CN109062206A - A kind of method and automatic driving vehicle of intelligent parking - Google Patents

A kind of method and automatic driving vehicle of intelligent parking Download PDF

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Publication number
CN109062206A
CN109062206A CN201810856853.3A CN201810856853A CN109062206A CN 109062206 A CN109062206 A CN 109062206A CN 201810856853 A CN201810856853 A CN 201810856853A CN 109062206 A CN109062206 A CN 109062206A
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CN
China
Prior art keywords
parking
automatic driving
driving vehicle
specified
vehicle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201810856853.3A
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Chinese (zh)
Inventor
刘聪玲
易卜拉欣·卡赛木
孙小艺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Foshan Tianmu Chain Technology Co Ltd
Original Assignee
Foshan Tianmu Chain Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Foshan Tianmu Chain Technology Co Ltd filed Critical Foshan Tianmu Chain Technology Co Ltd
Priority to CN201810856853.3A priority Critical patent/CN109062206A/en
Publication of CN109062206A publication Critical patent/CN109062206A/en
Pending legal-status Critical Current

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Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/02Control of position or course in two dimensions
    • G05D1/021Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0212Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05DSYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D2201/00Application
    • G05D2201/02Control of position of land vehicles
    • G05D2201/0212Driverless passenger transport vehicle

Abstract

The invention discloses a kind of method of intelligent parking and automatic driving vehicles, are applied in automatic driving vehicle, include the following steps: that automatic driving vehicle enters parking area;Receive the transmission signal that parking position route is specified in instruction to parking area;Specified parking position is navigate in parking area according to route;And the data of the one or more sensors using the specified parking position in the distance to a declared goal for being parked in any Adjacent vehicles carry out parking position correction to the automatic driving vehicle being prepared to stop.

Description

A kind of method and automatic driving vehicle of intelligent parking
Technical field
The present invention relates to automatic Pilot technical fields, in particular to the method and automatic Pilot of a kind of intelligent parking Vehicle.
Background technique
Automatic driving device can be changed not doing to vehicle structure in automatic driving or test vehicle Under the premise of making, the clutch pedal of automobile, brake pedal, gas pedal, transfer case shift mechanisms are carried out automatically controlling.In nothing In the research of people's vehicle, automatic driving device allows for completing the instruction action that unmanned vehicle control issues, and controls automobile Carry out automatic Pilot;It allows for adapting to different vehicle platforms, completes to operate the automatic Pilot of different automobiles.Meanwhile from Dynamic pilot instrument can substitute experimenter and drive the uninteresting automobile experiment that vehicle completes high intensity, circulating repetition, reduction pair The injury of driver.The environment of barrier around vehicle etc. is various.However, in above-mentioned conventional art, due to Automatic Pilot is respectively switched to manual drive without making according to the operating quantity of driver, so for from automatic Pilot to hand The intervention amount of the driver behavior of the dynamic driver for driving switching does not meet the environment around vehicle sometimes, it is desirable to be changed It is kind.How to realize that automatic driving vehicle is rapidly performed by parking is to adapt to the universal urgent need skill to be solved of the following automatic driving vehicle Art problem.
Summary of the invention
The invention proposes a kind of methods of intelligent parking, are applied in automatic driving vehicle, include the following steps:
Automatic driving vehicle enters parking area;
Receive the transmission signal that parking position route is specified in instruction to parking area;
Specified parking position is navigate in parking area according to route;
And use the one or more of the specified parking position in the distance to a declared goal for being parked in any Adjacent vehicles The data of sensor carry out parking position correction to the automatic driving vehicle being prepared to stop.
The method receives and indicates that the transmission to the route for the stand distributed includes: from parking reservation system Wireless transmission is received, the wireless transmission includes distributed parking position, the electronic map of the parking area and the road Line indicates how to be navigated in parking area to reach the route of specified parking position.
The method, specified parking position of the use in the distance to a declared goal for being parked in any Adjacent vehicles The data of one or more sensors carry out parking position correction to the automatic driving vehicle being prepared to stop and specifically include: starting First detection sensor of the specified adjacent nearest two sides vehicle in parking position and the second detection sensing of specified parking position Device indicates that automatic driving vehicle drives to parking position according to projected route by second detection sensor, passes through First detection sensor sends feedback signal to the second detection sensor, and the second detection sensor is according to the first detection received The signal of sensor, is weighted, and real-time update indicates that vehicle carries out traveling-position correction.
A kind of automatic driving vehicle, which is characterized in that use method as described in above-mentioned any one, comprising: one or Multiple processors;System storage, is coupled to one or more processors, and system storage storage can be handled by one or more The instruction that device executes;One or more sensors, for detecting the external environment near autonomous vehicle;One or more processing Device is configured as executing the instruction of storage in the system memory, automatic driving vehicle is parked in parking area and is stopped In parking stall, including the following contents: automatic driving vehicle enters parking area;It receives and specifies parking position in instruction to parking area The transmission signal of route;Specified parking position is navigate in parking area according to route;And using in office from parking The data of the one or more sensors of specified parking position in the distance to a declared goal of what Adjacent vehicles, it is automatic to what is be prepared to stop It drives vehicle and carries out parking position correction.
The automatic driving vehicle, one or more of sensors include one group of sensor, one group of sensor Including one or more sensors selected from the following: camera, LIDAR sensor, radar sensor and ultrasonic sensor.
The automatic driving vehicle, one or more of processors, which are configured as executing, is stored in the system storage Instruction in device is to use the data from one or more of sensors to be parked in distributed stand including quilt It is configured to execute one or more of places storage of described instruction in the system memory to use data to use from the group The data of sensor are parked in specified stand.
The automatic driving vehicle, one or more of processors, which are configured as executing, is stored in the system storage Instruction in device includes one or more of processors with the transmission for receiving the stand including being distributed, it is one or Multiple processors are configured as executing storage in the system memory including the speed changer for specifying parking position, wherein based on autonomous The size of vehicle distributes distributed parking position.
The automatic driving vehicle, one or more of processors are configured as executing storage in the system memory Instruction to receive transmission from parking reservation system include: one or more of processors, be configured as executing and be stored in and be Instruction in system memory is to receive before automotive vehicle enters parking area from the transmission of parking reservation system.
The automatic driving vehicle, further includes parking timing module, automatic payment module, and the parking timing module connects The automatic payment module is connect, the parking timing module is described for that will be sent to the automatic payment module down time It include block chain generation unit in automatic payment module, the block chain generation unit is used to be believed according to the timing of timing module Number, generating includes down time and the block-identified symbol for paying expense, sends automatic Pilot control for the block-identified symbol Center.
Advantageous effects obtained by the present invention are: carrying out signal detection by multiple sensors, customize automatic Pilot The intelligent parking of vehicle, the adjustment of position when carrying out detecting the parking of vehicle by the sensor of the adjacent vehicle in parking position, Position feedback is carried out in time, can fast and accurately control the parking of automatic driving vehicle, and identify by block chain, is pacified in time The vehicle parking charging problem of full progress automatic driving vehicle facilitates the quick parking and payment of vehicle.
Detailed description of the invention
From following description with reference to the accompanying drawings it will be further appreciated that the present invention.Component in figure is not drawn necessarily to scale, But it focuses on and shows in the principle of embodiment.In the figure in different views, identical appended drawing reference is specified to be corresponded to Part.
