CN110276983A - A kind of method, system and the vehicle of automatic valet parking - Google Patents
A kind of method, system and the vehicle of automatic valet parking Download PDFInfo
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- CN110276983A CN110276983A CN201910646124.XA CN201910646124A CN110276983A CN 110276983 A CN110276983 A CN 110276983A CN 201910646124 A CN201910646124 A CN 201910646124A CN 110276983 A CN110276983 A CN 110276983A
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- 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
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
Abstract
This application provides a kind of methods of automatic valet parking, and applied to the server in parking lot, the method includes: to allow vehicle to drive into parking lot when receiving the vacancy information of camera transmission；Vacancy direction is indicated according to vacancy information control instructions facility.Applied to vehicle, this method comprises: by identifying the lane line in parking lot and indicating the vacancy direction of facility instruction to determine the direction in vacancy；The position in vacancy is determined on the direction in vacancy and is stopped automatically into vacancy.Applied to the camera in parking lot, this method comprises: when monitoring to send vacancy information to the server in parking lot there are when vacancy in parking lot.Using method provided by the present application, it is no longer dependent on the high definition map in parking lot, while small to the change in parking lot, reduces the cost for realizing automatic valet parking.In addition, present invention also provides the systems and vehicle of a kind of automatic valet parking.
Description
Technical field
This application involves technical field of vehicle control more particularly to a kind of method, system and the vehicles of automatic valet parking.
Background technique
Automatic valet parking refers to that automobile is moored automatically and does not need manual control into parking stall, and automatic valet parking can help to drive
The person's of sailing automatic stopping, on the one hand, automatic valet parking more can quickly park automobile in a smaller space, make to park
Efficiency is no longer influenced by the limitation of driver's driving technology；On the other hand, automatic valet parking more can also be looked for quickly and be worked as
Preceding vacant parking stall, the traffic jam issue of stopping at release field.
The implementation of automatic valet parking function uses vision or laser SLAM (Simultaneous at present
Localization and Mapping, instant positioning and map structuring) technology scanning parking lot map, obtaining parking lot
On the basis of high definition map, draw in conjunction with sensor, parking lot V2X (vehicle to X, automobile-used wireless communication) equipment etc. of vehicle
Guide-car drives into specified parking stall.But this implementation technical difficulty is high, needs vehicle configuration from V2X equipment and to parking
Field arrangement V2X equipment, cost burden is high, and relies on the high definition map in parking lot, it is difficult to realize commercialization.
Summary of the invention
In order to solve above-mentioned technical problem of the existing technology, this application provides a kind of sides of automatic valet parking
Method, system and vehicle are no longer dependent on the high definition map in parking lot, while small to the change in parking lot, and it is automatic to reduce realization
The cost of valet parking improves volume production feasibility.
In a first aspect, this application provides a kind of method of automatic valet parking, it is described applied to the server in parking lot
Method includes:
When receiving the vacancy information of camera transmission, vehicle is allowed to drive into the parking lot；
Vacancy direction is indicated according to the vacancy information control instructions facility.
With reference to first aspect, in the first possible implementation, when the multiple skies for receiving the camera transmission
When the corresponding vacancy information in position, the method also includes:
Target of the vacancy as presently described vehicle is determined from the multiple vacancy according to pre-set priority sequence
Vacancy；The target null be presently described vehicle should stop into vacancy；
The vacancy that the instruction facility indicates the target null is controlled according to the corresponding vacancy information of the target null
Direction.
With reference to first aspect and the possible implementation of any one of the above, in the second possible implementation, institute
Pre-set priority sequence is stated to be determined by least one of following:
Vacancy is at a distance from the Entrance, route conditions and vacancy charging standard.
Second aspect, this application provides a kind of methods of automatic valet parking, are applied to vehicle, which comprises
By identifying the lane line in parking lot and indicating the vacancy direction of facility instruction to determine the direction in vacancy；Institute
It states the position for determining the vacancy on the direction in vacancy and stops automatically into the vacancy.
