CN112109700A - Memory parking system, control method thereof and computer storage medium - Google Patents
Memory parking system, control method thereof and computer storage medium Download PDFInfo
- Publication number
- CN112109700A CN112109700A CN202010562149.4A CN202010562149A CN112109700A CN 112109700 A CN112109700 A CN 112109700A CN 202010562149 A CN202010562149 A CN 202010562149A CN 112109700 A CN112109700 A CN 112109700A
- Authority
- CN
- China
- Prior art keywords
- parking
- memory
- real
- information
- time
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 99
- 238000003860 storage Methods 0.000 title claims abstract description 19
- 230000008569 process Effects 0.000 claims abstract description 43
- 238000012545 processing Methods 0.000 claims abstract description 24
- 238000004891 communication Methods 0.000 claims description 26
- 238000009826 distribution Methods 0.000 claims description 24
- 230000004044 response Effects 0.000 claims description 8
- 238000012544 monitoring process Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 10
- 238000005516 engineering process Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 9
- 238000004364 calculation method Methods 0.000 description 7
- 238000004590 computer program Methods 0.000 description 7
- 238000012986 modification Methods 0.000 description 5
- 230000004048 modification Effects 0.000 description 5
- 238000013500 data storage Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 4
- 239000010813 municipal solid waste Substances 0.000 description 3
- 230000000007 visual effect Effects 0.000 description 3
- 206010039203 Road traffic accident Diseases 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 230000007246 mechanism Effects 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 241000497429 Obus Species 0.000 description 1
- 230000003213 activating effect Effects 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
Abstract
The invention discloses a memory parking control method, which comprises the following steps: executing a memory parking processing process based on the selected memory route; acquiring real-time global information in a parking area through a vehicle and an internal facility of the parking area; and carrying out real-time parking planning according to the real-time global information in the parking area, and finishing parking according to the real-time parking planning. The invention also discloses a memory parking control method and a computer readable storage medium, which solve the safety problem of the traditional memory parking.
Description
Technical Field
The present invention relates to the field of automatic driving, and more particularly, to a memory parking system, a control method thereof, and a computer storage medium.
Background
With the rapid development of the field of automatic driving, the memory parking technology is also applied more and more widely.
The traditional memory parking mainly depends on a sensor mounted on a vehicle, and when obstacles exist around the vehicle, the sensor has a blind area, or pedestrians or vehicles suddenly break into the vehicle in the driving process, traffic accidents are easy to happen.
Disclosure of Invention
The invention mainly aims to provide a memory parking system, a control method thereof and a computer storage medium, and aims to solve the safety problem of the conventional memory parking.
In order to achieve the above object, the present invention provides a memory parking control method, including the steps of:
executing a memory parking processing process based on the selected memory route;
acquiring real-time global information in a parking area through a vehicle and an internal facility of the parking area;
and carrying out real-time parking planning according to the real-time global information in the parking area, and finishing parking according to the real-time parking planning.
In one embodiment, before the step of performing the memory parking process based on the selected memory route, the method further includes:
acquiring a memory route list;
in response to a select instruction, a memory way is selected.
In one embodiment, the method further comprises the following steps:
acquiring parking space use information in a parking area;
and responding to the selection instruction, and if the target parking space corresponding to the selected memory route is occupied, sending a reselection prompt.
In one embodiment, the step of performing real-time parking planning according to the real-time global information in the parking area includes at least one of the following steps:
carrying out real-time route planning according to the real-time traffic information or the midway parking space occupation information;
and carrying out real-time obstacle avoidance planning according to the real-time obstacle information.
In one embodiment, the step of real-time route planning according to real-time traffic information comprises:
the method comprises the steps that the distribution and the operation condition of movable vehicles in a parking area are obtained through the communication between a roadside unit and other vehicles in the parking area;
acquiring pedestrian distribution conditions in the parking area through communication between the roadside unit and pedestrian terminals in the parking area;
calculating traffic flow conditions and pedestrian conditions on the memory route according to the distribution and running conditions of the movable vehicles and the distribution conditions of the pedestrians;
and carrying out real-time route planning according to the traffic flow condition, the pedestrian condition and the memory route.
In one embodiment, the step of performing route planning according to real-time traffic information further comprises:
acquiring traffic condition information in a parking area through a camera;
transmitting the traffic flow condition and the traffic condition information in the parking area to a terminal through a 5G network;
and controlling the start and stop of the vehicle in response to the instruction transmitted from the terminal.
In one embodiment, the step of performing real-time obstacle avoidance planning according to the real-time obstacle information includes:
real-time information of pedestrians and vehicles in a parking area is obtained through a road side unit and a vehicle-mounted unit, information of obstacles in the parking area is obtained through a camera, and the distance between the vehicles and the obstacles is obtained through a radar;
obtaining a result instruction according to the real-time information of the pedestrians and the vehicles, the information of the obstacles and the distance between the vehicles and the obstacles;
and carrying out real-time vehicle obstacle avoidance according to the result instruction.
In one embodiment, the step of performing real-time route planning according to the midway parking space occupation information includes:
monitoring the occupation condition of the corresponding target parking space of the selected route in real time;
when the midway parking space occupation information shows that the target parking space is occupied, selecting another memory route partially overlapped with the currently selected route;
switching routes when driving to a node where the selected route coincides with another route.
In order to achieve the above object, the present invention further provides a memory parking system, which includes a memory, a processor, and a memory parking control program stored in the memory and executable on the processor, wherein the memory parking control program, when executed by the processor, implements the steps of the memory parking control method as described above.
To achieve the above object, the present invention also provides a computer-readable storage medium storing a memory parking control program which, when executed by a processor, implements the steps of the memory parking control method as described above.
The memory parking system, the control method thereof and the computer storage medium provided by the invention execute the memory parking processing process based on the selected memory route; acquiring real-time global information in a parking area through a vehicle and an internal facility of the parking area; and performing real-time parking planning according to the real-time global information in the parking area, and completing parking according to the real-time parking planning. According to the method, the vehicle and the communication between the vehicle and the internal facility of the parking area in the parking process are used for acquiring the global information in the parking area in real time, and the parking planning is carried out in real time according to the global information in the parking area to finish the parking, so that the safety problem of the traditional memory parking is solved.
Drawings
FIG. 1 is a schematic structural diagram of a memory parking system according to an embodiment of the present invention;
FIG. 2 is a flowchart illustrating a memory parking control method according to a first embodiment of the present invention;
FIG. 3 is a flowchart illustrating a memory parking control method according to a second embodiment of the present invention;
FIG. 4 is a flowchart illustrating a memory parking control method according to a third embodiment of the present invention;
FIG. 5 is a flowchart illustrating a fourth exemplary embodiment of a memory parking control method according to the present invention;
FIG. 6 is a flowchart illustrating a fifth exemplary embodiment of a memory parking control method according to the present invention;
FIG. 7 is a flowchart illustrating a memory parking control method according to a sixth embodiment of the present invention;
FIG. 8 is a flowchart illustrating a memory parking control method according to a seventh embodiment of the present invention;
FIG. 9 is a flowchart illustrating an eighth exemplary embodiment of a memory parking control method according to the present invention;
fig. 10 is an application scenario of the memory parking control method according to the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The main solution of the embodiment of the invention is as follows: executing a memory parking processing process based on the selected memory route; acquiring real-time global information in a parking area through a vehicle and an internal facility of the parking area; and performing real-time parking planning according to the real-time global information in the parking area, and completing parking according to the real-time parking planning. According to the method, the vehicle and the communication between the vehicle and the internal facility of the parking area in the parking process are used for acquiring the global information in the parking area in real time, and the parking planning is carried out in real time according to the global information in the parking area to finish the parking, so that the safety problem of the traditional memory parking is solved.
As an implementation manner, as shown in fig. 1, fig. 1 is a schematic structural diagram of a memory parking system according to an embodiment of the present invention.
The memory parking system 1000 comprises a vehicle 1100, a vehicle controller 1110 mounted on the vehicle, an on-board unit 1120 mounted on the vehicle, a roadside unit 1200 arranged in a parking area, a radar mounted on the vehicle, a camera mounted on the vehicle, a cloud platform 1300, a terminal 1400, and a sensor-equipped parking space 1500; vehicle-mounted unit 1120 is connected with vehicle controller 1110, and can put the electricity and connect, also can the direct connection, vehicle-mounted unit 1120 with roadside unit 1200 communication connection, roadside unit 1200 and cloud platform 1300 communication connection, cloud platform 1300 and terminal 1400 communication connection, cloud platform 1300 and the parking stall 1500 that is equipped with the sensor communication connection, the parking stall 1500 that is equipped with the sensor and roadside unit 1200 communication connection. The vehicle controller 1110 includes at least one processor 1111 (e.g., a CPU), memory 1112.
The processor 1111 may be an integrated circuit chip having signal processing capabilities. In implementation, the steps of the method may be implemented by hardware integrated logic circuits in the processor 1111 or by instructions in the form of software. The processor 1111 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, discrete hardware components. The various methods, steps and logic blocks disclosed in the embodiments of the present invention may be implemented or performed. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like. The software module may be located in ram, flash memory, rom, prom, or eprom, registers, etc. storage media as is well known in the art. The storage medium is located in the memory 1112, and the processor 1111 reads the information in the memory 1112 to complete the steps of the method in combination with the hardware.
It is to be understood that the memory 1112 in embodiments of the present invention can be either volatile memory or nonvolatile memory, or can include both volatile and nonvolatile memory. The nonvolatile memory may be a Read Only Memory (ROM), a Programmable Read Only Memory (PROM), an erasable programmable Read only memory (erasabprom, EPROM), an Electrically Erasable Programmable Read Only Memory (EEPROM), or a flash memory. The volatile memory may be a Random Access Memory (RAM) which functions as an external cache. By way of example, but not limitation, many forms of RAM are available, such as static random access memory (staticiram, SRAM), dynamic random access memory (dynamic RAM, DRAM), synchronous dynamic random access memory (syncronous DRAM, SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM ), Enhanced Synchronous DRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), and direct memory bus RAM (DRRAM). The memory 1112 of the systems and methods described in connection with the embodiments of the invention is intended to comprise, without being limited to, these and any other suitable types of memory.
For a software implementation, the techniques described in this disclosure may be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described in this disclosure. The software codes may be stored in a memory and executed by a processor. The memory may be implemented within the processor or external to the processor.
Based on the memory parking system structure, the embodiment of the memory parking control method is provided.
Referring to fig. 2, fig. 2 shows a memory parking control method according to a first embodiment of the present invention, which includes the steps of:
step S110, based on the selected memory route, executing a memory parking processing process;
step S120, acquiring real-time global information in the parking area through the vehicle and the facility in the parking area;
and step S130, performing real-time parking planning according to the real-time global information in the parking area, and completing parking according to the real-time parking planning.
In the present embodiment, the memory parking refers to a sequence in which a parking program is recorded and stored before the memory parking function is performed. Upon learning, i.e., the first manual driving of the route, the system generates an accurate map of the surroundings from the sensor data and stores the map. When the memory type unmanned parking function is used, the automobile records the surrounding situation in 360 degrees by means of a standard sensor mounted on the automobile. Including short range radar and 360 degree panoramic camera systems, but also other sensor technologies, such as lidar, are used. When the vehicle is within the range covered by the map, the accurate position of the vehicle can be determined, and the learned route can be automatically driven. The driver can get off before activating the parking program, since the vehicle can be parked without driver assistance. Vehicles include, but are not limited to, cars, SUV vehicles, vans, trucks, JEEP vehicles, and the like. The memory route refers herein to storing a route from a location where parking is performed to a target parking space location. The parking process of the vehicle to the target parking space position is performed according to the pre-stored memory route.
In this embodiment, the vehicle may acquire information in the parking area, for example, a camera may be disposed on the vehicle to acquire environment information around the vehicle, and the information may also be acquired by a radar. The vehicle can acquire information in the parking area by making a communication connection with a facility in the parking area, for example, using V2X technology, meaning vehicle to parking, i.e., the exchange of information from vehicle to outside. The Internet of vehicles establishes a new automobile technology development direction by integrating a Global Positioning System (GPS) navigation technology, an automobile-to-automobile communication technology, a wireless communication technology and a remote sensing technology, and realizes the compatibility of manual driving and automatic driving. In brief, the vehicle model matched with the system can automatically select the driving route with the best road condition through analyzing the real-time traffic information in an automatic driving mode, thereby greatly relieving traffic jam. In addition, by using the vehicle-mounted sensor and the camera system, the surrounding environment can be sensed and rapidly adjusted, so that zero traffic accidents are realized. For example, if a pedestrian suddenly appears, it may be automatically decelerated to a safe speed or stopped. An OBU (On board Unit) is arranged On a vehicle by utilizing a V2X technology, and the interpretation is the meaning of the OBU, namely a microwave device which communicates with an RSU by adopting a DSRC (dedicated Short Range communication) technology. In the ETC system, OBUs are placed on a vehicle, and Road Side units (RSU-Road Side units) are erected on the roadsides and communicate with each other through microwaves. When the vehicle passes through the RSU at high speed, the OBU and the RSU are communicated by microwaves. The RSU is arranged in the parking area, and the network signal coverage in the parking area is preferably 5G signal coverage, the 5G network has the advantages of low time delay and high speed, and the information acquired by the road side unit can be transmitted to the vehicle-mounted unit in real time. All information of the vehicle during the memory parking process can be acquired.
In the present embodiment, parking planning is performed according to real-time global information in a parking area, where the parking planning refers to a comprehensive plan of parking, for example, a route planning in a parking process, an obstacle avoidance planning in a parking process, and the like, and parking is completed according to the real-time plans.
In the technical scheme provided by the embodiment, a memory parking processing process is executed based on the selected memory route; acquiring real-time global information in a parking area through a vehicle and an internal facility of the parking area; and performing real-time parking planning according to the real-time global information in the parking area, and completing parking according to the real-time parking planning. According to the method, the vehicle and the communication between the vehicle and the internal facility of the parking area in the parking process are used for acquiring the global information in the parking area in real time, and the parking planning is carried out in real time according to the global information in the parking area to finish the parking, so that the safety problem of the traditional memory parking is solved.
Referring to fig. 3, fig. 3 shows a memory parking control method according to a second embodiment of the present invention, which includes the steps of:
step S210, obtaining a memory route list;
in step S220, in response to the selection command, a memory route is selected.
Step S230, based on the selected memory route, executing a memory parking processing process;
step S240, acquiring real-time global information in the parking area through the vehicle and the facility in the parking area;
and step S250, performing real-time parking planning according to the real-time global information in the parking area, and completing parking according to the real-time parking planning.
Compared with the first embodiment, the second embodiment comprises a step S210 of obtaining a memory route list. In step S220, in response to the selection command, a memory route is selected. Other steps are the same as those in the first embodiment and are not described again.
In this embodiment, obtaining the memory route list refers to obtaining a route between a parking position of the vehicle and a target parking position, because there are often a plurality of parking routes, by storing the plurality of routes before performing the memory parking process, one of the routes can be selected by the user, and one of the memory routes can also be selected by the vehicle controller mounted on the vehicle. The controller refers to a master device for controlling the starting, speed regulation, braking and reversing of the motor by changing the wiring of a main circuit or a control circuit and changing the resistance value in the circuit according to a preset sequence. The intelligent driving controller consists of a program counter, an instruction register, an instruction decoder, a time sequence generator and an operation controller, and is a decision-making mechanism for issuing commands, namely, the decision-making mechanism is used for completing coordination and commanding the operation of the whole computer system, and can be preferably used as an intelligent driving controller.
In the technical scheme provided by the embodiment, the stored route before the parking process is executed is obtained, and one optimal route can be selected for memory parking according to the user and the controller mounted on the vehicle, so that the user experience is improved.
Referring to fig. 4, fig. 4 shows a memory parking control method according to a third embodiment of the present invention, which includes the steps of:
step S310, obtaining parking space use information in a parking area;
step S320, responding to the selection instruction, and if the target parking space corresponding to the selected memory route is occupied, sending a reselection prompt;
step S330, based on the selected memory route, executing a memory parking processing process;
step S340, acquiring real-time global information in the parking area through the vehicle and the facility in the parking area;
and step S350, performing real-time parking planning according to the real-time global information in the parking area, and completing parking according to the real-time parking planning.
Compared with the first embodiment, the third embodiment includes step S310 of acquiring the parking space usage information in the parking area. Step S320, responding to the selection instruction, and if the target parking space corresponding to the selected memory route is occupied, sending a reselection prompt. Other steps are the same as those in the first embodiment and are not described again.
In this embodiment, the parking space usage information includes occupied parking space information and free parking space information. The method for acquiring the parking space use information in the parking area comprises the steps of preferably arranging a sensor, preferably a geomagnetic sensor, in a parking space and accessing a network. The geomagnetic sensor can be used for detecting the existence and the vehicle type identification of vehicles, the data acquisition system plays a very important role in a traffic monitoring system, the geomagnetic sensor is a key part of the data acquisition system, and the performance of the geomagnetic sensor plays a decisive role in the accuracy of the data acquisition system. The parking space use information is transmitted to the cloud platform through the geomagnetic sensor, and the cloud computing platform is also called a cloud platform and is used for providing computing, network and storage capabilities based on services of hardware resources and software resources. Cloud computing platforms can be divided into 3 classes: the cloud computing platform comprises a storage type cloud platform taking data storage as a main part, a computing type cloud platform taking data processing as a main part and a comprehensive cloud computing platform taking computing and data storage processing into consideration. The parking space use information is transmitted to the user terminal through the cloud platform, and the user terminal comprises but is not limited to a smart phone, a tablet computer, a multimedia player, an electronic reader, a wearable smart device and the like. The user terminal is loaded with a corresponding application program, when the user selects one of the memory routes to carry out memory parking, if the target parking space information corresponding to the selected memory route is occupied, the application program prompts the user to reselect another memory route.
It can be understood that when the memory route list is provided, the parking space use information can be obtained first, and the memory route occupied by the target parking space is removed and then provided for the user to select.
It should be noted that the geomagnetic sensor may also transmit information of parking spaces to an onboard unit mounted on the vehicle through a network, the onboard unit may preferably be an onboard unit mounted with a 5G communication module, and when the vehicle controller selects one of the memory routes through the 5G network to perform memory parking, if the target parking space information corresponding to the selected memory route is occupied, the vehicle controller reselects another memory route.
In the technical scheme provided by the embodiment, the use information of the parking space is acquired, the parking space loaded with the sensor transmits the parking space information to the user terminal and the vehicle controller, and when the user or the vehicle controller selects one of the memory routes to memorize and park, if the target parking space information corresponding to the selected memory route is occupied, the user is prompted to reselect another memory route or the vehicle controller reselects another memory route. When the target parking space is occupied, the user is reminded to reselect or the vehicle controller reselects another memory route, so that the user experience is improved, and the useless work of the vehicle for memory parking is reduced.
Referring to fig. 5, fig. 5 shows a memory parking control method according to a fourth embodiment of the present invention, which includes the steps of:
step S410, based on the selected memory route, executing a memory parking processing process;
step S420, real-time route planning is carried out according to the real-time traffic information or the midway parking space occupation information;
and step S430, performing real-time obstacle avoidance planning according to the real-time obstacle information.
Compared with the first embodiment, the fourth embodiment includes step S420, and performs real-time route planning according to the real-time traffic information or the midway parking space occupation information. And step S430, performing real-time obstacle avoidance planning according to the real-time obstacle information. Other steps are the same as those in the first embodiment and are not described again.
In this embodiment, real-time obstacle avoidance planning is performed according to real-time obstacle information, where a vehicle controller mounted on a vehicle, an intelligent driving controller, an on-board unit mounted on the vehicle, and an on-board unit mounted with a 5G communication module may be preferred, a roadside unit is disposed in a parking area, a 5G network is preferably covered in the parking area, and a sensor is disposed in a parking space and connected to the network, which have been explained in the above embodiments, and therefore, details are not repeated. The vehicle may further include a camera and a radar, and the real-time traffic information obtained by the road side unit, the camera and the radar may be used to perform the memory of the real-time traffic information during the parking process, where the traffic information may be pedestrians in the parking area, road conditions, or information of other vehicles, and the real-time route planning may be performed according to the information, such as route switching. When the memory of the occupied midway parking space is executed, the geomagnetic sensor is preferably arranged in the parking space to send the occupied midway parking space information to the intelligent driving controller and the user terminal, the intelligent driving controller can switch the target parking space, and the user terminal can also switch the target parking space.
It should be noted that the obstacle information during the parking process may also be acquired and memorized through a road side unit, a camera and a radar, and the obstacle information includes, but is not limited to, information of pedestrians, objects, vehicles and the like. The vehicle controller can control the vehicle to carry out real-time obstacle avoidance planning according to the information, and can also transmit the information to an application program of a user terminal through a network, and a user can also remotely control the vehicle to carry out real-time obstacle avoidance planning.
In the technical solution provided in this embodiment, it may be preferable that the road side unit, the camera, and the radar acquire and perform real-time traffic information during the parking process, and perform real-time route planning according to the information. When the memory of the occupied parking space in the midway of parking is executed, the intelligent driving controller can switch the target parking space, and the user terminal can also switch the target parking space. The obstacle information in the parking process can be acquired and memorized through the road side unit, the camera and the radar, the vehicle controller can control the vehicle to carry out a real-time obstacle avoidance plan according to the information, and a user can also remotely control the vehicle to carry out the real-time obstacle avoidance plan. The experience degree of the user is improved, and the safety of memory parking is also ensured.
Referring to fig. 6, fig. 6 shows a memory parking control method according to a fifth embodiment of the present invention, which includes the steps of:
step S510, based on the selected memory route, executing a memory parking processing process;
step S520, obtaining the distribution and the operation condition of the movable vehicles in the parking area through the communication between the road side unit and other vehicles in the parking area;
step S530, acquiring pedestrian distribution conditions in the parking area through communication between the road side unit and pedestrian terminals in the parking area;
step S540, calculating traffic flow and pedestrian conditions on the memory route according to the distribution and running condition of the movable vehicles and the distribution condition of the pedestrians;
and step S550, carrying out real-time route planning according to the traffic flow condition, the pedestrian condition and the memory route.
Compared with the first embodiment, the fourth embodiment includes step S520, in which the distribution and operation of the active vehicles in the parking area are obtained through the communication between the roadside unit and other vehicles in the parking area. Step S530, obtaining pedestrian distribution conditions in the parking area through communication between the road side unit and the pedestrian terminals in the parking area. And step S540, calculating the traffic flow and the pedestrian condition on the memory route according to the distribution and the running condition of the movable vehicles and the distribution condition of the pedestrians. And step S550, carrying out real-time route planning according to the traffic flow condition, the pedestrian condition and the memory route. Other steps are the same as those in the first embodiment and are not described again.
In this embodiment, the roadside unit communicates with other vehicles in the parking area to obtain the location information and the operating conditions of the other vehicles, and the distribution conditions of the other vehicles can be obtained according to the location information of the other vehicles, and the operating conditions include, but are not limited to, the operating states of the vehicles, such as a moving state or a stationary state. The vehicle moving state also includes the speed and position of the vehicle operation, and the like.
It should be noted that the cloud platform calculates traffic flow conditions on the memory route according to the distribution conditions and the operation conditions of the vehicles, and the cloud platform, which is also called a cloud platform, is a service based on hardware resources and software resources and provides computing, networking and storage capabilities. Cloud computing platforms can be divided into 3 classes: the cloud computing platform comprises a storage type cloud platform taking data storage as a main part, a computing type cloud platform taking data processing as a main part and a comprehensive cloud computing platform taking computing and data storage processing into consideration. The traffic situation is referred to here as the operating state and the distribution of the vehicles in the parking area.
It should be noted that the moving speed of the vehicle and the distribution of the vehicles in the parking area can be calculated through the cloud platform, when the traffic condition of the current memory route selected by the vehicle for performing memory parking becomes complex, the vehicle controller can execute a correct instruction according to the calculation result of the cloud platform to perform real-time route planning, for example, switching the memory route, and the cloud platform can also provide the calculation result to an application program corresponding to the user terminal to perform real-time route planning, and prompt the user to make a corresponding selection, for example, switching the memory route.
The traffic condition can be provided for the user side terminal in a visual form, real-time route planning is carried out, and the user is prompted to make corresponding selection, such as switching a memory route.
In the technical scheme provided by this embodiment, the distribution and the operation condition of the vehicles in the parking area are obtained through communication between the roadside unit and other vehicles in the parking area, the cloud platform calculates the traffic flow condition on the memory route according to the distribution and the operation condition of the vehicles, for example, when the traffic condition of the current memory route selected by the vehicle executing memory parking becomes complicated, the cloud platform transmits a calculation result instruction to the vehicle controller or the user terminal, the vehicle controller executes correct operation according to the calculation result instruction, for example, memory route switching, and the user terminal can also execute corresponding selection according to the calculation result instruction of the cloud platform, for example, memory route switching. When the traffic condition of the selected memory route becomes complex, the memory route is switched in time, so that the time for finishing the memory parking operation is saved, and the experience of a user is improved.
Referring to fig. 7, fig. 7 shows a memory parking control method according to a sixth embodiment of the present invention, which includes the steps of:
step S610, based on the selected memory route, executing a memory parking processing process;
step S620, obtaining the distribution and the operation condition of the movable vehicles in the parking area through the communication between the road side unit and other vehicles in the parking area;
step S630, calculating the traffic flow condition on the memory route according to the distribution and the running condition of the movable vehicles;
step S640, obtaining traffic condition information in the parking area through a camera;
step S650, transmitting the traffic flow condition and the traffic condition information in the parking area to a terminal through a 5G network;
and step S660, controlling the starting and stopping of the vehicle in response to the command.
Compared with the fifth embodiment, the sixth embodiment includes step S640 of acquiring traffic condition information in the parking area through the camera. And step S650, transmitting the traffic flow condition and the traffic condition information in the parking area to a terminal through a 5G network. And step S660, controlling the starting and stopping of the vehicle in response to the command. Other steps are the same as those in the first embodiment and are not described again.
In the embodiment, the RSU, the radar and the camera can acquire and memorize traffic condition information in the parking area during the parking process, wherein the traffic condition information includes but is not limited to pedestrian information in the parking area; vehicle information within the parking area; object information in the parking area; the parking area is selected to memorize road condition information of the route and the like. For example, a garbage can is arranged in the parking area, and the garbage can is poured on a road of a memory route in the memory parking process; information of other vehicles in the parking area; the traffic condition information of vehicles or pedestrians carrying communication equipment can be acquired by an RSU, the object information without carrying communication equipment can be acquired by a camera and a radar, the information can be preferably transmitted to an application program of a user terminal through a 5G network to form a visual image or video, a user can see the traffic condition and the vehicle condition in a parking area in the application program of the user terminal, the user can send out an instruction for controlling the starting and stopping of the vehicle at any time according to the conditions, and a vehicle controller responds to the instruction sent by the user to control the starting and stopping of the vehicle in real time.
In the technical scheme provided by the embodiment, traffic condition information in a parking area is acquired through the RSU, the camera and the radar, the information is transmitted to an application program of a user terminal through the 5G network in real time, a visual image or video including information such as distance from an obstacle is formed, and a user can send an instruction to control starting and stopping of a vehicle in real time according to the information. The information can be transmitted to the user terminal in real time by utilizing the low-delay characteristic of the 5G network, so that the parking memory safety is improved, and the experience of the user is also improved.
Referring to fig. 8, fig. 8 shows a memory parking control method according to a seventh embodiment of the present invention, including the steps of:
step S710, based on the selected memory route, executing a memory parking processing process;
step S720, real-time information of pedestrians and vehicles in the parking area is obtained through the road side unit and the vehicle-mounted unit, information of obstacles in the parking area is obtained through the camera, and the distance between the vehicles and the obstacles is obtained through the radar;
step S730, calculating the vehicle information, the pedestrian information, the obstacle information and the distance between the vehicle and the obstacle to obtain a result command;
and step S740, carrying out real-time obstacle avoidance according to the instruction.
Compared with the first embodiment, the sixth embodiment comprises a step S720 of obtaining real-time information of pedestrians and vehicles in the parking area through the roadside unit and the vehicle-mounted unit, obtaining information of obstacles in the parking area through the camera, and obtaining a distance between the vehicles and the obstacles through the radar. And step S730, calculating the vehicle information, the pedestrian information, the obstacle information and the distance between the vehicle and the obstacle to obtain a result command. And step S740, carrying out real-time obstacle avoidance according to the instruction. Other steps are the same as those in the first embodiment and are not described again.
In the embodiment, the road side unit, the camera and the radar are used for acquiring and memorizing the information of obstacles in the parking area in the parking process, wherein the obstacles include but are not limited to pedestrians, objects and vehicles. Pedestrians include moving pedestrians and stationary pedestrians; the objects include moving objects and stationary objects, for example, the moving objects may be animals or the like moving within a parking area, such as trash cans or the like that are tipped over a memorized route. The distance between the vehicle and the obstacle is obtained through a radar on the loading vehicle.
In this embodiment, the camera mounted on the vehicle may be connected to the on-board unit, and the camera and the on-board unit may be connected to each other by a wire or wirelessly, the on-board unit transmits the obstacle information acquired by the camera and the distance information between the vehicle and the obstacle to the roadside unit, the roadside unit transmits the obstacle information and the distance information between the vehicle and the obstacle to the cloud platform, the cloud platform calculates the obstacle information and transmits a command of transmitting the distance information between the vehicle and the obstacle to the on-board unit, and the vehicle controller executes a real-time obstacle avoidance plan according to the command. For example, when the obstacle is a moving pedestrian, object, or vehicle, the host vehicle that performs memory parking stops operating, waits for the moving obstacle to pass, and continues to perform the parking operation.
In the technical scheme provided by the embodiment, the obstacle information is acquired through the camera, the distance information between the vehicle and the obstacle is acquired through the radar, the information is transmitted to the cloud platform for calculation, the cloud platform sends the calculation result instruction to the vehicle controller, and the vehicle controller executes real-time obstacle avoidance planning according to the instruction. When an obstacle exists in the parking process, obstacle avoidance planning is performed in time, and the safety of the vehicle in the parking process is guaranteed.
Referring to fig. 9, fig. 9 shows an eighth embodiment of the memory parking control method according to the present invention, which includes the steps of:
step S810, executing a memory parking processing process based on the selected memory route;
step S820, monitoring the occupation condition of the corresponding target parking space of the selected route in real time;
step S830, when the midway parking space occupation information shows that the target parking space is occupied, another memory route partially overlapped with the currently selected route is selected;
and step 840, when the vehicle runs to a node where the selected route is overlapped with another route, switching the routes.
Compared with the first embodiment, the eighth embodiment includes step S820 of monitoring the occupation status of the corresponding target parking space of the selected route in real time. And step S830, when the midway parking space occupation information shows that the target parking space is occupied, selecting another memory route partially overlapped with the currently selected route. And step 840, when the vehicle runs to a node where the selected route is overlapped with another route, switching the routes. Other steps are the same as those in the first embodiment and are not described again.
In the embodiment, in the process of executing memory parking, the target parking space is provided with a sensor and is connected to a network, the sensor can be preferably a geomagnetic sensor, and the network can be preferably a 5G network; the geomagnetic sensor monitors the occupation condition of the target parking space in real time, and when the fact that the parking space information is memorized in the midway of parking according to the selected memory route is monitored to indicate that the target parking space is occupied, due to the fact that a plurality of parking spaces are arranged in the parking area, other parking spaces can be selected to be switched to complete parking. For example, the geomagnetic sensor may transmit information of occupied parking spaces in the midway of the execution and memory of the parking process to the vehicle-mounted unit through a network, the vehicle-mounted unit is connected with a vehicle controller, the vehicle controller is preferably an intelligent driving controller, and the intelligent driving controller switches the target parking space according to other free parking spaces in the parking area; the parking space occupation information during the execution of the memory parking process can be transmitted to the user terminal through the network by the geomagnetic sensor, and the user can switch the target parking space according to other idle parking spaces in the parking area.
It should be noted that, it may be preferable that the intelligent driving controller selects another memory route leading to the vacant parking space, and this memory route has a part overlapping with the current route, and when the intelligent driving controller controls the vehicle to travel to the position where the two routes overlap (it is acquired that the another memory route completely coincides with the current route position), the switching of the routes is performed.
In some embodiments, other memory routes that correspond to target parking spaces that are already occupied at present can be monitored, and when a parking space is vacated, if a preferred condition is met, route switching can be performed.
In the technical scheme provided by the embodiment, when a parking space provided with a sensor monitors the occupied parking space information in the midway of the execution of the memory parking process in real time, the sensor transmits the occupied parking space information to a vehicle-mounted unit or a user terminal through a network to prompt that the switching of a target parking space is required, then a vehicle controller selects another memory route leading to an idle parking space, the memory route and the current route have a superposition part, and when the intelligent driving controller controls the vehicle to run to the superposition position of the two routes, the routes are switched. The aim of switching the target parking space and switching the route can be achieved when the parking space is occupied in the midway of the memory parking process.
The invention also provides a memory parking system, which comprises a memory, a processor and a memory parking control program stored in the memory and capable of running on the processor, wherein the memory parking control program realizes the steps of the memory parking control method when being executed by the processor.
The present invention also provides a computer-readable storage medium storing a memory parking control program that, when executed by a processor, implements the steps of the memory parking control method described above.
The following description is made with reference to specific application scenarios.
As shown in fig. 10, a vehicle a mounted with an on-board unit is at an entrance of a parking area 10, where a user gets off the vehicle and starts memory parking on the vehicle or starts memory parking using a terminal 20 communicating with the on-board unit after getting off the vehicle. After the vehicle-mounted unit confirms that the user gets off the vehicle safely, the intelligent driving controller starts a memory parking processing process, and identifies an entrance after analysis based on a sensor system mounted on the vehicle.
The parking area 10 is provided with a plurality of roads and a road side unit, and during the driving process, the vehicle-mounted unit continuously acquires the surrounding environment information through a sensor thereof and matches the surrounding environment information with the characteristic information in the memory route, so that the vehicle travels along the preset memory route 3.
The vehicle B is in front of the memory route 3 selected by the vehicle A, the position information of the vehicle B is obtained through a road side unit arranged in a parking area, the position information of the vehicle B is transmitted to a cloud platform, the cloud platform calculates the moving speed of the vehicle B and sends an instruction to a vehicle-mounted unit, a vehicle controller executes a correct decision according to the instruction of the cloud platform, and the memory route 4 is switched to finish memory parking.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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.
It should be noted that in the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A memory parking control method is characterized by comprising the following steps:
executing a memory parking processing process based on the selected memory route;
acquiring real-time global information in a parking area through a vehicle and an internal facility of the parking area;
and carrying out real-time parking planning according to the real-time global information in the parking area, and finishing parking according to the real-time parking planning.
2. The memory parking control method according to claim 1, wherein the step of executing the memory parking process based on the selected memory route further comprises:
acquiring a memory route list;
in response to a select instruction, a memory way is selected.
3. The memory parking control method according to claim 1, further comprising:
acquiring parking space use information in a parking area;
and responding to the selection instruction, and if the target parking space corresponding to the selected memory route is occupied, sending a reselection prompt.
4. The memory parking control method according to claim 1, wherein the step of performing real-time parking planning based on the real-time global information in the parking area comprises at least one of the following steps:
carrying out real-time route planning according to the real-time traffic information or the midway parking space occupation information;
and carrying out real-time obstacle avoidance planning according to the real-time obstacle information.
5. The memory parking control method according to claim 4, wherein the step of performing real-time route planning based on the real-time traffic information comprises:
the method comprises the steps that the distribution and the operation condition of movable vehicles in a parking area are obtained through the communication between a roadside unit and other vehicles in the parking area;
acquiring pedestrian distribution conditions in the parking area through communication between the roadside unit and pedestrian terminals in the parking area;
calculating traffic flow conditions and pedestrian conditions on the memory route according to the distribution and running conditions of the movable vehicles and the distribution conditions of the pedestrians;
and carrying out real-time route planning according to the traffic flow condition, the pedestrian condition and the memory route.
6. The memory parking control method of claim 5 wherein the step of performing route planning based on real-time traffic information further comprises:
acquiring traffic condition information in a parking area through a camera;
transmitting the traffic flow condition and the traffic condition information in the parking area to a terminal through a 5G network;
and controlling the start and stop of the vehicle in response to the instruction transmitted from the terminal.
7. The memory parking control method according to claim 4, wherein the step of performing real-time obstacle avoidance planning according to the real-time obstacle information includes:
real-time information of pedestrians and vehicles in a parking area is obtained through a road side unit and a vehicle-mounted unit, information of obstacles in the parking area is obtained through a camera, and the distance between the vehicles and the obstacles is obtained through a radar;
obtaining a result instruction according to the real-time information of the pedestrians and the vehicles, the information of the obstacles and the distance between the vehicles and the obstacles;
and carrying out real-time vehicle obstacle avoidance according to the result instruction.
8. The memory parking control method according to claim 4, wherein the step of performing real-time route planning according to the midway parking space occupation information comprises the steps of:
monitoring the occupation condition of the corresponding target parking space of the selected route in real time;
when the midway parking space occupation information shows that the target parking space is occupied, selecting another memory route partially overlapped with the currently selected route;
switching routes when driving to a node where the selected route coincides with another route.
9. A memory parking system, characterized in that the memory parking system comprises a memory, a processor, and a memory parking control program stored in the memory and executable on the processor, the memory parking control program implementing the memory parking control method according to any one of claims 1 to 8 when executed by the processor.
10. A computer-readable storage medium, characterized in that the computer-readable storage medium stores a memory parking control program that realizes the respective steps of the memory parking control method according to any one of claims 1 to 8 when executed by a processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010562149.4A CN112109700A (en) | 2020-06-18 | 2020-06-18 | Memory parking system, control method thereof and computer storage medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010562149.4A CN112109700A (en) | 2020-06-18 | 2020-06-18 | Memory parking system, control method thereof and computer storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN112109700A true CN112109700A (en) | 2020-12-22 |
Family
ID=73799288
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010562149.4A Pending CN112109700A (en) | 2020-06-18 | 2020-06-18 | Memory parking system, control method thereof and computer storage medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN112109700A (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113492841A (en) * | 2021-07-22 | 2021-10-12 | 上汽通用五菱汽车股份有限公司 | Parking control method and device and computer readable storage medium |
| CN113506464A (en) * | 2021-05-29 | 2021-10-15 | 上海追势科技有限公司 | Autonomous parking method capable of memorizing |
| CN113611143A (en) * | 2021-07-29 | 2021-11-05 | 同致电子科技（厦门）有限公司 | Novel memory parking system and map building system thereof |
| CN113715811A (en) * | 2021-10-15 | 2021-11-30 | 广州小鹏汽车科技有限公司 | Parking method, parking device, vehicle and computer-readable storage medium |
| CN114030465A (en) * | 2021-12-09 | 2022-02-11 | 广州小鹏自动驾驶科技有限公司 | Parking control system, parking control method, vehicle, and storage medium |
| CN114228700A (en) * | 2021-09-30 | 2022-03-25 | 江铃汽车股份有限公司 | Parking information sharing method and device, electronic equipment and storage medium |
| CN114590246A (en) * | 2022-05-09 | 2022-06-07 | 远峰科技股份有限公司 | Dual-channel communication automatic parking method, device, equipment and storage medium |
| CN114802217A (en) * | 2022-06-01 | 2022-07-29 | 小米汽车科技有限公司 | Method and device for determining parking mode, storage medium and vehicle |
| CN114928634A (en) * | 2022-06-29 | 2022-08-19 | 广州小鹏汽车科技有限公司 | Parking control method and computer-readable storage medium |
Citations (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016020023A1 (en) * | 2014-08-07 | 2016-02-11 | Daimler Ag | Method and device for carrying out a parking process of a vehicle in a parking garage |
| CN105390022A (en) * | 2015-11-23 | 2016-03-09 | 重庆安迈科技有限公司 | Intelligent parking system |
| EP3142091A1 (en) * | 2015-09-04 | 2017-03-15 | Robert Bosch Gmbh | Method for planning a supported parking process |
| US20170144654A1 (en) * | 2015-11-24 | 2017-05-25 | Thunder Power Hong Kong Ltd. | Automated vehicle parking |
| WO2018093352A1 (en) * | 2016-11-15 | 2018-05-24 | Ford Global Techonologies, Llc | Assigning parking locations for autonomous vehicles |
| CN108860139A (en) * | 2018-04-11 | 2018-11-23 | 浙江零跑科技有限公司 | A kind of automatic parking method for planning track based on depth enhancing study |
| US20180339700A1 (en) * | 2017-05-29 | 2018-11-29 | Lg Electronics Inc. | Parking system for vehicle and vehicle |
| WO2019066477A1 (en) * | 2017-05-12 | 2019-04-04 | Lg Electronics Inc. | Autonomous vehicle and method of controlling the same |
| CN109615927A (en) * | 2019-01-24 | 2019-04-12 | 中汽研（天津）汽车工程研究院有限公司 | A kind of underground parking valet parking control system and method based on V2X |
| WO2019139963A1 (en) * | 2018-01-11 | 2019-07-18 | Honda Motor Co., Ltd. | Methods and systems for enabling a vehicle to park remotely |
| CN110304050A (en) * | 2019-06-26 | 2019-10-08 | 纵目科技（上海）股份有限公司 | A kind of memory parking system, method, terminal and cloud server based on feature combination |
| CN110329245A (en) * | 2019-06-26 | 2019-10-15 | 浙江吉利控股集团有限公司 | A kind of automatic parking method, apparatus, equipment and vehicle |
| CN209505729U (en) * | 2018-10-22 | 2019-10-18 | 浙江吉利汽车研究院有限公司 | A kind of new type auto parking apparatus |
| CN110597243A (en) * | 2018-06-12 | 2019-12-20 | 百度（美国）有限责任公司 | Vehicle lane system of automatic driving vehicle based on V2X communication |
| CN110606071A (en) * | 2019-09-06 | 2019-12-24 | 中国第一汽车股份有限公司 | Parking method, parking device, vehicle and storage medium |
| WO2020019930A1 (en) * | 2018-07-25 | 2020-01-30 | 广州小鹏汽车科技有限公司 | Automatic parking method and device |
| CN110979314A (en) * | 2019-12-16 | 2020-04-10 | 驭势科技（北京）有限公司 | Autonomous passenger-riding parking method, vehicle-mounted equipment and storage medium |
| CN110979312A (en) * | 2019-12-11 | 2020-04-10 | 武汉乐庭软件技术有限公司 | Automatic parking method based on memory parking |
| CN111063202A (en) * | 2019-12-11 | 2020-04-24 | 南京市德赛西威汽车电子有限公司 | Intelligent parking management method based on electronic map |
-
2020
- 2020-06-18 CN CN202010562149.4A patent/CN112109700A/en active Pending
Patent Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016020023A1 (en) * | 2014-08-07 | 2016-02-11 | Daimler Ag | Method and device for carrying out a parking process of a vehicle in a parking garage |
| EP3142091A1 (en) * | 2015-09-04 | 2017-03-15 | Robert Bosch Gmbh | Method for planning a supported parking process |
| CN105390022A (en) * | 2015-11-23 | 2016-03-09 | 重庆安迈科技有限公司 | Intelligent parking system |
| US20170144654A1 (en) * | 2015-11-24 | 2017-05-25 | Thunder Power Hong Kong Ltd. | Automated vehicle parking |
| CN106898153A (en) * | 2015-11-24 | 2017-06-27 | 沈玮 | Automation parking |
| WO2018093352A1 (en) * | 2016-11-15 | 2018-05-24 | Ford Global Techonologies, Llc | Assigning parking locations for autonomous vehicles |
| WO2019066477A1 (en) * | 2017-05-12 | 2019-04-04 | Lg Electronics Inc. | Autonomous vehicle and method of controlling the same |
| US20180339700A1 (en) * | 2017-05-29 | 2018-11-29 | Lg Electronics Inc. | Parking system for vehicle and vehicle |
| WO2019139963A1 (en) * | 2018-01-11 | 2019-07-18 | Honda Motor Co., Ltd. | Methods and systems for enabling a vehicle to park remotely |
| CN108860139A (en) * | 2018-04-11 | 2018-11-23 | 浙江零跑科技有限公司 | A kind of automatic parking method for planning track based on depth enhancing study |
| CN110597243A (en) * | 2018-06-12 | 2019-12-20 | 百度（美国）有限责任公司 | Vehicle lane system of automatic driving vehicle based on V2X communication |
| WO2020019930A1 (en) * | 2018-07-25 | 2020-01-30 | 广州小鹏汽车科技有限公司 | Automatic parking method and device |
| CN209505729U (en) * | 2018-10-22 | 2019-10-18 | 浙江吉利汽车研究院有限公司 | A kind of new type auto parking apparatus |
| CN109615927A (en) * | 2019-01-24 | 2019-04-12 | 中汽研（天津）汽车工程研究院有限公司 | A kind of underground parking valet parking control system and method based on V2X |
| CN110304050A (en) * | 2019-06-26 | 2019-10-08 | 纵目科技（上海）股份有限公司 | A kind of memory parking system, method, terminal and cloud server based on feature combination |
| CN110329245A (en) * | 2019-06-26 | 2019-10-15 | 浙江吉利控股集团有限公司 | A kind of automatic parking method, apparatus, equipment and vehicle |
| CN110606071A (en) * | 2019-09-06 | 2019-12-24 | 中国第一汽车股份有限公司 | Parking method, parking device, vehicle and storage medium |
| CN110979312A (en) * | 2019-12-11 | 2020-04-10 | 武汉乐庭软件技术有限公司 | Automatic parking method based on memory parking |
| CN111063202A (en) * | 2019-12-11 | 2020-04-24 | 南京市德赛西威汽车电子有限公司 | Intelligent parking management method based on electronic map |
| CN110979314A (en) * | 2019-12-16 | 2020-04-10 | 驭势科技（北京）有限公司 | Autonomous passenger-riding parking method, vehicle-mounted equipment and storage medium |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113506464A (en) * | 2021-05-29 | 2021-10-15 | 上海追势科技有限公司 | Autonomous parking method capable of memorizing |
| CN113492841A (en) * | 2021-07-22 | 2021-10-12 | 上汽通用五菱汽车股份有限公司 | Parking control method and device and computer readable storage medium |
| CN113611143A (en) * | 2021-07-29 | 2021-11-05 | 同致电子科技（厦门）有限公司 | Novel memory parking system and map building system thereof |
| CN114228700A (en) * | 2021-09-30 | 2022-03-25 | 江铃汽车股份有限公司 | Parking information sharing method and device, electronic equipment and storage medium |
| CN114228700B (en) * | 2021-09-30 | 2024-01-09 | 江铃汽车股份有限公司 | Parking information sharing method and device, electronic equipment and storage medium |
| CN113715811A (en) * | 2021-10-15 | 2021-11-30 | 广州小鹏汽车科技有限公司 | Parking method, parking device, vehicle and computer-readable storage medium |
| CN113715811B (en) * | 2021-10-15 | 2024-01-09 | 广州小鹏汽车科技有限公司 | Parking method, parking device, vehicle, and computer-readable storage medium |
| CN114030465A (en) * | 2021-12-09 | 2022-02-11 | 广州小鹏自动驾驶科技有限公司 | Parking control system, parking control method, vehicle, and storage medium |
| CN114590246A (en) * | 2022-05-09 | 2022-06-07 | 远峰科技股份有限公司 | Dual-channel communication automatic parking method, device, equipment and storage medium |
| CN114802217A (en) * | 2022-06-01 | 2022-07-29 | 小米汽车科技有限公司 | Method and device for determining parking mode, storage medium and vehicle |
| CN114928634A (en) * | 2022-06-29 | 2022-08-19 | 广州小鹏汽车科技有限公司 | Parking control method and computer-readable storage medium |
| CN114928634B (en) * | 2022-06-29 | 2023-12-29 | 肇庆小鹏新能源投资有限公司广州分公司 | Parking control method and computer-readable storage medium |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN112109700A (en) | Memory parking system, control method thereof and computer storage medium | |
| US11225246B2 (en) | Vehicle control method and apparatus, and storage medium | |
| CN106971607B (en) | Full-automatic intelligent parking method and device | |
| CN110979314A (en) | Autonomous passenger-riding parking method, vehicle-mounted equipment and storage medium | |
| CN106891887B (en) | Automatic parking system and application thereof | |
| US9569962B2 (en) | Method for identifying a vehicle detected by a sensor device | |
| CN110942665A (en) | Vehicle positioning method, vehicle-mounted equipment and storage medium | |
| CN110276974A (en) | Remote endpoint is got off navigation guide | |
| US11669095B2 (en) | Method for the driverless operation of a vehicle | |
| US11345365B2 (en) | Control device, getting-into/out facility, control method, and storage medium | |
| CN111731294B (en) | Travel control device, travel control method, and storage medium storing program | |
| CN114415692A (en) | Automatic parking method, device, apparatus, storage medium, and program for parking lot | |
| CN110969893A (en) | Vehicle autonomous passenger-replacing parking method, vehicle-mounted equipment and storage medium | |
| CN112419771B (en) | Parking method and device based on message broadcasting, computer equipment and storage medium | |
| EP3968305A1 (en) | Method, computer program and apparatus for controlling operation of a vehicle equipped with an automated driving function | |
| CN113895456A (en) | Intersection driving method and device for automatic driving vehicle, vehicle and medium | |
| CN113650605A (en) | Parking control method and system | |
| JP2017156954A (en) | Automated driving system | |
| CN111044069B (en) | Vehicle positioning method, vehicle-mounted equipment and storage medium | |
| CN114954438A (en) | Vehicle running control method and device, vehicle, readable storage medium and chip | |
| JP7210336B2 (en) | Vehicle control system, vehicle control method, and program | |
| CN113183948B (en) | Intelligent automobile non-fixed parking space automatic automobile moving method and system based on interactive service | |
| US11113968B2 (en) | Method for mobile parking assistance | |
| CN115465262A (en) | Method, device and storage medium for at least partially automatically transferring a motor vehicle | |
| CN110942651B (en) | Vehicle failure processing method, vehicle-mounted equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201222 |
|
| RJ01 | Rejection of invention patent application after publication |