CN110969893A - Vehicle autonomous passenger-replacing parking method, vehicle-mounted equipment and storage medium - Google Patents
Vehicle autonomous passenger-replacing parking method, vehicle-mounted equipment and storage medium Download PDFInfo
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- CN110969893A CN110969893A CN201911296189.2A CN201911296189A CN110969893A CN 110969893 A CN110969893 A CN 110969893A CN 201911296189 A CN201911296189 A CN 201911296189A CN 110969893 A CN110969893 A CN 110969893A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
- G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
- G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
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Abstract
The embodiment of the disclosure relates to a vehicle autonomous valet parking method, a vehicle-mounted device and a storage medium, wherein the vehicle autonomous valet parking method comprises the following steps: controlling the vehicle to delay powering down based on vehicle flameout; receiving a parking instruction in the delayed power-off process, and controlling the vehicle to be powered on; acquiring parking lot information based on the parking instruction; and controlling the vehicle to park autonomously based on the parking lot information. In the embodiment of the disclosure, after the vehicle is flamed out, by controlling the vehicle to delay power-off, the parking instruction can be received during the delayed power-off period, so that a user can manually flamed out first and then initiate a parking request, the user experience is improved, and the energy consumption of the vehicle is reduced.
Description
Technical Field
The disclosed embodiment relates to the technical field of autonomous passenger-replacing parking, in particular to an autonomous passenger-replacing parking method for a vehicle, vehicle-mounted equipment and a non-transitory computer-readable storage medium.
Background
Autonomous Valet Parking (AVP) function definition: a driver issues an instruction from a designated passenger point through a key or a mobile phone APP, and a vehicle can automatically drive to a parking space of a parking lot without monitoring by the driver; the vehicle can automatically drive to the designated pick-up point from the parking space after receiving the instruction; and a plurality of vehicles receive the parking instruction at the same time, and the dynamic automatic waiting for entering the parking space is realized.
Disclosure of Invention
At least one embodiment of the disclosure provides a vehicle autonomous valet parking method, a vehicle-mounted device and a non-transitory computer readable storage medium.
In a first aspect, an embodiment of the present disclosure provides a method for autonomous vehicle parking in a passenger car, where the method includes:
controlling the vehicle to delay powering down based on vehicle flameout;
receiving a parking instruction in the delayed power-off process, and controlling the vehicle to be powered on;
acquiring parking lot information based on the parking instruction;
and controlling the vehicle to park autonomously based on the parking lot information.
In a second aspect, an embodiment of the present disclosure further provides an on-board device, including: a processor and a memory; the processor is adapted to perform the steps of the method according to the first aspect by calling a program or instructions stored by the memory.
In a third aspect, the disclosed embodiments also propose a non-transitory computer-readable storage medium for storing a program or instructions for causing a computer to perform the steps of the method according to the first aspect.
Therefore, in at least one embodiment of the disclosure, after the vehicle is shut down, by controlling the vehicle to delay power down, the parking instruction can be received during the power down delay period, so that the user can manually shut down the vehicle first and then initiate a parking request, the user experience is improved, and the energy consumption of the vehicle is reduced.
Drawings
To more clearly illustrate the technical solutions of the embodiments of the present disclosure, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and other drawings can be obtained by those skilled in the art according to the drawings.
FIG. 1 is a diagram of an exemplary application scenario provided by an embodiment of the present disclosure;
figure 2 is an exemplary block diagram of an AVP system provided by embodiments of the present disclosure;
fig. 3 is an exemplary block diagram of an AVP module provided by an embodiment of the present disclosure;
FIG. 4 is an exemplary block diagram of an in-vehicle device provided by an embodiment of the present disclosure;
fig. 5 is an exemplary flowchart of a method for autonomous valet parking of a vehicle according to an embodiment of the present disclosure.
