CN110159040B - Parking method, system, terminal and storage medium of three-dimensional parking garage - Google Patents
Parking method, system, terminal and storage medium of three-dimensional parking garage Download PDFInfo
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- CN110159040B CN110159040B CN201910343831.1A CN201910343831A CN110159040B CN 110159040 B CN110159040 B CN 110159040B CN 201910343831 A CN201910343831 A CN 201910343831A CN 110159040 B CN110159040 B CN 110159040B
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/422—Automatically operated car-parks
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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04H—BUILDINGS OR LIKE STRUCTURES FOR PARTICULAR PURPOSES; SWIMMING OR SPLASH BATHS OR POOLS; MASTS; FENCING; TENTS OR CANOPIES, IN GENERAL
- E04H6/00—Buildings for parking cars, rolling-stock, aircraft, vessels or like vehicles, e.g. garages
- E04H6/42—Devices or arrangements peculiar to garages, not covered elsewhere, e.g. securing devices, safety devices, monitoring and operating schemes; centering devices
- E04H6/426—Parking guides
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
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Abstract
The invention provides a parking method, a parking system, a parking terminal and a storage medium of a three-dimensional parking garage, wherein when a local map is obtained, position information, size information, height information and layer number information of each parking space in the three-dimensional parking garage in the local map and a connection point of the three-dimensional parking garage to each parking space are obtained; the vehicle control unit is communicated with the stereo parking garage control unit and/or the cloud end to judge whether the planned parking space is occupied or not and judge whether a connection point of the stereo parking garage to the parking space is occupied or not; when the stereo garage senses that the vehicle is located at the parking space connection point, the stereo garage control unit controls the connection point to convey the vehicle to the planning parking space, and the vehicle sensing and parking lot sensing are combined, and the vehicle control unit and the stereo garage control unit are matched to execute autonomous parking or passenger-replacing parking through prediction, decision and control of a cloud or a parking garage local area network.
Description
Technical Field
The invention relates to the technical field of automobile electronics, in particular to a parking method, a parking system, a parking terminal and a parking medium for a three-dimensional parking garage.
Background
A stereo garage is a mechanical or mechanical equipment system for storing and taking vehicles to the maximum extent. Aiming at a professional parking lot management company, the stereo garage is an effective means for improving the capacity of a parking lot and increasing the income of parking fees. The three-dimensional parking garage is divided into two types of independent parking buildings and two built-in parking buildings in the form of buildings, and the independent parking buildings are suitable for underground squares and existing buildings to build up parking facilities, plan and build the parking facilities and the parking facilities, and the surrounding environment should be kept in mind.
The built-in stereo garage is suitable for synchronous planning and construction with a new building, and the parking equipment is attached in the building and has no influence on regional environment planning and building sightseeing. The development of the modern parking industry has already a certain scale, and the auxiliary function of parking facilities is actively expanded, so that various services are provided for communities. In the planning and construction of some parking facilities, the parking facilities of construction machinery are taken as the center, various requirements of the surrounding environment, the landform and the feature and the service group are fully considered, the parking facilities are built into a regional service center, and the comprehensive benefits of the parking facilities are developed.
Autonomous parking (autonomous parking) as an important function of a high-grade assistant driving system, the parking function in scenes such as a parking lot and a park can be basically realized, but there are still many limitations, for example, the parking of a built-in stereo parking garage in the parking lot cannot be realized only by operating a vehicle with the autonomous parking function because of two reasons: first sky parking position is compared in ordinary parking position that the size is less, and the second, even be the first layer of stereo garage, also possess the slope of certain height, and the driver is difficult to master the acceleration of parking warehouse entry according to actual position, and the stereo garage height can satisfy the vehicle demand in addition. Thirdly, after the bottom layer of the three-dimensional parking garage is occupied, the upper layer cannot be used, or the autonomous passenger-replacing parking function cannot be started after the bottom layer of the three-dimensional parking garage is moved to the upper layer.
Disclosure of Invention
In order to solve the above and other potential technical problems, the present invention provides a parking method, system, terminal and storage medium for a stereo parking garage, which combines vehicle sensing and parking lot sensing, and performs autonomous parking or valet parking by the cooperation of a vehicle control unit and a stereo parking garage control unit through prediction, decision and control of a cloud or a parking garage lan.
A parking method of a stereo garage comprises the following steps:
s01: when a local map is obtained, obtaining position information, size information, height information and floor information of each parking space in a three-dimensional parking garage and a connection point of the three-dimensional parking garage to each parking space in the local map;
s02: the vehicle control unit is communicated with the stereo parking garage control unit and/or the cloud end to judge whether the planned parking space is occupied or not, and if the planned parking space is not occupied, whether a connection point of the stereo parking garage heading to the parking space is occupied or not is judged; if the connection point is not occupied, the vehicle control unit configures a parking path plan from the current position of the vehicle to the connection point position of the parking space, and executes the parking path plan;
s03: when the stereo garage senses that the vehicle is located at the parking space connection point, the stereo garage control unit controls the connection point to convey the vehicle to the planning parking space.
