CN112863213A - Unmanned parking system and method based on automatic driving - Google Patents
Unmanned parking system and method based on automatic driving Download PDFInfo
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- CN112863213A CN112863213A CN202011570297.7A CN202011570297A CN112863213A CN 112863213 A CN112863213 A CN 112863213A CN 202011570297 A CN202011570297 A CN 202011570297A CN 112863213 A CN112863213 A CN 112863213A
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
- G08G1/096844—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route where the complete route is dynamically recomputed based on new data
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/123—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams
- G08G1/127—Traffic control systems for road vehicles indicating the position of vehicles, e.g. scheduled vehicles; Managing passenger vehicles circulating according to a fixed timetable, e.g. buses, trains, trams to a central station ; Indicators in a central station
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—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
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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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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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/10—Protocols in which an application is distributed across nodes in the network
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
- H04L67/125—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks involving control of end-device applications over a network
Abstract
The invention relates to an unmanned parking system and a method based on automatic driving, wherein the unmanned parking system comprises: the method comprises the steps that parking request information containing parking lot IDs and vehicle information is sent to a parking management system through a mobile intelligent terminal; the parking management system allocates parking spaces and plans an entrance route to send to the mobile intelligent terminal according to the parking current situation of the parking lot corresponding to the parking lot ID; the automobile central control controls the automobile to drive to the parking space in an automatic driving mode according to the driving route; aiming at the environment of an unmanned parking lot, which is simple in terrain and simple in driving route rule, the requirement on automatic driving is not high, the automatic driving technology is combined with a market parking system, the parking system detects an empty parking space, plans a parking position and a driving route, and a cloud remote control automobile automatically parks, so that the unmanned parking lot is realized, the parking efficiency is greatly improved, the parking lot is maximally utilized while the time is greatly saved for a user, and the safety is improved.
Description
Technical Field
The invention relates to the field of parking systems, in particular to an unmanned parking system and method based on automatic driving.
Background
At present, places with large pedestrian flow often encounter parking difficulties, and on the one hand, a vehicle can not find a parking space for a long time when driving into the parking lot, so that a plurality of vehicles are blocked in the parking lot. On the other hand, drivers with poor technology often spend longer time and even scratch when parking at the side or reversing garage and parking.
Disclosure of Invention
The invention provides an unmanned parking system and method based on automatic driving, aiming at the technical problems in the prior art, and solving the problem of difficult parking in the prior art.
The technical scheme for solving the technical problems is as follows: an automated driving based unmanned parking system comprising: the system comprises an automobile central control system, a mobile intelligent terminal and a parking management system;
sending parking request information containing a parking lot ID and vehicle information to the parking management system through the mobile intelligent terminal;
the parking management system allocates parking spaces and plans an entrance route to send to the mobile intelligent terminal according to the current parking situation of the parking lot corresponding to the parking lot ID;
and the automobile central control controls the automobile to drive to the parking space in an automatic driving mode according to the driving route.
An unmanned parking method based on automatic driving, the unmanned parking method comprising:
step 1, sending parking request information containing parking lot ID and vehicle information to a parking management system through a mobile intelligent terminal;
step 2, the parking management system allocates parking spaces and plans an entrance route to send to the mobile intelligent terminal according to the current parking situation of the parking lot corresponding to the ID of the parking lot;
and 3, controlling the vehicle to drive to the parking space in an automatic driving mode by the vehicle central control according to the driving route.
The invention has the beneficial effects that: the unmanned parking system and the method based on automatic driving provided by the invention have the advantages that aiming at the environment of an unmanned parking lot, which is simple in terrain and simple in driving route rule, the requirement on automatic driving is not high, the automatic driving technology is combined with a mall parking system, the parking system detects an empty parking space, a parking position and a driving route are planned, a cloud end remotely controls the automobile to automatically park, the unmanned parking lot is realized, the parking efficiency is greatly improved, the parking lot is maximally utilized while the time is greatly saved for a user, and the safety is improved. .
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the method for the mobile intelligent terminal to acquire the parking lot ID and the vehicle information comprises the following steps:
scanning a two-dimensional code of a parking lot through the mobile intelligent terminal to log in an electronic parking system, and acquiring the ID of the parking lot;
the mobile intelligent terminal is connected with the corresponding automobile central control through a Bluetooth secret key to acquire vehicle information;
and the mobile intelligent terminal sends parking request information containing the ID of the parking lot and the vehicle information to the parking management system through the electronic parking system.
Further, the unmanned parking system further includes: a cloud server;
the mobile intelligent terminal sends the received parking spaces and the received driving routes to the cloud server, and the automobile central control is in wireless communication with the cloud server;
the cloud server performs remote real-time operation control on the automobile central control, and the automobile central control sends the GPS real-time position of the automobile to the cloud server until the automobile runs to the parking space.
Further, after receiving a car taking command selected by a user, the mobile intelligent terminal sends car taking request information to the parking management system;
the parking management system plans an outgoing route and sends the outgoing route to the mobile intelligent terminal, the mobile intelligent terminal sends the received outgoing route to the cloud server, and the cloud server controls the vehicle to enter an automatic driving mode through controlling the central control of the vehicle and then exits from the parking lot according to the outgoing route.
Further, the process of planning the route by the parking management system comprises the following steps: and dividing the meeting area of the parking lot into various road sections, and synthesizing different road sections into an incoming route or an outgoing route through various combinations.
Further, when the vehicle is driven out from the parking lot, the road section occupied by the driving-out route is marked as unavailable, and the road section driven by the vehicle is released again and marked as available;
after receiving the parking request information, the parking management system selects an optimal parking space according to the road section combination marked as available; when available road section combinations can not reach the optional parking spaces, the vehicles need to wait.
The unmanned parking system further comprises parking space sensors arranged on the parking spaces, the parking space sensors feed back information whether vehicles are parked on the parking spaces to the parking management system, the parking management system positions the optional parking spaces according to the parking conditions of the parking spaces, and the parking spaces are distributed to the vehicles sending the parking request information.
Further, the mobile intelligent terminal sends the received parking spaces and the received driving routes to a cloud server, and the automobile central control is in wireless communication with the cloud server;
the step 3 comprises the following steps: the cloud server performs remote real-time operation control on the automobile central control, and the automobile central control sends the GPS real-time position of the automobile to the cloud server until the automobile central control drives to the parking space;
said step 3 is followed by:
step 4, after receiving a vehicle taking command selected by a user, the mobile intelligent terminal sends vehicle taking request information to the parking management system;
the parking management system plans an outgoing route and sends the outgoing route to the mobile intelligent terminal, the mobile intelligent terminal sends the received outgoing route to the cloud server, and the cloud server controls the vehicle to enter an automatic driving mode through controlling the central control of the vehicle and then exits from the parking lot according to the outgoing route.
Further, the process of planning a route by the parking management system in step 3 or step 4 includes: dividing the meeting area of the parking lot into various road sections, and synthesizing different road sections into an incoming route or an outgoing route through various combinations;
when the vehicle is driven out of the parking lot, the road section occupied by the driving-out route is marked as unavailable, and the road section driven by the vehicle is released again and marked as available;
after receiving the parking request information, the parking management system selects an optimal parking space according to the road section combination marked as available; when available road section combinations can not reach the optional parking spaces, the vehicles need to wait.
The beneficial effect of adopting the further scheme is that: the invention utilizes the safe connection composed of a market parking system, a cloud (server), a Bluetooth client (such as a mobile phone APP) and an automobile central control, the parking system plans a parking position and a route, the automobile moves to a designated position by utilizing an automatic driving technology, when the automobile drives in or drives out, the parking management system operates the automobile to move step by step in real time until the unmanned parking efficiency is higher when the automobile is parked to the designated position or driven out of a parking lot, in order to improve the safety, only one automobile is allowed to drive in, and the next automobile is allowed to drive in after being parked to the designated position. When the parking system automatically plans the parking position and the parking route, the driving route does not intersect with the vehicle route as far as possible, if the intersection exists, the vehicle with high priority is driven out, and an avoidance route is planned; the parking space sensor is arranged on the parking space, whether a vehicle is parked on the corresponding parking space is monitored in real time, and the situation that an unknown vehicle is parked and then a parking error is caused is prevented.
Drawings
Fig. 1 is an interactive schematic view of an unmanned parking system based on automatic driving according to an embodiment of the present invention;
fig. 2 is a flowchart of an embodiment of an unmanned parking method based on automatic driving according to the present invention.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Fig. 1 is an interaction diagram of an unmanned parking system based on automatic driving according to an embodiment of the present invention, and as can be seen from fig. 1, the unmanned parking system includes: the system comprises an automobile central control unit, a mobile intelligent terminal and a parking management system.
