CN109624970A - A kind of autonomous parking control device - Google Patents
A kind of autonomous parking control device Download PDFInfo
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- CN109624970A CN109624970A CN201910041634.4A CN201910041634A CN109624970A CN 109624970 A CN109624970 A CN 109624970A CN 201910041634 A CN201910041634 A CN 201910041634A CN 109624970 A CN109624970 A CN 109624970A
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- vehicle
- information
- autonomous parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- Automation & Control Theory (AREA)
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- Mechanical Engineering (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a kind of autonomous parking control devices, including wireless communication module, and mode receives the information from background server by wireless communication；And vehicle communication line interface, wireless communication module is coupled to by Wireline to obtain the vehicle client information of characterization background server information, and vehicle client information is handed down to vehicle to control vehicle and realize autonomous parking；It is characterized in that, autonomous parking control device is pre-installed on vehicle.The present invention can accurately and timely know vehicle position information by high-accuracy position system self-built in parking lot, accurate to adjust vehicle running track.Furthermore, the wireless communication module of autonomous parking device is pre-installed in inside the spoiler, shark fins or other electromagnetic wave transparent materials of vehicle, so as to accurately receive background server information from parking lot background server, and then the instruction of autonomous parking Route Generation vehicle control is calculated according to background server information, vehicle can be accurately controlled, realizes automatic parking.
Description
Technical field
The present invention relates to wireless communication fields, and in particular to a kind of autonomous parking control device.
Background technique
With vehicle become increasingly popular and the continuous improvement of scientific and technological level, automatic Pilot technology have become numerous Research Centers
The new upsurge of scientific & technical corporation's research in one's power, however the standard for being limited to numerous vehicles is inconsistent, basis instrument is not perfect, correlation method
Rule system is unsound and security and stability can not ensure completely, and automatic Pilot technology is promoted in driving road, and there are also very long
Stretch will be walked.However carry out automatic Pilot technology to realize autonomous parking, not only in the driver area at a slow speed on the ground such as parking lot
Security risk is smaller, even more solves the problems, such as that numerous drivers look for parking stall hardly possible, hardly possible of parking.Based on this, domestic and international enterprise is in intelligence
Intelligent parking lot and autonomous parking field expand keen competition.However in the research and extension of wisdom parking lot and autonomous parking
In the process, there is also problems.
Firstly, parking lot is laid in underground or interior more, existing Global electrical circuiti GPS and Beidou etc. can not be
It wherein plays a role, and the landform in parking lot is complex, barrier is numerous, needs during parking extremely accurately real-time
Location information, to realize the control to vehicle.
Secondly, if want realize autonomous parking, need to install additional in the car with parking lot end carry out communication module, for receiving
Parking lot map, target parking position, environmental information etc., but due to vehicle enclosure compared with multizone be the gold with shielded signal function
Belong to, vehicle end and the communication at field end can be affected greatly.
Therefore, how to provide it is a kind of high accuracy positioning may be implemented, the stable autonomous parking parking lot of communication becomes this
Field technical problem urgently to be resolved.
Summary of the invention
According to one aspect of the present invention, a kind of autonomous parking control device, including wireless communication module and vehicle are disclosed
Communications line interface, wherein mode receives the information from background server to wireless communication module by wireless communication；Vehicle
Communications line interface is coupled to wireless communication module by Wireline to obtain the vehicle end letter of characterization background server information
Breath, and vehicle client information is handed down to vehicle to control vehicle and realize autonomous parking.Wherein, autonomous parking control device is pacified in advance
On vehicle.
The present invention can accurately and timely know that vehicle location is believed by high-accuracy position system self-built in parking lot
Breath, and then vehicle running track is accurately adjusted, it is dangerous to reduce vehicle collision.In addition, by the radio communication mold of autonomous parking device
Block is pre-installed in inside the spoiler, shark fins or other electromagnetic wave transparent materials of vehicle, so as to from parking lot background server
It is accurate to receive background server information, and then autonomous parking Route Generation vehicle control is calculated according to background server information and is referred to
It enables, can accurately control vehicle, realize automatic parking.