Further, when the position information, the size information, and the height information of the connection point of the parking space are obtained in step S01, the connection point position information of the parking space is a vehicle parking point coordinate, the size information and the height information are three-dimensional point cloud information using the vehicle parking point coordinate as an origin, and the three-dimensional point cloud may represent all the environmental information around the connection point of the parking space, for example, an upright post of a stereo parking garage, a lifting device of the stereo parking garage, a fence of the stereo parking garage, and a connection point slope of the stereo parking garage.
Further, when the position information, the size information, and the height information of the parking space are obtained in step S01, the position information, the size information, and the height information of the parking space are three-dimensional point cloud information of the parking space with the transfer destination position of the docking point as an origin, and the three-dimensional point cloud information can represent fences around the parking space and travelable areas and obstacle information at the bottom of the parking space.
Furthermore, the way of obtaining the local map in step S01 is that the vehicle communication units are downloaded from a parking garage local area network or a cloud, the parking garage local area network or the cloud obtains sensing information in the parking garage by calling all sensing devices in the parking garage and fuses with information uploaded by all vehicle communication units in the parking garage, dynamic information of a parking garage scene is updated in real time, and a local map required by a vehicle is intercepted for downloading the vehicle, wherein the local map comprises static roads, identification plates, traffic information, parking garage position information and stereo parking garage information; the local map also contains dynamic vehicle position, pedestrian information, moving cargo information.
Further, the communication between the vehicle control unit and the cloud in the step S02 includes that the vehicle control unit sends a parking request, the cloud configures a planning parking space for the vehicle control unit according to a parking garage scheduling condition, if the planning parking space is a stereo parking space, the cloud is responsible for matching the planning parking space and the spatial information of a connection point of the planning parking space with the vehicle profile, and after the matching is successful, the cloud sends a response to the vehicle control unit, and the vehicle control unit drives to the stereo parking garage in the range first, so that the vehicle control unit and the stereo parking garage establish communication.
Further, the communication between the vehicle control unit and the stereo garage control unit in step S02 includes that the vehicle control unit sends a parking request, where the parking request includes a planned parking space number, vehicle physical information, and vehicle position information, the stereo garage control unit determines whether the planned parking space number is occupied, whether the vehicle physical information matches the planned parking space, and whether the current scheduling task can execute the parking task in time, and if both the planned parking space number and the vehicle physical information meet the requirements of the parking event, the stereo garage control unit responds to the requested vehicle.
And further, after the vehicle receives a response that the stereo garage control unit meets the requirements of a parking event, the vehicle enters a connection point of a parking space of the stereo garage, wherein the vehicle control unit configures a parking path plan from the current position of the vehicle to the connection point position of the parking space, the parking path plan is a local path plan, the vehicle control unit senses the connection point position according to self sensing equipment in the configuration process, then generates a parking path plan according to the free space of the current local map and the dynamic constraint of the vehicle body, and when the local path plan is executed, the local path plan route also needs to be adjusted according to a dynamic object sensed by the self sensing equipment of the vehicle in real time.
Further, when determining whether the planned parking space is occupied in step S02:
s021: the vehicle control unit judges whether the current position of the vehicle meets the connection requirement of the connection point according to the sensing data of the sensing equipment of the vehicle control unit, if so, the vehicle control unit sends a connection request to the stereo parking garage control unit, and if not, the vehicle control unit adjusts the position of the vehicle until the position requirement of the connection point on the vehicle is met;
s022: after receiving the parking request, the stereo parking garage control unit confirms whether the vehicle is parked at the connecting point or not according to sensing data of sensing equipment, which is arranged around the connecting point of the parking space and to which the stereo parking garage belongs, and whether the position of the vehicle at the connecting point meets the requirements or not, and if the position meets the requirements, the stereo parking garage control unit starts a lifting device and/or a conveying device of the connecting point to transmit the vehicle to a planned parking space; and if the request is not met, the stereo garage control unit sends a response which cannot be transmitted to the vehicle control unit.
Further, when it is determined in step S02 whether the connection point of the parking space to the stereo parking garage is occupied, the determination is divided into two steps:
s023: firstly, inquiring a connection point connection time table of a stereo garage control unit from a response data packet which accords with the parking event requirement by the stereo garage control unit, comparing a current time table of a vehicle, if the time when the vehicle is estimated to enter the connection point is in the time range of the connection point connection time table allocated to the connection point by the stereo garage control unit,
s024: when a vehicle enters the range of the connecting points of the stereo parking garage, the real-time stereo parking garage control unit is firstly inquired to inquire whether the connecting points are occupied or not in response data, if yes, the vehicle is considered to be occupied, if not, the vehicle is inquired whether the connecting points are occupied or not by self perception data for the second time, if yes, the connecting points are considered to be occupied, and if not, the connecting points are considered not to be occupied.
Further, step S03 further includes a step of confirming that the vehicle is located at the parking space junction by the stereo parking garage control unit, and confirming whether the vehicle is parked within the range of the junction-capable area according to the sensing device disposed around the junction of the parking space to which the stereo parking garage belongs.
And step S04, after the vehicle is parked to the planned parking space, the vehicle communication unit uploads the information that the planned parking space is occupied to the parking garage local area network and the cloud end, and the stereo garage control unit stores the information that the planned parking space is occupied and updates the information into a response data packet with other vehicle communication units to be parked after the time point.
A parking system for a stereo parking garage, comprising:
the system comprises a vehicle communication unit, a parking garage control unit and a vehicle management unit, wherein the vehicle communication unit is used for communicating with a parking garage local area network and/or a cloud end to update a local map, communicating with the stereo parking garage control unit to obtain a parking space connection point and plan state information of a parking space, and sending vehicle requests and response data;
the system comprises a vehicle control unit, a parking space connection point planning unit and a vehicle control unit, wherein the vehicle control unit is used for configuring a parking path plan from a current position of a vehicle to a parking space connection point position and executing the parking path plan;
and the stereo parking garage control unit is used for controlling the junction point to convey the vehicle to the planning parking space.
The system comprises a parking garage, a vehicle communication unit, a cloud end and a plurality of parking garage position information, wherein the parking garage is used for storing parking garage position information, the cloud end is used for supporting the vehicle communication unit to download a local map from the cloud end, acquiring sensing information in the parking garage by calling all sensing devices in the parking garage and fusing the sensing information with information uploaded by all vehicle communication units in the parking garage, updating dynamic information of a parking garage scene in real time, and intercepting the local map required by a vehicle for downloading of the vehicle, wherein the local map comprises static roads, identification plates, traffic information, parking garage position information and three-dimensional parking garage information; the local map also contains dynamic vehicle position, pedestrian information, moving cargo information.
The parking space system comprises a parking space, a three-dimensional point cloud and a cloud end, wherein the parking space comprises a parking point coordinate, a three-dimensional point cloud and a three-dimensional point cloud, the three-dimensional point cloud is used for storing position information, size information and height information of a connection point of a three-dimensional parking space, the connection point position information of the parking space is the vehicle parking point coordinate, the size information and the height information are three-dimensional point cloud information with the vehicle parking point coordinate as an origin, and the three-dimensional point cloud can represent all environment information around the parking space connection point.
Further, when the cloud end further stores position information, size information and height information of the parking space, the position information, the size information and the height information of the parking space are three-dimensional point cloud information of the parking space with a transfer point transmission end point position as an origin, and the three-dimensional point cloud information can represent fences around the parking space and driving-possible areas and obstacle information at the bottom of the parking space.
The system comprises a parking garage, a parking garage position information acquisition module, a parking garage local area network module and a communication unit management module, wherein the parking garage local area network module acquires sensing information in a parking garage by calling all sensing equipment in the parking garage and fuses the sensing information with information uploaded by all vehicle communication units in the parking garage, dynamic information of a parking garage scene is updated in real time, a local map required by a vehicle is intercepted for the vehicle to download, and the local map comprises static roads, identification plates, traffic information, parking garage position information and three-dimensional parking garage information; the local map also contains dynamic vehicle position, pedestrian information, moving cargo information.
The parking space management system further comprises a connection point occupation judging module, wherein the connection point occupation judging module judges whether the current position of the vehicle meets the connection requirement of the connection point according to the sensing data of the sensing equipment of the vehicle, and if the current position of the vehicle meets the connection requirement, the sensing data of the sensing equipment, which is configured around the connection point of the parking space, of the stereo parking garage is combined to confirm whether the vehicle is stopped at the connection point, and whether the planning parking space is occupied is determined.
A parking terminal of a stereo garage, such as a smart phone capable of executing a parking method of the stereo garage or a vehicle-mounted terminal control device capable of executing a parking system of the stereo garage.
A computer-readable storage medium having stored thereon a computer program, characterized in that: the program is executed by a processor for steps in a method for parking a stereo garage.
As described above, the present invention has the following advantageous effects:
the vehicle control unit and the stereo parking garage control unit are matched to execute autonomous parking or passenger-replacing parking by combining vehicle perception and parking lot perception and predicting, deciding and controlling through a cloud or a parking garage local area network.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 shows a flow chart of the present invention.
FIG. 2 is a flow chart of another embodiment of the present invention.
FIG. 3 is a flow chart of another embodiment of the present invention.
Fig. 4 shows a system block diagram of the system of the present invention.
Fig. 5 shows a system block diagram of the system of the present invention.
