CN109577720A - The automatically storing and taking vehicles method and system of automatic driving vehicle - Google Patents

The automatically storing and taking vehicles method and system of automatic driving vehicle Download PDF

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Publication number
CN109577720A
CN109577720A CN201811339510.6A CN201811339510A CN109577720A CN 109577720 A CN109577720 A CN 109577720A CN 201811339510 A CN201811339510 A CN 201811339510A CN 109577720 A CN109577720 A CN 109577720A
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CN
China
Prior art keywords
automatic driving
driving vehicle
parking stall
hoistable platform
automatically
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
CN201811339510.6A
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Chinese (zh)
Inventor
夏健鸣
封阳财
杨方升
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.)
Shenzhen City Ke Li Heng Garage Equipment Ltd By Share Ltd
Original Assignee
Shenzhen City Ke Li Heng Garage Equipment Ltd By Share 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 Shenzhen City Ke Li Heng Garage Equipment Ltd By Share Ltd filed Critical Shenzhen City Ke Li Heng Garage Equipment Ltd By Share Ltd
Priority to CN201811339510.6A priority Critical patent/CN109577720A/en
Publication of CN109577720A publication Critical patent/CN109577720A/en
Pending legal-status Critical Current

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Classifications

    • EFIXED CONSTRUCTIONS
    • E04BUILDING
    • E04HBUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
    • E04H6/00Buildings for parking cars, rolling stock, aircraft, vessels or like vehicles, e.g. garages
    • E04H6/42Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
    • E04H6/422Automatically operated car-parks

Abstract

The invention discloses a kind of automatically storing and taking vehicles method and system of automatic driving vehicle, method includes: the cutoff command for receiving automatic driving vehicle and sending;The instruction for allowing that hoistable platform is driven into from entrance parking stall is sent to automatic driving vehicle;Automatic driving vehicle sends the response message that arrived hoistable platform, and the automatic driving vehicle is transported to target parking stall by hoistable platform;Automatic driving vehicle drives into the target parking stall from hoistable platform automatically;Instruction of picking up the car is received, hoistable platform is docked with target parking stall;The instruction for allowing that hoistable platform is driven into from target parking stall is sent to automatic driving vehicle;Automatic driving vehicle sends the response message that arrived hoistable platform, and automatic driving vehicle is transported to garage exit/entry by hoistable platform;Automatic driving vehicle drives into entrance parking stall from hoistable platform automatically.Whole process can carry out automatically, and whole process without human intervention, both can quickly and accurately carry out Transport Vehicle, can also greatly save cost of labor.

Description

The automatically storing and taking vehicles method and system of automatic driving vehicle
Technical field
The present invention relates to a kind of automatically storing and taking vehicles method of technical field of vehicle management more particularly to automatic driving vehicle and System.
Background technique
Existing stereo garage, which usually requires administrative staff's progress field management, to be operated normally, and each garage is both needed to 24 Hour is equipped with operator and carries out Transport Vehicle operation and arrange empty parking space, by manually carrying out the traffic control in entire garage, manually It is at high cost.
Autonomous driving vehicle, also known as pilotless automobile are that one kind by computer system realizes unpiloted intelligence Automobile.Autonomous driving vehicle relies on artificial intelligence system, vision computing system, radar system, monitoring system and global positioning system Cooperative cooperating between system, allows computer in the case where unmanned active operation, operates to automatic safe automatic Pilot vapour Vehicle.With popularizing for pilotless automobile, how effective Transport Vehicle is carried out to pilotless automobile, become everybody and more pay close attention to A problem.
Summary of the invention
The technical problems to be solved by the present invention are: providing a kind of automatically storing and taking vehicles method of automatic driving vehicle and being System can quickly and accurately carry out Transport Vehicle, and whole process is without human intervention.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention are as follows:
A kind of automatically storing and taking vehicles method of automatic driving vehicle, comprising:
The cutoff command that automatic driving vehicle is sent is received, control hoistable platform is docked with entrance parking stall;
The instruction for allowing that hoistable platform is driven into from entrance parking stall is sent to automatic driving vehicle;
Reception automatic driving vehicle drives into the lifting that arrived sent after the hoistable platform automatically from entrance parking stall and puts down The response message of platform controls hoistable platform for the automatic driving vehicle and is transported to target parking stall;
Sending allows to drive into the instruction of target parking stall to the automatic driving vehicle, so that the automatic driving vehicle is from liter Drop platform drives into the target parking stall automatically;
Instruction of picking up the car is received, control hoistable platform is docked with target parking stall;
The instruction for allowing that hoistable platform is driven into from target parking stall is sent to automatic driving vehicle;
Receive automatic driving vehicle driven into automatically from target parking stall sent after hoistable platform arrived answering for hoistable platform Information is answered, hoistable platform is controlled by automatic driving vehicle and is transported to garage exit/entry;
Sending allows to drive into the instruction of entrance parking stall to the automatic driving vehicle so that the automatic driving vehicle from Hoistable platform drives into entrance parking stall automatically.
Another technical solution that the present invention uses are as follows:
A kind of automatically storing and taking vehicles system of automatic driving vehicle, including memory, processor and storage are on a memory simultaneously The computer program that can be run on the processor, the processor perform the steps of when executing the computer program
The cutoff command that automatic driving vehicle is sent is received, control hoistable platform is docked with entrance parking stall;
The instruction for allowing that hoistable platform is driven into from entrance parking stall is sent to automatic driving vehicle;
Reception automatic driving vehicle drives into the lifting that arrived sent after the hoistable platform automatically from entrance parking stall and puts down The response message of platform controls hoistable platform for the automatic driving vehicle and is transported to target parking stall;
Sending allows to drive into the instruction of target parking stall to the automatic driving vehicle, so that the automatic driving vehicle is from liter Drop platform drives into the target parking stall automatically;
Instruction of picking up the car is received, control hoistable platform is docked with target parking stall;
The instruction for allowing that hoistable platform is driven into from target parking stall is sent to automatic driving vehicle;
Receive automatic driving vehicle driven into automatically from target parking stall sent after hoistable platform arrived answering for hoistable platform Information is answered, hoistable platform is controlled by automatic driving vehicle and is transported to garage exit/entry;
Sending allows to drive into the instruction of entrance parking stall to the automatic driving vehicle so that the automatic driving vehicle from Hoistable platform drives into entrance parking stall automatically.
The beneficial effects of the present invention are: after receiving cutoff command, hoistable platform is docked with entrance parking stall, Then automatic driving vehicle drives into hoistable platform automatically, and target vehicle is transported to target parking stall by hoistable platform and is deposited It puts;After receiving pick-up instruction, hoistable platform is docked with target parking stall, and then automatic driving vehicle drives into lifting automatically Target vehicle is transported to entrance parking stall by hoistable platform and picked up the car by platform.Whole process can carry out automatically, whole Without human intervention, Transport Vehicle both can be quickly and accurately carried out, cost of labor can also be greatlyd save.
Detailed description of the invention
Fig. 1 is the automatically storing and taking vehicles method of the automatic driving vehicle of the embodiment of the present invention one;
Fig. 2 is the automatically storing and taking vehicles system of the automatic driving vehicle of the embodiment of the present invention two.
Label declaration:
100, the automatically storing and taking vehicles system of automatic driving vehicle;1, memory;2, processor.
Specific embodiment
To explain the technical content, the achieved purpose and the effect of the present invention in detail, below in conjunction with embodiment and cooperate attached Figure is explained.
The most critical design of the present invention is: after receiving cutoff command, hoistable platform and entrance parking stall are carried out pair It connects, then automatic driving vehicle drives into hoistable platform automatically, and target vehicle is transported to target parking stall by hoistable platform and is carried out Storage;After receiving pick-up instruction, hoistable platform is docked with target parking stall, and then automatic driving vehicle drives into liter automatically Platform is dropped, target vehicle is transported to by entrance parking stall by hoistable platform and is picked up the car.It can quickly and accurately be accessed Vehicle, whole process is without human intervention.