In conjunction with second aspect, in the first possible implementation, the lane line in the parking lot is unidirectional lane line；
The instruction facility is indicator light, and each crossing in the parking lot is arranged in the indicator light.
The third aspect, it is described applied to the camera in parking lot this application provides a kind of method of automatic valet parking
Method includes:
When monitoring in the parking lot there are when vacancy, vacancy information is sent to the server in parking lot.
Fourth aspect, present invention also provides a kind of system of automatic valet parking, the system is applied to parking lot, institute
The system of stating includes: camera, server, instruction facility；
The camera, for when monitoring to have vacant position in the parking lot, Xiang Suoshu server to send vacancy information；
The server, for when receiving the vacancy information that the camera is sent, allowing vehicle to drive into described stop
Parking lot, and vacancy direction is indicated according to the vacancy information control instructions facility；
The instruction facility is used to indicate the vacancy direction；
5th aspect, present invention also provides a kind of vehicle, the vehicle includes: vehicle-mounted camera and radar；
The vehicle-mounted camera, for by identification parking lot lane line and instruction facility instruction vacancy direction with
Determine the direction in vacancy；
The radar, for determined on the direction in the vacancy vacancy position and the vehicle stop automatically into
The vacancy is detected when the vacancy, and whether there are obstacles.
In conjunction with the 5th aspect, in the first possible implementation, the vehicle-mounted camera include forward sight camera and
Look around camera；
The forward sight camera vacancy direction of the instruction facility instruction in the parking lot and institute for identification
Stating vehicle front, whether there are obstacles；
It is described to look around the camera lane line and the parking frame in the vacancy for identification.
In conjunction with the 5th aspect and the possible implementation of any one of the above, in the second possible implementation, institute
Stating radar includes preposition radar, postposition radar and side radar；
The side radar on the direction in the vacancy for determining the position in the vacancy；
The preposition radar and the postposition radar are for detecting the sky when the vehicle stops automatically into the vacancy
Whether there are obstacles for position.Herein described method is when the camera in parking lot monitors to have vacant position, to the clothes in parking lot
Business device sends vacancy information, whether there is vacancy using camera real time monitoring, monitoring range is wide, to the improvement cost in parking lot
It is low.When the server in parking lot allows vehicle to drive into parking lot, and according to sky when receiving the vacancy information of camera transmission
Position information control instructions facility indicates vacancy direction, when there are just allow vehicle to drive into behind vacancy to avoid because vehicle is detained for discovery
It can not find parking stall in parking lot and cause congestion.Vehicle passes through the lane line in identification parking lot and the sky of instruction facility instruction
Then position direction determines the position in vacancy on the direction in vacancy and stops automatically into the vacancy, reality to determine the direction in vacancy
Now automatic valet parking.
Using the method for automatic valet parking provided by the present application, it is no longer dependent on the high definition map in parking lot, to vehicle
The perception identification technology of automatic Pilot is of less demanding.When being applied to existing parking lot simultaneously, it need to only increase instruction facility, server
With the conventional equipments such as camera, parking lot is changed on a small scale based on more mature technology, cost is much smaller than existing skill
Cost when automatic using the realizations such as the V2X equipment valet parking of art, technical difficulty is low, improves volume production feasibility, has business
Change value.
Detailed description of the invention
In order to illustrate the technical solutions in the embodiments of the present application or in the prior art more clearly, 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 only this
The some embodiments recorded in application, for those of ordinary skill in the art, without creative efforts,
It can also be obtained according to these attached drawings other attached drawings.
Fig. 1 is a kind of flow chart of the method for automatic valet parking that the embodiment of the present application one provides；
Fig. 2 is the schematic diagram of a scenario one that the embodiment of the present application one provides；
Fig. 3 is the schematic diagram of a scenario two that the embodiment of the present application one provides；
Fig. 4 is a kind of schematic diagram of the system for automatic valet parking that the embodiment of the present application two provides；
Fig. 5 is a kind of schematic diagram for vehicle that the embodiment of the present application three provides；
Fig. 6 is the schematic diagram for another vehicle that the embodiment of the present application three provides.