Fig. 6 shows a system block diagram of the system of the present invention.
FIG. 7 is a flow chart of another embodiment of the present invention.
Detailed Description
The embodiments of the present invention are described below with reference to specific embodiments, and other advantages and effects of the present invention will be easily understood by those skilled in the art from the disclosure of the present specification. The invention is capable of other and different embodiments and of being practiced or of being carried out in various ways, and its several details are capable of modification in various respects, all without departing from the spirit and scope of the present invention. It should be noted that the features in the following embodiments and examples may be combined with each other without conflict.
It should be understood that the structures, ratios, sizes, and the like shown in the drawings and described in the specification are only used for matching with the disclosure of the specification, so as to be understood and read by those skilled in the art, and are not used to limit the conditions under which the present invention can be implemented, so that the present invention has no technical significance, and any structural modification, ratio relationship change, or size adjustment should still fall within the scope of the present invention without affecting the efficacy and the achievable purpose of the present invention. In addition, the terms "upper", "lower", "left", "right", "middle" and "one" used in the present specification are for clarity of description, and are not intended to limit the scope of the present invention, and the relative relationship between the terms and the terms is not to be construed as a scope of the present invention.
With reference to figures 1 to 7 of the drawings,
a parking method of a stereo parking garage comprises the following steps:
s01: when a local map is obtained, obtaining position information, size information, height information and floor information of each parking space in a three-dimensional parking garage and a connection point of the three-dimensional parking garage to each parking space in the local map;
s02: the vehicle control unit is communicated with the stereo parking garage control unit and/or the cloud end to judge whether the planned parking space is occupied or not, and if the planned parking space is not occupied, whether a connection point of the stereo parking garage heading to the parking space is occupied or not is judged; if the connection point is not occupied, the vehicle control unit configures a parking path plan from the current position of the vehicle to the connection point position of the parking space, and executes the parking path plan;
s03: when the stereo garage senses that the vehicle is located at the parking space connection point, the stereo garage control unit controls the connection point to convey the vehicle to the planning parking space.
Further, when the position information, the size information, and the height information of the connection point of the parking space are obtained in step S01, the connection point position information of the parking space is a vehicle parking point coordinate, the size information and the height information are three-dimensional point cloud information using the vehicle parking point coordinate as an origin, and the three-dimensional point cloud can represent all environment information around the connection point of the parking space, for example, an upright post of a stereo parking garage, a lifting device of the stereo parking garage, a fence of the stereo parking garage, and a connection point slope of the stereo parking garage.
Further, when the position information, the size information, and the height information of the parking space are obtained in step S01, the position information, the size information, and the height information of the parking space are three-dimensional point cloud information of the parking space with the transfer destination position of the docking point as an origin, and the three-dimensional point cloud information can represent fences around the parking space and travelable areas and obstacle information at the bottom of the parking space.
Furthermore, the way of obtaining the local map in step S01 is that the vehicle communication units are downloaded from a parking garage local area network or a cloud, the parking garage local area network or the cloud obtains sensing information in the parking garage by calling all sensing devices in the parking garage and fuses with information uploaded by all vehicle communication units in the parking garage by themselves, dynamic information of a parking garage scene is updated in real time, and a local map required by a vehicle is intercepted for downloading the vehicle, wherein the local map comprises static roads, signboard, traffic information, parking garage position information and stereo parking garage information; the local map also contains dynamic vehicle position, pedestrian information, moving cargo information.
Further, the communication between the vehicle control unit and the cloud in the step S02 includes that the vehicle control unit sends a parking request, the cloud configures a planning parking space for the vehicle control unit according to a parking garage scheduling condition, if the planning parking space is a stereo parking space, the cloud is responsible for matching the planning parking space and the spatial information of a connection point of the planning parking space with the vehicle profile, and after the matching is successful, the cloud sends a response to the vehicle control unit, and the vehicle control unit drives to the stereo parking garage in the range first, so that the vehicle control unit and the stereo parking garage establish communication.
Further, the communication between the vehicle control unit and the stereo garage control unit in step S02 includes that the vehicle control unit sends a parking request, where the parking request includes a planned parking space number, vehicle physical information, and vehicle position information, the stereo garage control unit determines whether the planned parking space number is occupied, whether the vehicle physical information matches the planned parking space, and whether the current scheduling task can execute the parking task in time, and if both the planned parking space number and the vehicle physical information meet the requirements of the parking event, the stereo garage control unit responds to the requested vehicle.
And further, after the vehicle receives a response that the stereo garage control unit meets the requirements of a parking event, the vehicle enters a connection point of a parking space of the stereo garage, wherein the vehicle control unit configures a parking path plan from the current position of the vehicle to the connection point position of the parking space, the parking path plan is a local path plan, the vehicle control unit senses the connection point position according to self sensing equipment in the configuration process, then generates a parking path plan according to the free space of the current local map and the dynamic constraint of the vehicle body, and when the local path plan is executed, the local path plan route also needs to be adjusted according to a dynamic object sensed by the self sensing equipment of the vehicle in real time.
Further, when determining whether the planned parking space is occupied in step S02:
s021: the vehicle control unit judges whether the current position of the vehicle meets the connection requirement of the connection point according to the sensing data of the sensing equipment of the vehicle control unit, if so, the vehicle control unit sends a connection request to the stereo parking garage control unit, and if not, the vehicle control unit adjusts the position of the vehicle until the position requirement of the connection point on the vehicle is met;
s022: after receiving the parking request, the stereo parking garage control unit confirms whether the vehicle is parked at the connecting point according to sensing data of sensing equipment around the connecting point of the parking space where the stereo parking garage belongs to and configured, and whether the position of the vehicle at the connecting point meets the requirement, and if the position meets the requirement, the stereo parking garage control unit starts a lifting device and/or a transmission device of the connecting point to transmit the vehicle to a planned parking space; and if the request is not met, the stereo garage control unit sends a response which cannot be transmitted to the vehicle control unit.
Further, when it is determined in step S02 whether the connection point of the parking space to the stereo parking garage is occupied, the determination is divided into two steps:
s023: firstly, inquiring a connection point connection time table of a stereo garage control unit from a response data packet which accords with the requirements of parking events by the stereo garage control unit, comparing a current time table of a vehicle, if the estimated time of the vehicle entering the connection point is in a time range which is allocated to the connection point connection time table by the stereo garage control unit,
s024: when a vehicle enters the range of the connecting points of the three-dimensional parking garage, the real-time three-dimensional parking garage control unit is firstly inquired to inquire whether the connecting points are occupied or not in response data, if yes, the vehicle is considered to be occupied, if not, the vehicle is inquired whether the connecting points are occupied or not through self sensing data for the second time, if yes, the connecting points are considered to be occupied, and if not, the connecting points are considered to be unoccupied.
Further, step S03 further includes a step of confirming that the vehicle is located at the parking space junction by the stereo parking garage control unit, and confirming whether the vehicle is parked within the range of the junction-capable area according to the sensing device disposed around the junction of the parking space to which the stereo parking garage belongs.
And step S04, after the vehicle is stopped to the planned parking space, the vehicle communication unit uploads the information of the occupied planned parking space to the parking garage local area network and the cloud end, and the stereo parking garage control unit stores the information of the occupied planned parking space and updates the information to a response data packet of the communication unit of the vehicle to be parked and other vehicles to be parked after the time point.
A parking system for a stereo parking garage, comprising:
the system comprises a vehicle communication unit, a parking garage control unit and a vehicle management unit, wherein the vehicle communication unit is used for communicating with a parking garage local area network and/or a cloud end to update a local map, communicating with the stereo parking garage control unit to obtain a parking space connection point and plan state information of a parking space, and sending vehicle requests and response data;
the system comprises a vehicle control unit, a parking space connection point planning unit and a vehicle control unit, wherein the vehicle control unit is used for configuring a parking path plan from a current position of a vehicle to a parking space connection point position and executing the parking path plan;
and the stereo parking garage control unit is used for controlling the connecting point to convey the vehicle to the planning parking space.
The system comprises a parking garage, a vehicle communication unit, a cloud end and a plurality of parking garage position information, wherein the parking garage is used for storing parking garage position information, the cloud end is used for supporting the vehicle communication unit to download a local map from the cloud end, acquiring sensing information in the parking garage by calling all sensing devices in the parking garage and fusing the sensing information with information uploaded by all vehicle communication units in the parking garage, updating dynamic information of a parking garage scene in real time, and intercepting the local map required by a vehicle for downloading of the vehicle, wherein the local map comprises static roads, identification plates, traffic information, parking garage position information and three-dimensional parking garage information; the local map also contains dynamic vehicle position, pedestrian information, moving cargo information.
The system comprises a three-dimensional parking space, and further comprises a cloud end, wherein when the cloud end stores position information, size information and height information of a connection point of the three-dimensional parking space, the connection point position information of the parking space is a vehicle parking point coordinate, the size information and the height information are three-dimensional point cloud information taking the vehicle parking point coordinate as an origin, and the three-dimensional point cloud can represent all environment information around the connection point of the parking space.
Further, when the cloud end further stores position information, size information and height information of the parking space, the position information, the size information and the height information of the parking space are three-dimensional point cloud information of the parking space with a transfer point transmission end point position as an origin, and the three-dimensional point cloud information can represent fences around the parking space and driving-possible areas and obstacle information at the bottom of the parking space.
