CN109087529A - Ground lock control method, apparatus and system - Google Patents
Ground lock control method, apparatus and system Download PDFInfo
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- CN109087529A CN109087529A CN201811160648.XA CN201811160648A CN109087529A CN 109087529 A CN109087529 A CN 109087529A CN 201811160648 A CN201811160648 A CN 201811160648A CN 109087529 A CN109087529 A CN 109087529A
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- Prior art keywords
- automatic driving
- driving vehicle
- vehicle
- information
- parking
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Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
-
- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00571—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated by interacting with a central unit
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Computer Security & Cryptography (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The embodiment of the present application provides a kind of ground lock control method, apparatus and system.The target parking position of parking area where the application obtains the information of vehicles of automatic driving vehicle by server and searches automatic driving vehicle according to information of vehicles, then travel route of the generation automatic driving vehicle to target parking position, and travel route is sent to automatic driving vehicle, while locking open command with locking transmission to the parking stall of target parking position.Then, automatic driving vehicle is based on travel route and navigates to target parking position, responsively lock open command is locked to the parking stall of target parking position simultaneously enters open state, and it is matched according to vehicle identification information with automatic driving vehicle when detecting that automatic driving vehicle completes the shut-down operation of target parking position, if successful match, enter lock state.Thereby, it is possible to the automatic controls that the location information based on vehicle is locked with realizing, solve the problems, such as that car owner's operating process is cumbersome, greatly improve parking efficiency.
Description
Technical field
This application involves parking management fields, in particular to a kind of ground lock control method, apparatus and system.
Background technique
In the prior art, ground lock can only be controlled manually after a stop of the vehicle to lock vehicle tyre, nothing
Method realizes automatic calibrating position and locks tire, and such mode is more troublesome in use, and car owner is necessary before parking
It gets off, just can enter after opening ground lock, then relock tire, it is cumbersome so to will lead to car owner's operating process, efficiency of stopping
It is extremely low.
Summary of the invention
In order to overcome above-mentioned deficiency in the prior art, the application's is designed to provide a kind of ground lock control method, dress
It sets and system, to solve or improve the above problem.
To achieve the goals above, the embodiment of the present application the technical solution adopted is as follows:
In a first aspect, the embodiment of the present application provides a kind of ground lock control method, it is applied to ground lock control system, locks describedly
Control system include server, each parking stall being connect with the server communication parking stall lock and with the server
The automatic driving vehicle of communication connection, which comprises
The server obtains the vehicle of the automatic driving vehicle from the parking request that the automatic driving vehicle is sent
Information, and the target parking position of parking area where searching the automatic driving vehicle according to the information of vehicles, the vehicle
Information includes vehicle position information and vehicle identification information；
The automatic driving vehicle is generated to the travel route of the target parking position, and the travel route is sent to
The automatic driving vehicle, while open command is locked with locking transmission to the parking stall of the target parking position, wherein it locks describedly
It include the vehicle identification information of the automatic driving vehicle in open command；
The automatic driving vehicle is based on the travel route and navigates to the target parking position；
It locks to the parking stall of the target parking position response to lock open command describedly and enter open state, and detecting
It states and is driven automatically according to the vehicle identification information with described when automatic driving vehicle completes the shut-down operation of the target parking position
It sails vehicle to be matched, if successful match, enters lock state.
Optionally, the target for searching automatic driving vehicle place parking area according to the information of vehicles is stopped
The step of position, comprising:
Parking area is each where obtaining the automatic driving vehicle according to the vehicle position information in the information of vehicles
The parking space information on a parking stall, the parking space information include parking stall location information and parking stall state, wherein described to stop
Parking space state includes idle state and occupied state；
Distance in parking area where searching the automatic driving vehicle according to the parking space information on each parking stall
The nearest parking stall being in idle condition of the automatic driving vehicle, and by the nearest parking stall being in idle condition
As the target parking position.
Optionally, it is described generate the automatic driving vehicle to the target parking position travel route, and by the row
Sail the step of route is sent to the automatic driving vehicle, comprising:
Route is sailed using the traveling that A* pathfinding algorithm generates the automatic driving vehicle to the target parking position, and by institute
It states travel route and is sent to the automatic driving vehicle.
Optionally, it locks to the parking stall of the target parking position response and locks the step of open command enters open state describedly
Later, the method also includes:
It locks to the parking stall of the target parking position to the server and locks unlatching prompt information with sending；
The server receive lock describedly open prompt information after to the automatic driving vehicle send parking mention
Show information；
The automatic driving vehicle carries out the shut-down operation of the target parking position receiving the parking prompt information.
Optionally, described the step of being matched according to the vehicle identification information with the automatic driving vehicle, comprising:
Authentication request is sent to the automatic driving vehicle；
Receive the authentication information that the automatic driving vehicle responds the authentication request feedback；
Judge whether the vehicle identification information matches with the authentication information.
Optionally, after described the step of being matched according to the vehicle identification information with the automatic driving vehicle,
The method also includes:
If it fails to match, send a warning message to the server；
Parking area where the server searches the automatic driving vehicle after receiving the warning information again
Target parking position.
Optionally, after described the step of entering lock state, the method also includes:
When the automatic driving vehicle is activated again, vehicle is sent to the server and enables information；
The server locks transmission ground to the parking stall of the target parking position when receiving the vehicle enabling information
Lock open command；
It locks to the parking stall of the target parking position response to lock open command describedly and enter open state, and detecting
When stating automatic driving vehicle and being driven out to the target parking position, into lock state.
Second aspect, the embodiment of the present application also provide a kind of ground lock control method, be applied to server, the server with
It locks to the parking stall on each parking stall and is communicated to connect with automatic driving vehicle, which comprises
The information of vehicles of the automatic driving vehicle, and root are obtained from the parking request that the automatic driving vehicle is sent
The target parking position of parking area where searching the automatic driving vehicle according to the information of vehicles, the information of vehicles includes vehicle
Location information and vehicle identification information；
The automatic driving vehicle is generated to the travel route of the target parking position, and the travel route is sent to
The automatic driving vehicle, so that the automatic driving vehicle is based on the travel route and navigates to the target parking position；
Open command is locked while transmission is locked to the parking stall of the target parking position, so that the parking stall of the target parking position
Lock response locks open command describedly and enters open state, and is detecting the automatic driving vehicle completion target parking
It is matched according to the vehicle identification information with the automatic driving vehicle when shut-down operation of position, if successful match, into
Enter lock state, wherein lock describedly include in open command the automatic driving vehicle vehicle identification information.
The third aspect, the embodiment of the present application also provide a kind of ground lock control device, be applied to server, the server with
It locks to the parking stall on each parking stall and is communicated to connect with automatic driving vehicle, described device includes:
Module is obtained, for obtaining the automatic driving vehicle from the parking request that the automatic driving vehicle is sent
Information of vehicles, and the target parking position of parking area where searching the automatic driving vehicle according to the information of vehicles, it is described
Information of vehicles includes vehicle position information and vehicle identification information；
Generation module, the travel route for generating the automatic driving vehicle to the target parking position, and will be described
Travel route is sent to the automatic driving vehicle so that the automatic driving vehicle be based on the travel route navigate to it is described
Target parking position；
Sending module locks open command with sending for locking to the parking stall of the target parking position, so that the target
It locks to the parking stall on parking stall response to lock open command describedly and enter open state, and is detecting that the automatic driving vehicle is complete
At the target parking position shut-down operation when matched with the automatic driving vehicle according to the vehicle identification information, if
Successful match, then enter lock state, wherein locked in open command describedly include the automatic driving vehicle vehicles identifications
Information.
Fourth aspect, the embodiment of the present application also provide a kind of ground lock control system, and described ground lock control system includes service
Device, each parking stall being connect with the server communication parking stall lock and connect with the server communication automatically drive
Sail vehicle；
The server, for obtaining the automatic driving vehicle from the parking request that the automatic driving vehicle is sent
Information of vehicles, and the target parking position of parking area where searching the automatic driving vehicle according to the information of vehicles, institute
Stating information of vehicles includes vehicle position information and vehicle identification information；
The server, be also used to generate the automatic driving vehicle to the target parking position travel route, and will
The travel route is sent to the automatic driving vehicle, while locking unlatching with locking transmission to the parking stall of the target parking position
Instruction, wherein locked in open command describedly include the automatic driving vehicle vehicle identification information；
The automatic driving vehicle, for navigating to the target parking position based on the travel route；
It locks to the parking stall of the target parking position, locks open command describedly for responding and enter open state, and examining
Measure when the automatic driving vehicle completes the shut-down operation of the target parking position according to the vehicle identification information with it is described
Automatic driving vehicle is matched, if successful match, enters lock state.
5th aspect, the embodiment of the present application also provides a kind of readable storage medium storing program for executing, is stored thereon with computer program, described
Computer program, which is performed, realizes above-mentioned ground lock control method.
In terms of existing technologies, the application has the advantages that
Ground provided by the embodiments of the present application lock control method, apparatus and system obtain automatic driving vehicle by server
Information of vehicles and parking area where searching automatic driving vehicle according to information of vehicles target parking position, then generate automatic
The travel route that vehicle arrives target parking position is driven, and travel route is sent to automatic driving vehicle, while to target parking
Lock open command with locking transmission to the parking stall of position.Then, automatic driving vehicle is based on travel route and navigates to target parking position, together
When target parking position parking stall lock responsively lock open command and enter open state, and detecting that automatic driving vehicle completes
It is matched according to vehicle identification information with automatic driving vehicle when the shut-down operation of target parking position, if successful match, into
Enter lock state.Thereby, it is possible to the automatic controls that the location information based on vehicle is locked with realizing, it is numerous to solve car owner's operating process
Trivial problem greatly improves parking efficiency.
Detailed description of the invention
Technical solution in ord to more clearly illustrate embodiments of the present application, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only some embodiments of the application, therefore is not construed as pair
The restriction of range for those of ordinary skill in the art without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is the interaction schematic diagram of ground provided by the embodiments of the present application lock control system；
Fig. 2 is the flow diagram of the ground lock control method provided by the embodiments of the present application for being applied to ground lock control system；
Fig. 3 is the flow diagram of the ground lock control method provided by the embodiments of the present application applied to server；
Fig. 4 is the functional block diagram of corresponding to shown in Fig. 3 the ground lock control device of lock control method；
Fig. 5 is the structural schematic block diagram of corresponding to shown in Fig. 3 the server of lock control method.
Icon: the ground 10- lock control system；100- server；110- bus；120- processor；130- storage medium；140-
Bus interface；150- network adapter；160- user interface；200- automatic driving vehicle；Lock to the parking stall 300-；The lock control of the ground 400-
Device processed；410- obtains module；420- generation module；430- sending module.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present application, technical solutions in the embodiments of the present application carries out clear, complete
Site preparation description, it is clear that described embodiment is some embodiments of the present application, instead of all the embodiments.Usually herein
The component of the embodiment of the present application described and illustrated in place's attached drawing can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments herein provided in the accompanying drawings is not intended to limit below claimed
Scope of the present application, but be merely representative of the selected embodiment of the application.Based on the embodiment in the application, this field is common
Technical staff's all other embodiment obtained without creative labor belongs to the application protection
Range.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Referring to Fig. 1, being the interaction schematic diagram of ground provided by the embodiments of the present application lock control system 10.In the present embodiment,
The ground lock control system 10 may include server 100, with server 100 communicate to connect each parking stall parking stall lock 300
And the automatic driving vehicle 200 communicated to connect with server 100.
Server 100 should be understood the service point of offer processing, data bank, communications service.For example, server
100 can refer to single physical processor with related communication and data storage and document library facility or it can refer to networking
Or the aggregate of the processor, related network and storing unit gathered, and to software and one or more document library systems and
The application software serviced provided by support server 100 is operated.Server 100 can difference be very in configuration or performance
Greatly, but server 100 generally may include one or more central processing unit and storage unit.Server 100 can be with
Including one or more large-scale storage area equipment, one or more power supplys, one or more wired or wireless network components, one
Or multiple input output assemblies or one or more operating system, such as, Windows Server, Mac OS X, Unix,
Linux、FreeBSD。
Automatic driving vehicle 200 (Autonomous vehicles) be also known as pilotless automobile, computer driving or
Wheeled mobile robot is that one kind by computer system realizes unpiloted intelligent automobile.It may include video camera, thunder
The traffic condition of surrounding is understood up to sensor and airborne laser range finder, and by a detailed map (by manned
The map of automobile acquisition) it navigates to the road in front, and on road or stopped according to preset navigation routine
Region carries out automatic Pilot.It is appreciated that the automatic driving vehicle 200 can refer to the vehicle with Function for Automatic Pilot, it is real
Driving control can also be carried out by car owner on border.
Locking to parking stall 300 is a kind of locking device being mounted on each parking stall, can be used for preventing other car owner from seizing
Parking stall.In the present embodiment, communication function can be had by locking to the parking stall 300, can be with server 100 and automatic driving vehicle 200
Communication connection, for realizing automatic control after carrying out information exchange with server 100 and automatic driving vehicle 200.
Ground provided in this embodiment lock control method is explained in detail below with reference to ground shown in FIG. 1 lock control system 10
It states, please refers to Fig. 2, be a kind of flow diagram of ground provided by the embodiments of the present application lock control method, should illustrate
It is that ground provided by the embodiments of the present application lock control method is not limitation with Fig. 2 and specific order below.The specific stream of this method
Journey is as follows:
Step S110, automatic driving vehicle 200 send parking request when receiving cutoff command, to server 100.
When car owner needs to stop, the controlling terminal (example in car owner's terminal or the automatic driving vehicle 200 can be passed through
As control button, the human-computer interaction interface in driver area are stepped on) it generates cutoff command and is sent to the automatic driving vehicle 200,
The information of vehicles that itself is obtained after the automatic driving vehicle 200 response cutoff command, then sends parking to server 100 and asks
It asks.
Step S120, server 100 from parking request in from automatic driving vehicle 200 send parking request in be obtained from
The dynamic information of vehicles for driving vehicle 200, and stopped according to the target that information of vehicles searches 200 place parking area of automatic driving vehicle
Parking stall.
It wherein, may include having information of vehicles in parking request, information of vehicles may include vehicle position information and vehicle
Identification information.
As an implementation, for the ease of the present bit of 100 real-time update of the server automatic driving vehicle 200
It sets, in order to recommend suitable parking stall for the automatic driving vehicle 200, vehicle position information can be real-time change,
I.e. automatic driving vehicle 200 can obtain in real time current vehicle position information by positioning and be sent to server 100.
In the present embodiment, vehicle identification information can refer to the unique identities for identifying the automatic driving vehicle 200, example
Such as, vehicle identification information can be license plate number or MAC Address of the automatic driving vehicle 200 etc., be not specifically limited herein.
When implementing, server 100 can obtain 200 institute of automatic driving vehicle according to the vehicle position information in information of vehicles
Parking space information on each parking stall of parking area, parking space information include parking stall location information and parking stall state,
Wherein, parking stall state includes idle state and occupied state.Then, it is searched according to the parking space information on each parking stall automatic
The parking stall being in idle condition nearest apart from automatic driving vehicle 200 in 200 place parking area of vehicle is driven, and will most
The close parking stall being in idle condition is as target parking position.
In the present embodiment, when parking stall is in occupied state, the parking stall can be indicated there are vehicle parking or is somebody's turn to do
Parking stall has been reserved.When parking stall is in idle condition, the parking stall can be indicated without vehicle parking.In the specific implementation,
Server 100 can in real time or (for example, three minutes) obtain stopping for each parking stall in the parking area at regular intervals
Parking space state is simultaneously constantly updated pre-stored parking stall state, to guarantee that the data of parking space state information are reliable
Property.
Step S130 generates automatic driving vehicle 200 and arrives the travel route of target parking position, and travel route is sent to
Automatic driving vehicle 200, while open command is locked with locking 300 transmissions to the parking stall of target parking position.
As an implementation, the generation of A* pathfinding algorithm can be used when finding the target parking position in server 100
The traveling of automatic driving vehicle 200 to target parking position sails route, and travel route is sent to automatic driving vehicle 200.
While travel route is sent to automatic driving vehicle 200,300 transmissions are locked to the parking stall of target parking position
Open command is locked on ground, includes the vehicle identification information of the automatic driving vehicle 200 in ground lock open command, in order to subsequent mesh
It locks 300 with marking the parking stall on parking stall carries out validation of information with automatic driving vehicle 200.
Step S140, automatic driving vehicle 200 are based on travel route and navigate to target parking position.
In the present embodiment, automatic driving vehicle 200 can be in the application of preassembled map class (for example, Baidu map, Gao De
Map etc.) travel route is generated, then pass through map class application navigation to the target parking position.
Step S150, lock to the parking stall of target parking position 300 responsively lock open command enter open state, and detecting
According to vehicle identification information and automatic driving vehicle 200 when completing the shut-down operation of target parking position to automatic driving vehicle 200
It is matched, if successful match, enters lock state.
In the present embodiment, lock to the parking stall of target parking position 300 responsively lock open command enter open state, then to
Server 100 sends ground lock and opens prompt information, server 100 receiving is locked open prompt information after to automatic Pilot vehicle
200 send parking prompt informations, and automatic driving vehicle 200 carries out the parking of target parking position receiving parking prompt information
Operation.
Then, it locks to the parking stall of target parking position 300 and is detecting stopping for the completion target parking position of automatic driving vehicle 200
Vehicle is matched according to vehicle identification information with automatic driving vehicle 200 when operating, for example, can be to automatic driving vehicle 200
Authentication request is sent, the authentication information of 200 response identity checking request of automatic driving vehicle feedback is then received, and
Judge whether vehicle identification information matches with authentication information, if successful match, enters lock state, it is automatic to lock this
Drive the tire of vehicle 200.
If it fails to match, send a warning message to server 100, server 100 after receiving warning information again
The target parking position of 200 place parking area of automatic driving vehicle is searched, and regenerates automatic driving vehicle 200 to looking into again
The travel route of target parking position after looking for.
In this way, the automatic control that the present embodiment can be locked with being realized based on the location information of vehicle, solves car owner's operation
The cumbersome problem of process, greatly improves parking efficiency.
Optionally, when automatic driving vehicle 200 is activated again, vehicle is sent to server 100 and enables information, server
100 when receiving vehicle enabling information, locks while 300 transmissions are locked to the parking stall of target parking position open command, target parking
Lock to the parking stall of position 300 responsively lock open command enter open state, and detecting that automatic driving vehicle 200 is driven out to target
When parking stall, into lock state.In this way, need to only start automatic driving vehicle 200, target parking when car owner uses vehicle again
Locking 300 to the parking stall of position can automatically turn on, and 300 are locked to the parking stall of target parking position after automatic driving vehicle 200 leaves certainly
It is dynamic to close, any operation equally is carried out without car owner, lock 300 whole-process automatic control with realizing parking stall.
Further, referring to Fig. 3, the embodiment of the present application also provides a kind of ground lock control method, not with above-described embodiment
With lock control method server 100 as shown in Fig. 1 in ground provided in this embodiment executes, it is to be understood that connects down
The step of coming involved in the ground lock control method to be described has been noted above in the examples above, and specifically each step is detailed
Content can refer to above embodiment description, only executes step to server 100 below and is briefly described:
Step S410 obtains the vehicle letter of automatic driving vehicle 200 from the parking request that automatic driving vehicle 200 is sent
Breath, and according to the target parking position of information of vehicles lookup 200 place parking area of automatic driving vehicle, information of vehicles includes vehicle
Location information and vehicle identification information.
Step S420 generates automatic driving vehicle 200 and arrives the travel route of target parking position, and travel route is sent to
Automatic driving vehicle 200, so that automatic driving vehicle 200 is based on travel route and navigates to target parking position.
Step S430 locks open command while 300 transmissions are locked to the parking stall of target parking position, so that the vehicle of target parking position
Responsively lock open command enters open state to position ground lock 300, and is detecting the completion target parking position of automatic driving vehicle 200
Shut-down operation when matched according to vehicle identification information with automatic driving vehicle 200, if successful match, enter locking shape
State, wherein include the vehicle identification information of the automatic driving vehicle 200 in ground lock open command.
Further, correspond to ground shown in Fig. 3 lock control method, the embodiment of the present application also provides a kind of ground lock control dress
400 are set, which includes:
Module 410 is obtained, for obtaining automatic driving vehicle 200 from the parking request that automatic driving vehicle 200 is sent
Information of vehicles, and according to information of vehicles search 200 place parking area of automatic driving vehicle target parking position, information of vehicles
Including vehicle position information and vehicle identification information.
Generation module 420 arrives the travel route of target parking position for generating automatic driving vehicle 200, and will travel road
Line is sent to automatic driving vehicle 200, so that automatic driving vehicle 200 is based on travel route and navigates to target parking position.
Sending module 430, for locking open command with locking 300 transmissions to the parking stall of target parking position, so that target is stopped
Lock to the parking stall of parking stall 300 responsively lock open command enter open state, and detecting that automatic driving vehicle 200 completes mesh
It is matched according to vehicle identification information with automatic driving vehicle 200 when marking the shut-down operation on parking stall, if successful match, into
Enter lock state, wherein include the vehicle identification information of the automatic driving vehicle 200 in ground lock open command.
It is understood that the concrete operation method of each functional module in the present embodiment can refer to above method embodiment
The detailed description of middle corresponding steps, it is no longer repeated herein.
Further, referring to Fig. 5, being the server provided by the embodiments of the present application for above-mentioned ground lock control method
A kind of 100 structural schematic block diagram.In the present embodiment, server 100 can make general bus architecture by bus 110
To realize.According to the concrete application of server 100 and overall design constraints condition, bus 110 may include any number of mutual
Even bus and bridge joint.Together by various circuit connections, these circuits include processor 120,130 and of storage medium to bus 110
Bus interface 140.Optionally, server 100 can be used bus interface 140 and wait network adapter 150 and connects via bus 110
It connects.Network adapter 150 can be used for realizing the signal processing function of physical layer in server 100, and realize radio frequency by antenna
Signal sends and receives.User interface 160 can connect external equipment, such as: keyboard, display, mouse or control stick
Deng.Bus 110 can also connect various other circuits, such as timing source, peripheral equipment, voltage regulator or management circuit
Deng these circuits are known in the art, therefore are no longer described in detail.
It can replace, server 100 may also be configured to generic processing system, such as be commonly referred to as chip, the general procedure
System includes: to provide the one or more microprocessors of processing function, and provide at least part of outer of storage medium 130
Portion's memory, it is all these all to be linked together by external bus architecture and other support circuits.
Alternatively, following realize can be used in server 100: having processor 120, bus interface 140, Yong Hujie
The ASIC (specific integrated circuit) of mouth 160；And it is integrated at least part of the storage medium 130 in one single chip, alternatively,
Following realize: one or more FPGA (field programmable gate array), PLD (programmable logic device can be used in server 100
Part), controller, state machine, gate logic, discrete hardware components, any other suitable circuit or to be able to carry out the application logical
Any combination of the circuit of various functions described in.
Wherein, processor 120 is responsible for management bus 110 and general processing (is stored on storage medium 130 including executing
Software).One or more general processors and/or application specific processor can be used to realize in processor 120.Processor 120
Example includes microprocessor, microcontroller, dsp processor and the other circuits for being able to carry out software.It should be by software broadly
It is construed to indicate instruction, data or any combination thereof, regardless of being called it as software, firmware, middleware, microcode, hard
Part description language or other.
Storage medium 130 is illustrated as separating with processor 120 in Fig. 5, however, those skilled in the art be easy to it is bright
White, storage medium 130 or its arbitrary portion can be located at except server 100.For example, storage medium 130 may include passing
Defeated line, the carrier waveform modulated with data, and/or the computer product that separates with radio node, these media can be by
Processor 120 is accessed by bus interface 140.Alternatively, storage medium 130 or its arbitrary portion are desirably integrated into processing
In device 120, for example, it may be cache and/or general register.
Above-described embodiment can be performed in processor 120, specifically, can store ground lock control device in storage medium 130
200, processor 120 can be used for executing ground lock control device 200.
Further, the embodiment of the present application also provides a kind of nonvolatile computer storage media, computer storage is situated between
Matter is stored with computer executable instructions, which can be performed the ground lock control in above-mentioned any means embodiment
Method processed.
In conclusion ground provided by the embodiments of the present application lock control method, apparatus and system, are obtained automatic by server
The target parking position of parking area where driving the information of vehicles of vehicle and searching automatic driving vehicle according to information of vehicles, then
Automatic driving vehicle is generated to the travel route of target parking position, and travel route is sent to automatic driving vehicle, while to
Lock open command with locking to the parking stall of target parking position transmission.Then, automatic driving vehicle is based on travel route and navigates to target
Parking stall, at the same the parking stall of target parking position lock responsively lock open command and enter open state, and driven automatically detecting
It sails vehicle to complete to be matched according to vehicle identification information with automatic driving vehicle when the shut-down operation of target parking position, if matching
Success then enters lock state.Thereby, it is possible to the automatic controls that the location information based on vehicle is locked with realizing, solve car owner
The cumbersome problem of operating process, greatly improves parking efficiency.
In embodiment provided herein, it should be understood that disclosed device and method, it can also be by other
Mode realize.Device and method embodiment described above is only schematical, for example, flow chart and frame in attached drawing
Figure shows the system frame in the cards of the system of multiple embodiments according to the application, method and computer program product
Structure, function and operation.In this regard, each box in flowchart or block diagram can represent a module, section or code
A part, a part of the module, section or code includes one or more for implementing the specified logical function
Executable instruction.It should also be noted that function marked in the box can also be with not in some implementations as replacement
It is same as the sequence marked in attached drawing generation.For example, two continuous boxes can actually be basically executed in parallel, they have
When can also execute in the opposite order, this depends on the function involved.It is also noted that in block diagram and or flow chart
Each box and the box in block diagram and or flow chart combination, can function or movement as defined in executing it is dedicated
Hardware based system realize, or can realize using a combination of dedicated hardware and computer instructions.
In addition, each functional module in each embodiment of the application can integrate one independent portion of formation together
Point, it is also possible to modules individualism, an independent part can also be integrated to form with two or more modules.
It can replace, can be realized wholly or partly by software, hardware, firmware or any combination thereof.When
When using software realization, can entirely or partly it realize in the form of a computer program product.The computer program product
Including one or more computer instructions.It is all or part of when loading on computers and executing the computer program instructions
Ground is generated according to process or function described in the embodiment of the present application.The computer can be general purpose computer, special purpose computer,
Computer network or other programmable devices.The computer instruction may be stored in a computer readable storage medium, or
Person is transmitted from a computer readable storage medium to another computer readable storage medium, for example, the computer instruction
Wired (such as coaxial cable, optical fiber, digital subscriber can be passed through from a web-site, computer, server or data center
Line (DSL)) or wireless (such as infrared, wireless, microwave etc.) mode to another web-site, computer, server or data
It is transmitted at center.The computer readable storage medium can be any usable medium that computer can access and either wrap
The data storage devices such as electronic equipment, server, the data center integrated containing one or more usable mediums.The usable medium
It can be magnetic medium, (for example, floppy disk, hard disk, tape), optical medium (for example, DVD) or semiconductor medium (such as solid-state
Hard disk Solid State Disk (SSD)) etc..
It should be noted that, in this document, term " including ", " including " or its any other variant are intended to non-row
Its property includes, so that the process, method, article or equipment for including a series of elements not only includes those elements, and
And further include the other elements being not explicitly listed, or further include for this process, method, article or equipment institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence " including one ... ", it is not excluded that including institute
State in the process, method, article or equipment of element that there is also other identical elements.
It is obvious to a person skilled in the art that the application is not limited to the details of above-mentioned exemplary embodiment, Er Qie
In the case where without departing substantially from spirit herein or essential characteristic, the application can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and scope of the present application is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included in the application.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (10)
1. a kind of ground lock control method, which is characterized in that be applied to ground lock control system, described ground lock control system includes service
Device, each parking stall being connect with the server communication parking stall lock and connect with the server communication automatically drive
Sail vehicle, which comprises
The automatic driving vehicle sends parking request when receiving cutoff command, to the server；
The server is described automatic from obtaining from the parking request that the automatic driving vehicle is sent in the parking request
The information of vehicles of vehicle is driven, and is stopped according to the target that the information of vehicles searches automatic driving vehicle place parking area
Parking stall, the information of vehicles include vehicle position information and vehicle identification information；
The automatic driving vehicle is generated to the travel route of the target parking position, and the travel route is sent to described
Automatic driving vehicle, while open command is locked with locking transmission to the parking stall of the target parking position, wherein unlatching is locked describedly
It include the vehicle identification information of the automatic driving vehicle in instruction；
The automatic driving vehicle is based on the travel route and navigates to the target parking position；
Lock to the parking stall of the target parking position response and lock open command describedly and enter open state, and detect it is described from
It is dynamic to drive when vehicle completes the shut-down operation of the target parking position according to the vehicle identification information and the automatic Pilot vehicle
It is matched, if successful match, enters lock state.
2. ground according to claim 1 lock control method, which is characterized in that described according to information of vehicles lookup
Where automatic driving vehicle the step of the target parking position of parking area, comprising:
The each of parking area where obtaining the automatic driving vehicle according to the vehicle position information in the information of vehicles stops
The parking space information of parking stall, the parking space information include parking stall location information and parking stall state, wherein the parking stall
State includes idle state and occupied state；
According to where the parking space information on each parking stall searches the automatic driving vehicle in parking area described in distance
The nearest parking stall being in idle condition of automatic driving vehicle, and using the nearest parking stall being in idle condition as
The target parking position.
3. ground according to claim 1 lock control method, which is characterized in that described to generate the automatic driving vehicle to institute
State the travel route of target parking position, and the step of travel route is sent to the automatic driving vehicle, comprising:
Route is sailed using the traveling that A* pathfinding algorithm generates the automatic driving vehicle to the target parking position, and by the row
It sails route and is sent to the automatic driving vehicle.
4. ground according to claim 1 lock control method, which is characterized in that lock response to the parking stall of the target parking position
After locking the step of open command enters open state describedly, the method also includes:
It locks to the parking stall of the target parking position to the server and locks unlatching prompt information with sending；
The server receive lock describedly open prompt information after to the automatic driving vehicle send parking prompt letter
Breath；
The automatic driving vehicle carries out the shut-down operation of the target parking position receiving the parking prompt information.
5. ground according to claim 1 lock control method, which is characterized in that described according to the vehicle identification information and institute
State the step of automatic driving vehicle is matched, comprising:
Authentication request is sent to the automatic driving vehicle；
Receive the authentication information that the automatic driving vehicle responds the authentication request feedback；
Judge whether the vehicle identification information matches with the authentication information.
6. ground according to claim 1 lock control method, which is characterized in that described according to the vehicle identification information and institute
After stating the step of automatic driving vehicle is matched, the method also includes:
If it fails to match, send a warning message to the server；
The mesh of parking area where the server searches the automatic driving vehicle after receiving the warning information again
Mark parking stall.
7. ground according to claim 1 lock control method, which is characterized in that after described the step of entering lock state,
The method also includes:
When the automatic driving vehicle is activated again, vehicle is sent to the server and enables information；
The server is locked out while transmission is locked to the parking stall of the target parking position when receiving the vehicle enabling information
Open instruction；
Lock to the parking stall of the target parking position response and lock open command describedly and enter open state, and detect it is described from
When dynamic driving vehicle is driven out to the target parking position, into lock state.
8. a kind of ground lock control method, which is characterized in that be applied to server, the server is with the parking stall on each parking stall
Lock and automatic driving vehicle communication connection, which comprises
The information of vehicles of the automatic driving vehicle is obtained from the parking request that the automatic driving vehicle is sent, and according to institute
The target parking position of parking area where information of vehicles searches the automatic driving vehicle is stated, the information of vehicles includes vehicle position
Confidence breath and vehicle identification information；
The automatic driving vehicle is generated to the travel route of the target parking position, and the travel route is sent to described
Automatic driving vehicle, so that the automatic driving vehicle is based on the travel route and navigates to the target parking position；
Locked to the parking stall of the target parking position transmission lock open command so that the parking stall of the target parking position lock sound
It answers and locks open command describedly and enter open state, and detecting that the automatic driving vehicle completes the target parking position
It is matched according to the vehicle identification information with the automatic driving vehicle when shut-down operation, if successful match, enters lock
Determine state, wherein lock describedly include in open command the automatic driving vehicle vehicle identification information.
9. a kind of ground lock control device, which is characterized in that be applied to server, the server is with the parking stall on each parking stall
Lock and automatic driving vehicle communication connection, described device include:
Module is obtained, for obtaining the vehicle of the automatic driving vehicle from the parking request that the automatic driving vehicle is sent
Information, and the target parking position of parking area where searching the automatic driving vehicle according to the information of vehicles, the vehicle
Information includes vehicle position information and vehicle identification information；
Generation module, the travel route for generating the automatic driving vehicle to the target parking position, and by the traveling
Route is sent to the automatic driving vehicle, so that the automatic driving vehicle is based on the travel route and navigates to the target
Parking stall；
Sending module locks open command with sending for locking to the parking stall of the target parking position, so that the target is stopped
It locks response to the parking stall of position and locks open command describedly and enter open state, and detecting that the automatic driving vehicle completes institute
It is matched according to the vehicle identification information with the automatic driving vehicle when stating the shut-down operation of target parking position, if matching
Success, then enter lock state, wherein locked in open command describedly include the automatic driving vehicle vehicles identifications letter
Breath.
10. a kind of ground lock control system, which is characterized in that described ground lock control system includes that server and the server are logical
The automatic driving vehicle locked and connect with the server communication with believing the parking stall on each parking stall of connection；
The server, for obtaining the vehicle of the automatic driving vehicle from the parking request that the automatic driving vehicle is sent
Information, and the target parking position of parking area where searching the automatic driving vehicle according to the information of vehicles, the vehicle
Information includes vehicle position information and vehicle identification information；
The server, is also used to generate the automatic driving vehicle to the travel route of the target parking position, and will be described
Travel route is sent to the automatic driving vehicle, while locking unlatching with locking transmission to the parking stall of the target parking position and referring to
Enable, wherein locked in open command describedly include the automatic driving vehicle vehicle identification information；
The automatic driving vehicle, for navigating to the target parking position based on the travel route；
It locks to the parking stall of the target parking position, locks open command describedly for responding and enter open state, and detecting
According to the vehicle identification information and described automatic when the automatic driving vehicle completes the shut-down operation of the target parking position
It drives vehicle to be matched, if successful match, enters lock state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811160648.XA CN109087529A (en) | 2018-09-30 | 2018-09-30 | Ground lock control method, apparatus and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811160648.XA CN109087529A (en) | 2018-09-30 | 2018-09-30 | Ground lock control method, apparatus and system |
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| Publication Number | Publication Date |
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| CN109087529A true CN109087529A (en) | 2018-12-25 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811160648.XA Pending CN109087529A (en) | 2018-09-30 | 2018-09-30 | Ground lock control method, apparatus and system |
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| CN111508251A (en) * | 2018-12-31 | 2020-08-07 | 现代自动车株式会社 | System, method, infrastructure and vehicle for autonomous valet parking |
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| CN113205059A (en) * | 2021-05-18 | 2021-08-03 | 北京纵目安驰智能科技有限公司 | Parking space detection method, system, terminal and computer readable storage medium |
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| CN117841989A (en) * | 2024-03-05 | 2024-04-09 | 智联信通科技股份有限公司 | Environment sensing and parking management system based on intelligent driving |
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