Please refer to Fig. 1, a kind of automatically storing and taking vehicles method of automatic driving vehicle, comprising:
The cutoff command that automatic driving vehicle is sent is received, control hoistable platform is docked with entrance parking stall;
The instruction for allowing that hoistable platform is driven into from entrance parking stall is sent to automatic driving vehicle;
Reception automatic driving vehicle drives into the lifting that arrived sent after the hoistable platform automatically from entrance parking stall and puts down The response message of platform controls hoistable platform for the automatic driving vehicle and is transported to target parking stall;
Sending allows to drive into the instruction of target parking stall to the automatic driving vehicle, so that the automatic driving vehicle is from liter Drop platform drives into the target parking stall automatically;
Instruction of picking up the car is received, control hoistable platform is docked with target parking stall;
The instruction for allowing that hoistable platform is driven into from target parking stall is sent to automatic driving vehicle;
Receive automatic driving vehicle driven into automatically from target parking stall sent after hoistable platform arrived answering for hoistable platform Information is answered, hoistable platform is controlled by automatic driving vehicle and is transported to garage exit/entry;
Sending allows to drive into the instruction of entrance parking stall to the automatic driving vehicle so that the automatic driving vehicle from Hoistable platform drives into entrance parking stall automatically.
As can be seen from the above description, the beneficial effects of the present invention are: after receiving cutoff command, hoistable platform and discrepancy Mouth parking stall is docked, and then automatic driving vehicle drives into hoistable platform automatically, is transported to target vehicle by hoistable platform It is stored target parking stall;After receiving pick-up instruction, hoistable platform is docked with target parking stall, then automatic driving car Hoistable platform is driven into automatically, target vehicle is transported to by entrance parking stall by hoistable platform and is picked up the car.Whole process is equal It can carry out automatically, whole process without human intervention, both can quickly and accurately carry out Transport Vehicle, can also greatly save cost of labor.
Further, described send to automatic driving vehicle allows before the instruction that hoistable platform is driven into entrance parking stall Further include:
Length detection, height detection, width detection and weight detecting are carried out to the automatic driving vehicle respectively, obtained Testing result;
It is that the automatic driving vehicle distributes target parking stall according to the testing result.
Seen from the above description, the target parking stall of suitable size can be distributed for automatic driving vehicle according to testing result; When testing result shows no suitable target carriage bit allocation, then the exceeded instruction of vehicle is sent to automatic driving vehicle, nobody It drives vehicle and sails out of entrance parking stall automatically.
Further, it is described receive automatic driving vehicle and drive into automatically from entrance parking stall sent after the hoistable platform After the response message that arrived hoistable platform further include:
Automatically first location information of the automatic driving vehicle on hoistable platform is detected;
When the first location information, which is not met, parks regulation, warning information is issued.
Seen from the above description, the location information to automatic driving vehicle on hoistable platform detects, it is ensured that Safety during haulage vehicle.
Further, described to send the instruction for allowing to drive into target parking stall to the automatic driving vehicle, so that the nothing People drives vehicle and is driven into automatically after the target parking stall from hoistable platform further include:
Receive the response message for driving into the target parking stall automatically from hoistable platform that automatic driving vehicle is sent.
Further, what the reception automatic driving vehicle was sent drives into the target parking stall automatically from hoistable platform After response message further include:
Automatically the automatic driving vehicle is detected in the second location information of target parking stall;
When the second location information, which meets, parks regulation, to the automatic driving vehicle into row lock protection;
When the second location information, which is not met, parks regulation, warning information is issued.
Seen from the above description, the safety of vehicle parking is advantageously ensured that into row lock protection to vehicle.