The system comprises a parking garage, a parking garage position information acquisition module, a parking garage local area network module and a communication unit, wherein the parking garage local area network module acquires sensing information in a parking garage by calling all sensing equipment in the parking garage and fuses the sensing information with information uploaded by all vehicle communication units in the parking garage, dynamic information of a parking garage scene is updated in real time, a local map required by a vehicle is intercepted for the vehicle to download, and the local map comprises static roads, identification plates, traffic information, parking garage position information and three-dimensional parking garage information; the local map also contains dynamic vehicle position, pedestrian information, moving cargo information.
The parking space planning system further comprises a connection point occupation judging module, wherein the connection point occupation judging module judges whether the current position of the vehicle meets the connection requirement of the connection point or not according to the sensing data of the sensing equipment of the vehicle, and if the current position of the vehicle meets the connection requirement of the connection point, the sensing data of the sensing equipment, which is configured around the connection point of the parking space, of the stereo parking garage is combined to confirm whether the vehicle is stopped at the connection point or not, and whether the planned parking space is occupied or not is determined.
A parking terminal of a stereo garage, such as a smart phone capable of executing a parking method of the stereo garage or a vehicle-mounted terminal control device capable of executing a parking system of the stereo garage.
A computer-readable storage medium having stored thereon a computer program, characterized in that: the program is executed by a processor for steps in a method for parking a stereo garage.
As a preferred embodiment, the present embodiment further provides a terminal device, such as a smart phone, a tablet computer, a notebook computer, a desktop computer, a rack-mounted cloud, a blade-type cloud, a tower-type cloud, or a rack-type cloud (including an independent cloud or a cloud cluster composed of multiple clouds) capable of executing a program. The terminal device of this embodiment at least includes but is not limited to: a memory, a processor communicatively coupled to each other via a system bus. It is noted that a terminal device with a component memory, a processor, but it is understood that not all illustrated components need be implemented, and that more or fewer components may be implemented in alternative parking methods of a stereo garage.
As a preferred embodiment, the memory (i.e., readable storage medium) includes a flash memory, a hard disk, a multimedia card, a card type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, etc. In some embodiments, the memory may be an internal storage unit of the computer device, such as a hard disk or a memory of the computer device. In other embodiments, the memory may also be an external storage device of the computer device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), etc. provided on the computer device. Of course, the memory may also include both internal and external storage devices for the computer device. In this embodiment, the memory is generally used for storing an operating system and various types of application software installed on a computer device, such as program codes of a parking method of a stereo parking garage in the embodiment. In addition, the memory may also be used to temporarily store various types of data that have been output or are to be output.
The present embodiment also provides a computer-readable storage medium, such as a flash memory, a hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a Random Access Memory (RAM), a Static Random Access Memory (SRAM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a programmable read-only memory (PROM), a magnetic memory, a magnetic disk, an optical disk, a cloud, an App (business), etc., on which a computer program is stored, which when executed by a processor implements corresponding functions. The computer-readable storage medium of this embodiment is used for an update program for parking of a stereo garage, and when executed by a processor, implements a parking method of the stereo garage in the embodiment of the parking program for parking of the stereo garage.
The foregoing embodiments are merely illustrative of the principles and utilities of the present invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above-mentioned embodiments without departing from the spirit and scope of the present invention. Accordingly, it is intended that all equivalent modifications or changes which may be made by those skilled in the art without departing from the spirit and scope of the present invention as defined in the appended claims be embraced thereby.
Claims (15)
1. A parking method of a stereo garage is characterized by comprising the following steps:
s01: when a local map is obtained, obtaining position information, size information, height information and floor information of each parking space in a three-dimensional parking garage and a connection point of the three-dimensional parking garage to each parking space in the local map;
s02: the vehicle control unit is communicated with the stereo parking garage control unit and/or the cloud end to judge whether the planned parking space is occupied or not, and if the planned parking space is not occupied, whether a connection point of the stereo parking garage to the parking space is occupied or not is judged; if the connection point is not occupied, the vehicle control unit configures a parking path plan from the current position of the vehicle to the connection point position of the parking space, and executes the parking path plan;
s03: when the stereo garage senses that the vehicle is located at the parking space junction, the stereo garage control unit controls the junction to convey the vehicle to the planned parking space;
wherein, when judging whether the planning parking space is occupied in the step S02:
s021: the vehicle control unit judges whether the current position of the vehicle meets the connection requirement of the connection point or not according to the sensing data of the sensing equipment;
s022: and after receiving the docking request, the stereo parking garage control unit confirms whether the vehicle is parked at the docking point according to the sensing data of the sensing equipment which is arranged around the docking point of the parking space and to which the stereo parking garage belongs.
