CN109795479A - It parks control method, system and computer readable storage medium - Google Patents
It parks control method, system and computer readable storage medium Download PDFInfo
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- CN109795479A CN109795479A CN201811501699.4A CN201811501699A CN109795479A CN 109795479 A CN109795479 A CN 109795479A CN 201811501699 A CN201811501699 A CN 201811501699A CN 109795479 A CN109795479 A CN 109795479A
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- base station
- wide band
- ultra wide
- parking stall
- vehicle
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Abstract
The embodiment of the present invention provides one kind and parks control method, system and computer readable storage medium.At least one UWB beacon that the embodiment of the present invention passes through at least one ultra wide band UWB locating base station being arranged on parking stall and is arranged on vehicle carries out wireless communication, accurately to determine location information of the vehicle relative to the parking stall, so that vehicle is according to the location information, accurately control position and posture of the vehicle into the parking stall, the accuracy of vehicle parking is improved, so that user can smoothly drive into vehicle on parking stall.
Description
Technical field
The present embodiments relate to field of communication technology more particularly to one kind park control method, system and computer can
Read storage medium.
Background technique
With the development of automobile industry, automobile has become the vehicles indispensable in people's daily life.
When parking space is limited, how by vehicle parking on the limited parking stall in space, for a user, may
It is a no small problem, when the technical ability of driving of user is not skilled enough, what user may can not be successfully drives into vehicle parking
On position.
Summary of the invention
The embodiment of the present invention provides one kind and parks control method, system and computer readable storage medium, to improve vehicle
The accuracy parked, so that user can smoothly drive into vehicle on parking stall.
It parks control method in a first aspect, the embodiment of the present invention provides one kind, comprising:
First ultra wide band UWB locating base station receives second ultra-wide from least one second ultra wide band UWB locating base station
Identification information with UWB locating base station and at least one UWB beacon relative to the second ultra wide band UWB locating base station away from
From the first ultra wide band UWB locating base station and at least one described second ultra wide band UWB locating base station are arranged on parking stall
On, at least one described UWB beacon is arranged on vehicle；
The first ultra wide band UWB locating base station is determined according to the identification information of the second ultra wide band UWB locating base station
Location information of the second ultra wide band UWB locating base station relative to the first ultra wide band UWB locating base station；
The first ultra wide band UWB locating base station according at least one described second ultra wide band UWB locating base station relative to
The location information of the first ultra wide band UWB locating base station and at least one described UWB beacon relative to it is described at least one
The distance of second ultra wide band UWB locating base station, determines location information of the vehicle relative to the parking stall；
Location information, Yi Jisuo of the first ultra wide band UWB locating base station by the vehicle relative to the parking stall
The location information for stating target point on parking stall is sent to the vehicle, so that the vehicle stops according to the vehicle relative to described
The location information of target point adjusts the pose of the vehicle on the location information of parking stall and the parking stall, and by the vehicle
It is parked on the target point.
Second aspect, the embodiment of the present invention provide one kind and park control system, comprising: the first ultra wide band UWB locating base station,
At least one second ultra wide band UWB locating base station and at least one UWB beacon；Wherein, the first ultra wide band UWB locating base station
It is arranged on parking stall at least one described second ultra wide band UWB locating base station, at least one described UWB beacon is arranged in vehicle
On；
The second ultra wide band UWB locating base station the second surpasses for detecting at least one described UWB beacon relative to described
The distance of broadband UWB locating base station；
The first ultra wide band UWB locating base station is used for:
The mark letter of the second ultra wide band UWB locating base station is received from least one second ultra wide band UWB locating base station
Breath and distance of at least one UWB beacon relative to the second ultra wide band UWB locating base station；
According to the identification information of the second ultra wide band UWB locating base station, the second ultra wide band UWB locating base station is determined
Location information relative to the first ultra wide band UWB locating base station；
According at least one described second ultra wide band UWB locating base station relative to the first ultra wide band UWB locating base station
Location information and at least one described UWB beacon relative at least one second ultra wide band UWB locating base station away from
From determining location information of the vehicle relative to the parking stall；
Location information by the vehicle relative to target point on the location information on the parking stall and the parking stall
It is sent to the vehicle, so that the vehicle relative to the location information on the parking stall and described stops according to the vehicle
The location information of target point adjusts the pose of the vehicle on parking stall, and by the vehicle parking on the target point.
The third aspect, the embodiment of the present invention provide a kind of computer readable storage medium, are stored thereon with computer program,
The computer program is executed by processor to realize method described in first aspect.
Control method of parking, system and computer readable storage medium provided in an embodiment of the present invention, by parking stall
At least one the UWB beacon being arranged at least one ultra wide band UWB locating base station and vehicle being arranged carries out wireless communication, with standard
Location information of the true determination vehicle relative to the parking stall, so that vehicle according to the location information, accurately controls the vehicle
Position and posture into the parking stall, improve the accuracy of vehicle parking, stop so that user can smoothly drive into vehicle
On parking stall.
Detailed description of the invention
Fig. 1 is a kind of schematic diagram of application scenarios provided in an embodiment of the present invention；
Fig. 2 is control method flow chart provided in an embodiment of the present invention of parking；
Fig. 3 is the schematic diagram of another application scenarios provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of another application scenarios provided in an embodiment of the present invention；
Fig. 5 is the schematic diagram of another application scenarios provided in an embodiment of the present invention；
Fig. 6 be another embodiment of the present invention provides control method flow chart of parking；
Fig. 7 is the schematic diagram of another application scenarios provided in an embodiment of the present invention；
Fig. 8 be another embodiment of the present invention provides control method flow chart of parking；
Fig. 9 is the schematic diagram of another application scenarios provided in an embodiment of the present invention；
Figure 10 is the schematic diagram of another application scenarios provided in an embodiment of the present invention；
Figure 11 is the structural schematic diagram of control system provided in an embodiment of the present invention of parking.
