CN110789518B

CN110789518B - Parking control method, parking server, vehicle controller and vehicle

Info

Publication number: CN110789518B
Application number: CN201810861959.2A
Authority: CN
Inventors: 李海泉; 郝佳男
Original assignee: Beijing Tusimple Technology Co Ltd
Current assignee: Beijing Tusimple Technology Co Ltd
Priority date: 2018-08-01
Filing date: 2018-08-01
Publication date: 2021-06-01
Anticipated expiration: 2038-08-01
Also published as: CN110789518A

Abstract

The embodiment of the invention provides a parking control method, a parking server, a vehicle controller and a vehicle. The parking control method comprises the following steps: the parking server acquires point cloud data of a preset monitoring area obtained by scanning of a laser radar; the parking server calculates the distance from the vehicle running in the preset monitoring area to a target parking line according to the point cloud data; the parking server sends a message containing the distance; and the vehicle controller receives the message and controls the vehicle to adjust the speed of the vehicle according to the distance until the vehicle stops. The invention can control the vehicle to reduce the speed step by step according to the distance from the target stop line by means of the accurate distance measurement capability and the rapid processing speed of the laser radar, realizes accurate, stable and one-time accurate parking, automatically finishes the whole parking process, does not need manual command, and is suitable for the field of unmanned vehicles.

Description

Parking control method, parking server, vehicle controller and vehicle

Technical Field

The embodiment of the invention relates to the technical field of intelligent transportation, in particular to a parking control method, a parking server, a vehicle controller and a vehicle.

Background

This section is intended to provide a background or context to the embodiments of the invention that are recited in the claims. The description herein is not admitted to be prior art by inclusion in this section.

At present, most of common vehicle parking modes are that vehicles and parking spaces are positioned through vehicle-mounted positioning equipment or vehicle-mounted cameras, and the like, and the mode has the defects of large error, low speed and the like, and is particularly not suitable for accurate parking of large-sized trucks.

The shore crane is the main handling equipment used between the container ship and the wharf, and the handling efficiency of the shore crane directly affects the freight capacity of the port. The high-efficiency shore crane loading and unloading operation puts higher requirements on the parking speed and the accuracy of the truck, and the truck needs to be quickly and accurately parked at a target parking line under the shore crane.

Disclosure of Invention

In the process of implementing the invention, the inventor finds that:

the current process of driving a truck under a shore crane and stopping at a target stop line is roughly as follows: the method comprises the steps that a truck runs in a lane below a bank crane at a certain speed, a vehicle-mounted positioning device on the truck positions the truck in real time in the running process, the distance from the truck to a target stop line is calculated by means of a port area electronic map, the distance is gradually reduced along with the running of the truck, the speed of the truck is gradually reduced along with the reduction of the distance, and when the distance approaches to 0 (is reduced to a certain threshold value), the truck brakes and stops. However, in practical situations, the truck often cannot be accurately stopped on the target parking line at one time after being braked, and the truck needs to be manually guided to move back and forth to be accurately stopped on the target parking line, so that the loading and unloading efficiency of the shore crane is affected.

In port shore-mounted operation, a truck often cannot accurately stop at a target stop line once after being braked, and the reasons for the phenomenon are as follows: 1. the port electronic map has high accuracy (within 3 cm) in the vertical direction of the lane and low accuracy (about 10 cm) in the extending direction of the lane, because in the process of drawing the port electronic map, a reference object such as a lane boundary is easy to find in the vertical direction of the lane, and the reference object is difficult to find in the extending direction of the lane; 2. the vehicle-mounted positioning equipment on the truck generally comprises a GPS positioning device, a camera and the like, in the vertical direction of a lane, relatively accurate relative position data relative to a reference object (such as a lane edge) can be obtained by the camera or a laser radar, in the extending direction of the lane, the reference object is difficult to find, so absolute positioning data can be obtained only by the GPS positioning device, and the GPS technology has certain errors, so the obtained absolute positioning data is not accurate enough; 3. based on the two items, when the distance from the truck to the target stop line is calculated by utilizing the vehicle-mounted positioning equipment and the port area electronic map, the calculation result has larger deviation with the real distance from the truck to the target stop line, so that the truck is gradually decelerated according to the calculation result until errors exist in the process of braking, and the truck is difficult to accurately stop on the target stop line after braking.

The laser radar is a radar system which emits laser beams to detect characteristic quantities such as the position, the speed and the like of a target, and the working principle of the radar system is to emit the laser beams to a target object and then compare optical signals reflected by the target object with the emitted laser beams so as to obtain related information of the target object, such as the distance, the direction, the height, the speed, the posture, even the shape and other parameters of the target object. The laser radar has very accurate ranging capability and high processing speed, and the parking with high precision and high speed can be realized by means of the laser radar.

In this context, embodiments of the present invention are intended to provide a parking control method, a parking server, a vehicle controller.

In a first aspect of embodiments of the present invention, there is provided a parking control method including:

the parking server acquires point cloud data of a preset monitoring area obtained by scanning of a laser radar;

the parking server calculates the distance from the vehicle running in the preset monitoring area to a target parking line according to the point cloud data;

the parking server sends a message containing the distance from the running vehicle to a target parking line;

and the vehicle controller receives the message and controls the running vehicle to adjust the speed of the vehicle until the vehicle stops according to the distance contained in the message.

In a second aspect of an embodiment of the present invention, there is provided a parking control method applied to a parking server, including:

acquiring point cloud data of a preset monitoring area obtained by scanning of a laser radar;

calculating the distance from a vehicle running in the preset monitoring area to a target stop line according to the point cloud data;

and sending a message containing the distance from the running vehicle to a target stop line, so that a vehicle controller controls the running vehicle to adjust the vehicle speed until the running vehicle stops according to the distance contained in the message.

In a third aspect of embodiments of the present invention, there is provided a parking control method applied to a vehicle controller, including:

receiving a message containing a distance of a traveling vehicle to a target stop line; the distance from the running vehicle to a target stop line is calculated according to point cloud data of a preset monitoring area obtained by scanning of a laser radar;

and controlling the running vehicle to adjust the speed of the running vehicle according to the distance contained in the message until the running vehicle stops.

In a fourth aspect of the embodiments of the present invention, there is provided a parking server, comprising a processor, a memory and a computer program stored on the memory and executable on the processor, wherein the processor executes the parking control method applied to the parking server when executing the computer program.

In a fifth aspect of the embodiments of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, characterized in that the computer program, when executed by a processor, implements the above-described parking control method applied to a parking server.

In a sixth aspect of an embodiment of the present invention, there is provided a vehicle controller comprising a processor, a memory and a computer program stored on the memory and operable on the processor, wherein the processor executes the above parking control method applied to the vehicle controller when executing the computer program.

In a seventh aspect of embodiments of the present invention, there is provided a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the parking control method applied to a vehicle controller described above.

In an eighth aspect of the embodiment of the present invention, there is provided a vehicle including: a vehicle controller as described above.

According to the parking control method provided by the embodiment of the invention, by means of the accurate distance measurement capability and the rapid processing speed of the laser radar, the vehicle can be controlled to reduce the speed step by step according to the distance from the target parking line, so that accurate, stable and one-time accurate parking is realized, the whole parking process is automatically finished without manual command, and the method is suitable for the field of unmanned vehicles.

