CN109961644A - Idle parking stall recognition methods, autonomous parking method and device - Google Patents
Idle parking stall recognition methods, autonomous parking method and device Download PDFInfo
- Publication number
- CN109961644A CN109961644A CN201910137085.0A CN201910137085A CN109961644A CN 109961644 A CN109961644 A CN 109961644A CN 201910137085 A CN201910137085 A CN 201910137085A CN 109961644 A CN109961644 A CN 109961644A
- Authority
- CN
- China
- Prior art keywords
- parking stall
- signal
- parking
- vehicle
- available
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Security & Cryptography (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The present invention provides idle parking stall recognition methods, automatic parking method and device, and parking stall LED light source is equipped with around parking stall, and when the parking stall is in idle condition, parking stall LED light source issues parking stall available signal.When having near vehicle driving to the parking stall of the free time, vehicle is able to detect that the parking stall available signal, and the target position of currently available parking stall is determined according to the parking stall available signal.This method determines the available parking stall near current location locating for vehicle using visible light location technology, compared with identifying the mode of idle parking stall using trailer-mounted radar mode, visible light location technology is not easy to be affected by the surrounding environment, therefore, the recognition accuracy of available parking stall is improved, and then improves success rate of parking.
Description
Technical field
The invention belongs to intelligent driving fields, more particularly to idle parking stall recognition methods, autonomous parking method and device.
Background technique
China's automobile quantity sharply increases year by year, still, parking position, parking lot quantity do not catch up with but automobile growth speed
Degree causes more and more artificially to can not find parking position and worried.
Existing free time parking stall identification function is usually by being mounted on the trailer-mounted radar of vehicle body side using ultrasound
It is realized away from technology, but such mode is affected by many factors, for example, specifically being parked by the vehicle on the two sides parking stall of target parking stall
Position and park the factors such as vehicle influence.Moreover, such mode is stringenter to speed requirement, erroneous judgement is easily generated, causes to know
Not rate is low.
Summary of the invention
In view of this, the purpose of the present invention is to provide idle parking stall recognition methods, autonomous parking method and device, with solution
The low technical problem of certainly traditional idle parking stall discrimination, its technical solution is as follows:
In a first aspect, being applied in vehicle the present invention provides a kind of idle parking stall recognition methods, which comprises
It detects whether to receive parking stall available signal, the parking stall available signal is the parking stall by being mounted on around parking stall
The visible light signal that LED light source issues；
After determination receives the parking stall available signal, currently available parking stall is determined according to the parking stall available signal
Target position.
Optionally, the target position that currently available parking stall is determined according to the parking stall available signal, comprising:
It parses the parking stall available signal and obtains the station location marker information of the currently available parking stall；
According to the parking stall distribution map in parking lot where the station location marker information and currently available parking stall, described work as is determined
The preceding target position with parking stall.
Second aspect, the present invention provides a kind of automatic parking methods, are applied in vehicle, which comprises
When detect park instruction after, detect whether to receive parking stall available signal, the parking stall available signal is by pacifying
The visible light signal that LED light source around parking stall issues；
After determination receives the parking stall available signal, currently available parking stall is determined according to the parking stall available signal
Target position；
Environment according to the current location of the current vehicle, the target position and the current vehicle local environment is believed
Breath, generation, which is parked, manipulates information；
It parks according to described in and manipulates the driving status of information control vehicle, so that the current vehicle drives into and described currently may be used
Use parking stall.
Optionally, the target position that currently available parking stall is determined according to the parking stall available signal, comprising:
It parses the parking stall available signal and obtains the station location marker information of the currently available parking stall；
According to the parking stall distribution map in parking lot where the station location marker information and currently available parking stall, described work as is determined
The preceding target position with parking stall.
Optionally, the automatic parking method further include:
After detecting that the current vehicle drives into the currently available parking stall, to being mounted on the currently available parking stall
The parking stall photoelectric detector of installation sends parking end signal, so that the parking stall photoelectric detector controls the parking stall LED light
Source stops issuing visible light signal.
Optionally, the automatic parking method further include:
After detecting that the current vehicle sails out of the currently available parking stall, to being mounted on the currently available parking stall
The parking stall photoelectric detector of installation sends vehicle and sails out of signal, so that the parking stall photoelectric detector controls the parking stall LED light
Source issues visible light signal.
The third aspect, the present invention provides a kind of idle stall recognition devices, are applied in vehicle, described device includes:
Detection module, for detecting whether receiving parking stall available signal, the parking stall available signal is by being mounted on vehicle
The visible light signal that parking stall LED light source around position issues；
Parking stall position determination module, for can be used according to the parking stall after determination receives the parking stall available signal
Signal determines the target position of currently available parking stall.
Optionally, the parking stall position determination module, comprising:
Analyzing sub-module obtains the station location marker letter of the currently available parking stall for parsing the parking stall available signal
Breath；
Submodule is determined, for the parking stall distribution according to parking lot where the station location marker information and currently available parking stall
Figure, determines the target position of the currently available parking stall.