Through the above attached drawings, it has been shown that the specific embodiment of the disclosure will be hereinafter described in more detail.These attached drawings
It is not intended to limit the scope of this disclosure concept by any means with verbal description, but is by referring to specific embodiments
Those skilled in the art illustrate the concept of the disclosure.
Specific embodiment
Example embodiments are described in detail here, and the example is illustrated in the accompanying drawings.Following description is related to
When attached drawing, unless otherwise indicated, the same numbers in different drawings indicate the same or similar elements.Following exemplary embodiment
Described in embodiment do not represent all implementations consistent with this disclosure.On the contrary, they be only with it is such as appended
The example of the consistent device and method of some aspects be described in detail in claims, the disclosure.
As shown in Figure 1, vehicle 10 can be automatic driving vehicle, it is also possible to by driver-operated vehicle, vehicle 11
It has been parked in corresponding parking stall with vehicle 12, vehicle 10 needs to dock in parking stall 13, and parking stall 13 can be
The parking stall of open parking ground is also possible to the parking stall of underground parking, is not specifically limited herein.In other application scenarios
In, parking stall 13 can also be the parking stall of the car owner of vehicle 10, may also not park other vehicles around parking stall 13.
In the present embodiment, parking stall 13 is provided at least one ultra wide band (Ultra Wideband, UWB) positioning base
It stands, vehicle 10 is provided at least one UWB beacon and determines vehicle by the wireless communication between UWB locating base station and UWB beacon
10 location information relative to parking stall 13, so that vehicle 10 adjusts in real time according to its location information relative to parking stall 13
The position of vehicle 10 and/or posture, so that vehicle 10 accurately can smoothly dock in parking stall 13, below with reference to tool
The embodiment of body introduces control method of parking.
Control method provided by the invention of parking, it is intended to solve the technical problem as above of the prior art.
How to be solved with technical solution of the specifically embodiment to technical solution of the present invention and the application below above-mentioned
Technical problem is described in detail.These specific embodiments can be combined with each other below, for the same or similar concept
Or process may repeat no more in certain embodiments.Below in conjunction with attached drawing, the embodiment of the present invention is described.
Fig. 2 is control method flow chart provided in an embodiment of the present invention of parking.The embodiment of the present invention is for the prior art
Technical problem as above provides control method of parking, and specific step is as follows for this method:
Step 201, the first ultra wide band UWB locating base station are from described in the reception of at least one second ultra wide band UWB locating base station
The identification information and at least one UWB beacon of second ultra wide band UWB locating base station position base relative to the second ultra wide band UWB
The distance stood, the first ultra wide band UWB locating base station and the setting of at least one described second ultra wide band UWB locating base station are stopping
On parking stall, at least one described UWB beacon is arranged on vehicle.
In the present embodiment, parking stall 13 may be provided with multiple UWB locating base stations, wherein multiple UWB locating base station packet
Include a master base station and at least one from base station, herein, which is denoted as the first ultra wide band UWB locating base station, by this from
Base station is denoted as the second ultra wide band UWB locating base station.
In some embodiments, the first ultra wide band UWB locating base station and at least one described second ultra wide band UWB are fixed
Position base station is separately positioned on the apex angle on the parking stall.
As shown in figure 3, parking stall 13 is provided with a master base station and two from base station, a master base station and two are from base
Station is separately positioned on the apex angle on parking stall 13, is not limited the specific location of the apex angle where master base station herein, is not also limited
From the specific location of the apex angle where base station, a kind of feasible mode: master base station 30 is arranged on the upper right corner on parking stall 13, from
Base station 31 is arranged on the lower right corner on parking stall 13, from the upper left corner that parking stall 13 is arranged in base station 32.
In addition, vehicle 10 is provided at least one UWB beacon, the present embodiment by taking a UWB beacon as an example, as shown in figure 3,
33 indicate a UWB beacon on vehicle 10.
In the present embodiment, master base station 30, from base station 31, from base station 32 can send wireless signal in real time, when vehicle 10
When driving near parking stall 13, UWB beacon 33 on vehicle 10 it is ready to receive to master base station 30, from base station 31, from base station
32 wireless signals sent respectively, and feedback is made to the wireless signal.The wireless signal that master base station 30 is sent according to oneself
Moment and receive UWB beacon 33 feedback wireless signal at the time of, UWB beacon 33 can be calculated relative to master base station 30
Distance L0；At the time of the wireless signal sent from base station 31 according to oneself and receive UWB beacon 33 feedback wireless signal
At the time of, UWB beacon 33 can be calculated relative to the distance L1 from base station 31；The wireless signal sent from base station 32 according to oneself
At the time of and at the time of receiving the wireless signal of the feedback of UWB beacon 33, UWB beacon 33 can be calculated relative to from base station 32
Distance L2.
Further, it is sent out from base station 31 by the identification information of oneself and UWB beacon 33 relative to from the distance L1 of base station 31
Master base station 30 is given, is sent from base station 32 by the identification information of oneself and UWB beacon 33 relative to from the distance L2 of base station 32
To master base station 30.Since vehicle 10 is in moving condition, different moments vehicle 10 may be different relative to the position on parking stall 13,
Optionally, UWB beacon 33 is each calculated in real time from base station relative to the distance from base station, and by UWB beacon 33 relative to this
It is sent to master base station 30 in real time from the distance of base station.
Step 202, the first ultra wide band UWB locating base station are according to the mark of the second ultra wide band UWB locating base station
Information determines location information of the second ultra wide band UWB locating base station relative to the first ultra wide band UWB locating base station.
