CN109649380A - A kind of automated driving system based on garage - Google Patents
A kind of automated driving system based on garage Download PDFInfo
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- CN109649380A CN109649380A CN201811627653.7A CN201811627653A CN109649380A CN 109649380 A CN109649380 A CN 109649380A CN 201811627653 A CN201811627653 A CN 201811627653A CN 109649380 A CN109649380 A CN 109649380A
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- 238000004891 communication Methods 0.000 claims abstract description 86
- 238000012544 monitoring process Methods 0.000 claims abstract description 22
- 238000001514 detection method Methods 0.000 claims abstract description 7
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- 230000007613 environmental effect Effects 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 239000000523 sample Substances 0.000 claims 1
- 230000006870 function Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000012790 confirmation Methods 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
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- Automation & Control Theory (AREA)
- Transportation (AREA)
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Abstract
The invention discloses a kind of automated driving systems based on garage, comprising: automobile monitors system, and the automobile monitoring system has automobile communication module, ECU, mobile lidar, laser distance sensor and millimetre-wave radar sensor；The automobile communication module and the ECU signal end are electrically connected, the automobile communication module be used for by the automobile monitor system detection to signal be wirelessly transferred, the mobile lidar and the ECU signal end are electrically connected, the mobile lidar is fixedly mounted on automobile side, the present invention can monitor the matching relationship between system and garage control system by the automobile of automotive interior, realization voluntarily navigates to autonomous driving vehicle, so that autonomous driving vehicle can be realized Automatic-searching parking stall and park, and it can be driven out to parking stall automatically, make full use of the wisdom of Function for Automatic Pilot, the time of car owner's parking can be saved simultaneously.
Description
Technical field
The present invention relates to intelligent garage technical field, specially a kind of automated driving system based on garage.
Background technique
Intelligent three-dimensional garage management system enters and leaves the voucher in parking lot using Non-contact Intelligent IC Card as vehicle, with elder generation
Into image comparison function monitor out admission vehicle in real time, with the LED display of super large, guidance car owner finds its vehicle distributed
Library parking stall, it is real-time with advanced electronic map with stable communication and powerful each vehicle of data base administration and parking space information
The multidate information of monitoring site vehicle parking；Completely solve security hidden trouble existing for existing parking lot.
Autonomous driving vehicle is also known as pilotless automobile, computer driving or wheeled mobile robot, is that one kind passes through
Computer system realizes unpiloted intelligent automobile.
Automated parking system, as long as driver presses the button of automatic parking, the radar of headstock two sides will automatically scanning
Parking stall, if distance will properly issue prompt tone, driver only needs to be linked into reverse gear at this time, and both hands leave direction
Disk, vehicle can be in automatic backing parking stalls.
But there are some drawbacks in garage is parked for traditional autonomous driving vehicle, such as:
Automobile is usually directed to vehicle by driver when being parked by the automobile of traditional automatic Pilot type
Position nearby, then by automobile carry monitoring device environment is monitored, while pass through car running computer and driver it is common
Control reversing process is carried out, this mode parked is not more intelligent, can not maximize the function for playing automatic Pilot type automobile
Can, and car owner's more time can be wasted in parking.
Summary of the invention
The purpose of the present invention is to provide a kind of automated driving systems based on garage, to solve to mention in above-mentioned background technique
Out the problem of.
