CN112884549A - Method, device, storage medium and computer equipment for automatically calling and returning car - Google Patents
Method, device, storage medium and computer equipment for automatically calling and returning car Download PDFInfo
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- CN112884549A CN112884549A CN202110155860.2A CN202110155860A CN112884549A CN 112884549 A CN112884549 A CN 112884549A CN 202110155860 A CN202110155860 A CN 202110155860A CN 112884549 A CN112884549 A CN 112884549A
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- 238000000034 method Methods 0.000 title claims abstract description 26
- 238000004590 computer program Methods 0.000 claims description 16
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000000007 visual effect Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003672 processing method Methods 0.000 description 2
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q30/00—Commerce
- G06Q30/06—Buying, selling or leasing transactions
- G06Q30/0645—Rental transactions; Leasing transactions
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F16/00—Information retrieval; Database structures therefor; File system structures therefor
- G06F16/20—Information retrieval; Database structures therefor; File system structures therefor of structured data, e.g. relational data
- G06F16/29—Geographical information databases
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
- G06Q10/00—Administration; Management
- G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
- G06Q10/047—Optimisation of routes or paths, e.g. travelling salesman problem
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- G06Q50/40—
Abstract
The invention discloses a method, a device, a storage medium and computer equipment for automatically calling and returning a car, wherein the method for automatically calling and returning the car comprises the steps of acquiring request information of a user, wherein the request information is car calling request information or car returning request information; acquiring state information and position information of the vehicle according to the request information; obtaining a parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user; the automatic parking of the vehicle is controlled according to the parking path of the vehicle so as to realize automatic vehicle calling or automatic vehicle returning, and the automatic parking system is convenient to use and wide in application range.
Description
Technical Field
The invention relates to the technical field of automatic car calling and returning of unmanned cars, in particular to a method and a device for automatically calling and returning a car, a storage medium and computer equipment.
Background
The car calling and returning function of the unmanned car is also called as autonomous passenger-replacing parking, is an L4-level automatic driving technology for solving the problem of the last kilometer of a user, and is also an application scene of the automatic driving technology which is most hopeful to realize commercial land falling at present. The autonomous parking of the car as a substitute comprises a first step of 'calling the car by one key' function and a last step of 'returning the car by one key' function. The basic requirement of the one-key taxi calling function is that a user issues a taxi calling instruction through service software, a vehicle can be automatically driven to a designated passenger receiving point from a parking space, and the vehicle has the capability of automatic parking; the basic requirement of one-key vehicle returning is that a user issues a vehicle returning command through service software, and the vehicle can automatically drive to a parking lot from a passenger point and search and park in the parking space.
At present, the unmanned vehicle mainly adopts a visual processing and position estimation method to realize the vehicle calling and returning function, but the algorithm precision of the visual processing method is high, the visual processing method is easily influenced by the environment, and the realization of the vehicle calling and returning function of the unmanned vehicle is greatly influenced.
Disclosure of Invention
The invention aims to provide a method, a device, a storage medium and computer equipment for automatically calling and returning vehicles, which are convenient to operate and wide in application range.
In order to solve the technical problems, the technical scheme adopted by the invention specifically comprises the following contents:
a method for automatically calling and returning vehicles comprises the following steps:
acquiring request information of a user, wherein the request information is taxi calling request information or taxi returning request information;
acquiring state information and position information of the vehicle according to the request information;
obtaining a parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user;
and controlling the automatic parking of the vehicle according to the parking path of the vehicle so as to realize automatic vehicle calling or automatic vehicle returning.
As a preference of the above-mentioned aspect,
when the request information is the vehicle returning request information, the step of obtaining the parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user comprises the following steps:
acquiring target parking space information according to the state information and the position information of the vehicle;
obtaining a parking path according to the target parking space information, the state information and the position information of the vehicle;
controlling a vehicle to move from an upper passenger point to an authority limit cross-connection area according to a parking path, wherein the horizontal distance between the authority limit cross-connection area and a target parking space is three times of the length of the vehicle, and the vertical distance between the authority limit cross-connection area and the target parking space is equal to the width of the vehicle;
and the automatic control module of the vehicle controls the vehicle to move to the target parking space from the permission cross-connection area so as to finish returning the vehicle.