Fourth aspect, the present invention also provides a kind of automatic parking devices, are applied in vehicle, described device includes:
Detection module, for when detect park instruction after, detect whether to receive parking stall available signal, the parking stall can
It is the visible light signal issued by the LED light source being mounted on around parking stall with signal；
Parking stall position determination module, for can be used according to the parking stall after determination receives the parking stall available signal
Signal determines the target position of currently available parking stall；
Manipulate information generating module, for according to the current vehicle current location, the target position and described work as
The environmental information of vehicle in front local environment, generation, which is parked, manipulates information；
Control module, for the driving status for manipulating information control vehicle of parking according to described in, so that the current vehicle
Drive into the currently available parking stall.
Optionally, the parking stall position determination module, comprising:
Analyzing sub-module obtains the station location marker letter of the currently available parking stall for parsing the parking stall available signal
Breath；
Submodule is determined, for the parking stall distribution according to parking lot where the station location marker information and currently available parking stall
Figure, determines the target position of the currently available parking stall.
Free time parking stall recognition methods provided by the invention, is equipped with parking stall LED light source, when the parking stall is in around parking stall
When idle state, parking stall LED light source issues parking stall available signal.When having near vehicle driving to the parking stall of the free time, vehicle
It is able to detect that the parking stall available signal, and determines the target position of currently available parking stall according to the parking stall available signal.The party
Method determines the available parking stall near current location locating for vehicle using visible light location technology, with use trailer-mounted radar mode
Identify that the mode of idle parking stall is compared, it is seen that light-seeking technology is not easy to be affected by the surrounding environment, and this improves available parking stalls
Recognition accuracy, and then improve success rate of parking.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is the present invention
Some embodiments for those of ordinary skill in the art without creative efforts, can also basis
These attached drawings obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram of automated parking system provided in an embodiment of the present invention；
Fig. 2 is a kind of flow chart of idle parking stall recognition methods provided in an embodiment of the present invention；
Fig. 3 is a kind of flow chart of automatic parking method provided in an embodiment of the present invention；
Fig. 4 is the flow chart of another automatic parking method provided in an embodiment of the present invention；
Fig. 5 is a kind of block diagram of idle stall recognition device provided in an embodiment of the present invention；
Fig. 6 is a kind of block diagram of automatic parking device provided in an embodiment of the present invention；
Fig. 7 is the block diagram of another automatic parking device provided in an embodiment of the present invention；
Fig. 8 is the block diagram of another automatic parking device provided in an embodiment of the present invention.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
Every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Referring to Figure 1, a kind of structural schematic diagram of automated parking system provided in an embodiment of the present invention, the system are shown
Including environmental data collecting subsystem 1, processor 2 and vehicle control subsystems 3.
Wherein, environmental data collecting subsystem 1 includes parking stall identification module 11, image capture module 12, distance measurement mould
Block 13.
Parking stall identification module 11 includes vehicle LED light source, vehicular photoelectric detector；Vehicle LED light source is visible for emitting
Optical signal, vehicular photoelectric detector emit modulated visible light signal for controlling vehicle LED light source.
Image capture module 12 includes multiple vehicle-mounted cameras, and the quantity of vehicle-mounted camera can be set according to actual needs
It is fixed, for example, 3.One of vehicle-mounted camera is mounted on the tailstock, for acquiring the image of rear of vehicle；Other two vehicles
It carries camera and is separately mounted to vehicle body two sides, for acquiring the surrounding image data of vehicle two sides, especially, driving can be acquired
The image of member blind area.
Distance measurement module 13 includes multiple trailer-mounted radar groups, for detecting distance of the vehicle surrounding objects apart from vehicle body.
Wherein, the quantity of trailer-mounted radar group can be set according to actual needs, for example, 3；One of trailer-mounted radar group is mounted on vehicle
Position；Other two trailer-mounted radar groups are mounted on the vehicle body of two sides.
The collected data of environmental data collecting subsystem 1 are analyzed to obtain the mesh of currently available parking stall by processor 2
Cursor position, and determine the travel route that target position is reached from the current location of vehicle, and generate to park and manipulate information, and
It is transmitted to vehicle control subsystems 3.
Vehicle control subsystems 3 receive parking for processor transmission and manipulate information, and park according to this and manipulate information control
The traveling of vehicle.For example, the direction of control vehicle, angle, speed etc..
Fig. 2 is referred to, a kind of flow chart of idle parking stall recognition methods provided in an embodiment of the present invention, this method are shown
Applied in processor shown in FIG. 1, available free time parking stall in parking lot can be automatically identified using this method.Such as Fig. 2
Shown, this method may comprise steps of:
S110 detects whether to receive parking stall available signal.
The parking stall available signal is the visible light signal issued by the parking stall LED light source being mounted on around parking stall, according to need
The visible light signal that LED light source issues is modulated, that is, control LED light source issues the high speed light and shade being invisible to the naked eye and dodges
Bright signal transmits information, it is assumed that bright is 1, be secretly 0, then the high speed light and shade signal that LED light source issues can be transmitted by a string two
The information that binary digits are constituted.
Parking stall available signal is received by vehicular photoelectric detector and is transmitted in processor.
If not receiving parking stall available signal, continues to test whether to receive parking stall and can use according to the specified period and believe
Number.
S120 determines the mesh of currently available parking stall according to parking stall available signal after determination receives parking stall available signal
Cursor position.
Wherein it is determined that the process of the target position of currently available parking stall may include:
Parsing parking stall available signal obtains the station location marker information of currently available parking stall.
The station location marker letter of current parking stall can be carried in the parking stall available signal that the LED light source installed on parking stall issues
Breath.Wherein, station location marker information can be Position Number of the parking stall in entire parking lot, pass through the position in current parking lot
A parking stall can be uniquely determined by setting number.
According to the parking stall distribution map in parking lot where station location marker information and currently available parking stall, currently available vehicle is determined
The target position of position.
It determines currently may be used in the parking stall distribution map in current parking lot according to the station location marker information of currently available parking stall
With the position of parking stall.
Free time parking stall recognition methods provided in this embodiment, is equipped with parking stall LED light source, at the parking stall around parking stall
When idle state, parking stall LED light source issues parking stall available signal.When having near vehicle driving to the parking stall of the free time, vehicle
It is able to detect that the parking stall available signal, and determines the target position of currently available parking stall according to the parking stall available signal.It should
Method determines the available parking stall near current location locating for vehicle using visible light location technology, with use trailer-mounted radar side
Formula identifies that the mode of idle parking stall is compared, it is seen that light-seeking technology is not easy to be affected by the surrounding environment, and this improves available vehicles
The recognition accuracy of position；And then improve success rate of parking.
Fig. 3 is referred to, a kind of flow chart of automatic parking method of the embodiment of the present invention is shown, this method is applied to Fig. 1
In the processor of shown system.The present embodiment can also realize that automatic control should on the basis of above-mentioned idle parking stall recognition methods
Vehicle drives into idle parking stall.
As shown in figure 3, this method may comprise steps of:
S210, when detect park instruction after, detect whether to receive parking stall available signal；If letter can be used by receiving parking stall
Number, then execute S220；If not receiving parking stall available signal, continue to monitor whether to receive parking stall available signal.
Parking stall available signal is the visible light signal issued by the LED light source being mounted on around parking stall.It parks when detecting
After instruction, processor controls vehicular photoelectric sensors work and is receiving the mode of visible light signal, and is detected by the vehicular photoelectric
Device receives the visible light signal in ambient enviroment, judges whether there is parking stall available signal.
Processor detect current vehicle operating status meet it is default park condition when, automatically generate instruction of parking,
For example, automatically generating instruction of parking when determining that current vehicle drives into parking lot according to location technology.
S220 determines the mesh of currently available parking stall according to parking stall available signal after determination receives parking stall available signal
Cursor position.
Wherein it is determined that in the process of the target position of currently available parking stall and above-mentioned idle parking stall recognition methods embodiment
The realization process of S120 is identical, and details are not described herein again.
S230 is generated according to the environmental information of the current location of current vehicle, target position and current vehicle local environment
It parks and manipulates information.
Firstly, obtaining the environmental information of the current location of current vehicle and the ambient enviroment of the current vehicle.
Under the application scenarios of outdoor parking space, global positioning system (Global Positioning can be passed through
System, GPS) technology determines the position of current vehicle, i.e. current location；Indoors under the application scenarios in parking lot, Ke Yitong
Cross the position that visible light location technology determines current vehicle.
Environmental information can use image capture module 12 and distance measurement module 13 acquires current vehicle ambient enviroment
Information, for example, the image information of surrounding and current vehicle are apart from the distance between surrounding objects etc..
After the environmental information, current location and the target position that obtain current vehicle, the control algolithm based on experience is utilized
(for example, fuzzy logic algorithm, neural network algorithm) carrys out the behavior of parking of the driver of drive simulating technology maturation, and generates corresponding
Park and manipulate information, park according to this and manipulate information control running car angle, travel speed, realize that automobile stops into currently may be used
Use parking stall.
In addition, according to current location, target position and environmental information, the three of synthesis current vehicle location local environment
Stereopsis is tieed up, and is shown on vehicle-mounted liquid crystal display with image traveling.Current vehicle is marked on 3 D stereoscopic image
Real time position, the target position of currently available parking stall.
S240, according to park manipulates information control vehicle driving status so that current vehicle drive into it is described currently available
Parking stall.
During control vehicle drives into currently available parking stall, environment acquisition subsystem is needed to acquire vehicle periphery in real time
The current location of environmental information and vehicle is simultaneously sent to processor, and processor generates corresponding according to the information that these are acquired in real time
It parks and manipulates information, and be converted into electric signal and be sent to vehicle control subsystems, by vehicle control subsystems according to the electric signal
Movement mechanism movement is controlled, it is final to realize that control vehicle drives into currently available parking stall.