To achieve the above object, the invention provides the following technical scheme: a kind of automated driving system based on garage, packet
It includes:
Automobile monitors system, automobile monitoring system have automobile communication module, ECU, mobile lidar, laser away from
From sensor and millimetre-wave radar sensor；The automobile communication module and the ECU signal end are electrically connected, and the automobile is logical
News module be used for by the automobile monitor system detection to signal be wirelessly transferred, the mobile lidar with it is described
ECU signal end is electrically connected, and the mobile lidar is fixedly mounted on automobile side, and the mobile lidar is for monitoring
Automobile and the distance between flanking obstacle or vehicle, the laser distance sensor and the ECU signal end are electrically connected,
The laser distance sensor is respectively and fixedly installed to automobile head position and automobile tail position, the laser distance sensing
Device for monitoring automobile and front and the distance between rear obstacle or vehicle, the millimetre-wave radar sensor with it is described
ECU signal end is electrically connected, and the millimetre-wave radar sensor is mounted on automobile top, and the millimetre-wave radar sensor is used for
Monitor the environmental information of motor vehicle environment；And
Garage control system, the garage control system have garage communication module, garage microprocessor, parking stall detection
Device, garage memory modules and Car license recognition video camera；The garage communication module and garage microprocessor signals end are electrical
Connection, the garage communication module can establish wireless signal between the automobile communication module and connect, the automobile monitoring
System is described by carrying out wirelessly transmitting data between automobile communication module, garage communication module and the garage control system
Parking lot detector and garage microprocessor signals end are electrically connected, and the parking lot detector is fixedly mounted at the top of parking stall,
The parking lot detector is for whether there is automobile, the garage memory modules and garage microprocessor signals end on unloading lot detection
It is electrically connected, the garage memory modules are used to store the cartographic information in garage, the Car license recognition video camera and garage Wei Chu
It manages device signal end to be electrically connected, the Car license recognition video camera is mounted on garage entrance, and the Car license recognition video camera is used for
Shoot automotive license plate.
Further, the GPS module and ECU signal end are electrically connected, and the GPS module for positioning automobile institute in real time
Position, the GPS module for cooperate the garage map datum of the garage memory modules storage inside to automobile carry out
Navigation.
Further, the automobile memory modules and ECU signal end are electrically connected, and the automobile memory modules are for storing
Garage map datum, when automobile enters garage, since automobile monitoring system can be logical by automobile communication module, garage
Wirelessly transmitting data is carried out between news module and the garage control system, therefore the ECU can pass through automobile communication module
Garage map is downloaded from the garage memory modules in the garage control system, in the ECU under the garage control system
It carries and garage map is stored in inside the automobile memory modules after completing garage map, the ECU can will be in the automobile
The automobile position realization that garage map inside storing module cooperates the GPS module to navigate to navigates to automobile.
Further, the Automobile Electronie Lock and the ECU signal end are electrically connected, and the Automobile Electronie Lock is used for vapour
Vehicle is locked, and after automobile is completed to stop, the ECU can control Automobile Electronie Lock and lock automobile.
Further, the RFID card sender and garage microprocessor signals end are electrically connected, the RFID hair fastener
Device is used to read and write the data information inside RFID card.
Further, the RFID card reader and garage microprocessor signals end are electrically connected, the RFID card reading
Device is used to read the data information inside RFID card.
Further, the RFID card is used to store the information of automobile, and the data inside the RFID card can be described
RFID card sender is read and change, and when automobile needs to drive into garage, the Car license recognition video camera of garage entrance can
Identify that the license plate of automobile, the garage microprocessor can be driven into the license board information of automobile and automobile by RFID card sender
The time in garage is written inside the RFID card, and the data inside the RFID card can be read by the RFID card reader, when
It when automobile is sailed out of garage by car owner, needs the RFID card being placed on RFID card reader and is read out, the garage is micro-
The information that processor can be read by RFID card reader determines license plate number documented by the RFID card and to be driven out to garage
Whether the license plate number of automobile matches, if license plate number documented by the RFID card that RFID card reader is read and to be driven out to garage
Automobile license plate number mismatch, then garage Security Personnel is not let pass, if the RFID card that RFID card reader is read
Documented license plate number and the license plate number of the automobile in garage to be driven out to match, then garage microprocessor is according to institute inside RFID card
The automobile of record drives into the garage time and settles accounts to Parking Fee, and clearing complete Post-Grunge Security Personnel and let pass.
Further, the voice prompting device and garage microprocessor signals end are electrically connected, the voice prompting
Device prompts driver for issuing prompt tone.