Detailed description of the invention
Fig. 1 provides a kind of schematic diagram of the autonomous parking parking system 100 of embodiment according to the present invention；
Fig. 2 provides a kind of modular diagram of the autonomous parking control device 200 of embodiment according to the present invention；
Fig. 3 provides a kind of scheme of installation of the autonomous parking control device of embodiment according to the present invention；
Fig. 4 provides the scheme of installation of the autonomous parking control device of another embodiment according to the present invention.
Specific embodiment
Specific embodiments of the present invention are described more fully below, it should be noted that the embodiments described herein is served only for illustrating
Illustrate, is not intended to restrict the invention.In the following description, in order to provide a thorough understanding of the present invention, a large amount of spies are elaborated
Determine details.It will be apparent, however, to one skilled in the art that: this hair need not be carried out using these specific details
It is bright.In other instances, in order to avoid obscuring the present invention, well known circuit, material or method are not specifically described.
Throughout the specification, meaning is referred to " one embodiment ", " embodiment ", " example " or " example "
: a particular feature, structure, or characteristic described in conjunction with this embodiment or example is comprised at least one embodiment of the invention.
Therefore, the phrase " in one embodiment ", " in embodiment ", " example " occurred in each place of the whole instruction
Or " example " is not necessarily all referring to the same embodiment or example.Furthermore, it is possible in any suitable combination and or sub-portfolio will be specific
Feature, structure or characteristic combine in one or more embodiment or examples.In addition, those of ordinary skill in the art should manage
Solution, diagram is provided to the purpose of explanation provided herein, and diagram is not necessarily drawn to scale.It should be appreciated that working as
Claim " element " " being connected to " or when ' attach ' to another element, it, which can be, is directly connected to or is connected to another element or can be with
There are intermediary elements.On the contrary, cental element is not present when claiming element " being directly connected to " or " being directly connected to " another element
Part.Identical appended drawing reference indicates identical element.Term "and/or" used herein includes that one or more correlations are listed
Any and all combinations of project.
Fig. 1 provides a kind of schematic diagram of the autonomous parking parking system 100 of embodiment according to the present invention.Autonomous parking stops
Parking lot system 100 includes field end device and autonomous parking control device, wherein field end device emits vehicle and carries out autonomous parking institute
The data information needed, in the embodiment shown in fig. 1, the field end device are background server SE.Autonomous parking control device, peace
On vehicle, mode receives the data information for carrying out self-fields end device by wireless communication, and generates vehicle according to data information
It executes instruction to control vehicle and execute corresponding function to realize the autonomous parking of vehicle.In one embodiment, field end device
Carried out data transmission with autonomous parking control device by dedicated short-range communication mode, such as DSRC (Dedicated Short-
Range Communications, vehicle-mounted dedicated short-range communication) or LTE-V (Long Term Evolution-vehicle communication).
In one embodiment, the autonomous parking parking system 100 further includes locating base station group, the locating base station
Group includes N number of locating base station BS, and wherein N is the integer more than or equal to 3, and N number of locating base station BS is erected at autonomous parking
In the place of parking lot, for receiving and dispatching positioning signal with the positioning label Tag being installed on vehicle, to obtain the high-precision of vehicle
Location information.In one embodiment, positioning label Tag is installed in advance in the wave transparent region of vehicle, for example, vehicle window, shark
The nonmetallic position such as fin antenna, spoiler, casing of rearview mirror；The positioning label Tag is pre-installed in one embodiment
Inside the spoiler of vehicle, shark fins or other electromagnetic wave transparent materials；Again in one embodiment, positioning label Tag is pre-installed in
On the fixation position of vehicle.When vehicle starts to carry out autonomous parking, positioning label Tag interacts positioning mark with background server SE
ID, authentication information are signed, to open the positioning to the positioning label Tag.In one embodiment, the authentication information includes
Whether the positioning label Tag belongs to the autonomous parking parking system 100.
In one embodiment, the autonomous parking parking system 100 further includes environment detection component, shown in Fig. 1
Environment detection component described in embodiment is the multiple photographic device Cam being erected in the place of autonomous parking parking lot, and acquisition stops
Real-time image information in parking lot, and described image information is transmitted to background server SE, it is integrated via background server SE
With operation to obtain parking lot cartographic information, parking lot empty parking space information and parking lot real time environment information, and by above-mentioned number
It is believed that breath is sent to the autonomous parking control device being placed on vehicle.The parking lot real time environment information includes its in parking lot
The location information of his vehicle, pedestrian and barrier etc..