Specific embodiment
With the continuous expansion of urban planning, vehicle fleet size rapid growth in city causes parking stall notch constantly to expand
Greatly, and existing parking resource is using being not enough, and it is difficult to exacerbate parking.And automatic valet parking on the one hand can be by automobile
More quickly park the limitation that the efficiency that makes to park in a smaller space is no longer influenced by driver's driving technology；On the other hand,
Automatic valet parking more can also quickly look for current vacant parking stall, the traffic jam issue of stopping at release field, therefore from
The commercialization demand of dynamic valet parking is higher and higher.
But it realizes that the solution technique difficulty of automatic valet parking is high at present, needs vehicle configuration from V2X equipment and to stopping
V2X equipment is arranged in parking lot, and cost burden is high, and relies on the high definition map in parking lot, it is difficult to realize commercialization.
In order to solve the above-mentioned technical problem, this application provides this application provides a kind of method of automatic valet parking,
System and vehicle are no longer dependent on the high definition map in parking lot, while small to the change in parking lot, reduce realization generation visitor automatically
The cost parked is easy to commercially use.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
Embodiment one:
The embodiment of the present application one provides a kind of method of automatic valet parking, illustrates with reference to the accompanying drawing.
Referring to Fig. 1, which is a kind of flow chart of the method for automatic valet parking that the embodiment of the present application one provides.
The embodiment of the present application the described method comprises the following steps:
S101: when camera monitors to send vacancy there are when vacancy in the parking lot to the server in parking lot and believe
Breath.
Vacancy information can characterize specific location and the direction that vacancy is in parking lot, can indicate from Entrance
The vehicle of entrance reaches the route in the vacancy.
Referring to fig. 2, which is the schematic diagram of a scenario one that the embodiment of the present application one provides.
Camera 201 can monitor the parking stall in one piece of region, can be corresponding with monitoring region by camera 201 in advance,
When camera 201 monitors that camera 201 sends vacancy information to the server in parking lot there are when vacancy in corresponding region.
In one possible implementation, which is that the vacancy is in the parking stall label in parking lot, can be with
The parking stall label in a directly corresponding parking lot, such as " area C 5 ", are stored in advance that each parking stall label is corresponding to stop in server
Position in parking lot, i.e. server can obtain specific location and the direction in vacancy according to the label.
In alternatively possible implementation, the specific location in vacancy can also not known and determine vacancy region,
The vacancy information is that the vacancy is in region labeling in parking lot, such as " area C " at this time.Each region mark is stored in advance in server
Position in number corresponding parking lot, server can obtain the region and direction where vacancy according to the region labeling.It can manage
Solution, since camera and region can be mapped in advance in server, camera is monitored in present embodiment
To current region there are when vacancy, only standby signal need to be sent to server, server determines the area according to standby signal
There are vacancy in domain.
S102: when the server in parking lot receives the vacancy information of camera transmission, allowing vehicle to drive into parking lot,
And vacancy direction is indicated according to vacancy information control instructions facility.
When the server in parking lot receives the vacancy information of camera transmission, determine there is sky in current parking lot
Position just allows vehicle to drive into parking lot, does not otherwise allow vehicle by Entrance banister, can be avoided because vehicle is trapped in
It can not find parking stall in parking lot and cause congestion, improve the efficiency of automatic valet parking.
When vehicle is allowed to access parking lot, vehicle driver the banister inlet in parking lot get off unlocking vehicle from
Dynamic valet parking function.
Instruction facility can show instruction information to indicate vacancy direction, with continued reference to shown in Fig. 2, in a kind of possible reality
In existing mode, which is indicator light, and indicator light is arranged in each crossing in parking lot, in figure by taking crossroad as an example,
Indicator light indicates respectively left direction, right direction and straight trip direction, can indicate vacancy by arrow there are three direction is indicated
Direction；Certainly, indicator light can also be bright by bright light position instruction vacancy direction, such as left side lamp, shows vacancy
Direction is left side；Intermediate lamp is bright, shows that vacancy direction is front；Starboard light is bright, shows that vacancy direction is
Right side, for T-shape crossing can there are two the indicator lights in instruction direction using tool.