Drawings

The above and other objects, features and advantages of exemplary embodiments of the present invention will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the invention are illustrated by way of example, and not by way of limitation, in the figures of the accompanying drawings and in which:

fig. 1 schematically shows a flow of a parking control method according to an embodiment of the present invention;

FIG. 2 schematically illustrates a process for calculating a vehicle headwall to target park line distance according to another embodiment of the present invention;

FIG. 3 schematically illustrates a flow chart for use in a vehicle cargo handling operation according to yet another embodiment of the present invention;

FIG. 4 schematically illustrates a scenario applied to a shore crane loading and unloading operation according to yet another embodiment of the present invention;

FIG. 5 schematically illustrates a scenario applied to a shore crane loading area, in accordance with yet another embodiment of the present invention;

fig. 6 schematically illustrates a parking control method applied to a parking server side according to still another embodiment of the present invention;

fig. 7 schematically shows a parking control method applied to a controller side of a vehicle according to still another embodiment of the present invention;

in the drawings, the same or corresponding reference numerals indicate the same or corresponding parts.

Detailed Description

The principles and spirit of the present invention will be described with reference to a number of exemplary embodiments. It is understood that these embodiments are given solely for the purpose of enabling those skilled in the art to better understand and to practice the invention, and are not intended to limit the scope of the invention in any way. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

As will be appreciated by one skilled in the art, embodiments of the present invention may be embodied as a system, apparatus, device, method, or computer program product. Accordingly, the present disclosure may be embodied in the form of: entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or a combination of hardware and software.

According to an embodiment of the invention, a parking control method, a parking server, a vehicle controller and a vehicle are provided.

In this document, it is to be understood that any number of elements in the figures are provided by way of illustration and not limitation, and any nomenclature is used for differentiation only and not in any limiting sense.

The principles and spirit of the present invention are explained in detail below with reference to several representative embodiments of the invention.

Summary of The Invention

The inventor finds that the conventional mode for parking the vehicle through vehicle-mounted positioning equipment or a vehicle-mounted camera has the defects of large error, low speed and the like. The laser radar has very accurate distance measuring capability and high processing speed, and by means of the performance of the laser radar, the vehicle can change the running speed at high precision and high speed, so that accurate parking is realized.

Therefore, the invention provides a parking control method, which comprises the following steps:

Based on the parking control method, the laser radar is used for scanning the preset monitoring area to obtain the point cloud data, the distance between the vehicle running in the preset monitoring area and the target parking line is calculated according to the point cloud data, and then the running speed of the vehicle is adjusted according to the distance until the vehicle stops. By means of the laser radar, the invention can realize rapid and accurate parking.

Having described the general principles of the invention, various non-limiting embodiments of the invention are described in detail below.

Exemplary method

As shown in fig. 1, the present invention provides a parking control method, including:

and step S1, the parking server acquires the point cloud data of the preset monitoring area obtained by scanning the laser radar.

Step S2, the parking server calculates the distance from the vehicle running in the preset monitoring area to the target parking line according to the point cloud data;

step S3, the parking server sends a message containing the distance from the traveling vehicle to the target stop line;

and step S4, the vehicle controller receives the message and controls the running vehicle to adjust the speed of the vehicle until the vehicle stops according to the distance contained in the message.

In the present invention, the point cloud data may be in a three-dimensional coordinate format such as (x, y, z), where x and y are position coordinates of the scan object in the coordinate system of the lidar, and z is a depth value of the scan object, i.e., a distance between the scan object and the lidar.

The preset monitoring area is an area which is estimated to be possible to pass by before the vehicle stops to the target stop line, in the specific implementation, the absolute geographic position of the preset monitoring area can be determined in advance, the parking server can calculate the corresponding position coordinates of the preset monitoring area in a coordinate system of the laser radar according to the absolute geographic position of the preset monitoring area, and the position coordinates and the corresponding depth values are point cloud data corresponding to the preset monitoring area.

As shown in fig. 2, step S2 can be implemented as follows:

and step S21, the parking server determines whether a vehicle runs in the preset monitoring area according to the point cloud data.

Optionally, the point cloud data when no vehicle exists in the predetermined monitoring area may be used as reference data, once it is determined that the point cloud data obtained in real time is different from the reference data, it may be further determined whether the vehicle head shape can be fitted according to the point cloud data, and if so, it is determined that a vehicle is driven in the predetermined monitoring area.

And step S22, if a vehicle runs, finding out the point cloud data corresponding to the head facade of the running vehicle from the point cloud data.

Optionally, the position of the vehicle head can be found according to the fitted vehicle head shape, and the point cloud data corresponding to the external facade of the vehicle head can be found.

And step S23, calculating the distance from the vehicle head outer vertical surface to a target stop line according to the point cloud data corresponding to the vehicle head outer vertical surface, the position of the laser radar and the position of the target stop line.

Optionally, the position of the laser radar may be determined according to the installation position of the laser radar, the position of the target stop line is predetermined, and the point cloud data corresponding to the vehicle head facade includes the position of the vehicle head facade in the coordinate system of the laser radar and the distance (depth value) between the vehicle head facade and the laser radar. Based on the data, the absolute geographical position of the vehicle head outer vertical surface can be calculated firstly, then the distance between the absolute geographical position of the vehicle head outer vertical surface and the absolute geographical position of the target stop line is calculated, and the position of the target stop line in a coordinate system of the laser radar can be calculated firstly, and then the distance between the vehicle head outer vertical surface and the target stop line is calculated in the coordinate system of the laser radar.

Alternatively, in one embodiment, step S23 may be implemented as follows: calculating the absolute geographical position of the vehicle head outer vertical surface according to the point cloud data corresponding to the vehicle head outer vertical surface and the absolute geographical position of the laser radar; and calculating the distance from the vehicle head outer vertical surface to the target stop line according to the absolute geographical position of the vehicle head outer vertical surface and the absolute geographical position of the target stop line.

Optionally, in another embodiment, step S23 may also be implemented as follows: calculating the relative geographic position of the target stop line relative to the laser radar according to the absolute geographic position of the target stop line and the absolute geographic position of the laser radar; and calculating the distance from the vehicle head outer vertical surface to the target stop line according to the relative geographic position of the target stop line relative to the laser radar and the point cloud data corresponding to the vehicle head outer vertical surface.

In the present invention, the parking server and the vehicle controller may transmit and receive messages through wireless communication methods such as WIFI, V2X, and a base station, which are not strictly limited in the present invention. In consideration of the stability of the signal, optionally, messages are transmitted and received between the parking server and the vehicle controller through the V2X technology.

Alternatively, the parking server may be installed in a parking space, a parking garage or a central control room for managing the parking space/parking garage, which is not strictly limited by the present invention.

Alternatively, the vehicle may be a conventional automobile driven by a human (e.g., a family car, a truck, a fire truck, an ambulance, etc.) or an unmanned automobile, which is not strictly limited in the present invention.

Alternatively, the vehicle controller is mounted on the vehicle as an in-vehicle apparatus.

