CN110562247A - Indoor and outdoor automatic parking/picking system and method thereof - Google Patents
Indoor and outdoor automatic parking/picking system and method thereof Download PDFInfo
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- CN110562247A CN110562247A CN201910831273.3A CN201910831273A CN110562247A CN 110562247 A CN110562247 A CN 110562247A CN 201910831273 A CN201910831273 A CN 201910831273A CN 110562247 A CN110562247 A CN 110562247A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/06—Automatic manoeuvring for parking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/40—Correcting position, velocity or attitude
- G01S19/41—Differential correction, e.g. DGPS [differential GPS]
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
- G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/42—Determining position
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
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- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Navigation (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
Abstract
The invention provides an indoor and outdoor automatic parking/picking system and a method thereof. The indoor and outdoor automatic parking/pickup system comprises a mobile terminal and a vehicle, wherein the mobile terminal is used for acquiring and responding to a parking/pickup command and sending a parking/pickup instruction carrying target position information, the vehicle comprises a control module, and a navigation positioning module and an automatic driving module which are respectively and electrically connected with the control module, and the navigation positioning module acquires real-time position information of the vehicle by adopting a combined positioning technology. The indoor and outdoor automatic parking/picking method comprises the following steps: the method comprises the steps that a vehicle receives a parking/taking command which is sent by a mobile terminal and carries target position information; the control module responds to the parking/vehicle taking instruction, controls the navigation positioning module to plan a navigation path according to the target position information and the real-time position information of the vehicle acquired based on the combined positioning technology, and controls the automatic driving module to automatically drive the vehicle to the target position according to the navigation path so as to finish automatic parking/vehicle taking.
Description
Technical Field
The invention relates to the technical field of automatic driving of automobiles, in particular to an indoor and outdoor automatic parking/picking-up system and a method thereof.
background
with the development of automatic driving technology, more and more automobiles can realize automatic parking by using an automatic parking assist system. However, in the prior art, most of automobiles with an automatic parking function can be realized only by auxiliary operation of a user in the automobile, and only a few automobiles allow the user to remotely park online through a mobile phone or an intelligent key, but are only remotely parked in a short distance, so that the user experience is poor; in addition, whether automatic parking, especially long-distance parking, such as the last kilometer parking, can be successfully completed depends on whether the navigation positioning of the automobile is accurate, while the existing navigation positioning of the automobile mostly adopts GPS navigation, under general conditions, the GPS navigation can meet the navigation positioning requirement of the automobile, but in an environment where a GPS satellite positioning signal is weak, shielded or has no signal, such as an indoor parking lot or an underground parking lot, the GPS navigation positioning will be inaccurate, which may cause the automobile to be unable to successfully complete automatic parking. In addition, most of the automobiles on the market can only park automatically, cannot pick up the automobile automatically, and needs a user to spend time to find the automobile, so that the automobile picking-up efficiency is low.
Disclosure of Invention
In view of the above, the present invention provides an indoor and outdoor automatic parking/picking up system and a method thereof, which allow a user to control a vehicle at any position to realize automatic parking/picking up, are simple and convenient to operate, and can ensure that the vehicle can be accurately navigated and positioned indoors and outdoors to realize remote automatic parking/picking up.
The invention provides an indoor and outdoor automatic parking/picking system, which comprises a mobile terminal and a vehicle, wherein the mobile terminal is used for acquiring a parking/picking command and responding to the parking/picking command to send a parking/picking command carrying target position information; the vehicle comprises a control module, and a navigation positioning module and an automatic driving module which are respectively electrically connected with the control module, wherein the control module responds to a parking/picking-up instruction carrying target position information to control the navigation positioning module to plan a navigation path according to the target position information and real-time position information of the vehicle acquired based on a combined positioning technology after the vehicle receives the parking/picking-up instruction, and controls the automatic driving module to automatically drive the vehicle to a target position according to the navigation path to finish automatic parking/picking-up; wherein the combined positioning technique comprises a UWB positioning technique for the vehicle indoor positioning and a differential positioning technique for the vehicle outdoor positioning; the control module is also used for controlling the positioning technology adopted by the navigation positioning module to correspondingly switch between the UWB positioning technology and the differential positioning technology when the vehicle runs from indoor to outdoor or from outdoor to indoor.