Automatic parking method provided in this embodiment, is equipped with parking stall LED light source around parking stall, when the parking stall is in sky
When not busy state, parking stall LED light source issues parking stall available signal.When having near vehicle driving to the parking stall of the free time, vehicle energy
It enough detects the parking stall available signal, and determines the target position of currently available parking stall according to the parking stall available signal.Then, root
It parks according to the environmental information generation of current vehicle position, target position and ambient enviroment and manipulates information, and according to the manipulation of parking
Information controls the driving status of vehicle, and the final vehicle that controls drives into currently available parking stall.This method utilizes fixed using visible light
Position technology determines the available parking stall near current location locating for vehicle, identifies idle parking stall with using trailer-mounted radar mode
Mode is compared, it is seen that and light-seeking technology is not easy to be affected by the surrounding environment, this improves the recognition accuracy of available parking stall,
And then improve success rate of parking.
Fig. 4 is referred to, the flow chart of another automatic parking method provided in an embodiment of the present invention, the present embodiment are shown
In, vehicle issues visible light signal by vehicle LED light source and transmits information to parking stall photoelectric detector.
As shown in figure 4, further comprising the steps of on the basis of this method embodiment shown in Fig. 3:
S310 is installed on currently available parking stall after detecting that current vehicle drives into currently available parking stall to being mounted on
Parking stall photoelectric detector sends parking end signal, so that photoelectric detector control parking stall LED light source stopping sending in parking stall is visible
Optical signal.
In an embodiment of the present invention, it when processor detects that the speed of vehicle becomes 0 from the speed greater than 0, determines
Vehicle has parked；At this point, processor is sent to vehicular photoelectric detector indicates that vehicle has driven into the signal of parking stall, it is vehicle-mounted
After photoelectric detector receives the signal of processor transmission, control vehicle LED light source issues parking end signal.
Wherein, parking end signal is by the visible light signal for the vehicle LED light source transmitting installed on vehicle, vehicular photoelectric
Detector control vehicle LED light source launches the parking end signal.
After parking stall photoelectric detector receives the parking end signal of vehicle LED light source sending, control parking stall LED light source stops
Only issue parking stall available signal, that is, can stop issuing visible light signal, alternatively, the unavailable signal in parking stall can be issued.
S320 is installed on currently available parking stall after detecting that current vehicle sails out of currently available parking stall to being mounted on
Parking stall photoelectric detector sends vehicle and sails out of signal, so that photoelectric detector control parking stall LED light source in parking stall issues visible light letter
Number.
In an embodiment of the present invention, when processor detects vehicle launch (that is, the speed of vehicle becomes greater than 0 by 0
When speed, vehicle launch is determined) after, determine that vehicle will sail out of parking stall；In such cases, processor is to vehicular photoelectric detector
Sending indicates that vehicle has sailed out of the signal of parking stall, after vehicular photoelectric detector receives the signal of processor transmission, control
Vehicle LED light source issues vehicle and sails out of signal.
After the vehicle that parking stall photoelectric detector receives the sending of vehicle LED light source sails out of signal, control parking stall LED light source hair
Parking stall available signal out.
Automatic parking method provided in this embodiment, after vehicle parking to the currently available parking stall identified, vehicle LED light
Source issues parking end signal, and parking stall photoelectric detector stops issuing the unavailable signal in parking stall.When vehicle sails out of the parking stall, vehicle
It carries LED light source sending vehicle and sails out of signal, parking stall photoelectric detector issues parking stall available signal after receiving the signal.Pass through vehicle
The communication between LED light source and parking stall photoelectric detector is carried, so that parking stall can issue correct signal according to the actual situation.
Corresponding to above-mentioned idle parking stall recognition methods embodiment, the present invention also provides the implementations of idle stall recognition device
Example.
Fig. 5 is referred to, a kind of block diagram of idle stall recognition device provided in an embodiment of the present invention is shown, which answers
For in vehicle, as shown in figure 5, described device includes: detection module 110 and parking stall position determination module 120.
Detection module 110, for detecting whether receiving parking stall available signal.Wherein, which is by pacifying
The visible light signal that parking stall LED light source around parking stall issues.
Parking stall available signal is received and is transmitted in the processor of vehicle by vehicular photoelectric detector.If not receiving vehicle
Position available signal, then continue to test whether receive parking stall available signal according to the specified period.
Parking stall position determination module 120, for when determine receive the parking stall available signal after, can according to the parking stall
The target position of currently available parking stall is determined with signal.
In one embodiment of the invention, the parking stall position determination module 120 includes: analyzing sub-module and determines sub
Module；
The analyzing sub-module obtains the station location marker information of currently available parking stall for parsing parking stall available signal.
The determination submodule, for the parking stall distribution according to parking lot where station location marker information and currently available parking stall
Figure, determines the target position of currently available parking stall.
Free time stall recognition device provided in this embodiment, is equipped with parking stall LED light source, at the parking stall around parking stall
When idle state, parking stall LED light source issues parking stall available signal.When having near vehicle driving to the parking stall of the free time, vehicle
It is able to detect that the parking stall available signal, and determines the target position of currently available parking stall according to the parking stall available signal.It should
Device determines the available parking stall near current location locating for vehicle using visible light location technology, with use trailer-mounted radar side
Formula identifies that the mode of idle parking stall is compared, it is seen that light-seeking technology is not easy to be affected by the surrounding environment, and this improves available vehicles
The recognition accuracy of position；And then improve success rate of parking.
Corresponding to above-mentioned automatic parking embodiment of the method, the present invention also provides a kind of automatic parking Installation practices.
Fig. 6 is referred to, a kind of block diagram of automatic parking device provided in an embodiment of the present invention is shown, which is applied to
In vehicle, as shown in fig. 6, the device includes: detection module 210, parking stall position determination module 220, manipulation information generating module
230 and control module 240.
Detection module 210, for when detect park instruction after, detect whether to receive parking stall available signal.
Wherein, which is the visible light signal issued by the LED light source being mounted on around parking stall.
Parking stall position determination module 220, for after determination receives parking stall available signal, foundation parking stall available signal to be true
The target position of fixed currently available parking stall.
In one embodiment of the invention, which includes analyzing sub-module and determining submodule
Block；
The analyzing sub-module obtains the station location marker information of currently available parking stall for parsing parking stall available signal.
The determination submodule, for the parking stall distribution according to parking lot where station location marker information and currently available parking stall
Figure, determines the target position of currently available parking stall.
Information generating module 230 is manipulated, for locating for the current location, target position and current vehicle according to current vehicle
The environmental information of environment, generation, which is parked, manipulates information.
Firstly, obtaining the environmental information of the current location of current vehicle and the ambient enviroment of the current vehicle.In room
Under the application scenarios in outer parking lot, the position of current vehicle, i.e. current location can be determined by GPS technology；It stops indoors
Under the application scenarios of field, the position of current vehicle can be determined by visible light location technology.
Environmental information can use image capture module 12 and distance measurement module 13 acquires current vehicle ambient enviroment
Information, for example, the image information of surrounding and current vehicle are apart from the distance between surrounding objects etc..
After the environmental information, current location and the target position that obtain current vehicle, the control algolithm based on experience is utilized
(for example, fuzzy logic algorithm, neural network algorithm) carrys out the behavior of parking of the driver of drive simulating technology maturation, and generates corresponding
Park and manipulate information, park according to this and manipulate information control running car angle, travel speed, realize that automobile stops into currently may be used
Use parking stall.
In addition, according to current location, target position and environmental information, the three of synthesis current vehicle location local environment
Stereopsis is tieed up, and is shown on vehicle-mounted liquid crystal display with image traveling.Current vehicle is marked on 3 D stereoscopic image
Real time position, the target position of currently available parking stall.
Control module 240, for working as so that current vehicle drives into according to the driving status for manipulating information control vehicle of parking
Before can use parking stall.
During control vehicle drives into currently available parking stall, environment acquisition subsystem is needed to acquire vehicle periphery in real time
The current location of environmental information and vehicle is simultaneously sent to processor, and processor generates corresponding according to the information that these are acquired in real time
It parks and manipulates information, and be converted into electric signal and be sent to vehicle control subsystems, by vehicle control subsystems according to the electric signal
Movement mechanism movement is controlled, it is final to realize that control vehicle drives into currently available parking stall.
Automatic parking device provided in this embodiment, is equipped with parking stall LED light source around parking stall, when the parking stall is in sky
When not busy state, parking stall LED light source issues parking stall available signal.When having near vehicle driving to the parking stall of the free time, vehicle energy
It enough detects the parking stall available signal, and determines the target position of currently available parking stall according to the parking stall available signal.Then, root
It parks according to the environmental information generation of current vehicle position, target position and ambient enviroment and manipulates information, and according to the manipulation of parking
Information controls the driving status of vehicle, and the final vehicle that controls drives into currently available parking stall.The device utilizes fixed using visible light
Position technology determines the available parking stall near current location locating for vehicle, identifies idle parking stall with using trailer-mounted radar mode
Mode is compared, it is seen that and light-seeking technology is not easy to be affected by the surrounding environment, this improves the recognition accuracy of available parking stall,
And then improve success rate of parking.
Fig. 7 is referred to, the block diagram of another kind automatic parking device of the embodiment of the present invention is shown, the device is shown in Fig. 6
It further include parking end signal sending module 310 on the basis of embodiment.
Stop end signal sending module 310, for after detecting that current vehicle drives into currently available parking stall, to installation
The parking stall photoelectric detector installed on currently available parking stall sends parking end signal, so that parking stall photoelectric detector controls vehicle
Position LED light source stops issuing visible light signal.