Master base station 30 can be previously stored with the identification information from base station 31, from the location information of base station 31, from base station 32
Identification information and location information from base station 32, optionally, with an apex angle on parking stall 13, such as the lower left corner is coordinate
Origin 0, using the horizontal direction Jing Guo coordinate origin 0 as X-direction, using the vertical direction Jing Guo coordinate origin 0 as Y direction,
Establish coordinate system as shown in Figure 4.
Master base station 30 can be master base station 30, from base station 31 and from base station from base station 31 and from the location information of base station 32
32 location informations in world coordinate system respectively, be also possible to master base station 30, from base station 31 and from base station 32 respectively in such as Fig. 4
Shown in location information in coordinate system, that is to say, that master base station 30 can be from base station 31 and from the location information of base station 32
Master base station 30, the position that 13 lower left corner of parking stall is respectively relative to from base station 31 and from base station 32.
When master base station 30 receive the identification information from base station 31, UWB beacon 33 relative to from base station 31 distance L1, from
When the identification information and UWB beacon 33 of base station 32 are relative to distance L2 from base station 32, believe according to from the mark of base station 31
Breath determines the location information from base station 31, according to the identification information from base station 32, determines the location information from base station 32.Into one
Step, master base station 30 are determined from base station 31 according to the location information of location information and master base station 30 from base station 31 relative to main base
Stand 30 location information, and according to the location information of location information and master base station 30 from base station 32, determine from 32 phase of base station
For the location information of master base station 30.
Step 203, the first ultra wide band UWB locating base station position base according at least one described second ultra wide band UWB
It stands relative to the location information of the first ultra wide band UWB locating base station and at least one described UWB beacon relative to described
The distance of at least one the second ultra wide band UWB locating base station, determines location information of the vehicle relative to the parking stall.
Master base station 30 according to from base station 31 relative to the location information of master base station 30, from base station 32 relative to master base station 30
Location information, UWB beacon 33 relative to distance L1 and the UWB beacon 33 from base station 31 relative to the distance L2 from base station 32,
Determine location information of the vehicle 10 relative to parking stall 13.
In other embodiments, master base station 30 can also be according to UWB beacon 33 relative to the distance L0 of master base station 30, from base
Stand 31 relative to master base station 30 location information, from base station 32 relative to the location information of master base station 30, UWB beacon 33 relative to
From distance L1 and the UWB beacon 33 of base station 31 relative to the distance L2 from base station 32, determine vehicle 10 relative to parking stall 13
Location information.
Optionally, vehicle 10 can be position of the vehicle 10 relative to 13 lower left corner of parking stall relative to the position on parking stall 13
It sets.
Believe the position of step 204, the first ultra wide band UWB locating base station by the vehicle relative to the parking stall
The location information of target point is sent to the vehicle on breath and the parking stall, so that the vehicle is according to the vehicle phase
The location information of target point adjusts the pose of the vehicle on location information and the parking stall for the parking stall,
And by the vehicle parking on the target point.
After master base station 30 determines location information of the vehicle 10 relative to parking stall 13, by vehicle 10 relative to parking stall
The location information of target point is sent to vehicle 10 on 13 location information and parking stall 13, wherein target point can be vehicle
10 location points finally stopped in parking stall 13 work as vehicle as shown in figure 4, target point 41 can be the central point on parking stall 13
10 in parking stall 13 when finally stopping, and the center of vehicle 10 can be overlapped with target point 41.
Since vehicle 10 is real-time change relative to the position on parking stall 13, so, master base station 30 can be by vehicle 10
Location information relative to parking stall 13 is sent to vehicle 10 in real time, when vehicle 10 receives vehicle 10 relative to parking stall 13
Location information and target point 41 location information when, in real time adjust vehicle 10 pose, thus the center of vehicle 10 and mesh
Punctuate 41 is overlapped.
In other embodiments, target point can be not limited to the central point on parking stall 13, as shown in figure 5, target point 51
The position in parking stall 13 close to coordinate origin, when vehicle 10 finally stops in parking stall 13, vehicle 10 can be located at
Center between off hind wheel and left rear wheel is overlapped with target point 51.
The embodiment of the present invention is by being arranged at least one ultra wide band UWB locating base station and vehicle that are arranged on parking stall
At least one UWB beacon carries out wireless communication, accurately to determine location information of the vehicle relative to the parking stall, so that vehicle
According to the location information, position and posture of the vehicle into the parking stall are accurately controlled, the accurate of vehicle parking is improved
Degree, so that user can smoothly drive into vehicle on parking stall.
Fig. 6 be another embodiment of the present invention provides control method flow chart of parking.On the basis of the above embodiments, originally
The control method of parking that embodiment provides specifically comprises the following steps:
Step 601, the first ultra wide band UWB locating base station are from described in the reception of at least one second ultra wide band UWB locating base station
The identification information and at least one UWB beacon of second ultra wide band UWB locating base station position base relative to the second ultra wide band UWB
The distance stood, the first ultra wide band UWB locating base station and the setting of at least one described second ultra wide band UWB locating base station are stopping
On parking stall, at least one described UWB beacon is arranged on vehicle.
As shown in fig. 7, the setting of vehicle 10 is there are two UWB beacon, UWB beacon 71 is denoted as the first UWB beacon, UWB beacon 72
It is denoted as the 2nd UWB beacon.
For example, master base station 30 can real-time detection UWB beacon 71 and UWB beacon 72 be respectively relative to the distance of master base station 30；
From base station 31 can also real-time detection UWB beacon 71 and UWB beacon 72 be respectively relative to the distance from base station 31；It can also from base station 32
Real-time detection UWB beacon 71 and UWB beacon 72 are respectively relative to the distance from base station 32.