Detailed Description
In order that the above objects, features and advantages of the present disclosure can be more clearly understood, the present disclosure will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the embodiments described are only a few embodiments of the present disclosure, and not all embodiments. The specific embodiments described herein are merely illustrative of the disclosure and are not intended to be limiting. All other embodiments derived by one of ordinary skill in the art from the described embodiments of the disclosure are intended to be within the scope of the disclosure.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The embodiment of the disclosure provides an autonomous vehicle parking method, a vehicle-mounted device or a storage medium, after a vehicle is shut down, by controlling the vehicle to be powered off in a delayed mode, a parking instruction can be received during the power off delay period, a user can manually shut down the vehicle first and then initiate a parking request, user experience is improved, and energy consumption of the vehicle is reduced. The method can be applied to intelligent driving systems of different levels, such as an auxiliary driving vehicle, a highly automatic driving vehicle, a fully automatic driving vehicle or other vehicles requiring autonomous positioning of the vehicle. Specifically, the vehicle may be an AVP system-mounted vehicle or an intelligent driving system-mounted vehicle. In some embodiments, the vehicle autonomous valet parking method can be applied to underground parking lots, open parking lots, districts, mechanical parking lots, intelligent parking lots and the like. It should be understood that the application scenarios of the system and method of the present application are only examples or embodiments of the present application, and those skilled in the art can also apply the present application to other similar scenarios without inventive effort. In order to make clear explanation, the embodiments of the present disclosure use a vehicle with an AVP system as an example to describe the vehicle autonomous valet parking method, the vehicle-mounted device, or the storage medium.
Fig. 1 is a diagram of an exemplary application scenario provided in an embodiment of the present disclosure. As shown in fig. 1, the application scenario includes: user terminal, vehicle, high in the clouds server and parking area.
The User Equipment (User Equipment) may be any electronic device having a data communication function, such as a mobile terminal, e.g., a smart phone, a tablet computer, and the like. The user terminal can establish communication connection with the cloud server and interact data. The user terminal installs an Application (APP) about an Automatic Valet Parking (AVP) service, and a user can conveniently start the AVP function of the vehicle by operating the APP.
For example, a user opens an APP main interface or a Human machine interaction interface (HMI) by clicking an APP icon, and then presents at least two function controls to the user: one is an "auto park" control and the other is a "summoning" control. The user clicks the automatic parking control and sends an automatic parking request to the cloud server to realize the automatic parking function of the AVP; and clicking the 'car calling' control by the user, and sending a car calling request to the cloud server so as to realize the AVP car calling function.
The vehicle is a vehicle having the AVP system 100, and may be, for example, a general vehicle in which the AVP system 100 is installed, or an intelligent driving vehicle having the AVP system 100. The AVP system 100 implements the AVP function. The AVP function at least comprises an automatic parking function and a car calling function. Under the automatic parking function, the AVP system 100 controls the vehicle to travel from a starting point to a position near the parking space, and enter the parking space to park, wherein the starting point may be a fixed point or any point within a preset range of the parking space. Under the car calling function, the AVP system 100 controls the vehicle to exit from the parking space and travel to the destination, where the destination may be a fixed location, or a location where a user initiates a car calling request within a preset range of the parking lot, or a location specified by the user. In some embodiments, the vehicle may autonomously locate or autonomously find an empty parking space and plan a driving path to drive to the empty parking space.
In some embodiments, the vehicle may establish a communication connection with the cloud server. The vehicle may receive the electronic map and the instruction sent by the cloud server, where the instruction may include, but is not limited to, at least one of: automatic parking instructions, car calling instructions, remote control instructions and the like. In some embodiments, after receiving the automatic parking instruction or the car summoning instruction, the vehicle enters an AVP mode and executes an automatic parking function or a car summoning function. In some embodiments, the vehicle may send vehicle-related information to the cloud server in real-time. The vehicle-related information may include, but is not limited to, at least one of: vehicle ID, whether in AVP mode, planning information, vehicle status, vehicle pose, vehicle ambient information, AVP status, parking space, etc. Wherein the vehicle state may include, but is not limited to, at least one of: vehicle information, user in use, length of use, mileage in use, vehicle operating status, location of sensors on the vehicle, and status of sensors on the vehicle. The AVP state includes a parking state and a summoning state. The vehicle pose comprises coordinates of the vehicle in a geodetic coordinate system and included angles between the vehicle and each coordinate axis.
In some embodiments, the vehicle may establish a communication connection with a field-end server. The vehicle may receive the field end information sent by the field end server, wherein the field end information may include, but is not limited to, at least one of: the field server includes, for example, location information of the Vehicle, allocated parking space information, guidance information, Vehicle wireless communication (V2X) information, payment information (for example, parking fee to be paid by the user), a parking lot map, and the like. Wherein, the prompt message may include but is not limited to at least one of the following: the number of the idle parking spaces, the information of the idle parking spaces and the information of the designated parking spaces. The V2X information may include, but is not limited to, at least one of: real-time road conditions, road information, pedestrian information and other traffic information. In some embodiments, after receiving the field end information, the vehicle may plan a path based on the field end information and travel along the planned path. In some embodiments, the vehicle may send vehicle-related information to the field-side server in real-time.