The invention also provides an indoor and outdoor automatic parking/picking method, which is applied to an indoor and outdoor automatic parking/picking system, wherein the indoor and outdoor automatic parking/picking system comprises a mobile terminal and a vehicle, the mobile terminal is used for acquiring and responding to a parking/picking command and sending a parking/picking command carrying target position information, the vehicle comprises a control module, and a navigation positioning module and an automatic driving module which are respectively and electrically connected with the control module, the navigation positioning module acquires real-time position information of the vehicle by adopting a combined positioning technology, the combined positioning technology comprises a UWB positioning technology for indoor positioning of the vehicle and a differential positioning technology for outdoor positioning of the vehicle, and the indoor and outdoor automatic parking/picking method comprises the following steps: the vehicle receives a parking/vehicle taking instruction which is sent by the mobile terminal and carries target position information; the control module responds to the parking/picking-up instruction, controls the navigation positioning module to plan a navigation path according to the target position information and the real-time position information of the vehicle acquired based on the combined positioning technology, and controls the automatic driving module to automatically drive the vehicle to a target position according to the navigation path so as to finish automatic parking/picking-up.
The invention provides an indoor and outdoor automatic parking/picking system and a method thereof.A user can send an automatic parking/picking command through a mobile terminal, and a control module can respond to the parking/picking command after the vehicle receives the parking/picking command and correspondingly control a navigation positioning module and an automatic driving module to carry out accurate navigation and automatic driving so as to realize automatic parking/picking of the vehicle; in addition, the navigation positioning module respectively adopts different positioning technologies when the vehicle is indoors or outdoors, so that high-precision navigation positioning can be realized, and the vehicle can be ensured to smoothly finish automatic parking/taking.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are 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 is a block diagram of an indoor/outdoor automatic parking/picking system according to an embodiment of the present invention.
FIG. 2 is a block diagram of the navigational positioning module of FIG. 1.
Fig. 3 is a flowchart of an indoor and outdoor automatic parking/pickup method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
Referring to fig. 1, an indoor and outdoor automatic parking/pickup system 100 according to an embodiment of the present invention includes a mobile terminal 10, a vehicle 20, and a server 30 communicatively connected to the mobile terminal 10 and the vehicle 20, respectively. Specifically, the mobile terminal 10 includes the first wireless communication module 11, the vehicle 20 includes the second wireless communication module 21, the server 30 includes the cloud server 31, the mobile terminal 10 is connected with the cloud server 31 through the first wireless communication module 11, the vehicle 20 is connected with the cloud server 31 through the second wireless communication module 21, and the cloud server 31 serves as a relay platform for data information transmission between the mobile terminal 10 and the vehicle 20. Specifically, the mobile terminal 10 is configured to obtain a parking/pickup command input by a user, and send a parking/pickup instruction carrying target location information to the cloud server 31 through the first wireless communication module 11 in response to the parking/pickup command, the cloud server 31 sends the parking/pickup instruction to the second wireless communication module 21 after receiving the parking/pickup instruction, and the vehicle 20 receives the parking/pickup instruction carrying the target location information. Further, the vehicle 20 further includes a control module 22, and a navigation positioning module 23 and an automatic driving module 24 respectively electrically connected to the control module 22, where after the vehicle 20 receives a parking/pickup instruction carrying target position information, the control module 22 responds to the parking/pickup instruction to control the navigation positioning module 23 to plan a navigation path according to the target position information and real-time position information of the vehicle 20 obtained based on a combined positioning technology, and controls the automatic driving module 24 to automatically drive the vehicle 20 to the target position according to the navigation path to complete automatic parking/pickup.
Wherein the combined positioning technique comprises a UWB positioning technique for indoor positioning of the vehicle 20 and a differential positioning technique for outdoor positioning of the vehicle 20.
The control module 22 is further configured to control the positioning technology adopted by the navigation positioning module 23 to switch between the UWB positioning technology and the differential positioning technology when the vehicle 20 travels from indoor to outdoor or from outdoor to indoor.
In this embodiment, the mobile terminal 10 is a smart phone with a corresponding APP (application software), and the vehicle 20 is a car with an L2-level automatic driving function or a higher-level automatic driving function.
In other embodiments, the mobile terminal 10 may be a tablet, a PDA, or other wearable smart device with a corresponding APP installed thereon, which is convenient for a user to carry, or a smart key with communication and positioning functions.
In other embodiments, the vehicle 20 may be a passenger vehicle, a commercial vehicle, a school bus, or other vehicle having an L2 level autopilot function or a higher level autopilot function.
It should be noted that, in the prior art, NHTSA (national highway safety administration) and SAE (international automatic engineering society) divide automatic driving into L0-L5, L0 is full manual driving, and there is no auxiliary function and system, whereas L2 is semi-automatic driving, which can implement vehicle operation on multiple functions, such as full speed adaptive cruise, automatic parking, active lane keeping, automatic speed changing, speed limit identification, etc., but a few functions of the vehicle still need to be operated by the driver.
in the invention, a user can send an automatic parking/picking-up command through the mobile terminal 10 and forward the automatic parking/picking-up command to the vehicle 20 through the server 30, the control module 22 can respond to the parking/picking-up command and correspondingly control the navigation positioning module 23 and the automatic driving module 24 to perform accurate navigation and automatic driving so as to realize automatic parking/picking-up of the vehicle 20, and the user can use the mobile terminal 10 to operate conveniently and can perform at any position; in addition, the navigation positioning module 23 can implement high-precision navigation positioning by respectively adopting different positioning technologies when the vehicle 20 is indoors or outdoors, so as to ensure that the vehicle 20 can smoothly complete automatic parking/picking up.
it can be understood that, according to different requirements of the user, the parking/pickup command is a parking command or a pickup command, and correspondingly, the target location information is parking space location information or user location information.
in some embodiments, when the parking/pickup command is a parking command, the target location information is parking space location information, the navigation positioning module 23 plans a parking path according to the parking space location information and real-time location information of the vehicle 20 obtained based on a combined positioning technology, and the automatic driving module 24 automatically drives the vehicle 20 to the target parking space according to the parking path to complete automatic parking.
The target parking space may be a parking space selected by a user, or may be a parking space randomly allocated by the APP according to the parking space usage information of a nearby parking lot.
Specifically, as shown in fig. 1, the server 30 further includes a field server 32 disposed in the parking lot, the field server 32 is in communication connection with the cloud server 31, the field server 32 is configured to transmit the parking space usage information of the parking lot to the cloud server 31, and further transmit the parking space usage information of the parking lot to the first wireless communication module 11 of the mobile terminal 10 through the cloud server 31, so that the parking space usage information of the parking lot can be obtained when the APP is started on the mobile terminal 10.
In some embodiments, after the user drives the car to arrive in or near the parking lot, the APP on the mobile terminal 10 is started to input a parking command, the APP can display an electronic map of the parking lot and prompt the user about available parking spaces after receiving the parking command, and the user can view the prompt to select any available parking space as a target parking space.
in other embodiments, when the user does not select the target parking space, the APP may randomly select any available parking space as the target parking space, or default the nearest available parking space as the target parking space.
Further, after the target parking space is selected, the mobile terminal 10 sends the position information of the target parking space to the cloud server 31, and then the position information is forwarded to the vehicle 20 by the cloud server 31, and the navigation and positioning module 23 plans a parking path according to the position information of the target parking space and the real-time position information of the vehicle 20, so that the automatic driving module 24 automatically drives the vehicle 20 to the target parking space according to the parking path to complete automatic parking.
Preferably, after the vehicle 20 starts to park automatically, regardless of success or failure, the vehicle 20 may send feedback information to the cloud server 31 through the second wireless communication module 21, and the cloud server 31 sends the feedback information to the mobile terminal 10 to remind the user of success or failure of automatic parking. In some special cases, when the automatic parking fails, the user needs to complete the parking through manual operation.
After receiving the feedback information, the mobile terminal 10 may remind the user through the APP or through a short message.
During the automatic parking process, the central control display screen of the vehicle 20 may display the parking trajectory in the navigation map in real time, so that the user can view the real-time parking dynamics. Of course, the APP may also be used to display real-time parking dynamics after the target parking space is selected.
It is understood that when the user drives to arrive in or near the parking lot, the user may first get off and then start the APP on the mobile terminal 10 to command the vehicle 20 to park automatically, that is, the user may not follow the vehicle 20 to a parking location, thereby saving the user time.
Of course, the user may also start the APP while seated in the vehicle to command the vehicle 20 to automatically park and follow the vehicle 20 to a parking location.
In other embodiments, when the parking/pickup command is a pickup command, the target location information is user location information, the navigation and positioning module 23 plans a pickup path according to the user location information and real-time location information of the vehicle 20 obtained based on a combined positioning technology, and the automatic driving module 24 automatically drives the vehicle 20 to the user location according to the pickup path to complete automatic pickup.
Wherein the user location information is determined according to the location information of the mobile terminal 10 carried with the user.
Specifically, when the user carries the mobile terminal 10 outdoors, the position information of the mobile terminal 10 can be obtained through the GPS positioning function of the mobile terminal 10, that is, the position information of the user carrying the mobile terminal 10 outdoors is obtained.
