CN113129632A

CN113129632A - Autonomous parking method, AVP platform and parking lot management system

Info

Publication number: CN113129632A
Application number: CN202110340572.4A
Authority: CN
Inventors: 张余
Original assignee: China United Network Communications Group Co Ltd
Current assignee: China United Network Communications Group Co Ltd
Priority date: 2021-03-30
Filing date: 2021-03-30
Publication date: 2021-07-16

Abstract

The invention provides an autonomous parking method, an AVP platform and a parking lot management system, wherein the method comprises the following steps: sending a parking space monitoring information request to a parking lot management system; generating a target driving path according to the current position information of the vehicle terminal, the parking space position information and prestored parking lot map information, and sending the target driving path to the vehicle terminal; receiving parking space obstacle warning information sent by the parking lot management system; and regenerating a new target driving path according to the parking space obstacle warning information, and sending the new target driving path to a vehicle terminal. The method, the AVP platform and the parking lot management system can solve the problems that if an obstacle appears in an allocated parking space in the parking process of the existing parking method, and the obstacle is not moved all the time, when a vehicle runs to the parking space, the parking and warehousing cannot be realized, so that the autonomous parking fails, and the user experience is poor.

Description

Autonomous parking method, AVP platform and parking lot management system

Technical Field

The invention relates to the technical field of parking, in particular to an autonomous parking method, an AVP platform and a parking lot management system.

Background

Autonomous parking is also called one-touch parking, and means that a user can park a currently driven vehicle into a designated or random parking space. However, if an obstacle appears in the allocated parking space during parking, and the obstacle does not move all the time, when the vehicle travels to the parking space, parking and warehousing cannot be achieved, so that autonomous parking fails, and user experience is not good.

Disclosure of Invention

The invention aims to solve the technical problems of the prior art, and provides an autonomous parking method, an AVP platform and a parking lot management system, which are used for solving the problems that if an obstacle appears in an allocated parking space in the parking process and the obstacle does not move all the time, the vehicle cannot be parked and warehoused when driving to the parking space, so that autonomous parking fails and user experience is poor in the conventional parking method.

In a first aspect, an embodiment of the present invention provides an autonomous parking method, which is applied to an AVP platform, and the method includes:

after the parking space position information of autonomous parking is obtained, a parking space monitoring information request is sent to a parking lot management system, so that the parking lot management system calls monitoring equipment corresponding to the parking space position information to monitor the parking space after receiving the parking space monitoring information request;

generating a target driving path according to current position information of a vehicle terminal, the parking space position information and prestored parking lot map information, and sending the target driving path to the vehicle terminal so that the vehicle terminal controls the vehicle to automatically drive according to the target driving path;

receiving parking space obstacle warning information sent by the parking lot management system when the parking lot management system detects that an obstacle appears on the parking space and the time of the obstacle in a static state exceeds a preset threshold value;

and acquiring new current position information and new parking space position information of a vehicle terminal according to the parking space obstacle alarm information, regenerating a new target driving path according to the new current position information, the new parking space position information and pre-stored parking lot map information, and sending the new target driving path to the vehicle terminal so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until reaching a new parking space.

Preferably, the acquiring parking space position information of autonomous parking includes:

receiving an autonomous parking request sent by a TSP platform, wherein the autonomous parking request is sent after the TSP platform receives the autonomous parking request sent by a mobile terminal and judges that the vehicle terminal meets an autonomous parking condition according to state information of the vehicle terminal, and the vehicle state information comprises: whether the gear is P gear, whether the vehicle is flamed out and whether the vehicle door is closed, wherein if the gear is P gear, the vehicle is flamed out and the vehicle door is closed, the vehicle terminal is judged to meet the autonomous parking condition, otherwise, the autonomous parking condition is not met;

sending a parking space acquisition request to the parking lot management system according to the autonomous parking request;

and receiving the parking space position information returned by the parking lot management system.

Preferably, before generating the target driving path according to the current position information of the vehicle terminal, the parking space position information, and the pre-stored parking lot map information, the method further includes:

sending a current position information acquisition request to the vehicle terminal, and controlling the vehicle to automatically ignite and start;

and receiving the current position information returned by the vehicle terminal.

Preferably, before the acquiring new current position information and new parking space position information of the vehicle terminal according to the parking space obstacle warning information, the method further includes:

sending a message that the vehicle stops automatic driving to an edge server, so that the edge server forwards the message that the vehicle stops automatic driving to the vehicle terminal, and the vehicle terminal controls the vehicle to stop automatic driving;

the acquiring of the new current position information and the new parking space position information of the vehicle terminal according to the parking space obstacle warning information includes:

sending a request for acquiring the current position information of the vehicle to the edge server, wherein the edge server receives the real-time position information sent by the vehicle terminal in real time in the autonomous parking process of the vehicle;

receiving the new current position information returned by the edge server;

sending a parking space query request carrying the new current position information to the parking lot management system so that the parking lot management system allocates a new parking space to the vehicle terminal according to the new current position information and returns the new parking space position information to the AVP platform;

and receiving the new parking space position information sent by the parking lot management system.

Preferably, the sending the new target driving path to a vehicle terminal specifically includes:

sending the new target driving path to the edge server so that the edge server forwards the new target driving path to the vehicle terminal;

after the sending the new target travel path to the edge server, the method further includes:

receiving autonomous parking success information sent by the vehicle terminal when the vehicle terminal detects that the vehicle is parked in the new parking space;

receiving vehicle parking success information which is sent when the edge server judges that the vehicle is parked in the new parking space according to the real-time position information of the vehicle terminal and judges that the vehicle meets the parking requirement according to the image information after the vehicle is parked;

and sending parking success information to the TSP platform according to the autonomous parking success information and the vehicle parking success information, so that the TSP platform forwards the parking success information to the mobile terminal.

