CN110827572A - Path planning method and device for passenger-riding parking - Google Patents
Path planning method and device for passenger-riding parking Download PDFInfo
- Publication number
- CN110827572A CN110827572A CN201910074200.4A CN201910074200A CN110827572A CN 110827572 A CN110827572 A CN 110827572A CN 201910074200 A CN201910074200 A CN 201910074200A CN 110827572 A CN110827572 A CN 110827572A
- Authority
- CN
- China
- Prior art keywords
- path
- current vehicle
- parking space
- position information
- vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
-
- 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
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/3415—Dynamic re-routing, e.g. recalculating the route when the user deviates from calculated route or after detecting real-time traffic data or accidents
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention relates to the technical field of automatic driving, and provides a path planning method and device for passenger-assistant parking. The path planning method for the passenger car park comprises the following steps: acquiring position information of a target parking space; acquiring the position information of the current vehicle; planning one or more paths to the target parking space for the current vehicle according to the position information of the target parking space, the position information of the current vehicle and the map information of the parking lot; selecting a particular path from the one or more paths; and sending the selected specific path to the current vehicle. The method can enable the current vehicle to drive to the target parking space in the shortest time and with the least fuel consumption or power consumption.
Description
Technical Field
The invention relates to the technical field of automatic driving, in particular to a path planning method and device for passenger-assistant parking.
Background
Nowadays, the problems of insufficient parking space, difficult parking, payment and queuing and the like are troubled for urban car owners. The emergence of the automatic passenger-replacing parking technology can provide a more efficient solution for parking lots and car owners.
The path planning and perception of vehicles in the parking lot is an important link in the automatic passenger-replacing parking technology.
In the existing scheme, path planning and sensing of vehicles in a parking lot are mainly realized by a parking lot end, a laser radar or a camera needs to be arranged at the parking lot end every several meters, although the realization effect is good, the system cost is too high, and the actual realization is difficult.
In another existing scheme, a laser radar and other sensors are arranged at the vehicle end, so that the vehicle has strong sensing capability. However, the cost is high, mass production of the vehicle with the configuration is difficult, the parking space can be searched only through the vehicle sensor, and the empty parking space is identified only through the vehicle sensor, so that the time of the owner of the vehicle is wasted. If there is not the empty parking stall in the parking area, or originally, but find that other vehicles have taken up after entering, the vehicle need be driven again, obviously experience and feel not good.
In another existing scheme, a route guidance scheme of a vehicle on a parking lot identifies an empty space and a vehicle position by reestablishing a set of identification systems. The parking lot needs to be transformed on a large scale, the workload is large, and the realization resistance is large.
Disclosure of Invention
In view of the above, the present invention is directed to a path planning method for passenger car parking, which is used to at least implement path planning in a parking lot.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a path planning method for valet parking, the path planning method for valet parking comprising: acquiring position information of a target parking space; acquiring the position information of the current vehicle; planning one or more paths to the target parking space for the current vehicle according to the position information of the target parking space, the position information of the current vehicle and the map information of the parking lot; selecting a particular path from the one or more paths; and sending the selected specific path to the current vehicle.
Further, the selecting a specific path from the one or more paths comprises: selecting one planned path as the specific path under the condition that only one path is planned; in the case that a plurality of paths are planned, selecting the particular path according to the following steps: calculating the length of each path in the plurality of paths; judging whether each path is in a congestion state or a non-congestion state; and selecting a path having the shortest length in the non-congested state among the plurality of paths as the specific path.
Further, the determining whether each path is in a congested state or a non-congested state includes: if the path satisfies at least one of: if the number of vehicles on the path is more than a first preset number, the path is in a construction state, and static obstacles exist on the path, determining that the path is in a congestion state, and otherwise, determining that the path is in an uncongested state.
Further, the path planning method for passenger car parking further includes: during travel of the current vehicle based on the received route: detecting whether a route ahead of a route traveled by a vehicle is in a congested state or not when the current vehicle reaches a predetermined distance before the intersection, or periodically detecting whether the route ahead of the route traveled by the vehicle is in the congested state or not before the current vehicle reaches the intersection; if the front path is detected to be in a congestion state, planning a path to the target parking space for the current vehicle again according to the position information of the target parking space, the current position information of the current vehicle and the map information of the parking lot; and sending the re-planned path to the current vehicle.
Further, the acquiring the position information of the target parking space includes: after receiving a parking request sent by the current vehicle, judging whether an appointed parking space or a fixed parking space corresponding to the current vehicle exists; and if the reserved parking space or the fixed parking space is available, using the position information of the reserved parking space or the fixed parking space as the position information of the target parking space, and if the reserved parking space and the fixed parking space are not available, allocating a parking space for the current vehicle according to one or more of the following: and the vehicle taking position and the electric quantity information of the current vehicle set by the user, and the position information of the distributed parking space is used as the position information of the target parking space.
Further, the path planning method for passenger car parking further includes: and transmitting position information and vehicle speed information of the vehicle on the other path intersecting the path transmitted to the current vehicle.
Compared with the prior art, the path planning method for the passenger car park has the following advantages:
(1) selecting a proper path from the planned one or more paths and sending the path to the current vehicle, so that the current vehicle can quickly reach a target parking space according to the received path;
(2) determining a path finally sent to a current vehicle by combining the path length and the path congestion state, so that the current vehicle can drive to a target parking space in the shortest time and in the scheme with the least oil consumption or electricity consumption;
(3) by executing the dynamic local planning of the path, the vehicle can avoid a sudden congestion path in the driving process and quickly reach a target parking space;
(4) and sending the position information and the speed information of the vehicle on other paths crossed with the path sent to the current vehicle, so that the current vehicle can avoid obstacles in advance, and the running safety of the current vehicle is ensured.
Another object of the present invention is to provide a path planning device for passenger parking, which is used to plan at least the path in the parking lot.
In order to achieve the purpose, the technical scheme of the invention is realized as follows:
a path planning apparatus for valet parking, the path planning apparatus comprising: the first acquisition module is used for acquiring the position information of the target parking space; the second acquisition module is used for acquiring the position information of the current vehicle; the route planning module is used for planning one or more routes to the target parking space for the current vehicle according to the position information of the target parking space, the position information of the current vehicle and the map information of the parking lot; a selection module for selecting a specific path from the one or more paths; and the sending module is used for sending the selected specific path to the current vehicle.
Further, the selection module is configured to select, when the path planning module plans only one path, the planned path as the specific path; the selection module is further configured to select the specific path according to the following steps when the path planning module plans a plurality of paths: calculating the length of each path in the plurality of paths; judging whether each path is in a congestion state or a non-congestion state; and selecting a path having the shortest length in the non-congested state among the plurality of paths as the specific path.
Further, the selection module is configured to determine whether each of the paths is in a congested state or a non-congested state according to the following steps: if the path satisfies at least one of: if the number of vehicles on the path is more than a first preset number, the path is in a construction state, and static obstacles exist on the path, determining that the path is in a congestion state, and otherwise, determining that the path is in an uncongested state.
Further, the path planning device for passenger car parking further includes: for, during travel of the current vehicle based on the received route: detecting whether a route ahead of a route traveled by a vehicle is in a congested state or not when the current vehicle reaches a predetermined distance before the intersection, or periodically detecting whether the route ahead of the route traveled by the vehicle is in the congested state or not before the current vehicle reaches the intersection; the path planning module is further used for planning a path to the target parking space for the current vehicle again according to the position information of the target parking space, the current position information of the current vehicle and the map information of the parking lot if the front path is detected to be in a congestion state; and the sending module is further used for sending the re-planned path to the current vehicle.
Compared with the prior art, the path planning device for passenger-assistant parking and the path planning method for passenger-assistant parking have the same advantages, and are not described herein again.
Accordingly, the embodiment of the present invention further provides a machine-readable storage medium, where the machine-readable storage medium has instructions stored thereon, and the instructions are used to enable a machine to execute the above-mentioned path planning method for passenger car parking.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
In the drawings:
fig. 1 shows a schematic flow diagram of a path planning method for passenger parking according to an exemplary embodiment of the present disclosure;
FIG. 2 illustrates a path planning diagram according to an embodiment of the invention;
FIG. 3 illustrates a vehicle driving schematic according to an embodiment of the present invention; and
fig. 4 is a block diagram showing a configuration of a path planning apparatus for valet parking according to an embodiment of the present invention.
Description of reference numerals:
6 current vehicle 3 first other vehicle
4 second other vehicle 410 first acquisition module
420 second acquisition module 430 path planning module
440 selection module 450 sending module
Detailed Description
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without conflict.
The present invention will be described in detail below with reference to the accompanying drawings in conjunction with embodiments.
Fig. 1 is a schematic flow chart of a path planning method for passenger car parking according to an embodiment of the present invention. As shown in fig. 1, an embodiment of the present invention provides a path planning method for valet parking, which may be performed by a server after receiving a parking request sent by a current vehicle, where the server may be a server of an intelligent parking lot management system, and the path planning method for valet parking may include steps S110 to S150.
In step S110, position information of the target parking space is acquired.
Specifically, after receiving a parking request sent by a current vehicle, it may be first determined whether a fixed parking space or an reserved parking space corresponding to the current vehicle exists, and if the reserved parking space or the fixed parking space exists, the position information of the reserved parking space or the fixed parking space is used as the position information of the target parking space.
In an alternative embodiment, the user may download the client and register. For example, if the user owns a fixed parking space in a home or a parking lot of a company, the user may fill in the client the location information of the owned fixed parking space (for example, the fixed parking space is a certain parking space of a certain parking lot) when registering the client. The client side can send the position information of the fixed parking space filled by the user to the server. When parking is required, selection can be made at the client. The server may store a plan view of an arbitrary parking lot in advance. When a user drives a car to a parking lot of a home or a company and selects automatic valet parking on the car, the server determines that a fixed parking space corresponding to the car exists and takes the fixed parking space as a target parking space.
In an optional embodiment, the user may also reserve a parking space at the client. Specifically, the user can select a parking lot at a destination to reserve a parking space on the client, and after receiving the information of the parking lot selected by the user, the client displays the occupation condition of the parking space of the parking lot and displays the positions of a walking indication route, an elevator entrance, an exit, an entrance and the like of the parking lot in a plan view. The user can click an empty space or input an empty space number on the client to make an appointment. When a user drives to arrive at an entrance of a parking lot and selects automatic valet parking on a vehicle, the server determines that an appointed parking space corresponding to the vehicle exists and takes the appointed parking space as a target parking space.
If the server determines that there is no reserved parking space or fixed parking space corresponding to the current vehicle after receiving the parking request sent by the current vehicle, the server may allocate a parking space for the current vehicle. The server may, for example, allocate a space for the current vehicle based on one or more of: and the position information of the allocated parking space is used as the position information of the target parking space.
In an optional embodiment, after the server determines that there is no reserved parking space or fixed parking space corresponding to the current vehicle, the server may prompt the user through the client whether to take the current position as the vehicle pickup position, and if the user selects yes, the server may take an empty parking space closest to the current position of the vehicle as the target parking space. Or after the server judges that the reserved parking space or the fixed parking space corresponding to the current vehicle does not exist, the client can remind the user to select one exit from the listed exits as the vehicle taking position through the client, and after the user finishes selecting, the client can send the information of the vehicle taking position selected by the user to the server. The server can take the empty parking space closest to the vehicle taking position selected by the user as the target parking space.