A parking control method according to an exemplary embodiment of the present invention is described below with reference to fig. 3. It should be noted that the above application scenarios are merely illustrated for the convenience of understanding the spirit and principles of the present invention, and the embodiments of the present invention are not limited in this respect. Rather, embodiments of the present invention may be applied to any scenario where applicable.

The parking control method provided by the invention can be applied to the field of cargo handling operation of vehicles with parallel lanes, such as container lifting operation of a port shore crane to a truck, cargo handling operation of a forklift or a mechanical arm in a freight warehouse to the truck, and the like. However, it should be noted that the parking control method provided by the present invention can be applied not only to the field of cargo handling operations for vehicles with parallel lanes, but also to other fields with non-parallel lanes, such as parking garages or cargo transportation yards.

As shown in fig. 3, the present invention provides a parking control method for a vehicle cargo handling operation, comprising the steps of:

and S100, the parking server acquires point cloud data of a preset monitoring area obtained by scanning the laser radar.

The target stop line is the position of the outer vertical surface of the vehicle head on the lane when the vehicle with the standard vehicle head length loads and unloads goods; the preset monitoring area is an area which is defined by taking the outermost side line, the starting line and the finishing line of one or more parallel lanes as boundaries; wherein the finishing line is a straight line on which a target stop line is located; the starting line and the finishing line are parallel and have a preset distance, and the starting line and the finishing line are successively positioned in the driving direction of the vehicle.

In particular, the lidar may be mounted at a vehicle cargo handling site, for example, on handling equipment at the site, on a wall, or on site with means for attaching the lidar. The installation position of the laser radar is not specifically limited, and the laser radar can be installed at a proper position according to actual conditions.

And step S200, the parking server calculates the distance from the vehicle running on one or more parallel lanes in the preset monitoring area to a target parking line according to the point cloud data.

Alternatively, this step may be implemented as follows: the parking server determines whether a vehicle runs in the preset monitoring area according to the point cloud data; if a running vehicle exists, finding out point cloud data corresponding to the head facade of the running vehicle from the point cloud data; and calculating the distance from the vehicle head outer vertical surface to a target stop line according to the point cloud data corresponding to the vehicle head outer vertical surface, the position of the laser radar and the position of the target stop line.

In one embodiment, the absolute geographic position of the vehicle head outer vertical surface is calculated according to the point cloud data corresponding to the vehicle head outer vertical surface and the absolute geographic position of the laser radar; and calculating the distance from the vehicle head outer vertical surface to the target stop line according to the absolute geographical position of the vehicle head outer vertical surface and the absolute geographical position of the target stop line.

In another embodiment, the relative geographic position of the target stop line with respect to the lidar is calculated according to the absolute geographic position of the target stop line and the absolute geographic position of the lidar; and calculating the distance from the vehicle head outer vertical surface to the target stop line according to the relative geographic position of the target stop line relative to the laser radar and the point cloud data corresponding to the vehicle head outer vertical surface.

And step S300, the parking server determines the mark of the lane where the running vehicle is located according to the point cloud data.

In specific implementation, each lane and the laser radar have a fixed relative position relationship, and the relative position relationship is known, based on the known and fixed relative position relationship, the relative position relationship between the vehicle and the laser radar can be calculated according to the point cloud data, and then the relative position relationship is compared with the known and fixed relative position relationship, so that the lane where the vehicle is located can be determined, and the identification of the vehicle can be further determined.

Alternatively, step S300 may be implemented as follows:

the parking server determines the distance between the running vehicle and the laser radar in the vertical direction of the lane according to the point cloud data, and compares the distance with known second distance intervals corresponding to all lanes; the second distance interval corresponding to the lane is an interval formed by two side lines of the lane and the vertical distance of the laser radar; and when the distance is between the second distance intervals corresponding to one lane, determining the mark of the lane as the mark of the lane where the running vehicle is located. Table 1 shows an example of the correspondence relationship between the signs of the respective lanes and the second distance sections.

TABLE 1

In step S400, the parking server transmits a message including a data pair consisting of an identification of a lane in which the traveling vehicle is located and a distance from the traveling vehicle to a target stop line.

In specific implementation, the parking server and the vehicle controller can receive and transmit messages in wireless communication modes such as WIFI, V2X and a base station. In consideration of the stability of the signal, optionally, messages are transmitted and received between the parking server and the vehicle controller through the V2X technology.

And step S500, when the vehicle controller judges that the lane where the running vehicle is located is consistent with the lane mark in the message, controlling the running vehicle to adjust the vehicle speed according to the distance in the data pair formed by the lane mark until the running vehicle stops.

The invention provides a parking control method, which relates the mark of a lane where a running vehicle is located and the distance from the running vehicle to a target parking line together in the form of data pairs, wherein each data pair corresponds to one running vehicle. After receiving the message, the vehicle controller matches the lane where the vehicle is located with the identification of the lane contained in the data pair, so that whether the data pair is for the vehicle where the vehicle is located can be judged, if the data pair is consistent with the identification of the lane where the vehicle is located, the data pair is determined to be for the vehicle where the vehicle is located, and the distance in the data pair is determined to be the distance between the vehicle where the vehicle is located and the target stop line.

In practical applications, the cargo-handling vehicles are not all of a uniform size, for example, some vehicles have long heads, while some vehicles have shorter noses and the target stop line is set on the basis of the standard nose length, in which case, if the vehicle is uniformly stopped at the target stop line, loading and unloading equipment (such as a shore crane, a forklift, a mechanical arm and the like) cannot be aligned with a cargo box of the vehicle, and further leads to loading and unloading failure and the like, and in the specific implementation, according to the difference value between the head length of the vehicle and the standard head length, the distance in the received message is adaptively adjusted to be matched with the length of the head of the vehicle, so that when the vehicle is controlled to adjust the speed of the vehicle until the vehicle stops according to the adjusted distance, the vehicle is positioned such that the loading device is aligned with the cargo bed of the vehicle for the purpose of ensuring successful loading and unloading.

Optionally, in step S500, the vehicle controller controls the running vehicle to adjust the vehicle speed until the vehicle stops according to the distance in the data pair, specifically including: and the vehicle controller adjusts the distance in the data pair according to the length of the head of the vehicle where the vehicle controller is positioned, and brakes when the adjusted distance is judged to be smaller than or equal to a preset value.

Wherein, vehicle controller adjusts the distance in the data pair according to the locomotive length of the vehicle that self belongs to, specifically includes:

when the length of the head of the vehicle is larger than that of the standard vehicle, calculating a difference value between the length of the standard head and the length of the head of the vehicle, and determining the distance in the data pair and a result of adding the difference value as an adjusted distance;

and when the length of the head of the vehicle is smaller than that of the standard vehicle, calculating the difference value between the length of the standard head and the length of the head of the vehicle, and determining the distance in the data pair and the result of subtracting the difference value as the adjusted distance.

In the step of determining that the braking is performed when the adjusted distance is less than or equal to a predetermined value, the predetermined value is set according to a braking distance of the vehicle, and the braking distance of the vehicle is comprehensively affected by vehicle speed, vehicle body weight, tire performance, and the like.