It is understood that when the user carries the mobile terminal 10 indoors, such as in an indoor parking lot or an underground parking lot, the GPS satellite positioning signal is weak and may even be signal-free, and the position information acquired by the mobile terminal 10 through GPS positioning may be inaccurate. In the present invention, in order to ensure indoor high-precision positioning of the mobile terminal 10, the mobile terminal 10 adopts a corresponding indoor positioning technology for positioning.
Specifically, the indoor and outdoor automatic parking/pickup system 100 further includes a plurality of positioning beacons (not shown) disposed indoors, and when the mobile terminal 10 is located indoors, the positioning beacons are used for indoor positioning of the mobile terminal 10 to obtain user position information when the user carrying the mobile terminal 10 is located indoors.
Preferably, in this embodiment, the positioning beacon is a wifi hotspot, and the mobile terminal 10 can calculate accurate indoor position information of the mobile terminal 10, that is, user position information of the user when the user is indoors, by using a wifi positioning algorithm and combining with an indoor electronic map. In this embodiment, wifi hotspots are selected for the positioning beacon, which not only can be used for high-precision positioning of the mobile terminal 10, but also can be used for providing data connection service for the mobile terminal 10, and the user can use the mobile terminal 10 to connect wifi for internet entertainment.
in other embodiments, the positioning beacon may be a bluetooth base station, and the mobile terminal 10 has a bluetooth positioning algorithm, and may also calculate accurate indoor position information of the mobile terminal 10, that is, user position information when the user is indoors, by combining with an indoor electronic map.
It should be noted that, the plurality of positioning beacons are arranged indoors in a zigzag or triangular manner, so that it is ensured that the mobile terminal 10 can communicate with at least three positioning beacons at any position indoors, so as to perform triangulation by using a difference algorithm, and calculate accurate position information of the mobile terminal 10, thereby obtaining user position information when the user is indoors.
Of course, in other embodiments, the signal strength of a plurality of positioning beacons at different indoor locations may be recorded and a "fingerprint" database may be constructed, and then the signal strength values transmitted by the plurality of positioning beacons when the mobile terminal 10 is located at any indoor location are compared with the data in the database, that is, the accurate location information of the mobile terminal 10 is obtained by a "fingerprint" positioning method.
The wifi positioning and the bluetooth positioning are the same as those in the prior art in principle and calculation process, and are not described herein again.
It should be noted that each parking lot corresponds to a specific indoor electronic map, the indoor electronic map may be downloaded in advance and stored in the mobile terminal 10, and the map may be automatically matched after the APP is started; the indoor electronic map can also be stored in the cloud server 31 in advance, and the matched indoor electronic map can be downloaded online after the APP is started.
As mentioned above, satellite positioning signals such as GPS may be attenuated, blocked or even no signal indoors, which may affect navigation positioning of the vehicle, and further affect implementation of automatic parking/picking up the vehicle. In the invention, in order to ensure that the vehicle 20 smoothly completes automatic parking/picking up, when the vehicle 20 is indoors, the navigation positioning module 23 acquires the real-time position information of the vehicle 20 by adopting the UWB positioning technology; when the vehicle 20 is outdoors, the navigation positioning module 23 obtains real-time position information of the vehicle 20 using differential positioning technology.
Specifically, the indoor and outdoor automatic parking/pickup system 100 further includes a plurality of UWB transmitters (not shown) disposed indoors. Referring to fig. 2, the navigation positioning module 23 includes a UWB receiver 231 and a vehicle-mounted satellite receiver 233. The UWB receiver 231 is configured to receive a plurality of UWB positioning signals sent by a plurality of UWB transmitters, so that the navigation positioning module 23 obtains real-time position information of the vehicle 20 indoors by using a UWB positioning technology; the on-board satellite receiver 233 is configured to receive the satellite positioning signal and the differential correction data sent by the ground reference station, so that the navigation and positioning module 23 obtains the real-time position information of the vehicle 20 outdoors by using the differential positioning technology.
when the plurality of UWB transmitters are also arranged indoors in a zigzag or triangular manner to ensure that the vehicle 20 is located at any position indoors, the UWB receiver 231 of the vehicle 20 may receive UWB positioning signals transmitted by at least three UWB transmitters at the same Time, so as to calculate the position information of the UWB receiver 231 by using a TDOA (Time Difference of Arrival) algorithm, thereby obtaining the position information of the vehicle 20 when located indoors.
Preferably, in the present embodiment, the distance between two adjacent UWB transmitters is not more than 15 meters, so as to ensure the positioning accuracy of the vehicle 20.