The cloud server can be any electronic device with a data processing function, and can be a server or a server group. The cloud server group may be centralized or distributed. The distributed servers are beneficial to the distribution and optimization of tasks in a plurality of distributed servers, and the defects of resource shortage and response bottleneck of the traditional centralized server are overcome.
In some embodiments, the cloud server may establish communication connections with the user terminal, the vehicle, and the field server, respectively. In some embodiments, the cloud server receives request information sent by a user terminal, where the request information includes: an automatic parking request or a summoning request. In some embodiments, the cloud server receives vehicle-related information sent by the vehicle. In some embodiments, the cloud server receives the farm end information sent by the farm end server. In some embodiments, the cloud server may send the vehicle-related information to the user terminal for display. In some embodiments, the cloud server may send the electronic map and instructions to the vehicle. In some embodiments, the cloud server may assign a parking space or area to the vehicle. In some embodiments, the cloud server may send AVP information to the site server, where the AVP information may include, but is not limited to, at least one of: vehicle ID, vehicle location instructions, summoning information, payment information (e.g., parking fees paid by the user). Wherein, the information of calling the car can include but not limited to at least one of the following: the ID of the summoned vehicle, the parking space of the summoned vehicle, etc. In some embodiments, the cloud server may remotely control the vehicle. For example, when the vehicle cannot be located or fails to be located, the cloud server can remotely control the vehicle to travel to a safe area for parking.
The parking lot may be an original parking lot, a standard parking lot, a modified parking lot, etc. Wherein, standardize the parking area and refer to: the parking lot has the advantages that lane lines are clear, the ground is smooth, the size of the parking space meets the requirement, the bandwidth is larger than or equal to a preset bandwidth (such as 5Mps), the size standard of the parking space, the ground is not reflective, the illumination intensity is larger than or equal to a preset intensity (such as 50LX), and the network delay is smaller than or equal to a preset delay (such as 200 ms). An original parking lot refers to a parking lot that does not meet at least one requirement of a canonical parking lot.
The modified parking lot is a parking lot modified based on a standard parking lot and added with field end facilities. Wherein, the end-of-site facilities may include, but are not limited to, at least one of: special identification, field end sensor, field end network, field end server, V2X device, etc. In some embodiments, the dedicated identification is an identification with certain rules for assisting vehicle positioning, manually placed inside or outside the parking lot. The private identification is also used to help the user identify his location in the parking lot. The unique identification has a unique ID within the same parking lot. In some embodiments, the field-end sensors include, but are not limited to, vision sensors, lidar, and the like. In some embodiments, the V2X device is used to detect a series of traffic information such as real-time traffic conditions, road information, pedestrian information, etc. and to interact with the vehicle. The V2X devices may include, but are not limited to, light devices, vision sensors, lidar, and the like.
In some embodiments, the field server may establish a communication connection with the vehicle and the cloud server, respectively. In some embodiments, the field end server may obtain at least one of the following states in real time: vehicle status, field facility status, parking space usage status, user status, etc. Wherein, the end-of-site facility status may include, but is not limited to, at least one of: name, IP address, health, location, and whether enabled. In some embodiments, the field-end server may locate the vehicle based on the field-end sensor data. In some embodiments, the field-side server may receive vehicle-related information sent by the vehicle. In some embodiments, the field server may receive AVP information sent by the cloud server. In some embodiments, the field-side server may send the field-side information to the vehicle over a field-side network. In some embodiments, the site server may send the site information to the cloud server.
In some embodiments, the parking lot may also be an AVP vehicle-specific parking lot. The AVP special parking lot can contain all the characteristics of a standard parking lot and a modified parking lot.
Fig. 2 is an exemplary block diagram of an AVP system 200 provided by an embodiment of the present disclosure. In some embodiments, the AVP system 200 may be implemented as the AVP system 100 of fig. 1 or as part of the AVP system 100 for controlling vehicle travel in AVP mode.