It is understood that when vehicle arrival vacancy is needed by multiple crossings, the indicator light instruction at each crossing
Direction may be different, and specifically by vacancy, present position is determined in parking lot.
S103: vehicle is by the lane line in identification parking lot and the vacancy direction of instruction facility instruction to determine vacancy
Direction.
Lane line (being not shown in Fig. 2) delimited on the ground in parking lot, can have arrow on lane line, vehicle passes through
Identify lane line along the instruction direction running of lane line.
In one possible implementation, the lane line in parking lot is unidirectional lane line, is vehicle rule convenient for server
Automatic Pilot route is drawn to indicate vehicle driving, at the same also avoid lane it is relatively narrow when vehicle frontal meet and cause congestion.
Vehicle by identification instruction facility instruction vacancy direction it is determined that stop into vacancy direction and along lane line
It is travelled to the direction.
S104: vehicle determines the position in vacancy on the direction in vacancy and stops automatically into vacancy.
Vehicle on the direction in vacancy when driving, by radar and look around camera search lane both sides stop vacancy.Its
In, looking around camera can identify that the lane line in parking lot and the parking frame on parking stall, radar can judge that parking frame is corresponding
Parking stall on whether there are obstacles (barrier may include other vehicles, personnel or other objects), when discovery stop
Stop automatically when being vacancy into the vacancy position.
Further, when the server in parking lot breaks down, vacancy direction can also be indicated by artificial direction board,
By way of manually leading the way, vehicle is made to follow people or vehicle arrival vacancy of leading the way.
Using method provided by the embodiments of the present application, when the camera in parking lot monitors to have vacant position, to parking lot
Server send vacancy information, using camera real time monitoring whether there is vacancy, monitoring range is wide, the transformation to parking lot
It is at low cost.When the server in parking lot allows vehicle to drive into parking lot, and root when receiving the vacancy information of camera transmission
Vacancy direction is indicated according to vacancy information control instructions facility, when there are just allow vehicle to drive into behind vacancy to avoid because of vehicle for discovery
Being trapped in parking lot can not find parking stall and causes congestion.Lane line and instruction facility instruction of the vehicle by identification parking lot
Vacancy direction to determine the direction in vacancy, the position in vacancy is then determined on the direction in vacancy and is stopped automatically into the sky
Position, realizes automatic valet parking.
This method is no longer dependent on the high definition map in parking lot, requires not the perception identification technology of Vehicular automatic driving
It is high.When being applied to existing parking lot simultaneously, it need to only increase the conventional equipments such as instruction facility, server and camera, based on more
Mature technology changes parking lot on a small scale, and cost is much smaller than the prior art using realizations such as V2X equipment automatically for visitor
Cost when parking, technical difficulty is low, improves volume production feasibility, has commercialization value.
It should be noted that when camera has monitored multiple vacancy and has had sent the corresponding sky in multiple vacancy to server
When the information of position, method provided by the embodiments of the present application further include:
Target null of the vacancy as current vehicle, target are determined from multiple vacancy according to pre-set priority sequence
Vacancy be presently described vehicle should stop into vacancy；
According to the vacancy direction of the corresponding vacancy information control instructions facility instruction target null of target null.
Further, pre-set priority sequence is determined by least one of following:
Vacancy is at a distance from the Entrance, route conditions and vacancy charging standard.
Specifically, priority of the vacancy at a distance from the Entrance i.e. compare vehicle from Entrance to
Up to the link length in two vacancy, priority, such as preferential selection are set apart from short vacancy according to length.
The priority of condition of road surface includes comparing the complexity for the road that two vacancy are reached from Entrance, tool
Body may determine that through the quantity at crossing and number of turns etc., such as can preferentially select few by crossing quantity and/or turn
The few vacancy of curved number.Priority can also be set by the turn direction at crossing for vehicle, such as located at the parting of the ways excellent
The vacancy that first selection straight trip can reach, the vacancy that then selection right-hand rotation can reach, and the excellent of the vacancy that can be reached that turn left
First grade is minimum.
Further, it is also possible to be selected according to the charging standard in vacancy, such as the vacancy that preferential selection Parking Fee is low.
Referring to Fig. 3, which is the schematic diagram of a scenario two that the embodiment of the present application one provides.
Camera 301 detects the presence of vacancy 1 in figure, and camera 302 detects the presence of vacancy 2, at this time server according to
The corresponding vacancy information in the two vacancy select it is one of as presently described vehicle should stop into vacancy, when according to right-hand rotation
When priority is higher than the priority selection vacancy turned left, vacancy 2 has been selected in Fig. 3.
Embodiment two:
The method of the automatic valet parking provided based on the above embodiment, the embodiment of the present application two additionally provide a kind of automatic
The system of valet parking, the system are applied to parking lot, illustrate with reference to the accompanying drawing.
Referring to fig. 4, which is a kind of schematic diagram of the system for automatic valet parking that the embodiment of the present application two provides.
The system comprises: camera 401, server 402 and instruction facilities 403 for the embodiment of the present application.
Camera 401, for when monitoring to have vacant position in parking lot, Xiang Suoshu server 402 to send vacancy information.
The system may include multiple cameras, and each camera can be used for monitoring the parking stall in one piece of region, pass through
In advance that camera is corresponding with monitoring region, when camera monitors in corresponding region there are when vacancy, camera is to parking lot
Server 402 send vacancy information.
Server 402 can allow vehicle to drive into the parking when receiving the vacancy information of the transmission of camera 401
, and vacancy direction is indicated according to vacancy information control instructions facility 403.
When camera 401 has monitored multiple vacancy and has sent the corresponding vacancy information in multiple vacancy to server 402
When, server 402 can also according to pre-set priority sequence from multiple vacancy determine one as current vehicle should stop into
Vacancy.
It indicates facility 403, is used to indicate vacancy direction.The instruction facility 403 can be indicator light, and indicator light setting is stopping
Each crossing in parking lot.
It can be carried out data transmission by wireless network between camera 401, server 402 and instruction facility 403, such as
It can be carried out data transmission by 4G network, can also be connected and be carried out data transmission by cable, the application does not make this specifically
It limits.
Using system provided by the embodiments of the present application, when camera monitors to have vacant position, sent out to the server in parking lot
Vacancy information is sent, whether there is vacancy using camera real time monitoring, monitoring range is wide, low to the improvement cost in parking lot.When
When server receives the vacancy information of camera transmission, vehicle is allowed to drive into parking lot, and according to vacancy information control instructions
Facility indicates vacancy direction, when there are just allow vehicle to drive into avoid behind vacancy to look for not because vehicle is trapped in parking lot for discovery
Cause congestion to parking stall.Vehicle is by the lane line in identification parking lot and the vacancy direction of instruction facility instruction to determine sky
Then the direction of position determines the position in vacancy on the direction in vacancy and stops to realize automatic valet parking into the vacancy automatically.
Cost when automatic using the realizations such as V2X equipment much smaller than the prior art valet parking of the cost of the system, and skill
Art difficulty is low, with more commercialization value.
Embodiment three:
The method and system of the automatic valet parking provided based on the above embodiment, the embodiment of the present application three additionally provide one
Kind vehicle, illustrates with reference to the accompanying drawing.
Referring to Fig. 5, which is a kind of schematic diagram for vehicle that the embodiment of the present application three provides.
Vehicle 500 provided by the embodiments of the present application includes: vehicle-mounted camera 501 and radar 502.
Vehicle-mounted camera 501 is used for through the lane line in identification parking lot and the vacancy direction of instruction facility instruction with true
Determine the direction in vacancy.