And sending parking request information containing the parking lot ID and the vehicle information to a parking management system through the mobile intelligent terminal.
And the parking management system allocates parking spaces, plans an entrance route and sends the entrance route to the mobile intelligent terminal according to the parking current situation of the parking lot corresponding to the parking lot ID.
The automobile central control controls the automobile to drive to the parking space in an automatic driving mode according to the driving route.
The unmanned parking system based on automatic driving provided by the invention has the advantages that aiming at the environment of an unmanned parking lot, such as simple terrain and simple driving route rule, the requirement on automatic driving is not high, the automatic driving technology is combined with a market parking system, the parking system detects an empty parking space, a parking position and a driving route are planned, a cloud end remotely controls the automobile to automatically park, the unmanned parking lot is realized, the parking efficiency is greatly improved, the parking lot is maximally utilized while the time is greatly saved for a user, and the safety is improved.
Example 1
Embodiment 1 provided by the present invention is an embodiment of an unmanned parking system based on automatic driving, and as can be seen from fig. 1, the embodiment of the unmanned parking system includes: the system comprises an automobile central control unit, a mobile intelligent terminal, a parking management system, a cloud server and a parking space sensor.
And sending parking request information containing the parking lot ID and the vehicle information to a parking management system through the mobile intelligent terminal.
Preferably, the method for the mobile intelligent terminal to acquire the parking lot ID and the vehicle information includes:
and scanning the two-dimensional code of the parking lot through the mobile intelligent terminal to log in the electronic parking system to obtain the ID of the parking lot.
The mobile intelligent terminal is connected with the corresponding automobile central control through the Bluetooth secret key to acquire the vehicle information.
The mobile intelligent terminal sends parking request information containing the parking lot ID and the vehicle information to a parking management system through an electronic parking system.
In the specific implementation process, after a user arrives at a parking lot, the vehicle is parked at a specified starting point to wait for parking, the electronic parking system is logged in by scanning a two-dimensional code of the parking lot, the electronic parking system is connected with a central control of the vehicle through a Bluetooth secret key, the detailed information of the vehicle is sent to the electronic parking system, after the vehicle is got off, personnel in the vehicle confirms that the vehicle is successfully bound, and the electronic parking system selects 'parking' (only vehicles bound by Bluetooth) to realize the transmission of parking request information to the parking management system.
And the parking management system allocates parking spaces, plans an entrance route and sends the entrance route to the mobile intelligent terminal according to the parking current situation of the parking lot corresponding to the parking lot ID.
The mobile intelligent terminal sends the received parking spaces and the received driving routes to the cloud server, and the automobile central control unit is in wireless communication with the cloud server through GPRS.
The cloud server carries out remote real-time operation control on the automobile central control, and the automobile central control sends the GPS real-time position of the automobile to the cloud server until the automobile runs to a parking space.
The automobile central control controls the automobile to drive to the parking space in an automatic driving mode according to the driving route.
Further, after receiving a car taking command selected by a user, the mobile intelligent terminal sends car taking request information to the parking management system.
The parking management system plans an outgoing route and sends the outgoing route to the mobile intelligent terminal, the mobile intelligent terminal sends the received outgoing route to the cloud server, and the cloud server controls the vehicle to enter an automatic driving mode through controlling the vehicle central control system and then exits the parking lot according to the outgoing route.
Further, the process of planning the route by the parking management system comprises the following steps: the meeting area of the parking lot is divided into various road sections, and different road sections are combined into an incoming route or an outgoing route through various combinations.
When the vehicle drives in or out, the parking management system calculates a route every 5s, and the vehicle is operated to move step by step in real time until the vehicle is parked at a specified position or is shut down after being driven out of the parking lot.
When the vehicle exits from the parking lot, the road section occupied by the exiting route is marked as unavailable, and the road section traveled by the vehicle exits is marked as available again.
After receiving the parking request information, the parking management system selects an optimal parking space according to the road section combination marked as available; when available road section combinations can not reach the optional parking spaces, the vehicles need to wait.
The unmanned parking efficiency is higher, in order to improve the safety, only one vehicle is allowed to drive in, and the next vehicle is allowed to drive in after being parked to the designated position. When the parking system automatically plans the parking position and the parking route, the driving route does not intersect with the vehicle route as far as possible, if the intersection exists, the vehicle is driven out with high priority, and the avoiding route is planned.
The parking space sensor feeds back information whether the vehicle is parked on the parking space to the parking management system, the parking management system positions the optional parking spaces according to the parking conditions of the parking spaces, and the parking spaces are distributed to the vehicles sending the parking request information.
The parking management system can record the use condition of the parking spaces according to the parking space allocation information of the parking management system, and further can be provided with the parking space sensors to monitor whether vehicles are parked in the corresponding parking spaces in real time, so that the situation that an unknown vehicle is parked to cause a parking error is prevented.
Example 2
Embodiment 2 of the present invention is an embodiment of an unmanned parking method based on automatic driving according to the present invention, and as shown in fig. 2, is a flowchart of an embodiment of an unmanned parking method based on automatic driving according to the present invention, and as can be seen from fig. 2, the unmanned parking method includes:
step 1, sending parking request information containing the ID of the parking lot and vehicle information to a parking management system through a mobile intelligent terminal.
And 2, the parking management system allocates parking spaces, plans an entrance route and sends the entrance route to the mobile intelligent terminal according to the parking current situation of the parking lot corresponding to the ID of the parking lot.
And 3, controlling the vehicle to drive to the parking space in an automatic driving mode by the vehicle central control according to the driving route.
Preferably, the mobile intelligent terminal sends the received parking spaces and the driving routes to the cloud server, and the automobile central control and the cloud server are in wireless communication.
The step 3 comprises the following steps: the cloud server carries out remote real-time operation control on the automobile central control, and the automobile central control sends the GPS real-time position of the automobile to the cloud server until the automobile runs to a parking space.
Step 3 is followed by:
and 4, after receiving the vehicle taking command selected by the user, the mobile intelligent terminal sends the vehicle taking request information to the parking management system.
The parking management system plans an outgoing route and sends the outgoing route to the mobile intelligent terminal, the mobile intelligent terminal sends the received outgoing route to the cloud server, and the cloud server controls the vehicle to enter an automatic driving mode through controlling the vehicle central control system and then exits the parking lot according to the outgoing route.
Preferably, the process of planning the route by the parking management system in step 3 or step 4 includes: the meeting area of the parking lot is divided into various road sections, and different road sections are combined into an incoming route or an outgoing route through various combinations.
When the vehicle exits from the parking lot, the road section occupied by the exiting route is marked as unavailable, and the road section traveled by the vehicle exits is marked as available again.
After receiving the parking request information, the parking management system selects an optimal parking space according to the road section combination marked as available; when available road section combinations can not reach the optional parking spaces, the vehicles need to wait.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. An automated driving-based unmanned parking system, comprising: the system comprises an automobile central control system, a mobile intelligent terminal and a parking management system;
sending parking request information containing a parking lot ID and vehicle information to the parking management system through the mobile intelligent terminal;
the parking management system allocates parking spaces and plans an entrance route to send to the mobile intelligent terminal according to the current parking situation of the parking lot corresponding to the parking lot ID;
and the automobile central control controls the automobile to drive to the parking space in an automatic driving mode according to the driving route.
2. The unmanned parking system of claim 1, wherein the method for the mobile intelligent terminal to obtain the parking lot ID and the vehicle information comprises:
scanning a two-dimensional code of a parking lot through the mobile intelligent terminal to log in an electronic parking system, and acquiring the ID of the parking lot;
the mobile intelligent terminal is connected with the corresponding automobile central control through a Bluetooth secret key to acquire vehicle information;
and the mobile intelligent terminal sends parking request information containing the ID of the parking lot and the vehicle information to the parking management system through the electronic parking system.
3. The unmanned parking system of claim 1 further comprising: a cloud server;
the mobile intelligent terminal sends the received parking spaces and the received driving routes to the cloud server, and the automobile central control is in wireless communication with the cloud server;
the cloud server performs remote real-time operation control on the automobile central control, and the automobile central control sends the GPS real-time position of the automobile to the cloud server until the automobile runs to the parking space.
4. The unmanned parking system of claim 3 wherein the mobile intelligent terminal sends a pick-up request message to the parking management system after receiving a pick-up command selected by a user;
the parking management system plans an outgoing route and sends the outgoing route to the mobile intelligent terminal, the mobile intelligent terminal sends the received outgoing route to the cloud server, and the cloud server controls the vehicle to enter an automatic driving mode through controlling the central control of the vehicle and then exits from the parking lot according to the outgoing route.
5. The unmanned parking system of claim 1 wherein the process of the parking management system planning a route comprises: and dividing the meeting area of the parking lot into various road sections, and synthesizing different road sections into an incoming route or an outgoing route through various combinations.
6. The unmanned parking system of claim 5 wherein when an outbound vehicle is within the parking lot, the segment occupied by its outbound route is marked as unavailable and the segment traveled by the outbound vehicle is re-released and marked as available;
after receiving the parking request information, the parking management system selects an optimal parking space according to the road section combination marked as available; when available road section combinations can not reach the optional parking spaces, the vehicles need to wait.
7. The unmanned parking system of claim 1, further comprising a parking space sensor disposed at each parking space, wherein the parking space sensor feeds back information on whether a vehicle is parked at the parking space to the parking management system, and the parking management system positions an optional parking space according to a parking status of each parking space and allocates a parking space to the vehicle that sends the parking request information.
8. An unmanned parking method based on automatic driving, characterized in that the unmanned parking method comprises the following steps:
step 1, sending parking request information containing parking lot ID and vehicle information to a parking management system through a mobile intelligent terminal;
step 2, the parking management system allocates parking spaces and plans an entrance route to send to the mobile intelligent terminal according to the current parking situation of the parking lot corresponding to the ID of the parking lot;
and 3, controlling the vehicle to drive to the parking space in an automatic driving mode by the vehicle central control according to the driving route.
9. The unmanned parking method according to claim 1, wherein the mobile intelligent terminal sends the received parking spaces and the received entrance routes to a cloud server, and the automobile central control is in wireless communication with the cloud server;
the step 3 comprises the following steps: the cloud server performs remote real-time operation control on the automobile central control, and the automobile central control sends the GPS real-time position of the automobile to the cloud server until the automobile central control drives to the parking space;
said step 3 is followed by:
step 4, after receiving a vehicle taking command selected by a user, the mobile intelligent terminal sends vehicle taking request information to the parking management system;
the parking management system plans an outgoing route and sends the outgoing route to the mobile intelligent terminal, the mobile intelligent terminal sends the received outgoing route to the cloud server, and the cloud server controls the vehicle to enter an automatic driving mode through controlling the central control of the vehicle and then exits from the parking lot according to the outgoing route.
10. The unmanned parking method of claim 9 wherein the step 3 or step 4 wherein the routing process of the parking management system comprises: dividing the meeting area of the parking lot into various road sections, and synthesizing different road sections into an incoming route or an outgoing route through various combinations;
when the vehicle is driven out of the parking lot, the road section occupied by the driving-out route is marked as unavailable, and the road section driven by the vehicle is released again and marked as available;
after receiving the parking request information, the parking management system selects an optimal parking space according to the road section combination marked as available; when available road section combinations can not reach the optional parking spaces, the vehicles need to wait.
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| CN113947942A (en) * | 2021-10-15 | 2022-01-18 | 广州小鹏自动驾驶科技有限公司 | Parking map sharing processing method, device, equipment and system |
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| CN113947942A (en) * | 2021-10-15 | 2022-01-18 | 广州小鹏自动驾驶科技有限公司 | Parking map sharing processing method, device, equipment and system |
| CN113947942B (en) * | 2021-10-15 | 2023-02-03 | 广州小鹏自动驾驶科技有限公司 | Parking map sharing processing method, device, equipment and system |
| CN114360278A (en) * | 2021-11-29 | 2022-04-15 | 江铃汽车股份有限公司 | Parking control method and system |
| CN114677857A (en) * | 2022-03-14 | 2022-06-28 | 金龙联合汽车工业（苏州）有限公司 | Parking space distribution and parking system of park automatic driving vehicle based on Internet of vehicles |
| CN117151576A (en) * | 2023-10-30 | 2023-12-01 | 青岛宇方机器人工业股份有限公司 | Logistics vehicle dispatching management system and method |
| CN117151576B (en) * | 2023-10-30 | 2024-01-09 | 青岛宇方机器人工业股份有限公司 | Logistics vehicle dispatching management system and method |
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