It will be respectively relative to from base station 31 from the identification information of base station 31, UWB beacon 71 and UWB beacon 72 from base station 31
Distance is sent to master base station 30；It will be opposite respectively from the identification information of base station 32, UWB beacon 71 and UWB beacon 72 from base station 32
In being sent to master base station 30 from the distance of base station 32.
Step 602, the first ultra wide band UWB locating base station are according to the mark of the second ultra wide band UWB locating base station
Information determines location information of the second ultra wide band UWB locating base station relative to the first ultra wide band UWB locating base station.
Master base station 30 determines the location information from base station 31 according to the identification information from base station 31, according to from base station 32
Identification information determines the location information from base station 32.Further, master base station 30 is according to the location information and master base station from base station 31
30 location information determines the location information from base station 31 relative to master base station 30, and according to the location information from base station 32
With the location information of master base station 30, the location information from base station 32 relative to master base station 30 is determined.
Step 603, the first ultra wide band UWB locating base station position base according at least one described second ultra wide band UWB
Stand relative to the location information of the first ultra wide band UWB locating base station, the first UWB beacon relative to it is described at least one
The distance of second ultra wide band UWB locating base station determines that the first UWB beacon is believed relative to the first position on the parking stall
Breath.
Master base station 30 according to from base station 31 relative to the location information of master base station 30, from base station 32 relative to master base station 30
Location information, UWB beacon 71 relative to from base station 31 distance and UWB beacon 71 relative to the distance from base station 32, determine
First location information of the UWB beacon 71 relative to parking stall 13.
Step 604, the first ultra wide band UWB locating base station position base according at least one described second ultra wide band UWB
Stand relative to the location information of the first ultra wide band UWB locating base station, the 2nd UWB beacon relative to it is described at least one
The distance of second ultra wide band UWB locating base station determines second confidence of the 2nd UWB beacon relative to the parking stall
Breath.
Master base station 30 according to from base station 31 relative to the location information of master base station 30, from base station 32 relative to master base station 30
Location information, UWB beacon 72 relative to from base station 31 distance and UWB beacon 72 relative to the distance from base station 32, determine
Second location information of the UWB beacon 72 relative to parking stall 13.
Step 605, the first ultra wide band UWB locating base station are according to the first location information and the second confidence
Breath determines location information and vehicle posture relative to the parking stall of the vehicle relative to the parking stall
Information.
Master base station 30 according to UWB beacon 71 relative to parking stall 13 first location information and UWB beacon 72 relative to stopping
The second location information of parking stall 13, it may be determined that go out vehicle 10 relative to parking stall 13 location information and vehicle 10 relative to
The posture information on parking stall 13.
Believe the position of step 606, the first ultra wide band UWB locating base station by the vehicle relative to the parking stall
Breath, the vehicle are sent to relative to the location information of target point on the posture information on the parking stall and the parking stall
The vehicle so that the vehicle according to the vehicle relative to the location information on the parking stall, the vehicle relative to institute
The location information for stating target point on the posture information and the parking stall on parking stall adjusts the pose of the vehicle, and by institute
Vehicle parking is stated on the target point.
After master base station 30 determines location information and posture information of the vehicle 10 relative to parking stall 13, by 10 phase of vehicle
For the location information on parking stall 13, vehicle 10 relative to target point on the posture information on parking stall 13 and parking stall 13
Location information is sent to vehicle 10, so that vehicle 10 is opposite relative to location information, the vehicle 10 on parking stall 13 according to vehicle 10
In the location information of target point on the posture information on parking stall 13 and parking stall 13, the pose of vehicle 10 is adjusted in real time, thus
The center of vehicle 10 and target point 41 are overlapped.
The embodiment of the present invention is by being arranged at least one ultra wide band UWB locating base station and vehicle that are arranged on parking stall
At least one UWB beacon carries out wireless communication, to determine location information of the vehicle relative to the parking stall so that vehicle according to
The location information accurately controls position and posture of the vehicle into the parking stall, improves the accuracy of vehicle parking, so that
User can smoothly drive into vehicle on parking stall.
Fig. 8 be another embodiment of the present invention provides control method flow chart of parking.On the basis of the above embodiments, example
As on the basis of embodiment shown in Fig. 2, control method provided in this embodiment of parking specifically comprises the following steps:
Step 801, the first ultra wide band UWB locating base station are from described in the reception of at least one second ultra wide band UWB locating base station
The identification information and at least one UWB beacon of second ultra wide band UWB locating base station position base relative to the second ultra wide band UWB
The distance stood, the first ultra wide band UWB locating base station and the setting of at least one described second ultra wide band UWB locating base station are stopping
On parking stall, at least one described UWB beacon is arranged on vehicle.
Step 801 and the implementation of step 201 are consistent with concrete principle, and details are not described herein again.
Step 802, the first ultra wide band UWB locating base station are according to the mark of the second ultra wide band UWB locating base station
Information determines location information of the second ultra wide band UWB locating base station relative to the first ultra wide band UWB locating base station.
Step 802 and the implementation of step 202 are consistent with concrete principle, and details are not described herein again.
Step 803, the first ultra wide band UWB locating base station position base according at least one described second ultra wide band UWB
It stands relative to the location information of the first ultra wide band UWB locating base station and at least one described UWB beacon relative to described
The distance of at least one the second ultra wide band UWB locating base station, determines location information of the vehicle relative to the parking stall.
Step 803 and the implementation of step 203 are consistent with concrete principle, and details are not described herein again.
Believe the position of step 804, the first ultra wide band UWB locating base station according to the vehicle relative to the parking stall
Breath, controls the berth lock on the parking stall.