2. Method for parking in a stereo parking garage according to claim 1, characterized in that:
s021: the step that the vehicle control unit judges whether the current position of the vehicle meets the connection requirement of the connection point or not according to the sensing data of the sensing equipment comprises the following steps: if the position of the vehicle is not matched with the position requirement of the docking point on the vehicle, adjusting the position of the vehicle until the position requirement of the docking point on the vehicle is matched;
s022: after receiving the docking request, the stereo parking garage control unit confirms whether the vehicle is parked at the docking point according to sensing data of sensing equipment around the docking point of the parking space to which the stereo parking garage belongs, and whether the position of the vehicle at the docking point meets the requirements or not comprises the following steps: if the vehicle meets the requirements, the stereo garage control unit starts a lifting device and/or a conveying device of the connection point to convey the vehicle to a planned parking space; and if the request is not met, the stereo garage control unit sends a response which cannot be transmitted to the vehicle control unit.
3. The parking method for a stereo parking garage according to claim 2, wherein the determination of whether the connection point of the stereo parking garage to the parking space is occupied in step S02 is divided into two steps:
s023: firstly, inquiring a connection point connection time table of a stereo garage control unit from a response data packet which accords with the parking event requirement by the stereo garage control unit, comparing a current time table of a vehicle, if the time when the vehicle is estimated to enter the connection point is in the time range of the connection point connection time table allocated to the connection point by the stereo garage control unit,
s024: when a vehicle enters the range of the connecting points of the stereo parking garage, the real-time stereo parking garage control unit is firstly inquired to inquire whether the connecting points are occupied or not in response data, if yes, the vehicle is considered to be occupied, if not, the vehicle is inquired whether the connecting points are occupied or not by self perception data for the second time, if yes, the connecting points are considered to be occupied, and if not, the connecting points are considered not to be occupied.
4. The parking method of the stereo parking garage according to claim 2, wherein the way for obtaining the local map in step S01 is that the vehicle communication units download from a parking garage local area network or a cloud, the parking garage local area network or the cloud obtains the sensing information in the parking garage by calling all sensing devices in the parking garage and fuses with the information uploaded by all vehicle communication units in the parking garage by self, the dynamic information of the parking garage scene is updated in real time, and the local map required by the vehicle is intercepted for downloading the vehicle, and the local map comprises static roads, identification plates, traffic information, parking garage position information and stereo parking garage information; the local map also contains dynamic vehicle position, pedestrian information, moving cargo information.
5. The parking method of the stereo garage according to claim 2, wherein the communication between the vehicle control unit and the cloud end in step S02 includes the vehicle control unit sending a parking request, the cloud end configuring a planned parking space to the vehicle control unit according to the parking garage scheduling condition, if the planned parking space is a stereo parking space, the cloud end is responsible for matching the spatial information of the planned parking space and a connection point of the planned parking space with the vehicle profile, after the matching is successful, the cloud end sends a response to the vehicle control unit, and the vehicle control unit drives into the stereo garage first, so that the vehicle control unit and the stereo garage establish communication.
6. The parking method of the stereo garage according to claim 2, wherein the communication between the vehicle control unit and the stereo garage control unit in step S02 includes the vehicle control unit sending a parking request, the parking request includes a planned parking space number, vehicle physical information, and vehicle position information, the stereo garage control unit determines whether the planned parking space number is occupied, whether the vehicle physical information matches the planned parking space, and whether the current scheduling task can be executed in time, and if both of them meet the parking event requirement, the stereo garage control unit responds to the requested vehicle.
7. The parking method of the three-dimensional parking garage according to claim 6, wherein the vehicle enters the connection point of the parking space of the three-dimensional parking garage after receiving the response that the three-dimensional parking garage control unit meets the requirements of the parking event, the vehicle control unit configures the parking path plan from the current position of the vehicle to the connection point position of the parking space, the parking path plan is a local path plan, the vehicle control unit senses the connection point position according to self-sensing equipment in the configuration process, then generates the parking path plan according to the free space of the current local map and the vehicle body dynamics constraint, and when the local path plan is executed, the local path plan route also needs to be adjusted according to the dynamic object sensed by the self-sensing equipment of the vehicle in real time.
8. The parking method of a stereo garage according to claim 1, wherein said step S03 further comprises the step of the stereo garage control unit confirming that the vehicle is located at a docking point of the parking space, and confirming whether the vehicle is parked within a docking point accessible area according to a sensing device of the stereo garage located around the docking point of the parking space.
9. The parking method of the stereo parking garage according to claim 8, further comprising step S04, after the vehicle is parked in the planned parking space, the vehicle communication unit uploads the information that the planned parking space is occupied to the parking garage local area network and the cloud, and the stereo parking garage control unit stores the information that the planned parking space is occupied and updates the information into the response data packet with the other vehicle communication unit to be parked after the time point.