Wherein, parking end signal is by the visible light signal for the vehicle LED light source transmitting installed on vehicle, vehicular photoelectric
Detector control vehicle LED light source launches the parking end signal.
After parking stall photoelectric detector receives the parking end signal of vehicle LED light source sending, control parking stall LED light source stops
Only issue parking stall available signal, that is, can stop issuing visible light signal, alternatively, the unavailable signal in parking stall can be issued.
Automatic parking device provided in this embodiment, after vehicle parking is to the currently available parking stall identified, vehicle LED
Light source issues parking end signal；After parking stall photoelectric detector receives the parking end signal, parking stall photoelectric detector stops
The unavailable signal in parking stall is issued, shows that the parking stall is currently unavailable.Parking stall is avoided to issue error signal, to provide mistake for vehicle
Control signal of parking accidentally.By the communication between vehicle LED light source and parking stall photoelectric detector, so that parking stall can be according to reality
Border situation issues correct signal.
Fig. 8 is referred to, the block diagram of another automatic parking device of the embodiment of the present invention is shown, the device is shown in Fig. 6
It further include that vehicle sails out of signal transmitting module 420 on the basis of embodiment.
Vehicle sails out of signal transmitting module 420, for after detecting that current vehicle sails out of currently available parking stall, to installation
The parking stall photoelectric detector installed on currently available parking stall sends vehicle and sails out of signal, so that parking stall photoelectric detector controls vehicle
Position LED light source issues visible light signal.
In an embodiment of the present invention, when processor detects vehicle launch (that is, the speed of vehicle becomes greater than 0 by 0
When speed, vehicle launch is determined) after, determine that vehicle will sail out of parking stall；In such cases, processor is to vehicular photoelectric detector
Sending indicates that vehicle has sailed out of the signal of parking stall, after vehicular photoelectric detector receives the signal of processor transmission, control
Vehicle LED light source issues vehicle and sails out of signal.
After the vehicle that parking stall photoelectric detector receives the sending of vehicle LED light source sails out of signal, control parking stall LED light source hair
Parking stall available signal out.
Automatic parking device provided in this embodiment, when vehicle sails out of the parking stall, vehicle LED light source issues vehicle and sails out of
Signal, parking stall photoelectric detector issue parking stall available signal after receiving the signal.It is examined by vehicle LED light source and parking stall photoelectricity
The communication between device is surveyed, so that parking stall can issue correct signal according to the actual situation.
For the various method embodiments described above, for simple description, therefore, it is stated as a series of action combinations, but
Be those skilled in the art should understand that, the present invention is not limited by the sequence of acts described because according to the present invention, certain
A little steps can be performed in other orders or simultaneously.Secondly, those skilled in the art should also know that, it is retouched in specification
The embodiment stated belongs to preferred embodiment, and related actions and modules are not necessarily necessary for the present invention.
It should be noted that all the embodiments in this specification are described in a progressive manner, each embodiment weight
Point explanation is the difference from other embodiments, and the same or similar parts between the embodiments can be referred to each other.
For device class embodiment, since it is basically similar to the method embodiment, so being described relatively simple, related place ginseng
See the part explanation of embodiment of the method.
Step in each embodiment method of the application can be sequentially adjusted, merged and deleted according to actual needs.
Device in each embodiment of the application and the module in terminal and submodule can merge according to actual needs,
It divides and deletes.
In several embodiments provided herein, it should be understood that disclosed terminal, device and method, Ke Yitong
Other modes are crossed to realize.For example, terminal embodiment described above is only schematical, for example, module or submodule
Division, only a kind of logical function partition, there may be another division manner in actual implementation, for example, multiple submodule or
Module may be combined or can be integrated into another module, or some features can be ignored or not executed.Another point is shown
The mutual coupling, direct-coupling or communication connection shown or discussed can be through some interfaces, between device or module
Coupling or communication connection are connect, can be electrical property, mechanical or other forms.
Module or submodule may or may not be physically separated as illustrated by the separation member, as mould
The component of block or submodule may or may not be physical module or submodule, it can and it is in one place, or
It may be distributed on multiple network modules or submodule.Some or all of mould therein can be selected according to the actual needs
Block or submodule achieve the purpose of the solution of this embodiment.
In addition, each functional module or submodule in each embodiment of the application can integrate in a processing module
In, it is also possible to modules or submodule physically exists alone, it can also be integrated with two or more modules or submodule
In a module.Above-mentioned integrated module or submodule both can take the form of hardware realization, can also use software function
Energy module or the form of submodule are realized.
Finally, it is to be noted that, herein, relational terms such as first and second and the like be used merely to by
One entity or operation are distinguished with another entity or operation, without necessarily requiring or implying these entities or operation
Between there are any actual relationship or orders.Moreover, the terms "include", "comprise" or its any other variant meaning
Covering non-exclusive inclusion, so that the process, method, article or equipment for including a series of elements not only includes that
A little elements, but also including other elements that are not explicitly listed, or further include for this process, method, article or
The intrinsic element of equipment.In the absence of more restrictions, the element limited by sentence "including a ...", is not arranged
Except there is also other identical elements in the process, method, article or apparatus that includes the element.