As shown in figure 9, parking stall 13 is also provided with berth lock 90, master base station 30 can also be according to vehicle 10 relative to stopping
The location information of parking stall 13, control berth lock 90 are gone up and down.
Optionally, position of the first ultra wide band UWB locating base station according to the vehicle relative to the parking stall is believed
Breath, controls the berth lock on the parking stall, comprising: described when the vehicle enters in the predeterminable area on the parking stall
First ultra wide band UWB locating base station controls the landing of the berth lock on the parking stall；When the vehicle is in the pre- of the parking stall
If when outside region, the first ultra wide band UWB locating base station controls the rise of the berth lock on the parking stall.
As shown in figure 9, master base station 30 controls berth lock 90 and drops when vehicle 10 enters in the predeterminable area 91 on parking stall 13
It falls；When predeterminable area 91 of the vehicle 10 on parking stall 13 is outer, master base station 30 controls berth lock 90 and rises.
In some other embodiment, master base station 30, which controls the alternatively possible mode that berth lock 90 is gone up and down, is: working as vehicle
UWB beacon and master base station 30 in 10, from base station 31, established from least one of base station 32 be wirelessly connected when, the main base
30 i.e. controllable berth locks 90 of standing land.When vehicle 10 is driven out to parking stall 13, when more and more remoter apart from parking stall 13, master base station
30, when can not detect the wireless signal that UWB beacon is sent from base station 31, from least one of base station 32, the master base station 30
I.e. controllable berth lock 90 rises.
In some other embodiment, the first ultra wide band UWB locating base station controls the alternatively possible of berth lock
Mode is: the first ultra wide band UWB locating base station receives the parking stall lock control information that the vehicle is sent；First ultra-wide
Band UWB locating base station controls the berth lock on the parking stall according to the parking stall lock control information.
For example, vehicle 10 is sent out to master base station 30 when entrance of the vehicle 10 apart from parking stall 13 is within the scope of pre-determined distance
Parking stall lock control information is sent, for example, the parking stall lock control information is for controlling the landing of berth lock 90, then master base station 30 is according to the vehicle
Position lock control information, control berth lock 90 land.When entrance of the vehicle 10 apart from parking stall 13 is outside pre-determined distance range, vehicle
10 send parking stall lock control information to master base station 30, for example, the parking stall lock control information is for controlling the rise of berth lock 90, then
Master base station 30 controls berth lock 90 and rises according to the parking stall lock control information.
In some embodiments, berth lock 90 is also possible to mesh described in above-described embodiment in the location point in parking stall 13
Punctuate.
Believe the position of step 805, the first ultra wide band UWB locating base station by the vehicle relative to the parking stall
The location information of target point is sent to the vehicle on breath and the parking stall, so that the vehicle is according to the vehicle phase
The location information of target point adjusts the pose of the vehicle on location information and the parking stall for the parking stall,
And by the vehicle parking on the target point.
It is appreciated that the present embodiment do not limit step 804 and step 805 execute sequence.
Step 805 and the implementation of step 204 are consistent with concrete principle, and details are not described herein again.
In some embodiments, the berth lock described in the parking stall is arranged in the first ultra wide band UWB locating base station
The position at place；At least one described second ultra wide band UWB locating base station is separately positioned on the apex angle on the parking stall.Such as figure
Shown in 10, the position in parking stall 13 where berth lock 90 is arranged in master base station 30, and the left side on parking stall 13 is arranged in from base station 32
On inferior horn, from the lower right corner that parking stall 13 is arranged in base station 31.It is herein a kind of set-up mode, however it is not limited to this.
In wherein some embodiments, by the berth lock to the first ultra wide band UWB locating base station and it is described at least
One the second ultra wide band UWB locating base station power supply.For example, berth lock 90 can to master base station 30, from base station 31 and from base station 32
Power supply.
In wherein some embodiments, the method also includes: it is described when the vehicle parking is on the target point
First ultra wide band UWB locating base station controls the berth lock to the Vehicular charging.
Due in the present embodiment, by the master base station 30 that is arranged on parking stall, from base station 31, from base station 32 and vehicle
At least one the UWB beacon being arranged carries out wireless communication, and can accurately determine that the vehicle is believed relative to the position on the parking stall
Breath, which can accurately be parked on some target point on the parking stall according to the location information, that is to say, that can be with
Realization is precisely parked, and when vehicle parking is on the target point, master base station 30 can also control berth lock to the Vehicular charging, or
Person controls other energy storage devices to the Vehicular charging.Charging modes can be wired charging method, be also possible to wireless charging
Mode.
The embodiment of the present invention is by being arranged at least one ultra wide band UWB locating base station and vehicle that are arranged on parking stall
At least one UWB beacon carries out wireless communication, accurately to determine location information of the vehicle relative to the parking stall, so that vehicle
According to the location information, position and posture of the vehicle into the parking stall are accurately controlled, the accurate of vehicle parking is improved
Degree, so that user can smoothly drive into vehicle on parking stall, furthermore it is also possible to control berth lock liter according to the location information
Drop, realizes the intelligent control to berth lock, in addition, when vehicle parking is on the target point, can also control berth lock to
The Vehicular charging saves the troublesome operation that the manual charge-carrying belt of user comes.
Figure 11 is the structural schematic diagram of control system provided in an embodiment of the present invention of parking.Pool provided in an embodiment of the present invention
Vehicle control can execute the process flow for control method embodiment offer of parking, as shown in figure 11, control system of parking 110
It include: the first ultra wide band UWB locating base station 111, at least one the second ultra wide band UWB locating base station 112 and at least one UWB letter
Mark 113；Wherein, wherein the first ultra wide band UWB locating base station 111 and at least one second ultra wide band UWB locating base station 112 are set
It sets on parking stall, at least one UWB beacon 113 is arranged on vehicle；Second ultra wide band UWB locating base station 112 is for detecting
Distance of at least one UWB beacon 113 relative to the second ultra wide band UWB locating base station 112；First ultra wide band UWB locating base station
111 are used for: the identification information of the second ultra wide band UWB locating base station 112 is received from least one second ultra wide band UWB locating base station
Distance at least one UWB beacon relative to the second ultra wide band UWB locating base station 112；Base is positioned according to the second ultra wide band UWB
Stand 112 identification information, determine the second ultra wide band UWB locating base station 112 relative to the first ultra wide band UWB locating base station 111
Location information；According at least one second ultra wide band UWB locating base station 112 relative to the first ultra wide band UWB locating base station 111
The distance of location information and at least one UWB beacon 113 relative at least one the second ultra wide band UWB locating base station 112,
Determine location information of the vehicle relative to the parking stall；By the vehicle relative to the parking stall location information,
And the location information of target point is sent to the vehicle on the parking stall so that the vehicle according to the vehicle relative to
The location information of target point adjusts the pose of the vehicle on the location information on the parking stall and the parking stall, and will
The vehicle parking is on the target point.
Optionally, at least one UWB beacon 113 includes the first UWB beacon and the 2nd UWB beacon；First ultra wide band UWB is fixed
Position base station 111 is according at least one second ultra wide band UWB locating base station 112 relative to the first ultra wide band UWB locating base station 111
The distance of location information and at least one UWB beacon 113 relative at least one the second ultra wide band UWB locating base station 112,
When determining location information of the vehicle relative to the parking stall, it is specifically used for: fixed according at least one the second ultra wide band UWB
Position base station 112 is relative to the location information of the first ultra wide band UWB locating base station 111, the first UWB beacon relative at least one
The distance of a second ultra wide band UWB locating base station 112 determines first of the first UWB beacon relative to the parking stall
Confidence breath；According at least one position of the second ultra wide band UWB locating base station 112 relative to the first ultra wide band UWB locating base station 111
Confidence breath, distance of the 2nd UWB beacon relative at least one the second ultra wide band UWB locating base station 112, determine described the
Second location information of the two UWB beacons relative to the parking stall；According to the first location information and the second confidence
Breath determines location information and vehicle posture relative to the parking stall of the vehicle relative to the parking stall
Information；First ultra wide band UWB locating base station 111 relative to the location information on the parking stall and described stops the vehicle
The location information of target point is sent to the vehicle on parking stall, so that the vehicle is according to the vehicle relative to the parking stall
Location information and the parking stall on the location information of target point adjust the pose of the vehicle, and the vehicle is stopped
When being placed on the target point, it is specifically used for: the vehicle is opposite relative to location information, the vehicle on the parking stall
It is sent to the vehicle in the location information of target point on the posture information on the parking stall and the parking stall, so that institute
It states vehicle and is believed relative to the location information on the parking stall, the vehicle relative to the posture on the parking stall according to the vehicle
The location information of target point adjusts the pose of the vehicle on breath and the parking stall, and by the vehicle parking described
On target point.
Optionally, the first ultra wide band UWB locating base station 111 is also used to: according to the vehicle relative to the parking stall
Location information controls the berth lock on the parking stall.
Optionally, position of the first ultra wide band UWB locating base station 111 according to the vehicle relative to the parking stall is believed
Breath, when controlling the berth lock on the parking stall, is specifically used for: when the vehicle enters in the predeterminable area on the parking stall
When, the first ultra wide band UWB locating base station 111 controls the landing of the berth lock on the parking stall；When the vehicle is in the parking
When outside the predeterminable area of position, the first ultra wide band UWB locating base station 111 controls the rise of the berth lock on the parking stall.
Optionally, the first ultra wide band UWB locating base station 111 is also used to: receiving the parking stall lock control letter that the vehicle is sent
Breath；According to the parking stall lock control information, the berth lock on the parking stall is controlled.
Optionally, the first ultra wide band UWB locating base station 111 and at least one second ultra wide band UWB locating base station 112 are distinguished
It is arranged on the apex angle on the parking stall.
Optionally, the position where berth lock described in the parking stall is arranged in the first ultra wide band UWB locating base station 111
It sets；At least one second ultra wide band UWB locating base station 112 is separately positioned on the apex angle on the parking stall.
Optionally, by the berth lock to the first ultra wide band UWB locating base station 111 and at least one second ultra wide band UWB
Locating base station 112 is powered.
Optionally, the first ultra wide band UWB locating base station 111 is also used to: when the vehicle parking is on the target point,
The berth lock is controlled to the Vehicular charging.
The control system of parking of embodiment illustrated in fig. 11 can be used for executing the technical solution of above method embodiment, realize
Principle is similar with technical effect, and details are not described herein again.
In addition, the present embodiment also provides a kind of computer readable storage medium, it is stored thereon with computer program, the meter
Calculation machine program is executed by processor to realize control method of parking described in above-described embodiment.
In several embodiments provided by the present invention, it should be understood that disclosed device and method can pass through it
Its mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of the unit, only
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be tied
Another system is closed or is desirably integrated into, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or logical of device or unit
Letter connection 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.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of hardware adds SFU software functional unit.
The above-mentioned integrated unit being realized in the form of SFU software functional unit can store and computer-readable deposit at one
In storage media.Above-mentioned SFU software functional unit 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 part steps of embodiment the method.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (Read-
Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic or disk etc. it is various
It can store the medium of program code.
