CN108819939B - Automatic parking system - Google Patents
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- CN108819939B CN108819939B CN201810738038.7A CN201810738038A CN108819939B CN 108819939 B CN108819939 B CN 108819939B CN 201810738038 A CN201810738038 A CN 201810738038A CN 108819939 B CN108819939 B CN 108819939B
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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
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Abstract
The disclosure provides an automatic parking system, and belongs to the technical field of automobiles. The automatic parking system comprises a vehicle to be parked, a processing end and a detection end arranged in a parking lot, wherein the processing end is electrically connected with the detection end; the processing end is used for: receiving a parking request, wherein the parking request carries a vehicle identifier of the vehicle to be parked and a current position of the vehicle to be parked; determining a target parking space from parking space information sent by a detection end in a parking lot where the vehicle to be parked is located based on the current position of the vehicle to be parked; determining a parking route based on the current position of the vehicle to be parked and the target parking space; and sending the parking route to the vehicle to be parked so as to enable the vehicle to be parked to carry out parking processing. By adopting the method and the system, the vehicle to be parked does not need to realize the parking process through the sensor arranged on the vehicle, and the manufacturing cost is obviously saved.
Description
Technical Field
The disclosure relates to the technical field of automobiles, in particular to an automatic parking system.
Background
With the improvement of the social and economic level, the automobile becomes an indispensable vehicle in the life of people, and the functions of the automobile are more and more.
For example, more and more automobiles are equipped with a parking assistance function to assist a driver in a parking process. The parking assistance function of a vehicle is realized by a parking system, which is a system composed of a series of environmental sensors (e.g., radar, camera, etc.), and a control unit of the vehicle executes a parking process in cooperation with a driver based on data acquired from the sensors.
In implementing the present disclosure, the inventors found that the related art has at least the following problems:
current parking systems are comprised of a large number of sensors mounted on the vehicle, which increases the manufacturing cost of the vehicle.
Disclosure of Invention
The disclosed embodiments provide an automatic parking system to solve the problems of the related art. The technical scheme is as follows:
according to the embodiment of the disclosure, an automatic parking system is provided, which comprises a vehicle to be parked, a processing end and a detection end arranged in a parking lot, wherein the processing end is electrically connected with the detection end; the processing end is used for:
receiving a parking request, wherein the parking request carries a vehicle identifier of the vehicle to be parked and a current position of the vehicle to be parked;
determining a target parking space from parking space information sent by a detection end in a parking lot where the vehicle to be parked is located based on the current position of the vehicle to be parked;
determining a parking route based on the current position of the vehicle to be parked and the target parking space;
and sending the parking route to the vehicle to be parked so as to enable the vehicle to be parked to carry out parking processing.
Optionally, the parking route includes a first line from a current position of the vehicle to be parked to a parking position of the target parking space, and a parking route for the vehicle to be parked to park in the target parking space from the parking position.
Optionally, the processing end is configured to determine a parking route according to the shape and size of the target parking space.
Optionally, the automatic parking system further includes a vehicle to be driven out, and the processing end is further configured to:
receiving an exit request, wherein the exit request carries a vehicle identifier and a destination position of the vehicle to be exited;
determining a current parking space where the vehicle to be driven out is located from parking space information sent by a detection end of a parking lot where the vehicle to be driven out is located on the basis of the vehicle identification of the vehicle to be driven out;
determining an exit route based on the current parking space where the vehicle to be exited is located and the destination position;
and sending the exit route to the vehicle to be exited so as to enable the vehicle to be exited to carry out exit processing.
Optionally, the exit route includes a parking route in which the vehicle to be exited is parked from the current parking space and a second travel route in which the vehicle to be exited is parked from the parked position of the current parking space to the destination position.
Optionally, the processing end is configured to determine a parking route according to a shape and a size of a current parking space where the vehicle to be driven out is located.
The technical scheme provided by the embodiment of the invention has the beneficial effects that at least:
in the implementation of the present disclosure, the vehicle to be parked in the automatic parking system can realize automatic parking through the processing terminal and the detection terminal arranged in the parking lot, and the parking process is not required to be realized through the sensor mounted on the vehicle.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a schematic flow chart illustrating a parking process performed by a parking system according to an embodiment of the present disclosure;
fig. 2 is a schematic view of a parking system for performing a parking process according to an embodiment of the present disclosure;
fig. 3 is a schematic flow chart of a parking process performed by a parking system according to an embodiment of the present disclosure;
fig. 4 is a schematic view of a parking process performed by a parking system according to an embodiment of the present disclosure.