Further, the automobile communication module has wireless communication module and secondary cell, the secondary cell and institute
The electric connection of wireless communication module electrical energy inputs is stated, the wireless communication module can establish nothing with the garage control system
Line data connection, the wireless communication module and ECU signal end are electrically connected, the secondary cell and ECU electrical energy inputs electricity
Property connection.
Further, the automobile communication module and garage communication module respectively include at least one remote radio communication mould
Block and at least one short-range communications module；Wherein, remote communication module can be GPRS module, gsm module, in remote I/O module
Any one or more；Short-range communications module can be bluetooth module, WIFI module, ZigBee module, any in LoRa module
It is one or more.
In conclusion the voice prompting device for being mounted on garage entrance mentions when autonomous driving vehicle needs to drive into garage
Show that car owner drives to specified position, when running car is to specified position Car license recognition video camera can to automotive license plate into
Row shooting, and be documented in the time that automotive license plate and automobile enter garage by RFID card sender by garage microprocessor
On RFID card, car owner's carrying luggage, which is got off, takes RFID card, and guarantees that automobile does not stop working, while garage control system is logical by garage
News module, automobile communication module and automobile monitor system and establish wireless data connection, then by garage microprocessor by garage memory
The garage map of inside modules is wirelessly transmitted to inside ECU, and automobile monitors system and stores garage map to automobile memory modules
In, ECU can be that automobile navigates with the automobile position that GPS module positions by garage map, at this time garage microprocessor
Parking stall that is nearest and not parking cars, garage microprocessor it can pass through vehicle by distance in parking lot detector detection garage
The location information for the parking stall not parked cars is sent to ECU by library communication module, after ECU learns the position of target parking stall,
Travelling route is cooked up by analytical calculation, then automobile starts to start automatically at this time, by the Function for Automatic Pilot of automotive interior
It drives at target parking stall, automobile can pass through mobile lidar, laser distance sensor, millimetre-wave radar sensor when driving
The barrier of motor vehicle environment is avoided, then by automotive interior automated parking system by automobile parking into inside parking stall, when
Automobile is locked by ECU control Automobile Electronie Lock after the completion of automobile parking, automobile is powered off after the completion；When car owner needs
Drive away automobile when by swiping RFID card at RFID card reader, garage microprocessor is supervised by garage communication module to automobile
Examining system sends wake up instruction, and annular ECU after automobile communication module receives instruction, automobile is travelled by Function for Automatic Pilot
To at garage exit, confirmed by Car license recognition video camera shooting License Plate, when number plate confirmation to the automobile parking time
It is settled accounts, clearing are completed to let pass to automobile；The present invention can monitor system and garage control by the automobile of automotive interior
Matching relationship between system processed, realization voluntarily navigates to autonomous driving vehicle, so that autonomous driving vehicle can be realized automatically
It finds parking stall to park, and parking stall can be driven out to automatically, make full use of the wisdom of Function for Automatic Pilot, while car owner can be saved
The time of parking.
Detailed description of the invention
Fig. 1 is that system hardware structure signal is monitored the present invention is based on the automobile of one embodiment of automated driving system in garage
Figure；
Fig. 2 is the garage control system hardware structural diagram of automated driving system of Fig. 1 embodiment based on garage；
Fig. 3 is the automobile communication inside modules hardware structural diagram of automated driving system of Fig. 1 embodiment based on garage.
In Fig. 1-3: 100, automobile monitors system；101, automobile communication module；1011, wireless communication module；1012, secondary
Battery；102,ECU；103, mobile lidar；104, GPS module；105, laser distance sensor；106, millimetre-wave radar passes
Sensor；107, automobile memory modules；108, Automobile Electronie Lock；200, garage control system；201, garage communication module；202, vehicle
Library microprocessor；203, RFID card sender；204, RFID card reader；205, voice prompting device；206, parking lot detector；207, vehicle
Library memory modules；208, Car license recognition video camera；300, RFID card.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, Fig. 1 is that the present invention is based on the automobile of one embodiment of automated driving system in garage monitoring system is hard
Part structural schematic diagram；Fig. 2 is that the garage control system hardware configuration of automated driving system of Fig. 1 embodiment based on garage is illustrated
Figure；Fig. 3 is the automobile communication inside modules hardware structural diagram of automated driving system of Fig. 1 embodiment based on garage.