Wherein each UWB transmitter is connected to an indoor field-side server 32 through an optical fiber. The field end server 32 can determine the position information of all cars in the parking lot according to the communication conditions of the plurality of UWB transmitters and the UWB receivers 231 of all cars in the parking lot, and further determine the parking space usage information of the parking lot, and the field end server 32 can transmit the parking space usage information to the mobile terminal 10, so that the user to be parked can select an available parking space through the APP on the mobile terminal 10.
Further, the control module 22 is further configured to determine that the vehicle 20 is located indoors or outdoors according to the signal strength and the receiving quality of the UWB positioning signal and the satellite positioning signal respectively received by the UWB receiver 231 and the on-board satellite receiver 233, and when it is determined that the vehicle 20 is located indoors, the navigation positioning module 23 employs a UWB positioning technology according to the UWB positioning signal received by the UWB receiver 231 to obtain real-time position information of the vehicle 20, or when it is determined that the vehicle 20 is located outdoors, the navigation positioning module 23 employs a differential positioning technology according to the satellite positioning signal received by the on-board satellite receiver 233 and differential correction data sent by the ground reference station to obtain real-time position information of the vehicle 20 outdoors, so as to control the navigation positioning module 23 to employ different positioning technologies respectively when the vehicle 20 is located indoors or outdoors to achieve high-precision navigation positioning, thereby ensuring that the vehicle 20 successfully completes the automatic parking/pickup.
Wherein the ground reference station may be an existing CORS reference station. The GPS position fix is computed by advanced equipment and advanced algorithms for data errors due to space atmosphere transmissions and the differential correction data is passed to the on-board satellite receiver 233 in the form of a broadcast.
The control module 22 is further configured to determine that the vehicle 20 travels from indoor to outdoor or from outdoor to indoor when the signal strengths of the UWB positioning signal and the satellite positioning signal are in opposite trend changes, and control the positioning technology adopted by the navigation positioning module 23 to perform corresponding switching between the UWB positioning technology and the differential positioning technology when it is determined that the vehicle 20 travels from indoor to outdoor or from outdoor to indoor.
Specifically, in some long-distance automatic parking/picking scenarios, when the vehicle 20 travels from indoor to outdoor, the UWB positioning signal is gradually weakened, the satellite positioning signal is gradually strengthened, the control module 22 determines that the vehicle 20 travels from indoor to outdoor, and the control module 22 controls the positioning technology adopted by the navigation positioning module 23 to be switched from the UWB positioning technology to the differential positioning technology; when the vehicle 20 travels from the outdoor to the indoor, the UWB positioning signal is gradually enhanced, the satellite positioning signal is gradually weakened, the control module 22 determines that the vehicle 20 travels from the outdoor to the indoor, and the control module 22 controls the positioning technology adopted by the navigation positioning module 23 to be switched from the differential positioning technology to the UWB positioning technology.
Further preferably, in this embodiment, the vehicle 20 further includes an inertial navigation module 25 for inertial navigation positioning, and the inertial navigation module 25 is configured to calculate real-time position information of the vehicle 20 by measuring acceleration, angular velocity, and geomagnetic information of the vehicle 20 when the UWB positioning signal or the satellite positioning signal is attenuated or blocked, so as to avoid inaccurate positioning of the vehicle 20 or occurrence of a positioning breakpoint.
The inertial navigation module 25 comprises an acceleration sensor, a gyroscope and a magnetometer, the inertial navigation module 25 is electrically connected to the control module 22, and the control module 22 can transmit the real-time position information of the vehicle 20 obtained by resolving by the inertial navigation module 25 to the navigation positioning module 23, so that the navigation positioning module 23 performs inertial navigation positioning when the UWB positioning signal or the satellite positioning signal is attenuated or shielded.
As described above, in the present invention, when the vehicle 20 is indoors, the navigation positioning module 23 obtains the real-time position information of the vehicle 20 by using the UWB positioning technology; when the vehicle 20 is located outdoors, the navigation positioning module 21 obtains real-time position information of the vehicle 20 by using a differential positioning technology; the navigation positioning module 23 can implement high-precision navigation positioning by respectively adopting corresponding high-precision positioning technologies when the vehicle 20 is indoors or outdoors. In addition, the vehicle 20 can also perform inertial navigation positioning through the inertial navigation positioning module 25, so as to avoid the phenomenon that the vehicle 20 is inaccurate in positioning or has a positioning breakpoint when the UWB positioning signal or the satellite positioning signal is attenuated or shielded, so that the vehicle 20 can always realize high-precision navigation positioning, and thus, after receiving an automatic parking/picking-up instruction of a user, the vehicle 20 can smoothly complete automatic parking/picking-up on the basis of the high-precision navigation positioning.
Referring to fig. 3, fig. 3 is a flowchart illustrating an indoor and outdoor automatic parking/pickup method according to an embodiment of the present invention. The indoor and outdoor automatic parking/pickup method can be applied to the indoor and outdoor automatic parking/pickup system 100, the indoor and outdoor automatic parking/pickup system 100 includes a mobile terminal 10 and a vehicle 20, the mobile terminal 10 is configured to obtain and respond to a parking/pickup command to send a parking/pickup instruction carrying target position information, the vehicle 20 includes a control module 22, and a navigation positioning module 23 and an automatic driving module 24 respectively electrically connected to the control module 22, the navigation positioning module 23 acquires real-time position information of the vehicle 20 by using a combined positioning technology, wherein the combined positioning technology includes a UWB positioning technology for indoor positioning of the vehicle 20 and a differential positioning technology for outdoor positioning of the vehicle 20. Specifically, as shown in fig. 3, the indoor and outdoor automatic parking/pickup method includes the steps of:
the vehicle 20 receives the parking/pickup instruction carrying the target location information transmitted by the mobile terminal 10 (S31).
The control module 22 responds to the parking/pickup instruction, controls the navigation positioning module 23 to plan a navigation path according to the target position information and the real-time position information of the vehicle 20 acquired based on the combined positioning technology, and controls the automatic driving module 24 to automatically drive the vehicle 20 to the target position according to the navigation path to complete automatic parking/pickup (S32).
It can be understood that, when a user needs to park, the parking/fetching command is a parking command, and the target position information is parking space position information; correspondingly, when the user needs to pick up the vehicle, the parking/vehicle-picking command is a vehicle-picking command, and the target position information is the user position information.
Specifically, in some embodiments, when the parking/pickup command is a parking command, the target location information is parking space location information, the navigation and positioning module 23 plans a parking path according to the parking space location information and real-time location information of the vehicle 20 obtained based on the combined positioning technology, and the automatic driving module 24 automatically drives the vehicle 20 to the target parking space according to the parking path to complete automatic parking;
In other embodiments, when the parking/pickup command is a pickup command, the target location information is user location information, the navigation and positioning module 23 plans a pickup path according to the user location information and real-time location information of the vehicle 20 obtained based on the combined positioning technology, and the automatic driving module 24 automatically drives the vehicle 20 to the user location according to the pickup path to complete automatic pickup.
The target parking space may be a parking space selected by a user, or may be a parking space randomly allocated by the APP on the mobile terminal 10 according to the parking space usage information of a nearby parking lot; the user location information is determined according to the location information of the mobile terminal 10 carried by the user, and more specific description may refer to the related contents of the indoor and outdoor automatic parking/pickup system 100, which are not described herein again.
Further, the indoor and outdoor automatic parking/picking system 100 further includes a plurality of UWB transmitters disposed indoors, and the navigation and positioning module 23 includes a UWB receiver 231 and a vehicle-mounted satellite receiver 233; the UWB receiver 231 is configured to receive a plurality of UWB positioning signals sent by a plurality of UWB transmitters, so that the navigation positioning module 23 acquires real-time position information of the vehicle 20 indoors by using UWB positioning technology; the on-board satellite receiver 233 is configured to receive the satellite positioning signal and the differential correction data sent by the ground reference station, so that the navigation and positioning module 23 can obtain the real-time position information of the vehicle 20 outdoors by using the differential positioning technology. The control module 22 determines whether the vehicle 20 is located indoors or outdoors according to the signal strength and the reception quality of the UWB positioning signal and the satellite positioning signal respectively received by the UWB receiver 231 and the on-board satellite receiver 233.
It can be understood that when the vehicle 20 is located outdoors, the satellite positioning signal has high signal strength and good reception quality; when the vehicle 20 is indoors, the satellite positioning signal has weak signal strength or even no signal and poor receiving quality due to the building obstruction. On the contrary, since the UWB transmitter is disposed indoors, when the vehicle 20 is indoors, the UWB positioning signal has high signal strength and good reception quality; when the vehicle 20 is located outdoors, the signal strength of the UWB positioning signal is zero, and only in the indoor and outdoor transition areas adjacent to the UWB transmitter, there will be some weak UWB positioning signals, and the reception quality is poor.
Therefore, in order to ensure that the navigation positioning module 23 is accurately positioned, the indoor and outdoor automatic parking/picking method further comprises the following steps:
When it is determined that the vehicle 20 is indoors, the control navigation positioning module 23 adopts the UWB positioning technology to acquire real-time position information of the vehicle 20 according to the UWB positioning signal received by the UWB receiver 231.