Detailed Description
To make the objects, technical solutions and advantages of the present disclosure more apparent, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.
The disclosed embodiment provides an automatic parking system, which may include a vehicle (including a vehicle to be parked and a vehicle to be driven out that is stopped in a parking space), a terminal (such as a mobile phone, a self-service parking device in a parking lot, and the like), a processing end, and a detection end arranged in the parking lot, wherein the processing end is electrically connected with the vehicle, the terminal, and the detection end, respectively, and the electrical connection may be wireless, for example, the processing end is wirelessly connected with the vehicle, and the processing end, the detection end, and the terminal may be wired or wireless. The vehicle parking process can be realized by the mutual cooperation of the vehicle, the terminal, the processing terminal and the detection terminal. In this embodiment, the unmanned state may be taken as an example, and in the case of cooperation by the driver, the driver may perform corresponding operations according to a prompt sent by an in-vehicle terminal of the vehicle.
In implementation, the processing terminal may be a processing terminal installed in a parking lot, or may be a background server of a vehicle application, and the processing terminal may include a transceiver, a processor, a memory, and other components. The transceiver is used for data transmission with the terminal and the vehicle to be parked, and can receive a parking request, send a parking route to the vehicle to be parked and the like; the transceiver may include WiFi (Wireless-Fidelity) components, antennas, matching circuitry, modems, etc. The processor, which may be a Central Processing Unit (CPU) or the like, may determine a parking route or the like based on the current position of the vehicle to be parked and the target parking space. The Memory may be a Random Access Memory (RAM), a Flash Memory (Flash Memory), or the like, and may be configured to store received data, data required by the processing procedure, data generated in the processing procedure, or the like, such as a parking lot and detection end correspondence table.
The terminal may include components such as a transceiver, processor, memory, and the like. The transceiver may be configured to perform data transmission with the processing end, for example, may send a parking request to the processing end, and the transceiver may include a bluetooth component, a WiFi (Wireless-Fidelity) component, an antenna, a matching circuit, a modem, and the like. The processor, which may be a CPU (Central Processing Unit), may send a parking request to the Processing end when a trigger operation of automatic parking is detected, and the like. The Memory may be a RAM (Random Access Memory), a Flash (Flash Memory), or the like, and may be configured to store received data, data required by the processing procedure, data generated during the processing procedure, or the like.
The terminal may also include input components, display components, audio output components, and the like. The input means may be a touch screen, keyboard, mouse, etc. The audio output component may be a speaker, headphones, or the like.
The terminal may have a system program and an application program installed therein. In the process of using the terminal, the user may use various applications based on different needs of the user, for example, an application having an automatic parking function may be installed in the terminal.
The vehicle may perform data transmission with the processing terminal and the terminal (such as a mobile phone and a self-service parking device in a parking lot) through the antenna configured by the vehicle, and of course, the vehicle may further be provided with a receiver, for example, two receivers are arranged on the roof of the vehicle along the central axis, and the two receivers are used for implementing data transmission with the processing terminal and the terminal.
As shown in fig. 1, the processing end may execute the following flow:
in step 101, a processing terminal receives a parking request, where the parking request carries a vehicle identifier of a vehicle to be parked and a current location of the vehicle to be parked.
In implementation, the parking request received by the processing end may be sent by a vehicle-mounted terminal of the vehicle to be parked, and correspondingly, after the user drives the vehicle to be parked to the parking lot, the application program for automatic parking on the vehicle-mounted terminal may be opened, and the automatic parking button is clicked, so that the vehicle-mounted terminal is triggered to send the parking request to the processing end. The parking request received by the processing terminal may also be sent by a mobile terminal (e.g., a mobile phone or a tablet pc) of the driver, for example, an application program for automatic parking is installed on the mobile terminal of the driver, and the process is the same as that of the vehicle-mounted terminal, and thus, details are not repeated. Another situation that a parking request is sent by a mobile terminal of a driver may be that at least one self-service parking device may be arranged near a lane line in a parking lot, the self-service parking device may be a computer with a touch screen, two-dimensional code information may be displayed on the touch screen, the driver may enter an automatic parking page after scanning with the mobile terminal (such as a mobile phone or a tablet computer), the user inputs information and identification of a vehicle to be parked in the page, such as license plate information, and then the driver clicks an automatic parking key, so that the mobile terminal of the driver may send the parking request to the processing end.
The parking request received by the processing terminal may also be sent by a self-service parking device in the parking lot, and accordingly, a user may input information and an identifier of a vehicle to be parked, such as license plate information, to the self-service parking device through a touch screen of the self-service parking device, and after the self-service parking device obtains the information and the identifier of the vehicle to be parked, the parking request may be sent to the processing terminal. The present embodiment does not limit the terminal from which the parking request received by the processing terminal is received.
In step 102, the processing terminal determines a target parking space from the parking space information sent by the detection terminal in the parking lot where the vehicle to be parked is located, based on the current position of the vehicle to be parked.
In implementation, the detection end in the parking lot may periodically send parking space information in the parking lot to the processing end, where the parking space information may include a parking space, a parking space identifier, an unoccupied identifier, a non-unoccupied identifier, shape and size information of an unoccupied parking space, and the like. If the processing end is arranged in a parking lot where the vehicle to be parked is located, the processing end can directly acquire parking space information from the detection end, and then determine a target parking space from the acquired parking space information. If the processing end is a background server arranged at other places, correspondingly, after receiving the parking request, the processing end firstly obtains the identification of the parking lot at the position based on the current position of the vehicle to be parked, because the vehicle to be parked is positioned in the parking lot, the processing end can obtain the information of the parking lot at the position based on the current position of the vehicle to be parked, then the processing end determines the detection end in the parking lot based on the prestored corresponding relation between the parking lot and the detection end, and further determines the target parking lot from the parking lot information sent by the detection end.
For example, if the parking lot belongs to a parking lot in a living area or a working area and each parking space is purchased by a user, a corresponding relationship between the parking space and the vehicle exists in the parking lot, the corresponding relationship can be stored in the memory of the processing terminal, and the processing terminal can determine the target parking space corresponding to the vehicle to be parked based on the identification of the vehicle to be parked. For another example, the parking lot belongs to a shared-vehicle-dedicated parking lot, and correspondingly, the vehicle also belongs to a shared vehicle, so that the parking spaces in the parking lot can also correspond to the vehicles one by one, and then the processing end can determine the target parking space corresponding to the vehicle to be parked based on the pre-stored corresponding relationship and the identification of the vehicle to be parked. For another example, the parking lot belongs to a parking lot in an entertainment venue or the like, so that there is no certain corresponding relationship between the parking space and the vehicle, and in this case, the processing end may determine a parking space closest to the vehicle to be parked, that is, the target parking space, based on the current position of the vehicle to be parked and the positions of all the vacant parking spaces.
In step 103, the processing terminal determines a parking route based on the current location of the vehicle to be parked and the target parking space.
The parking route may include a first line from a current position where the vehicle to be parked is located to a parking position of the target parking space, and a parking route where the vehicle to be parked is parked in the target parking space from the parking position.
In implementation, the parking position of the target parking space may be a position where the technician starts to park the vehicle to be parked into the parking space according to theoretical calculation and trial and error, and as shown in fig. 2, point a may represent the corresponding parking position of the parking space a. In this way, after the processing end determines the target parking space, the first driving route and the parking route can be determined based on the current position of the vehicle to be parked and the target parking space. The first driving route from the vehicle to be parked to the parking position can be generated by the processing end according to an algorithm for generating the navigation route; the parking route may be generated by the processing terminal based on the shape, size information of the target parking space.
In step 104, the processing end sends the parking route to the vehicle to be parked, so that the vehicle to be parked performs the parking process.