Radar 502 is used to determine the position in vacancy on the direction in vacancy and detect vacancy when vehicle stops automatically into vacancy
Whether there are obstacles.
Referring also to Fig. 6, which is the schematic diagram for another vehicle that the embodiment of the present application three provides.
As shown in fig. 6, vehicle-mounted camera includes forward sight camera 501a and looks around camera 501b.
The vacancy direction of the instruction facility instruction in parking lot and vehicle front are forward sight camera 501a for identification
It is no there are barrier, such as other vehicles, personnel or other objects, when judging that vehicle front, can be temporary there are when barrier
Stop travelling.The 501a of forward sight camera shown in Fig. 6 may be mounted on the inside of front windshield of vehicle.
Look around camera the 501b lane line in parking lot and the parking frame on parking stall for identification.The embodiment of the present application pair
The quantity and position for looking around camera are not especially limited, for the vehicle shown in Fig. 6, look around camera altogether there are four, respectively
Positioned at vehicle's surroundings.
Radar includes preposition radar 502a, postposition radar 502b and side radar 502c.
Side radar 502c in the direction of vacancy for determining the position in vacancy.Specifically, side radar 502c with
It looks around camera 501b cooperation search lane both sides and stops vacancy, wherein the lane in parking lot can be identified by looking around camera 501b
Line and the parking frame on parking stall, side radar 502c can judge on the corresponding parking stall of parking frame with the presence or absence of other vehicles
, when other vehicles are not present, i.e. the parking stall is vacancy, the embodiment of the present application to the quantity of side radar 502c and position not
Make it is specific limit, for the vehicle shown in Fig. 6, side radar 502c altogether there are four, be respectively arranged two in the left and right side of vehicle
It is a.
Preposition radar 502a and postposition radar 502b is used to detect vacancy when vehicle stops into the vacancy with the presence or absence of barrier
Hinder object.The embodiment of the present application is not especially limited the quantity of preposition radar 502a and postposition radar 502b, with vehicle shown in Fig. 6
For, preposition radar and postposition radar 502b it is each there are four.
Using vehicle provided by the embodiments of the present application, parking lot is identified by vehicle-mounted camera in automatic valet parking
Lane line and identification instruction facility determine the position in vacancy by radar and stop in vehicle into sky to determine vacancy direction
Whether there are obstacles in vacancy to promote the safe coefficient of automatic valet parking for detection when position, does not need onboard configured with V2X
A possibility that equipment reduces costs, improves volume production.
It should be appreciated that in this application, " at least one (item) " refers to one or more, and " multiple " refer to two or two
More than a."and/or" indicates may exist three kinds of relationships, for example, " A and/or B " for describing the incidence relation of affiliated partner
It can indicate: only exist A, only exist B and exist simultaneously tri- kinds of situations of A and B, wherein A, B can be odd number or plural number.Word
Symbol "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or"." at least one of following (a) " or its similar expression, refers to
Any combination in these, any combination including individual event (a) or complex item (a).At least one of for example, in a, b or c
(a) can indicate: a, b, c, " a and b ", " a and c ", " b and c ", or " a and b and c ", and wherein a, b, c can be individually, can also
To be multiple.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for device reality
For applying example, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to embodiment of the method
Part explanation.The apparatus embodiments described above are merely exemplary, wherein described be used as separate part description
Unit and module may or may not be physically separated.Furthermore it is also possible to select it according to the actual needs
In some or all of unit and module achieve the purpose of the solution of this embodiment.Those of ordinary skill in the art are not paying
In the case where creative work, it can understand and implement.
The above is only the specific embodiment of the application, it is noted that for the ordinary skill people of the art
For member, under the premise of not departing from the application principle, several improvements and modifications can also be made, these improvements and modifications are also answered
It is considered as the protection scope of the application.
Claims (10)
1. a kind of method of automatic valet parking, which is characterized in that the server applied to parking lot, which comprises
When receiving the vacancy information of camera transmission, vehicle is allowed to drive into the parking lot；
Vacancy direction is indicated according to the vacancy information control instructions facility.