Referring to figure 2., another technical solution of the present invention are as follows:
A kind of automatically storing and taking vehicles system 100 of automatic driving vehicle, including memory 1, processor 2 and it is stored in memory On 1 and the computer program that can be run on the processor 2, the processor 2 realized when executing the computer program with Lower step:
The cutoff command that automatic driving vehicle is sent is received, control hoistable platform is docked with entrance parking stall;
The instruction for allowing that hoistable platform is driven into from entrance parking stall is sent to automatic driving vehicle;
Reception automatic driving vehicle drives into the lifting that arrived sent after the hoistable platform automatically from entrance parking stall and puts down The response message of platform controls hoistable platform for the automatic driving vehicle and is transported to target parking stall;
Sending allows to drive into the instruction of target parking stall to the automatic driving vehicle, so that the automatic driving vehicle is from liter Drop platform drives into the target parking stall automatically;
Instruction of picking up the car is received, control hoistable platform is docked with target parking stall;
The instruction for allowing that hoistable platform is driven into from target parking stall is sent to automatic driving vehicle;
Receive automatic driving vehicle driven into automatically from target parking stall sent after hoistable platform arrived answering for hoistable platform Information is answered, hoistable platform is controlled by automatic driving vehicle and is transported to garage exit/entry;
Sending allows to drive into the instruction of entrance parking stall to the automatic driving vehicle so that the automatic driving vehicle from Hoistable platform drives into entrance parking stall automatically.
Further, it is also performed the steps of when the processor 2 executes the computer program
Described send to automatic driving vehicle allows before the instruction that hoistable platform is driven into entrance parking stall further include:
Length detection, height detection, width detection and weight detecting are carried out to the automatic driving vehicle respectively, obtained Testing result;
It is that the automatic driving vehicle distributes target parking stall according to the testing result.
Further, it is also performed the steps of when the processor 2 executes the computer program
It is described receive automatic driving vehicle driven into automatically from entrance parking stall sent after the hoistable platform arrived liter After the response message for dropping platform further include:
Automatically first location information of the automatic driving vehicle on hoistable platform is detected;
When the first location information, which is not met, parks regulation, warning information is issued.
Further, it is also performed the steps of when the processor 2 executes the computer program
It is described to send the instruction for allowing to drive into target parking stall to the automatic driving vehicle, so that the automatic driving vehicle It is driven into automatically from hoistable platform after the target parking stall further include:
Receive the response message for driving into the target parking stall automatically from hoistable platform that automatic driving vehicle is sent.
Further, it is also performed the steps of when the processor 2 executes the computer program
The response message for driving into the target parking stall automatically from hoistable platform for receiving automatic driving vehicle and sending Later further include:
Automatically the automatic driving vehicle is detected in the second location information of target parking stall;
When the second location information, which meets, parks regulation, to the automatic driving vehicle into row lock protection;
When the second location information, which is not met, parks regulation, warning information is issued.
Please refer to Fig. 1, the embodiment of the present invention one are as follows:
A kind of automatically storing and taking vehicles method of automatic driving vehicle, includes the following steps:
S1, the cutoff command that automatic driving vehicle is sent is received, control hoistable platform is docked with entrance parking stall.Step Before rapid S1 further include: S101, automatic driving vehicle drive into the entrance parking stall automatically.When automatic driving vehicle drives into discrepancy After mouth parking stall, whether detection vehicle is correctly parked, if not having, its position of automatic driving vehicle adjust automatically.
In the present embodiment, after step S101 further include:
S102, length detection, height detection, width detection and weight inspection are carried out respectively to the automatic driving vehicle It surveys, obtains testing result;
It S103, is that the automatic driving vehicle distributes target parking stall according to the testing result.
If not finding suitable target parking stall according to testing result, the exceeded finger of vehicle is sent to automatic driving vehicle It enables, automatic driving vehicle sails out of entrance parking stall automatically.In the present embodiment, the position setting detection vehicle in entrance parking stall is long The device of degree, height, width and weight.
S2, the instruction for allowing that hoistable platform is driven into from entrance parking stall is sent to automatic driving vehicle.