As shown in fig. 2, the AVP system 200 may include: the perception module 201, the planning module 202, the control module 203, the AVP module 204, and other modules may be used to control vehicle travel in the AVP mode.
The sensing module 201 is used for sensing and positioning the environment. In some embodiments, the sensing module 201 acquires data such as sensor data, V2X data, high-precision map, and the like, performs environmental sensing and positioning based on at least one of the data, and generates sensing information and positioning information. Wherein the perception information may include, but is not limited to, at least one of: obstacle information, road signs/markings, pedestrian/vehicle information, drivable zones. The positioning information includes a vehicle pose.
The planning module 202 is used for path planning and decision-making. In some embodiments, planning module 202 generates planning and positioning information based on the perception information and positioning information generated by perception module 201. In some embodiments, planning module 202 may also generate planning and decision information in conjunction with at least one of V2X data, high precision maps, and the like. The planning information may include, but is not limited to, planning a path, etc. The decision information may include, but is not limited to, at least one of: behavior (e.g., including but not limited to following, overtaking, parking, circumventing, etc.), vehicle heading, vehicle speed, desired acceleration of the vehicle, desired steering wheel angle, etc.
In some embodiments, the planning module 202 is also used for path planning and decision making in the autonomous parking mode. In some embodiments, the planning module 202 plans a driving path of the vehicle into or out of the parking space and generates the decision information in the autonomous parking mode. In some embodiments, the planning module 202 plans a driving path of the vehicle from the starting point to the vicinity of the parking space and into the parking space and generates the decision information, or plans a driving path of the vehicle from the parking space and to the destination and generates the decision information in the AVP mode.
The control module 203 is configured to generate a control instruction of the vehicle bottom layer execution system based on the planning and decision information, and issue the control instruction, so that the vehicle bottom layer execution system controls the vehicle to travel according to the expected path. The control instructions may include, but are not limited to: steering wheel steering, lateral control commands, longitudinal control commands, and the like.
The AVP module 204 is used for autonomous valet parking. In some embodiments, the AVP module 204 may control the vehicle to delay powering down based on the vehicle being turned off. In some embodiments, the AVP module 204 may receive a park instruction to power up the vehicle during the delayed power down. In some embodiments, the AVP module 204 may obtain parking lot information in the AVP mode. In some embodiments, the AVP module 204 may control autonomous parking of the vehicle based on the obtained parking lot information.
Fig. 3 is an exemplary block diagram of an AVP module 300 provided in an embodiment of the present disclosure. In some embodiments, the AVP module 300 may be implemented as the AVP module 204 or as part of the AVP module 204 in fig. 2. In some embodiments, the AVP module 300 performs autonomous valet parking when the vehicle is in the AVP mode. The AVP mode of the vehicle is the mode of the vehicle after the AVP command is received by the vehicle. In some embodiments, the AVP instruction is sent after the cloud server receives the vehicle ID sent by the user terminal and establishes a communication connection with the vehicle based on the vehicle ID. In some embodiments, the AVP command is sent by the cloud server after receiving an AVP request sent by the user terminal. The AVP instruction comprises an automatic parking instruction and a calling instruction; the AVP requests include automatic parking requests and summoning requests.
As shown in fig. 3, the AVP module 300 may include, but is not limited to, the following elements: a power-down control unit 301, a power-up control unit 302, an acquisition unit 303, a parking unit 304, and other units or components that may be used for autonomous valet parking.
And the power-off control unit 301 is used for controlling delayed power-off of the vehicle. In some embodiments, the power-down control unit 301 controls the vehicle to delay power-down based on a vehicle key-off, which is a key-off command input by a user when the vehicle receives a key-off instruction in the manual driving mode. In some embodiments, the power down control unit 301 controls the vehicle to delay power down based on a failure of the vehicle to park in the parking space.
In some embodiments, the duration of the delayed power-off may be a preset duration, a duration set by the user, or a duration specified by the cloud server. In some embodiments, the time period for delaying power down is, for example, 5 minutes.
In some embodiments, controlling the vehicle delayed power down by the power down control unit 301 includes: and controlling the vehicle to stop sending the vehicle CAN bus data and waiting for receiving the power-on request. The power-on request includes, but is not limited to, a parking instruction, a car calling instruction, a remote control instruction of the cloud server, and the like, for controlling the vehicle.