And, when it is determined that the vehicle 20 is located outdoors, controlling the navigation positioning module 23 to employ the differential positioning technology to acquire real-time position information of the vehicle 20 according to the satellite positioning signal and the differential correction data received by the on-board satellite receiver 233.
It will be appreciated that in some remote auto park/pick-up scenarios, the vehicle 20 will travel from indoor to outdoor or from outdoor to indoor, and the signal strength of the UWB positioning signal and the satellite positioning signal will have opposite trends.
Further, the control module 22 is further configured to determine that the vehicle 20 travels from indoor to outdoor or from outdoor to indoor when the signal strengths of the UWB positioning signal and the satellite positioning signal have opposite trends, and the indoor and outdoor automatic parking/picking up method further includes:
When it is determined that the vehicle 20 is traveling from indoors to outdoors, the positioning technology employed by the navigation positioning module 23 is controlled to be switched from the UWB positioning technology to the differential positioning technology.
and when it is determined that the vehicle 20 travels from the outdoor to the indoor, controlling the positioning technology adopted by the navigation positioning module 23 to switch from the differential positioning technology to the UWB positioning technology.
In the invention, different positioning technologies are respectively adopted by controlling the navigation positioning module 23 when the vehicle 20 is indoors or outdoors, so as to realize high-precision navigation positioning. On the basis of high-precision navigation and positioning, after a user issues an automatic parking/picking-up command through the mobile terminal 10, the vehicle 20 can respond to the automatic parking/picking-up command and smoothly complete the automatic parking/picking-up.
The method steps executed by the indoor and outdoor automatic parking/picking up method of the present invention correspond to the functions executed by the indoor and outdoor automatic parking/picking up system 100, and more specific description can refer to the relevant contents of the indoor and outdoor automatic parking/picking up system 100.
the foregoing is illustrative of embodiments of the present invention, and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the embodiments of the present invention and are intended to be within the scope of the present invention.
Claims (10)
1. An indoor and outdoor automatic parking/pickup system, comprising:
The mobile terminal is used for acquiring a parking/picking-up command and responding to the parking/picking-up command to send a parking/picking-up command carrying target position information;
The vehicle comprises a control module, and a navigation positioning module and an automatic driving module which are respectively and electrically connected with the control module; after the vehicle receives the parking/picking-up instruction carrying the target position information, the control module responds to the parking/picking-up instruction to control the navigation positioning module to plan a navigation path according to the target position information and the real-time position information of the vehicle acquired based on the combined positioning technology, and controls the automatic driving module to automatically drive the vehicle to a target position according to the navigation path so as to finish automatic parking/picking-up;
wherein the combined positioning technique comprises a UWB positioning technique for the vehicle indoor positioning and a differential positioning technique for the vehicle outdoor positioning; the control module is also used for controlling the positioning technology adopted by the navigation positioning module to correspondingly switch between the UWB positioning technology and the differential positioning technology when the vehicle runs from indoor to outdoor or from outdoor to indoor.
2. The indoor and outdoor automatic parking/pickup system according to claim 1, wherein the parking/pickup command is a parking command or a pickup command, and the target position information is parking space position information or user position information;
When the parking/getting-out command is a parking command, the target position information is parking space position information, the navigation positioning module plans a parking path according to the parking space position information and the real-time position information of the vehicle obtained based on the combined positioning technology, and the automatic driving module automatically drives the vehicle to the target parking space according to the parking path to finish automatic parking;
When the parking/pickup command is a pickup command, the target position information is user position information, the navigation positioning module plans a pickup path according to the user position information and the real-time position information of the vehicle acquired based on the combined positioning technology, and the automatic driving module automatically drives the vehicle to the user position according to the pickup path to finish automatic pickup.
3. The indoor and outdoor automatic parking/pickup system according to claim 2, further comprising a plurality of positioning beacons disposed indoors, wherein when the mobile terminal is indoors, the plurality of positioning beacons are used for indoor positioning of the mobile terminal to obtain user position information when a user carrying the mobile terminal is indoors; the positioning beacon is a wifi hotspot or a Bluetooth base station.
4. The indoor and outdoor automatic parking/pickup system according to claim 1, wherein said indoor and outdoor automatic parking/pickup system further comprises a plurality of UWB transmitters disposed indoors, and said navigation positioning module comprises a UWB receiver and a vehicle-mounted satellite receiver; the UWB receiver is used for receiving a plurality of UWB positioning signals sent by a plurality of UWB transmitters, so that the navigation positioning module acquires the real-time position information of the vehicle indoors by adopting the UWB positioning technology; the vehicle-mounted satellite receiver is used for receiving satellite positioning signals and differential correction data sent by a ground reference station, so that the navigation positioning module acquires real-time position information of the vehicle outdoors by adopting the differential positioning technology.