In an implementation, after the processing end determines the parking route, the processing end may send the parking route to the vehicle-mounted terminal of the vehicle to be parked, so that the vehicle-mounted terminal may control the corresponding executing mechanism to perform corresponding functional processing based on the parking route, for example, as described above, the parking route includes the first driving route and the parking route, and the vehicle may first drive to the parking position of the target parking space according to the first driving route (the vehicle may stop continuing when the front preset position of the vehicle to be parked reaches the parking position, or may stop continuing when the central point of the vehicle to be parked reaches the parking position), and then park in the target parking space according to the parking route. The vehicle-mounted terminal can control the rotation angle of a steering wheel of the vehicle to be parked based on a parking route in the steering aspect in the unmanned automatic parking process of the vehicle to be parked; in terms of the vehicle speed, the vehicle-mounted terminal may park at a preset speed, or may also park at a speed determined by the processing terminal based on the parking route, for example, the processing terminal sends the parking speed corresponding to each parking stage to the vehicle to be parked in the parking route, so that the vehicle-mounted terminal may control the parking speed of the vehicle to be parked based on the received speed.
In order to enable the vehicle to be parked to run along the first running route, correspondingly, the vehicle-mounted terminal of the vehicle to be parked can acquire a current actual heading angle and a current actual parking route, and adjust a steering angle of the steering wheel based on an angle deviation between the current actual heading angle and an expected heading angle and based on a deflection distance between the actual parking route and the parking route received from the processing end, wherein an adjustment angle β of the steering wheel of the vehicle to be parked can be determined according to the following formula:
β＝kα·Δα-kd·Δd
in the formula: k is a radical ofαThe preset angle deflection coefficient; k is a radical ofdThe distance deflection coefficient is preset; Δ d is the deflection distance; Δ α is the deflection angle.
The deviation distance delta d is determined according to the current actual parking route of the vehicle to be parked and the parking route determined by the processing end. The deflection angle delta alpha is the angle deviation between an expected heading angle at the position of a pre-aiming point in a parking route and the current actual heading angle of a vehicle to be parked, wherein the heading angle refers to the angle of a central axis of the vehicle body relative to the true north, and the position of the pre-aiming point is positioned on the parking route and the distance between the pre-aiming point and the vehicle to be parked is the pre-aiming distance. The pre-aiming distance can use a formula
Determining that the position, of which the distance between the parking route and the vehicle to be parked is the pre-aiming distance, is the pre-aiming point position, wherein the parking route determined by the processing end contains a course angle, and the corresponding pre-aiming point position also contains a course angle, namely an expected course angle.
For example, if the in-vehicle terminal of the vehicle to be parked determines that the adjustment angle β is positive 5 degrees, the steering wheel is controlled to rotate clockwise by 5 degrees, and if the in-vehicle terminal of the vehicle to be parked determines that the adjustment angle β is negative 5 degrees, the steering wheel is controlled to rotate counterclockwise by 5 degrees.
In the process that the vehicle to be parked is parked into the target parking space from the parking position, the vehicle-mounted terminal can control the vehicle to be parked to stop in the target parking space according to the accumulated rotation angle and the reversing distance of the steering wheel, and the vehicle-mounted terminal can control the vehicle to be parked in the target parking space according to a formula
Determining cumulative turn angle
Where v is the current speed of the vehicle to be parked, RminThe minimum turning radius of the vehicle to be parked in the target parking space.
For example, in the case of a vertical parking space, that is, a lane line where a vehicle to be parked is located is vertical to a parking space before the vehicle to be parked is parked in the parking space, the vehicle to be parked is completely parked in the target parking space, and the cumulative rotation angle of the steering wheel is 90 degrees. In this way, after the vehicle-mounted terminal detects that the accumulated rotation angle of the steering wheel reaches 90 degrees, the vehicle-mounted terminal controls the steering wheel to return to the right and controls the vehicle to be parked to drive in reverse for a preset reverse distance, wherein the reverse distance is related to the size of the target parking space and is determined by technicians through a plurality of theoretical calculations and repeated tests, for example, 2.3 meters.
Based on the above, in the automatic parking system, the vehicle to be parked can be automatically parked through the processing terminal and the detection terminal arranged in the parking lot, and the parking process is not required to be realized through the sensor mounted on the vehicle.