In one embodiment, the positioning label Tag being placed on vehicle is that ultra wide band positions label, the positioning label
Tag emits ultra wide band positioning signal to locating base station BS, and locating base station BS receives the ultra wide band positioning signal and record location
Signal reaches the temporal information of itself.Again in one embodiment, the locating base station BS emits ultra wide band positioning signal, described
Positioning label Tag receives the ultra wide band positioning signal and record location signal reaches itself temporal information.Autonomous parking stops
Parking lot system 100 utilizes the position of the sending time of positioning signal and/or the receiving time of positioning signal and locating base station BS
Obtain the position of positioning label Tag.In one embodiment, autonomous parking parking system 100 utilizes TDOA (Time
Difference of Arrival, reaching time-difference) or the resolving of TOA (Time of Arrival, arrival time) location algorithm
Higher positioning accurate may be implemented since ultra-broadband signal has the time sense of superelevation in the location information for positioning label Tag
Degree.
In one embodiment, background server SE further includes localization computation unit, and the localization computation unit is for solving
The location information of positioning label Tag is calculated, the location information of acquisition is transmitted to autonomous parking control by background server SE in real time
Device, so that autonomous parking control device is placed in the position of vehicle according to location information, the positioning label Tag of positioning label Tag
The vehicle dimension for setting relationship and vehicle itself accurately knows the location information of vehicle.In one embodiment, it is placed in difference
Positioning label Tag on vehicle has different identification informations, and background server SE has identification information to the broadcast of each vehicle
Positioning label Tag location information, autonomous parking control device can obtain the positioning label Tag of itself according to identification information
Location information, can also know the location information of other vehicles.Autonomous parking control device is obtained according to from background server SE
The map in the parking lot taken, target empty parking space, parking lot real time environment information plan autonomous parking route, and according to vehicle
Location information controls vehicle and drives into target empty parking space according to the autonomous parking route of planning.In addition, autonomous parking control device is also
Vehicle can be controlled according to the location information of other vehicles, collided to avoid with other vehicles.
In one embodiment, the autonomous parking route is planned that background server SE will be planned by background server SE
Good autonomous parking route is transmitted to autonomous parking control device, and the autonomous parking control device is to expression Autonomous Vehicle route
Data be decoded, generate the vehicle that can identify of vehicle and execute instruction.
Fig. 2 provides a kind of modular diagram of the autonomous parking control device 200 of embodiment according to the present invention.It is described from
Functional module in main control device 200 of parking illustratively is divided in first assembly and the second component, the first assembly
Including wireless communication module 201, the second component includes vehicle communication line interface 202.Wherein, wireless communication module 201 passes through
Communication receives the information from background server SE, and vehicle communication line interface 202 is coupled to by Wireline
Vehicle client information is handed down to vehicle to obtain the vehicle client information of characterization background server SE information by wireless communication module 201
With control vehicle realize autonomous parking.
In one embodiment, the wireless communication module 201 includes antenna and the reception being adapted with antenna electricity
Road.
In one embodiment, wireless communication module 201 receives background server SE's by dedicated short-range communication mode
Information, such as DSRC (Dedicated Short-Range Communications, vehicle-mounted dedicated short-range communication) or LTE-V
(Long Term Evolution-vehicle communication).
In one embodiment, autonomous parking device 200 is handed down to the vehicle end of the characterization background server information of vehicle
Information is directly the information of background server.For example, the information of background server include control vehicle the corresponding time speed,
The finger that acceleration, steering angle, light and/or the instruction blown a trumpet or vehicle bottom function execution unit can be identified and be executed
It enables, to control vehicle in speed, acceleration, the steering angle for corresponding to the time.