In practical application, before controlling the brake of the vehicle, the vehicle controller can also control the vehicle to gradually reduce the running speed along with the reduction of the distance from the vehicle controller to the target stop line, so that the final brake operation is stable and safe. Optionally, in step S500, the vehicle controller controls the vehicle in which the vehicle is located according to the distance in the data pair to adjust the vehicle speed until the vehicle stops, and further includes: and the vehicle controller compares the adjusted distance with a plurality of preset first distance intervals, and controls the vehicle to adjust the running speed to the speed corresponding to one of the first distance intervals when the adjusted distance is between one of the first distance intervals. As shown in table 2, a plurality of first distance intervals and corresponding speed examples are provided.

First distance interval	Speed of rotation
		Greater than 30m	10～20km/h
Less than or equal to 30m and greater than 20m	7～8km/h
		Less than or equal to 20m and greater than 10m	5～6km/h
Less than or equal to 10m and greater than 1m	2～3km/h

TABLE 2

The parking control method applied to the cargo handling operation of the vehicle shown in fig. 3 will be described in detail with reference to the application scenario of the shore crane hoisting operation shown in fig. 4. It should be noted that the above application scenarios are merely illustrated for the convenience of understanding the spirit and principles of the present invention, and the embodiments of the present invention are not limited in this respect. On the contrary, the embodiments of the present invention can be applied to any applicable scenes, for example, an operation scene in which the robot arm loads and unloads a load to and from the vehicle, an operation scene in which the forklift loads and unloads a load to and from the vehicle, and the like.

As shown in fig. 4, a plurality of lanes are arranged below the shore bridge in parallel, and a target stop line is drawn on each lane for parking convenience, and is drawn according to the position of the outer vertical surface of the head when a shore crane loads and unloads goods to and from a vehicle with a standard head length.

In specific implementation, the laser radar is optionally installed on the shore crane in consideration of the working scene of the shore crane working area and installation convenience. The invention can also install the laser radar at other positions according to actual needs, for example, a device special for fixing the laser radar is arranged near a shore crane. The installation position of the laser radar is not specifically limited, and the laser radar can be installed at a proper position according to actual conditions.

As shown in fig. 4, the area in the dashed line frame is a predetermined monitoring area, and the predetermined monitoring area is an area defined by using the outermost side line, the start line and the end line of one or more parallel lanes below the shore crane as boundaries; wherein the finishing line is a straight line on which the target stop line is located; the starting line and the finishing line are parallel and have a preset distance, and the starting line and the finishing line are successively positioned in the driving direction of the vehicle. That is, in the vertical direction of the lane, the boundaries of the predetermined monitored area are the two outermost boundary lines of the lane covered thereby, and in the extending direction of the lane, the boundaries of the predetermined monitored area are the start line and the finish line (the straight line on which the target stop line is located, and the target stop line is indicated by oblique lines in fig. 4), respectively.

In particular, the number of covered lanes in the predetermined monitoring area may be one or more, and the number may be determined according to the scanning radius of the laser radar. For example, when the scanning radius of the lidar is sufficient to cover all lanes under the shore crane, the boundaries of the predetermined monitoring area in the vertical direction of the lanes may be defined as the outer side edges of the two outermost lanes under the shore crane, and when the scanning radius of the lidar covers only a part of the lanes under the shore crane, the boundaries of the predetermined monitoring area in the vertical direction of the lanes may be defined as the outermost side edges of the part of the lanes within the scanning range of the lidar. When the scanning range of one laser radar is not enough to cover all lanes under the shore crane, the aim of covering all lanes under the shore crane can be fulfilled by a plurality of laser radars.

In one embodiment, the number of lanes below the crane is 6, the width of each lane is 3m, and the scanning radius of the lidar is 40m, which is enough to cover all the lanes below the crane.

In another embodiment, there are 6 lanes below the shore crane, each lane has a width of 3m, the scanning radius of the lidar is 5m, and only 3 lanes can be covered, in this embodiment, two lidars may be installed on the shore bridge, each lidar covers 3 lanes, and the boundary of the corresponding predetermined monitoring area is determined for each of the 3 lanes covered by each lidar, where the boundary of the predetermined monitoring area in the lane vertical direction is the outer side line of the outer two lanes of the 3 lanes.

In an embodiment, the span of the predetermined monitoring area in the lane extending direction is determined by a distance between a start line and an end line, wherein the end line is determined by the position of the target stop line, and the distance between the start line and the end line can be predetermined according to the monitoring requirement. In one embodiment, the distance between the start and finish lines is determined by the spacing between adjacent trucks on the same lane, for example, a spacing of typically 50m is maintained between adjacent trucks on the same lane below the shore crane, and for simplicity of processing, it is only necessary to monitor the vehicle closest to the shore crane on each lane, in which case the distance between the start and finish lines may be set to 50m or less. In another embodiment, the distance between the start line and the finish line is determined according to a scanning radius of the lidar, for example, the scanning radius of the lidar is 40m, and the distance between the start line and the finish line may be set to 40m or less. In yet another embodiment, the distance between the start line and the finish line is determined according to the braking distance of the vehicle under the shore crane, for example, if the braking distance of the vehicle under the shore crane is 1m, the distance between the start line and the finish line may be set to 1m or more.

The specific implementation process may be implemented by referring to the description of step S200, which is not described herein again.

In specific implementation, each lane under the shore crane and the laser radar have a fixed relative position relationship, and the relative position relationship is known, based on the known and fixed relative position relationship, the relative position relationship between the vehicle and the laser radar can be calculated according to the point cloud data, and then the relative position relationship is compared with the known and fixed relative position relationship, so that the lane where the vehicle is located can be determined, and the identification of the vehicle can be further determined.

The specific implementation process may be implemented by referring to the description of step S400, which is not described herein again.

In practical application, vehicles in the shore crane operation process are not all of uniform type, for example, the head of some vehicles is longer, the head of some vehicles is shorter, and the target stop line is set based on the length of the standard head, under the condition, if the vehicles are uniformly stopped at the target stop line, the hand grips of the suspension arms cannot be aligned to the hole sites of the containers, and further, the loading and unloading failure and other results are caused.

In the step of determining that the braking is performed when the adjusted distance is less than or equal to a predetermined value, the predetermined value is set according to a braking distance of the vehicle, and the braking distance of the vehicle is comprehensively affected by vehicle speed, vehicle body weight, tire performance, and the like. For example, in a bank-hang working area, the running speed of a vehicle before braking is generally limited to 2km/h, and the braking distance of a certain type of vehicle is 1m at the speed, in this case, the predetermined value in the above step can be set to 1 m.

In practical application, before controlling the brake of the vehicle, the vehicle controller can also control the vehicle to gradually reduce the running speed along with the reduction of the distance from the vehicle controller to the target stop line, so that the final brake operation is stable and safe. Optionally, in step S500, the vehicle controller controls the vehicle in which the vehicle is located according to the distance in the data pair to adjust the vehicle speed until the vehicle stops, and further includes: and the vehicle controller compares the adjusted distance with a plurality of preset first distance intervals, and controls the vehicle to adjust the running speed to the speed corresponding to one of the first distance intervals when the adjusted distance is between one of the first distance intervals.

Example 1

As shown in fig. 4, there are 6 parallel lanes below the shore bridge, lane marks are E1-E6, the width of each lane is 3m, a target stop line (shown by oblique lines in the figure) is drawn at a position 5m away from the shore crane on each lane, and laser radar Lidar and V2X transceiver devices are installed at the middle position of the shore bridge, and the scanning radius of the laser radar is 40 m.

The area in the dashed line frame is a predetermined monitoring area, the boundaries of the predetermined monitoring area in the lane vertical direction are respectively a boundary line on the left side of the lane E1 and a boundary line on the right side of the lane E6, and the boundaries of the predetermined monitoring area in the lane extension direction are respectively a finishing line and a starting line, wherein the finishing line is a straight line where the target stop line is located and is 1m away from the shore crane, and the starting line is a straight line which is 1m away from the finishing line and is parallel to the finishing line.

In a certain period of time, the vehicle X drives into a lane E2 of a shore crane operation area at the speed limited by 10km/h in a harbor area, wherein the length of the head of the vehicle X is the standard length of the head, and the braking distance of the vehicle is 1 m.

Step A1, scanning an area below a shore crane in real time by using a laser radar;

step A2, the parking server acquires point cloud data output by the laser radar, and determines the point cloud data corresponding to the preset monitoring area according to the boundary of the preset monitoring area;

step A3, the parking server judges whether a vehicle is driven in the preset monitoring area according to the point cloud data corresponding to the preset monitoring area; judging whether the vehicle head shape can be fitted according to the point cloud data, and if the vehicle head shape can be fitted, determining that a running vehicle exists;

step A4, the parking server determines that a running vehicle exists in a preset monitoring area, finds out point cloud data of a vehicle head outer vertical surface of the running vehicle from the point cloud data corresponding to the preset monitoring area, and calculates the distance from the vehicle head outer vertical surface to a target stop line to be 1m according to the point cloud data corresponding to the vehicle head outer vertical surface, the position of the laser radar and the position of the target stop line;

step A5, the parking server determines the mark of the lane where the running vehicle is located as E2 according to the point cloud data corresponding to the preset monitoring area; the specific process is that the parking server calculates the distance between the running vehicle and the laser radar in the vertical direction of the lane, and compares the distance with the corresponding relation between each lane mark and the second distance interval shown in the table 1, so as to determine that the lane where the running vehicle is located is E2;

step a5, the parking server broadcasts a message containing a data pair (E2, 1m) consisting of a lane marker E2 and a distance of 30m via a V2X transceiver on shore bridge.

Step A6, the vehicle controller on the vehicle X receives the broadcast message through the vehicle-mounted V2X transceiver, judges that the lane where the vehicle X is located is just E2, compares the distance 1m in the data pair (E2, 1m) with the preset value 1m (the braking distance of the vehicle), and then controls the vehicle X to brake and stop.

Example 2

As shown in fig. 5, there are 6 parallel lanes below the shore bridge, the lane identifications are E1-E6, the width of each lane is 6m, a target stop line is drawn on each lane at a position 5m away from the shore crane, two Lidar1, Lidar2 and V2X transceivers are mounted on the shore bridge, and the scanning radiuses of the Lidar are all 10 m.

Lidar1 is responsible for scanning lanes E1-E3, Lidar2 is responsible for scanning lanes E4-E6.

The Lidar1 is responsible for scanning a predetermined monitoring area defined by a dashed box on the left side in fig. 5, the boundaries of the predetermined monitoring area in the lane vertical direction are a boundary line on the left side of the lane E1 and a boundary line on the right side of the lane E3, and the boundaries of the predetermined monitoring area in the lane extending direction are a finishing line and a starting line, respectively, wherein the finishing line is a straight line where the target stop line is located, and is 5m away from the shore crane, and the starting line is a straight line which is 30m away from the finishing line and is parallel to the finishing line.

The Lidar2 is responsible for scanning a predetermined monitoring area defined by a dashed box on the right in fig. 5, the boundaries of the predetermined monitoring area in the lane vertical direction are a boundary line on the left side of the lane E4 and a boundary line on the right side of the lane E6, and the boundaries of the predetermined monitoring area in the lane extension direction are a finishing line and a starting line, respectively, wherein the finishing line is a straight line where the target stop line is located, and is 5m away from the shore crane, and the starting line is a straight line which is 30m away from the finishing line and is parallel to the finishing line.

In a certain period of time, the vehicle X drives into a lane E2 of a shore crane operation area at the speed limited by 10km/h in a harbor area, wherein the length of the head of the vehicle X is 1m more than the length of the standard head, and the braking distance of the vehicle is 2 m.

B1, scanning an area below the shore crane in real time by using laser radars Lidar1 and Lidar 2;

step B2, the parking server acquires the point cloud data output by the Lidar1 and Lidar2, and determines the point cloud data corresponding to the preset monitoring area according to the boundary of the preset monitoring area;

step B3, the parking server judges whether a vehicle is driven in the preset monitoring area according to the point cloud data corresponding to the preset monitoring area; judging whether the vehicle head shape can be fitted according to the point cloud data, and if the vehicle head shape can be fitted, determining that a running vehicle exists;

step B4, the parking server determines that a running vehicle exists in the preset monitoring area, finds the point cloud data of the head outer vertical surface of the running vehicle from the point cloud data corresponding to the preset monitoring area, and calculates the distance from the head outer vertical surface to the target stop line to be 29m according to the point cloud data corresponding to the head outer vertical surface, the position of the laser radar and the position of the target stop line;

b5, the parking server determines the mark of the lane where the running vehicle is located as E2 according to the point cloud data corresponding to the preset monitoring area; the specific process is that the parking server calculates the distance between the running vehicle and the Lidar1 in the vertical direction of the lane, and compares the distance with the corresponding relation between each lane mark and the second distance interval shown in table 3, so as to determine that the lane where the running vehicle is located is E2;

identification of a lane	Second distance interval
		E1	-20m～-14m
E2	-13.5m～-7m
		E3	-6.5m～-0.5m

TABLE 3

Step B5, the parking server broadcasts a message containing a data pair (E2, 29m) consisting of lane identification E2 and distance 29m via the V2X transceiver on the shore bridge.

Step B6, the vehicle controller on the vehicle X receives the broadcast message through the vehicle-mounted V2X transceiver, judges that the lane where the vehicle X is located is just E2, and then calls the distance 29m in the data pair (E2, 29 m);

step B7, the vehicle controller adjusts the distance 29m in the data pair (E2, 29m) according to the vehicle head length of the vehicle X, and the distance 30m is added with the difference value 1m between the vehicle head length of the vehicle X and the standard vehicle head length to obtain 30 m;

step B8, the vehicle controller compares the adjusted distance 30m with the first distance interval shown in the table 2 and the corresponding speed, and then controls the vehicle X to adjust the vehicle speed to 7 km/h;

repeating the steps B2-B8, and controlling the vehicle X to adjust the speed of the vehicle to 5km/h when the vehicle controller receives the data pair (E2, 19 m);

continuously repeating the steps B2-B8, and controlling the vehicle X to adjust the speed of the vehicle to 2km/h when the vehicle controller receives the data pair (E2, 9 m);

and continuously repeating the steps B2-B8, and controlling the vehicle X to brake and stop when the vehicle controller receives the data pair (E2, 1 m).

Based on the inventive idea of the present invention, the present invention provides parking control methods for a parking server side and a vehicle controller side, respectively, which are specifically described below.

The present invention provides a parking control method for a parking server side, as shown in fig. 6, including:

step S61, point cloud data of a preset monitoring area obtained by scanning of a laser radar is obtained;

step S62, calculating the distance from the vehicle running in the preset monitoring area to the target stop line according to the point cloud data;

and step S63, sending a message containing the distance from the running vehicle to the target stop line, so that the vehicle controller controls the running vehicle to adjust the vehicle speed until the vehicle stops according to the distance contained in the message.

Optionally, the target stop line is a position of a head outer vertical surface when a vehicle with a standard head length is loaded and unloaded by a shore crane; the preset monitoring area is an area defined by taking the outermost side line, the starting line and the finishing line of one or more parallel lanes below a shore crane as boundaries; wherein the finishing line is a straight line on which the target stop line is located; the starting line and the finishing line are parallel and have a preset distance, and the starting line and the finishing line are successively positioned in the driving direction of the vehicle;

then, step S62 may be implemented as follows: calculating the distance from a vehicle running on one or more parallel lanes in the preset monitoring area to a target stop line according to the point cloud data;

then, the parking control method for the parking server side provided by the present invention further includes: determining the mark of the lane where the running vehicle is located according to the point cloud data;

then, step S63 may be implemented as follows: transmitting a message containing a data pair consisting of an identification of a lane in which the traveling vehicle is located and a distance of the traveling vehicle to a target stop line.

Optionally, determining, according to the point cloud data, an identifier of a lane where a vehicle driving in the predetermined monitoring area is located, specifically including:

determining the distance between the running vehicle and the laser radar in the vertical direction of the lane according to the point cloud data, and comparing the distance with known second distance intervals corresponding to all lanes; the second distance interval corresponding to the lane is an interval formed by two side lines of the lane and the vertical distance of the laser radar;

and when the distance is between the second distance intervals corresponding to one lane, determining the mark of the lane as the mark of the lane where the running vehicle is located.

Optionally, the lidar is mounted on the shore crane.

Optionally, calculating a distance from a vehicle driving in the predetermined monitoring area to a target stop line according to the point cloud data specifically includes:

determining whether a vehicle runs in the preset monitoring area or not according to the point cloud data;

if a running vehicle exists, finding out point cloud data corresponding to the head facade of the running vehicle from the point cloud data;

and calculating the distance from the vehicle head outer vertical surface to a target stop line according to the point cloud data corresponding to the vehicle head outer vertical surface, the position of the laser radar and the position of the target stop line.

Optionally, calculating a distance from the vehicle head exterior surface to a target stop line according to the point cloud data corresponding to the vehicle head exterior surface, the position of the laser radar, and the position of the target stop line, and specifically includes:

calculating the absolute geographical position of the vehicle head outer vertical surface according to the point cloud data corresponding to the vehicle head outer vertical surface and the absolute geographical position of the laser radar;

and calculating the distance from the vehicle head outer vertical surface to the target stop line according to the absolute geographical position of the vehicle head outer vertical surface and the absolute geographical position of the target stop line.

calculating the relative geographic position of the target stop line relative to the laser radar according to the absolute geographic position of the target stop line and the absolute geographic position of the laser radar;

and calculating the distance from the vehicle head outer vertical surface to the target stop line according to the relative geographic position of the target stop line relative to the laser radar and the point cloud data corresponding to the vehicle head outer vertical surface.

Optionally, the message is broadcast through V2X in the parking method for the parking controller side provided by the present invention.

The parking control method for the parking server shown in fig. 6 is implemented based on the same inventive concept as the parking control methods shown in fig. 1 and 3, and the specific embodiments thereof may refer to the description of the parking control methods shown in fig. 1 and 3, and are not described herein again.

Based on the same inventive concept, the present invention also provides a parking control method for a controller side of a vehicle, as shown in fig. 7, including:

a step S71 of receiving a message containing a distance from the traveling vehicle to the target stop line; the distance from the running vehicle to a target stop line is calculated according to point cloud data of a preset monitoring area obtained by scanning of a laser radar;

and step S72, controlling the running vehicle to adjust the vehicle speed according to the distance contained in the message until the running vehicle stops.

then, the parking control method for the controller side of the vehicle provided by the present invention further includes: receiving a message containing a data pair consisting of an identification of a lane in which the traveling vehicle is located and a distance of the traveling vehicle to a target stop line;

then, step S72 may be implemented as follows: and when the lane where the running vehicle is located is judged to be consistent with the lane mark in the message, controlling the running vehicle to adjust the vehicle speed until the running vehicle stops according to the distance in the data pair formed by the lane mark.

Optionally, controlling the running vehicle to adjust the vehicle speed until stopping according to the distance in the data pair specifically includes:

adjusting the distance in the data pair according to the length of the head of the running vehicle, and braking when the adjusted distance is judged to be smaller than or equal to a preset value;

wherein, according to the locomotive length of the vehicle that traveles adjusts the distance in the data pair, specifically include:

when the length of the head of the running vehicle is greater than that of the standard vehicle, calculating a difference value between the length of the standard head and the length of the head of the running vehicle, and determining the distance in the data pair and a result of adding the difference value as an adjusted distance;

and when the head length of the running vehicle is smaller than that of the standard vehicle, calculating a difference value between the standard head length and the head length of the running vehicle, and determining the distance in the data pair and a result obtained by subtracting the difference value as the adjusted distance.

Optionally, controlling the running vehicle to adjust the speed until stopping according to the distance in the data pair further comprises: and comparing the adjusted distance with a plurality of preset first distance intervals, and controlling the running vehicle to adjust the running speed to the speed corresponding to one of the first distance intervals when the adjusted distance is between one of the first distance intervals.

Optionally, the present invention provides a parking method for a controller side of a vehicle in which the message is received through V2X.

The parking control method for the vehicle server side shown in fig. 7 is implemented based on the same inventive concept as the parking control method shown in fig. 1 and 3, and the specific embodiment thereof can refer to the description of the parking control method shown in fig. 1 and 3, and will not be described again here.

Exemplary device

Based on the idea of the present invention, the present invention provides a parking server for executing the parking control method of the parking server side provided by the present invention, which is specifically described below.

The invention provides a parking server, which comprises a first processor, a first memory and a computer program which is stored on the first memory and can be run on the first processor, wherein the first processor executes a parking control method shown in figure 5 when the computer program in the first memory is run: acquiring point cloud data of a preset monitoring area obtained by scanning of a laser radar; calculating the distance from a vehicle running in the preset monitoring area to a target stop line according to the point cloud data; and sending a message containing the distance from the running vehicle to a target stop line, so that a vehicle controller controls the running vehicle to adjust the vehicle speed until the running vehicle stops according to the distance contained in the message.

