parking lot；The instant positioning system 2 and context aware systems 4 carry out positioning and perception to environment to vehicle in real time,
Vehicle is avoided to collide.After vehicle is driven out to parking lot and is parked in precalculated position, T-BOX can give high in the clouds 6 to send vehicle automatically
Parking stall, and notify driver that current vehicle position is gone to pick up.
Valet parking method of the present invention based on Vehicular automatic driving, using as described in the present invention based on vehicle
The valet parking system of automatic Pilot, method include：
Vehicle enters parking lot from parking lot doorway and parks：
Received in response to the communication module 5 park instruction when, the communication module 5 obtains current parking lot accurately
Figure, and the high-precision map in current parking lot is imported into map navigation system 3, while the instruction that will park is sent to policy of Central Government system
System 1；The environment sensing Fusion Module receives the perception data of each sensors towards ambient and is merged to initial data, shape
The detection data of vehicle, people, traffic sign and characteristic point in pairs of parking lot；After the instant positioning system 2 is by fusion
Data position vehicle, and the real-time location information of vehicle is transferred to map navigation system 3；The map navigation system
3 after knowing the location information of current vehicle, in conjunction with the high-precision map in current parking lot, path of the completion vehicle in parking lot
Planning；The policy of Central Government system 1 controls vehicle according to the path automatic Pilot cooked up, and the policy of Central Government system 1 is certainly
Perception data of the context aware systems 4 to vehicle-periphery is obtained in real time in dynamic driving procedure, is advised automatically if meeting barrier
Draw path avoidance；If context aware systems 4 find the parking stall for finding properly to stop during automatic Pilot, policy of Central Government system
System 4 control vehicles park, if in parking process context aware systems 4 detect have on the driving path of vehicle with
Vehicle relative movement orbit has the case where intersection, policy of Central Government system 4 to control vehicle and actively avoid；When vehicle completes row of parking
For policy of Central Government system 1 sends out the location information of park completion and parking position to communication module 5.In policy of Central Government system 1 to logical
After letter module 5 sends the location information of park completion and parking position, which is uploaded to high in the clouds 6 by the communication module 5, and
It gives the relevant mobile terminal of vehicle and sends dead ship condition information and parking position information.
Vehicle is driven out to from parking stall and sails out of parking lot：
Received in response to the communication module 5 park instruction when, the map navigation system 3 reversely planning parking sails out of parking
The path of field, policy of Central Government system 1 control vehicle and are driven out to parking lot automatically according to the route；The instant positioning system 2 and ring
Border sensory perceptual system 4 carries out positioning and perception to environment to vehicle in real time, and vehicle is avoided to collide.It is driven out to parking lot in vehicle
And after being parked in precalculated position, the position where current vehicle is sent to shifting associated with vehicle by communication module 5 by high in the clouds 6
In dynamic terminal.
In the present embodiment, the method for finding empty parking stall is：
Parking stall is labeled in the high-precision map in current parking lot, when vehicle enters parking stall area, passes through ultrasound
Wave radar group and the data that camera is perceived are looked around to judge the empty parking stall between vehicle and vehicle.
In the present embodiment, during driving a vehicle, parking and moor out, the barrier-avoiding method of vehicle is vehicle：
Vehicle using in context aware systems forward direction camera and look around camera along lane line, the Sign Board in garage
It is required that traveling, while thering is the barrier intersected to carry out using the direction of motion of all the sensors pair in context aware systems and vehicle
Evacuation detours.