Fig. 1 is the method schematic diagram of intelligent parking of the invention.
Specific embodiment
In order to enable the objectives, technical solutions, and advantages of the present invention are more clearly understood, below in conjunction with embodiment, to this Invention is further elaborated;It should be appreciated that described herein, the specific embodiments are only for explaining the present invention, and does not have to It is of the invention in limiting.To those skilled in the art, after access is described in detail below, other systems of the present embodiment System, method and/or feature will become obvious.All such additional systems, method, feature and advantage are intended to be included in It in this specification, is included within the scope of the invention, and by the protection of the appended claims.In description described in detail below The other feature of the disclosed embodiments, and these characteristic roots will be apparent according to described in detail below.
As shown in Figure 1, be applied in automatic driving vehicle the invention proposes a kind of method of intelligent parking, packet Include following steps:
Automatic driving vehicle enters parking area;
Receive the transmission signal that parking position route is specified in instruction to parking area;
Specified parking position is navigate in parking area according to route;
And use the one or more of the specified parking position in the distance to a declared goal for being parked in any Adjacent vehicles The data of sensor carry out parking position correction to the automatic driving vehicle being prepared to stop.
The method receives and indicates that the transmission to the route for the stand distributed includes: from parking reservation system Wireless transmission is received, the wireless transmission includes distributed parking position, the electronic map of the parking area and the road Line indicates how to be navigated in parking area to reach the route of specified parking position.
The method, specified parking position of the use in the distance to a declared goal for being parked in any Adjacent vehicles The data of one or more sensors carry out parking position correction to the automatic driving vehicle being prepared to stop and specifically include: starting First detection sensor of the specified adjacent nearest two sides vehicle in parking position and the second detection sensing of specified parking position Device indicates that automatic driving vehicle drives to parking position according to projected route by second detection sensor, passes through First detection sensor sends feedback signal to the second detection sensor, and the second detection sensor is according to the first detection received The signal of sensor, is weighted, and real-time update indicates that vehicle carries out traveling-position correction.
A kind of automatic driving vehicle, which is characterized in that use method as described in above-mentioned any one, comprising: one or Multiple processors;System storage, is coupled to one or more processors, and system storage storage can be handled by one or more The instruction that device executes;One or more sensors, for detecting the external environment near autonomous vehicle;One or more processing Device is configured as executing the instruction of storage in the system memory, automatic driving vehicle is parked in parking area and is stopped In parking stall, including the following contents: automatic driving vehicle enters parking area;It receives and specifies parking position in instruction to parking area The transmission signal of route;Specified parking position is navigate in parking area according to route;And using in office from parking The data of the one or more sensors of specified parking position in the distance to a declared goal of what Adjacent vehicles, it is automatic to what is be prepared to stop It drives vehicle and carries out parking position correction.
The automatic driving vehicle, one or more of sensors include one group of sensor, one group of sensor Including one or more sensors selected from the following: camera, LIDAR sensor, radar sensor and ultrasonic sensor.
The automatic driving vehicle, one or more of processors, which are configured as executing, is stored in the system storage Instruction in device is to use the data from one or more of sensors to be parked in distributed stand including quilt It is configured to execute one or more of places storage of described instruction in the system memory to use data to use from the group The data of sensor are parked in specified stand.
The automatic driving vehicle, one or more of processors, which are configured as executing, is stored in the system storage Instruction in device includes one or more of processors with the transmission for receiving the stand including being distributed, it is one or Multiple processors are configured as executing storage in the system memory including the speed changer for specifying parking position, wherein based on autonomous The size of vehicle distributes distributed parking position.
The automatic driving vehicle, one or more of processors are configured as executing storage in the system memory Instruction to receive transmission from parking reservation system include: one or more of processors, be configured as executing and be stored in and be Instruction in system memory is to receive before automotive vehicle enters parking area from the transmission of parking reservation system.
The automatic driving vehicle, further includes parking timing module, automatic payment module, and the parking timing module connects The automatic payment module is connect, the parking timing module is described for that will be sent to the automatic payment module down time It include block chain generation unit in automatic payment module, the block chain generation unit is used to be believed according to the timing of timing module Number, generating includes down time and the block-identified symbol for paying expense, sends automatic Pilot control for the block-identified symbol Center.
Advantageous effects obtained by the present invention are: carrying out signal detection by multiple sensors, customize automatic Pilot The intelligent parking of vehicle, the adjustment of position when carrying out detecting the parking of vehicle by the sensor of the adjacent vehicle in parking position, Position feedback is carried out in time,
The parking of automatic driving vehicle can be fast and accurately controlled, and is identified by block chain, in time the progress of safety The vehicle parking charging problem of automatic driving vehicle facilitates the quick parking and payment of vehicle.
Although describing the present invention by reference to various embodiments above, but it is to be understood that of the invention not departing from In the case where range, many changes and modifications can be carried out.Therefore, be intended to foregoing detailed description be considered as it is illustrative and It is unrestricted, and it is to be understood that following following claims (including all equivalents) is intended to limit spirit and model of the invention It encloses.The above embodiment is interpreted as being merely to illustrate the present invention rather than limit the scope of the invention.It is reading After the content of record of the invention, technical staff can be made various changes or modifications the present invention, these equivalence changes and Modification equally falls into the scope of the claims in the present invention.