In a second aspect, an embodiment of the present invention provides an autonomous parking method, which is applied to a parking lot management system, and the method includes:

receiving a parking space monitoring information request sent by an AVP platform, wherein the parking space monitoring information request is sent after the AVP platform acquires parking space position information of autonomous parking, the parking space position information is used for triggering the AVP platform to generate a target driving path according to the current position information of a vehicle terminal, the parking space position information and prestored parking lot map information, and the target driving path is sent to the vehicle terminal so that the vehicle terminal can control the vehicle to automatically drive according to the target driving path;

calling monitoring equipment corresponding to the parking space position information to monitor the parking space;

if the fact that the obstacle appears on the parking space is detected, and the time of the obstacle in a static state exceeds a preset threshold value, sending parking space obstacle warning information to the AVP platform, enabling the AVP platform to obtain new current position information and new parking space position information of a vehicle terminal according to the parking space obstacle warning information, regenerating a new target driving path according to the new current position information, the new parking space position information and pre-stored parking lot map information, and sending the new target driving path to the vehicle terminal, so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until the new parking space is reached.

Preferably, before receiving the parking space monitoring information request sent by the AVP platform, the method further includes:

receiving a parking space acquisition request sent by the AVP platform, wherein the parking space acquisition request is sent by the AVP platform after receiving an autonomous parking request sent by the TSP platform;

and returning the parking space position information to the AVP platform according to the parking space acquisition request.

Preferably, after the sending of the parking space obstacle warning information to the AVP platform, the method further includes:

receiving a parking space query request carrying the new current position information and sent by the AVP platform;

and distributing a new parking space for the vehicle terminal according to the new current position information, and returning the new parking space position information to the AVP platform.

In a third aspect, an embodiment of the present invention provides an AVP platform, including:

the monitoring request sending module is used for sending a parking space monitoring information request to a parking lot management system after the parking space position information of the autonomous parking is acquired, so that the parking lot management system calls monitoring equipment corresponding to the parking space position information to monitor the parking space after receiving the parking space monitoring information request;

the first path sending module is connected with the monitoring request sending module and used for generating a target driving path according to the current position information of the vehicle terminal, the parking space position information and prestored parking lot map information and sending the target driving path to the vehicle terminal so that the vehicle terminal can control the vehicle to automatically drive according to the target driving path;

the alarm receiving module is connected with the monitoring request sending module and used for receiving parking space obstacle alarm information sent by the parking lot management system when the parking space obstacle is detected to appear and the time of the obstacle in a static state exceeds a preset threshold value;

and the second path sending module is connected with the alarm receiving module and used for acquiring new current position information and new parking space position information of a vehicle terminal according to the parking space obstacle alarm information, regenerating a new target driving path according to the new current position information, the new parking space position information and prestored parking lot map information, and sending the new target driving path to the vehicle terminal so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until reaching a new parking space.

In a fourth aspect, an embodiment of the present invention provides a parking lot management system, including:

the system comprises a monitoring request receiving module, a monitoring parking space information request sending by an AVP platform, wherein the monitoring parking space information request is sent by the AVP platform after the AVP platform obtains parking space position information of autonomous parking, the parking space position information is used for triggering the AVP platform to generate a target driving path according to the current position information of a vehicle terminal, the parking space position information and prestored parking lot map information, and the target driving path is sent to the vehicle terminal so that the vehicle terminal can control the vehicle to automatically drive according to the target driving path;

the parking space monitoring module is connected with the monitoring request receiving module and used for calling monitoring equipment corresponding to the parking space position information to monitor the parking space;

and the warning sending module is connected with the parking space monitoring module and used for sending parking space obstacle warning information to the AVP platform if the situation that the obstacle appears on the parking space is detected and the time of the obstacle in a static state exceeds a preset threshold value, so that the AVP platform obtains new current position information and new parking space position information of a vehicle terminal according to the parking space obstacle warning information, regenerates a new target driving path according to the new current position information, the new parking space position information and prestored parking lot map information and sends the new target driving path to the vehicle terminal, and the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until the new parking space is reached.

In the method for autonomous parking, the AVP platform, and the parking lot management system provided in the embodiments of the present invention, after the AVP platform obtains the parking space position information for autonomous parking, a parking space monitoring information request is sent to the parking lot management system, and after the parking lot management system receives the parking space monitoring information request, the parking lot management system calls a monitoring device corresponding to the parking space position information to monitor the parking space, and when the parking lot management system detects that an obstacle appears on the parking space and the time of the obstacle in a stationary state exceeds a preset threshold, a parking space obstacle warning information is sent to the AVP platform, so that the AVP platform obtains new current position information and new parking space position information of a vehicle terminal according to the parking space obstacle warning information, and regenerates a new target parking lot driving path according to the new current position information, the new parking space position information, and the prestored map information, and sending the new target driving path to a vehicle terminal so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until reaching a new parking space, thereby solving the problems that in the existing parking method, if an obstacle appears in the allocated parking space and the obstacle does not move all the time, when the vehicle drives to the parking space, parking and warehousing cannot be realized, so that autonomous parking fails and user experience is poor.

Drawings

FIG. 1: the method is a scene schematic diagram of autonomous parking according to an embodiment of the invention;

FIG. 2: a flowchart of a method for autonomous parking according to embodiment 1 of the present invention;

FIG. 3: the method is an interactive schematic diagram of the autonomous parking method according to the embodiment of the invention;

FIG. 4: a flowchart of an autonomous parking method according to embodiment 2 of the present invention;

FIG. 5: is a schematic structural diagram of an AVP platform according to embodiment 3 of the present invention;

FIG. 6: a schematic structural diagram of a parking lot management system according to embodiment 4 of the present invention is shown.

Detailed Description

In order to make those skilled in the art better understand the technical solution of the present invention, the following detailed description will be made with reference to the accompanying drawings.

It is to be understood that the specific embodiments and figures described herein are merely illustrative of the invention and are not limiting of the invention.

It is to be understood that the embodiments and features of the embodiments can be combined with each other without conflict.

It is to be understood that, for the convenience of description, only parts related to the present invention are shown in the drawings of the present invention, and parts not related to the present invention are not shown in the drawings.

It should be understood that each unit and module related in the embodiments of the present invention may correspond to only one physical structure, may also be composed of multiple physical structures, or multiple units and modules may also be integrated into one physical structure.

It will be understood that, without conflict, the functions, steps, etc. noted in the flowchart and block diagrams of the present invention may occur in an order different from that noted in the figures.

It is to be understood that the flowchart and block diagrams of the present invention illustrate the architecture, functionality, and operation of possible implementations of systems, apparatus, devices and methods according to various embodiments of the present invention. Each block in the flowchart or block diagrams may represent a unit, module, segment, code, which comprises executable instructions for implementing the specified function(s). Furthermore, each block or combination of blocks in the block diagrams and flowchart illustrations can be implemented by a hardware-based system that performs the specified functions or by a combination of hardware and computer instructions.

It is to be understood that the units and modules involved in the embodiments of the present invention may be implemented by software, and may also be implemented by hardware, for example, the units and modules may be located in a processor.

It should be noted that the scene diagram described in the embodiment of the present application is for more clearly illustrating the technical solution of the embodiment of the present application, and does not constitute a limitation to the technical solution provided in the embodiment of the present application, and as a person having ordinary skill in the art knows that along with the evolution of the network architecture and the appearance of a new service scenario, the technical solution provided in the embodiment of the present application is also applicable to similar technical problems.

Fig. 1 is a schematic view of an autonomous parking scene provided in an embodiment of the present application, where each part is described as follows:

(1) the user of the mobile terminal can download and install an APP client of a TSP (Telematics Service Provider) platform in advance, and register the APP client on the TSP platform of a car factory to be bound with the vehicle terminal.

(2) The TSP platform is an internet of vehicles platform of a vehicle factory, and can be respectively connected with a mobile terminal, a vehicle terminal and an AVP (Automated Valet Parking) platform through a 5G network.

(3) The vehicle terminal may include an OBU (On board Unit) and a positioning device installed On the vehicle, such as an RTK (Real-time kinematic) terminal or a camera based On visual positioning or a laser radar, and has capabilities of high-precision map, path planning, and deviation correction processing.

(4) The AVP platform has the capabilities of equipment management and vehicle management, and can realize the functions of one-key parking, one-key car calling, parking space inquiry, parking space reservation and the like.

(5) The parking lot management system is a management system which is provided for a parking service provider and is used for providing parking service, and the AVP platform can be interacted with the management system to realize the inquiry of parking spaces.

(6) And the parking lot end (field end for short) is provided with an RTK base station, an intelligent camera, a laser radar, a millimeter wave radar and other auxiliary positioning equipment and obstacle image acquisition equipment. The intelligent camera, the laser radar and the millimeter wave radar are respectively in butt joint with an edge server and a parking lot management system which are located in field end edge cloud through an embedded 5G industrial module, or are respectively in butt joint with the edge server and the parking lot management system through a wired network, and the field end is provided with the geomagnetic of NB-IoT (Narrow Band Internet of Things) so as to timely report parking space state information to the parking lot management system.

(7) The Edge server, for example, may be an MEC (Mobile Edge Computing), is located in the 5G network Edge cloud, and specifically may include an Edge server located at the parking lot end and an Edge server not located at the parking lot end, and when the vehicle travels to the parking lot entrance, the vehicle terminal will release a PDU (Protocol Data Unit) session connection with the Edge server not located at the parking lot end, and establish a PDU session connection with the Edge server located at the parking lot end.

Based on the scene diagram shown in fig. 1, the following describes a related embodiment of autonomous parking according to the present application.

Example 1:

the embodiment provides an autonomous parking method, which is applied to an AVP platform and comprises the following steps of:

step S102: and after the parking space position information of the autonomous parking is acquired, sending a parking space monitoring information request to a parking lot management system, so that the parking lot management system calls monitoring equipment corresponding to the parking space position information to monitor the parking space after receiving the parking space monitoring information request.

In this embodiment, the AVP platform may obtain the parking space position information input by the user through the TSP platform, or may obtain the parking space position information from the parking lot management system after receiving the autonomous parking request sent by the user and forwarded by the TSP platform. The AVP platform sends a parking space monitoring information request to a parking lot management system after acquiring the parking space position information of the autonomous parking, and the parking lot management system sends a monitoring message to monitoring equipment corresponding to the parking space position information after receiving the information request so as to start monitoring of the parking space, wherein the monitoring equipment comprises a camera and the like.

Optionally, the obtaining of the parking space position information of the autonomous parking may include:

receiving an autonomous parking request sent by a TSP platform, wherein the autonomous parking request is sent after the TSP platform receives the autonomous parking request sent by a mobile terminal and the vehicle terminal is judged to meet autonomous parking conditions according to state information of the vehicle terminal, and the vehicle state information comprises: whether the gear is P gear, whether the vehicle is flamed out and whether the vehicle door is closed, wherein if the gear is P gear, the vehicle is flamed out and the vehicle door is closed, the vehicle terminal is judged to meet the autonomous parking condition, otherwise, the autonomous parking condition is not met;

sending a parking space acquisition request to a parking lot management system according to the autonomous parking request;

In this embodiment, when the vehicle travels to the entrance of the parking lot, the user can stop the vehicle at the entrance of the parking lot or any position in the parking lot, and close the door after getting off the vehicle. At the moment, a user can send an autonomous parking request to the TSP platform of the car factory by clicking the one-key parking function on the mobile terminal APP, the TSP platform sends a vehicle state information acquisition request to the vehicle terminal after receiving the request, the vehicle terminal returns the vehicle state information to the TSP platform, and the TSP platform judges whether the vehicle terminal meets the autonomous parking condition or not after receiving the vehicle state information. In order to train good habits of a user, avoid the occurrence of safety accidents caused by the fact that the vehicle moves forwards and backwards due to uneven road surface when the user gets off the vehicle without flameout or without being hooked into the P gear and send an autonomous parking request through the mobile terminal, and avoid the occurrence of vehicle scraping accidents caused by the fact that the vehicle door is not completely closed due to user errors in the autonomous parking process, the autonomous parking condition is that the vehicle is flameout, the gear is the P gear and the vehicle door is closed. When the TSP platform judges that the vehicle terminal meets the autonomous parking condition according to the vehicle state information, the AVP platform sends an autonomous parking request to the AVP platform, and the AVP platform sends a parking space acquisition request to a parking lot management system according to the autonomous parking request so as to acquire parking space position information.

It should be noted that the vehicle terminal has successfully registered with the 5G network before the mobile terminal sends the autonomous parking request to the TSP platform. Specifically, the vehicle terminal is powered on and then sends a registration request to the 5G base station, where the registration request includes a vehicle Identifier, such as SUPI (Subscription Permanent Identifier) or 5G-GUTI (global uniform temporal UE Identity), a registration type (initial registration) indicating that the terminal is a vehicle terminal, and requested slice information, such as NSSAI (network slice selection assistance information), and may further include parameters such as last Access TAI (Tracking Area Identifier), security parameters, UE 5GC capability, PDU session status, PDU session to be activated, a subsequent request, micro (multimedia integrated connectivity) preference, etc. the 5G base station selects an appropriate AMF (multimedia Access Function) according to the registration request of the vehicle terminal, access and mobility Management function), and forwards the registration request to the AMF, and the AMF receives the registration request and then selects a suitable UDM (Unified Data Management function) to acquire the subscription information of the vehicle terminal, where the subscription information of the vehicle terminal indicates that the terminal type is a vehicle terminal, and the allocated slice is a slice specifically allocated to the internet of vehicles in a Unified manner. And after receiving the subscription information of the vehicle-mounted terminal sent by the UDM, the AMF generates context information, and sends registration success information to the vehicle terminal. The method comprises the steps that a PDU Session establishment request is sent to a 5G base station after a vehicle terminal is successfully registered, the 5G base station forwards the request to an AMF (advanced multimedia messaging Function), the AMF selects a proper SMF (Session Management Function) according to subscription information, the SMF selects a UPF (User plane Function) directly connected with a base station of a cell where the vehicle-mounted terminal is located according to slice information of the vehicle terminal so as to determine an edge server establishing PDU Session connection with the vehicle terminal, and the vehicle terminal establishes PDU Session connection with the edge server of the cell where the vehicle terminal is located. When a vehicle drives to an entrance of a parking lot, a vehicle terminal is switched to a base station at the position from the base station at the registration time, the SMF selects a UPF directly connected with the base station of a cell where the vehicle terminal is located so as to determine an edge server establishing PDU session connection with the vehicle terminal, the vehicle terminal releases the PDU session connection with the last edge server, and simultaneously, the PDU session connection is established with an edge server located at a field end of the cell where the vehicle terminal is located.

Step S104: and generating a target driving path according to the current position information, the parking space position information and the prestored parking lot map information of the vehicle terminal, and sending the target driving path to the vehicle terminal so that the vehicle terminal controls the vehicle to automatically drive according to the target driving path.

Specifically, the AVP platform acquires the current position information of the vehicle terminal by sending a current position information acquisition request to the vehicle terminal, and controls the vehicle to automatically ignite and start.

In the embodiment, in order to avoid that the vehicle cannot find out that the vehicle deviates from the target driving route in time during the driving process, and simultaneously in order to reduce the power consumption of the vehicle and ensure the accuracy of the driving route of the vehicle, in the running process of the vehicle, the vehicle terminal can acquire the position information of the vehicle terminal in real time, and send the position information acquired in real time and the target running path to the edge server, the edge server performs deviation correction judgment, the edge server can fit the real-time position information of the vehicle with the target running path, judge whether the vehicle deviates from the target running path, and timely send a deviation correction prompt to the vehicle terminal when judging that the vehicle deviates from the target running path, the deviation correction prompt can comprise related information for indicating the vehicle to carry out correction processing, so that the vehicle can carry out deviation correction processing according to the deviation correction prompt and then return to a correct target driving route again.

In the embodiment, in order to widen the view of obstacle detection, it is avoided that the obstacle vehicle terminal located at the corner of the parking lot cannot detect in time, and in order to reduce the power consumption of the vehicle terminal. In the process of starting a vehicle and driving to a parking space, a camera or a millimeter wave radar or a laser radar at a field end can send video or image data collected on a target driving path to an edge server through a 5G network or a wired network in real time, so that the edge server can detect obstacles according to the collected data, judge whether the obstacles exist on the target driving path in real time, and send obstacle warning information to a vehicle terminal by the edge server when the obstacles exist. And the vehicle terminal judges whether to avoid the obstacle, and if so, the vehicle terminal stops and waits until the obstacle disappearance information sent by the edge server is received and then continues to run according to the target running path.

Step S106: and receiving parking space obstacle warning information sent when the parking lot management system detects that an obstacle appears on a parking space and the time of the obstacle in a static state exceeds a preset threshold value.

In this embodiment, when the parking lot management system monitors that an obstacle appears in a parking space through the monitoring device, if the time that the obstacle is in a static state exceeds a preset threshold, it indicates that the obstacle cannot move by itself, and in order to avoid a failure of autonomous parking, parking space obstacle warning information is sent to the parking lot management system.

Step S108: and acquiring new current position information and new parking space position information of the vehicle terminal according to the parking space obstacle alarm information, regenerating a new target driving path according to the new current position information, the new parking space position information and pre-stored parking lot map information, and sending the new target driving path to the vehicle terminal so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until reaching a new parking space.

In this embodiment, after receiving the parking space obstacle warning information, the AVP platform may first send a message that the vehicle stops automatically traveling to the edge server, so that the edge server forwards the message that the vehicle stops automatically traveling to the vehicle terminal, and the vehicle terminal controls the vehicle to stop automatically traveling. Meanwhile, the AVP platform sends a request for obtaining the current position information of the vehicle to the edge server so as to receive the new current position information of the vehicle terminal returned by the edge server; and after receiving the new current position information, the AVP platform sends a parking space query request carrying the new current position information to the parking lot management system, so that the parking lot management system allocates a new parking space to the vehicle terminal nearby according to the new current position information and returns the new parking space position information to the AVP platform, and the AVP platform regenerates a new target driving path according to the new current position information and the new parking space position information, as well as according to the new current position information, the new parking space position information and the prestored parking lot map information, and sends the new target driving path to the vehicle terminal, so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until the new parking space is reached.

Optionally, the AVP platform may send the new target driving path to the vehicle terminal through the edge server, that is, the new target driving path is sent to the edge server first, and then the edge server forwards the new target driving path to the vehicle terminal.

Optionally, after sending the new target travel path to the edge server, the method may further include:

receiving autonomous parking success information sent by a vehicle terminal when detecting that a vehicle is parked in a new parking space;

the method comprises the steps that an edge server judges that a vehicle is parked in a new parking space according to real-time position information of a vehicle terminal, and vehicle parking success information sent when the vehicle meets parking requirements is judged according to image information after the vehicle is parked;

and sending the parking success information to the TSP platform according to the autonomous parking success information and the vehicle parking success information so that the TSP platform forwards the parking success information to the mobile terminal.

In the method for autonomous parking according to this embodiment, after obtaining parking space position information of autonomous parking, an AVP platform sends a parking space monitoring information request to a parking lot management system, and after receiving the parking space monitoring information request, the parking lot management system calls a monitoring device corresponding to the parking space position information to monitor the parking space, and when the parking lot management system detects that an obstacle appears on the parking space and the time of the obstacle in a stationary state exceeds a preset threshold, sends parking space obstacle alarm information to the AVP platform, so that the AVP platform obtains new current position information and new parking space position information of a vehicle terminal according to the parking space obstacle alarm information, and regenerates a new target driving path according to the new current position information, the new parking space position information, and pre-stored parking lot map information, and sending the new target driving path to a vehicle terminal so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until reaching a new parking space, thereby solving the problems that in the existing parking method, if an obstacle appears in the allocated parking space and the obstacle does not move all the time, when the vehicle drives to the parking space, parking and warehousing cannot be realized, so that autonomous parking fails and user experience is poor.

In a specific embodiment, referring to fig. 3, an interaction diagram of a method for autonomous parking according to an embodiment of the present invention is shown. In this embodiment, the method includes the following steps:

step S01: the mobile terminal sends an autonomous parking request to the TSP platform;

note that, before this, the vehicle terminal has successfully registered with the 5G network. Specifically, the vehicle terminal sends a registration request to the 5G base station after being powered on, where the registration request may include parameters such as a registration type (initial registration), SUPI or 5G-GUTI, TAI of last access (if available), security parameters, NSSAI of the request, UE 5GC capability, PDU session status, PDU session to be activated, subsequent request, and MICO mode preference, and the terminal may be determined to be a vehicle terminal according to the registration type. And the 5G base station selects a proper AMF according to the registration request of the vehicle terminal and forwards the registration request to the AMF, the AMF receives the registration request and then selects a proper UDM to acquire the subscription information of the vehicle terminal, the subscription information of the vehicle terminal indicates that the terminal is the vehicle terminal, and the distributed slices are slices which are specially distributed to the Internet of vehicles in a unified mode. And after receiving the subscription information of the vehicle-mounted terminal sent by the UDM, the AMF generates context information, and sends registration success information to the vehicle terminal. And the vehicle terminal sends a PDU session establishment request to the 5G base station after successful registration, the 5G base station forwards the request to the AMF, the AMF selects a proper SMF according to the subscription information and selects a UPF directly connected with a base station of a cell where the vehicle terminal is located according to the slice information of the vehicle terminal so as to determine an edge server establishing PDU session connection with the vehicle terminal, and the vehicle terminal establishes PDU session connection with the edge server of the cell where the vehicle terminal is located.

In the embodiment, when the vehicle drives to the entrance of the parking lot, the vehicle terminal is switched to the base station at the registration time from the base station at the registration time, the SMF selects the UPF directly connected with the base station of the cell where the vehicle terminal is located so as to determine the edge server establishing the PDU session connection with the vehicle terminal, the vehicle terminal releases the PDU session connection with the last edge server, and simultaneously establishes the PDU session connection with the edge server at the field end of the cell where the vehicle terminal is located.

In this embodiment, the user can stop the vehicle at the entrance of the parking lot or at any position in the parking lot, and close the door after getting off the vehicle. At this time, the user can send an autonomous parking request to the TSP platform of the car factory by clicking the one-touch parking function on the mobile terminal APP, so as to realize one-touch parking.

Step S02: the TSP platform sends a vehicle state information acquisition request to the vehicle terminal;

specifically, after receiving the autonomous parking request, the TSP platform sends a vehicle state information acquisition request to a vehicle terminal bound to the mobile terminal APP to query current state information of the vehicle, where the state information may include whether windows and doors are closed, whether the vehicle is stalled, whether a gear is a P gear, whether no person is in the vehicle, and the like. In order to train good habits of a user and avoid the occurrence of safety accidents caused by the fact that the vehicle moves forwards and backwards due to uneven road surface because the user gets off the vehicle without flameout or without being in the P gear and sends an autonomous parking request through the mobile terminal, the state information preferably indicates whether the vehicle is flameout or not and whether the gear is the P gear or not, and if the vehicle is not flameout, the gear is not the P gear, the user is reminded in time. Meanwhile, in order to avoid the occurrence of a vehicle scratch accident caused by incomplete closing of the vehicle door due to a user error during autonomous parking of the vehicle, the state information is also preferably whether the vehicle door is closed.

Step S03: the vehicle terminal returns vehicle state information to the TSP platform;

steps S04 to S05: the TSP platform judges whether the vehicle terminal meets the autonomous parking condition according to the returned vehicle state information, and if so, the TSP platform sends an autonomous parking request to the AVP platform;

specifically, if the vehicle is shut down, the gear is the P gear, and the vehicle door is closed, it is determined that the vehicle terminal meets the autonomous parking condition, and in addition, the autonomous parking condition may be further additionally set according to needs, for example, the vehicle window may be closed, and no one in the vehicle may be set as the condition for meeting the autonomous parking.

Step S06: and after receiving the autonomous parking request, the AVP platform sends a parking space acquisition request to the parking lot management system.

Step S07: the parking lot management system returns parking space position information to the AVP platform;

specifically, the parking lot management system realizes real-time monitoring of the state information of each parking space in the parking lot through the geomagnetic field with NB-IoT installed at the site end, and after receiving a parking space acquisition request sent by the AVP platform, selects any one of the free parking spaces to return the parking space position information to the AVP platform.

Step S08: after the parking space is determined, the AVP platform sends a parking space monitoring information request to a parking lot management system;

step S09: after receiving the information request, the parking lot management system calls monitoring equipment corresponding to the parking space position information to monitor the parking space;

specifically, after receiving the information request, the parking lot management system sends a monitoring message to the monitoring device of the allocated parking space to start monitoring of the parking space, where the monitoring device is a camera or the like.

Step S10: the AVP platform sends a current position information acquisition request to the vehicle terminal and controls the vehicle to automatically ignite and start;

step S11: the vehicle terminal returns the current position information to the AVP platform;

specifically, an RTK terminal of the vehicle terminal receives the measurement error of the RTK base station and then calculates the current specific position of the vehicle, and the vehicle terminal sends the specific position to the AVP platform.

Step S12: after receiving current position information returned by the vehicle terminal, the AVP platform generates a target driving path according to the current position information, parking space position information and parking lot high-precision map information, and sends the target driving path to the vehicle terminal;

step S13: and after receiving the target running path, the vehicle terminal controls the vehicle to start to automatically run according to the target running path.

Step S14: in the vehicle driving process, the vehicle terminal collects the position information of the vehicle terminal in real time and sends the position information and the target driving path collected in real time to the edge server.

Steps S15 to S16: the edge server judges whether the running track of the vehicle is on the target running path or not, and when the running track of the vehicle deviates from the target running path, the edge server sends a deviation correction prompt to the vehicle terminal so that the vehicle terminal can perform deviation correction processing according to the deviation correction prompt.

Specifically, the edge server performs running track fitting according to the target running path and the real-time position information, namely, whether the running track of the vehicle is on the target running path is judged, and when the running track of the vehicle deviates from the target running path, the edge server sends a deviation correction prompt to the vehicle terminal so that the vehicle terminal performs deviation correction processing according to the deviation correction prompt.

Step S17: and the edge server judges whether the target driving path has the obstacle or not in real time, and if so, sends obstacle alarm information to the vehicle terminal.

In the embodiment, in order to widen the view of obstacle detection, avoid that the vehicle terminal of the obstacle located at the corner of the parking lot cannot detect in time, and in order to reduce the power consumption of the vehicle terminal, the obstacle detection is performed by the edge server. In the process of starting a vehicle and driving to a parking space, a camera or a millimeter wave radar or a laser radar at a field end sends video or image data collected on a target driving path to an edge server through a 5G network or a wired network in real time, so that the edge server detects obstacles according to the collected data, judges whether the obstacles exist on the target driving path in real time, and sends obstacle warning information to a vehicle terminal by the edge server when the obstacles exist.

Step S18: and the vehicle terminal judges whether to avoid the obstacle, and if so, the vehicle terminal stops and waits until the obstacle disappearance information sent by the edge server is received and then continues to run according to the target running path.

Specifically, the vehicle terminal judges whether the obstacle needs to be avoided according to the obstacle warning information sent by the edge server. And if the obstacle is required to be avoided, the vehicle terminal automatically stops and waits until the edge server sends the obstacle disappearance information, and then the vehicle terminal continues to run according to the target running path.

Step S19: and when the parking lot management system detects that the obstacle appears on the parking space and the time of the obstacle in a static state exceeds a preset threshold value, sending parking space obstacle warning information to the AVP platform.

Step S20: the AVP platform sends a message that the vehicle stops automatically running to the edge server;

step S21: the edge server forwards the message that the vehicle stops automatically running to the vehicle terminal, and the vehicle terminal controls the vehicle to stop automatically running;

step S22: the AVP platform sends a request for acquiring the current position information of the vehicle to an edge server;

step S23: the edge server sends the current position information of the vehicle terminal to the AVP platform;

step S24: the AVP platform sends a parking space query request carrying current position information of the vehicle terminal to the parking lot management system;

step S25: the parking lot management system allocates a new idle parking space nearby according to the current position information of the vehicle terminal and returns the new parking space position information to the AVP platform;

step S26: the AVP platform regenerates a new target driving path according to the current position information of the vehicle terminal and the new parking space position information and sends the new target driving path to the vehicle terminal through the edge server;

step S27: after receiving the new target running path, the vehicle terminal controls the vehicle to start to automatically run according to the new target running path;

step S28: and when the vehicle is detected to be parked in the parking space, the vehicle terminal sends the automatic parking success information to the AVP platform.

Specifically, after the vehicle reaches the parking space, the automatic parking mode is entered, the vehicle is successfully parked in the parking space, and the vehicle terminal sends the automatic parking success information to the AVP platform.

Step S29: the edge server acquires image information of the vehicle after the vehicle is parked in the parking space, judges whether the vehicle meets the parking requirement or not according to the image information, and sends vehicle parking success information to the AVP platform if the vehicle meets the parking requirement.

Specifically, the edge server judges whether the vehicle is parked in the parking space according to vehicle position information acquired in real time, when the vehicle is parked in the parking space, the field end camera sends image information after parking to the edge server, the edge server judges whether parking meets requirements, such as whether the vehicle is in the range of the parking space, and if the parking meets the requirements, vehicle parking success information is sent to the AVP platform.

Steps S30 to S31: after receiving the successful parking information sent by the vehicle terminal and the edge server, the AVP platform sends the successful parking information to the TSP platform, and the TSP platform forwards the successful parking information to the mobile terminal.

In the embodiment, the independent parking is realized through the combination mode of the TSP platform, the APP client, the vehicle terminal, the edge server, the AVP platform and the parking lot management system, and the difficulty and the cost of realizing the independent parking through a single-vehicle intelligent mode can be reduced.

Example 2:

as shown in fig. 4, the present embodiment provides an autonomous parking method applied to a parking lot management system, where the method includes:

step S202: receiving a parking space monitoring information request sent by an AVP platform, wherein the parking space monitoring information request is sent after the AVP platform acquires parking space position information of autonomous parking, the parking space position information is used for triggering the AVP platform to generate a target driving path according to the current position information of a vehicle terminal, the parking space position information and prestored parking lot map information, and the target driving path is sent to the vehicle terminal so that the vehicle terminal can control the vehicle to automatically drive according to the target driving path;

step S204: calling monitoring equipment corresponding to the parking space position information to monitor the parking space;

step S206: if the fact that the obstacle appears on the parking space is detected, and the time of the obstacle in a static state exceeds a preset threshold value, sending parking space obstacle warning information to the AVP platform, enabling the AVP platform to obtain new current position information and new parking space position information of a vehicle terminal according to the parking space obstacle warning information, regenerating a new target driving path according to the new current position information, the new parking space position information and pre-stored parking lot map information, and sending the new target driving path to the vehicle terminal, so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until the new parking space is reached.

Optionally, before receiving the parking space monitoring information request sent by the AVP platform, the method further includes:

Optionally, after sending the parking space obstacle warning information to the AVP platform, the method further includes:

Example 3:

as shown in fig. 5, the present embodiment provides an AVP platform, including:

the monitoring request sending module 21 is configured to send a parking space monitoring information request to a parking lot management system after obtaining parking space position information of autonomous parking, so that the parking lot management system calls a monitoring device corresponding to the parking space position information to monitor a parking space after receiving the parking space monitoring information request;

the first path sending module 22 is connected to the monitoring request sending module 21, and is configured to generate a target driving path according to current position information of a vehicle terminal, the parking space position information, and pre-stored parking lot map information, and send the target driving path to the vehicle terminal, so that the vehicle terminal controls the vehicle to automatically drive according to the target driving path;

the warning receiving module 23 is connected to the monitoring request sending module 21, and is configured to receive parking space obstacle warning information sent when the parking lot management system detects that an obstacle occurs in the parking space and the time when the obstacle is in a stationary state exceeds a preset threshold;

and a second path sending module 24, connected to the warning receiving module 23, configured to obtain new current location information and new parking space location information of a vehicle terminal according to the parking space obstacle warning information, regenerate a new target driving path according to the new current location information, the new parking space location information, and pre-stored parking lot map information, and send the new target driving path to the vehicle terminal, so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until a new parking space is reached.

Optionally, the monitoring request sending module 21 may include:

the first receiving module is used for receiving an autonomous parking request sent by a TSP platform, wherein the autonomous parking request is sent after the TSP platform receives the autonomous parking request sent by a mobile terminal and judges that the vehicle terminal meets an autonomous parking condition according to state information of the vehicle terminal, and the vehicle state information includes: whether the gear is P gear, whether the vehicle is flamed out and whether the vehicle door is closed, wherein if the gear is P gear, the vehicle is flamed out and the vehicle door is closed, the vehicle terminal is judged to meet the autonomous parking condition, otherwise, the autonomous parking condition is not met;

the first sending module is used for sending a parking space obtaining request to the parking lot management system according to the autonomous parking request;

the second receiving module is used for receiving the parking space position information returned by the parking lot management system;

and the second sending module is used for sending a parking space monitoring information request to a parking lot management system so that the parking lot management system calls the monitoring equipment corresponding to the parking space position information to monitor the parking space after receiving the parking space monitoring information request.

Optionally, the method may further include:

the third sending module is used for sending a current position information acquisition request to the vehicle terminal and controlling the vehicle to automatically ignite and start;

and the third receiving module is used for receiving the current position information returned by the vehicle terminal.

Optionally, the method may further include:

the fourth sending module is used for sending a message that the vehicle stops automatic running to the edge server, so that the edge server forwards the message that the vehicle stops automatic running to the vehicle terminal, and the vehicle terminal controls the vehicle to stop automatic running;

the second path transmitting module 24 may include:

a fifth sending module, configured to send a request for obtaining current location information of a vehicle to the edge server, where the edge server receives real-time location information sent by the vehicle terminal in real time during autonomous parking of the vehicle;

a fourth receiving module, configured to receive the new current location information returned by the edge server;

a sixth sending module, configured to send a parking space query request carrying the new current location information to the parking lot management system, so that the parking lot management system allocates a new parking space to the vehicle terminal according to the new current location information, and returns the new parking space location information to the AVP platform;

and the fifth receiving module is used for receiving the new parking space position information sent by the parking lot management system.

The regeneration module is used for regenerating a new target driving path according to the new current position information, the new parking space position information and the prestored parking lot map information;

and a seventh sending module, configured to send the new target driving path to the edge server, so that the edge server forwards the new target driving path to the vehicle terminal, so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until a new parking space is reached.

Optionally, the method may further include:

the sixth receiving module is used for receiving the autonomous parking success information sent by the vehicle terminal when the vehicle terminal detects that the vehicle is parked in the new parking space;

a seventh receiving module, configured to receive the information that the edge server determines, according to the real-time location information of the vehicle terminal, that the vehicle is parked in the new parking space, and determine, according to the image information after the vehicle is parked, that the vehicle is sent when the vehicle meets the parking requirement;

and the eighth sending module is used for sending the parking success information to the TSP platform according to the autonomous parking success information and the vehicle parking success information so that the TSP platform forwards the parking success information to the mobile terminal.

Example 4:

as shown in fig. 6, the present embodiment provides a parking lot management system, including:

a monitoring request receiving module 31, configured to receive a parking space monitoring information request sent by an AVP platform, where the parking space monitoring information request is sent by the AVP platform after the AVP platform obtains parking space position information of autonomous parking, and the parking space position information is used to trigger the AVP platform to generate a target driving path according to current position information of a vehicle terminal, the parking space position information, and pre-stored parking lot map information, and send the target driving path to the vehicle terminal, so that the vehicle terminal controls the vehicle to automatically drive according to the target driving path;

the parking space monitoring module 32 is connected to the monitoring request receiving module 31, and is configured to call a monitoring device corresponding to the parking space position information to monitor the parking space;

and an alarm sending module 33, connected to the parking space monitoring module 32, configured to send parking space obstacle alarm information to the AVP platform if it is detected that an obstacle occurs in the parking space and the time when the obstacle is in a stationary state exceeds a preset threshold, so that the AVP platform obtains new current position information and new parking space position information of the vehicle terminal according to the parking space obstacle alarm information, regenerates a new target driving path according to the new current position information, the new parking space position information, and pre-stored parking lot map information, and sends the new target driving path to the vehicle terminal, so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until a new parking space is reached.

Optionally, the method may further include:

an eighth receiving module, configured to receive a parking space acquisition request sent by the AVP platform, where the parking space acquisition request is sent by the AVP platform after receiving an autonomous parking request sent by the TSP platform;

and the first returning module is used for returning the parking space position information to the AVP platform according to the parking space acquisition request.

Optionally, the method may further include:

a ninth receiving module, configured to receive a parking space inquiry request that is sent by the AVP platform and carries the new current location information;

and the second returning module is used for allocating a new parking space for the vehicle terminal according to the new current position information and returning the new parking space position information to the AVP platform.

Embodiments 2 to 4 provide an autonomous parking method, an AVP platform, and a parking lot management system, where after obtaining parking space position information of autonomous parking, the AVP platform sends a parking space monitoring information request to the parking lot management system, and after receiving the parking space monitoring information request, the parking lot management system calls a monitoring device corresponding to the parking space position information to monitor a parking space, and when the parking lot management system detects that an obstacle appears on the parking space and the time of the obstacle in a stationary state exceeds a preset threshold, sends parking space obstacle warning information to the AVP platform, so that the AVP platform obtains new current position information and new parking space position information of a vehicle terminal according to the parking space obstacle warning information, and regenerates a new target driving path according to the new current position information, the new parking space position information, and pre-stored parking lot map information, and sending the new target driving path to a vehicle terminal so that the vehicle terminal controls the vehicle to automatically drive according to the new target driving path until reaching a new parking space, thereby solving the problems that in the existing parking method, if an obstacle appears in the allocated parking space and the obstacle does not move all the time, when the vehicle drives to the parking space, parking and warehousing cannot be realized, so that autonomous parking fails and user experience is poor.

It will be understood that the above embodiments are merely exemplary embodiments taken to illustrate the principles of the present invention, which is not limited thereto. It will be apparent to those skilled in the art that various modifications and improvements can be made without departing from the spirit and substance of the invention, and these modifications and improvements are also considered to be within the scope of the invention.

Claims

1. An autonomous parking method applied to an AVP platform, the method comprising:

2. The method for autonomous parking according to claim 1, wherein the acquiring parking space position information for autonomous parking includes:

3. The method for autonomous parking according to claim 2, wherein before generating the target travel path based on current location information of a vehicle terminal, the parking space location information, and pre-stored parking lot map information, the method further comprises:

4. The method for autonomous parking according to claim 2, wherein before the acquiring new current location information and new parking space location information of a vehicle terminal according to the parking space obstacle alarm information, the method further comprises:

receiving the new current position information returned by the edge server;

5. The method for autonomous parking according to claim 4, wherein the sending the new target travel path to a vehicle terminal specifically comprises:

6. An autonomous parking method, applied to a parking lot management system, comprising:

7. The method for autonomous parking according to claim 6, wherein before receiving the request for monitoring parking space information sent by the AVP platform, the method further comprises:

8. The method of autonomous parking of claim 7 wherein after sending parking space obstacle alert information to the AVP platform, the method further comprises:

9. An AVP platform, comprising:

10. A parking lot management system, comprising: