CN112562411B - Method and system for acquiring autonomous passenger-riding parking video - Google Patents
Method and system for acquiring autonomous passenger-riding parking video Download PDFInfo
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- G—PHYSICS
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- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/042—Detecting movement of traffic to be counted or controlled using inductive or magnetic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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Abstract
The application discloses a method and a system for acquiring an autonomous valet parking video, which comprise the following steps: the system comprises a mobile terminal, a vehicle-end subsystem of a vehicle bound with the mobile terminal and a communication subsystem; wherein, car end subsystem includes: a vehicle control device, a vehicle-mounted terminal; the communication subsystem includes: a mobile edge computing server; wherein, the mobile terminal is used for: acquiring the address of a mobile edge computing server, and connecting to the mobile edge computing server according to the address of the mobile edge computing server; receiving video information sent by a mobile edge computing server, and displaying the video information; a vehicle-mounted terminal for: in the process that a vehicle control device controls a vehicle to park autonomously, sending video information shot by a camera arranged on the vehicle to a mobile edge calculation server; a mobile edge computing server to: and receiving video information sent by the vehicle-mounted terminal, and sending the video information to the mobile terminal. The method and the device realize the display of the whole process of the autonomous parking of the vehicle.
Description
Technical Field
The application relates to the field of car networking, in particular to a method and a system for acquiring an autonomous passenger-assistant parking video.
Background
Internet of vehicles as a fifth generation mobile communication technology (5G, 5)thGeneration) and the most potential application in the automobile field, which has become an important development direction of strategic emerging industries in China, and is a research hotspot across fields and in a comprehensive manner at present. The government of the United states, Europe, Asia and other countries and regions highly attaches importance to the development of the Internet of vehicles industry, and the Internet of vehicles industry is taken as a strategic high point, and the development of the industry is promoted by establishing national policies or legislation. At present, the Internet of vehicles industry is raised to the national strategic height in China, and the industrial policy is continuously good. The car networking technology standard system has finished the top level design from the national standard level. China Internet of vehicles industrialization processThe method is accelerated step by step, and forms a relatively complete industrial chain ecology including a communication chip, a communication module, terminal equipment, Vehicle manufacturing, operation service, test certification, high-precision positioning, map service and the like around Long Term Evolution (LTE) Vehicle-to-outside (V2X).
The intelligent internet automobile technology taking unmanned driving as the development direction becomes a research hotspot, and is expected to lead a new generation of automobile industrial revolution and change the travel mode of people. However, the current industry consistently considers that unmanned driving of the L5 grade is realized on an actual traffic road, and the autonomous unmanned parking technology in a fixed scene is expected to fall to the ground earlier, which is helpful for solving some parking and traffic problems in urban areas with dense population.
With the gradual maturity of the autonomous parking technology, the autonomous parking will quickly enter a commercial stage, but in the automatic parking process of the vehicle, a user wants to be able to see the whole process of the autonomous parking of the vehicle, and currently, there is no corresponding technical scheme.
Disclosure of Invention
Therefore, the method and the system for acquiring the autonomous passenger-riding parking video can reduce the difficulty of autonomous parking.
The present application provides, in a first aspect, a system for acquiring an autonomous valet parking video, including: the system comprises a mobile terminal, a vehicle-end subsystem of a vehicle bound with the mobile terminal and a communication subsystem;
wherein, car end subsystem includes: a vehicle control device, a vehicle-mounted terminal; the communication subsystem includes: a mobile edge computing server;
wherein, the mobile terminal is used for:
acquiring the address of a mobile edge computing server, and connecting to the mobile edge computing server according to the address of the mobile edge computing server;
receiving video information sent by a mobile edge computing server, and displaying the video information;
a vehicle-mounted terminal for:
in the process that a vehicle control device controls a vehicle to park autonomously, sending video information shot by a camera arranged on the vehicle to a mobile edge calculation server;
a mobile edge computing server to:
and receiving video information sent by the vehicle-mounted terminal, and sending the video information to the mobile terminal.
In some exemplary embodiments, the in-vehicle terminal is further configured to:
in the process that a vehicle control device controls a vehicle to park autonomously, vehicle information is sent to a mobile edge calculation server; wherein the vehicle information includes: first position information of the vehicle, speed information of the vehicle and course angle information of the vehicle;
the mobile edge computing server is further configured to:
receiving vehicle information sent by a vehicle-mounted terminal, and sending the vehicle information to a mobile terminal;
the mobile terminal is further configured to:
and receiving the vehicle information sent by the mobile edge computing server and displaying the vehicle information.
In some exemplary embodiments, the vehicle-end subsystem further comprises:
the positioning device is used for acquiring first position information of the vehicle and sending the first position information of the vehicle to the vehicle-mounted terminal;
the vehicle-mounted terminal is also used for:
first position information of a vehicle is received.
In some exemplary embodiments, the system further comprises: an AVP server for autonomous valet parking;
the mobile terminal is further configured to:
sending an autonomous parking request to an AVP server; the autonomous parking request is used for requesting the realization of autonomous parking of the vehicle;
receiving autonomous parking confirmation information sent by an AVP server; wherein the autonomous parking confirmation information includes: an address of a mobile edge computing server;
an AVP server to:
receiving an autonomous parking request, acquiring position information of an empty parking space of a parking lot where a vehicle is located, acquiring second position information of the vehicle, and sending the position information of the empty parking space and the second position information of the vehicle to a mobile edge computing server; sending autonomous parking confirmation information to the mobile terminal;
the mobile edge computing server is further configured to:
receiving the position information of the empty parking space and the second position information of the vehicle, and determining a path from the position of the vehicle to the position of the empty parking space according to the position information of the empty parking space and the second position information of the vehicle;
segmenting the track points on the path, and issuing the position information of the track points belonging to the ith segment to the vehicle-mounted terminal; wherein i is an integer greater than or equal to 1;
the vehicle-mounted terminal is also used for:
receiving the position information of the track point belonging to the ith subsection on the path, and sending the position information of the track point belonging to the ith subsection on the path to the vehicle control device;
a vehicle control device for:
and receiving the position information of the track point belonging to the ith subsection on the path, and controlling the vehicle to automatically run according to the position information of the track point of the ith subsection.
In some exemplary embodiments, the mobile edge computing server is further configured to:
under the condition that the vehicle reaches the end point of the ith segment according to the first position information of the vehicle and the ith segment is not the last segment, transmitting the position information of the track point of the (i +1) th segment to the vehicle-mounted terminal;
the vehicle-mounted terminal is also used for:
receiving the position information of the track point belonging to the (i +1) th segment on the path, and sending the position information of the track point belonging to the (i +1) th segment on the path to the vehicle control device;
the vehicle control apparatus is further configured to:
and receiving the position information of the track point belonging to the (i +1) th subsection on the path, and controlling the vehicle to automatically run according to the position information of the track point of the (i +1) th subsection.
In some exemplary embodiments, the mobile edge computing server is further configured to:
when the fact that the vehicle reaches the end point of the ith subsection is determined according to the first position information of the vehicle, and the ith subsection is the last subsection, the information of reaching the stop point is issued to the vehicle-mounted terminal;
the vehicle-mounted terminal is also used for:
receiving information of arriving at a parking spot, and sending the information of arriving at the parking spot to a vehicle control device;
receiving the autonomous parking success information sent by the vehicle control device, and reporting the autonomous parking success information to the AVP server;
the vehicle control apparatus is further configured to:
receiving information of arriving parking spots and controlling the vehicle to automatically park in an empty parking space;
under the condition that the vehicle is successfully parked into the empty parking space automatically, sending autonomous parking success information to the vehicle-mounted terminal;
the AVP server is further configured to:
and receiving the autonomous parking success information reported by the vehicle-mounted terminal, and reporting the autonomous parking success information to the mobile terminal.
In some exemplary embodiments, further comprising: a field-side subsystem; wherein, the field end subsystem includes: a camera device;
the camera device is used for shooting images including the vehicle and the empty parking space under the condition that the vehicle is successfully parked in the empty parking space automatically, and sending the images to the mobile edge computing server;
the mobile edge computing server is further configured to:
receiving the image, and sending parking success information to the AVP server under the condition that the vehicle meets the parking requirement according to the image;
the AVP server is further configured to:
and receiving parking success information sent by the mobile edge computing server.
In some exemplary embodiments, the autonomous parking system further includes: a field-side subsystem;
wherein, the field end subsystem includes: a data acquisition device disposed on the path;
the data acquisition device is used for sending the acquired data to the mobile edge computing server;
a mobile edge computing server to:
receiving the acquired data, and sending obstacle warning information to the vehicle-mounted terminal under the condition that the obstacle exists on the path according to the acquired data; under the condition that no obstacle exists on the path according to the collected data, obstacle disappearance information is sent to the vehicle-mounted terminal;
the vehicle-mounted terminal is also used for:
receiving the obstacle warning information and sending the obstacle warning information to the vehicle control device;
receiving obstacle disappearance information and transmitting the obstacle disappearance information to the vehicle control device;
the vehicle control apparatus is further configured to:
and receiving the obstacle warning information, and controlling the vehicle to stop until the obstacle disappearance information is received.
In some exemplary embodiments, the AVP server is further configured to:
the method comprises the steps of obtaining state information of a vehicle, and obtaining position information of an empty parking space of a parking lot where the vehicle is located under the condition that the state of the vehicle is determined to meet an autonomous parking condition according to the state information of the vehicle.
In some exemplary embodiments, the AVP server is specifically configured to obtain the status information of the vehicle in the following manner:
sending a vehicle state information query request to a vehicle-mounted terminal;
receiving vehicle state information sent by a vehicle-mounted terminal;
the vehicle-mounted terminal is also used for:
receiving a vehicle state information query request, and sending the vehicle state information query request to a vehicle control device;
receiving the state information of the vehicle sent by the vehicle control device, and sending the state information of the vehicle to the AVP server;
the vehicle control apparatus is further configured to:
and receiving a vehicle state information inquiry request, acquiring the state information of the vehicle, and sending the state information of the vehicle to the vehicle-mounted terminal.
In some exemplary embodiments, the AVP server is specifically configured to obtain the location information of the empty parking space by:
sending an empty parking space information query request to a parking lot management subsystem;
receiving position information of an empty parking space sent by a parking lot management subsystem;
the autonomous parking system further includes:
a parking lot management subsystem for:
and receiving an empty parking space information inquiry request, acquiring the position information of the empty parking space, and sending the position information of the empty parking space to the AVP server.
In some exemplary embodiments, the vehicle-end subsystem further comprises: a positioning device;
the AVP server is specifically used for acquiring the second position information of the vehicle by adopting the following modes:
sending a vehicle position information acquisition request to a vehicle-mounted terminal;
receiving second position information of the vehicle sent by the vehicle-mounted terminal;
the vehicle-mounted terminal is also used for:
receiving a vehicle position information acquisition request, and sending the vehicle position information acquisition request to a positioning device;
receiving second position information of the vehicle sent by the positioning device, and sending the second position information of the vehicle to the AVP server;
and the positioning device is used for acquiring second position information of the vehicle and sending the second position information of the vehicle to the vehicle-mounted terminal.
In some exemplary embodiments, the mobile edge computing server is further configured to:
under the condition that the running track of the vehicle deviates from the path according to the second position information and the path of the vehicle, sending correction reminding information to the vehicle-mounted terminal;
the vehicle-mounted terminal is also used for:
receiving deviation correction reminding information and sending the deviation correction reminding information to a vehicle control device;
the vehicle control apparatus is further configured to:
and receiving deviation correction reminding information and correcting the running track of the vehicle.
A second aspect of the present application provides a method for acquiring an autonomous valet parking video, including:
the mobile terminal acquires the address of the mobile edge computing server and is connected to the mobile edge computing server according to the address of the mobile edge computing server;
in the process that a vehicle control device of a vehicle end subsystem of a vehicle bound with a mobile terminal controls the vehicle to park autonomously, a vehicle-mounted terminal of the vehicle end subsystem of the vehicle bound with the mobile terminal sends video information shot by a camera arranged on the vehicle to a mobile edge computing server;
the mobile edge computing server receives video information sent by the vehicle-mounted terminal and sends the video information to the mobile terminal;
and the mobile terminal receives the video information sent by the mobile edge computing server and displays the video information.
This application has following advantage:
according to the embodiment of the application, the mobile terminal is connected to the mobile edge computing server, the vehicle-mounted terminal sends video information shot by the camera arranged on the vehicle to the mobile edge computing server in the process of controlling the vehicle to park autonomously through the vehicle control device, and the mobile edge computing server sends the video information to the mobile terminal for displaying, so that a user can check the video information on the mobile terminal, and the display of the whole process of autonomous parking of the vehicle is realized.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application and not to limit the application.
Fig. 1 is a block diagram illustrating a system for obtaining an autonomous valet parking video according to an embodiment of the present disclosure;
fig. 2 is a flowchart of a method for obtaining an autonomous valet parking video according to another embodiment of the present application;
in the drawings:
101: the mobile terminal 102: vehicle terminal system
103: the communication subsystem 104: AVP server
105: the field-side subsystem 106: parking lot management subsystem
1021: vehicle control device 1022: vehicle-mounted terminal
1023: positioning device 1031: mobile edge computing server
1032: base station 1033: AMF entity
1034: UDM entity 1035: SMF entities
1036: UPF entity 1051: image pickup apparatus
1052: data acquisition device 1053: auxiliary positioning device
1054: geomagnetism
Detailed Description
The following detailed description of embodiments of the present application will be made with reference to the accompanying drawings. It should be understood that the detailed description and specific examples, while indicating the present application, are given by way of illustration and explanation only, and are not intended to limit the present application.
As used in this disclosure, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The terminology used in the present disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used in this disclosure, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.
When the terms "comprises" and/or "comprising … …" are used in this disclosure, the presence of stated features, integers, steps, operations, elements, and/or components are specified, but does not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.
Embodiments of the present disclosure may be described with reference to plan and/or cross-sectional views in light of idealized schematic illustrations of the present disclosure. Accordingly, the example illustrations can be modified in accordance with manufacturing techniques and/or tolerances.
Unless otherwise defined, all terms (including technical and scientific terms) used in this disclosure have the same meaning as commonly understood by one of ordinary skill in the art. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and the present disclosure, and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
Fig. 1 is a block diagram illustrating a system for obtaining an autonomous valet parking video according to an embodiment of the present disclosure.
As shown in fig. 1, an embodiment of the present application provides a system for obtaining an autonomous valet parking video, including:
the system comprises a mobile terminal 101, a vehicle-end subsystem 102 of a vehicle bound with the mobile terminal 101 and a communication subsystem 103;
among them, the car end subsystem 102 includes: a vehicle control device 1021, a vehicle-mounted terminal 1022; the communication subsystem 103 includes: a mobile edge computing server 1031;
wherein, the mobile terminal 101 is configured to:
acquiring an address of the mobile edge calculation server 1031, and connecting to the mobile edge calculation server 1031 according to the address of the mobile edge calculation server 1031;
receiving the video information sent by the mobile edge computing server 1031, and displaying the video information;
the in-vehicle terminal 1022 is configured to:
in the process that the vehicle control device 1021 controls the vehicle to park autonomously, sending video information shot by a camera arranged on the vehicle to the mobile edge computing server 1031;
a mobile edge computing server 1031 to:
and receives the video information transmitted from the in-vehicle terminal 1022, and transmits the video information to the mobile terminal 101.
In some exemplary embodiments, the camera arranged on the vehicle may be a camera on a driving recorder, a camera in a front vehicle imager, or a newly arranged camera, and the newly arranged camera may be specifically arranged on a surface of the vehicle, or may be arranged in the vehicle, and the specific arrangement position is not limited in this application embodiment.
According to the embodiment of the application, the mobile terminal is connected to the mobile edge computing server, the vehicle-mounted terminal sends video information shot by the camera arranged on the vehicle to the mobile edge computing server in the process of controlling the vehicle to park autonomously through the vehicle control device, and the mobile edge computing server sends the video information to the mobile terminal for displaying, so that a user can check the video information on the mobile terminal, and the display of the whole process of autonomous parking of the vehicle is realized.
In some exemplary embodiments, the in-vehicle terminal 1022 is further configured to:
transmitting vehicle information to the mobile edge calculation server 1031 in a process in which the vehicle control device 1021 controls the vehicle to autonomously park; wherein the vehicle information includes: first position information of the vehicle, speed information of the vehicle and course angle information of the vehicle;
the mobile edge computing server 1031 is further configured to:
receiving the vehicle information sent by the in-vehicle terminal 1022, and sending the vehicle information to the mobile terminal 101;
the mobile terminal 101 is further configured to:
and receives the vehicle information transmitted from the moving edge calculation server 1031, and displays the vehicle information.
In some exemplary embodiments, the vehicle-end subsystem 103 further includes:
the positioning device 1023 is used for acquiring first position information of the vehicle and sending the first position information of the vehicle to the vehicle-mounted terminal 1022;
the in-vehicle terminal 1022 is also configured to:
first position information of a vehicle is received.
In some exemplary embodiments, the mobile terminal may obtain the address of the mobile edge computing server in various ways, for example, may obtain the address of the mobile edge computing server stored in advance; for another example, the AVP server may provide the mobile edge computing server to the mobile terminal after initiating the autonomous parking request. The specific acquisition mode is not used to limit the protection scope of the embodiments of the present application.
In some exemplary embodiments, in a case where the mobile edge calculation server is provided to the mobile terminal by the AVP server after the autonomous parking request is initiated, the system further includes: an Autonomous Valet Parking (AVP) server 104;
the mobile terminal 101 is further configured to:
sending an autonomous parking request to the AVP server 104; the autonomous parking request is used for requesting the realization of autonomous parking of the vehicle;
receiving the autonomous parking confirmation information sent by the AVP server 104; wherein the autonomous parking confirmation information includes: the address of the mobile edge computing server 1031;
an AVP server 104 configured to:
receiving an autonomous parking request, acquiring position information of an empty parking space of a parking lot where a vehicle is located, acquiring second position information of the vehicle, and sending the position information of the empty parking space and the second position information of the vehicle to the mobile edge computing server 1031; sending autonomous parking confirmation information to the mobile terminal 101;
the mobile edge computing server 1031 is further configured to:
receiving the position information of the empty parking space and the second position information of the vehicle, and determining a path from the position of the vehicle to the position of the empty parking space according to the position information of the empty parking space and the second position information of the vehicle;
segmenting the track points on the path, and issuing the position information of the track points belonging to the ith segment to the vehicle-mounted terminal 1022; wherein i is an integer greater than or equal to 1;
the in-vehicle terminal 1022 is also configured to:
receiving the position information of the track point belonging to the ith segment on the path, and sending the position information of the track point belonging to the ith segment on the path to the vehicle control device 1021;
vehicle control apparatus 1021 for:
and receiving the position information of the track point belonging to the ith subsection on the path, and controlling the vehicle to automatically run according to the position information of the track point of the ith subsection.
In some exemplary embodiments, the moving edge calculation server 1031 may determine the route according to the second location information of the vehicle and the location information of the empty parking space, and the high-precision map information.
In some exemplary embodiments, the mobile edge computing server 1031 is further configured to:
under the condition that the vehicle reaches the end point of the ith segment according to the first position information of the vehicle and the ith segment is not the last segment, transmitting the position information of the track point of the (i +1) th segment to the vehicle-mounted terminal;
the in-vehicle terminal 1022 is also configured to:
receiving position information of a track point belonging to the (i +1) th segment on the route, and transmitting the position information of the track point belonging to the (i +1) th segment on the route to the vehicle control device 1021;
the vehicle control device 1021 is further configured to:
and receiving the position information of the track point belonging to the (i +1) th subsection on the path, and controlling the vehicle to automatically run according to the position information of the track point of the (i +1) th subsection.
In some exemplary embodiments, the mobile edge computing server 1031 is further configured to:
when the fact that the vehicle reaches the end point of the ith segment is determined according to the first position information of the vehicle, and the ith segment is the last segment, the information of reaching the stop point is issued to the vehicle-mounted terminal 1022;
the in-vehicle terminal 1022 is also configured to:
receiving arrival parking spot information, and transmitting the arrival parking spot information to the vehicle control device 1021;
receiving the autonomous parking success information sent by the vehicle control device 1021, and reporting the autonomous parking success information to the AVP server 104;
the vehicle control device 1021 is further configured to:
receiving information of arriving parking spots and controlling the vehicle to automatically park in an empty parking space;
under the condition that the vehicle is successfully parked into the empty parking space automatically, sending the autonomous parking success information to the vehicle-mounted terminal 1022;
the AVP server 104 is further configured to:
and receiving the autonomous parking success information reported by the vehicle-mounted terminal 1022, and reporting the autonomous parking success information to the mobile terminal 101.
In some exemplary embodiments, further comprising: a field-side subsystem 105; among them, the field-side subsystem 105 includes: an image pickup device 1051;
the camera 1051 is used for shooting images including the vehicle and the empty parking space and sending the images to the mobile edge computing server 1031 under the condition that the vehicle is successfully parked in the empty parking space automatically;
the mobile edge computing server 1031 is further configured to:
receiving the image, and sending parking success information to the AVP server 104 under the condition that the vehicle meets the parking requirement according to the image;
the AVP server 104 is further configured to:
and receiving the parking success information sent by the mobile edge computing server 1031.
It should be noted that the AVP server 104 reports the autonomous parking success information to the mobile terminal 101 only after receiving the autonomous parking success information sent by the in-vehicle terminal 1022 and receiving the parking success information sent by the mobile edge computing server 1031.
In some exemplary embodiments, the autonomous parking system further includes: a field-side subsystem 105;
among them, the field-side subsystem 105 includes: a data acquisition device 1052 disposed on the path;
a data acquisition device 1052 for sending the acquired data to the mobile edge computing server 1031;
a mobile edge computing server 1031 to:
receiving the collected data, and sending obstacle warning information to the vehicle-mounted terminal 1022 when an obstacle is detected to exist on the path according to the collected data; transmitting obstacle disappearance information to the in-vehicle terminal 1022 when it is detected that no obstacle exists on the route according to the collected data;
the in-vehicle terminal 1022 is also configured to:
receiving the obstacle warning information, and transmitting the obstacle warning information to the vehicle control device 1021;
receiving obstacle disappearance information and transmitting the obstacle disappearance information to the vehicle control device 1021;
the vehicle control device 1021 is further configured to:
and receiving the obstacle warning information, and controlling the vehicle to stop until the obstacle disappearance information is received.
In some exemplary embodiments, the data acquisition device 1052 may be a camera, or a millimeter wave radar, or a lidar, or the like.
In some exemplary embodiments, the data collection device 1052 communicates with the mobile edge computing server 1031 over a wireless network (e.g., a 5G network, etc.) or a wired network.
In some exemplary embodiments, the data collection device 1052 may periodically collect data and periodically send the collected data to the mobile edge computing server 1031.
In some exemplary embodiments, the mobile edge calculation server 1031 may periodically send the obstacle warning information to the in-vehicle terminal 1022, in case that it is detected that there is an obstacle on the path, until it is detected that there is no obstacle on the path.
In some exemplary embodiments, the AVP server 104 is further configured to:
the method comprises the steps of obtaining state information of a vehicle, and obtaining position information of an empty parking space of a parking lot where the vehicle is located under the condition that the state of the vehicle is determined to meet an autonomous parking condition according to the state information of the vehicle.
In some exemplary embodiments, the AVP server 104 is specifically configured to obtain the status information of the vehicle in the following manner:
transmitting a vehicle state information inquiry request to the in-vehicle terminal 1022;
receiving the vehicle state information transmitted by the in-vehicle terminal 1022;
the in-vehicle terminal 1022 is also configured to:
receiving a vehicle state information query request, and sending the vehicle state information query request to a vehicle control device 1021;
receiving the vehicle state information transmitted by the vehicle control device 1021, and transmitting the vehicle state information to the AVP server 104;
the vehicle control device 1021 is further configured to:
the vehicle state information query request is received, the state information of the vehicle is acquired, and the state information of the vehicle is sent to the vehicle-mounted terminal 1022.
In some exemplary embodiments, the status information of the vehicle includes at least one of:
whether the car window is closed, whether the car door is closed, whether the gear is P gear, whether the car is in a flameout state, whether a person is in the car, and the like.
In some exemplary embodiments, determining that the state of the vehicle satisfies the autonomous parking condition according to the state information of the vehicle includes at least one of:
the window has closed;
the door has been closed;
the gear is P gear;
is in a flameout state;
no one is in the vehicle.
In some exemplary embodiments, the AVP server 104 is further configured to:
and returning reminding information which does not meet the autonomous parking condition to the mobile terminal 101 under the condition that the state of the vehicle is determined to not meet the autonomous parking condition according to the state information of the vehicle.
In some exemplary embodiments, the AVP server 104 is further configured to:
the reason why the autonomous parking condition is not satisfied is returned to the mobile terminal 101.
In some exemplary embodiments, determining that the state of the vehicle does not satisfy the autonomous parking condition according to the state information of the vehicle includes at least one of:
the window is not closed;
the door is not closed;
the gear is not P gear;
is not in a flameout state;
the vehicle is occupied by a person.
In some exemplary embodiments, the AVP server 104 is specifically configured to obtain the location information of the empty parking space by:
sending an empty parking space information query request to the parking lot management subsystem 106;
receiving the position information of the empty parking space sent by the parking lot management subsystem 106;
the autonomous parking system further includes:
a parking lot management subsystem 106 for:
receiving an empty parking space information query request, acquiring the position information of the empty parking space, and sending the position information of the empty parking space to the AVP server 104.
In some exemplary embodiments, the field-end subsystem 105 further includes: geomagnetism 1054;
and the geomagnetism 1054 is used for determining the state information of the parking space, and reporting the state information of the parking space to the parking lot management subsystem 106.
In some exemplary embodiments, the status information of the parking space is used to describe whether the current parking space is occupied, and if the current parking space is not occupied, it indicates that the current parking space is an empty parking space; and if the current parking space is occupied, the current parking space is not an empty parking space.
In some exemplary embodiments, the vehicle-end subsystem further comprises: a positioning device 1023;
the AVP server 1023 is specifically configured to obtain the second position information of the vehicle in the following manner:
sending a vehicle position information acquisition request to the in-vehicle terminal 1022;
receiving second position information of the vehicle sent by the in-vehicle terminal 1022;
the in-vehicle terminal 1022 is also configured to:
receiving a vehicle position information acquisition request, and sending the vehicle position information acquisition request to a positioning device;
receiving second position information of the vehicle sent by the positioning device 1023, and sending the second position information of the vehicle to the AVP server 104;
and the positioning device 1023 is used for acquiring second position information of the vehicle and sending the second position information of the vehicle to the vehicle-mounted terminal.
In some exemplary embodiments, the mobile edge computing server 1031 is further configured to:
under the condition that the running track of the vehicle deviates from the path according to the second position information and the path of the vehicle, sending correction reminding information to the vehicle-mounted terminal 1022;
the in-vehicle terminal 1022 is also configured to:
receiving the deviation correction reminding information and sending the deviation correction reminding information to the vehicle control device 1021;
the vehicle control device 1021 is further configured to:
and receiving deviation correction reminding information and correcting the running track of the vehicle.
In some exemplary embodiments, the positioning device 1023 may be a Real Time Kinematic (RTK) terminal, or a camera based on visual positioning, or a laser radar, or a millimeter wave radar, etc.
In some exemplary embodiments, the autonomous parking system further includes: the field-side subsystem 105, the field-side subsystem 105 includes: an auxiliary positioning device 1052 for acquiring the first position information and the second position information of the vehicle by the auxiliary positioning device 1023;
the auxiliary positioning device 1062 may be an RTK base station.
The functions related to the mobile terminal 101 in the embodiment of the present application may be implemented by an application installed on the mobile terminal 101, and the functions may be bound to the vehicle through the application, specifically, may be bound to the vehicle-mounted terminal 1022 of the vehicle-end subsystem 102.
In some exemplary embodiments, any two of the mobile terminal 101, the AVP server 104, the parking lot management subsystem 106, the in-vehicle terminal 1022, the geomagnetism 1054, the camera 1051, the data acquisition device 1052, and the mobile edge computing server 1031 may communicate with each other via a wireless network. If communication is performed via a wireless network, any one of the mobile terminal 101, the AVP server 104, the parking lot management subsystem 106, the in-vehicle terminal 1022, the geomagnetism 1054, the image pickup device 1051, and the data acquisition device 1052 needs to establish a connection with the wireless network.
In the following, the connection between the vehicle terminal 1022 and the wireless network is taken as an example for description, and the connection between other devices or apparatuses and the wireless case is similarly performed, which is not described herein again.
In some exemplary embodiments, the communication subsystem further comprises: a base station 1032, an Access and Mobility Management Function (AMF) entity 1033, a Unified Data Manager (UDM) entity 1034, a Session Management Function (SMF) entity 1035, and a User Plane Function (UPF) entity 1036;
the in-vehicle terminal 1032 is further configured to:
sending a registration request message to base station 1032; receiving a registration success message, and sending a Protocol Data Unit (PDU) session establishment request message to the base station 1032; receiving information of the UPF entity 1036, wherein the information indicates that PDU session connection is established with the UPF entity 1036;
a base station 1032 configured to receive the registration request message, select an AMF entity 1033 according to the registration request message, and send the registration request message to the selected AMF entity 1033; receiving PDU conversation establishment request information, and forwarding the PDU conversation establishment request information to an AMF entity 1033;
an AMF entity 1033, configured to receive the registration request message, select an UDM entity 1034 according to the registration request message, and acquire the subscription information of the vehicle-mounted terminal 1022 from the selected UDM entity 1034; generating context information according to the subscription information, and sending a registration success message to the in-vehicle terminal 1022; receiving a PDU session establishment request message, selecting an SMF entity 1035 according to subscription information;
and the SMF entity 1035 is configured to select, according to the slice information of the in-vehicle terminal 1022, a UPF entity 1036 directly connected to the base station of the cell in which the in-vehicle terminal 1022 is located, and send information of the UPF entity 1036 to the in-vehicle terminal 1022.
In some exemplary embodiments, the registration request message includes at least one of:
registration type, user Permanent Identity (SUPI) or 5G-GUTI (Globally Unique Temporary UE Identity), Tracking Area Identity (TAI, Tracking Area Identity) of last access (if available), security parameters, requested Network Slice Selection Assistance Information (NSSAI), UE 5GC capability, PDU session status, PDU sessions that need to be activated, follow-up requests, MICO mode preference, etc.
In some example embodiments, the registration type may be an initial registration type.
In some exemplary embodiments, the subscription information of the in-vehicle terminal 1022 indicates that the terminal type is an in-vehicle terminal, the allocated network slice is a network slice specifically and uniformly allocated to the internet of vehicles, the subscription information includes slice information, and the slice information includes: information of UPF entity 1036.
In some exemplary embodiments, in a case where the vehicle-mounted terminal 1022 is located travels to an entrance of a parking lot, the vehicle-mounted terminal 1022 is switched from a registered base station to a base station corresponding to the parking lot, the SMF entity 1035 selects a UPF entity to which the base station of a cell where the parking lot is located is directly connected, and the vehicle-mounted terminal 1022 establishes a PDU session connection with the UPF entity 1036.
In some exemplary embodiments, for the in-vehicle terminal 1022, the mobile edge computing server 1031 is the sinking UPF entity 1036; for other devices, the mobile edge computing server 1032 is not a sinking UPF entity 1036, nor does the UPF entity 1036 employ a sinking technique.
Fig. 2 is a flowchart of a method for obtaining an autonomous valet parking video according to another embodiment of the present disclosure.
As shown in fig. 2, another embodiment of the present application provides a method for obtaining an autonomous valet parking video, including:
and 200, the mobile terminal acquires the address of the mobile edge computing server and is connected to the mobile edge computing server according to the address of the mobile edge computing server.
In some exemplary embodiments, the mobile terminal may obtain the address of the mobile edge computing server in various ways, for example, may obtain the address of the mobile edge computing server stored in advance; for another example, the AVP server may provide the mobile edge computing server to the mobile terminal after initiating the autonomous parking request. The specific acquisition mode is not used to limit the protection scope of the embodiments of the present application.
In some exemplary embodiments, the camera arranged on the vehicle may be a camera on a driving recorder, a camera in a front vehicle imager, or a newly arranged camera, and the newly arranged camera may be specifically arranged on a surface of the vehicle, or may be arranged in the vehicle, and the specific arrangement position is not limited in this application embodiment.
And step 203, the mobile terminal receives the video information sent by the mobile edge computing server and displays the video information.
According to the embodiment of the application, the mobile terminal is connected to the mobile edge computing server, the vehicle-mounted terminal sends video information shot by the camera arranged on the vehicle to the mobile edge computing server in the process of controlling the vehicle to park autonomously through the vehicle control device, and the mobile edge computing server sends the video information to the mobile terminal for displaying, so that a user can check the video information on the mobile terminal, and the display of the whole process of autonomous parking of the vehicle is realized.
In some exemplary embodiments, the method further comprises:
in the process that the vehicle control device controls the vehicle to park autonomously, the vehicle-mounted terminal sends vehicle information to the mobile edge computing server;
the mobile edge computing server receives vehicle information sent by the vehicle-mounted terminal and sends the vehicle information to the mobile terminal;
the mobile terminal receives the vehicle information sent by the mobile edge calculation server and displays the vehicle information; wherein the vehicle information includes: the first position information of the vehicle, the speed information of the vehicle and the course angle information of the vehicle.
It should be noted that, in order to keep the video information and the vehicle information synchronized, the vehicle-mounted terminal may send the video information and the vehicle information to the mobile edge computing server at the same time; and the mobile edge computing server talks the video information and the vehicle information and simultaneously sends the video information and the vehicle information to the mobile terminal.
In some exemplary embodiments, before the in-vehicle terminal transmits the vehicle information to the mobile edge calculation server, the method further includes:
the method comprises the steps that a positioning device of a vehicle-end subsystem obtains first position information of a vehicle and sends the first position information of the vehicle to a vehicle-mounted terminal;
the vehicle-mounted terminal receives first position information of a vehicle.
In some exemplary embodiments, the method further comprises:
the mobile terminal sends an autonomous parking request to the AVP server; the autonomous parking request is used for requesting the realization of autonomous parking of the vehicle;
the AVP server receives the autonomous parking request, acquires position information of an empty parking space of a parking lot where the vehicle is located, acquires second position information of the vehicle, and sends the position information of the empty parking space and the second position information of the vehicle to the mobile edge calculation server;
the AVP server sends the autonomous parking confirmation information to the mobile terminal; wherein the autonomous parking confirmation information includes: an address of a mobile edge computing server;
the mobile edge calculation server receives the position information of the empty parking space and the second position information of the vehicle, and determines a path from the position of the vehicle to the position of the empty parking space according to the position information of the empty parking space and the second position information of the vehicle;
the mobile edge computing server segments the track points on the path and sends the position information of the track points belonging to the ith segment to the vehicle-mounted terminal; wherein i is an integer greater than or equal to 1;
the vehicle-mounted terminal receives the position information of the track point belonging to the ith segment on the path and sends the position information of the track point belonging to the ith segment on the path to the vehicle control device;
and the vehicle control device receives the position information of the track point belonging to the ith subsection on the path and controls the vehicle to automatically run according to the position information of the track point of the ith subsection.
And the mobile terminal receives the autonomous parking confirmation information sent by the AVP server.
In some exemplary embodiments, the mobile edge calculation server may determine the path according to the second location information of the vehicle and the location information of the empty parking space, and the high-precision map information.
In some exemplary embodiments, in the case where it is determined from the first position information of the vehicle that the vehicle reaches the end of the ith segment, and the ith segment is not the last segment, the method further comprises:
the mobile edge calculation server sends the position information of the track point of the (i +1) th segment to the vehicle-mounted terminal;
the vehicle-mounted terminal receives the position information of the track point belonging to the (i +1) th subsection on the path, and sends the position information of the track point belonging to the (i +1) th subsection on the path to the vehicle control device;
and the vehicle control device receives the position information of the track point belonging to the (i +1) th subsection on the path and controls the vehicle to automatically run according to the position information of the track point of the (i +1) th subsection.
In some exemplary embodiments, in the case where it is determined that the vehicle reaches the end of the i-th segment according to the first position information of the vehicle, and the i-th segment is the last segment, the method further includes:
the mobile edge calculation server sends information of arriving at a parking spot to the vehicle-mounted terminal;
the vehicle-mounted terminal receives the information of arriving at the parking spot and sends the information of arriving at the parking spot to the vehicle control device;
the vehicle control device receives information of arriving at a parking spot and controls the vehicle to automatically park in an empty parking space;
under the condition that the vehicle is successfully parked into the empty parking space automatically, the vehicle control device sends autonomous parking success information to the vehicle-mounted terminal;
the vehicle-mounted terminal receives the autonomous parking success information sent by the vehicle control device and reports the autonomous parking success information to the AVP server;
and the AVP server receives the autonomous parking success information reported by the vehicle-mounted terminal and reports the autonomous parking success information to the mobile terminal.
In some exemplary embodiments, the method further comprises:
under the condition that the vehicle is successfully parked into the empty parking space automatically, a camera device of the field terminal subsystem shoots images including the vehicle and the empty parking space and sends the images to the mobile edge computing server;
the mobile edge computing server receives the image, and sends parking success information to the AVP server under the condition that the vehicle meets the parking requirement according to the image;
and the AVP server receives the parking success information sent by the mobile edge computing server.
It should be noted that the AVP server reports the autonomous parking success information to the mobile terminal after receiving the autonomous parking success information sent by the vehicle-mounted terminal and receiving the parking success information sent by the mobile edge computing server.
In some exemplary embodiments, the method further comprises:
the field terminal subsystem is arranged on a data acquisition device on the path and transmits the acquired data to the mobile edge computing server;
the mobile edge computing server receives the acquired data and sends obstacle warning information to the vehicle-mounted terminal under the condition that the obstacle exists on the path according to the acquired data; under the condition that no obstacle exists on the path according to the collected data, obstacle disappearance information is sent to the vehicle-mounted terminal;
the vehicle-mounted terminal receives the obstacle warning information and sends the obstacle warning information to the vehicle control device;
the vehicle-mounted terminal receives the obstacle disappearance information and sends the obstacle disappearance information to the vehicle control device;
and the vehicle control device receives the obstacle warning information and controls the vehicle to stop until the obstacle disappearance information is received.
In some exemplary embodiments, the data acquisition device may be a camera, or a millimeter wave radar, or a lidar, or the like.
In some exemplary embodiments, the data collection device communicates with the mobile edge computing server over a wireless network (e.g., a 5G network, etc.) or a wired network.
In some exemplary embodiments, the data acquisition device may periodically acquire data and periodically transmit the acquired data to the mobile edge computing server.
In some exemplary embodiments, the mobile edge calculation server may periodically send the obstacle warning information to the in-vehicle terminal in a case where it is detected that an obstacle is present on the path until it is detected that an obstacle is not present on the path.
In some exemplary embodiments, the method further comprises:
the AVP server acquires the state information of the vehicle, and acquires the position information of the empty parking space of the parking lot where the vehicle is located under the condition that the state of the vehicle is determined to meet the autonomous parking condition according to the state information of the vehicle.
In some exemplary embodiments, the AVP server obtaining the status information of the vehicle includes:
the AVP server sends a vehicle state information query request to the vehicle-mounted terminal;
the vehicle-mounted terminal receives a vehicle state information query request and sends the vehicle state information query request to the vehicle control device;
the vehicle control device receives a vehicle state information query request, acquires the state information of the vehicle and sends the state information of the vehicle to the vehicle-mounted terminal;
the vehicle-mounted terminal receives the state information of the vehicle sent by the vehicle control device and sends the state information of the vehicle to the AVP server;
the AVP server receives the vehicle state information sent by the vehicle-mounted terminal.
In some exemplary embodiments, the status information of the vehicle includes at least one of:
whether the car window is closed, whether the car door is closed, whether the gear is P gear, whether the car is in a flameout state, whether a person is in the car, and the like.
In some exemplary embodiments, determining that the state of the vehicle satisfies the autonomous parking condition according to the state information of the vehicle includes at least one of:
the window has closed;
the door has been closed;
the gear is P gear;
is in a flameout state;
no one is in the vehicle.
In some exemplary embodiments, the method further comprises:
and under the condition that the state of the vehicle is determined to not meet the autonomous parking condition according to the state information of the vehicle, the AVP server returns reminding information which does not meet the autonomous parking condition to the mobile terminal.
In some exemplary embodiments, the method further comprises:
the AVP server returns the reason that the autonomous parking condition is not met to the mobile terminal.
In some exemplary embodiments, determining that the state of the vehicle does not satisfy the autonomous parking condition according to the state information of the vehicle includes at least one of:
the window is not closed;
the door is not closed;
the gear is not P gear;
is not in a flameout state;
the vehicle is occupied by a person.
In some exemplary embodiments, the AVP server obtaining location information for an empty parking space includes:
the AVP server sends an empty parking space information query request to the parking lot management subsystem;
the parking lot management subsystem receives the empty parking space information inquiry request, acquires the position information of the empty parking space and sends the position information of the empty parking space to the AVP server;
and the AVP server receives the position information of the empty parking space sent by the parking lot management subsystem.
In some exemplary embodiments, the method further comprises:
and the geomagnetism of the field terminal subsystem determines the state information of the parking space, and reports the state information of the parking space to the parking lot management subsystem.
In some exemplary embodiments, the status information of the parking space is used to describe whether the current parking space is occupied, and if the current parking space is not occupied, it indicates that the current parking space is an empty parking space; and if the current parking space is occupied, the current parking space is not an empty parking space.
In some exemplary embodiments, the AVP server obtaining the second location information of the vehicle comprises:
the AVP server sends a vehicle position information acquisition request to the vehicle-mounted terminal;
the vehicle-mounted terminal receives the vehicle position information acquisition request and sends the vehicle position information acquisition request to the positioning device;
the positioning device of the vehicle-end subsystem acquires second position information of the vehicle and sends the second position information of the vehicle to the vehicle-mounted terminal;
the vehicle-mounted terminal receives second position information of the vehicle sent by the positioning device and sends the second position information of the vehicle to the AVP server;
and the AVP server receives the second position information of the vehicle sent by the vehicle-mounted terminal.
In some exemplary embodiments, the method further comprises:
under the condition that the running track of the vehicle deviates from the path according to the second position information and the path of the vehicle, the mobile edge calculation server sends correction reminding information to the vehicle-mounted terminal;
the vehicle-mounted terminal receives the deviation correction reminding information and sends the deviation correction reminding information to the vehicle control device;
and the vehicle control device receives the correction reminding information and corrects the running track of the vehicle.
In some exemplary embodiments, the positioning device may be a Real Time Kinematic (RTK) terminal, or a camera based on visual positioning, or a lidar, or millimeter wave radar, etc.
In some exemplary embodiments, the method further comprises:
an auxiliary positioning device of a field side subsystem acquires first position information and second position information of a vehicle;
the secondary positioning device may be an RTK base station.
The steps of the above methods are divided for clarity, and the implementation may be combined into one step or split some steps, and the steps are divided into multiple steps, so long as the same logical relationship is included, which are all within the protection scope of the present patent; it is within the scope of the patent to add insignificant modifications to the algorithms or processes or to introduce insignificant design changes to the core design without changing the algorithms or processes.
Each module in the present embodiment is a logical module, and in practical applications, one logical unit may be one physical unit, may be a part of one physical unit, or may be implemented by a combination of a plurality of physical units. In addition, in order to highlight the innovative part of the present application, a unit that is not so closely related to solving the technical problem proposed by the present application is not introduced in the present embodiment, but it does not indicate that no other unit exists in the present embodiment.
The present embodiments also provide an electronic device, comprising one or more processors; when the one or more programs are executed by the one or more processors, the one or more processors implement the method for acquiring the autonomous parking assistant video provided by the embodiment, and in order to avoid repeated description, specific steps of the method for acquiring the autonomous parking assistant video are not repeated here.
The present embodiment further provides a computer readable medium, where a computer program is stored, and when the computer program is executed by a processor, the method for obtaining an autonomous parking assistant video according to the present embodiment is implemented, and in order to avoid repeated descriptions, specific steps of the method for obtaining an autonomous parking assistant video are not repeated here.
It will be understood by those of ordinary skill in the art that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof. In a hardware implementation, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may be performed by several physical components in cooperation. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit. Such software may be distributed on computer readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). The term computer storage media includes volatile and nonvolatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data, as is well known to those of ordinary skill in the art. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other medium which can be used to store the desired information and which can be accessed by a computer. In addition, communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism and includes any information delivery media as known to those skilled in the art.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.
Those skilled in the art will appreciate that although some embodiments described herein include some features included in other embodiments instead of others, combinations of features of different embodiments are meant to be within the scope of the embodiments and form different embodiments.
It is to be understood that the above embodiments are merely exemplary embodiments that are employed to illustrate the principles of the present application, and that the present application is not limited thereto. It will be apparent to those skilled in the art that various changes and modifications can be made therein without departing from the spirit and scope of the application, and these changes and modifications are to be considered as the scope of the application.
Claims (13)
1. A system for obtaining video of autonomous valet parking, comprising: the system comprises a mobile terminal, a vehicle-end subsystem of a vehicle bound with the mobile terminal and a communication subsystem;
wherein, car end subsystem includes: a vehicle control device, a vehicle-mounted terminal; the communication subsystem includes: a mobile edge computing server;
wherein the mobile terminal is configured to:
acquiring the address of the mobile edge computing server, and connecting to the mobile edge computing server according to the address of the mobile edge computing server;
receiving video information sent by the mobile edge computing server, and displaying the video information;
the vehicle-mounted terminal is used for:
in the process that the vehicle control device controls the vehicle to park autonomously, sending video information shot by a camera arranged on the vehicle to the mobile edge computing server;
the mobile edge computing server is configured to:
receiving video information sent by the vehicle-mounted terminal, and sending the video information to the mobile terminal;
the vehicle-mounted terminal is further used for:
in the process that the vehicle control device controls the vehicle to conduct autonomous parking, vehicle information is sent to the mobile edge computing server; wherein the vehicle information includes: first position information of the vehicle, speed information of the vehicle and course angle information of the vehicle;
the mobile edge computing server is further configured to:
receiving the vehicle information sent by the vehicle-mounted terminal, and sending the vehicle information to the mobile terminal;
the mobile terminal is further configured to:
and receiving the vehicle information sent by the mobile edge computing server and displaying the vehicle information.
2. The system for obtaining video of autonomous valet parking according to claim 1, the vehicle end subsystem further comprising:
the positioning device is used for acquiring the first position information of the vehicle and sending the first position information of the vehicle to the vehicle-mounted terminal;
the vehicle-mounted terminal is further used for:
first position information of the vehicle is received.
3. The system for obtaining video of autonomous valet parking according to claim 1, further comprising: an AVP server for autonomous valet parking;
the mobile terminal is further configured to:
sending an autonomous parking request to the AVP server; wherein the autonomous parking request is used for requesting implementation of autonomous parking of the vehicle;
receiving the autonomous parking confirmation information sent by the AVP server; wherein the autonomous parking confirmation information includes: an address of the mobile edge computing server;
the AVP server is configured to:
receiving the autonomous parking request, acquiring position information of an empty parking space of a parking lot where the vehicle is located, acquiring second position information of the vehicle, and sending the position information of the empty parking space and the second position information of the vehicle to the mobile edge computing server; sending the autonomous parking confirmation information to the mobile terminal;
the mobile edge computing server is further configured to:
receiving the position information of the empty parking space and the second position information of the vehicle, and determining a path from the position of the vehicle to the position of the empty parking space according to the position information of the empty parking space and the second position information of the vehicle;
segmenting the track points on the path, and issuing the position information of the track points belonging to the ith segment to the vehicle-mounted terminal; wherein i is an integer greater than or equal to 1;
the vehicle-mounted terminal is further used for:
receiving the position information of the track point belonging to the ith subsection on the path, and sending the position information of the track point belonging to the ith subsection on the path to the vehicle control device;
the vehicle control device is configured to:
and receiving the position information of the track point belonging to the ith subsection on the path, and controlling the vehicle to automatically run according to the position information of the track point of the ith subsection.
4. The system for obtaining video of autonomous parking vehicle of claim 3, the mobile edge computing server further configured to:
when the fact that the vehicle reaches the end point of the ith subsection is determined according to the first position information of the vehicle, and the ith subsection is not the last subsection, the position information of the track point of the (i +1) th subsection is sent to the vehicle-mounted terminal;
the vehicle-mounted terminal is further used for:
receiving the position information of the track point belonging to the (i +1) th segment on the path, and sending the position information of the track point belonging to the (i +1) th segment on the path to the vehicle control device;
the vehicle control apparatus is further configured to:
and receiving the position information of the track point belonging to the (i +1) th subsection on the path, and controlling the vehicle to automatically run according to the position information of the track point of the (i +1) th subsection.
5. The system for obtaining video of autonomous parking vehicle of claim 3, the mobile edge computing server further configured to:
when the fact that the vehicle reaches the end point of the ith subsection is determined according to the first position information of the vehicle, and the ith subsection is the last subsection, information of reaching a stop point is issued to the vehicle-mounted terminal;
the vehicle-mounted terminal is further used for:
receiving the information of the arriving parking spots and sending the information of the arriving parking spots to the vehicle control device;
receiving the autonomous parking success information sent by the vehicle control device, and reporting the autonomous parking success information to the AVP server;
the vehicle control apparatus is further configured to:
receiving the information of the arriving parking spots and controlling the vehicle to automatically park in the empty parking space;
under the condition that the vehicle is successfully parked into the empty parking space automatically, the autonomous parking success information is sent to the vehicle-mounted terminal;
the AVP server is further configured to:
and receiving the autonomous parking success information reported by the vehicle-mounted terminal, and reporting the autonomous parking success information to the mobile terminal.
6. The system for obtaining video of autonomous valet parking according to claim 5, further comprising: a field-side subsystem; wherein the field side subsystem comprises: a camera device;
the camera device is used for shooting images including the vehicle and the empty parking space under the condition that the vehicle is successfully parked into the empty parking space automatically, and sending the images to the mobile edge computing server;
the mobile edge computing server is further configured to:
receiving the image, and sending parking success information to the AVP server under the condition that the vehicle meets the parking requirement according to the image;
the AVP server is further configured to:
and receiving the parking success information sent by the mobile edge computing server.
7. The system for obtaining video of autonomous valet parking according to claim 3, the system for autonomous parking further comprising: a field-side subsystem;
wherein the field side subsystem comprises: a data acquisition device disposed on the path;
the data acquisition device is used for sending acquired data to the mobile edge computing server;
the mobile edge computing server is configured to:
receiving the acquired data, and sending obstacle warning information to the vehicle-mounted terminal under the condition that the obstacle exists on the path according to the acquired data; sending obstacle disappearance information to the vehicle-mounted terminal under the condition that no obstacle exists on the path according to the acquired data;
the vehicle-mounted terminal is further used for:
receiving the obstacle warning information and sending the obstacle warning information to the vehicle control device;
receiving the obstacle disappearance information and sending the obstacle disappearance information to the vehicle control device;
the vehicle control apparatus is further configured to:
and receiving the obstacle warning information, and controlling the vehicle to stop until the obstacle disappearance information is received.
8. The system for obtaining video of autonomous valet parking vehicles according to any one of claims 3-6, wherein the AVP server is further configured to:
and acquiring the state information of the vehicle, and acquiring the position information of an empty parking space of a parking lot where the vehicle is located under the condition that the state of the vehicle is determined to meet the autonomous parking condition according to the state information of the vehicle.
9. The system for obtaining the video of autonomous valet parking according to claim 8, wherein the AVP server is specifically configured to implement the obtaining of the status information of the vehicle by:
sending a vehicle state information query request to the vehicle-mounted terminal;
receiving the state information of the vehicle sent by the vehicle-mounted terminal;
the vehicle-mounted terminal is further used for:
receiving the vehicle state information inquiry request, and sending the vehicle state information inquiry request to the vehicle control device;
receiving the state information of the vehicle sent by the vehicle control device, and sending the state information of the vehicle to the AVP server;
the vehicle control apparatus is further configured to:
and receiving the vehicle state information inquiry request, acquiring the state information of the vehicle, and sending the state information of the vehicle to the vehicle-mounted terminal.
10. The system for acquiring the video of the autonomous valet parking lot according to any one of claims 3 to 6, wherein the AVP server is specifically configured to acquire the position information of the empty parking space by:
sending an empty parking space information query request to a parking lot management subsystem;
receiving the position information of the empty parking space sent by the parking lot management subsystem;
the autonomous parking system further includes:
a parking lot management subsystem for:
and receiving the empty parking space information inquiry request, acquiring the position information of the empty parking space, and sending the position information of the empty parking space to the AVP server.
11. The system for obtaining video of autonomous valet parking according to any of claims 3-6, wherein the vehicle end subsystem further comprises: a positioning device;
the AVP server is specifically configured to acquire second position information of the vehicle in the following manner:
sending a vehicle position information acquisition request to the vehicle-mounted terminal;
receiving second position information of the vehicle sent by the vehicle-mounted terminal;
the vehicle-mounted terminal is further used for:
receiving the vehicle position information acquisition request, and sending the vehicle position information acquisition request to the positioning device;
receiving second position information of the vehicle sent by the positioning device, and sending the second position information of the vehicle to the AVP server;
and the positioning device is used for acquiring second position information of the vehicle and sending the second position information of the vehicle to the vehicle-mounted terminal.
12. The system for obtaining video of autonomous parking vehicle of claim 11, the mobile edge computing server further configured to:
under the condition that the running track of the vehicle deviates from the path according to the second position information of the vehicle and the path, sending correction reminding information to the vehicle-mounted terminal;
the vehicle-mounted terminal is further used for:
receiving the deviation correction reminding information and sending the deviation correction reminding information to the vehicle control device;
the vehicle control apparatus is further configured to:
and receiving the deviation correction reminding information and correcting the running track of the vehicle.
13. A method for acquiring an autonomous valet parking video comprises the following steps:
the mobile terminal acquires the address of a mobile edge computing server and is connected to the mobile edge computing server according to the address of the mobile edge computing server;
in the process that a vehicle control device of a vehicle end subsystem of a vehicle bound with the mobile terminal controls the vehicle to park autonomously, a vehicle-mounted terminal of the vehicle end subsystem of the vehicle bound with the mobile terminal sends video information shot by a camera arranged on the vehicle to the mobile edge computing server;
the mobile edge computing server receives video information sent by the vehicle-mounted terminal and sends the video information to the mobile terminal;
the mobile terminal receives the video information sent by the mobile edge computing server and displays the video information;
in the process that the vehicle control device controls the vehicle to park autonomously, the vehicle-mounted terminal sends vehicle information to the mobile edge computing server; wherein the vehicle information includes: first position information of the vehicle, speed information of the vehicle and course angle information of the vehicle;
the mobile edge computing server receives the vehicle information sent by the vehicle-mounted terminal and sends the vehicle information to the mobile terminal;
and the mobile terminal receives the vehicle information sent by the mobile edge computing server and displays the vehicle information.
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