The present invention provides a kind of technical solution: a kind of automated driving system based on garage, comprising:
Automobile monitors system 100, and automobile monitoring system 100 has automobile communication module 101, ECU102, vehicle-mounted swashs
Optical radar 103, laser distance sensor 105 and millimetre-wave radar sensor 106；The automobile communication module 101 with it is described
ECU102 signal end is electrically connected, and the automobile communication module 101 is used for the signal for detecting automobile monitoring system 100
It is wirelessly transferred, the mobile lidar 103 is electrically connected with the ECU102 signal end, the mobile lidar
103 are fixedly mounted on automobile side, and the mobile lidar 103 is for monitoring between automobile and flanking obstacle or vehicle
Distance, the laser distance sensor 105 is electrically connected with the ECU102 signal end, the laser distance sensor 105
It is respectively and fixedly installed to automobile head position and automobile tail position, the laser distance sensor 105 is for monitoring automobile
With front and the distance between rear obstacle or vehicle, the millimetre-wave radar sensor 106 and the ECU102 signal end
It is electrically connected, the millimetre-wave radar sensor 106 is mounted on automobile top, and the millimetre-wave radar sensor 106 is for supervising
Survey the environmental information of motor vehicle environment；And
Garage control system 200, the garage control system 200 have garage communication module 201, garage microprocessor
202, parking lot detector 206, garage memory modules 207 and Car license recognition video camera 208；The garage communication module 201 and institute
The electric connection of 202 signal end of garage microprocessor is stated, the garage communication module 201 can be with the automobile communication module 101
Between establish wireless signal connection, automobile monitoring system 100 by automobile communication module 101, garage communication module 201 with
Wirelessly transmitting data, the parking lot detector 206 and the garage microprocessor are carried out between the garage control system 200
202 signal ends are electrically connected, and the parking lot detector 206 is fixedly mounted at the top of parking stall, and the parking lot detector 206 is for visiting
It whether there is automobile on measuring car position, the garage memory modules 207 are electrically connected with 202 signal end of garage microprocessor, described
Garage memory modules 207 are used to store the cartographic information in garage, the Car license recognition video camera 208 and garage microprocessor 202
Signal end is electrically connected, and the Car license recognition video camera 208 is mounted on garage entrance, and the Car license recognition video camera 208 is used
In shooting automotive license plate.
Further, the GPS module 104 is electrically connected with ECU102 signal end, and the GPS module 104 is for real-time
The position where automobile is positioned, the GPS module 104 is with being used to cooperate the garage of 207 storage inside of garage memory modules
Diagram data navigates to automobile.
Further, the automobile memory modules 107 are electrically connected with ECU102 signal end, the automobile memory modules
107 for storing garage map datum, when automobile enters garage, since automobile monitoring system 100 can pass through automobile
Wirelessly transmitting data is carried out between communication module 101, garage communication module 201 and the garage control system 200, therefore described
ECU102 can download garage from the garage memory modules 207 in the garage control system 200 by automobile communication module 101
Garage map is stored in after the garage control system 200 downloading completion garage map described by map in the ECU102
Inside automobile memory modules 107, the ECU102 can will the garage map inside the automobile memory modules 107 cooperation described in
The automobile position realization that GPS module 104 navigates to navigates to automobile.
Further, the Automobile Electronie Lock 108 is electrically connected with the ECU102 signal end, the Automobile Electronie Lock
108 for locking automobile, and after automobile is completed to stop, the ECU102 can control Automobile Electronie Lock 108 for automobile
It is locked.
Further, the RFID card sender 203 is electrically connected with 202 signal end of garage microprocessor, described
RFID card sender 203 is used to read and write the data information inside RFID card.
Further, the RFID card reader 204 is electrically connected with 202 signal end of garage microprocessor, described
RFID card reader 204 is used to read the data information inside RFID card.