The method executed when the computer program in the first memory is executed is implemented based on the same inventive concept as the parking control method shown in fig. 1 and 3, and has the same non-limiting embodiment, and specific reference may be made to the description of the method shown in fig. 1 and 3 in the foregoing exemplary method, and details are not repeated here.

Alternatively, in the present invention, the first processor may be implemented by a circuit, a chip, or other electronic components. For example, the first processor may also include one or more microcontrollers, one or more Field Programmable Gate Arrays (FPGAs), one or more application specific circuits (ASICs), one or more Digital Signal Processors (DSPs), one or more integrated circuits, or the like.

Alternatively, in the present invention, the first memory may be implemented by a circuit, a chip, or other electronic components. For example, the first memory may include one or more of Read Only Memory (ROM), Random Access Memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded multimedia card (eMMC), a hard drive, or any volatile or non-volatile media, among others.

Alternatively, in the present invention, the parking server may be installed in the parking space/parking garage, or may be installed in a central control room for managing the parking space/parking garage.

Based on the inventive concept of the present invention, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, provides the parking server-side parking control method of the present invention. The storage medium may be one or more of Read Only Memory (ROM), Random Access Memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded multimedia card (eMMC), a hard drive, or any volatile or non-volatile media, among others.

Based on the idea of the invention, the invention further provides a vehicle controller for executing the vehicle controller side parking control method provided by the invention, which is specifically described below.

The invention provides a vehicle controller, which comprises a second processor, a second memory and a computer program stored on the second memory and capable of running on the second processor, wherein the second processor executes a parking control method shown in figure 6 when running the computer program on the second memory: receiving a message containing a distance of a traveling vehicle to a target stop line; and controlling the running vehicle to adjust the speed of the running vehicle according to the distance contained in the message until the running vehicle stops.

The method executed when the computer program in the second memory is executed is implemented based on the same inventive concept as the parking control method shown in fig. 1 and 3, and has the same non-limiting embodiment, and specific reference may be made to the description of the method shown in fig. 1 and 3 in the foregoing exemplary method, and details are not repeated here.

Alternatively, in the present invention, the second processor may be implemented by a circuit, a chip, or other electronic components. For example, the second processor may also include one or more microcontrollers, one or more Field Programmable Gate Arrays (FPGAs), one or more application specific circuits (ASICs), one or more Digital Signal Processors (DSPs), one or more integrated circuits, etc.

Alternatively, in the present invention, the second memory may be implemented by a circuit, a chip, or other electronic components. For example, the second memory may include one or more of Read Only Memory (ROM), Random Access Memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded multimedia card (eMMC), a hard drive, or any volatile or non-volatile media, among others.

Alternatively, in the present invention, the vehicle controller may be a computer device such as a server, a PC, a laptop, a tablet, a PDA, an iMac, or the like, and may be mounted on the vehicle.

Based on the inventive concept of the present invention, the present invention also provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, provides the vehicle controller-side parking control method of the present invention. The storage medium may be one or more of Read Only Memory (ROM), Random Access Memory (RAM), flash memory, electrically programmable memory (EPROM), electrically programmable and erasable memory (EEPROM), embedded multimedia card (eMMC), a hard drive, or any volatile or non-volatile media, among others.

Based on the inventive concept of the present invention, the present invention also provides a vehicle including the vehicle controller described above. In specific implementation, the vehicle may be a conventional vehicle driven by human (such as a family car, an engineering vehicle, a fire truck, an ambulance, a truck, etc.), or may be an unmanned vehicle, or may be a vehicle consuming conventional energy sources such as gasoline, diesel oil, etc., or may be a vehicle consuming new energy sources such as electric energy, solar energy, etc.

It should be noted that while the operations of the method of the present invention are depicted in the drawings in a particular order, this does not require or imply that the operations must be performed in this particular order, or that all of the illustrated operations must be performed, to achieve desirable results. Additionally or alternatively, certain steps may be omitted, multiple steps combined into one step execution, and/or one step broken down into multiple step executions.

While the spirit and principles of the invention have been described with reference to several particular embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, nor is the division of aspects, which is for convenience only as the features in such aspects may not be combined to benefit. The invention is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the appended claims.

In summary, the parking control method provided by the embodiment of the invention has the following beneficial effects:

(1) by means of the accurate distance measurement capability and the rapid processing speed of the laser radar, the running speed of the vehicle can be adjusted at high precision and rapidly, and one-time accurate parking is realized;

(2) the vehicle can be controlled to reduce the speed step by step according to the distance from the target stop line, so that accurate and stable parking is ensured;

(3) the method can be applied to the fields of port shore crane hoisting operation, cargo collection and distribution loading and unloading operation, garages and the like;

(4) the shore crane hoisting operation speed can be effectively improved, and the freight handling capacity of the port is improved;

(5) the whole parking process is automatically finished without manual command, and the automatic parking system is suitable for the field of unmanned vehicles.

The above-mentioned embodiments are intended to illustrate the objects, technical solutions and advantages of the present invention in further detail, and it should be understood that the above-mentioned embodiments are only exemplary embodiments of the present invention, and are not intended to limit the scope of the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.

Those of skill in the art will further appreciate that the various illustrative logical blocks, units, and steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both. To clearly illustrate the interchangeability of hardware and software, various illustrative components, elements, and steps have been described above generally in terms of their functionality. Whether such functionality is implemented as hardware or software depends upon the particular application and design requirements of the overall system. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present embodiments.

The various illustrative logical blocks, or elements, or devices described in connection with the embodiments disclosed herein may be implemented or performed with a general purpose processor, a digital signal processor, an Application Specific Integrated Circuit (ASIC), a field programmable gate array or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any combination thereof designed to perform the functions described herein. A general-purpose processor may be a microprocessor, but in the alternative, the processor may be any conventional processor, controller, microcontroller, or state machine. A processor may also be implemented as a combination of computing devices, e.g., a digital signal processor and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a digital signal processor core, or any other similar configuration.

The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may be stored in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. For example, a storage medium may be coupled to the processor such the processor can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC, which may be located in a user terminal. In the alternative, the processor and the storage medium may reside in different components in a user terminal.

In one or more exemplary designs, the functions described above in connection with the embodiments of the invention may be implemented in hardware, software, firmware, or any combination of the three. If implemented in software, the functions may be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media that facilitate transfer of a computer program from one place to another. Storage media may be any available media that can be accessed by a general purpose or special purpose computer. For example, such computer-readable media can include, but is not limited to, RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to carry or store program code in the form of instructions or data structures and which can be read by a general-purpose or special-purpose computer, or a general-purpose or special-purpose processor. Additionally, any connection is properly termed a computer-readable medium, and, thus, is included if the software is transmitted from a website, server, or other remote source via a coaxial cable, fiber optic cable, twisted pair, Digital Subscriber Line (DSL), or wirelessly, e.g., infrared, radio, and microwave. Such discs (disk) and disks (disc) include compact disks, laser disks, optical disks, DVDs, floppy disks and blu-ray disks where disks usually reproduce data magnetically, while disks usually reproduce data optically with lasers. Combinations of the above may also be included in the computer-readable medium.

