CN110517533A - A kind of autonomous parking method and system - Google Patents
A kind of autonomous parking method and system Download PDFInfo
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- CN110517533A CN110517533A CN201910936379.XA CN201910936379A CN110517533A CN 110517533 A CN110517533 A CN 110517533A CN 201910936379 A CN201910936379 A CN 201910936379A CN 110517533 A CN110517533 A CN 110517533A
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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
- G08G1/144—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces on portable or mobile units, e.g. personal digital assistant [PDA]
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Abstract
The present invention provides a kind of autonomous parking method and system, this method comprises: acquiring the high-precision map in parking lot by data collecting vehicle, and the accurately diagram data in parking lot is sent to cloud server；When vehicle is travelled by third party's digital map navigation to predetermined parking lot, the accurately diagram data in the predetermined parking lot is obtained from cloud server, and obtain the parking stall that user selectes；According to the positioning of current vehicle and selected parking stall in high-precision map, generate from current vehicle position to the path planning on selected parking stall；Vehicle driving is controlled to selected parking stall based on the path planning.Solve the problems, such as that vehicle end calculation amount is excessive in traditional scheme of parking, and is effectively reduced vehicle end data treating capacity, user is facilitated to select parking stall autonomous parking with this solution.
Description
Technical field
The present invention relates to automatic Pilot field more particularly to a kind of autonomous parking method and system.
Background technique
With the development of computer, automatic Pilot technology is also more and more mature, autonomous parking and calls out vehicle in automatic Pilot
Technology has very important application value, it can not have to driver's operation and drive into parking stall automatically, stops without walking to
Parking lot is outputed, and driving experience is greatly improved.However, since existing location technology precision is difficult to reach requirement, it is especially indoor
Parking, control vehicle, which is travelled from current location to specific parking stall, has larger difficulty.
Currently, parking lot positioning accuracy is low, it is difficult to accurately control asking for vehicle for vehicle autonomous parking or when calling out vehicle
Topic, obtains parking position information of park frequently with in-vehicle camera on the spot, then controls vehicle and drives into parking stall.And in practice, control
The map that vehicle parking processed needs temporarily to establish parking lot obtains parking space state, and this mode vehicle end calculation amount is excessive, and user
Inconvenient user obtains information of parking.
Summary of the invention
In view of this, voluntarily being controlled the embodiment of the invention provides a kind of autonomous parking method and system with solving vehicle end
The excessive problem of calculation amount of parking.
In the embodiment of the present invention in a first aspect, providing a kind of autonomous parking method, comprising:
The high-precision map in parking lot is acquired by data collecting vehicle, and the accurately diagram data in parking lot is sent to
Cloud server；
When vehicle is travelled by third party's digital map navigation to predetermined parking lot, from the cloud server acquisition predetermined parking
The accurately diagram data of field, and obtain the parking stall that user selectes；
According to the positioning of current vehicle and selected parking stall in high-precision map, generate from current vehicle position to choosing
The path planning on fixed parking stall；
Vehicle driving is controlled to selected parking stall based on the path planning.
In the second aspect of the embodiment of the present invention, a kind of autonomous parking system is provided, comprising:
Uploading module, for acquiring the high-precision map in parking lot by data collecting vehicle, and by the high-precision in parking lot
Map datum is sent to cloud server；
Module is obtained, for being travelled by third party's digital map navigation to predetermined parking lot when vehicle, is obtained from cloud server
The accurately diagram data in the predetermined parking lot is taken, and obtains the parking stall that user selectes；
Planning module is generated for the positioning according to current vehicle and selected parking stall in high-precision map from vehicle
The path planning of current location to selected parking stall；
Control module, for controlling vehicle driving to selected parking stall based on the path planning.
In the embodiment of the present invention, the high-precision map for acquiring each parking lot is uploaded to cloud server, with obtaining third party
The high-precision map of figure and selected parking lot, the parking stall selected according to user and automobile navigation positioning, carry out path planning,
Control vehicle autonomous parking, thus solve the problems, such as vehicle end control vehicle autonomous parking when it is computationally intensive, be based on pre-production
High-precision map and by third party's map, vehicle end data treating capacity is effectively reduced, meanwhile, can be according to the real-time shape in parking lot
Condition selectes parking stall, and then carries out accurate Driving control according to high-precision map, realizes autonomous parking.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, drawings discussed below is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Other accompanying drawings.
Fig. 1 is the flow diagram of autonomous parking method provided by one embodiment of the present invention；
Fig. 2 is the structural schematic diagram of autonomous parking system provided by one embodiment of the present invention；
Fig. 3 is another structural schematic diagram of autonomous parking system provided by one embodiment of the present invention.
