CN111376905A

CN111376905A - Parking control method, device and system for transport tool, transport tool and vehicle

Info

Publication number: CN111376905A
Application number: CN201811611079.6A
Authority: CN
Inventors: 刘启源; 陈梓为; 吴楠
Original assignee: Beijing Tusimple Technology Co Ltd
Current assignee: Beijing Tusimple Technology Co Ltd
Priority date: 2018-12-27
Filing date: 2018-12-27
Publication date: 2020-07-07
Anticipated expiration: 2038-12-27
Also published as: CN111376905B

Abstract

The application provides a parking control method, a parking control device, a parking control system, a transport tool and a vehicle of the transport tool, and relates to the technical field of automatic driving. The method comprises the following steps: obtaining parking position information to be reached by a transport means; the method comprises the steps that first position information of a transport tool is obtained in real time according to a first sensor, and the transport tool is controlled to move to a parking position according to the first position information and parking position information; detecting whether the real-time distance between the transport tool and the parking position obtained by the second sensor is obtained in real time in the process of controlling the transport tool to move to the parking position; the positioning accuracy of the second sensor is higher than that of the first sensor; after the real-time distance between the transport tool and the parking position obtained by the second sensor is obtained through detection, multi-stage speed control is carried out on a power control system and a brake system of the transport tool according to the real-time distance and the real-time speed of the transport tool so as to control the transport tool to park at the parking position.

Description

Parking control method, device and system for transport tool, transport tool and vehicle

Technical Field

The application relates to the technical field of automatic driving, in particular to a parking control method, a parking control device, a parking control system, a transportation tool and a vehicle of the transportation tool.

Background

Currently, with the development of the automatic driving technology, the control of the vehicle in the automatic driving technology is very important. Particularly, how to control the accurate parking of the vehicle becomes a hot problem. Currently, a vehicle is controlled to stop at a preset end position, and a vehicle-mounted GPS (Global Positioning System) sensor is generally adopted to continuously obtain position information of the vehicle, detect a distance between the position of the vehicle and the end position, and perform braking to stop at the end position when a preset braking distance is reached.

However, the current automatic driving vehicle depends on the GPS signal, and for an area with a poor GPS signal, inaccurate vehicle positioning is easily caused, which affects parking at a destination position; in addition, when the preset braking distance is reached, the current automatic driving vehicle adopts one-time braking, and the automatic driving vehicle (such as an automatic driving truck) with large inertia is difficult to brake fully and stop accurately. Therefore, how to carry out accurate parking control of the automatic driving vehicle becomes a problem to be solved urgently.

Disclosure of Invention

The embodiment of the application provides a parking control method, a parking control device, a parking control system, a transport tool and a vehicle of the transport tool, so that accurate parking control of the transport tool is achieved.

In order to achieve the purpose, the technical scheme is as follows:

in an aspect of the present application, there is provided a parking control method of a vehicle, including:

obtaining parking position information to be reached by a transport means;

the method comprises the steps that first position information of a transport tool is obtained in real time according to a first sensor, and the transport tool is controlled to move to a parking position according to the first position information and parking position information;

detecting whether the real-time distance between the transport tool and the parking position obtained by the second sensor is obtained in real time in the process of controlling the transport tool to move to the parking position; the positioning accuracy of the second sensor is higher than that of the first sensor;

after the real-time distance between the transport tool and the parking position obtained by the second sensor is detected, multi-stage speed control is carried out on a power control system and a brake system of the transport tool according to the real-time distance and the real-time speed of the transport tool so as to control the transport tool to park at the parking position.

In yet another aspect of the present application, a parking control apparatus of a vehicle is provided, the parking control apparatus of a vehicle connecting a first sensor, a second sensor, a power control system, and a brake system;

the parking control device of the transport means is used for:

obtaining parking position information to be reached by a transport means;

In yet another aspect of the present application, a vehicle park control system is provided, comprising a vehicle park control, a first sensor, a second sensor, a power control system, and a brake system; the parking control device of the transport tool is connected with the first sensor, the second sensor, the power control system and the brake system;

the parking control device of the transport means is used for:

obtaining parking position information to be reached by a transport means;

In still another aspect of the present application, a vehicle is provided, which includes a parking control device of the vehicle for implementing the parking control method of the vehicle described above.

In still another aspect of the present application, there is provided a vehicle including a parking control apparatus of a transportation vehicle for implementing the parking control method of the transportation vehicle described above.

In still another aspect of the present application, there is provided a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements the above-described parking control method for a vehicle.

In a further aspect of the present application, there is provided a computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the above-mentioned parking control method of a vehicle when executing the program.

According to the parking control method, the parking control device, the parking control system, the transportation tool and the vehicle of the transportation tool, firstly, parking position information to be reached by the transportation tool is obtained; the method comprises the steps that first position information of a transport tool is obtained in real time according to a first sensor, and the transport tool is controlled to move to a parking position according to the first position information and parking position information; then, in the process of controlling the transport tool to move to the parking position, detecting whether the real-time distance between the transport tool and the parking position obtained by the second sensor is obtained or not in real time; the positioning accuracy of the second sensor is higher than that of the first sensor; therefore, after the real-time distance between the transport tool and the parking position obtained by the second sensor is detected, the power control system and the brake system of the transport tool can be subjected to multi-stage speed control according to the real-time distance and the real-time speed of the transport tool, so that the transport tool can be controlled to park at the parking position. Therefore, the second sensor with higher positioning accuracy can be adopted to complete the control of the power control system and the multi-stage speed control of the braking system according to the real-time speed so as to accurately park at the parking position.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

FIG. 1 is a first schematic structural diagram of a vehicle parking control system according to an embodiment of the present disclosure;

fig. 2 is a second schematic structural diagram of a parking control system of a transportation vehicle according to an embodiment of the present disclosure;

fig. 3 is a first flowchart of a parking control method for a vehicle according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of a situation where a container truck travels to a quayside container for parking under a quayside bridge according to an example of the present application;

FIG. 5 is a speed-position plot for a single speed control;

FIG. 6 is a velocity-position graph illustrating a first mode of multi-speed control according to the present application;

FIG. 7 is a speed-position curve illustrating a second mode of multi-speed control according to the present application;

fig. 8 is a speed-position curve diagram of a third mode of multi-speed control according to the present application.