Those skilled in the art can be understood that, for convenience and simplicity of description, only with above-mentioned each functional module
Division progress for example, in practical application, can according to need and above-mentioned function distribution is complete by different functional modules
At the internal structure of device being divided into different functional modules, to complete all or part of the functions described above.On
The specific work process for stating the device of description, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations；To the greatest extent
Pipe present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that: its according to
So be possible to modify the technical solutions described in the foregoing embodiments, or to some or all of the technical features into
Row equivalent replacement；And these are modified or replaceed, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution
The range of scheme.
Claims (19)
- The control method 1. one kind is parked characterized by comprisingFirst ultra wide band UWB locating base station receives the second ultra wide band UWB from least one second ultra wide band UWB locating base station The identification information of locating base station and distance of at least one UWB beacon relative to the second ultra wide band UWB locating base station, it is described First ultra wide band UWB locating base station and at least one described second ultra wide band UWB locating base station are arranged on parking stall, it is described extremely A few UWB beacon is arranged on vehicle；The first ultra wide band UWB locating base station according to the identification information of the second ultra wide band UWB locating base station, determine described in Location information of the second ultra wide band UWB locating base station relative to the first ultra wide band UWB locating base station；The first ultra wide band UWB locating base station is according at least one described second ultra wide band UWB locating base station relative to described The location information of first ultra wide band UWB locating base station and at least one described UWB beacon relative to it is described at least one second The distance of ultra wide band UWB locating base station determines location information of the vehicle relative to the parking stall；The first ultra wide band UWB locating base station relative to the location information on the parking stall and described stops the vehicle The location information of target point is sent to the vehicle on parking stall, so that the vehicle is according to the vehicle relative to the parking stall Location information and the parking stall on the location information of target point adjust the pose of the vehicle, and the vehicle is stopped It is placed on the target point.
- 2. the method according to claim 1, wherein at least one described UWB beacon include the first UWB beacon and 2nd UWB beacon；The first ultra wide band UWB locating base station is according at least one described second ultra wide band UWB locating base station relative to described The location information of first ultra wide band UWB locating base station and at least one described UWB beacon relative to it is described at least one second The distance of ultra wide band UWB locating base station determines location information of the vehicle relative to the parking stall, comprising:The first ultra wide band UWB locating base station is according at least one described second ultra wide band UWB locating base station relative to described The location information of first ultra wide band UWB locating base station, the first UWB beacon are relative at least one described second ultra wide band The distance of UWB locating base station determines first location information of the first UWB beacon relative to the parking stall；The first ultra wide band UWB locating base station is according at least one described second ultra wide band UWB locating base station relative to described The location information of first ultra wide band UWB locating base station, the 2nd UWB beacon are relative at least one described second ultra wide band The distance of UWB locating base station determines second location information of the 2nd UWB beacon relative to the parking stall；The first ultra wide band UWB locating base station according to the first location information and the second location information, determine described in Location information and vehicle posture information relative to the parking stall of the vehicle relative to the parking stall；The first ultra wide band UWB locating base station relative to the location information on the parking stall and described stops the vehicle The location information of target point is sent to the vehicle on parking stall, so that the vehicle is according to the vehicle relative to the parking stall Location information and the parking stall on the location information of target point adjust the pose of the vehicle, and the vehicle is stopped It is placed on the target point, comprising:Location information of the first ultra wide band UWB locating base station by the vehicle relative to the parking stall, the vehicle phase The location information of target point is sent to the vehicle on posture information and the parking stall for the parking stall, so that Location information, vehicle posture relative to the parking stall of the vehicle according to the vehicle relative to the parking stall The location information of target point adjusts the pose of the vehicle in information and the parking stall, and by the vehicle parking in institute It states on target point.
- 3. method according to claim 1 or 2, which is characterized in that the method also includes:Location information of the first ultra wide band UWB locating base station according to the vehicle relative to the parking stall, described in control Berth lock on parking stall.
- 4. according to the method described in claim 3, it is characterized in that, the first ultra wide band UWB locating base station is according to the vehicle Location information relative to the parking stall, controls the berth lock on the parking stall, comprising:When the vehicle enters in the predeterminable area on the parking stall, described in the first ultra wide band UWB locating base station control Berth lock landing on parking stall；When the vehicle is outside the predeterminable area on the parking stall, stop described in the first ultra wide band UWB locating base station control Berth lock on parking stall rises.
- 5. method according to claim 1 or 2, which is characterized in that the method also includes:The first ultra wide band UWB locating base station receives the parking stall lock control information that the vehicle is sent；The first ultra wide band UWB locating base station controls the berth lock on the parking stall according to the parking stall lock control information.
- 6. method according to claim 1-5, which is characterized in that the first ultra wide band UWB locating base station and At least one described second ultra wide band UWB locating base station is separately positioned on the apex angle on the parking stall.
- 7. according to the described in any item methods of claim 3-5, which is characterized in that the first ultra wide band UWB locating base station is set Set the position where the berth lock described in the parking stall；At least one described second ultra wide band UWB locating base station is separately positioned on the apex angle on the parking stall.
- 8. the method according to the description of claim 7 is characterized in that being positioned by the berth lock to the first ultra wide band UWB Base station and the power supply of at least one described second ultra wide band UWB locating base station.
- 9. method according to claim 7 or 8, which is characterized in that the method also includes:When the vehicle parking is on the target point, the first ultra wide band UWB locating base station controls the berth lock and gives The Vehicular charging.