Specific embodiment
In order to make the invention's purpose, features and advantages of the invention more obvious and easy to understand, below in conjunction with the present invention
Attached drawing in embodiment, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that disclosed below
Embodiment be only a part of the embodiment of the present invention, and not all embodiment.Based on the embodiments of the present invention, this field
Those of ordinary skill's all other embodiment obtained without making creative work, belongs to protection of the present invention
Range.
It, can be with each parking lot gathered in advance accurately to reduce vehicle end data calculation amount during autonomous parking
Figure, is uploaded to cloud, when vehicle reaches some parking lot, loads the parking lot high-precision map, meanwhile, for parking lot
Parking situation parking lot situation can be recorded in real time, facilitate user terminal according to parking situation, selected without obtaining on the spot
Parking stall controls vehicle parking so that vehicle end only needs to position according to current vehicle and parking stall position carries out path planning.
Referring to Fig. 1, a kind of flow diagram of autonomous parking method provided in an embodiment of the present invention, comprising:
S101, the high-precision map that parking lot is acquired by data collecting vehicle, and by the accurately diagram data in parking lot
It is sent to cloud server；
Collecting vehicle carries out data acquisition to each parking lot on the spot, and then makes high-precision map, in general, due to interior
The positioning accuracy in parking lot is not high, and usual collecting vehicle can be by camera acquisition parking field picture be looked around, by calculating conversion system
Make high-precision map, accurately will be uploaded to cloud server after schema compiler.The cloud server provides data and stores function
Can, and the data access request of client can be received.
Specifically, acquiring the high-precision map NDS data in parking lot and generating the high-precision map in each parking lot.It is described
NDS (Navigation Data Standard, i.e. navigation data standard), a kind of physical storage of data standardizing navigation data
Format, can isolate navigation data and map datum supports compatibility between different navigation system.
S102, it is travelled to predetermined parking lot by third party's digital map navigation when vehicle, is obtained from cloud server described pre-
Determine the accurately diagram data in parking lot, and obtains the parking stall that user selectes；
General in parking process has a distance between vehicle and parking lot, or is unaware of parking lot around completely
Position searches for surrounding parking lot or user and independently selectes parking lot, according to third party by third party's map, such as Amap
Map can control vehicle driving to corresponding parking lot.
After user selectes parking lot or independently selected parking lot, parking lot is loaded accurately from cloud server
Figure, meanwhile, the available parking position state of user obtains positioning and parking stall position that vehicle reaches parking lot.
Optionally, the parking stall state in the predetermined parking lot is recorded in real time, and the parking stall state includes at least can be pre-
About with it is unavailable.Specifically may include it is unavailable, occupied, be reserved, can reservation charging parking stall, common parking stall can be reserved, is common
The states such as parking stall and charging parking stall, and available different digital mark limits.
S103, the positioning according to current vehicle and selected parking stall in high-precision map are generated from vehicle present bit
Set the path planning on selected parking stall；
It can get the bid in high-precision map and determine parking stall position and vehicle location, according to the distribution in lane, select vehicle
Driving path.In the path planning most short driving path or the least road of barrier can be selected in feasible path
Diameter, specific Path Planning is it is not limited here.
S104, vehicle driving is controlled to selected parking stall based on the path planning.
Vehicle drive, which is sent, to the control program at vehicle end by can bus controls information, such as course angle, speed, according to
Driving control information controls the vehicle line and speed of vehicle, and support vehicles accurately drive into parking stall.
Optionally, by mobile lidar and look around camera obtain vehicle travel process in barrier, to control vehicle
Avoiding barrier in driving process.
Optionally, the positioning for calling out vehicle point and corresponding vehicle that user selectes is obtained, based on calling out determining for vehicle point position and vehicle
Position carries out path planning, controls vehicle driving to selected according to path planning and calls out vehicle point.
The accurately diagram data that parking lot is acquired by collecting vehicle, by uploading to cloud, user client after compiling
APP can download high-precision map from cloud server, and the parking space of traditional map and high accuracy data is shown by SDK
Figure, parking lot map show the road information and parking position number shape information in parking lot, the selection parking of APP client
Behind position, the information such as path and course angle can be automatically generated and be transmitted to vehicle end iecu program, it is logical that iecu program receives information
It crosses can line transmitting information control vehicle and completes autonomous parking.It can select what is be currently located to call out vehicle by APP client's degree end simultaneously
Point, which generates the information such as path and completes coming here certainly for vehicle by calling out the position of vehicle point, specified calls out vehicle point position.By accurately
The indoor map that figure is shown can accurately find destination.