S3, receive automatic driving vehicle driven into automatically from entrance parking stall sent after the hoistable platform arrived lifting The response message of platform controls hoistable platform for the automatic driving vehicle and is transported to target parking stall.It is described to connect in the present embodiment It receives automatic driving vehicle and drives into the response letter that arrived hoistable platform sent after the hoistable platform automatically from entrance parking stall After breath further include:
S301, first location information of the automatic driving vehicle on hoistable platform is detected automatically;
S302, when the first location information does not meet and parks regulation, issue warning information.According to warning information nobody Position adjustment can be carried out automatically by driving vehicle, until parking regulation until meeting.Specifically, can be arranged on hoistable platform Gateway device, and gateway device is positioned close to one end of target parking stall, for detecting automatic driving vehicle in hoistable platform Position and carry out early warning.
S4, transmission allow to drive into the instruction of target parking stall to the automatic driving vehicle, so that the automatic driving vehicle Drive into the target parking stall automatically from hoistable platform.
After step S4 further include: what S401, reception automatic driving vehicle were sent drives into from hoistable platform described automatically The response message of target parking stall.
After step S401 further include: S402, detect the automatic driving vehicle automatically in the second position of target parking stall Information;S403, when the second location information meets and parks regulation, to the automatic driving vehicle into row lock protection; S404, when the second location information does not meet and parks regulation, issue warning information.Lockout protection device is arranged in target carriage On position, when Transport Vehicle, lockout protection device is in the open state;After Transport Vehicle, lockout protection device is automatically closed, can be with Prevent the system failure from automatic driving vehicle being caused to fall liftway.
S5, instruction of picking up the car is received, control hoistable platform is docked with target parking stall.
S6, the instruction for allowing that hoistable platform is driven into from target parking stall is sent to automatic driving vehicle.Driving into hoistable platform Later, the location information also to automatic driving vehicle on hoistable platform detects, and parks so that automatic driving vehicle meets Regulation.
S7, it receives automatic driving vehicle and drives into from target parking stall the hoistable platform that arrived sent after hoistable platform automatically Response message controls hoistable platform for automatic driving vehicle and is transported to garage exit/entry.
S8, transmission allow to drive into the instruction of entrance parking stall to the automatic driving vehicle, so that the automatic driving car Drive into entrance parking stall automatically from hoistable platform.It is unmanned when automatic driving vehicle is after entrance parking stall is correctly parked Vehicle sails out of entrance parking stall automatically.
Referring to figure 2., the embodiment of the present invention two are as follows:
A kind of automatically storing and taking vehicles system 100 of automatic driving vehicle, including memory 1, processor 2 and it is stored in memory On 1 and the computer program that can be run on the processor 2, the processor 2 realized when executing the computer program with Lower step:
The cutoff command that automatic driving vehicle is sent is received, control hoistable platform is docked with entrance parking stall;
The instruction for allowing that hoistable platform is driven into from entrance parking stall is sent to automatic driving vehicle;
Reception automatic driving vehicle drives into the lifting that arrived sent after the hoistable platform automatically from entrance parking stall and puts down The response message of platform controls hoistable platform for the automatic driving vehicle and is transported to target parking stall;
Sending allows to drive into the instruction of target parking stall to the automatic driving vehicle, so that the automatic driving vehicle is from liter Drop platform drives into the target parking stall automatically;
Instruction of picking up the car is received, control hoistable platform is docked with target parking stall;
The instruction for allowing that hoistable platform is driven into from target parking stall is sent to automatic driving vehicle;
Receive automatic driving vehicle driven into automatically from target parking stall sent after hoistable platform arrived answering for hoistable platform Information is answered, hoistable platform is controlled by automatic driving vehicle and is transported to garage exit/entry;
Sending allows to drive into the instruction of entrance parking stall to the automatic driving vehicle so that the automatic driving vehicle from Hoistable platform drives into entrance parking stall automatically.
Further, it is also performed the steps of when the processor 2 executes the computer program
Described send to automatic driving vehicle allows before the instruction that hoistable platform is driven into entrance parking stall further include:
Length detection, height detection, width detection and weight detecting are carried out to the automatic driving vehicle respectively, obtained Testing result;
It is that the automatic driving vehicle distributes target parking stall according to the testing result.
Further, it is also performed the steps of when the processor 2 executes the computer program
It is described receive automatic driving vehicle driven into automatically from entrance parking stall sent after the hoistable platform arrived liter After the response message for dropping platform further include:
Automatically first location information of the automatic driving vehicle on hoistable platform is detected;
When the first location information, which is not met, parks regulation, warning information is issued.
Further, it is also performed the steps of when the processor 2 executes the computer program
It is described to send the instruction for allowing to drive into target parking stall to the automatic driving vehicle, so that the automatic driving vehicle It is driven into automatically from hoistable platform after the target parking stall further include:
Receive the response message for driving into the target parking stall automatically from hoistable platform that automatic driving vehicle is sent.
Further, it is also performed the steps of when the processor 2 executes the computer program
The response message for driving into the target parking stall automatically from hoistable platform for receiving automatic driving vehicle and sending Later further include:
Automatically the automatic driving vehicle is detected in the second location information of target parking stall;
When the second location information, which meets, parks regulation, to the automatic driving vehicle into row lock protection;
When the second location information, which is not met, parks regulation, warning information is issued.
In conclusion a kind of automatically storing and taking vehicles method and system of automatic driving vehicle provided by the invention, whole process Can carry out automatically, it is whole both quickly and accurately to carry out Transport Vehicle without human intervention, can also greatly save manually at This.
The above description is only an embodiment of the present invention, is not intended to limit the scope of the invention, all to utilize this hair Equivalents made by bright specification and accompanying drawing content are applied directly or indirectly in relevant technical field, similarly include In scope of patent protection of the invention.

Claims (10)

1. a kind of automatically storing and taking vehicles method of automatic driving vehicle characterized by comprising
The cutoff command that automatic driving vehicle is sent is received, control hoistable platform is docked with entrance parking stall;
The instruction for allowing that hoistable platform is driven into from entrance parking stall is sent to automatic driving vehicle;
It receives automatic driving vehicle and drives into from entrance parking stall the hoistable platform that arrived sent after the hoistable platform automatically Response message controls hoistable platform for the automatic driving vehicle and is transported to target parking stall;
The instruction for allowing to drive into target parking stall is sent to the automatic driving vehicle, so that the automatic driving vehicle is flat from lifting Platform drives into the target parking stall automatically;
Instruction of picking up the car is received, control hoistable platform is docked with target parking stall;
The instruction for allowing that hoistable platform is driven into from target parking stall is sent to automatic driving vehicle;
It receives automatic driving vehicle and drives into the response letter that arrived hoistable platform sent after hoistable platform automatically from target parking stall Breath controls hoistable platform for automatic driving vehicle and is transported to garage exit/entry;
Sending allows to drive into the instruction of entrance parking stall to the automatic driving vehicle, so that the automatic driving vehicle is from lifting Platform drives into entrance parking stall automatically.
2. the automatically storing and taking vehicles method of automatic driving vehicle according to claim 1, which is characterized in that described to be driven to nobody Sailing vehicle and sending allows before the instruction that hoistable platform is driven into entrance parking stall further include:
Length detection, height detection, width detection and weight detecting are carried out to the automatic driving vehicle respectively, detected As a result;
It is that the automatic driving vehicle distributes target parking stall according to the testing result.
3. the automatically storing and taking vehicles method of automatic driving vehicle according to claim 1, which is characterized in that described to receive nobody Vehicle is driven to drive into automatically from entrance parking stall after the response message that arrived hoistable platform sent after the hoistable platform Further include:
Automatically first location information of the automatic driving vehicle on hoistable platform is detected;
When the first location information, which is not met, parks regulation, warning information is issued.