Optionally, the vehicle in the automatic parking system may not only automatically park in the parking space, but also automatically park out the parking space, and drive from the parking-out position to the destination position, and accordingly, the processing end may execute the parking process according to the flow shown in fig. 3:
in step 301, the processing end receives an exit request, where the exit request carries a vehicle identifier and a destination location of a vehicle to be exited.
In implementation, the exit request received by the processing end may be sent by an on-board terminal of the vehicle to be exited, a mobile terminal of the driver (such as a mobile phone or a tablet computer, etc.), or a self-service parking device in the parking lot, similar to the case where the processing end receives the parking request. For example, the driver can control the vehicle-mounted terminal to send the exit request to the processing end in a cockpit, and for example, the driver can remotely control the vehicle-mounted terminal to send the exit request to the processing end through a vehicle key, for example, the vehicle key of the driver has a power key for powering on the vehicle and also has an automatic parking key, and the driver can trigger the vehicle-mounted terminal of the vehicle to be exited to send the exit request to the processing end by pressing the automatic parking key after pressing the power key.
The situation of the exit request sent to the processing end by the mobile terminal (such as a mobile phone or a tablet personal computer) of the driver and the self-service parking device in the parking lot is similar to the situation of sending the parking request to the processing end, and reference may be made to the above process, which is not described herein again.
In an implementation, the destination location carried in the exit request may be a destination location input by the driver, and if the driver has no input location, the processing end processes the destination location according to a default location, where the default location is a location where the exit request is sent, for example, if the driver has an exit request sent by a mobile terminal (such as a mobile phone or a tablet computer, etc.), the default location is a current location where the mobile terminal is located, if the driver has an exit request sent by a self-service parking device in a parking lot, the default location is a location where the self-service parking device is located, and if the driver has an exit request sent by a vehicle-mounted terminal of a vehicle to be exited, the default location is a parking location of the parking lot, that is, the processing end only sends an exit route to the vehicle-mounted terminal (which will be described in detail below).
In the process of determining the default position, the processing end does not need to judge which terminal sends the pull-out request, and can determine the default position only according to the position where the pull-out request is sent and the position of the parking space where the vehicle to be parked is located, for example, when the processing end detects that the position where the pull-out request is sent and the position of the parking space where the vehicle to be parked is located are smaller than a preset threshold value, the parking position of the parking space where the vehicle to be parked is located is determined as the default position.
In step 302, the processing end determines a current parking space where the vehicle to be driven out is located from the parking space information sent by the detection end of the parking lot where the vehicle to be driven out is located, based on the vehicle identifier of the vehicle to be driven out.
In implementation, after the processing end receives the exit request, the processing end may determine a current parking space where the vehicle to be exited is located from the parking space information received by the detecting end. The method comprises the steps that a processing end determines the current parking space where a vehicle to be driven out is located, wherein the current parking space can be divided into a plurality of situations, and one situation is that when the parking spaces correspond to the vehicles one to one, the processing end can determine the parking space corresponding to the identification of the vehicle to be driven out according to the corresponding relation between the vehicles and the parking spaces which is stored in advance; in another case, the parking spaces and the vehicles are not in a one-to-one correspondence relationship, the processing end may determine, from the parking space information sent by the detecting end, a parking lot where the vehicle to be driven out is located, and then determine, in the parking lot, a current parking space where the vehicle to be driven out is located based on the identifier of the vehicle to be driven out.
In step 303, the processing end determines an exit route based on the current parking space where the vehicle to be exited is located and the destination position.
Here, the exit route also includes a parking-out route in which the vehicle to be exited is parked out of the current parking space and a second travel route in which the vehicle to be exited is parked out of the parking space to the destination position. The parking route is determined according to the shape and size of the current parking space where the vehicle to be driven out is located.
In an implementation, the parking-out position of the current parking space of the vehicle to be parked may be a position of the vehicle to be parked after the vehicle to be parked is completely parked out of the current parking space, which is determined by a technician according to theoretical calculation and trial and error, and as shown in fig. 4, point B may represent a parking-out position corresponding to the current parking space a of the vehicle to be parked. The second driving route is a route from the parking-out position to the destination position, and the second driving route is correspondingly stopped at the parking-out position if the destination position is the parking-out position.