Claims (9)

1. a kind of method of intelligent parking, which is characterized in that it is applied in automatic driving vehicle, includes the following steps:
Automatic driving vehicle enters parking area;
Receive the transmission signal that parking position route is specified in instruction to parking area;
Specified parking position is navigate in parking area according to route;
And use one or more sensings of the specified parking position in the distance to a declared goal for being parked in any Adjacent vehicles The data of device carry out parking position correction to the automatic driving vehicle being prepared to stop.
2. the method according to claim 1, wherein receiving the biography indicated to the route for the stand distributed Defeated includes: to receive wireless transmission from parking reservation system, and the wireless transmission includes distributed parking position, the parking area The electronic map in domain and the route indicate how to be navigated in parking area to reach the route of specified parking position.
3. the method as described in claim 1, which is characterized in that the use from be parked in any Adjacent vehicles it is specified away from The data of one or more sensors from interior specified parking position carry out parking stall to the automatic driving vehicle being prepared to stop It sets correction to specifically include: starting the first detection sensor of the specified adjacent nearest two sides vehicle in parking position, and specify and stop Second detection sensor of truck position indicates that automatic driving vehicle is carried out according to projected route by second detection sensor Parking position is driven to, feedback signal is sent to the second detection sensor, the second detection sensor by the first detection sensor It according to the signal of the first detection sensor received, is weighted, real-time update indicates that vehicle carries out traveling-position school Just.
4. a kind of automatic driving vehicle, which is characterized in that use method as claimed in any one of claims 1-3, comprising: one A or multiple processors;System storage, is coupled to one or more processors, and system storage storage can be by one or more The instruction that processor executes;One or more sensors, for detecting the external environment near autonomous vehicle;At one or more Device is managed, is configured as executing the instruction of storage in the system memory, automatic driving vehicle is parked in parking area In parking stall, including the following contents: automatic driving vehicle enters parking area;It receives and specifies parking stall in instruction to parking area Set the transmission signal of route;Specified parking position is navigate in parking area according to route;And it is parked in using coming from The data of the one or more sensors of specified parking position in the distance to a declared goal of any Adjacent vehicles, to be prepared to stop from The dynamic vehicle that drives carries out parking position correction.
5. automatic driving vehicle according to claim 4, which is characterized in that one or more of sensors include one group Sensor, one group of sensor include one or more sensors selected from the following: camera, LIDAR sensor, radar biography Sensor and ultrasonic sensor.
6. automatic driving vehicle according to claim 5, which is characterized in that one or more of processors are configured as The instruction being stored in the system storage is executed to use the data from one or more of sensors to be parked in institute It is stored in the system memory in the stand of distribution including being configured as executing one or more of places of described instruction Specified stand is parked in use data to use the data from this group of sensor.
7. automatic driving vehicle according to claim 6, which is characterized in that one or more of processors are configured as It includes one that the instruction being stored in the system storage, which is executed, with the transmission for receiving the stand including being distributed Or multiple processors, one or more of processors are configured as executing storage in the system memory including specified parking stall The speed changer set, wherein the size based on autonomous vehicle distributes distributed parking position.
8. automatic driving vehicle according to claim 6, which is characterized in that one or more of processors are configured as It includes: one or more of processing that the instruction of storage in the system memory, which is executed, to receive transmission from parking reservation system Device is configured as executing the instruction of storage in the system memory to receive before automotive vehicle enters parking area from parking The transmission of reservation system.
9. automatic driving vehicle according to claim 6, which is characterized in that further include parking timing module, automatic payment Module, the parking timing module connect the automatic payment module, and the parking timing module will be for will send down time It include block chain generation unit in the automatic payment module to the automatic payment module, the block chain generation unit is used In the timing signal according to timing module, generating includes down time and the block-identified symbol for paying expense, by the block mark Know symbol and is sent to automatic Pilot control centre.
CN201810856853.3A 2018-07-31 2018-07-31 A kind of method and automatic driving vehicle of intelligent parking Pending CN109062206A (en)

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Application Number Priority Date Filing Date Title
CN201810856853.3A CN109062206A (en) 2018-07-31 2018-07-31 A kind of method and automatic driving vehicle of intelligent parking

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Application Number Priority Date Filing Date Title
CN201810856853.3A CN109062206A (en) 2018-07-31 2018-07-31 A kind of method and automatic driving vehicle of intelligent parking

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111696382A (en) * 2020-06-08 2020-09-22 深圳裹动智驾科技有限公司 Intelligent parking method for automatic driving vehicle and intelligent control equipment

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CN203433551U (en) * 2013-07-05 2014-02-12 国民技术股份有限公司 Vehicle-mounted device
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CN205845335U (en) * 2016-07-01 2016-12-28 南京千秋业装饰工程有限公司 A kind of parking space allocation device for parking lot
CN107074282A (en) * 2014-10-27 2017-08-18 罗伯特·博世有限公司 Method and apparatus for running vehicle
CN107614344A (en) * 2015-03-27 2018-01-19 歌乐株式会社 Controller of vehicle

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20080136674A1 (en) * 2006-12-08 2008-06-12 Electronics And Telecommunications Research Institute Intelligent parking guidance apparatus and method
CN101789188A (en) * 2010-03-24 2010-07-28 天津信电科技发展有限公司 Dynamic parking navigation system used at inner part of parking lot
CN203433551U (en) * 2013-07-05 2014-02-12 国民技术股份有限公司 Vehicle-mounted device
CN107074282A (en) * 2014-10-27 2017-08-18 罗伯特·博世有限公司 Method and apparatus for running vehicle
CN107614344A (en) * 2015-03-27 2018-01-19 歌乐株式会社 Controller of vehicle
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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111696382A (en) * 2020-06-08 2020-09-22 深圳裹动智驾科技有限公司 Intelligent parking method for automatic driving vehicle and intelligent control equipment

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