Claims

1. A parking control method, characterized by comprising:

the parking server calculates the distance from a vehicle running on one or more parallel lanes in the preset monitoring area to a target parking line according to the point cloud data, and determines the mark of the lane where the running vehicle is located;

the parking server sends a message containing a data pair consisting of an identification of a lane in which the running vehicle is located and a distance from the running vehicle to a target stop line;

and the vehicle controller receives the message, and controls the running vehicle to adjust the speed of the vehicle until the vehicle stops according to the distance in the data pair formed by the lane marks when judging that the lane where the running vehicle is located is consistent with the lane marks in the message.

2. The parking control method according to claim 1, wherein the target stop line is a position on the lane where a head outside facade is located when a vehicle having a standard head length loads and unloads goods;

the preset monitoring area is an area which is defined by taking the outermost side line, the starting line and the finishing line of one or more parallel lanes as boundaries; wherein the finishing line is a straight line on which the target stop line is located; the starting line and the finishing line are parallel and have a preset distance, and the starting line and the finishing line are successively positioned in the driving direction of the vehicle.

3. The parking control method according to claim 2, wherein a vehicle controller controls the running vehicle to adjust a vehicle speed until stopping according to a distance in the data pair, specifically comprising:

the vehicle controller adjusts the distance in the data pair according to the length of the head of the running vehicle and brakes when the adjusted distance is judged to be smaller than or equal to a preset value;

wherein, vehicle controller according to the locomotive length of the vehicle that traveles adjusts the distance in the data pair, specifically includes:

4. The parking control method of claim 3, wherein the vehicle controller controls the traveling vehicle to adjust the speed until stopping according to the distance in the data pair, further comprising: and the vehicle controller compares the adjusted distance with a plurality of preset first distance intervals, and controls the running vehicle to adjust the running speed to the speed corresponding to one of the first distance intervals when the adjusted distance is between one of the first distance intervals.

5. The parking control method according to claim 2, wherein the parking server determines the identification of the lane where the vehicle driving in the predetermined monitoring area is located according to the point cloud data, and specifically comprises:

the parking server determines the distance between the running vehicle and the laser radar in the vertical direction of the lane according to the point cloud data, and compares the distance with known second distance intervals corresponding to all lanes; the second distance interval corresponding to the lane is an interval formed by two side lines of the lane and the vertical distance of the laser radar;

6. The parking control method according to claim 2, wherein the target stop line is a position on the lane where an outside face of the head is located when a shore crane loads and unloads goods to a vehicle having a standard head length; the laser radar is installed on a shore crane.

7. The parking control method according to claim 1, wherein the parking server calculates a distance from a vehicle traveling in the predetermined monitoring area to a target parking line according to the point cloud data, and specifically comprises:

the parking server determines whether a vehicle runs in the preset monitoring area according to the point cloud data;

8. The parking control method according to claim 7, wherein calculating a distance from the vehicle head facade to a target stop line according to the point cloud data corresponding to the vehicle head facade, the position of the laser radar, and the position of the target stop line specifically comprises:

9. The parking control method according to claim 7, wherein calculating a distance from the vehicle head facade to a target stop line according to the point cloud data corresponding to the vehicle head facade, the position of the laser radar, and the position of the target stop line specifically comprises:

10. The parking control method according to any one of claims 1 to 6, wherein the step of sending the message by the parking server specifically comprises: the parking server broadcasts the message via V2X.

11. A parking control method, characterized by comprising:

calculating the distance from a vehicle running on one or more parallel lanes in the preset monitoring area to a target stop line according to the point cloud data, and determining the mark of the lane where the running vehicle is located;

and sending a message containing a data pair consisting of the mark of the lane where the running vehicle is located and the distance between the running vehicle and the target stop line, so that when the vehicle controller judges that the lane where the running vehicle is located is consistent with the mark of the lane in the message, the vehicle controller controls the running vehicle to adjust the vehicle speed according to the distance in the data pair consisting of the mark of the lane until the running vehicle stops.

12. The parking control method according to claim 11, wherein the target stop line is a position on the lane where a head outside facade is located when a vehicle having a standard head length loads and unloads goods;

13. The parking control method according to claim 12, wherein determining an identifier of a lane in which a vehicle traveling in the predetermined monitoring area is located according to the point cloud data specifically comprises:

14. The parking control method according to claim 12, wherein the target stop line is a position on the lane where an outside face of the head is located when a shore crane loads and unloads goods to a vehicle having a standard head length; the laser radar is installed on a shore crane.

15. The parking control method according to claim 11, wherein calculating a distance from a vehicle traveling in the predetermined monitored area to a target stop line according to the point cloud data specifically comprises:

16. The parking control method according to claim 15, wherein calculating a distance from the vehicle head facade to a target stop line according to the point cloud data corresponding to the vehicle head facade, the position of the laser radar, and the position of the target stop line specifically comprises:

17. The parking control method according to claim 15, wherein calculating a distance from the vehicle head facade to a target stop line according to the point cloud data corresponding to the vehicle head facade, the position of the laser radar, and the position of the target stop line specifically comprises:

18. The parking control method according to any one of claims 11 to 14, wherein sending the message specifically includes: the message is broadcast via V2X.

19. A parking control method, characterized by comprising:

receiving a message containing a data pair consisting of an identification of a lane in which the traveling vehicle is located and a distance of the traveling vehicle to the target stop line; the identification of the lane where the running vehicle is located and the distance from the running vehicle to a target stop line are calculated according to point cloud data of a preset monitoring area obtained by scanning of a laser radar;

and when the lane where the running vehicle is located is judged to be consistent with the lane mark in the message, controlling the running vehicle to adjust the vehicle speed until the running vehicle stops according to the distance in the data pair formed by the lane mark.

20. The parking control method according to claim 19, wherein the target stop line is a position on the lane where a head outside facade is located when a vehicle having a standard head length loads and unloads goods;

21. The parking control method according to claim 20, wherein controlling the traveling vehicle to adjust a vehicle speed until a stop according to the distance in the data pair, specifically comprises:

22. The parking control method of claim 21, wherein controlling the traveling vehicle to adjust a speed until stopping according to a distance in a data pair, further comprises: and comparing the adjusted distance with a plurality of preset first distance intervals, and controlling the running vehicle to adjust the running speed to the speed corresponding to one of the first distance intervals when the adjusted distance is between one of the first distance intervals.

23. The parking control method according to claim 20, wherein the target stop line is a position on the lane where an outside face of the head is located when a shore crane loads and unloads goods to a vehicle having a standard head length; the laser radar is installed on a shore crane.

24. The parking control method according to any one of claims 19 to 23, wherein receiving the message specifically comprises: the message is received via V2X.

25. A parking server comprising a processor, a memory and a computer program stored on and executable on the processor, characterized in that the processor, when executing the computer program, performs the method of any one of claims 11-18.

26. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method according to any one of claims 11-18.

27. A vehicle controller comprising a processor, a memory and a computer program stored on and executable on the memory, wherein the processor, when executing the computer program, performs the method of any one of claims 19 to 24.

28. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method of any one of claims 19 to 24.

29. A vehicle, characterized by comprising: the vehicle controller of claim 27.