5. The indoor and outdoor automatic parking/pickup system according to claim 4, wherein the control module determines whether the vehicle is indoors or outdoors according to the signal strength and the reception quality of the UWB positioning signal and the satellite positioning signal respectively received by the UWB receiver and the vehicle-mounted satellite receiver, and controls the navigation positioning module to adopt the UWB positioning technology according to the UWB positioning signal received by the UWB receiver to acquire real-time position information of the vehicle indoors when determining that the vehicle is indoors, or controls the navigation positioning module to adopt the differential positioning technology according to the satellite positioning signal and the differential correction data received by the vehicle-mounted satellite receiver to acquire real-time position information of the vehicle outdoors when determining that the vehicle is outdoors.
6. The indoor and outdoor automatic parking/picking up system as claimed in claim 5, wherein the control module is further configured to determine whether the vehicle is driven from indoor to outdoor or from outdoor to indoor when the signal strengths of the UWB positioning signal and the satellite positioning signal are in opposite trend changes.
7. the indoor and outdoor automatic parking/pickup system according to claim 1, further comprising a server, wherein the server is in communication connection with the mobile terminal and the vehicle, respectively, for data information transfer between the mobile terminal and the vehicle.
8. An indoor and outdoor automatic parking/picking up method is applied to an indoor and outdoor automatic parking/picking up system, the indoor and outdoor automatic parking/picking up system comprises a mobile terminal and a vehicle, the mobile terminal is used for obtaining and responding to a parking/picking up command and sending a parking/picking up command carrying target position information, the vehicle comprises a control module, a navigation positioning module and an automatic driving module, the navigation positioning module is respectively and electrically connected with the control module, the navigation positioning module adopts a combined positioning technology to obtain real-time position information of the vehicle, the combined positioning technology comprises a UWB positioning technology used for indoor positioning of the vehicle and a differential positioning technology used for outdoor positioning of the vehicle, and the indoor and outdoor automatic parking/picking up method is characterized by comprising the following steps:
The vehicle receives a parking/vehicle taking instruction which is sent by the mobile terminal and carries target position information;
The control module responds to the parking/picking-up instruction, controls the navigation positioning module to plan a navigation path according to the target position information and the real-time position information of the vehicle acquired based on the combined positioning technology, and controls the automatic driving module to automatically drive the vehicle to a target position according to the navigation path so as to finish automatic parking/picking-up.
9. The indoor and outdoor automatic parking/pickup method according to claim 8 wherein said indoor and outdoor automatic parking/pickup system further comprises a plurality of UWB transmitters disposed indoors, said navigational positioning module comprising a UWB receiver and a vehicle-mounted satellite receiver; the UWB receiver is used for receiving a plurality of UWB positioning signals sent by a plurality of UWB transmitters, so that the navigation positioning module acquires the real-time position information of the vehicle indoors by adopting the UWB positioning technology; the vehicle-mounted satellite receiver is used for receiving satellite positioning signals and differential correction data sent by a ground reference station, so that the navigation positioning module acquires real-time position information of the vehicle outdoors by adopting the differential positioning technology; the control module determines that the vehicle is indoors or outdoors according to the signal strength and the receiving quality of the UWB positioning signal and the satellite positioning signal respectively received by the UWB receiver and the vehicle-mounted satellite receiver, and the indoor and outdoor automatic parking/picking method further comprises the following steps:
When the vehicle is determined to be indoors, controlling the navigation positioning module to adopt the UWB positioning technology to acquire real-time position information of the vehicle according to the UWB positioning signals received by the UWB receiver;
And when the vehicle is determined to be outdoors, controlling the navigation positioning module to adopt the differential positioning technology according to the satellite positioning signals and the differential correction data received by the vehicle-mounted satellite receiver so as to acquire the real-time position information of the vehicle outdoors.
10. the indoor and outdoor automatic parking/pickup method according to claim 9, wherein the control module is further configured to determine that the vehicle is traveling from indoor to outdoor or from outdoor to indoor when the UWB positioning signal and the satellite positioning signal have opposite trend changes in signal strength, and the indoor and outdoor automatic parking/pickup method further comprises:
When the vehicle is determined to run from indoor to outdoor, controlling the positioning technology adopted by the navigation positioning module to be switched from the UWB positioning technology to the differential positioning technology;
and when the vehicle is determined to run from the outdoor to the indoor, controlling the positioning technology adopted by the navigation positioning module to be switched from the differential positioning technology to the UWB positioning technology.
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