Further, the RFID card 300 is used to store the information of automobile, and the data inside the RFID card 300 can
It is read and is changed by the RFID card sender 203, when automobile needs to drive into garage, the Car license recognition of garage entrance is taken the photograph
Camera 208 can identify the license plate of automobile, and the garage microprocessor 202 can be by RFID card sender 203 by the vehicle of automobile
The time that board information and automobile drive into garage is written inside the RFID card 300, and the data inside the RFID card 300 can
It is read by the RFID card reader 204, when automobile is sailed out of garage by car owner, needs for the RFID card 300 to be placed on
RFID card reader 204 is read out, and the garage microprocessor 202 can be sentenced by the information that RFID card reader 204 is read
Whether license plate number documented by the fixed RFID card 300 matches with the license plate number of the automobile in garage to be driven out to, if RFID card reader
License plate number documented by 204 RFID cards 300 read and the license plate number for the automobile that be driven out to garage mismatch, then garage is pacified
Guarantor person is not let pass, if license plate number documented by the RFID card 300 that RFID card reader 204 is read and to be driven out to vehicle
The license plate number of the automobile in library matches, then the automobile according to documented by 300 inside of RFID card of garage microprocessor 202 drives into garage
Time settles accounts Parking Fee, and clearing complete Post-Grunge Security Personnel and let pass.
Further, the voice prompting device 205 is electrically connected with 202 signal end of garage microprocessor, institute's predicate
Sound prompting device 205 prompts driver for issuing prompt tone.
Further, the automobile communication module 101 has a wireless communication module 1011 and secondary cell 1012, and described two
Primary cell 1012 and 1011 electrical energy inputs of wireless communication module are electrically connected, and the wireless communication module 1011 can be with
The garage control system 200 establishes wireless data connection, and the wireless communication module 1011 and ECU102 signal end electrically connects
It connects, the secondary cell 1012 is electrically connected with ECU102 electrical energy inputs.
Further, the automobile communication module 101 and garage communication module 201 respectively include at least one long distance wireless
Communication module and at least one short-range communications module；Wherein, remote communication module can be GPRS module, gsm module, remote I/O
Any one or more in module；Short-range communications module can be bluetooth module, WIFI module, ZigBee module, LoRa module
In any one or more.
In conclusion being mounted on the voice prompting device 205 of garage entrance when autonomous driving vehicle needs to drive into garage
Prompt car owner drives to specified position, and when running car is to the position specified, Car license recognition video camera 208 can be to automobile
License plate is shot, and the time that automotive license plate and automobile enter garage is passed through RFID hair fastener by garage microprocessor 202
Device 203 is documented on RFID card 300, and car owner's carrying luggage, which is got off, takes RFID card 300, and guarantees that automobile does not stop working, while garage
Control system 200 monitors system 100 by garage communication module 201, automobile communication module 101 and automobile and establishes wireless data company
It connects, then the garage map inside garage memory modules 207 is wirelessly transmitted to inside ECU102 by garage microprocessor 202, vapour
Vehicle monitors system 100 and stores garage map into automobile memory modules 107, and ECU102 can pass through garage map and GPS mould
The automobile position that block 104 positions is that automobile navigates, and garage microprocessor 202 can be visited by parking lot detector 206 at this time
Distance is nearest in measuring car library and parking stall that do not park cars, garage microprocessor 202 will not have by garage communication module 201
There is the location information of the parking stall to park cars to be sent to ECU102, after ECU102 learns the position of target parking stall, passes through analysis
Travelling route is cooked up in calculating, then automobile starts to start automatically at this time, drives to mesh by the Function for Automatic Pilot of automotive interior
It marks at parking stall, automobile can pass through mobile lidar 103, laser distance sensor 105, millimetre-wave radar sensor when driving
The barrier of 106 pairs of motor vehicle environments avoids, then by automotive interior automated parking system by automobile parking into inside parking stall,
Automobile is locked by ECU102 control Automobile Electronie Lock 108 after the completion of automobile parking, automobile is powered off after the completion；
When car owner needs to drive away automobile by swiping RFID card 300 at RFID card reader 204, garage microprocessor 202 passes through vehicle
Library communication module 201 sends wake up instruction to automobile monitoring system 100, annular after automobile communication module 101 receives instruction
ECU102, automobile drive at garage exit by Function for Automatic Pilot, by Car license recognition video camera 208 shoot License Plate into
Row confirmation settles accounts the automobile parking time when number plate confirmation, and clearing are completed to let pass to automobile；The present invention can lead to
The matching relationship between the automobile monitoring system 100 of automotive interior and garage control system 200 is crossed, is realized to autonomous driving vehicle
It voluntarily navigates, so that autonomous driving vehicle can be realized Automatic-searching parking stall and park, and parking stall can be driven out to automatically, sufficiently benefit
With the wisdom of Function for Automatic Pilot, while the time of car owner's parking can be saved.