As a preference of the above-mentioned aspect,
when the request information is the request information for calling the vehicle, the step of obtaining the parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user comprises the following steps:
distributing target vehicles matched with the taxi calling request information according to the taxi calling request information of the user;
obtaining a parking path of the vehicle according to the position information of the target vehicle and the position information of the user;
controlling a vehicle to move from a parking space to an authority cross-connection area according to a parking path, wherein the vertical distance between the authority cross-connection area and a target parking space is equal to the width of the vehicle;
and the automatic control module of the vehicle controls the vehicle to move to the passenger point from the authority cross-connection area so as to complete the vehicle calling.
The invention also discloses a device for automatically calling and returning the car, which comprises an acquisition module, a car information determination module, a path determination module and a control module, wherein the acquisition module acquires the request information of a user, and the request information is the car calling request information or the car returning request information; the vehicle information determining module acquires state information and position information of the vehicle according to the request information; the path determining module acquires a parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user; the control module controls the vehicle to park automatically according to the parking path of the vehicle so as to realize automatic vehicle calling or automatic vehicle returning.
The invention also discloses a computer readable storage medium, on which a computer program is stored, which, when executed by a processor, implements the steps of the method for automatically calling and returning a car.
The invention also discloses computer equipment which comprises a memory and a processor connected with the memory, wherein the memory stores computer programs, and the computer programs realize the steps of the method for automatically calling and returning the car when being executed by the processor.
Compared with the prior art, the invention has the beneficial effects that:
the method for automatically calling the car can realize automatic car returning or automatic car calling according to the actual requirements of users, and has wide application range.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented in accordance with the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more clearly understood, the following preferred embodiments are described in detail with reference to the accompanying drawings.
Drawings
Fig. 1 is an application environment diagram of the method for planning an automatic parking path according to the present invention;
FIG. 2 is a schematic flow chart of the method for automatically calling and returning vehicles according to the present invention;
FIG. 3 is a block diagram of the automatic car-calling and returning device of the present invention;
FIG. 4 is a schematic diagram of the structure of the computer device of the present invention;
wherein the reference symbols in the various drawings are:
1. a terminal; 2. a server; 3. a vehicle; 4. an acquisition module; 5. a vehicle information determination module; 6. a path determination module; 7. and a control module.
Detailed Description
To further illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the following detailed description of the embodiments, structures, features and effects according to the present invention with reference to the accompanying drawings and preferred embodiments is as follows:
example one
Fig. 1 shows an application environment diagram of the method for automatically calling and returning a car, which is applied to an automatic car calling and returning system, the automatic car calling and returning system includes a terminal 1 and a server 2, the terminal 1 and the server 2 are connected through a network, the terminal 1 may be a desktop terminal or a mobile terminal, the mobile terminal may be at least one of a mobile phone, a tablet computer, a laptop computer, a portable wearable device, and the like, and the server 2 may be implemented by an independent server or a server cluster formed by a plurality of servers.
As shown in fig. 2, in an embodiment, the present invention provides a method for automatically calling and returning a car, which is described by taking the method as an example for being applied to the car 3, the server 2 and the terminal 1 in fig. 1, and includes:
acquiring request information of a user, wherein the request information is taxi calling request information or taxi returning request information;
acquiring state information and position information of the vehicle according to the request information;
obtaining a parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user;
and controlling the automatic parking of the vehicle according to the parking path of the vehicle so as to realize automatic vehicle calling or automatic vehicle returning.
Preferably, when the request information is a return request information, the obtaining of the parking path of the vehicle according to the state information and the location information of the vehicle and the request information of the user includes:
acquiring target parking space information according to the state information and the position information of the vehicle;
obtaining a parking path according to the target parking space information, the state information and the position information of the vehicle;
controlling a vehicle to move from an upper passenger point to an authority limit cross-connection area according to a parking path, wherein the horizontal distance between the authority limit cross-connection area and a target parking space is three times of the length of the vehicle, and the vertical distance between the authority limit cross-connection area and the target parking space is equal to the width of the vehicle;
and the automatic control module of the vehicle controls the vehicle to move to the target parking space from the permission cross-connection area so as to finish returning the vehicle.
Preferably, when the request information is a request for calling a vehicle, the obtaining of the parking path of the vehicle according to the state information and the location information of the vehicle and the request information of the user includes the following steps:
distributing target vehicles matched with the taxi calling request information according to the taxi calling request information of the user;
obtaining a parking path of the vehicle according to the position information of the target vehicle and the position information of the user;
controlling a vehicle to move from a parking space to an authority cross-connection area according to a parking path, wherein the vertical distance between the authority cross-connection area and a target parking space is equal to the width of the vehicle;
and the automatic control module of the vehicle controls the vehicle to move to the passenger point from the authority cross-connection area so as to complete the vehicle calling.
