CN113112854A - Automatic parking control method and device - Google Patents
Automatic parking control method and device Download PDFInfo
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- CN113112854A CN113112854A CN202110326701.4A CN202110326701A CN113112854A CN 113112854 A CN113112854 A CN 113112854A CN 202110326701 A CN202110326701 A CN 202110326701A CN 113112854 A CN113112854 A CN 113112854A
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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
- G08G1/142—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces external to the vehicles
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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
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
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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
- G08G1/149—Traffic control systems for road vehicles indicating individual free spaces in parking areas coupled to means for restricting the access to the parking space, e.g. authorization, access barriers, indicative lights
Abstract
The invention provides an automatic parking control method and device, belongs to the technical field of automatic parking, and can at least partially solve the problems that parking spaces are probably occupied and parking experience is poor in the conventional automatic parking. The automatic parking control method of the invention comprises the following steps: receiving a parking request and real-time position information sent by a vehicle-mounted end; determining parking spaces according to the occupation information of the parking spaces in the parking lot, sending the parking space information to the vehicle-mounted terminal, and locking the parking spaces; judging the position relation between the vehicle-mounted end and the parking space according to the real-time position information of the vehicle-mounted end; and when the vehicle-mounted end is judged to reach the parking space, unlocking the parking space, and sending parking feedback information to the vehicle-mounted end so that the vehicle-mounted end can park.
Description
Technical Field
The invention belongs to the technical field of automatic parking control, and particularly relates to an automatic parking control method and device.
Background
The Internet of vehicles has become an important development direction of strategic emerging industries in China as the most potential application in the 5G and automobile fields, 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. The industrialization process of the internet of vehicles in China is gradually accelerated, and relatively complete industrial chain ecology including a communication chip, a communication module, terminal equipment, whole vehicle manufacturing, operation service, test authentication, high-precision positioning, map service and the like is formed around LTE-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.
In the prior art, in the process of autonomous parking, when a vehicle-mounted end initiates an autonomous parking request to obtain a parking space, the parking space may be preempted by other vehicle-mounted ends before the vehicle-mounted end automatically drives to the parking space, and when the vehicle-mounted end drives to the parking space, the autonomous parking request needs to be reinitiated, so that the parking experience is poor.
Disclosure of Invention
The invention at least partially solves the problems that the parking space is probably occupied and the parking experience is poor when the existing automatic parking is carried out, and provides the automatic parking control method and the automatic parking control device.
The technical scheme adopted for solving the technical problem of the invention is an automatic parking control method, which comprises the following steps:
receiving a parking request and real-time position information sent by a vehicle-mounted end;
determining parking spaces according to the occupation information of the parking spaces in the parking lot, sending the parking space information to the vehicle-mounted terminal, and locking the parking spaces;
judging the position relation between the vehicle-mounted end and the parking space according to the real-time position information of the vehicle-mounted end;
and when the vehicle-mounted end is judged to reach the parking space, unlocking the parking space, and sending parking feedback information to the vehicle-mounted end so that the vehicle-mounted end can park.
Optionally, the real-time location information includes high-precision real-time location information; the automatic parking control method further includes: receiving a positioning correction request and current position information sent by a vehicle-mounted end;
and sending correction data corresponding to the current position information to the vehicle-mounted end so that the vehicle-mounted end can determine high-precision real-time position information according to the correction data.
Optionally, the step of sending parking space information to the vehicle-mounted terminal includes: and sending the position information and the navigation information of the parking space to the vehicle-mounted terminal.
Optionally, the automatic parking control method further includes: and monitoring the obstacle condition around the vehicle-mounted end, and sending the monitoring result to the vehicle-mounted end.
Optionally, the automatic parking control method further includes: the method comprises the steps of obtaining the occupation information of each parking space of the parking lot, wherein the steps comprise:
detecting whether a ferromagnetic object exists on the parking space; and when a ferromagnetic object exists on the parking space, judging the motion state of the ferromagnetic object, and determining that the parking space is in an occupied state or an idle state according to the judgment result.
Another aspect of the present invention is directed to an automatic parking control apparatus, including:
the receiving unit is used for receiving a parking request and real-time position information sent by a vehicle-mounted end;
the parking space determining unit is used for determining parking spaces according to the occupation information of the parking spaces in the parking lot after receiving the parking request;
the judging unit is used for judging the position relation between the vehicle-mounted end and the parking space according to the real-time position information of the vehicle-mounted end;
the parking space locking unit is used for locking the parking space after the parking space determining unit determines the parking space; and unlocking the parking space when the vehicle-mounted end is judged to reach the parking space.
The control unit is used for determining parking spaces according to the occupation information of the parking spaces in the parking lot;
the transmitting unit is used for transmitting parking space information to the vehicle-mounted end; and after the parking space locking unit unlocks the parking space, parking feedback information is sent to the vehicle-mounted end, so that the vehicle-mounted end can park the vehicle conveniently.
Optionally, the real-time location information includes high-precision real-time location information; the receiving unit is also used for receiving a positioning correction request and current position information sent by the vehicle-mounted end;
the sending unit is further configured to send correction data corresponding to the current position information to the vehicle-mounted terminal, so that the vehicle-mounted terminal can determine high-precision real-time position information according to the correction data.
Optionally, the parking space information includes: location information and navigation information of the parking space.
Optionally, the automatic parking control device further includes: and the obstacle monitoring unit is used for monitoring the obstacle condition around the vehicle-mounted end and sending the monitoring result to the vehicle-mounted end.
Optionally, the automatic parking control device further includes: the parking space detection unit is used for detecting whether a ferromagnetic object exists on a parking space; and when a ferromagnetic object exists on the parking space, judging the motion state of the ferromagnetic object, and determining that the parking space is in an occupied state or an idle state according to the judgment result.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:
fig. 1 is a flowchart of an automatic parking control method according to embodiment 1 of the present invention;
fig. 2 is a flowchart of an automatic parking control method according to embodiment 2 of the present invention;
fig. 3 is a block diagram of an automatic parking control apparatus according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
The invention will be described in more detail below with reference to the accompanying drawings. Like elements in the various figures are denoted by like reference numerals. For purposes of clarity, the various features in the drawings are not necessarily drawn to scale. Moreover, certain well-known elements may not be shown in the figures.
In the following description, numerous specific details of the invention, such as structure, materials, dimensions, processing techniques and techniques of components, are set forth in order to provide a more thorough understanding of the invention. However, as will be understood by those skilled in the art, the present invention may be practiced without these specific details.
Example 1:
as shown in fig. 1, the present embodiment provides an automatic parking control method, including the steps of:
and S11, receiving the parking request and the real-time position information sent by the vehicle-mounted end.
And S12, determining parking spaces according to the occupation information of the parking spaces in the parking lot, sending the parking space information to the vehicle-mounted terminal, and locking the parking spaces.
And S13, judging the position relation between the vehicle-mounted end and the parking space according to the real-time position information of the vehicle-mounted end.
And S14, when the vehicle-mounted end is judged to reach the parking space, unlocking the parking space, and sending parking feedback information to the vehicle-mounted end so that the vehicle-mounted end can park the vehicle.
In the automatic parking control method provided by this embodiment, after receiving a parking request from the vehicle-mounted terminal, an appropriate parking space is allocated to the vehicle-mounted terminal, and the parking space is locked, so that the parking space is prevented from being occupied by other vehicles before the vehicle-mounted terminal parks.
Example 2:
the present embodiment provides an automatic parking control method, which
The method may be performed on three sides of a vehicle-mounted end, a parking lot end, and an edge node end. The automatic parking control method specifically comprises the following steps:
and S21, receiving the parking request and the real-time position information sent by the vehicle-mounted end.
Specifically, the user can be connected with the vehicle-mounted terminal through the mobile terminal, and communication between the mobile terminal and the vehicle-mounted terminal is achieved. The mobile terminal can be a mobile phone, an Ipad and other electronic equipment capable of installing the vehicle-mounted control APP, when a user gets off the vehicle, an automatic parking request can be input through the mobile terminal, and the automatic parking request is sent out through the vehicle-mounted terminal. Of course, the autonomous parking request may be pressed on the vehicle-mounted control panel and set to start the autonomous parking stage after a certain time.
After the vehicle-mounted end sends the parking request, the receiving unit at the edge node side receives the parking request and the real-time position information sent by the vehicle-mounted end.
Optionally, the real-time location information includes high-precision real-time location information; the automatic parking control method of the present embodiment further includes a step of performing high-precision calibration on the position information of the vehicle-mounted terminal S22. The method specifically comprises the following steps: s221, receiving a positioning correction request and current position information sent by a vehicle-mounted end; s222, sending correction data corresponding to the current position information to the vehicle-mounted end so that the vehicle-mounted end can determine high-precision real-time position information according to the correction data.
In this embodiment, an RTK base station with a built-in 5G module is provided at the parking lot end, and the measurement error can be calculated by comparing the position information measured by the satellite positioning receiver installed on the RTK base station with the known position information of the RTK base station. The RTK base station sends the original satellite observation data to a cloud correction number resolving and broadcasting platform through a 5G network, and the cloud platform carries out real-time networking modeling resolving after receiving the original satellite observation data to form a regional gridding differential correction number. And the terminal mobile station, such as a vehicle end RTK terminal, initiates a high-precision correction number request to the cloud platform and reports the initial position obtained by the current satellite positioning. And the cloud platform matches the corresponding correction number according to the position of the terminal and transmits the correction number to the terminal through a cellular network such as a 5G network vehicle-mounted end face (Internet). And the terminal equipment carries out high-precision positioning according to the satellite observation value of the terminal equipment and the received difference correction.
And S23, the parking space determining unit determines the parking spaces according to the occupation information of the parking spaces in the parking lot, sends the parking space information to the vehicle-mounted end and locks the parking spaces at the same time.
Optionally, this embodiment further includes: the method comprises the steps of obtaining the occupation information of each parking space of the parking lot, wherein the steps comprise: detecting whether a ferromagnetic object exists on the parking space; and when the ferromagnetic object exists on the parking space, judging the motion state of the ferromagnetic object, and determining that the parking space is in an occupied state or an idle state according to the judgment result. Specifically, in this embodiment, the detection unit may be disposed near the parking space to detect whether a ferromagnetic object exists on the parking space. Specifically, the detection unit may include: a dual-mode geomagnetic sensor and an NB-IoT module. When the vehicle-mounted end drives in or out of the parking space, the geomagnetic detection and the radar detection are combined, the geomagnetic sensor detects ferromagnetic objects on the parking space, and the Doppler radar sensor detects moving objects on the parking space simultaneously, so that the parking space occupation/idle state can be judged and switched. When the dual-mode geomagnetic sensor identifies that the vehicle-mounted end drives in/out, the parking space occupation/parking space idle information is sent to the edge end MEC through the NB-IOT network.
In step S23, the parking space may be locked by the electronic lift ground lock to prevent other vehicles from occupying the parking space. The electronic lifting lock is arranged at the parking lot end and corresponds to the parking space, and the electronic lifting lock can be controlled through NB geomagnetism. Specifically, after the edge node determines that a parking space for parking the vehicle for the vehicle-mounted terminal is prepared, a request for raising the electronic lifting lock is sent to the NB geomagnetism corresponding to the parking space. And after the NB receives the request in the terrestrial magnetism, the electronic lifting lock is lifted. It can be understood that, in the present embodiment, the parking space may also be locked in other manners as long as other vehicles can be prevented from occupying the parking space.
Optionally, in this step, the step of sending parking space information to the vehicle-mounted terminal includes: and sending the position information and the navigation information of the parking space to the vehicle-mounted end. In this step, when the position information and the navigation information are sent to the vehicle-mounted terminal, the navigation track points can be issued according to the frequency.
And S24, judging the position relation between the vehicle-mounted end and the parking space according to the real-time position information of the vehicle-mounted end.
The vehicle-mounted end follows the vehicle, and is in a motion state all the time in the autonomous parking process and continuously moves. In the step, the real-time position of the vehicle-mounted end is judged, and whether the vehicle-mounted end reaches the parking space is judged, so that the self-service parking operation of the vehicle-mounted end can be smoothly carried out.
Optionally, in this embodiment, before it is determined that the vehicle-mounted end reaches the parking space, the method further includes: and monitoring the obstacle condition around the parking vehicle-mounted end, and sending the monitoring result to the vehicle-mounted end.
In the step, the environment data around the vehicle-mounted end can be detected through the environment detection unit, and then the obstacle situation around the vehicle-mounted end is determined after the environment data is processed, so that the vehicle-mounted end can park independently and smoothly.
The obstacle monitoring unit is arranged at the vehicle-mounted end, and acquires environmental data around the vehicle-mounted end in time. Specifically, the environment detection unit may include a camera, a millimeter wave radar, an ultrasonic radar, and the like provided outside the vehicle-mounted terminal. The camera is used for collecting image information of obstacles around the vehicle-mounted end, and the millimeter wave radar and the ultrasonic radar can be used for detecting obstacle distance and dynamic information around the vehicle-mounted end.
And S25, when the vehicle-mounted end is judged to reach the parking space, unlocking the parking space, and sending parking feedback information to the vehicle-mounted end so that the vehicle-mounted end can park the vehicle.
And when the edge node end judges that the vehicle-mounted end reaches the parking space, initiating a request for descending the electronic lifting lock to the NB geomagnetism corresponding to the corresponding parking space. After the NB receives the request, the electronic lifting lock is lowered, and the vehicle-mounted terminal can park.
In the automatic parking control method provided by the embodiment, the edge node introduces data, application and intelligence to the edge side of the base station, on one hand, the service is deployed at the edge node by reducing data transmission routing nodes to reduce end-to-end communication delay, and auxiliary driving information such as alarm and the like is sent to an on-board unit (OBU) in emergency through local calculation of a 5G network, other cellular networks and an edge node vehicle connection platform. On the other hand, the edge node is used as a local service hosting environment, local vehicle networking services with geographic and regional characteristics and higher throughput can be supported and deployed, and path optimization analysis, driving and parking guidance, safety auxiliary information pushing, regional vehicle-mounted end service guiding and the like can be achieved through the edge node vehicle networking platform.
Example 3:
as shown in fig. 3, the present embodiment provides an automatic parking control apparatus that can control vehicle-mounted parking according to the automatic parking control method provided in embodiment 1 or embodiment 2. The automatic parking control method comprises the following steps: the parking space locking device comprises a receiving unit, a parking space determining unit, a judging unit, a parking space locking unit, a control unit and a sending unit.
The receiving unit is used for receiving the parking request and the real-time position information sent by the vehicle-mounted end.
The parking space determining unit is used for determining the parking spaces according to the occupation information of the parking spaces in the parking lot after receiving the parking request.
The judging unit is used for judging the position relation between the vehicle-mounted end and the parking space according to the real-time position information of the vehicle-mounted end.
The parking space locking unit is used for locking the parking space after the parking space determining unit determines the parking space; and unlocking the parking space when the vehicle-mounted end is judged to reach the parking space.
The transmitting unit is used for transmitting parking space information to the vehicle-mounted end; after the parking space locking unit unlocks the parking space, parking feedback information is sent to the vehicle-mounted end, so that the vehicle-mounted end can park the vehicle conveniently.
Optionally, the real-time location information includes high-precision real-time location information; the receiving unit is also used for receiving the positioning correction request and the current position information sent by the vehicle-mounted end. The sending unit is also used for sending correction data corresponding to the current position information to the vehicle-mounted end, so that the vehicle-mounted end can determine high-precision real-time position information according to the correction data.
Optionally, the parking space information includes: location information and navigation information of the parking space.
Optionally, the automatic parking control device provided in this embodiment further includes: and the obstacle monitoring unit is used for monitoring the obstacle condition around the parking vehicle-mounted end and sending the monitoring result to the vehicle-mounted end. The obstacle monitoring unit is arranged at the vehicle-mounted end and acquires environmental data around the vehicle-mounted end in time. Specifically, the environment detection unit may include a camera, a millimeter wave radar, an ultrasonic radar, and the like provided outside the vehicle-mounted terminal. The camera is used for collecting image information of obstacles around the vehicle-mounted end, and the millimeter wave radar and the ultrasonic radar can be used for detecting obstacle distance and dynamic information around the vehicle-mounted end.
Optionally, the automatic parking control device provided in this embodiment further includes: the parking space detection unit is used for detecting whether a ferromagnetic object exists on a parking space; and when the ferromagnetic object exists on the parking space, judging the motion state of the ferromagnetic object, and determining that the parking space is in an occupied state or an idle state according to the judgment result. The detection unit may include: a dual-mode geomagnetic sensor and an NB-IoT module. When the vehicle-mounted end drives in or out of the parking space, the geomagnetic detection and the radar detection are combined, the geomagnetic sensor detects ferromagnetic objects on the parking space, and the Doppler radar sensor detects moving objects on the parking space simultaneously, so that the parking space occupation/idle state can be judged and switched. When the dual-mode geomagnetic sensor identifies that the vehicle-mounted end drives in/out, the parking space occupation/parking space idle information is sent to the edge end MEC through the NB-IOT network.
In the automatic parking control method provided by this embodiment, after receiving a parking request from the vehicle-mounted terminal, an appropriate parking space is allocated to the vehicle-mounted terminal, and the parking space is locked, so that the parking space is prevented from being occupied by other vehicles before the vehicle-mounted terminal parks.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, 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 identical elements in a process, method, article, or apparatus that comprises the element.
While embodiments in accordance with the invention have been described above, these embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments described. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various embodiments with various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and their full scope and equivalents.
Claims (10)
1. An automatic parking control method characterized by comprising:
receiving a parking request and real-time position information sent by a vehicle-mounted end;
determining parking spaces according to the occupation information of the parking spaces in the parking lot, sending the parking space information to the vehicle-mounted terminal, and locking the parking spaces;
judging the position relation between the vehicle-mounted end and the parking space according to the real-time position information of the vehicle-mounted end;
and when the vehicle-mounted end is judged to reach the parking space, unlocking the parking space, and sending parking feedback information to the vehicle-mounted end so that the vehicle-mounted end can park.
2. The automatic parking control method according to claim 1, wherein the real-time position information includes high-precision real-time position information; the automatic parking control method further includes: receiving a positioning correction request and current position information sent by a vehicle-mounted end;
and sending correction data corresponding to the current position information to the vehicle-mounted end so that the vehicle-mounted end can determine high-precision real-time position information according to the correction data.
3. The automatic parking control method according to claim 1, wherein the step of transmitting parking space information to the vehicle-mounted terminal includes: and sending the position information and the navigation information of the parking space to the vehicle-mounted terminal.
4. The automatic parking control method according to claim 1, characterized by further comprising: and monitoring the obstacle condition around the vehicle-mounted end, and sending the monitoring result to the vehicle-mounted end.
5. The automatic parking control method according to claim 1, characterized by further comprising: the method comprises the steps of obtaining the occupation information of each parking space of the parking lot, wherein the steps comprise:
detecting whether a ferromagnetic object exists on the parking space; and when a ferromagnetic object exists on the parking space, judging the motion state of the ferromagnetic object, and determining that the parking space is in an occupied state or an idle state according to the judgment result.
6. An automatic parking control apparatus, characterized by comprising:
the receiving unit is used for receiving a parking request and real-time position information sent by a vehicle-mounted end;
the parking space determining unit is used for determining parking spaces according to the occupation information of the parking spaces in the parking lot after receiving the parking request;
the judging unit is used for judging the position relation between the vehicle-mounted end and the parking space according to the real-time position information of the vehicle-mounted end;
the parking space locking unit is used for locking the parking space after the parking space determining unit determines the parking space; when the vehicle-mounted end is judged to reach the parking space, unlocking the parking space;
the transmitting unit is used for transmitting parking space information to the vehicle-mounted end; and after the parking space locking unit unlocks the parking space, parking feedback information is sent to the vehicle-mounted end, so that the vehicle-mounted end can park the vehicle conveniently.
7. The automatic parking control apparatus according to claim 6, wherein the real-time position information includes high-precision real-time position information; the receiving unit is also used for receiving a positioning correction request and current position information sent by the vehicle-mounted end;
the sending unit is further configured to send correction data corresponding to the current position information to the vehicle-mounted terminal, so that the vehicle-mounted terminal can determine high-precision real-time position information according to the correction data.
8. The automatic parking control apparatus according to claim 6, wherein the parking space information includes: location information and navigation information of the parking space.
9. The automatic parking control apparatus according to claim 6, further comprising: and the obstacle monitoring unit is used for monitoring the obstacle condition around the vehicle-mounted end and sending the monitoring result to the vehicle-mounted end.
10. The automatic parking control apparatus according to claim 6, further comprising: the parking space detection unit is used for detecting whether a ferromagnetic object exists on a parking space; and when a ferromagnetic object exists on the parking space, judging the motion state of the ferromagnetic object, and determining that the parking space is in an occupied state or an idle state according to the judgment result.
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| CN114333405A (en) * | 2021-12-30 | 2022-04-12 | 阿波罗智联(北京)科技有限公司 | Method for assisting the parking of a vehicle |
| CN115171420A (en) * | 2022-05-30 | 2022-10-11 | 东风柳州汽车有限公司 | Vehicle parking and taking control method, device, equipment and storage medium |
| CN115171420B (en) * | 2022-05-30 | 2024-01-30 | 东风柳州汽车有限公司 | Vehicle parking and taking control method, device, equipment and storage medium |
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