- The control system 10. one kind is parked characterized by comprising the first ultra wide band UWB locating base station, at least one the second surpasses Broadband UWB locating base station and at least one UWB beacon；Wherein, the first ultra wide band UWB locating base station and it is described at least one Second ultra wide band UWB locating base station is arranged on parking stall, at least one described UWB beacon is arranged on vehicle；The second ultra wide band UWB locating base station is for detecting at least one described UWB beacon relative to second ultra wide band The distance of UWB locating base station；The first ultra wide band UWB locating base station is used for:From at least one second ultra wide band UWB locating base station receive the second ultra wide band UWB locating base station identification information and Distance of at least one UWB beacon relative to the second ultra wide band UWB locating base station；According to the identification information of the second ultra wide band UWB locating base station, determine that the second ultra wide band UWB locating base station is opposite In the location information of the first ultra wide band UWB locating base station；Position according at least one described second ultra wide band UWB locating base station relative to the first ultra wide band UWB locating base station The distance of confidence breath and at least one described UWB beacon relative at least one second ultra wide band UWB locating base station, Determine location information of the vehicle relative to the parking stall；Location information by the vehicle relative to target point on the location information on the parking stall and the parking stall is sent To the vehicle, so that location information and the parking stall of the vehicle according to the vehicle relative to the parking stall The location information of upper target point adjusts the pose of the vehicle, and by the vehicle parking on the target point.
- 11. control system according to claim 10 of parking, which is characterized in that at least one described UWB beacon includes the One UWB beacon and the 2nd UWB beacon；The first ultra wide band UWB locating base station is according at least one described second ultra wide band UWB locating base station relative to described The location information of first ultra wide band UWB locating base station and at least one described UWB beacon relative to it is described at least one second The distance of ultra wide band UWB locating base station is specifically used for when determining location information of the vehicle relative to the parking stall:Position according at least one described second ultra wide band UWB locating base station relative to the first ultra wide band UWB locating base station Confidence breath, distance of the first UWB beacon relative at least one second ultra wide band UWB locating base station, determine described in First location information of the first UWB beacon relative to the parking stall；Position according at least one described second ultra wide band UWB locating base station relative to the first ultra wide band UWB locating base station Confidence breath, distance of the 2nd UWB beacon relative at least one second ultra wide band UWB locating base station, determine described in Second location information of the 2nd UWB beacon relative to the parking stall；According to the first location information and the second location information, position of the vehicle relative to the parking stall is determined The posture information of information and the vehicle relative to the parking stall；The first ultra wide band UWB locating base station relative to the location information on the parking stall and described stops the vehicle The location information of target point is sent to the vehicle on parking stall, so that the vehicle is according to the vehicle relative to the parking stall Location information and the parking stall on the location information of target point adjust the pose of the vehicle, and the vehicle is stopped When being placed on the target point, it is specifically used for:By the vehicle relative to the location information on the parking stall, the vehicle relative to the parking stall posture information, And the location information of target point is sent to the vehicle on the parking stall so that the vehicle according to the vehicle relative to The location information on the parking stall, the vehicle are relative to target on the posture information on the parking stall and the parking stall The location information of point adjusts the pose of the vehicle, and by the vehicle parking on the target point.
- 12. control system of parking described in 0 or 11 according to claim 1, which is characterized in that the first ultra wide band UWB positioning Base station is also used to:Location information according to the vehicle relative to the parking stall controls the berth lock on the parking stall.
- 13. control system according to claim 12 of parking, which is characterized in that the first ultra wide band UWB locating base station Location information according to the vehicle relative to the parking stall is specifically used for when controlling the berth lock on the parking stall:When the vehicle enters in the predeterminable area on the parking stall, described in the first ultra wide band UWB locating base station control Berth lock landing on parking stall；When the vehicle is outside the predeterminable area on the parking stall, stop described in the first ultra wide band UWB locating base station control Berth lock on parking stall rises.
- 14. control system of parking described in 0 or 11 according to claim 1, which is characterized in that the first ultra wide band UWB positioning Base station is also used to:Receive the parking stall lock control information that the vehicle is sent；According to the parking stall lock control information, the berth lock on the parking stall is controlled.
- 15. the described in any item control systems of parking of 0-14 according to claim 1, which is characterized in that the first ultra wide band UWB Locating base station and at least one described second ultra wide band UWB locating base station are separately positioned on the apex angle on the parking stall.
- 16. the described in any item control systems of parking of 2-14 according to claim 1, which is characterized in that the first ultra wide band UWB The position where berth lock described in the parking stall is arranged in locating base station；At least one described second ultra wide band UWB locating base station is separately positioned on the apex angle on the parking stall.
- 17. control system according to claim 16 of parking, which is characterized in that give first ultra-wide by the berth lock Band UWB locating base station and at least one described second ultra wide band UWB locating base station are powered.
- 18. control system according to claim 16 or 17 of parking, which is characterized in that the first ultra wide band UWB positioning Base station is also used to:When the vehicle parking is on the target point, the berth lock is controlled to the Vehicular charging.
- 19. a kind of computer readable storage medium, which is characterized in that be stored thereon with computer program, the computer program It is executed by processor to realize such as the described in any item methods of claim 1-9.
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| CN201811501699.4A CN109795479B (en) | 2018-12-10 | 2018-12-10 | Parking control method, system and computer readable storage medium |
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|---|---|---|---|
| CN201811501699.4A CN109795479B (en) | 2018-12-10 | 2018-12-10 | Parking control method, system and computer readable storage medium |
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| CN112959903A (en) * | 2021-02-07 | 2021-06-15 | 广州欧纬德教学设备技术有限公司 | Unmanned vehicle sand table system and control method thereof |
| CN114368317A (en) * | 2022-03-22 | 2022-04-19 | 蔚来汽车科技(安徽)有限公司 | Method for controlling vehicle battery replacement, computer system, medium and vehicle |
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| WO2024014817A1 (en) * | 2022-07-11 | 2024-01-18 | 삼성전자 주식회사 | Electronic device parking method and device using ultra-wideband communication |
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