It should be understood that, although the steps in the flowchart of fig. 2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a portion of the steps in fig. 2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, and the order of performance of the sub-steps or stages is not necessarily sequential, but may be performed in turn or alternately with other steps or at least a portion of the sub-steps or stages of other steps.
Example two
As shown in fig. 3, the present embodiment provides an automatic car calling and returning device, which includes an obtaining module 4, a vehicle information determining module 5, a path determining module 6, and a control module 7, where the obtaining module 4 obtains request information of a user, and the request information is car calling request information or car returning request information; the vehicle information determination module 5 acquires the state information and the position information of the vehicle according to the request information; the path determining module 6 obtains a parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user; the control module 7 controls the vehicle to park automatically according to the parking path of the vehicle so as to realize automatic vehicle calling or automatic vehicle returning.
It should be noted that all or part of the modules in the item finding apparatus may be implemented by software, hardware and their combination. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
EXAMPLE III
The present embodiment provides a computer device, which may be a server, as shown in fig. 4, and includes a processor, a memory, a network interface, and a database connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The database of the computer device is used for storing operation behavior data, commodity information data and the like. The network interface of the computer device is used for communicating with an external terminal through a network connection. Which computer program, when being executed by a processor, carries out the steps of the method of finding an item.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In other embodiments, there is provided a computer device comprising a memory storing a computer program and a processor implementing the following steps when the processor executes the computer program: acquiring request information of a user, wherein the request information is taxi calling request information or taxi returning request information; acquiring state information and position information of the vehicle according to the request information; obtaining a parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user; and controlling the automatic parking of the vehicle according to the parking path of the vehicle so as to realize automatic vehicle calling or automatic vehicle returning.
In some other embodiments, when the request information is return request information, the processor executes the computer program to implement the step of obtaining the parking path of the vehicle according to the state information and the location information of the vehicle and the request information of the user, and specifically includes the following steps: acquiring target parking space information according to the state information and the position information of the vehicle; and obtaining a parking path according to the target parking space information, the state information and the position information of the vehicle.
In some other embodiments, when the request information is a request information for calling a car, the processor executes the computer program to implement the step of obtaining the parking path of the vehicle according to the state information of the vehicle, the location information, and the request information of the user, and specifically includes the following steps: distributing target vehicles matched with the taxi calling request information according to the taxi calling request information of the user; and obtaining the parking path of the vehicle according to the position information of the target vehicle and the position information of the user.
Example four
The present embodiments provide a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of: acquiring request information of a user, wherein the request information is taxi calling request information or taxi returning request information; acquiring state information and position information of the vehicle according to the request information; obtaining a parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user; and controlling the automatic parking of the vehicle according to the parking path of the vehicle so as to realize automatic vehicle calling or automatic vehicle returning.
In some other embodiments, when the request information is a return request information, the computer program is executed by the processor to implement the step of obtaining the parking path of the vehicle according to the state information of the vehicle, the location information, and the request information of the user, and specifically includes the following steps: acquiring target parking space information according to the state information and the position information of the vehicle; and obtaining a parking path according to the target parking space information, the state information and the position information of the vehicle.
In some other embodiments, when the request information is a request information for calling a car, the computer program when executed by the processor implements the step of obtaining a parking path of the vehicle according to the state information of the vehicle, the location information, and the request information of the user, and specifically includes the following steps: distributing target vehicles matched with the taxi calling request information according to the taxi calling request information of the user; and obtaining the parking path of the vehicle according to the position information of the target vehicle and the position information of the user.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a non-volatile computer-readable storage medium, and can include the processes of the embodiments of the methods described above when the program is executed. Any reference to memory, database, or other medium used in the embodiments provided herein may include non-volatile memory and/or volatile memory, wherein: (1) non-volatile memory can include read-only memory (ROM), Programmable ROM (PROM), Electrically Programmable ROM (EPROM), Electrically Erasable Programmable ROM (EEPROM), or flash memory; (2) volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), Dynamic RAM (DRAM), Synchronous DRAM (SDRAM), Double Data Rate SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchronous Link DRAM (SLDRAM), Rambus Direct RAM (RDRAM), direct bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention is not limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are within the protection scope of the present invention.
Claims (6)
1. A method for automatically calling and returning vehicles is characterized by comprising the following steps:
acquiring request information of a user, wherein the request information is taxi calling request information or taxi returning request information;
acquiring state information and position information of the vehicle according to the request information;
obtaining a parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user;
and controlling the automatic parking of the vehicle according to the parking path of the vehicle so as to realize automatic vehicle calling or automatic vehicle returning.
2. The method for automatically calling and returning the car as claimed in claim 1, wherein when the request information is a car returning request information, the step of obtaining a parking path of the car according to the state information, the location information and the request information of the user comprises the steps of:
acquiring target parking space information according to the state information and the position information of the vehicle;
obtaining a parking path according to the target parking space information, the state information and the position information of the vehicle;
controlling a vehicle to move from an upper passenger point to an authority limit cross-connection area according to a parking path, wherein the horizontal distance between the authority limit cross-connection area and a target parking space is three times of the length of the vehicle, and the vertical distance between the authority limit cross-connection area and the target parking space is equal to the width of the vehicle;
and the automatic control module of the vehicle controls the vehicle to move to the target parking space from the permission cross-connection area so as to finish returning the vehicle.
3. The method for automatically calling and returning the car as claimed in claim 1, wherein when the request information is a car calling request information, the step of obtaining a parking path of the car according to the state information, the location information and the request information of the user comprises the steps of:
distributing target vehicles matched with the taxi calling request information according to the taxi calling request information of the user;
obtaining a parking path of the vehicle according to the position information of the target vehicle and the position information of the user;
controlling a vehicle to move from a parking space to an authority cross-connection area according to a parking path, wherein the vertical distance between the authority cross-connection area and a target parking space is equal to the width of the vehicle;
and the automatic control module of the vehicle controls the vehicle to move to the passenger point from the authority cross-connection area so as to complete the vehicle calling.
4. The device for automatically calling and returning the car is characterized by comprising an acquisition module, a car information determination module, a path determination module and a control module, wherein the acquisition module acquires request information of a user, and the request information is car calling request information or car returning request information; the vehicle information determining module acquires state information and position information of the vehicle according to the request information; the path determining module acquires a parking path of the vehicle according to the state information and the position information of the vehicle and the request information of the user; the control module controls the vehicle to park automatically according to the parking path of the vehicle so as to realize automatic vehicle calling or automatic vehicle returning.
5. A computer-readable storage medium characterized by: stored thereon a computer program which, when being executed by a processor, carries out the steps of the method of automatic car return according to any one of claims 1 to 4.
6. A computer device, characterized by: comprising a memory and a processor connected to said memory, said memory storing a computer program which, when executed by said processor, carries out the steps of the method of automatic car return call according to any one of claims 1 to 4.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110155860.2A CN112884549A (en) | 2021-02-04 | 2021-02-04 | Method, device, storage medium and computer equipment for automatically calling and returning car |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202110155860.2A CN112884549A (en) | 2021-02-04 | 2021-02-04 | Method, device, storage medium and computer equipment for automatically calling and returning car |
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| CN202110155860.2A Pending CN112884549A (en) | 2021-02-04 | 2021-02-04 | Method, device, storage medium and computer equipment for automatically calling and returning car |
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| CN110706506A (en) * | 2019-09-16 | 2020-01-17 | 宁波吉利汽车研究开发有限公司 | Parking method, system, electronic device and storage medium |
| CN110969893A (en) * | 2019-12-16 | 2020-04-07 | 驭势科技（北京）有限公司 | Vehicle autonomous passenger-replacing parking method, vehicle-mounted equipment and storage medium |
| CN110979314A (en) * | 2019-12-16 | 2020-04-10 | 驭势科技（北京）有限公司 | Autonomous passenger-riding parking method, vehicle-mounted equipment and storage medium |
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2021
- 2021-02-04 CN CN202110155860.2A patent/CN112884549A/en active Pending
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| CN110466502A (en) * | 2018-05-11 | 2019-11-19 | 广州汽车集团股份有限公司 | A kind of valet parking method and apparatus |
| CN109040233A (en) * | 2018-08-01 | 2018-12-18 | 奇瑞汽车股份有限公司 | A kind of management system of autonomous driving vehicle, method, mobile terminal and server |
| CN110706506A (en) * | 2019-09-16 | 2020-01-17 | 宁波吉利汽车研究开发有限公司 | Parking method, system, electronic device and storage medium |
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Application publication date: 20210601 |