2. the method for automatic valet parking according to claim 1, which is characterized in that sent when receiving the camera
The corresponding vacancy information in multiple vacancy when, the method also includes:
Target null of the vacancy as presently described vehicle is determined from the multiple vacancy according to pre-set priority sequence；
The target null be presently described vehicle should stop into vacancy；
The vacancy direction that the instruction facility indicates the target null is controlled according to the corresponding vacancy information of the target null.
3. the method for automatic valet parking according to claim 2, which is characterized in that pre-set priority sequence by with
It is at least one of lower to determine:
Vacancy is at a distance from the Entrance, route conditions and vacancy charging standard.
4. a kind of method of automatic valet parking, which is characterized in that be applied to vehicle, which comprises
By identifying the lane line in parking lot and indicating the vacancy direction of facility instruction to determine the direction in vacancy；
The position in the vacancy is determined on the direction in the vacancy and is stopped automatically into the vacancy.
5. the method for automatic valet parking according to claim 4, which is characterized in that the lane line in the parking lot is single
To lane line；The instruction facility is indicator light, and each crossing in the parking lot is arranged in the indicator light.
6. a kind of method of automatic valet parking, which is characterized in that the camera applied to parking lot, which comprises
When monitoring in the parking lot there are when vacancy, vacancy information is sent to the server in parking lot.
7. a kind of system of automatic valet parking, which is characterized in that the system is applied to parking lot, the system comprises: it takes the photograph
As head, server, instruction facility；
The camera, for when monitoring to have vacant position in the parking lot, Xiang Suoshu server to send vacancy information；
The server, for allowing vehicle to drive into the parking lot when receiving the vacancy information that the camera is sent,
And vacancy direction is indicated according to the vacancy information control instructions facility.
The instruction facility is used to indicate the vacancy direction；
8. a kind of vehicle, which is characterized in that the vehicle includes: vehicle-mounted camera and radar；
The vehicle-mounted camera, the vacancy direction for lane line and instruction facility instruction by identification parking lot is with determination
The direction in vacancy；
The radar, for determining the position in the vacancy on the direction in the vacancy and stopping automatically in the vehicle into described
The vacancy is detected when vacancy, and whether there are obstacles.
9. vehicle according to claim 8, which is characterized in that the vehicle-mounted camera includes that forward sight camera and looking around is taken the photograph
As head；
The forward sight camera vacancy direction of the instruction facility instruction in the parking lot and the vehicle for identification
Whether there are obstacles in front of；
It is described to look around the camera lane line and the parking frame in the vacancy for identification.
10. vehicle according to claim 8, which is characterized in that the radar includes preposition radar, postposition radar and side
Radar；
The side radar on the direction in the vacancy for determining the position in the vacancy；
The preposition radar and the postposition radar are used to detect the vacancy when the vehicle stops automatically into the vacancy
It is no that there are barriers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910646124.XA CN110276983A (en) | 2019-07-17 | 2019-07-17 | A kind of method, system and the vehicle of automatic valet parking |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910646124.XA CN110276983A (en) | 2019-07-17 | 2019-07-17 | A kind of method, system and the vehicle of automatic valet parking |
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| CN110276983A true CN110276983A (en) | 2019-09-24 |
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| CN201910646124.XA Pending CN110276983A (en) | 2019-07-17 | 2019-07-17 | A kind of method, system and the vehicle of automatic valet parking |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112863225A (en) * | 2019-11-28 | 2021-05-28 | 长城汽车股份有限公司 | Method and device for passenger-replacing parking |
| CN112863228A (en) * | 2019-11-28 | 2021-05-28 | 现代自动车株式会社 | System, method, infrastructure and vehicle for automated valet parking |
| CN113327425A (en) * | 2020-02-12 | 2021-08-31 | 丰田自动车株式会社 | Automatic passenger-assistant parking system and service providing method |
| CN114495550A (en) * | 2021-12-30 | 2022-05-13 | 北京四象网讯科技有限公司 | Automatic parking method and device for parking lot |
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