Method provided in this embodiment is acquired the accurately diagram data in parking lot by collecting vehicle, uploaded to after compiling
Cloud server, APP client end are crossed from cloud server and load high-precision map, show traditional map and height by SDK
The parking lot map of accuracy data, parking lot map show the road information and parking position number shape letter in parking lot
Breath, after APP client selects parking stall, vehicle end can be generated the information such as path and course angle and be transmitted to vehicle end iecu program,
Iecu program receives information and transmits information control vehicle completion autonomous parking by can line.APP client can be passed through simultaneously
What end selection was currently located calls out specified call out that come here certainly that vehicle point generates the information such as path completion vehicle by calling out the position of vehicle point
Vehicle point position.By the indoor map of high-precision map denotation, destination can be accurately found, ensures the reliability of navigation,
Vehicle end data treating capacity is effectively reduced.
It should be understood that the serial number size of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, and the implementation process of the embodiments of the invention shall not be constituted with any limitation.
Fig. 2 is a kind of structural schematic diagram of autonomous parking system provided by Embodiment 2 of the present invention, which includes:
Uploading module 210, for acquiring the high-precision map in parking lot by data collecting vehicle, and by the high-precision of parking lot
Degree map datum is sent to cloud server；
Optionally, the uploading module 210 includes:
Data acquisition unit, for acquiring the high-precision map NDS data in parking lot and generating the high-precision in each parking lot
Map.
Module 220 is obtained, for travelling by third party's digital map navigation to predetermined parking lot when vehicle, from cloud server
The accurately diagram data in the predetermined parking lot is obtained, and obtains the parking stall that user selectes；
Optionally, the acquisition module 220 includes:
Parking logging modle, for recording the parking stall state in the predetermined parking lot, the parking stall state packet in real time
Including can reserve, can be used and unavailable.
It can establish managing system of car parking at parking lot end, the function of parking logging modle be provided, specifically, will parking
The status information of field parking stall is uploaded to background server, and managing parking space, the accessible background server of user client is simultaneously
The parking stall that shows on high-precision map and the state for seeing parking stall, the state on parking stall include that can reserve, can be used, no
It can use.When state when parking stall changes, client can by interface obtain parking position state, by with
The interaction of map timely updates the state of parking stall.
Planning module 230, for the positioning according to current vehicle and selected parking stall in high-precision map, generate from
Path planning of the current vehicle position to selected parking stall；
Control module 240, for controlling vehicle driving to selected parking stall based on the path planning.
Optionally, the control module further include:
Sensing module, for passing through mobile lidar and looking around the barrier in camera acquisition vehicle travel process, with
Control avoiding barrier in vehicle travel process.
Optionally, the control module further include:
Vehicle module is called out, for obtaining the positioning for calling out vehicle point and corresponding vehicle that user selectes, based on calling out vehicle point position and vehicle
Positioning carry out path planning, according to path planning control vehicle driving to selected call out vehicle point.
System through this embodiment can realize vehicle based on uploading module, acquisition module, planning module and control module
Autonomous parking.
Fig. 3 is another structural schematic diagram for the automated parking system that present example provides, and is such as schemed:
In the end user App 310, national maps are shown by traditional two-dimensional map, by the specific location in parking lot into
Row described point clicks the described point in the parking lot when client needs to check the parking lot, enters the high-precision map in the parking lot,
It checks the state on specific parking lot layout and parking stall, and then carries out autonomous parking 3101 or independently call out 3102 function of vehicle
Service.
In 3101 module of autonomous parking, when user drives to enter parking lot, parking lot is obtained by the end user APP 310
Management end 320 records the available parking stall of display from the background, clicks button of parking, and the parking stall of selection is transmitted at the end user app 310
To corresponding background server, the interface for completion of parking is called to change the state of current parking stall after the completion of parking.The end user app
The parking space information of selection is transmitted to vehicle end 330 by can line, for Che Duan 330 by being positioned as starting point from vehicle, parking stall is terminal
Planning path, vehicle control system, which controls vehicle, to be evaded on the way along the route of planning by vehicle sensory perceptual system 3302
Barrier simultaneously carries out autonomous parking according to course angle and the angle of parking stall, 3302 data of vehicle sensory perceptual system
Vehicle 3102 is independently called out, it is to call out vehicle point that parking lot management end 320, which provides defined latitude and longitude coordinates, will call out vehicle point and records
Enter into map datum, the end user app 310 by calling interface obtain parking lot it is all call out vehicle point and show on map,
User suitably calls out vehicle point after vehicle button is called out in click by the display selection of map and the information for calling out vehicle point is transmitted to vehicle end
330, Che Duan 330 by being positioned as starting point from vehicle, and the position for calling out vehicle point is that terminal carries out path planning, and vehicle passes through vehicle control
System 3301 is opened to call out vehicle point and evades barrier on the way by vehicle sensory perceptual system 3302 along path, and the arrival of user's vehicle is called out
The calling of the end Che Dian, user app 310, which calls out vehicle, terminates interface, and parking stall management end 320 updates the state of current parking stall.