10. A parking system for a stereo parking garage, comprising:
the system comprises a vehicle communication unit, a parking garage control unit and a vehicle management unit, wherein the vehicle communication unit is used for communicating with a parking garage local area network and/or a cloud end to update a local map, communicating with the stereo parking garage control unit to obtain a parking space connection point and plan state information of a parking space, and sending vehicle requests and response data;
the system comprises a vehicle control unit, a parking space connection point position setting unit and a parking space connection point position setting unit, wherein the vehicle control unit is used for configuring a parking path plan from a current position of a vehicle to the parking space connection point position and executing the parking path plan;
the system comprises a three-dimensional parking garage control unit, a communication unit and a communication unit, wherein the three-dimensional parking garage control unit is used for controlling a connection point to convey vehicles to a planning parking space;
and the connection point occupation judging module judges whether the current position of the vehicle meets the connection requirement of the connection point according to the sensing data of the sensing equipment of the vehicle.
11. The parking system of the stereo parking garage according to claim 10, further comprising a cloud end, wherein the cloud end is used for supporting the vehicle communication units to download local maps from the cloud end, the cloud end acquires sensing information in the parking garage by calling all sensing devices in the parking garage and fuses the sensing information with information uploaded by all vehicle communication units in the parking garage by self, dynamic information of parking garage scenes is updated in real time, local maps required by vehicles are intercepted for downloading the vehicles, and the local maps comprise static roads, identification plates, traffic information, parking garage position information and stereo parking garage information; the local map also contains dynamic vehicle position, pedestrian information and moving cargo information; the parking space system comprises a parking space, a cloud end and a control system, wherein the cloud end is used for storing position information, size information and height information of a connection point of a three-dimensional parking space, the connection point position information of the parking space is a vehicle parking point coordinate, the size information and the height information are three-dimensional point cloud information taking the vehicle parking point coordinate as an origin, and the three-dimensional point cloud can represent all environment information around the connection point of the parking space; when the cloud end further stores the position information, the size information and the height information of the parking space, the position information, the size information and the height information of the parking space are three-dimensional point cloud information of the parking space with the transfer end point position of the connection point as an original point, and the three-dimensional point cloud information can represent fences around the parking space and driving areas and obstacle information at the bottom of the parking space.
12. The parking system of the stereo parking garage according to claim 10, further comprising a parking garage local area network module, wherein the parking garage local area network module acquires sensing information in the parking garage by calling all sensing devices in the parking garage and fuses the sensing information with information uploaded by all vehicle communication units in the parking garage, dynamic information of parking garage scenes is updated in real time, a local map required by vehicles is intercepted for downloading the vehicles, and the local map comprises static roads, signboard, traffic information, parking garage position information and stereo parking garage information; the local map also contains dynamic vehicle position, pedestrian information, moving cargo information.
13. The parking system of a stereo parking garage according to claim 10, wherein the determining module for determining whether the current position of the vehicle meets the connection requirement of the connection point according to the data sensed by the vehicle sensing device comprises: and if the parking space meets the requirements, determining whether the vehicle is stopped at the connecting point by combining the sensing data of the sensing equipment which is arranged around the connecting point of the parking space and belongs to the stereo parking garage, and determining whether the planned parking space is occupied.
14. A terminal device characterized by: a smartphone that can perform the parking method of a stereo garage according to any one of claims 1 to 9 or an onboard terminal control device that can perform the parking system of a stereo garage according to any one of claims 10 to 13.
15. A computer-readable storage medium having stored thereon a computer program, characterized in that: the program when executed by a processor implementing the steps of the method as claimed in any one of claims 1 to 9.
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| CN110444044B (en) * | 2019-08-27 | 2022-07-12 | 纵目科技（上海）股份有限公司 | Vehicle pose detection system based on ultrasonic sensor, terminal and storage medium |
| WO2022014249A1 (en) * | 2020-07-16 | 2022-01-20 | 株式会社デンソー | Parking assistance system, parking assistance device, parking assistance method, and parking assistance program |
| CN112214021A (en) * | 2020-09-23 | 2021-01-12 | 北京智远弘业机器人科技有限公司 | Automatic parking method, device, electronic equipment and computer readable storage medium |
| CN112587830A (en) * | 2020-12-17 | 2021-04-02 | 付辉 | Intelligent stereo garage fireproof device, method and system and storage medium |
| CN115048013B (en) * | 2022-07-29 | 2022-12-02 | 浙江吉利控股集团有限公司 | Method and device for determining map and electronic equipment |
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| CN109087504A (en) * | 2017-06-13 | 2018-12-25 | 纵目科技（上海）股份有限公司 | Method and system according to analysis of data collected parking trend |
| CN109087522B (en) * | 2017-06-13 | 2022-08-09 | 纵目科技（上海）股份有限公司 | Method and system for detecting free parking spaces in parking lot |
| CN109131318B (en) * | 2018-10-19 | 2020-03-27 | 清华大学 | Autonomous parking path coordination method based on topological map |
| CN110159039B (en) * | 2019-04-26 | 2023-04-25 | 纵目科技（上海）股份有限公司 | Parking method, system, terminal and storage medium of three-dimensional parking garage |
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