In one possible implementation, each parking space is provided with a parking position and a parking-out position, as shown in fig. 2 and 4, point a may represent the parking position of parking space a, point B may represent the parking position of parking space a, a vehicle to be parked in parking space a may be parked in parking space a according to a parking route from parking position a, and a vehicle to be driven out parked in parking space a may be driven to a destination position according to a second driving route after being parked in parking position B from parking position a.
In step 304, the processing end sends the exit route to the vehicle to be exited, so that the vehicle to be exited performs exit processing.
In implementation, after the processing end determines the exit route, the exit route may be sent to the vehicle-mounted terminal of the vehicle to be exited, so that the vehicle-mounted terminal may control the corresponding execution mechanism to perform the corresponding functional processing based on the exit route. When the driver wants to drive the vehicle to be driven out, which is parked in the current parking space, to the destination position, the driver needs to first power on the vehicle to be driven out by using the vehicle key and start the vehicle, so that the vehicle can perform the driving-out process based on the driving-out route.
In the implementation of the present disclosure, the vehicle to be parked in the automatic parking system can realize automatic parking through the processing terminal and the detection terminal arranged in the parking lot, and the parking process is not required to be realized through the sensor mounted on the vehicle.
It will be understood by those skilled in the art that all or part of the steps for implementing the above embodiments may be implemented by hardware, or may be implemented by a program instructing relevant hardware, where the program may be stored in a computer-readable storage medium, and the above-mentioned storage medium may be a read-only memory, a magnetic disk or an optical disk, etc.
The above description is only exemplary of the present disclosure and should not be taken as limiting the invention, as any modification, equivalent replacement, or improvement made within the spirit and principle of the present disclosure should be included in the scope of the present disclosure.
Claims (5)
1. An automatic parking system is characterized by comprising a vehicle to be parked, a processing end and a detection end arranged in a parking lot, wherein the processing end is electrically connected with the detection end; the processing end is used for:
receiving a parking request, wherein the parking request carries a vehicle identifier of the vehicle to be parked and a current position of the vehicle to be parked;
determining a target parking space from parking space information sent by a detection end in a parking lot where the vehicle to be parked is located based on the current location of the vehicle to be parked, wherein the determining comprises the following steps: determining a target parking space corresponding to the vehicle to be parked based on a corresponding relation between pre-stored parking spaces and the identification of the vehicle to be parked;
determining a parking route based on the current position of the vehicle to be parked and the target parking space;
sending the parking route to the vehicle to be parked so that the vehicle to be parked carries out parking processing;
the parking processing of the vehicle to be parked comprises the following steps: controlling a rotation angle and a parking speed of a steering wheel of the vehicle to be parked based on the parking route, wherein the parking route carries the parking speed corresponding to each parking stage, and the parking route comprises a first driving route from a current position of the vehicle to be parked to a parking position of the target parking space and a parking route from the parking position of the vehicle to be parked to the target parking space;
the parking method comprises the following steps that the vehicle to be parked drives to a parking position of a target parking space from a current position according to a first driving route, wherein the parking position comprises the following steps: the vehicle to be parked can obtain a current actual course angle and a current actual parking route, and adjust a steering angle of a steering wheel based on an angle deviation between the current actual course angle and an expected course angle and based on a deflection distance between the actual parking route and the parking route received from the processing end, wherein an adjustment angle beta of the steering wheel of the vehicle to be parked can be determined according to the following formula:
β＝kα·Δα-kd·Δd
in the formula: k is a radical ofαThe preset angle deflection coefficient; k is a radical ofdThe distance deflection coefficient is preset; Δ d is the deflection distance; Δ α is the deflection angle;
the deflection distance delta d is determined according to the current actual parking route of the vehicle to be parked and the parking route determined by the processing end, the deflection angle delta alpha is the angle deviation between the expected heading angle at the position of the pre-aiming point in the parking route and the current actual heading angle of the vehicle to be parked, wherein the heading angle refers to the angle of the central axis of the vehicle body relative to the true north, the position of the pre-aiming point is located on the parking route, the distance between the position of the pre-aiming point and the vehicle to be parked is the pre-aiming distance, and the pre-aiming distance uses a formula
And determining, wherein v is the current speed of the vehicle to be parked, the position on the parking route, at which the distance between the parking route and the vehicle to be parked is the pre-aiming distance, is the pre-aiming point position, and the parking route determined by the processing end contains the expected course angle.
2. The automated parking system according to claim 1, wherein the processing terminal is configured to determine a parking route according to the shape and size of the target parking space.
3. The automatic parking system of claim 1 further comprising an outgoing vehicle, the processing end further configured to:
receiving an exit request, wherein the exit request carries a vehicle identifier and a destination position of the vehicle to be exited;
determining a current parking space where the vehicle to be driven out is located from parking space information sent by a detection end of a parking lot where the vehicle to be driven out is located on the basis of the vehicle identification of the vehicle to be driven out;
determining an exit route based on the current parking space where the vehicle to be exited is located and the destination position;
and sending the exit route to the vehicle to be exited so as to enable the vehicle to be exited to carry out exit processing.
4. The automated parking system according to claim 3, wherein the exit route includes a parking route in which the vehicle to be exited is parked from the present parking space and a second travel route in which the vehicle to be exited is parked from the parked position in the present parking space to the destination position.
5. The automatic parking system according to claim 4, wherein the processing terminal is configured to determine a parking route according to a shape and a size of a current parking space in which the vehicle to be driven out is located.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738038.7A CN108819939B (en) | 2018-07-06 | 2018-07-06 | Automatic parking system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810738038.7A CN108819939B (en) | 2018-07-06 | 2018-07-06 | Automatic parking system |
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| Publication Number | Publication Date |
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| CN108819939A CN108819939A (en) | 2018-11-16 |
| CN108819939B true CN108819939B (en) | 2021-02-02 |
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| CN201810738038.7A Active CN108819939B (en) | 2018-07-06 | 2018-07-06 | Automatic parking system |
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| CN109615908A (en) * | 2018-12-04 | 2019-04-12 | 深圳汇生通科技股份有限公司 | The parking space management system of shared automobile |
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| JP7205236B2 (en) * | 2019-01-08 | 2023-01-17 | トヨタ自動車株式会社 | Remote driving system and remote driving application software |
| CN109784292B (en) * | 2019-01-24 | 2023-05-26 | 中汽研（天津）汽车工程研究院有限公司 | Method for automatically searching parking space by intelligent automobile in indoor parking lot |
| CN109785652A (en) * | 2019-01-29 | 2019-05-21 | 广州大学 | A kind of automatic stopping control method, device, system, medium and equipment |
| CN109795481A (en) * | 2019-02-28 | 2019-05-24 | 北京智行者科技有限公司 | A kind of automatic parking method and system based on label |
| CN111907516B (en) * | 2019-05-09 | 2022-05-31 | 广州汽车集团股份有限公司 | Full-automatic parking method and system |
| CN110097779A (en) * | 2019-05-22 | 2019-08-06 | 北京新能源汽车股份有限公司 | Parking method, parking device, vehicle, equipment and medium |
| CN112572397B (en) * | 2019-09-30 | 2022-07-15 | 毫末智行科技有限公司 | Automatic parking control method, device and controller |
| CN112863225A (en) * | 2019-11-28 | 2021-05-28 | 长城汽车股份有限公司 | Method and device for passenger-replacing parking |
| CN111532259A (en) * | 2020-05-09 | 2020-08-14 | 奇瑞汽车股份有限公司 | Remote control method and device for automobile and storage medium |
| CN112162547B (en) * | 2020-06-24 | 2023-05-26 | 上汽通用五菱汽车股份有限公司 | Automatic vehicle parking method, system and readable storage medium |
| CN112224199A (en) * | 2020-09-15 | 2021-01-15 | 华人运通(上海)自动驾驶科技有限公司 | Remote control parking control method and device, vehicle and storage medium |
| CN115022798A (en) * | 2022-05-23 | 2022-09-06 | 上海寅家电子科技股份有限公司 | Parking method and device for parking lot and computer storage medium |
| CN114889587B (en) * | 2022-06-27 | 2024-10-18 | 中国第一汽车股份有限公司 | Method, device, equipment and medium for determining parking speed of passengers |
| CN116009553A (en) * | 2023-01-19 | 2023-04-25 | 重庆赛力斯新能源汽车设计院有限公司 | Vehicle parking method, electronic device and storage medium |
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