And a power-on control unit 302 for controlling the vehicle to be powered on. In some embodiments, the power-on control unit 302 controls the vehicle to power on after receiving a power-on request (e.g., a parking instruction) during the delayed power-off process. In some embodiments, the power-on control unit 302 interrupts power-off based on the parking instruction, and starts the operating system.
In some embodiments, the power-up control unit waits to receive a user instruction during the delayed power-down based on the vehicle failing to park in the parking space. The user command may be a parking command or other control commands for controlling the vehicle. In some embodiments, the power-on control unit 302 interrupts power-off based on the user instruction, and starts the operating system.
In some embodiments, the power-on control unit 302 receives a taxi calling instruction when the vehicle is in the low power consumption mode, and controls the vehicle to be powered on. In some embodiments, the power-on control unit 302 interrupts the low power consumption mode based on the summoning instruction, and starts the operating system.
In some embodiments, after the power-on control unit 302 starts the operating system, the vehicle is controlled to enter the AVP mode.
An obtaining unit 303, configured to obtain parking lot information. In some embodiments, the obtaining unit 303 obtains the parking lot information based on receiving the parking instruction. Wherein the parking lot information may include, but is not limited to, at least one of: the parking lot identification information comprises identification information and position information of a parking lot, wherein the identification information of the parking lot is information which directly identifies the parking lot such as a name of the parking lot, and can also comprise information which assists a user to know the parking lot such as a picture of the parking lot, surrounding environment information of the parking lot and the like. In some embodiments, the parking lot information may be obtained by the obtaining unit 303 analyzing a parking instruction, where the parking instruction carries the parking lot information. In some embodiments, the parking lot information may be sent by the cloud server, wherein the parking lot information is parking lot information selected by the cloud server based on the location of the vehicle. In some embodiments, the parking lot information is user-selected parking lot information forwarded by the cloud server. The user selects, for example, a parking lot closest to the vehicle or a parking lot having an empty parking space/parking area from at least one parking lot around the vehicle through the user terminal.
In some embodiments, the parking lot information may include: identification information and location information of the parking lot and designated parking space information in the parking lot. The designated parking space information is selected by a user or a cloud server. In some embodiments, the designated parking space information is a parking space selected by the cloud server based on an idle parking space or a parking area reported by the field server. In some embodiments, the designated parking space information may be a parking space selected by the user from a plurality of free parking spaces or parking areas through the user terminal, where the plurality of free parking spaces or parking areas are information reported by the field server forwarded by the cloud server to the user terminal. In some embodiments, the parking lot information may not include designated parking space information; and after receiving the parking lot information, the vehicle enters the parking lot to autonomously search for an idle parking space for parking.
In some embodiments, the obtaining unit 303 is further configured to obtain the destination information. In some embodiments, the acquisition unit 303 acquires the destination information based on the reception of the taxi calling instruction. The destination information may be a fixed location, or a location where the user initiates a car-calling request within a preset range of the parking lot, or a location specified by the user. In some embodiments, the destination information is a user-specified destination forwarded by the cloud server. In some embodiments, the destination information is a predetermined destination (i.e., a fixed location) around the user location sent by the cloud server. In some embodiments, the destination information is a user taxi-calling location sent by the cloud server.
In some embodiments, parking unit 304 is used to control autonomous parking of the vehicle. In some embodiments, the parking unit 304 controls the vehicle to park autonomously based on the parking lot information. In some embodiments, the parking unit 304 controls the vehicle to cruise to the parking lot from a starting point, where the starting point is a position where the vehicle is located when the vehicle is turned off, and the starting point may be a fixed point or any point within a preset range of the parking lot. In some embodiments, the parking unit 304 uses the parking lot (or parking space) as the destination of the vehicle path planning, and the vehicle driving to the destination of the path is substantially the vehicle driving to the vicinity of the parking space. In some embodiments, the parking unit 304 controls the vehicle to search for a parking space in the parking lot, and then controls the vehicle to park in the searched parking space, where searching for a parking space may specify a parking space for searching; but also for searching for free parking spaces.
In some embodiments, the parking unit 304 is further configured to control the vehicle to power down, lock the vehicle, and enter a low power consumption mode based on the vehicle successfully parking into the parking space. The vehicle is in a power-off and vehicle-locking state in the low power consumption mode, and the vehicle calling instruction can be normally received in the low power consumption mode. In some embodiments, when the vehicle fails to park in the parking space, the user may send the parking instruction again through the user terminal to select another vacant parking space. Based on the failure of the vehicle to park in the parking space, the parking unit 304 may control the vehicle based on the user instruction. The user command may be, for example, a further parking command or a parking command, etc.
In some embodiments, parking unit 304 is also used to control autonomous vehicle summons. In some embodiments, the parking unit 304 controls the vehicle to autonomously summon based on the destination information. In some embodiments, the parking unit 304 controls the vehicle to exit the parking space, and in turn controls the vehicle to cruise from the exit location to the destination.
In some embodiments, the division of each unit in the AVP module 300 is only one logical function division, and there may be another division manner when the AVP module is actually implemented, for example, at least two units of the power-off control unit 301, the power-on control unit 302, the obtaining unit 303, and the parking unit 304 may be implemented as one unit; the power-down control unit 301, the power-up control unit 302, the acquisition unit 303, or the parking unit 304 may also be divided into a plurality of sub-units. It will be understood that the various units or sub-units may be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application.
Fig. 4 is a schematic structural diagram of an in-vehicle device provided in an embodiment of the present disclosure. The vehicle-mounted equipment can support the operation of the AVP system.
As shown in fig. 4, the vehicle-mounted apparatus includes: at least one processor 401, at least one memory 402, and at least one communication interface 403. The various components in the in-vehicle device are coupled together by a bus system 404. A communication interface 403 for information transmission with an external device. Understandably, the bus system 404 is operative to enable connective communication between these components. The bus system 404 includes a power bus, a control bus, and a status signal bus in addition to a data bus. For clarity of illustration, the various buses are labeled as bus system 404 in fig. 4.
It will be appreciated that the memory 402 in this embodiment can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory.
In some embodiments, memory 402 stores the following elements, executable units or data structures, or a subset thereof, or an expanded set thereof: an operating system and an application program.
The operating system includes various system programs, such as a framework layer, a core library layer, a driver layer, and the like, and is used for implementing various basic services and processing hardware-based tasks. The application programs, including various application programs such as a Media Player (Media Player), a Browser (Browser), etc., are used to implement various application services. The program for implementing the method for autonomous vehicle parking for a passenger in an autonomous vehicle provided by the embodiment of the disclosure may be included in the application program.
In the embodiment of the present disclosure, the processor 401 is configured to execute the steps of the embodiments of the method for autonomous vehicle valet parking according to the embodiment of the present disclosure by calling a program or an instruction stored in the memory 402, specifically, a program or an instruction stored in an application program.
The vehicle autonomous agent parking method provided by the embodiment of the disclosure can be applied to the processor 401, or implemented by the processor 401. The processor 401 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the above method may be performed by integrated logic circuits of hardware or instructions in the form of software in the processor 401. The Processor 401 may be a general-purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, or discrete hardware components. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The steps of the vehicle autonomous agent parking method for the vehicle provided by the embodiment of the disclosure can be directly implemented by a hardware decoding processor, or implemented by a combination of hardware and software units in the decoding processor. The software elements may be located in ram, flash, rom, prom, or eprom, registers, among other storage media that are well known in the art. The storage medium is located in a memory 402, and the processor 401 reads information in the memory 402 and performs the steps of the method in combination with its hardware.
Fig. 5 is an exemplary flowchart of a method for autonomous vehicle parking for a passenger in a vehicle according to an embodiment of the present disclosure. The execution subject of the method is the vehicle-mounted device, and in some embodiments, the execution subject of the method can also be an AVP system supported by the vehicle-mounted device. For convenience of description, the following embodiments describe a flow of the autonomous vehicle valet parking method with an on-board device as an execution subject.
As shown in fig. 5, in step 501, the in-vehicle apparatus controls the vehicle to delay powering down based on the vehicle key-off. The vehicle flameout refers to the fact that the vehicle receives a flameout instruction input by a user in a manual driving mode and flameout is conducted. In some embodiments, the on-board device controlling the vehicle delayed power down comprises: and controlling the vehicle to stop sending the vehicle CAN bus data and waiting for receiving the power-on request. The power-on request includes, but is not limited to, a parking instruction, a car calling instruction, a remote control instruction of the cloud server, and the like, for controlling the vehicle.
In step 502, the vehicle-mounted device receives a parking instruction based on the delayed power-off process, and controls the vehicle to be powered on. In some embodiments, the in-vehicle device initiates the operating system based on receiving a parking instruction to interrupt power-down. In some embodiments, after the vehicle-mounted device starts the operating system, the vehicle is controlled to enter the AVP mode.
In step 503, the in-vehicle apparatus acquires parking lot information based on the reception of the parking instruction. Wherein the parking lot information may include, but is not limited to, at least one of: the parking lot identification information comprises identification information and position information of a parking lot, wherein the identification information of the parking lot is information which directly identifies the parking lot such as a name of the parking lot, and can also comprise information which assists a user to know the parking lot such as a picture of the parking lot, surrounding environment information of the parking lot and the like. In some embodiments, the in-vehicle device may parse the parking instruction to obtain parking lot information. In some embodiments, the vehicle-mounted device receives the parking lot information sent by the cloud server, wherein the parking lot information is selected by the cloud server based on the position of the vehicle. In some embodiments, the parking lot information is user-selected parking lot information forwarded by the cloud server. The vehicle-mounted equipment receives parking lot information selected by a user.
In some embodiments, the parking lot information may include: identification information and location information of the parking lot and designated parking space information in the parking lot. The designated parking space information is selected by a user or a cloud server. In some embodiments, the designated parking space information is a parking space selected by the cloud server based on an idle parking space or a parking area reported by the field server. In some embodiments, the designated parking space information may be a parking space selected by the user from a plurality of free parking spaces or parking areas through the user terminal, where the plurality of free parking spaces or parking areas are information reported by the field server forwarded by the cloud server to the user terminal. In some embodiments, the parking lot information may not include designated parking space information; and after receiving the parking lot information, the vehicle enters the parking lot to autonomously search for an idle parking space for parking.
In step 504, the vehicle-mounted device controls the vehicle to park autonomously based on the parking lot information. In some embodiments, the vehicle-mounted device controls the vehicle to cruise from a starting point to a parking lot; wherein the starting point is the position of the vehicle when the vehicle is turned off. In some embodiments, a vehicle device controls the vehicle to search for a parking space in the parking lot; and controlling the vehicle to park in the parking space. The parking space searching method comprises the following steps of searching for a designated parking space; but also for searching for free parking spaces.
In some embodiments, the vehicle-mounted device further controls the vehicle to power down, lock the vehicle and enter a low power consumption mode based on the vehicle successfully parking into the parking space. The vehicle is in a power-off and vehicle-locking state in the low power consumption mode, and the vehicle calling instruction can be normally received in the low power consumption mode. In some embodiments, the vehicle-mounted device controls the vehicle to be powered on based on the vehicle receiving a taxi calling instruction when the vehicle is in the low power consumption mode. In some embodiments, the in-vehicle device interrupts the low power mode based on receiving the call instruction, and starts the operating system. In some embodiments, after the vehicle-mounted device starts the operating system, the vehicle is controlled to enter the AVP mode. In some embodiments, the in-vehicle apparatus acquires the destination information based on the reception of the call instruction. The destination information may be a fixed location, or a location where the user initiates a car-calling request within a preset range of the parking lot, or a location specified by the user. In some embodiments, the in-vehicle apparatus controls the vehicle to autonomously summon based on the destination information. In some embodiments, the vehicle-mounted device controls the vehicle to exit the parking space, and in turn controls the vehicle to cruise from the exit position to the destination.
In some embodiments, the vehicle-mounted device further controls the vehicle to delay powering down based on a failure of the vehicle to park in the parking space. In some embodiments, the vehicle-mounted device controls the vehicle to be powered on based on receiving a user instruction in the delayed power-off process of the failure of the vehicle to stop in the parking space. The user command may be a parking command or other control commands for controlling the vehicle. In some embodiments, the vehicle-mounted device interrupts powering down based on receiving a user instruction, and starts the operating system. In some embodiments, after the vehicle-mounted device starts the operating system, the vehicle is controlled to enter the AVP mode. In some embodiments, when the vehicle fails to park in the parking space, the user may send the parking instruction again through the user terminal to select another vacant parking space. Based on the failure of the vehicle to park in the free parking space, the vehicle-mounted device can control the vehicle based on a user instruction. The user command may be, for example, a further parking command or a parking command, etc.
In some embodiments, the vehicle-mounted device reports the vehicle state to the cloud server in real time, and the cloud server forwards the vehicle state to the user terminal in real time for display.
It is noted that, for simplicity of description, the foregoing method embodiments are described as a series of acts or combination of acts, but those skilled in the art will appreciate that the disclosed embodiments are not limited by the order of acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the disclosed embodiments. In addition, those skilled in the art can appreciate that the embodiments described in the specification all belong to alternative embodiments.
Embodiments of the present disclosure also provide a non-transitory computer-readable storage medium, where the non-transitory computer-readable storage medium stores a program or instructions, and the program or instructions cause a computer to execute steps of various embodiments of a positioning method for a vehicle, which are not described herein again to avoid repeated descriptions.
It should be noted that, in this document, the term "comprises/comprising" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than others, combinations of features of different embodiments are meant to be within the scope of the disclosure and form different embodiments.
Those skilled in the art will appreciate that the description of each embodiment has a respective emphasis, and reference may be made to the related description of other embodiments for those parts of an embodiment that are not described in detail.
Although the embodiments of the present disclosure have been described in conjunction with the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present disclosure, and such modifications and variations fall within the scope defined by the appended claims.
Claims (13)
1. A method for autonomous valet parking of a vehicle, the method comprising:
controlling the vehicle to delay powering down based on vehicle flameout;
receiving a parking instruction in the delayed power-off process, and controlling the vehicle to be powered on;
acquiring parking lot information based on the parking instruction;
and controlling the vehicle to park autonomously based on the parking lot information.
2. The method of claim 1, wherein the controlling the vehicle to delay powering down comprises: and controlling the vehicle to stop sending the vehicle CAN bus data and waiting for receiving the power-on request.
3. The method of claim 1, wherein controlling the vehicle to power up comprises: and interrupting the power-off based on the parking instruction, and controlling the vehicle to enter an autonomous passenger-riding parking mode.
4. The method of claim 3, wherein the parking lot information comprises: parking lot information carried in the parking instruction; or the parking lot information is sent by the cloud server; or parking lot information selected by the user.
5. The method of claim 4, the parking lot information comprising: identification information and location information of the parking lot; or the identification information and the position information of the parking lot and the designated parking space information in the parking lot, wherein the designated parking space information is selected by a user or a cloud server.
6. The method of claim 1, wherein controlling autonomous parking of a vehicle based on the parking lot information comprises:
controlling the vehicle to cruise from a starting point to a parking lot; wherein the starting point is the position of the vehicle when the vehicle is turned off;
controlling the vehicle to search for a parking space in the parking lot;
and controlling the vehicle to park in the parking space.
7. The method of claim 6, further comprising:
controlling the vehicle to power off, lock the vehicle and enter a low power consumption mode based on the vehicle is successfully parked in the parking space;
and controlling the vehicle to power off in a delayed manner based on the failure of the vehicle to park in the parking space.
8. The method of claim 7, wherein controlling the vehicle to delay powering down based on the vehicle failing to park in the parking space comprises:
waiting for receiving a user instruction in the delayed power-off process;
controlling a vehicle based on the user instruction.
9. The method of claim 7, further comprising:
receiving a vehicle calling instruction when the vehicle is in a low power consumption mode, and controlling the vehicle to be powered on;
acquiring destination information based on the taxi calling instruction;
and controlling the vehicle to call the vehicle autonomously based on the destination information.
10. The method of claim 9, wherein the destination information comprises: destination information sent by the cloud server; or, user-specified destination information; or, predetermined destination information around the user's location; or, a user's summoning location.
11. The method of claim 9, wherein controlling a vehicle autonomous summons based on the destination information comprises:
controlling the vehicle to exit a parking space;
controlling the vehicle to cruise from the exit position to the destination.
12. An in-vehicle apparatus, characterized by comprising: a processor and a memory;
the processor is adapted to perform the steps of the method of any one of claims 1 to 11 by calling a program or instructions stored in the memory.
13. A non-transitory computer-readable storage medium storing a program or instructions for causing a computer to perform the steps of the method according to any one of claims 1 to 11.
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| CN201911296189.2A CN110969893A (en) | 2019-12-16 | 2019-12-16 | Vehicle autonomous passenger-replacing parking method, vehicle-mounted equipment and storage medium |
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