Claims (10)
1. a kind of valet parking system based on Vehicular automatic driving, which is characterized in that including policy of Central Government system（1）, immediately
Positioning system（2）, context aware systems（4）, map navigation system（3）And communication module（5）, the context aware systems（4）
Respectively with instant positioning system（2）With policy of Central Government system（1）Connection, instant positioning system（2）With map navigation system（3）Even
It connects, map navigation system（3）Respectively with policy of Central Government system（1）And communication module（5）Connection；
The context aware systems（4）Including environment sensing Fusion Module（4a）, and respectively with environment sensing Fusion Module
（4a）The forward direction camera being connected（4b）, millimetre-wave radar group（4c）, forward direction laser radar（4d）, look around camera（4e）With
Ultrasonic radar group（4f）；
The communication module（5）For receiving instruction of parking；
The communication module（5）Receive park instruction when, communication module（5）The high-precision map in current parking lot is obtained, and
The high-precision map in current parking lot is imported into map navigation system（3）, while the instruction that will park is sent to policy of Central Government system
（1）；The environment sensing Fusion Module receives the perception data of each sensors towards ambient and is merged to initial data, shape
The detection data of vehicle, people, traffic sign and characteristic point in pairs of parking lot；The instant positioning system（2）After fusion
Data vehicle is positioned, and the real-time location information of vehicle is transferred to map navigation system（3）；The digital map navigation
System（3）After knowing the location information of current vehicle, in conjunction with the high-precision map in current parking lot, vehicle is completed in parking lot
Path planning；The policy of Central Government system（1）Vehicle is controlled according to the path automatic Pilot cooked up, the policy of Central Government system
System（1）Context aware systems are obtained in real time during automatic Pilot（4）To the perception data of vehicle-periphery, if meeting obstacle
Object then automatic path planning avoidance；If context aware systems（4）It was found that finding the parking properly stopped during automatic Pilot
Position, policy of Central Government system（4）Control vehicle is parked, if in parking process context aware systems（4）It detects in vehicle
Driving path on have and have the case where intersecting, policy of Central Government system with vehicle relative movement orbit（4）Control vehicle is actively kept away
It allows；When vehicle completes behavior of parking, policy of Central Government system（1）To communication module（5）Send the position of park completion and parking position
Confidence ceases.
2. the valet parking system according to claim 1 based on Vehicular automatic driving, it is characterised in that：The communication mould
Block（5）Instruction is moored out for receiving；
The communication module（5）Receive park instruction when, the map navigation system（3）Parking lot is sailed out of in reversed planning parking
Path, policy of Central Government system（1）Control vehicle is driven out to parking lot automatically according to the route；The instant positioning system（2）With
Context aware systems（4）Positioning and perception to environment are carried out to vehicle in real time, vehicle is avoided to collide.
3. the valet parking system according to claim 1 or 2 based on Vehicular automatic driving, it is characterised in that：
The forward direction camera is mounted on the front side of vehicle, for identification the lane line and Sign Board of vehicle front；
The millimetre-wave radar group includes the multiple millimetre-wave radars for the surrounding for being separately mounted to vehicle, can cover vehicle periphery
360 ° of all areas, the obstacle information for detecting vehicle's surroundings；
The forward direction laser radar is mounted on the front side of vehicle, the location information for detecting vehicle front barrier；
The relative position that camera is looked around for detecting parking stall line and vehicle and parking stall line is additionally operable to detection vehicle's surroundings
Obstacle information；
The ultrasonic radar group includes the multiple ultrasonic radars for the surrounding for being separately mounted to vehicle, can cover vehicle periphery
The empty parking stall of 360 ° of all areas, the barrier for detecting vehicle's surroundings, and search.
4. the valet parking system according to claim 2 based on Vehicular automatic driving, it is characterised in that：Further include high in the clouds
（6）, the communication module（5）From high in the clouds（6）It is upper to obtain instruction of parking, moor out instruction and current parking lot accurately
Figure.
5. a kind of valet parking method based on Vehicular automatic driving, it is characterised in that：Using any institute of such as Claims 1-4
The valet parking system based on Vehicular automatic driving stated, method include：
Vehicle enters parking lot from parking lot doorway and parks：
In response to the communication module（5）Receive park instruction when, the communication module（5）Obtain the high-precision of current parking lot
Map is spent, and the high-precision map in current parking lot is imported into map navigation system（3）, while the instruction that will park is sent to center
Decision system（1）；The environment sensing Fusion Module receive the perception data of each sensors towards ambient and to initial data into
Row fusion, forms the detection data to vehicle, people, traffic sign and characteristic point in parking lot；The instant positioning system（2）It is logical
The data crossed after fusion position vehicle, and the real-time location information of vehicle is transferred to map navigation system（3）；It is described
Map navigation system（3）After knowing the location information of current vehicle, in conjunction with the high-precision map in current parking lot, vehicle is completed
Path planning in parking lot；The policy of Central Government system（1）Vehicle is controlled according to the path automatic Pilot cooked up, in described
Entreat decision system（1）Context aware systems are obtained in real time during automatic Pilot（4）To the perception data of vehicle-periphery,
The automatic path planning avoidance if meeting barrier；If context aware systems（4）It was found that finding properly to stop during automatic Pilot
The parking stall of vehicle, policy of Central Government system（4）Control vehicle is parked, if in parking process context aware systems（4）Inspection
It measures to have on the driving path of vehicle and has the case where intersecting, policy of Central Government system with vehicle relative movement orbit（4）Control vehicle
Actively avoid；When vehicle completes behavior of parking, policy of Central Government system（1）To communication module（5）Hair, which is parked, to be completed and parks
The location information of position.
6. the valet parking method according to claim 5 based on Vehicular automatic driving, which is characterized in that further include：
Vehicle is driven out to from parking stall and sails out of parking lot：
In response to the communication module（5）Receive park instruction when, the map navigation system（3）Reversed planning parking is sailed out of
The path in parking lot, policy of Central Government system（1）Control vehicle is driven out to parking lot automatically according to the route；The instant positioning system
（2）And context aware systems（4）Positioning and perception to environment are carried out to vehicle in real time, vehicle is avoided to collide.
7. the valet parking method according to claim 6 based on Vehicular automatic driving, it is characterised in that：The vehicle from
Parking lot doorway enters during parking lot parks：
In policy of Central Government system（1）To communication module（5）After the location information for sending park completion and parking position, the communication
Module（5）The information is uploaded to high in the clouds（6）, and give the relevant mobile terminal of vehicle and send dead ship condition information and parking stall
Confidence ceases.
8. the valet parking method according to claim 7 based on Vehicular automatic driving, it is characterised in that：The vehicle from
Parking stall is driven out to and sails out of in parking lot：
After vehicle is driven out to parking lot and is parked in precalculated position, communication module（5）Position where current vehicle is passed through into high in the clouds
（6）It is sent on mobile terminal associated with vehicle.
9. according to any valet parking method based on Vehicular automatic driving of claim 5 to 8, it is characterised in that：It seeks
The method for looking for sky parking stall is：
Parking stall is labeled in the high-precision map in current parking lot, when vehicle enters parking stall area, passes through ultrasound
Wave radar group and the data that camera is perceived are looked around to judge the empty parking stall between vehicle and vehicle.
10. according to any valet parking method based on Vehicular automatic driving of claim 6 to 8, it is characterised in that：Vehicle
During driving a vehicle, parking and moor out, the barrier-avoiding method of vehicle is：
Vehicle using in context aware systems forward direction camera and look around camera along lane line, the Sign Board in garage
It is required that traveling, while thering is the barrier intersected to carry out using the direction of motion of all the sensors pair in context aware systems and vehicle
Evacuation detours.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810245529.8A CN108482366A (en) | 2018-03-23 | 2018-03-23 | Valet parking system and method based on Vehicular automatic driving |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810245529.8A CN108482366A (en) | 2018-03-23 | 2018-03-23 | Valet parking system and method based on Vehicular automatic driving |
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| Publication Number | Publication Date |
|---|---|
| CN108482366A true CN108482366A (en) | 2018-09-04 |
Family
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| CN201810245529.8A Pending CN108482366A (en) | 2018-03-23 | 2018-03-23 | Valet parking system and method based on Vehicular automatic driving |
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Application publication date: 20180904 |