Detailed Description

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

In order to make the present application better understood by those skilled in the art, the technical terms referred to in the embodiments of the present application are explained as follows:

GPS: global Positioning System, i.e. Global Positioning System, utilizes GPS Positioning satellites to perform Positioning and navigation in real time in the Global area.

ABS: an Anti-lock Brake System, i.e. an Anti-lock Brake System, is an active safety device for an automobile, which has the advantages of preventing wheels from locking, shortening the braking distance of the automobile, reducing the abrasion of tires, preventing the automobile from deviating and drifting, and the like.

EBS: an Electronic Braking System, i.e., an Electronic Braking System, is developed on the basis of an anti-lock Braking System, and is mainly used for improving the Braking performance of a commercial vehicle. The active safety device has the advantages of short brake response time, shorter brake distance compared with ABS (anti-lock brake system), and capability of covering all functions of the ABS.

V2X: vehicle to X, i.e., Vehicle-to-outside information exchange technology.

ASR: the antiskid Slip Regulation system belongs to the active safety device of automobile. The system is also called a traction control system and is used for preventing the phenomenon that driving wheels slip when a vehicle, particularly a high-horsepower vehicle, starts and accelerates so as to maintain the stability of the driving direction of the vehicle.

In order to make those skilled in the art better understand the present application, the following description is provided for an application environment related to the present application, for example, the present application may be applied to accurate parking control of an autonomous vehicle in environments such as ports, customs, warehouses, and logistics parks, for example, the autonomous vehicle needs to be accurately parked at a preset parking space below a shore container crane (for short, a shore bridge) so as to facilitate loading and unloading operations of a container, and if the autonomous vehicle is not parked accurately enough, the development and safety of the loading and unloading operations may be affected. For another example, the present application may also be applied to a warehouse robot reaching a preset position of a warehouse, thereby facilitating more accurate work of the warehouse robot in the warehouse. The above are only individual application examples in the present application, and it should be understood that, under the teaching of the embodiments of the present application, those skilled in the art can also provide more application examples according to the needs, and the present application is not limited to these application examples.

For example, as shown in fig. 1, the present embodiment provides a parking control system 10 for a vehicle, including a parking control device 11 for a vehicle, a first sensor 12, a second sensor 13, a power control system 14, and a brake system 15; the vehicle parking control 11 is connected to a first sensor 12, a second sensor 13, a power control system 14 (which may be, for example, a throttle control system for controlling the throttle), and a brake system 15 (which may be, for example, an electric brake system for controlling the brake air pressure). In the embodiment of the present application, the transportation tool may be a vehicle, such as a container truck, a van, or the like, and may also be a robot, such as a warehouse robot, a sweeping robot, or the like. In the embodiment of the present application, when the transportation vehicle is a vehicle, the parking control device 11 of the transportation vehicle may be a device such as an on-board server on the vehicle, and the power control system 14 may be a throttle control system, but is not limited thereto. In the embodiment of the present application, when the transportation vehicle is a robot, the parking control device 11 of the transportation vehicle may be a Central Processing Unit (CPU) of the robot, and the power control system 14 may be a motor control system, but is not limited thereto. Here, for convenience of description, the embodiment of the present application is only exemplified by a vehicle, and the implementation process of the embodiment of the present application is explained, and those skilled in the art can apply the present application to various transportation tools without creative efforts.

Further, as shown in fig. 2, in the embodiment of the present application, the parking control system 10 of the vehicle may further include a cloud server 16, and the parking control device 11 of the vehicle is communicatively connected to the cloud server 16.

In addition, as shown in fig. 2, in the embodiment of the present application, the first sensor 12 may be a Global Positioning System (GPS) sensor 121 on the vehicle. Since the signal quality of the GPS sensor 121 is unstable, the positioning completely depending on the GPS sensor 121 is not accurate, and the positioning accuracy of the GPS sensor 121 is poor. In addition, the first sensor 12 may be other sensors with poor positioning accuracy, such as a UWB (Ultra Wideband) sensor, but is not limited thereto.

In addition, as shown in fig. 2, in the embodiment of the present application, the second sensor 13 may be a first laser radar 131 provided at a parking position; the vehicle parking control system 10 further includes a first V2X device 17 at the vehicle, a second V2X device 18 at the parking position, and a controller 19 at the parking position; the parking control 11 of the vehicle is connected to a first V2X device 17, the first V2X device 17 is connected in communication (communication over the air interface) to a second V2X device 18, the second V2X device 18 is connected to a controller 19, and the controller 19 is connected to a first lidar 131; the first lidar 131 is directed towards the vehicle to emit a laser signal towards the vehicle. Alternatively, as shown in fig. 2, in the embodiment of the present application, the second sensor 13 may also be a second laser radar 132 disposed on the transportation vehicle; the parking control device 11 of the vehicle is connected to a second laser radar 132; the second lidar 132 is directed toward the parking position to emit a laser signal to a preset reference at the parking position. Because the positioning accuracy of the laser radar is high, the second sensor in the embodiment of the present application adopts the laser radar, but is not limited to this. In addition, it should be noted that, the parking position in the embodiment of the present application may be a preset parking space below the port shore bridge, a parking space in a warehouse, a parking space in a logistics park, or the like, but is not limited thereto. The preset reference at the parking position may be a reference for facilitating laser radar irradiation, such as a post of a port shore bridge, a parking position indicator, a warehouse container, etc., but is not limited thereto.

In addition, as shown in fig. 2, in the embodiment of the present application, the parking control system 10 of the vehicle may further include an on-board controller 20; the vehicle parking control device 11 is connected to the power control system 14 and the brake system 15 via an onboard controller 20.

Corresponding to the parking control system 10 of a vehicle shown in fig. 2, in the embodiment of the present application, as shown in fig. 3, there is provided a parking control method of a vehicle, including:

and 301, obtaining the information of the parking position to be reached by the transport means.

Step 302, obtaining first position information of the transport means in real time according to the first sensor, and controlling the transport means to move to a parking position according to the first position information and the parking position information.

And step 303, detecting whether the real-time distance between the transport tool and the parking position obtained by the second sensor is obtained in real time in the process of controlling the transport tool to move to the parking position.

Wherein the positioning accuracy of the second sensor is higher than that of the first sensor. For example, the positioning accuracy of the laser radar is higher than that of the GPS sensor, the positioning accuracy of the laser radar is higher than that of the UWB tag sensor, and the like.

And 304, after the real-time distance between the transport tool and the parking position obtained by the second sensor is detected, performing multi-stage speed control on a power control system and a brake system of the transport tool according to the real-time distance and the real-time speed of the transport tool so as to control the transport tool to park at the parking position.

The parking position information may include longitude and latitude coordinates of the parking position, and the obtaining of the parking position information to be reached by the transportation tool in step 301 may adopt the following two modes:

the first method is as follows:

a parking command for the vehicle is obtained, and longitude and latitude coordinates of the parking location are obtained from the parking command. For example, a parking command for a vehicle may be obtained from a cloud server, i.e., the vehicle needs to make a precision parking at some latitude-longitude coordinate.

The second method comprises the following steps:

a parking command for the vehicle is obtained, and an identification of a parking location is obtained from the parking command. For example, a parking command of a vehicle may be obtained from the cloud server, where the parking command includes an identifier of a parking position, for example, the content to be expressed by the parking command is "please park at the parking position 0106", where "0106" is the identifier of the parking position.

And according to the identification of the parking position, acquiring the longitude and latitude coordinates of the parking position corresponding to the identification of the parking position from the preset corresponding relation between the identification and the longitude and latitude coordinates. For example, in a parking control device of a transportation vehicle, or a cloud server or the like, a correspondence between an identifier and a latitude and longitude coordinate may be stored in advance, so that after the identifier of the parking position is obtained, the latitude and longitude coordinate of the corresponding parking position may be obtained from the correspondence between the identifier and the latitude and longitude coordinate.

Through the first mode and the second mode, the longitude and latitude coordinates of the parking position can be obtained easily, so that subsequent parking control is facilitated.

Furthermore, as mentioned above, if the first sensor is a gps sensor on the vehicle, then the step 302 of obtaining the first position information of the vehicle in real time according to the first sensor and controlling the vehicle to move to the parking position according to the first position information and the parking position information can be implemented as follows:

first position information of a vehicle is obtained in real time from a global positioning system sensor.

And generating navigation path information according to the first position information and the parking position information, and controlling the transport tool to move to the parking position according to the navigation path information.

Here, the first position information and the parking position information can be accurate longitude and latitude coordinates, so that the generated navigation path information is accurate, the navigation path information is generated specifically, and the mode of controlling the transport means to move to the parking position according to the navigation path information is common, and is not repeated here.

Further, as described above, the second sensor may be a first lidar disposed at the parking position; the first lidar is directed toward the vehicle to emit a laser signal toward the vehicle. Then, in step 303, detecting whether the real-time distance between the transportation tool and the parking position obtained by using the second sensor is obtained in real time may be implemented as follows:

and detecting whether the laser signal of the first laser radar is received in real time. For example, after the first laser radar transmits a laser signal to the vehicle, if the first laser radar collects the laser reflected by the vehicle, the information that the first laser radar can collect the laser reflected by the vehicle may be transmitted to the first V2X device through the controller and the second V2X device, so that the parking control device of the vehicle may know from the first V2X device that the vehicle enters the collection range of the first laser radar, and may receive the laser signal of the first laser radar, but is not limited thereto.

And when the laser signal is detected and received, detecting whether a first real-time distance between the transport tool and the parking position obtained by the first laser radar is obtained in real time. For example, the controller may obtain the second position information of the vehicle by positioning according to the point cloud data on the vehicle obtained by the first laser radar, determine the first real-time distance according to the second position information and the parking position information, and transmit the first real-time distance to the first V2X device through the second V2X device, so that the parking control device of the vehicle can obtain the first real-time distance. The second position information is obtained through the Point cloud data, and finally the first real-time distance is determined by adopting an Iterative Closest Point algorithm (ICP), that is, a translation vector of a preset model for moving a model formed by the Point cloud data at the current moment to a parking position is obtained through the ICP algorithm, that is, the first real-time distance can be obtained, and the specific ICP algorithm is not repeated here.

Furthermore, as mentioned above, the second sensor may also be a second lidar arranged on the vehicle; the second laser radar faces the parking position to transmit a laser signal to a preset reference object at the parking position.

Then, in step 303, detecting whether the real-time distance between the transportation tool and the parking position obtained by using the second sensor is obtained in real time may be implemented as follows:

detecting whether a second real-time distance between the transport tool and the parking position obtained by adopting a second laser radar is obtained in real time; and the second real-time distance is determined according to the third position information and the parking position information. For example, by using a second laser radar (e.g., on a vehicle, generally on the top of the vehicle or on both sides of the vehicle) disposed on the transportation vehicle, point cloud data of a reference object at the parking position may be collected, so as to be able to locate third position information of the vehicle (e.g., the third position information may be obtained by using a time difference between transmission and reception of the laser radar, but is not limited thereto), so as to determine the second real-time distance according to the third position information and the parking position information.

It can be seen that there are various ways to detect in real time whether the real-time distance between the transportation vehicle and the parking location obtained by using the second sensor is obtained in step 303, and more accurate real-time distance information can be obtained by using the laser radar, compared with the distance obtained by only using the first sensor (e.g., a GPS sensor), the method is more accurate.

In step 304, after the real-time distance between the vehicle and the parking position obtained by the second sensor is detected, it indicates that the vehicle can be subsequently controlled to park by the real-time distance obtained by the second sensor without continuing to control the vehicle by using the first position information obtained by the first sensor. Then, in step 304, according to the real-time distance and the real-time speed of the vehicle, the power control system and the brake system of the vehicle are subjected to multi-stage speed control to control the vehicle to stop at the parking position, which may be as follows:

and S1, detecting whether the real-time distance is smaller than or equal to a preset first distance threshold value.

I.e., corresponds to determining whether the vehicle has entered a range less than or equal to a preset first distance threshold from the parking position.

And S2, when the real-time distance is smaller than or equal to the preset first distance threshold value, sending a non-power supply signal to the power control system through the vehicle-mounted controller of the vehicle, so that the vehicle is decelerated.

I.e. corresponding to the vehicle needing to be decelerated accordingly after the vehicle has entered a range where the distance to the parking position is less than or equal to a first distance threshold value set in advance, a no-power-supply signal is sent to the power control system by the on-board controller of the vehicle to enable the vehicle to perform coasting deceleration without braking, e.g. the no-power-supply signal may be a throttle signal for the vehicle, or a stop-power-supply signal for the robot, etc. For example, when the vehicle travels on a road surface, if the on-board controller transmits an accelerator release signal to the accelerator control system, the vehicle gradually decelerates due to friction on the road surface.

After the above S2, S3, S4 or S5 may be performed.

And S3, performing multi-stage speed control on the power control system and the brake system of the transport vehicle according to the real-time distance and the real-time speed of the transport vehicle so as to control the transport vehicle to stop at the parking position.

Alternatively, S4, multi-stage speed control is performed on the power control system and the brake system of the vehicle according to the real-time distance to control the vehicle to stop at the parking position.

Alternatively, S5, a multi-speed control is performed on the power control system and the brake system of the vehicle according to the real-time speed of the vehicle to control the vehicle to stop at the parking position.

For S3, the following method may be adopted:

and detecting whether the real-time distance is smaller than or equal to a preset second distance threshold value. The second distance threshold is less than or equal to the first distance threshold.

When the real-time distance is smaller than or equal to a preset second distance threshold value, determining an expected speed signal corresponding to the current real-time speed according to the real-time speed of the transport tool, and sending the expected speed signal corresponding to the current real-time speed to the power control system and the brake system through the vehicle-mounted controller of the transport tool to control the transport tool to decelerate until the real-time speed of the transport tool at the parking position is controlled to decelerate to zero after the expected speed signal corresponding to each real-time speed is sent to the power control system and the brake system for multiple times through the vehicle-mounted controller of the transport tool; the real-time speed and the expected speed signals are divided into a plurality of grades respectively, and the real-time speeds of different grades correspond to the expected speed signals of different grades.

For example, as shown in Table 1 below, each real-time speed corresponds to a corresponding desired speed signal. In addition, after the expected speed signal is sent to the braking system through the vehicle-mounted controller, the braking system is influenced by systems such as the ASR and the ABS, so that the braking control can be performed according to the expected speed in the expected speed signal, but the influence of the ASR and the ABS system is taken into consideration, and the influence of the ASR and the ABS system on the braking system is not repeated here.

Table 1:

real time speed (m/s)	Desired velocity signal (m/s)
		V1	B1
V2	B2
		V3	B3
V4	B4
		V5	B5

For example, the real-time speed V1 > V2 > V3 > V4 > V5, and the desired speed signals B1 to B5 may be set according to requirements, the sizes of B1 to B5 are not limited herein, and generally B1 to B5 may be set to be gradually reduced. It should be noted that, only 5 levels of real-time speed are taken as an example here, and those skilled in the art can set more levels of corresponding relationship between real-time speed and desired speed signal without creative efforts. When the real-time speed of the transport vehicle is V1, a desired speed signal B1 is sent to the power control system and the brake system, when the real-time speed is reduced to V2, a desired speed signal B2 is sent to the power control system and the brake system, and the like, the transport vehicle can be gradually decelerated, and the power control system and the brake system can be controlled by adopting multiple stages of desired speed signals, so that the real-time speed of the transport vehicle at a parking position can be accurately decelerated to zero, and the precise parking is completed (when the last stage of speed control is carried out, the speed can be already reduced to be small, so that the brake braking can be carried out only through the brake system, and the implementation speed is controlled to be decelerated to zero). Compared with the method that the transportation tool is controlled by primary braking, the power control system and the brake system are controlled by the aid of the multi-stage expected speed signals, accurate parking requirements can be met, especially for the transportation tools with large weight such as trucks, the requirements cannot be met by primary braking, and accurate parking of the transportation tools with large weight is facilitated by the aid of the multi-stage expected speed signals.

In addition, for this S4, the following manner may be adopted:

detecting whether the real-time distance is smaller than or equal to a preset second distance threshold value; the second distance threshold is less than or equal to the first distance threshold.

When the real-time distance is smaller than or equal to a preset second distance threshold value, determining an expected speed signal corresponding to the current real-time distance according to the real-time distance of the transport tool, and sending the expected speed signal corresponding to the current real-time distance to the power control system and the brake system through the vehicle-mounted controller of the transport tool to control the transport tool to decelerate until the real-time speed of the transport tool at the parking position is controlled to decelerate to zero after the expected speed signal corresponding to each real-time distance is sent to the power control system and the brake system for multiple times through the vehicle-mounted controller of the transport tool; the real-time distance and the expected speed signal are divided into a plurality of grades respectively, and the real-time distances of different grades correspond to the expected speed signals of different grades.

For example, as shown in Table 2 below, each real-time distance corresponds to a respective desired velocity signal.

Table 2:

real-time distance (m)	Desired velocity signal (m/s)
		D1	B1
D2	B2
		D3	B3
D4	B4
		D5	B5

For example, the real-time distance D1 > D2 > D3 > D4 > D5, and the desired speed signals B1 to B5 may be set according to requirements, the sizes of B1 to B5 are not limited herein, and generally, B1 to B5 may be set to be gradually reduced. It should be noted that, only 5 levels of real-time distances are taken as an example here, and those skilled in the art can set more levels of corresponding relationships between real-time distances and desired speed signals without creative efforts. When the real-time distance of the transport vehicle is D1, sending a desired speed signal B1 to the power control system and the brake system, when the real-time distance is reduced to D2, sending a desired speed signal B2 to the power control system and the brake system, and so on, the real-time distance of the transport vehicle is gradually reduced and gradually reduced, and the power control system and the brake system can be controlled by adopting multiple stages of desired speed signals, so that the real-time speed of the transport vehicle at a parking position can be accurately reduced to zero, and the precise parking is completed (when the last stage of speed control is carried out, as the speed is possibly reduced to be small, the brake braking can be carried out only through the brake system, so that the implementation speed is controlled to be reduced to zero). Compared with the method that the transportation tool is controlled by primary braking, the power control system and the brake system are controlled by the aid of the multi-stage expected speed signals, accurate parking requirements can be met, especially for the transportation tools with large weight such as trucks, the requirements cannot be met by primary braking, and accurate parking of the transportation tools with large weight is facilitated by the aid of the multi-stage expected speed signals.

In addition, for this S5, the following manner may be adopted:

determining an expected speed signal corresponding to the current real-time speed according to the real-time speed of the transport vehicle, and sending the expected speed signal corresponding to the current real-time speed to a power control system and a brake system through an on-board controller of the transport vehicle to control the deceleration of the transport vehicle until the real-time speed of the transport vehicle at a parking position is controlled to be decelerated to zero after the expected speed signal corresponding to each real-time speed is sent to the power control system and the brake system for multiple times through the on-board controller of the transport vehicle (when the last stage of speed control is carried out, the speed is possibly reduced to be small, so that the brake can be carried out only through the brake system, and the implementation speed is controlled to be decelerated to zero); the real-time speed and the expected speed signals are divided into a plurality of grades respectively, and the real-time speeds of different grades correspond to the expected speed signals of different grades.

Here, the specific process of S5 is similar to the specific process of S3, except that in S3, it is detected whether the real-time distance is less than or equal to a preset second distance threshold (the second distance threshold is less than or equal to the first distance threshold), so that when the second distance threshold is less than the first distance threshold, a coasting movement mode without power supply can be formed between the first distance threshold and the second distance threshold, and the speed can be reduced by friction without braking, thereby reducing the use of a braking system. In S5, after S2, the expected speed signal corresponding to the current real-time speed may be determined immediately according to the real-time speed of the transportation vehicle, and the expected speed signal corresponding to the current real-time speed may be sent to the power control system and the brake system through the onboard controller of the transportation vehicle to control the deceleration of the transportation vehicle, so that the size determination of the real-time distance and the second distance threshold is not required, and the timeliness of deceleration control is better.

In the embodiment of the present application, a parking control device 11 of a vehicle is provided, and the parking control device 11 of the vehicle is connected with a first sensor 12, a second sensor 13, a power control system 14 and a brake system 15.

Parking control device 11 of a vehicle for:

information of a parking position to be reached by the vehicle is obtained.

And according to the first position information and the parking position information, controlling the transport tool to move to the parking position.

Detecting whether the real-time distance between the transport tool and the parking position obtained by the second sensor is obtained in real time in the process of controlling the transport tool to move to the parking position; the positioning accuracy of the second sensor is higher than that of the first sensor.

After the real-time distance between the transport tool and the parking position obtained by the second sensor is obtained through detection, multi-stage speed control is carried out on a power control system and a brake system of the transport tool according to the real-time distance and the real-time speed of the transport tool so as to control the transport tool to park at the parking position.

Additionally, in one embodiment, the first sensor 12 is a global positioning system sensor 121 on the vehicle.

Parking control device 11 of a vehicle, in particular for:

In one embodiment, second sensor 13 is a first lidar 131 disposed at a parking position; the parking control 11 of the vehicle is connected to the first lidar 131 via a first V2X device 17 at the vehicle, a second V2X device 18 at the parking position and a controller 19 at the parking position; the first lidar 131 is directed towards the vehicle to emit a laser signal towards the vehicle.

Parking control device 11 of a vehicle, in particular for:

and detecting whether the laser signal of the first laser radar is received in real time.

Detecting whether a first real-time distance between the transport tool and the parking position obtained by the first laser radar is obtained from a second V2X device through a first V2X device or not in real time when the laser signal is detected to be received; the first real-time distance is determined according to second position information and parking position information.

In an embodiment, the second sensor 13 may also be a second lidar 132 disposed on the vehicle; the parking control device 11 of the vehicle is connected to a second laser radar 132; the second lidar 132 is directed toward the parking position to emit a laser signal to a preset reference at the parking position.

Parking control device 11 of a vehicle, in particular for:

detecting whether a second real-time distance between the transport tool and the parking position obtained by adopting a second laser radar is obtained in real time; and the second real-time distance is determined according to the third position information and the parking position information.

In one embodiment, the vehicle parking control device 11 is connected to the power control system 14 and the brake system 15 via an onboard controller 20, and the vehicle parking control device 11 is specifically configured to:

and detecting whether the real-time distance is smaller than or equal to a preset first distance threshold value.

And when the real-time distance is less than or equal to the preset first distance threshold value, sending a non-power supply signal to the power control system through the vehicle-mounted controller of the vehicle so as to decelerate the vehicle.

According to the real-time distance and the real-time speed of the transport tool, multi-stage speed control is carried out on a power control system and a braking system of the transport tool so as to control the transport tool to stop at a parking position; or, according to the real-time distance, the power control system and the brake system of the transport tool are subjected to multi-stage speed control so as to control the transport tool to stop at the parking position; or, according to the real-time speed of the transport vehicle, the power control system and the braking system of the transport vehicle are subjected to multi-stage speed control so as to control the transport vehicle to stop at the parking position.

In addition, in an embodiment, the parking control device 11 of the transportation vehicle is specifically configured to:

determining an expected speed signal corresponding to the current real-time speed according to the real-time speed of the transport tool, and sending the expected speed signal corresponding to the current real-time speed to a power control system and a brake system through an on-board controller of the transport tool to control the transport tool to decelerate until the real-time speed of the transport tool at a parking position is decelerated to zero after the expected speed signal corresponding to each real-time speed is sent to the power control system and the brake system for multiple times through the on-board controller of the transport tool; the real-time speed and the expected speed signals are divided into a plurality of grades respectively, and the real-time speeds of different grades correspond to the expected speed signals of different grades.

As shown in fig. 2 and 3, the present embodiment further provides a vehicle parking control system 10, and in the present embodiment, the vehicle parking control device 11 may implement:

information of a parking position to be reached by the vehicle is obtained.

parking position information to be reached by the transport means is obtained from the cloud server.

In addition, in an embodiment of the present application, a vehicle is further provided, which includes the parking control device 11 of the vehicle, and the parking control device 11 of the vehicle is used for implementing the parking control method of the vehicle.

For example, the vehicle may be a vehicle, and the vehicle includes the vehicle parking control device 11, and the vehicle parking control device 11 is used for implementing the vehicle parking control method. The vehicle can be a container truck, a semi-trailer, a van, a passenger car, a passenger bus and the like, but is not limited thereto.

In addition, an embodiment of the present application further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the parking control method for a transportation vehicle described above.

In addition, the embodiment of the application also provides a computer device, which comprises a memory, a processor and a computer program which is stored on the memory and can run on the processor, wherein when the processor executes the program, the parking control method of the transport means is realized.

In order to make the person skilled in the art better understand the present application, the following description will be made on the problems and technical solutions to be solved by the embodiments of the present application, taking as an example the case where a container truck (a transportation means) needs to be parked exactly under a shore bridge:

as shown in fig. 4, the container truck 41 will go to the parking position 43 under the shore bridge 42 for accurate parking, so that after accurate parking at the parking position 43, the spreader 46 connected to the trolley travelling mechanism 45 on the bridge 44 can pick up the container 48 from the ship 47, thereby gradually lowering the container 48 above the parking position 43 to complete the loading operation of the container.

At present, the container truck 41 generally uses an on-board GPS sensor to continuously obtain the position information of the vehicle, and detects the distance between the vehicle position and the end point position, and when the preset braking distance L1 is reached, performs single braking and stops at the end point L0. For example, as shown in fig. 5, the ideal speed (V) -position (L) curve of the vehicle stopping at the terminal L0 by braking in the above manner is shown as X1, but actually, since the container truck 41 relies on GPS signals, it is easy to cause inaccurate positioning of the vehicle in a region with poor GPS signals, which affects the vehicle stopping at the terminal position; in addition, when the preset braking distance is reached, it is difficult to sufficiently brake the current container truck 41 with one brake, and the actual speed (V) -position (L) curve of parking at the end point L0 with the brake applied thereto is as shown by X2 or X3, i.e., the parking position is not accurate. Therefore, how to perform accurate parking control of the vehicle becomes a problem to be solved urgently.

In order to overcome the above problems, a parking control system of a transport vehicle as shown in fig. 2 may be constructed between the container truck 41 and the shore bridge 42, so that the parking control method of a transport vehicle corresponding to fig. 3 is adopted, so that the container truck 41 may be subjected to one of the following multi-speed control modes before reaching the destination L0:

the first method is as follows:

as shown in fig. 6: when the container truck 41 reaches an Ln position, the throttle is released, the container truck 41 slides after the throttle is released and slowly decelerates to reach an Lm position, and then every time the container truck 41 reaches a certain speed (for example, V1, V2, V3, V4, V5 in fig. 6), a corresponding desired speed signal (i.e., B1, B2, B3, B4, B5) is received, speed control (speed control can be realized by the throttle control system and the brake system) is performed according to the desired speed signal, and the general speed is gradually reduced until the speed is reduced to 0m/s when the terminal L0 is reached (when the last stage of speed control is performed, since the speed may be already reduced to a small value, brake braking can be performed by the brake system only, so that the speed is controlled to be reduced to zero). As can be seen from fig. 6, the desired speed signal may gradually decrease with decreasing speed, so that the deceleration effect is gradually gentle and sudden braking is avoided.

The second method comprises the following steps:

as shown in fig. 7: when the container truck 41 reaches an Ln position, the throttle is released, the container truck 41 slides after releasing the throttle, and slowly decelerates to an Lm position, and every time the container truck 41 reaches a certain position, i.e. distance L0 from the end point D1, D2, D3, D4, D5 (e.g. corresponding to positions L1, L2, L3, L4, L5 in fig. 7), respectively, a corresponding desired speed signal (i.e. B1, B2, B3, B4, B5) is received, the speed control corresponding to the desired speed signal (speed control by the throttle control system and the brake system) is performed and the speed is generally gradually reduced until the speed drops to 0m/s when the end point L0 is reached (when the last stage of speed control, since the speed may have been reduced to a small value, the brake braking may be performed by the brake system only, so that the control applies a speed reduction to zero). It can be known from fig. 7 that the expected speed signal can be gradually reduced along with the reduction of the real-time distance from the terminal point, so that the deceleration effect is gradually gentle, the situation of sudden braking is avoided, the vehicle speed is lower when the vehicle is close to the terminal point, and the vehicle is more accurately parked for large vehicles such as container trucks.

The third method comprises the following steps:

as shown in fig. 8: when the container truck 41 reaches an Ln position, the throttle is released, and then every time the container truck 41 reaches a certain speed (for example, V1, V2, V3, V4, V5 in fig. 8), the corresponding desired speed signal (i.e., B1, B2, B3, B4, B5) is received, the speed control corresponding to the desired speed signal is performed (the speed control can be performed by the throttle control system and the brake system), and the general speed is gradually reduced until the speed drops to 0m/s when the terminal L0 is reached (when the last stage of speed control is performed, since the speed may have already been reduced to a small value, the brake can be performed by the brake system only, so that the speed is controlled to be reduced to zero). As can be seen from fig. 8, the expected speed signal may gradually decrease with the decrease of the speed, so that the deceleration effect is gradually gentle, and the occurrence of sudden braking is avoided, so that when the container truck 41 approaches the terminal, the vehicle speed is low, and the parking is more accurate for a large vehicle such as a container truck.

According to the parking control method, the parking control device, the parking control system, the parking control vehicle and the parking control vehicle of the transport vehicle, the first sensor with the general positioning accuracy can be used for positioning and controlling the transport vehicle to run, when the fact that the real-time distance between the transport vehicle and the parking position obtained by the second sensor is obtained is detected (the positioning accuracy of the second sensor is higher than that of the first sensor), multi-stage speed control can be conducted on a power control system and a braking system of the transport vehicle according to the real-time distance and the real-time speed of the transport vehicle, and therefore the transport vehicle can be controlled to park at the parking position. Therefore, the second sensor with higher positioning accuracy can be adopted to complete the control of the power control system and the multi-stage speed control of the braking system according to the real-time speed so as to accurately park at the parking position.

It is worth to be noted that the embodiment of the present application can be applied to the fields of autonomous driving vehicles, assisted driving, robot control, and the like.

As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.

The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.

These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.

The principle and the implementation mode of the present application are explained by applying specific embodiments in the present application, and the description of the above embodiments is only used to help understanding the method and the core idea of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. A parking control method for a vehicle, comprising:

obtaining parking position information to be reached by a transport means;

2. The parking control method of a transportation vehicle according to claim 1, wherein the parking position information includes longitude and latitude coordinates of a parking position;

the obtaining of the parking position information to be reached by the transportation means includes:

the method comprises the steps of obtaining a parking command of a transport means, and obtaining longitude and latitude coordinates of a parking position from the parking command.

3. The parking control method of a transportation vehicle according to claim 1, wherein the parking position information includes longitude and latitude coordinates of a parking position;

obtaining a parking command for a vehicle and obtaining an identification of a parking location from the parking command;

and acquiring the longitude and latitude coordinates of the parking position corresponding to the identifier of the parking position from the preset corresponding relation between the identifier and the longitude and latitude coordinates according to the identifier of the parking position.

4. The vehicle parking control method of claim 1, wherein the first sensor is a global positioning system sensor on the vehicle;

the real-time first position information that obtains the transport means according to first sensor to according to first position information and parking position information, control transport means to move to the parking position includes:

obtaining first position information of a transport means in real time according to the global positioning system sensor;

5. The parking control method for a transportation vehicle according to claim 1, wherein the second sensor is a first lidar disposed at a parking position; the first lidar is directed toward the vehicle to transmit a laser signal to the vehicle;

whether real-time detection obtains the real-time distance between the transport means and the parking position obtained by adopting the second sensor or not comprises the following steps:

detecting whether a laser signal of the first laser radar is received in real time;

when the laser signal is detected to be received, detecting whether a first real-time distance between the transport tool and the parking position obtained by the first laser radar is obtained in real time; the first real-time distance is determined according to second position information and parking position information.

6. The parking control method for a vehicle according to claim 1, wherein the second sensor is a second lidar provided on a vehicle; the second laser radar faces the parking position to transmit a laser signal to a preset reference object at the parking position;

detecting whether a second real-time distance between the transport tool and the parking position obtained by the second laser radar is obtained in real time; and the second real-time distance is determined according to the third position information and the parking position information.

7. The parking control method for a vehicle according to claim 1, wherein the multi-stage speed control of a power control system and a brake system of a vehicle for controlling the vehicle to park in the parking position according to the real-time distance and the real-time speed of the vehicle comprises:

detecting whether the real-time distance is smaller than or equal to a preset first distance threshold value;

when the real-time distance is smaller than or equal to a preset first distance threshold value, sending a non-power-supply signal to the power control system through an on-board controller of the transport tool so as to enable the transport tool to decelerate;

according to the real-time distance and the real-time speed of the transport tool, performing multi-stage speed control on a power control system and a braking system of the transport tool so as to control the transport tool to stop at the parking position; or according to the real-time distance, performing multi-stage speed control on a power control system and a brake system of the transport tool so as to control the transport tool to stop at the parking position; or according to the real-time speed of the transport vehicle, performing multi-stage speed control on a power control system and a brake system of the transport vehicle so as to control the transport vehicle to stop at the parking position.

8. The vehicle parking control method of claim 7, wherein the multi-stage speed control of the power control system and the brake system of the vehicle for controlling the vehicle to park in the parking position according to the real-time distance and the real-time speed of the vehicle comprises:

detecting whether the real-time distance is smaller than or equal to a preset second distance threshold value; the second distance threshold is less than or equal to the first distance threshold;

9. The parking control method for a vehicle according to claim 7, wherein the multi-stage speed control of a power control system and a brake system of a vehicle according to the real-time distance to control the vehicle to park at the parking position comprises:

when the real-time distance is smaller than or equal to a preset second distance threshold value, determining an expected speed signal corresponding to the current real-time distance according to the real-time distance of the transport tool, and sending the expected speed signal corresponding to the current real-time distance to the power control system and the brake system through the vehicle-mounted controller of the transport tool to control the transport tool to decelerate until the real-time speed of the transport tool at the parking position is decelerated to zero after the expected speed signal corresponding to each real-time distance is sent to the power control system and the brake system for multiple times through the vehicle-mounted controller of the transport tool; the real-time distance and the expected speed signal are divided into a plurality of grades respectively, and the real-time distances of different grades correspond to the expected speed signals of different grades.

10. The parking control method for a vehicle according to claim 7, wherein the multi-stage speed control of a power control system and a brake system of a vehicle according to a real-time speed of the vehicle to control the vehicle to park in the parking position comprises:

determining an expected speed signal corresponding to the current real-time speed according to the real-time speed of the transport tool, and sending the expected speed signal corresponding to the current real-time speed to the power control system and the brake system through an on-board controller of the transport tool to control the transport tool to decelerate until the real-time speed of the transport tool at the parking position is decelerated to zero after the expected speed signal corresponding to each real-time speed is sent to the power control system and the brake system for multiple times through the on-board controller of the transport tool; the real-time speed and the expected speed signals are divided into a plurality of grades respectively, and the real-time speeds of different grades correspond to the expected speed signals of different grades.

11. The parking control device of the transport means is characterized in that the parking control device of the transport means is connected with a first sensor, a second sensor, a power control system and a brake system;

the parking control device of the transport means is used for:

obtaining parking position information to be reached by a transport means;

12. The vehicle parking control apparatus of claim 11, wherein the first sensor is a global positioning system sensor on the vehicle;

the parking control device of the transport means is specifically used for:

13. The parking control apparatus for a vehicle according to claim 11, wherein the second sensor is a first lidar disposed at a parking position; the parking control device of the transport vehicle is connected with the first laser radar through a first V2X device at the transport vehicle, a second V2X device at a parking position and a controller at the parking position; the first lidar is directed toward the vehicle to transmit a laser signal to the vehicle;

the parking control device of the transport means is specifically used for:

detecting whether a first real-time distance between the transport tool and the parking position obtained by the first laser radar is obtained from a second V2X device through a first V2X device in real time when the laser signal is detected to be received; the first real-time distance is determined according to second position information and parking position information.

14. The parking control apparatus for a vehicle according to claim 11, wherein the second sensor is a second lidar provided on a vehicle; the parking control device of the transport means is connected with the second laser radar; the second laser radar faces the parking position to transmit a laser signal to a preset reference object at the parking position;

the parking control device of the transport means is specifically used for:

15. The vehicle parking control apparatus of claim 11, wherein the vehicle parking control apparatus is connected to the power control system and the brake system via an onboard controller, and the vehicle parking control apparatus is specifically configured to:

16. Parking control of a vehicle according to claim 15, characterized in that it is specifically adapted to:

17. Parking control of a vehicle according to claim 15, characterized in that it is specifically adapted to:

18. Parking control of a vehicle according to claim 15, characterized in that it is specifically adapted to:

19. A parking control system of a vehicle is characterized by comprising a parking control device of the vehicle, a first sensor, a second sensor, a power control system and a brake system; the parking control device of the transport tool is connected with the first sensor, the second sensor, the power control system and the brake system;

the parking control device of the transport means is used for:

obtaining parking position information to be reached by a transport means;

20. The vehicle parking control system of claim 19, further comprising a cloud server, the vehicle parking control device being communicatively coupled to the cloud server;

the parking control device of the transport means is specifically used for:

obtaining parking position information to be reached by the transport means from the cloud server.

21. The vehicle parking control system of claim 19, wherein the first sensor is a global positioning system sensor on the vehicle;

the parking control device of the transport means is specifically used for:

22. The vehicle parking control system of claim 19, wherein the second sensor is a first lidar disposed at a parking position; the vehicle parking control system further comprises a first V2X device at the vehicle, a second V2X device at the parking location, and a controller at the parking location; the parking control device of the vehicle is connected with the first V2X device, the first V2X device is connected with the second V2X device in a communication mode, the second V2X device is connected with the controller, and the controller is connected with the first laser radar; the first lidar is directed toward the vehicle to transmit a laser signal to the vehicle;

the parking control device of the transport means is specifically used for:

23. The vehicle parking control system of claim 19, wherein the second sensor is a second lidar disposed on the vehicle; the parking control device of the transport means is connected with the second laser radar; the second laser radar faces the parking position to transmit a laser signal to a preset reference object at the parking position;

the parking control device of the transport means is specifically used for:

24. The vehicle parking control system of claim 19, further comprising an onboard controller; the parking control device of the transport means is connected with the power control system and the brake system through the vehicle-mounted controller, and is specifically used for:

25. Parking control system of a vehicle according to claim 24, characterized in that the parking control device of a vehicle is specifically configured to:

26. Parking control system of a vehicle according to claim 24, characterized in that the parking control device of a vehicle is specifically configured to:

27. Parking control system of a vehicle according to claim 24, characterized in that the parking control device of a vehicle is specifically configured to:

28. A vehicle characterized by comprising a vehicle parking control apparatus for implementing the vehicle parking control method of any one of claims 1 to 10.

29. A vehicle characterized by comprising a parking control apparatus of a vehicle for implementing the parking control method of a vehicle according to any one of claims 1 to 10.

30. A computer-readable storage medium on which a computer program is stored, characterized in that the program, when executed by a processor, implements the parking control method of a transportation means according to any one of claims 1 to 10.

31. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the parking control method of a vehicle according to any one of claims 1 to 10 when executing the program.