Again in one embodiment, autonomous parking control device 200 further includes that data processor 203 is placed in the second component
In, data processor 203 is coupled to wireless communication module 201 by Wireline to receive the letter of background server SE transmission
Breath, and the vehicle client information for characterizing background server information is generated based on the information of background server SE.For example, the backstage clothes
The information of business device SE includes parking space figure information, parking lot empty parking space information, parking lot real time environment information and/or vehicle position
It sets or posture information, the vehicle end information of the characterization background server information includes calculating to obtain according to background server information
The instruction that can identify and execute of vehicle bottom function execution unit, with control vehicle the corresponding time speed, acceleration,
Steering angle；In another example the information of the background server SE includes parking space figure information, parking lot empty parking space information, stops
Parking lot real time environment information and/or vehicle location or posture information, the vehicle end packet of the characterization background server information
The control vehicle for calculating and obtaining according to background server information is included in speed, acceleration, the steering angle, light for corresponding to the time
And/or the instruction blown a trumpet；In another example the information of the background server SE include control vehicle the corresponding time speed plus
The vehicle end information of speed, steering angle, light and/or the instruction blown a trumpet, the characterization background server information includes foundation
Background server information calculates the instruction that the vehicle bottom function execution unit obtained can be identified and be executed, and is existed with controlling vehicle
The speed, acceleration of corresponding time, steering angle.Autonomous parking control device 200 leads to the vehicle client information via vehicle
Believe that line interface 202 is sent to corresponding execution unit by vehicle communication route.In one embodiment, the vehicle communication
Route includes one of CAN bus, LIN bus, FlexRay bus or MOST bus.
In one embodiment, autonomous parking control device 200 further includes that positioning label 204 is placed in first assembly.?
In one embodiment, label 204 is positioned by Wireline and is coupled to data processor 203.When vehicle starts independently to be moored
When vehicle process, the control positioning label 204 of data processor 203 opens positioning function, in one embodiment, the positioning label
204 position label for ultra wide band, and it is fixed to locating base station BS transmitting in specified time slot after opening positioning function to position label 204
Position signal.
In one embodiment, autonomous parking control device 200 further includes that motion state measurement module 205 is placed in first group
In part or the second component, the movement state informations such as speed, angular speed, the acceleration of vehicle are detected, and above-mentioned motion state is believed
Breath is sent to data processor 203, and data processor 203 corrects the location information of vehicle using above- mentioned information.Implement at one
In example, the motion state measurement module 203 includes gyroscope and accelerometer.
In one embodiment, autonomous parking control device 200 is via vehicle communication line interface 202 from vehicle communication line
Road receives and senses the vehicle-periphery information that the sensor of vehicle-periphery information is known on vehicle, such as barrier letter
Breath.The sensor of the sensing vehicle-periphery information includes radar sensor, ultrasonic sensor, optical sensor etc..From
The vehicle-periphery information received from vehicle communication line interface 202 is transmitted to from data by main control device 200 of parking
Device 203 is managed, the vehicle-periphery information is fused in the generating process of vehicle client information by data processor 203, for example,
There are barriers when sensing in the vehicle travel zone, then control vehicle braking or detour.
Again in one embodiment, the vehicle model information of vehicle, including vehicle body ruler are prestored in data processor 203, and
Positioning label 204 is placed in the positional relationship of vehicle, so that position of the autonomous parking control device 200 according to positioning label 204
Information, positioning label 204 is placed in the positional relationship of vehicle and the vehicle dimension of vehicle itself accurately knows the position of vehicle
Information.
Fig. 3 provides a kind of scheme of installation of the autonomous parking control device of embodiment according to the present invention.Include channel radio
The first assembly of letter module 201 is installed in the wave transparent region of vehicle, and in the embodiment shown in fig. 3, the first assembly installs additional
Inside the spoiler of rear of vehicle, the material of spoiler is plastics, belongs to electromagnetic wave transparent material, will not be to wireless communication module 201
Communication between background server SE interferes.In one embodiment, first be installed in the wave transparent region of vehicle
It further include positioning label 204 in component.Those skilled in the art should know the first assembly and the second component are function mould
The set of block, not necessarily with the integrated package of shell.
Fig. 4 provides the scheme of installation of the autonomous parking control device of another embodiment according to the present invention.Comprising wireless
The first assembly of communication module 201 is installed in the wave transparent region of vehicle, and in the embodiment shown in fig. 3, the first assembly adds
The material of shark fins inner antenna mounted in rear of vehicle, shark fins antenna casing is plastics, belongs to electromagnetic wave transparent material, will not be to nothing
Communication between line communication module 201 and background server SE interferes.In one embodiment, it is installed on the wave transparent of vehicle
It further include positioning label 204 in first assembly in region.Those skilled in the art should know the first assemblies and second
Component is the set of functional module, not necessarily with the integrated package of shell.
Again in one embodiment, the autonomous parking control device further includes another auxiliary positioning label Tag2, and it is fixed to make
Position label 204 and auxiliary positioning label Tag2 have certain lateral baseline.In one embodiment, the positioning label Tag2
It is placed in the wave transparent region for being also pre-installed in vehicle, such as spoiler, window locations.In one embodiment, described auxiliary
Help positioning label Tag2 and data processor 203 by wired connection, data processor 203 controls the auxiliary positioning label
The opening and closing of Tag2, and power for it.Auxiliary positioning label Tag2 uses working method identical with positioning label Tag,
Autonomous parking control device obtains the location information of positioning label Tag and auxiliary positioning label Tag2 simultaneously, due to positioning label
Tag and auxiliary positioning label Tag2 has certain lateral baseline, and autonomous parking control device can know the steering letter of vehicle
Breath, the direction information of vehicle is applied in the control to vehicle, so that vehicle be made to drive into according to the autonomous parking route of planning
Target empty parking space.
The present invention can accurately and timely know that vehicle location is believed by high-accuracy position system self-built in parking lot
Breath, and then vehicle running track is accurately adjusted, it is dangerous to reduce vehicle collision.In addition, by the radio communication mold of autonomous parking device
Block is pre-installed in inside the spoiler, shark fins or other electromagnetic wave transparent materials of vehicle, so as to from parking lot background server
It is accurate to receive background server information, and then autonomous parking Route Generation vehicle control is calculated according to background server information and is referred to
It enables, can accurately control vehicle, realize automatic parking.
As the above mentioned, although having illustrated and described the preferred embodiment of the present invention, without departing substantially from this hair
In the case where bright spirit and scope, many changes can be carried out.The scope of the present invention is not by the open institute of preferred embodiment as a result,
Limitation.But the present invention should be determined entirely by reference to following claims.
Claims (8)
1. a kind of autonomous parking control device, comprising:
Wireless communication module, mode receives the information from background server by wireless communication；And
Vehicle communication line interface is coupled to wireless communication module by Wireline to obtain characterization background server information
Vehicle client information, and vehicle client information is handed down to vehicle to control vehicle and realize autonomous parking；
It is characterized in that, autonomous parking control device is pre-installed on vehicle.
2. autonomous parking control device as described in claim 1, wireless communication module are installed in the wave transparent region of vehicle.
3. autonomous parking control device as claimed in claim 2, wherein wireless communication module is pre-installed in the flow-disturbing of vehicle
In plate or shark fins.
4. autonomous parking control device as described in claim 1 further includes positioning label, with the positioning being installed in parking lot
Positioning signal is received and dispatched between base station to measure the location information of positioning label with the autonomous parking for realizing vehicle.
5. autonomous parking control device as claimed in claim 4, wherein positioning label is installed on the wave transparent region of vehicle in advance
It is interior.
6. autonomous parking control device as claimed in claim 4, wherein positioning label is pre-installed in the fixation position of vehicle
On.
7. autonomous parking control device as claimed in claim 4, wherein positioning label be pre-installed in vehicle spoiler or
In shark fins.
8. autonomous parking control device as described in claim 1, further includes data processor, be coupled to wireless communication module and
Between vehicle communication line interface, data processor receives background server information and generates vehicle according to background server information
Client information.
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| CN201910041634.4A CN109624970A (en) | 2019-01-16 | 2019-01-16 | A kind of autonomous parking control device |
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| CN201910041634.4A CN109624970A (en) | 2019-01-16 | 2019-01-16 | A kind of autonomous parking control device |
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| CN110719565A (en) * | 2019-10-08 | 2020-01-21 | 同致电子科技（昆山）有限公司 | Indoor parking system and parking method |
| CN112562411A (en) * | 2020-12-04 | 2021-03-26 | 中国联合网络通信集团有限公司 | Method and system for acquiring autonomous passenger-riding parking video |
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