4. the automatically storing and taking vehicles method of automatic driving vehicle according to claim 1, which is characterized in that the transmission allows The instruction of target parking stall is driven into the automatic driving vehicle, so that the automatic driving vehicle drives into institute from hoistable platform automatically After stating target parking stall further include:
Receive the response message for driving into the target parking stall automatically from hoistable platform that automatic driving vehicle is sent.
5. the automatically storing and taking vehicles method of automatic driving vehicle according to claim 4, which is characterized in that described to receive nobody Drive being driven into automatically from hoistable platform after the response message of the target parking stall for vehicle transmission further include:
Automatically the automatic driving vehicle is detected in the second location information of target parking stall;
When the second location information, which meets, parks regulation, to the automatic driving vehicle into row lock protection;
When the second location information, which is not met, parks regulation, warning information is issued.
6. a kind of automatically storing and taking vehicles system of automatic driving vehicle, including memory, processor and storage are on a memory and can The computer program run on the processor, which is characterized in that the processor is realized when executing the computer program Following steps:
The cutoff command that automatic driving vehicle is sent is received, control hoistable platform is docked with entrance parking stall;
The instruction for allowing that hoistable platform is driven into from entrance parking stall is sent to automatic driving vehicle;
It receives automatic driving vehicle and drives into from entrance parking stall the hoistable platform that arrived sent after the hoistable platform automatically Response message controls hoistable platform for the automatic driving vehicle and is transported to target parking stall;
The instruction for allowing to drive into target parking stall is sent to the automatic driving vehicle, so that the automatic driving vehicle is flat from lifting Platform drives into the target parking stall automatically;
Instruction of picking up the car is received, control hoistable platform is docked with target parking stall;
The instruction for allowing that hoistable platform is driven into from target parking stall is sent to automatic driving vehicle;
It receives automatic driving vehicle and drives into the response letter that arrived hoistable platform sent after hoistable platform automatically from target parking stall Breath controls hoistable platform for automatic driving vehicle and is transported to garage exit/entry;
Sending allows to drive into the instruction of entrance parking stall to the automatic driving vehicle, so that the automatic driving vehicle is from lifting Platform drives into entrance parking stall automatically.
7. the automatically storing and taking vehicles system of automatic driving vehicle according to claim 6, which is characterized in that the processor is held It is also performed the steps of when the row computer program
Described send to automatic driving vehicle allows before the instruction that hoistable platform is driven into entrance parking stall further include:
Length detection, height detection, width detection and weight detecting are carried out to the automatic driving vehicle respectively, detected As a result;
It is that the automatic driving vehicle distributes target parking stall according to the testing result.
8. the automatically storing and taking vehicles system of automatic driving vehicle according to claim 6, which is characterized in that the processor is held It is also performed the steps of when the row computer program
The reception automatic driving vehicle drives into the lifting that arrived sent after the hoistable platform automatically from entrance parking stall and puts down After the response message of platform further include:
Automatically first location information of the automatic driving vehicle on hoistable platform is detected;
When the first location information, which is not met, parks regulation, warning information is issued.
9. the automatically storing and taking vehicles system of automatic driving vehicle according to claim 6, which is characterized in that the processor is held It is also performed the steps of when the row computer program
Described send allows to drive into the instruction of target parking stall to the automatic driving vehicle, so that the automatic driving vehicle is from liter Drop platform is driven into automatically after the target parking stall further include:
Receive the response message for driving into the target parking stall automatically from hoistable platform that automatic driving vehicle is sent.
10. the automatically storing and taking vehicles system of automatic driving vehicle according to claim 9, which is characterized in that the processor It is also performed the steps of when executing the computer program
What the reception automatic driving vehicle was sent drives into from hoistable platform automatically after the response message of the target parking stall Further include:
Automatically the automatic driving vehicle is detected in the second location information of target parking stall;
When the second location information, which meets, parks regulation, to the automatic driving vehicle into row lock protection;
When the second location information, which is not met, parks regulation, warning information is issued.
CN201811339510.6A 2018-11-12 2018-11-12 The automatically storing and taking vehicles method and system of automatic driving vehicle Pending CN109577720A (en)

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