At parking lot management end 320, the status information of parking position is synchronized to background server, the end user APP 310
The state on the parking stall and parking stall that can show on high-precision map, the state on parking stall include that can reserve, can be used, no
It can use.When state when parking stall changes, the end user APP 310 obtains the state of parking position by interface in time,
It is timely updated the state of parking stall by the interaction with map.
In vehicle end 330, including vehicle-mounted engine system 3301 and vehicle-mounted sensory perceptual system 3302, in which:
Vehicle-mounted engine system 3301 is the program imported in vehicle end iecu, mainly receives the terminal position at the end user APP 310
It sets, the function of vehicle positioning provides origin information for vehicle, and accurately diagram data carries out planning path for cooperation, by vehicle control
System control vehicle is travelled along path.
Vehicle is by configuring the laser radar millimetre-wave radar of installation and looking around camera sense in vehicle sensory perceptual system 3302
Know the environment of surrounding, vehicle control system is assisted to evade the barrier in driving conditions.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art will appreciate that implement the method for the above embodiments be can be with
Relevant hardware is instructed to complete by program, the program can be stored in a computer readable storage medium,
When being executed, including step S101 to S104, the storage medium includes such as to the program: ROM/RAM, magnetic disk, CD.
The above, the above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although referring to before
Stating embodiment, invention is explained in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of autonomous parking method characterized by comprising
The high-precision map in parking lot is acquired by data collecting vehicle, and the accurately diagram data in parking lot is sent to cloud
Server；
When vehicle is travelled by third party's digital map navigation to predetermined parking lot, the predetermined parking lot is obtained from cloud server
Accurately diagram data, and obtain the parking stall that user selectes；
According to the positioning of current vehicle and selected parking stall in high-precision map, generate from current vehicle position to selected
The path planning on parking stall；
Vehicle driving is controlled to selected parking stall based on the path planning.
2. the method according to claim 1, wherein the high-precision for acquiring parking lot by data collecting vehicle
Map specifically:
It acquires the high-precision map NDS data in parking lot and generates the high-precision map in each parking lot.
3. the method according to claim 1, wherein described when vehicle is travelled by third party's digital map navigation to pre-
Determine parking lot, the accurately diagram data in the predetermined parking lot is obtained from cloud server, and obtains the parking that user selectes
Before position further include:
Record the parking stall state in the predetermined parking lot in real time, the parking stall state include at least can reserve with it is unavailable.
4. the method according to claim 1, wherein described based on path planning control vehicle driving to choosing
Fixed parking stall further include:
By mobile lidar and look around camera obtain vehicle travel process in barrier, to control in vehicle travel process
Avoiding barrier.
5. the method according to claim 1, wherein described based on path planning control vehicle driving to choosing
Fixed parking stall further include:
The positioning for calling out vehicle point and corresponding vehicle that user selectes is obtained, path rule are carried out based on the positioning for calling out vehicle point position and vehicle
It draws, vehicle driving to selected is controlled according to path planning and calls out vehicle point.
6. a kind of autonomous parking system characterized by comprising
Uploading module, for acquiring the high-precision map in parking lot by data collecting vehicle, and by the high-precision map in parking lot
Data transmission is to cloud server；
Module is obtained, for travelling by third party's digital map navigation to predetermined parking lot when vehicle, obtains institute from cloud server
The accurately diagram data in predetermined parking lot is stated, and obtains the parking stall that user selectes；
Planning module, for the positioning according to current vehicle and selected parking stall in high-precision map, generation is worked as from vehicle
Path planning of the front position to selected parking stall；
Control module, for controlling vehicle driving to selected parking stall based on the path planning.
7. system according to claim 6, which is characterized in that the uploading module further include:
Data acquisition unit, for acquiring the high-precision map NDS data in parking lot and generating the high-precision map in each parking lot.
8. system according to claim 6, which is characterized in that the acquisition module further include:
Parking logging modle, for recording the parking stall state in the predetermined parking lot in real time, the parking stall state includes can
It reserves, is available and unavailable.
9. system according to claim 6, which is characterized in that the control module further include:
Sensing module, for passing through mobile lidar and looking around the barrier in camera acquisition vehicle travel process, with control
Avoiding barrier in vehicle travel process.
10. system according to claim 6, which is characterized in that the control module further include:
Vehicle module is called out, for obtaining the positioning for calling out vehicle point and corresponding vehicle that user selectes, based on calling out vehicle point position and vehicle
Positioning carries out path planning, controls vehicle driving to selected according to path planning and calls out vehicle point.
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| CN111105642A (en) * | 2020-01-10 | 2020-05-05 | 吴立新 | Intelligent parking lot parking management system and parking method |
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| CN112492522A (en) * | 2020-11-10 | 2021-03-12 | 的卢技术有限公司 | Control method for autonomous parking of vehicle |
| CN112634647A (en) * | 2020-12-10 | 2021-04-09 | 深圳集智数字科技有限公司 | Navigation system, method, equipment and medium for providing parking information |
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