In several embodiments provided by the present invention, it should be understood that disclosed system, device and method can
To realize by another way.For example, device embodiments described above are only schematical, for example, the mould
The division of block or unit, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple
Unit or assembly can be combined or can be integrated into another system, or some features can be ignored or not executed.It is another
Point, shown or discussed mutual coupling, direct-coupling or communication connection can be through some interfaces, device or
The indirect coupling or communication connection of unit can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of unit therein can be selected to realize present embodiment scheme according to the actual needs
Purpose.
In addition, each functional unit in each embodiment of the present invention can integrate in one processing unit, it can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units.It is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
It is each that equipment (can be personal computer, server or the network equipment etc.) or processor (processor) execute the present invention
The all or part of the steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory
(ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic or disk
Etc. the various media that can store program code.
Mode the above is only the implementation of the present invention is not intended to limit the scope of the invention, all to utilize this
Equivalent structure or equivalent flow shift made by description of the invention and accompanying drawing content, it is relevant to be applied directly or indirectly in other
Technical field is included within the scope of the present invention.
Claims (10)
1. a kind of automated driving system based on garage characterized by comprising
Automobile monitors system, and the automobile monitoring system has automobile communication module, ECU, mobile lidar, laser distance and passes
Sensor and millimetre-wave radar sensor；The automobile communication module and the ECU signal end are electrically connected, the automobile communication mould
Block be used to monitor in the automobile system detection to signal be wirelessly transferred, the mobile lidar and the ECU believe
Number end is electrically connected, and the mobile lidar is fixedly mounted on automobile side, and the mobile lidar is for monitoring automobile
With the distance between flanking obstacle or vehicle, the laser distance sensor and the ECU signal end are electrically connected, described
Laser distance sensor is respectively and fixedly installed to automobile head position and automobile tail position, and the laser distance sensor is used
In monitoring automobile and front and the distance between rear obstacle or vehicle, the millimetre-wave radar sensor and the ECU believe
Number end is electrically connected, and the millimetre-wave radar sensor is mounted on automobile top, and the millimetre-wave radar sensor is for monitoring
The environmental information of motor vehicle environment；And
Garage control system, the garage control system have garage communication module, garage microprocessor, parking lot detector, vehicle
Library memory modules and Car license recognition video camera；The garage communication module and garage microprocessor signals end are electrically connected,
The garage communication module can establish wireless signal between the automobile communication module and connect, and the automobile monitoring system is logical
It crosses between automobile communication module, garage communication module and the garage control system and carries out wirelessly transmitting data, the parking stall is visited
It surveys device and garage microprocessor signals end is electrically connected, the parking lot detector is fixedly mounted at the top of parking stall, the vehicle
Location probe electrically connects for whether there is automobile, the garage memory modules on unloading lot detection with garage microprocessor signals end
It connects, the garage memory modules are used to store the cartographic information in garage, and the Car license recognition video camera and garage microprocessor are believed
Number end is electrically connected, and the Car license recognition video camera is mounted on garage entrance, and the Car license recognition video camera is for shooting vapour
Vehicle license plate.
2. a kind of automated driving system based on garage according to claim 1, which is characterized in that further include:
GPS module, the GPS module and ECU signal end are electrically connected, and the GPS module is for where positioning automobile in real time
Position, the GPS module is for cooperating the garage map datum of the garage memory modules storage inside to navigate automobile.
3. a kind of automated driving system based on garage according to claim 2, which is characterized in that further include:
Automobile memory modules, the automobile memory modules and ECU signal end are electrically connected, and the automobile memory modules are for storing
Garage map datum, when automobile enters garage, since automobile monitoring system can be logical by automobile communication module, garage
Wirelessly transmitting data is carried out between news module and the garage control system, therefore the ECU can pass through automobile communication module
Garage map is downloaded from the garage memory modules in the garage control system, in the ECU under the garage control system
It carries and garage map is stored in inside the automobile memory modules after completing garage map, the ECU can will be in the automobile
The automobile position realization that garage map inside storing module cooperates the GPS module to navigate to navigates to automobile.
4. a kind of automated driving system based on garage according to claim 3, which is characterized in that further include:
Automobile Electronie Lock, the Automobile Electronie Lock and the ECU signal end are electrically connected, and the Automobile Electronie Lock is used for automobile
It is locked, after automobile is completed to stop, the ECU can control Automobile Electronie Lock and lock automobile.
5. a kind of automated driving system based on garage according to claim 1, which is characterized in that further include:
RFID card sender, the RFID card sender and garage microprocessor signals end are electrically connected, the RFID card sender
For reading and writing the data information inside RFID card.
6. a kind of automated driving system based on garage according to claim 5, which is characterized in that further include:
RFID card reader, the RFID card reader and garage microprocessor signals end are electrically connected, the RFID card reader
For reading the data information inside RFID card.
7. a kind of automated driving system based on garage according to claim 6, which is characterized in that further include:
RFID card, the RFID card are used to store the information of automobile, and the data inside the RFID card can be sent out by the RFID
Card device is read and change, and when automobile needs to drive into garage, the Car license recognition video camera of garage entrance can identify vapour
The license board information of automobile and automobile can be driven into garage by RFID card sender by the license plate of vehicle, the garage microprocessor
Time is written inside the RFID card, and the data inside the RFID card can be read by the RFID card reader, when car owner will
When automobile sails out of garage, needs the RFID card being placed on RFID card reader and be read out, the garage microprocessor
The information that can be read by RFID card reader determines license plate number documented by the RFID card and the automobile that be driven out to garage
Whether license plate number matches, if license plate number documented by the RFID card that RFID card reader is read and the automobile that be driven out to garage
License plate number mismatch, then garage Security Personnel is not let pass, if recorded in the RFID card that RFID card reader is read
License plate number and the license plate number of the automobile in garage to be driven out to match, then garage microprocessor is according to documented by inside RFID card
Automobile drives into the garage time and settles accounts to Parking Fee, and clearing complete Post-Grunge Security Personnel and let pass.
8. a kind of automated driving system based on garage according to claim 1, which is characterized in that further include:
Voice prompting device, the voice prompting device and garage microprocessor signals end are electrically connected, the voice prompting device
Driver is prompted for issuing prompt tone.
9. a kind of automated driving system based on garage according to claim 1, which is characterized in that further include:
The automobile communication module has wireless communication module and secondary cell, the secondary cell and the wireless communication module
Electrical energy inputs are electrically connected, and the wireless communication module can establish wireless data connection with the garage control system, institute
It states wireless communication module and ECU signal end is electrically connected, the secondary cell and ECU electrical energy inputs are electrically connected.
10. a kind of automated driving system based on garage according to claim 9, which is characterized in that further include:
The automobile communication module and garage communication module respectively include at least one remote wireless communication module and at least one
Short-range communications module；Wherein, remote communication module can be GPRS module, gsm module, any one in remote I/O module or more
Kind；Short-range communications module can be bluetooth module, WIFI module, ZigBee module, any one or more in LoRa module.
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