The foregoing description of the disclosed embodiments can be realized those skilled in the art or using the present invention.To this
A variety of modifications of a little embodiments will be apparent for a person skilled in the art, and the general principles defined herein can
Without departing from the spirit or scope of the present invention, to realize in other embodiments.Therefore, the present invention will not be limited
It is formed on the embodiments shown herein, and is to fit to consistent with the principles and novel features disclosed in this article widest
Range.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (10)
1. a kind of free time parking stall recognition methods, which is characterized in that be applied in vehicle, which comprises
It detects whether to receive parking stall available signal, the parking stall available signal is the parking stall LED light by being mounted on around parking stall
The visible light signal that source issues；
After determination receives the parking stall available signal, the target of currently available parking stall is determined according to the parking stall available signal
Position.
2. the method according to claim 1, wherein it is described determined according to the parking stall available signal it is currently available
The target position of parking stall, comprising:
It parses the parking stall available signal and obtains the station location marker information of the currently available parking stall；
According to the parking stall distribution map in parking lot where the station location marker information and currently available parking stall, determine described currently may be used
With the target position of parking stall.
3. a kind of automatic parking method, which is characterized in that be applied in vehicle, which comprises
When detect park instruction after, detect whether to receive parking stall available signal, the parking stall available signal is by being mounted on
The visible light signal that LED light source around parking stall issues；
After determination receives the parking stall available signal, the target of currently available parking stall is determined according to the parking stall available signal
Position；
According to the environmental information of the current location of the current vehicle, the target position and the current vehicle local environment,
Generation, which is parked, manipulates information；
It parks according to described in and manipulates the driving status of information control vehicle, so that the current vehicle drives into the currently available vehicle
Position.
4. according to the method described in claim 3, it is characterized in that, it is described determined according to the parking stall available signal it is currently available
The target position of parking stall, comprising:
It parses the parking stall available signal and obtains the station location marker information of the currently available parking stall；
According to the parking stall distribution map in parking lot where the station location marker information and currently available parking stall, determine described currently may be used
With the target position of parking stall.
5. according to the method described in claim 3, it is characterized in that, the method also includes:
After detecting that the current vehicle drives into the currently available parking stall, installed to being mounted on the currently available parking stall
Parking stall photoelectric detector send parking end signal so that the parking stall photoelectric detector controls the parking stall LED light source and stops
Only issue visible light signal.
6. according to the method described in claim 3, it is characterized in that, the method also includes:
After detecting that the current vehicle sails out of the currently available parking stall, installed to being mounted on the currently available parking stall
Parking stall photoelectric detector send vehicle and sail out of signal so that the parking stall photoelectric detector controls parking stall LED light source hair
Visible light signal out.
7. a kind of free time stall recognition device, which is characterized in that be applied in vehicle, described device includes:
Detection module, for detecting whether receiving parking stall available signal, the parking stall available signal is by being mounted on parking stall week
The visible light signal that the parking stall LED light source enclosed issues；
Parking stall position determination module, for when determine receive the parking stall available signal after, according to the parking stall available signal
Determine the target position of currently available parking stall.
8. device according to claim 7, which is characterized in that the parking stall position determination module, comprising:
Analyzing sub-module obtains the station location marker information of the currently available parking stall for parsing the parking stall available signal；
Determine submodule, for the parking stall distribution map according to parking lot where the station location marker information and currently available parking stall,
Determine the target position of the currently available parking stall.
9. a kind of automatic parking device, which is characterized in that be applied in vehicle, described device includes:
Detection module, for when detect park instruction after, detect whether to receive parking stall available signal, the parking stall can use letter
It number is the visible light signal issued by the LED light source being mounted on around parking stall；
Parking stall position determination module, for when determine receive the parking stall available signal after, according to the parking stall available signal
Determine the target position of currently available parking stall；
Manipulate information generating module, for according to the current vehicle current location, the target position and described work as front truck
The environmental information of local environment, generation, which is parked, manipulates information；
Control module, for the driving status for manipulating information control vehicle of parking according to described in, so that the current vehicle drives into
The currently available parking stall.
10. device according to claim 9, which is characterized in that the parking stall position determination module, comprising:
Analyzing sub-module obtains the station location marker information of the currently available parking stall for parsing the parking stall available signal；
Determine submodule, for the parking stall distribution map according to parking lot where the station location marker information and currently available parking stall,
Determine the target position of the currently available parking stall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137085.0A CN109961644A (en) | 2019-02-25 | 2019-02-25 | Idle parking stall recognition methods, autonomous parking method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910137085.0A CN109961644A (en) | 2019-02-25 | 2019-02-25 | Idle parking stall recognition methods, autonomous parking method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109961644A true CN109961644A (en) | 2019-07-02 |
Family
ID=67023867
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910137085.0A Pending CN109961644A (en) | 2019-02-25 | 2019-02-25 | Idle parking stall recognition methods, autonomous parking method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109961644A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110942665A (en) * | 2019-12-16 | 2020-03-31 | 驭势科技（北京）有限公司 | Vehicle positioning method, vehicle-mounted equipment and storage medium |
| CN113053131A (en) * | 2019-12-26 | 2021-06-29 | 北京新能源汽车股份有限公司 | Idle parking space identification method and device and vehicle |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006044002A1 (en) * | 2006-09-19 | 2008-03-27 | Siemens Ag | parking guidance system |
| CN103680206A (en) * | 2013-12-26 | 2014-03-26 | 江苏大学 | Device and method for guiding vehicles in parking lot based on laser guidance |
| CN104260722A (en) * | 2014-09-23 | 2015-01-07 | 北京理工大学 | Automatic parking system |
| CN105513409A (en) * | 2015-10-19 | 2016-04-20 | 李秋实 | Indoor parking lot guide method and system based on visible light communication |
| CN108010380A (en) * | 2018-01-04 | 2018-05-08 | 山东科技大学 | A kind of parking position management and intelligent coordinated system and method for parking |
| CN109278742A (en) * | 2018-09-06 | 2019-01-29 | 北京长城华冠汽车科技股份有限公司 | Vehicle and automatic parking method, system |
-
2019
- 2019-02-25 CN CN201910137085.0A patent/CN109961644A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102006044002A1 (en) * | 2006-09-19 | 2008-03-27 | Siemens Ag | parking guidance system |
| CN103680206A (en) * | 2013-12-26 | 2014-03-26 | 江苏大学 | Device and method for guiding vehicles in parking lot based on laser guidance |
| CN104260722A (en) * | 2014-09-23 | 2015-01-07 | 北京理工大学 | Automatic parking system |
| CN105513409A (en) * | 2015-10-19 | 2016-04-20 | 李秋实 | Indoor parking lot guide method and system based on visible light communication |
| CN108010380A (en) * | 2018-01-04 | 2018-05-08 | 山东科技大学 | A kind of parking position management and intelligent coordinated system and method for parking |
| CN109278742A (en) * | 2018-09-06 | 2019-01-29 | 北京长城华冠汽车科技股份有限公司 | Vehicle and automatic parking method, system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110942665A (en) * | 2019-12-16 | 2020-03-31 | 驭势科技（北京）有限公司 | Vehicle positioning method, vehicle-mounted equipment and storage medium |
| CN113053131A (en) * | 2019-12-26 | 2021-06-29 | 北京新能源汽车股份有限公司 | Idle parking space identification method and device and vehicle |
| CN113053131B (en) * | 2019-12-26 | 2022-11-01 | 北京新能源汽车股份有限公司 | Idle parking space identification method and device and vehicle |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107063713B (en) | Test method and device applied to unmanned automobile | |
| CN107031508B (en) | Back-sight visual system and its application method for vehicle | |
| CN104183152B (en) | It may will be changed into the system and method on idle parking stall for identifying | |
| CN109709966B (en) | Control method and device for unmanned vehicle | |
| JP4556742B2 (en) | Vehicle direct image display control apparatus and vehicle direct image display control program | |
| CN106485233A (en) | Drivable region detection method, device and electronic equipment | |
| CN110562248B (en) | Automatic parking system and automatic parking method based on unmanned aerial vehicle | |
| CN104655127A (en) | Indoor blind guiding system based on electronic tags and indoor blind guiding method based on electronic tags | |
| CN108593310A (en) | Off-line test system and method | |
| CN110293965A (en) | Method of parking and control device, mobile unit and computer-readable medium | |
| CN106164931B (en) | Method and device for displaying objects on a vehicle display device | |
| CN103139595A (en) | Vehicle-based imaging system function diagnosis and validation | |
| CN109326180A (en) | Intelligent road test system and method | |
| CN109961644A (en) | Idle parking stall recognition methods, autonomous parking method and device | |
| CN116783462A (en) | Performance test method of automatic driving system | |
| CN105684062B (en) | For the method and apparatus for the event message for providing the event on proximate vehicle | |
| CN109901169A (en) | A kind of roadside parking space management system to be linked based on radar and rifle ball machine | |
| CN110197597A (en) | A kind of parking assistance method and device | |
| CN107292818B (en) | Automatic positioning system and method for line capture device based on panoramic camera | |
| CN110930767B (en) | Intelligent highway safety early warning method and early warning system | |
| CN107329471B (en) | A kind of intelligent decision system of automatic driving vehicle | |
| CN110969890A (en) | Vehicle, vehicle equipment, online map intelligent construction method thereof and cloud server | |
| CN113513984B (en) | Parking space recognition precision detection method and device, electronic equipment and storage medium | |
| CN110198439A (en) | Method and apparatus for testing the image recognition performance of ADAS camera automatically | |
| CN211669779U (en) | Intelligent networking automobile teaching training platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190702 |