Optionally, if the vehicle is an electric vehicle, the server may also obtain the electric quantity information of the vehicle from the vehicle terminal in real time, and when the electric quantity information of the vehicle is lower than a predetermined percentage, the server may further prompt the user whether to select a parking space with a charging pile through the client, where the predetermined percentage may range from 25% to 35%, for example, 30%. The client can send the user's selection result to the server, if the user selects the parking stall that is equipped with the facility of charging, the server can regard the empty parking stall that has the stake of charging that the pick-up position that the user selected is nearest as the target parking stall.
In an alternative embodiment, the current vehicle may also be a shared automobile, and a region may be divided into a shared automobile in a public parking lot. When the shared automobile executes the passenger parking function, the final parking spaces are randomly distributed by the server. If the shared automobile is a shared electric automobile, the parking space needs to be allocated according to the electric quantity information of the shared electric automobile. For example, for shared electric vehicles for which the charge information is below a predetermined percentage, the server may allocate parking spaces with charging facilities for them. For the shared electric vehicle with the electric quantity information not lower than the predetermined percentage, the server may allocate a common parking space for the shared electric vehicle, and then take the allocated parking space as a target parking space, where the predetermined percentage may range from 25% to 35%, for example, may be 30%.
The position information of the target parking space may be, for example, coordinate information of four corner points of the target parking space, so that the vehicle can conveniently park according to a trained track.
In step S120, the position information of the current vehicle is acquired.
Optionally, the vehicle may send its own position information to the server in real time, or the server may implement positioning of the vehicle through sensors such as a laser radar and a camera that are arranged in the parking lot.
The execution sequence of step S110 and step S120 may not be fixed, or alternatively, both may be executed simultaneously.
In step S130, one or more routes to the target parking space are planned for the current vehicle according to the position information of the target parking space, the position information of the current vehicle, and the map information of the parking lot.
In step S140, a specific path is selected from the one or more paths. In an alternative embodiment, the lane of the parking lot may be assumed to be a one-way lane, and the vehicle travel track may be set to the center of the lane. Then, the server can plan one or more paths according to the feasible paths between the lane where the current vehicle is located and the lane adjacent to the target parking space. And if only one path is planned, selecting the planned path as the specific path. If multiple paths are planned, the particular path may be selected from the multiple paths.
Specifically, the length of each path may be calculated, for example, the server may plan a series of coordinate points along the center of the lane according to the stored parking lot plan, wherein the interval between adjacent coordinate points may be set according to actual conditions, and may range from 20cm to 50cm, for example. The distance traveled to travel each path may then be calculated from the planned series of coordinate points.
The server may further determine whether each planned route is in a congested state, and if the route satisfies at least one of the following: if there are more vehicles on the route than a first predetermined number, which may range from 3 to 5, for example, 3, the route may be determined to be in a congested state, the route may be in a construction state, and there are stationary obstacles on the route, otherwise the route may be determined to be in a non-congested state. The server may obtain the position of any vehicle on the lane in the parking lot, for example, the vehicle may send its own position information to the server, or the position information of each vehicle may be determined according to sensors such as a laser radar and a camera provided in the parking lot, based on which the server may determine the number of vehicles on each planned path. The server may know in advance whether the path is under construction or not, for example, a worker may store construction information to the server before the path will be under construction. The stationary obstacle may be a stationary or malfunctioning vehicle on the route, for example if the position information of a certain vehicle on the route has not changed for a predetermined time, the vehicle may be determined to be a stationary obstacle.
Optionally, the server may determine whether the traffic congestion state is present from the shortest route among the planned routes. If the shortest route is not in a congested state, the shortest route may be sent to the current vehicle. And if the shortest route is in the congestion state, judging whether the route with the second shortest route length rank is in the congestion state. If the second short path is not in a congested state, the second short path may be sent to the current vehicle. And if the second short path is in the congestion state, judging whether the path with the third short path length rank is in the congestion state. And the rest is repeated until the path with the shortest length in the non-congestion state in the plurality of planned paths is determined. The shortest path in the non-congested state among the plurality of paths may then be selected as the specific path.
Alternatively, if all of the planned paths are in a congested state, the path with the shortest path length may be used as the specific path.
In step S150, the selected specific route is sent to the current vehicle.
Optionally, the information of the specific path may be sent to the current vehicle as navigation information, and the current vehicle executes automatic parking kinetic energy according to the received navigation information and quickly reaches the target parking space.
Fig. 2 shows a schematic diagram of path planning according to an embodiment of the present invention, as shown in fig. 2, a current vehicle is located at an entrance, and a target parking space is a parking space P, assuming that the parking space is not involved in cross-floor parking, three paths are planned from a current position of the current vehicle to the target parking space P according to map information of the parking lot, respectively, a path △, a path △, and a path △ in fig. 2, a server plans a series of coordinate points, e.g., coordinate points (Xm, Ym), (Xn, Yn), etc., along a center of a lane according to a stored parking lot plan, and then calculates lengths of the three paths respectively according to the planned coordinate points, a path △ length L ═ △ Y1+ △ X1+ △ Y2, wherein △ Y1 is calculated from a difference between a Y coordinate of a farthest point in the path of the current vehicle and a Y coordinate of the current position of the vehicle, a △ X635 is a difference between a X coordinate value of the farthest X from the target parking space to the current position of the vehicle and a Y coordinate value of X2, a Y coordinate value of a difference of a Y598624 of a path of the most distant vehicle, a path 598, a path of the current path of the.
If the parking lot management system's server detects that there are no vehicles or no more than the first predetermined number of vehicles on route ① and there are no stationary obstacles, then it is determined that route ① is in a non-congested state, route ① 1 is pushed to the vehicles as the specific route that eventually reaches target parking space P, while a series of coordinate points may be sent to the vehicle end for vehicle automatic control.
The parking lot shown in fig. 2 is a non-floor-crossing parking lot, and for a floor-crossing parking lot, in addition to calculating the above-mentioned plane distance, calculation of the floor-crossing distance is required to be added in calculating the path length.
The method comprises the step of determining a path finally sent to a current vehicle by combining the path length and the path congestion state, so that the current vehicle can drive to a target parking space in the shortest time and in the scheme with the least oil consumption or electricity consumption.
Further, based on any of the above embodiments, the path planning method for passenger car parking according to the embodiments of the present invention may also perform local planning of a path.
Specifically, the server may further detect whether a route ahead of the route traveled by the vehicle is in a congested state while the current vehicle travels according to the received route information. For example, it may be detected whether a route ahead of a route traveled by the vehicle is in a congestion state in a case where the current vehicle reaches a predetermined distance before the intersection, the predetermined distance may be a preset fixed value, for example, the predetermined distance may range from 3m to 7m, for example, 5m, or the like, or a length of the predetermined distance may be adjusted according to a speed of the current vehicle, the larger the speed of the current vehicle is, the longer the predetermined distance is. Alternatively, before the current vehicle reaches the intersection, it may be periodically detected whether a route ahead of the route traveled by the vehicle is in a congestion state, and the detection period may be set to any suitable value according to specific situations, for example, different detection periods may be set according to different vehicles.
Whether the front path traveled by the current vehicle is in the congestion state or not can be determined according to the front road condition information detected by a sensor arranged on the current vehicle, or whether the front path is in the congestion state or not can be detected according to sensors such as a laser radar and a camera arranged in a parking lot.
The sensors disposed within the current vehicle or parking lot may determine whether the forward path has more than a second predetermined number of obstacles, which may be the same as the first predetermined number described above, and whether the forward path is in a construction state, which may be a sudden construction state. After the sensor arranged in the vehicle or the parking lot detects the road condition information in front, the road condition information can be sent to the server. The server may determine whether the forward path is in a congested state. Determining that the forward path is in a congested state if the forward path has more than a second predetermined number of obstacles and/or the forward path is in a construction state, and otherwise determining that the forward path is in an uncongested state.
In the case where the forward route is in a non-congested state, the local planning of the route may not be performed and the vehicle may still be driving along the previously received route. Under the condition that the front path is in a congestion state, the server may plan a path from the current position to the target parking space for the current vehicle again according to the position information of the target parking space, the current position information of the current vehicle, and the map information of the parking lot. The replanning of the path is similar to the path planning method, firstly one or more paths reaching the target parking space are planned according to the position information of the target parking space, the current position information of the current vehicle and the map information of the parking lot, and then the path with the shortest length in the non-congestion state in the planned one or more paths is sent to the current vehicle. After the current vehicle receives the path newly transmitted by the server, the current vehicle can travel according to the new path.
By executing the dynamic local planning of the path, the vehicle can avoid the sudden congestion path in the driving process and quickly reach the target parking space.
Further, based on any of the above embodiments, the path planning method for passenger car parking according to the embodiment of the present invention may further include: and sending the position information and the vehicle speed information of the vehicle on the other path crossed with the path sent to the current vehicle, wherein the position information and the vehicle speed information of the other vehicle can be sent to a server by the other vehicle in real time and are also detected and determined by sensors such as a laser radar, a camera and the like arranged in the parking lot. This step may be performed in real time during vehicle travel. After the current vehicle receives the position information of other vehicles on other paths, the forbidden area, the cooperative area and the early warning area of other vehicles can be calculated, so that the current vehicle can avoid obstacles in advance, and the running safety of the current vehicle is ensured.
Fig. 3 shows a vehicle driving diagram according to an embodiment of the present invention, as shown in fig. 3, when the current vehicle 6 drives along a path ②, the server may transmit position information and vehicle speed information of the first other vehicle 3 and the second other vehicle 4 on a path ① intersecting the path ② to the current vehicle 6 in advance, and after the current vehicle 6 receives the position information and the vehicle speed information of the first other vehicle 3 and the second other vehicle 4, the prohibited area, the cooperation area, and the early warning area of the first other vehicle 3 and the second other vehicle 4 may be calculated to perform early obstacle avoidance, so as to ensure the driving safety of the current vehicle 6.
Accordingly, the embodiment of the present invention further provides a machine-readable storage medium, where the machine-readable storage medium has instructions stored thereon, and the instructions are used to enable a machine to execute the method for path planning for passenger car parking according to any embodiment of the present invention.
Fig. 4 is a block diagram showing a configuration of a path planning apparatus for valet parking according to an embodiment of the present invention. As shown in fig. 4, an embodiment of the present invention further provides a path planning device for passenger car parking, where the path planning device may be used in a server, and the server may be a server of an intelligent parking lot management system. The path planning apparatus for valet parking may include: a first obtaining module 410, configured to obtain position information of a target parking space; a second obtaining module 420, configured to obtain position information of a current vehicle; a path planning module 430, configured to plan one or more paths to the target parking space for the current vehicle according to the position information of the target parking space, the position information of the current vehicle, and the map information of the parking lot; and a selection module 440, configured to select a specific path from the one or more paths; a sending module 450, configured to send the selected specific route to the current vehicle. Optionally, the sending module 450 may send the information of the specific path to the current vehicle as the navigation information, and the current vehicle executes automatic parking kinetic energy according to the received navigation information and quickly reaches the target parking space.
The selection module 440 may be configured to select one planned path as the specific path if only one planned path is planned by the path planning module 430. The selection module 440 may be further configured to select the specific path according to the following steps if the path planning module 430 plans multiple paths: calculating the length of each path in the plurality of paths; judging whether each path is in a congestion state or a non-congestion state, specifically, if the number of vehicles on the path is more than a first preset number, the path is in a construction state, and static obstacles exist on the path, determining that the path is in the congestion state, otherwise, determining that the path is in the non-congestion state; and selecting a path having the shortest length in the non-congested state among the plurality of paths as the specific path.
The method comprises the step of determining a path finally sent to a current vehicle by combining the path length and the path congestion state, so that the current vehicle can drive to a target parking space in the shortest time and in the scheme with the least oil consumption or electricity consumption.
The first obtaining module 410 may obtain the position information of the target parking space according to the following steps: after receiving a parking request sent by the current vehicle, judging whether an appointed parking space or a fixed parking space corresponding to the current vehicle exists; and if the reserved parking space or the fixed parking space is available, using the position information of the reserved parking space or the fixed parking space as the position information of the target parking space, and if the reserved parking space and the fixed parking space are not available, allocating a parking space for the current vehicle according to one or more of the following: and the vehicle taking position and the electric quantity information of the current vehicle set by the user, and the position information of the distributed parking space is used as the position information of the target parking space.
Optionally, the path planning apparatus for passenger car parking according to the embodiment of the present invention may further include a detection module, configured to, in a current vehicle driving process: when the current vehicle reaches a predetermined distance before the intersection, detecting whether a route ahead of the route planned for the current vehicle is in a congested state, or periodically detecting whether a route ahead of a route traveled by the vehicle is in a congested state before the current vehicle reaches the intersection. For example, the detection module may be configured to, if the forward path sent by the sensor provided in the current vehicle or parking lot is received, satisfy one or more of the following: and if the front path has more obstacles than a second preset number and is in a construction state, determining that the front path is in a congestion state. The path planning module 430 is further configured to plan a path to the target parking space for the current vehicle again according to the position information of the target parking space, the current position information of the current vehicle, and the map information of the parking lot if it is detected that a path ahead of the path planned for the current vehicle is in a congested state. The sending module 450 is further configured to send the re-planned route to the current vehicle. In the running process of the vehicle, the dynamic local planning of the path is executed, so that the vehicle can avoid a sudden congestion path in the running process and quickly reach a target parking space.
Optionally, the sending module 450 may also send the position information and the vehicle speed information of the vehicle on other paths intersecting the path sent to the current vehicle. After the current vehicle receives the position information of other vehicles on other paths, the forbidden area, the cooperative area and the early warning area of other vehicles can be calculated, so that the current vehicle can avoid obstacles in advance, and the running safety of the current vehicle is ensured.
The specific working principle and benefits of the path planning device for passenger car parking in the embodiment of the present invention are similar to those of the path planning method for passenger car parking in the embodiment of the present invention, and will not be described herein again.
Although the embodiments of the present invention have been described in detail with reference to the accompanying drawings, the embodiments of the present invention are not limited to the details of the above embodiments, and various simple modifications can be made to the technical solutions of the embodiments of the present invention within the technical idea of the embodiments of the present invention, and the simple modifications all belong to the protection scope of the embodiments of the present invention.
It should be noted that the various features described in the above embodiments may be combined in any suitable manner without departing from the scope of the invention. In order to avoid unnecessary repetition, the embodiments of the present invention do not describe every possible combination.
Those skilled in the art will understand that all or part of the steps in the method according to the above embodiments may be implemented by a program, which is stored in a storage medium and includes several instructions to enable a single chip, a chip, or a processor (processor) to execute all or part of the steps in the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes.
In addition, any combination of various different implementation manners of the embodiments of the present invention is also possible, and the embodiments of the present invention should be considered as disclosed in the embodiments of the present invention as long as the combination does not depart from the spirit of the embodiments of the present invention.
Claims (10)
1. A path planning method for passenger car parking, characterized in that the path planning method for passenger car parking comprises:
acquiring position information of a target parking space;
acquiring the position information of the current vehicle;
planning one or more paths to the target parking space for the current vehicle according to the position information of the target parking space, the position information of the current vehicle and the map information of the parking lot;
selecting a particular path from the one or more paths; and
and sending the selected specific path to the current vehicle.
2. The method of claim 1, wherein the selecting a particular route from the one or more routes comprises:
selecting one planned path as the specific path under the condition that only one path is planned;
in the case of multiple paths being traced, selecting the particular path according to the following steps: calculating the length of each path in the plurality of paths; judging whether each path is in a congestion state or a non-congestion state; and selecting a path having the shortest length in the non-congested state among the plurality of paths as the specific path.
3. The method of claim 2, wherein determining whether each path is in a congested state or an uncongested state comprises:
if the path satisfies at least one of: if the number of vehicles on the path is more than a first preset number, the path is in a construction state, and static obstacles exist on the path, determining that the path is in a congestion state, and otherwise, determining that the path is in an uncongested state.
4. The path planning method for valet parking according to claim 1, further comprising:
during travel of the current vehicle based on the received route: detecting whether a route ahead of a route traveled by a vehicle is in a congested state or not when the current vehicle reaches a predetermined distance before the intersection, or periodically detecting whether the route ahead of the route traveled by the vehicle is in the congested state or not before the current vehicle reaches the intersection;
if the front path is detected to be in a congestion state, planning a path to the target parking space for the current vehicle again according to the position information of the target parking space, the current position information of the current vehicle and the map information of the parking lot; and
sending the re-planned path to the current vehicle.
5. The path planning method for valet parking according to claim 1, wherein the obtaining of the position information of the target parking space includes:
after receiving a parking request sent by the current vehicle, judging whether an appointed parking space or a fixed parking space corresponding to the current vehicle exists; and
if the reserved parking space or the fixed parking space is available, using the position information of the reserved parking space or the fixed parking space as the position information of the target parking space, and if the reserved parking space and the fixed parking space are not available, allocating a parking space for the current vehicle according to one or more of the following: and the vehicle taking position and the electric quantity information of the current vehicle set by the user, and the position information of the distributed parking space is used as the position information of the target parking space.
6. The path planning method for valet parking according to claim 1, further comprising:
and transmitting position information and vehicle speed information of the vehicle on the other path intersecting the path transmitted to the current vehicle.
7. A path planning apparatus for valet parking, characterized by comprising:
the first acquisition module is used for acquiring the position information of the target parking space;
the second acquisition module is used for acquiring the position information of the current vehicle;
the route planning module is used for planning one or more routes to the target parking space for the current vehicle according to the position information of the target parking space, the position information of the current vehicle and the map information of the parking lot;
a selection module for selecting a specific path from the one or more paths; and
and the sending module is used for sending the selected specific path to the current vehicle.
8. The path planning apparatus for passenger vehicle parking according to claim 7,
the selection module is used for selecting one planned path as the specific path under the condition that the path planning module plans only one path;
the selection module is further configured to select the specific path according to the following steps when the path planning module plans a plurality of paths: calculating the length of each path in the plurality of paths; judging whether each path is in a congestion state or a non-congestion state; and selecting a path having the shortest length in a non-congested state among the plurality of paths as the specific path,
preferably, the selection module is configured to determine whether each of the paths is in a congested state or a non-congested state according to the following steps: if the path satisfies at least one of: if the number of vehicles on the path is more than a first preset number, the path is in a construction state, and static obstacles exist on the path, determining that the path is in a congestion state, and otherwise, determining that the path is in an uncongested state.
9. The path planning apparatus for passenger vehicle parking according to claim 7,
the path planning device for passenger car parking further comprises: a detection module for, during travel of the current vehicle based on the received route: detecting whether a route ahead of a route traveled by a vehicle is in a congested state or not when the current vehicle reaches a predetermined distance before the intersection, or periodically detecting whether the route ahead of the route traveled by the vehicle is in the congested state or not before the current vehicle reaches the intersection;
the path planning module is further used for planning a path to the target parking space for the current vehicle again according to the position information of the target parking space, the current position information of the current vehicle and the map information of the parking lot if the front path is detected to be in a congestion state; and
the sending module is further configured to send the re-planned route to the current vehicle.
10. A machine-readable storage medium having stored thereon instructions for enabling a machine to perform the method for path planning for passenger vehicle parking according to any one of claims 1 to 6.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910074200.4A CN110827572A (en) | 2019-01-25 | 2019-01-25 | Path planning method and device for passenger-riding parking |
| PCT/CN2020/073098 WO2020151632A1 (en) | 2019-01-25 | 2020-01-20 | Route planning method and device for assisted parking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910074200.4A CN110827572A (en) | 2019-01-25 | 2019-01-25 | Path planning method and device for passenger-riding parking |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110827572A true CN110827572A (en) | 2020-02-21 |
Family
ID=69547545
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910074200.4A Pending CN110827572A (en) | 2019-01-25 | 2019-01-25 | Path planning method and device for passenger-riding parking |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110827572A (en) |
| WO (1) | WO2020151632A1 (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111667715A (en) * | 2020-04-29 | 2020-09-15 | 江西江铃集团新能源汽车有限公司 | Parking lot parking space management method and device, computer equipment and storage medium |
| CN111942384A (en) * | 2020-07-22 | 2020-11-17 | 广州汽车集团股份有限公司 | Vehicle low-speed automatic cruise method, client and vehicle low-speed automatic cruise system |
| CN112037577A (en) * | 2020-09-23 | 2020-12-04 | 建信金融科技有限责任公司 | Parking lot parking space navigation method and system |
| CN112562408A (en) * | 2020-11-30 | 2021-03-26 | 北京停简单信息技术有限公司 | Global path planning method, device and system based on vehicle-road cooperation |
| CN112562388A (en) * | 2020-11-13 | 2021-03-26 | 浙江吉利控股集团有限公司 | Vehicle connection management method and device and storage medium |
| CN112863222A (en) * | 2021-01-05 | 2021-05-28 | 北京智联云海科技有限公司 | Method and system for monitoring vacant parking spaces in real time in navigation process |
| CN113362627A (en) * | 2021-05-25 | 2021-09-07 | 中国联合网络通信集团有限公司 | Automatic driving method and vehicle-mounted terminal |
| CN113375678A (en) * | 2020-03-09 | 2021-09-10 | 杭州海康威视数字技术股份有限公司 | Driving path planning method, management server and parking management system |
| CN113650605A (en) * | 2021-09-15 | 2021-11-16 | 恒大新能源汽车投资控股集团有限公司 | Parking control method and system |
| WO2021226908A1 (en) * | 2020-05-14 | 2021-11-18 | 舍弗勒技术股份两合公司 | Automatic vehicle parking/retrieving method for parking lot, parking lot system, and vehicle terminal |
| WO2022052809A1 (en) * | 2020-09-11 | 2022-03-17 | 灵动科技（北京）有限公司 | Method and device for controlling traveling of robot in warehouse |
| CN114333393A (en) * | 2020-09-30 | 2022-04-12 | 北京智行者科技有限公司 | Dispatching method and dispatching system for passenger-riding parking |
| CN114944074A (en) * | 2021-02-17 | 2022-08-26 | 丰田自动车株式会社 | Information processing apparatus, route information providing method, and route information providing system |
| CN115346390A (en) * | 2022-08-11 | 2022-11-15 | 小米汽车科技有限公司 | Parking method, device, storage medium, chip and vehicle |
| CN115440078A (en) * | 2021-06-04 | 2022-12-06 | 丰田自动车株式会社 | Automatic valet parking system, automatic valet parking service providing method, and storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2022110049A1 (en) * | 2020-11-27 | 2022-06-02 | 华为技术有限公司 | Navigation method, apparatus, and system |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101072353B1 (en) * | 2010-09-27 | 2011-10-11 | 서동산업(주) | System and method for managing unmanned parking use car navigation system |
| CN105303873A (en) * | 2015-09-07 | 2016-02-03 | 广东欧珀移动通信有限公司 | Parking space recommendation method and mobile terminal |
| CN105946853A (en) * | 2016-04-28 | 2016-09-21 | 中山大学 | Long-distance automatic parking system and method based on multi-sensor fusion |
| CN106228828A (en) * | 2016-08-01 | 2016-12-14 | 北京博锐尚格节能技术股份有限公司 | A kind of parking maneuver system and method |
| CN106530820A (en) * | 2017-01-05 | 2017-03-22 | 吉林大学 | Electric vehicle valet automatic parking in-place charging system |
| CN106952496A (en) * | 2017-04-11 | 2017-07-14 | 苏州梦伯乐信息科技有限公司 | Pilotless automobile intelligent car-searching position method |
| CN107170282A (en) * | 2017-06-23 | 2017-09-15 | 深圳市盛路物联通讯技术有限公司 | It is a kind of to preengage the dispatching method parked and system |
| CN107170276A (en) * | 2017-06-08 | 2017-09-15 | 浙江大学 | A kind of unmanned parking lot automatic parking management system based on cloud |
| CN107346611A (en) * | 2017-07-20 | 2017-11-14 | 北京纵目安驰智能科技有限公司 | A kind of barrier-avoiding method and obstacle avoidance system of the vehicle of autonomous driving |
| CN107680403A (en) * | 2017-10-30 | 2018-02-09 | 中国联合网络通信集团有限公司 | Vehicle, which is led, stops method and system |
| CN108482366A (en) * | 2018-03-23 | 2018-09-04 | 重庆长安汽车股份有限公司 | Valet parking system and method based on Vehicular automatic driving |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2004252816A (en) * | 2003-02-21 | 2004-09-09 | Aeon Mall Co Ltd | Vehicle guiding system and method on road around parking lot |
| JP5980753B2 (en) * | 2013-09-25 | 2016-08-31 | 株式会社駐車場綜合研究所 | Parking lot guidance device, parking lot guidance method, parking lot guidance program |
| CN104299446A (en) * | 2014-10-27 | 2015-01-21 | 合肥指南针电子科技有限责任公司 | Parking lot management system for mobile terminal navigation vehicle route and method of parking lot management system |
| CN107230377A (en) * | 2016-03-25 | 2017-10-03 | 上海中科深江电动车辆有限公司 | Parking lot guide method and device |
| CN107421558A (en) * | 2017-07-25 | 2017-12-01 | 电子科技大学中山学院 | Parking system capable of automatically planning route |
-
2019
- 2019-01-25 CN CN201910074200.4A patent/CN110827572A/en active Pending
-
2020
- 2020-01-20 WO PCT/CN2020/073098 patent/WO2020151632A1/en active Application Filing
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101072353B1 (en) * | 2010-09-27 | 2011-10-11 | 서동산업(주) | System and method for managing unmanned parking use car navigation system |
| CN105303873A (en) * | 2015-09-07 | 2016-02-03 | 广东欧珀移动通信有限公司 | Parking space recommendation method and mobile terminal |
| CN105946853A (en) * | 2016-04-28 | 2016-09-21 | 中山大学 | Long-distance automatic parking system and method based on multi-sensor fusion |
| CN106228828A (en) * | 2016-08-01 | 2016-12-14 | 北京博锐尚格节能技术股份有限公司 | A kind of parking maneuver system and method |
| CN106530820A (en) * | 2017-01-05 | 2017-03-22 | 吉林大学 | Electric vehicle valet automatic parking in-place charging system |
| CN106952496A (en) * | 2017-04-11 | 2017-07-14 | 苏州梦伯乐信息科技有限公司 | Pilotless automobile intelligent car-searching position method |
| CN107170276A (en) * | 2017-06-08 | 2017-09-15 | 浙江大学 | A kind of unmanned parking lot automatic parking management system based on cloud |
| CN107170282A (en) * | 2017-06-23 | 2017-09-15 | 深圳市盛路物联通讯技术有限公司 | It is a kind of to preengage the dispatching method parked and system |
| CN107346611A (en) * | 2017-07-20 | 2017-11-14 | 北京纵目安驰智能科技有限公司 | A kind of barrier-avoiding method and obstacle avoidance system of the vehicle of autonomous driving |
| CN107680403A (en) * | 2017-10-30 | 2018-02-09 | 中国联合网络通信集团有限公司 | Vehicle, which is led, stops method and system |
| CN108482366A (en) * | 2018-03-23 | 2018-09-04 | 重庆长安汽车股份有限公司 | Valet parking system and method based on Vehicular automatic driving |
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113375678A (en) * | 2020-03-09 | 2021-09-10 | 杭州海康威视数字技术股份有限公司 | Driving path planning method, management server and parking management system |
| CN111667715A (en) * | 2020-04-29 | 2020-09-15 | 江西江铃集团新能源汽车有限公司 | Parking lot parking space management method and device, computer equipment and storage medium |
| CN115004276A (en) * | 2020-05-14 | 2022-09-02 | 舍弗勒技术股份两合公司 | Automatic parking/picking method for parking lot, parking lot system and vehicle terminal |
| WO2021226908A1 (en) * | 2020-05-14 | 2021-11-18 | 舍弗勒技术股份两合公司 | Automatic vehicle parking/retrieving method for parking lot, parking lot system, and vehicle terminal |
| CN111942384A (en) * | 2020-07-22 | 2020-11-17 | 广州汽车集团股份有限公司 | Vehicle low-speed automatic cruise method, client and vehicle low-speed automatic cruise system |
| WO2022052809A1 (en) * | 2020-09-11 | 2022-03-17 | 灵动科技（北京）有限公司 | Method and device for controlling traveling of robot in warehouse |
| CN112037577A (en) * | 2020-09-23 | 2020-12-04 | 建信金融科技有限责任公司 | Parking lot parking space navigation method and system |
| CN114333393B (en) * | 2020-09-30 | 2024-03-19 | 北京智行者科技股份有限公司 | Scheduling method and scheduling system for bus parking |
| CN114333393A (en) * | 2020-09-30 | 2022-04-12 | 北京智行者科技有限公司 | Dispatching method and dispatching system for passenger-riding parking |
| CN112562388B (en) * | 2020-11-13 | 2022-06-21 | 浙江吉利控股集团有限公司 | Vehicle connection management method and device and storage medium |
| CN112562388A (en) * | 2020-11-13 | 2021-03-26 | 浙江吉利控股集团有限公司 | Vehicle connection management method and device and storage medium |
| CN112562408A (en) * | 2020-11-30 | 2021-03-26 | 北京停简单信息技术有限公司 | Global path planning method, device and system based on vehicle-road cooperation |
| CN112863222A (en) * | 2021-01-05 | 2021-05-28 | 北京智联云海科技有限公司 | Method and system for monitoring vacant parking spaces in real time in navigation process |
| CN112863222B (en) * | 2021-01-05 | 2022-09-09 | 北京智联云海科技有限公司 | Method and system for monitoring vacant parking spaces in real time in navigation process |
| CN114944074A (en) * | 2021-02-17 | 2022-08-26 | 丰田自动车株式会社 | Information processing apparatus, route information providing method, and route information providing system |
| CN114944074B (en) * | 2021-02-17 | 2024-02-13 | 丰田自动车株式会社 | Information processing device, route information providing method, and route information providing system |
| CN113362627A (en) * | 2021-05-25 | 2021-09-07 | 中国联合网络通信集团有限公司 | Automatic driving method and vehicle-mounted terminal |
| CN115440078A (en) * | 2021-06-04 | 2022-12-06 | 丰田自动车株式会社 | Automatic valet parking system, automatic valet parking service providing method, and storage medium |
| CN115440078B (en) * | 2021-06-04 | 2024-01-02 | 丰田自动车株式会社 | Automatic customer-substituting parking system, automatic customer-substituting parking service providing method and storage medium |
| CN113650605A (en) * | 2021-09-15 | 2021-11-16 | 恒大新能源汽车投资控股集团有限公司 | Parking control method and system |
| CN115346390A (en) * | 2022-08-11 | 2022-11-15 | 小米汽车科技有限公司 | Parking method, device, storage medium, chip and vehicle |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020151632A1 (en) | 2020-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN110827572A (en) | Path planning method and device for passenger-riding parking | |
| CN110782696B (en) | Control system for passenger-riding parking | |
| CN108372858B (en) | Control device and control method for autonomous vehicle, and recording medium having program recorded thereon | |
| CN109945882B (en) | Unmanned vehicle path planning and control system and method | |
| CN111712420B (en) | Vehicle control system, vehicle control method, and storage medium | |
| CN111145579B (en) | Parking lot assistance | |
| CN112150858B (en) | Method and system for managing parking area of parking lot | |
| US10655972B2 (en) | Method and device for operating a vehicle and a parking facility respectively | |
| EP3276307A1 (en) | Shared vehicle managing apparatus and shared vehicle managing method | |
| US10019899B2 (en) | Method and device for determining a pickup position from multiple pickup positions for a vehicle incorporated by a parking facility | |
| CN113870602B (en) | Method and system for dispatching multiple AGV parking | |
| WO2020151659A1 (en) | Control system for valet parking | |
| CN103221665A (en) | Driving support system and driving support managing device | |
| US11651693B2 (en) | Passenger walking points in pick-up/drop-off zones | |
| CN113375678B (en) | Driving path planning method, management server and parking management system | |
| CN110858453A (en) | Autonomous parking in an indoor parking facility | |
| CN113650604A (en) | Automatic parking control method and device, electronic equipment and storage medium | |
| CN112863225A (en) | Method and device for passenger-replacing parking | |
| CN110914642A (en) | Method and system for determining a destination point different from a specified point, and motor vehicle equipped with such a system | |
| JP2011215049A (en) | Device, method, and system for obtaining parking-lot information | |
| US20190066502A1 (en) | Method and system for assisting vehicle parking | |
| JP2023168477A (en) | Autonomous travel control device, autonomous travel control method, program and storage medium | |
| KR20180107892A (en) | Telematics server and telematics server control method | |
| CN115862370A (en) | Visual guiding method and system for available parking spaces of underground parking lot based on ground destination | |
| JP2020034376A (en) | Autonomous travel control device, autonomous travel control method, program and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |