CN113619566A - Automatic parking method and automatic parking auxiliary system - Google Patents
Automatic parking method and automatic parking auxiliary system Download PDFInfo
- Publication number
- CN113619566A CN113619566A CN202010381812.0A CN202010381812A CN113619566A CN 113619566 A CN113619566 A CN 113619566A CN 202010381812 A CN202010381812 A CN 202010381812A CN 113619566 A CN113619566 A CN 113619566A
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- parking
- target vehicle
- position coordinate
- target
- driving route
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3407—Route searching; Route guidance specially adapted for specific applications
- G01C21/343—Calculating itineraries, i.e. routes leading from a starting point to a series of categorical destinations using a global route restraint, round trips, touristic trips
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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
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
Abstract
The invention provides an automatic parking method and an automatic parking auxiliary system, wherein the method comprises the steps of obtaining a first position coordinate of a target vehicle and a second position coordinate of a target location; calculating a driving route according to the first position coordinate and the second position coordinate; sending the driving route to the target vehicle so that the target vehicle drives to a target area according to the driving route; receiving a parking assistance request sent by the target vehicle, and calculating a first parking assistance guiding line; and sending the first parking assistant guiding line to the target vehicle so that the target vehicle can park according to the first parking assistant guiding line. The automatic parking method provided by the embodiment of the invention can be provided with a positioning system server framework according to the system calculation amount, namely the number of parking spaces, and has higher cost. The automatic parking guide that the parking stall that charges that provides idle wireless, idle parking stall, idle stake that fills provides convenient service for the car owner.
Description
Technical Field
The invention relates to the field of automatic parking of automobiles, in particular to an automatic parking method and an automatic parking auxiliary system.
Background
In a wireless charging system of a new energy automobile, a transmitting antenna is laid on the ground and a receiving antenna device is arranged at the bottom of the automobile. The relative position of the transmitting antenna and the receiving antenna is a key parameter in the whole system, and the position deviation directly influences the charging transmission power, the heating value and the electromagnetic radiation of the charging system; the antenna on the vehicle is accurately aligned with the ground antenna, and higher requirements are put on the driving technique of a driver. In the prior art, an auxiliary parking system is installed in each parking space to assist a driver in driving, or a transmitting antenna is moved to accurately align a vehicle-mounted receiving antenna, such as apple's patent ' wireless charging matching system ', and the like.
Disclosure of Invention
The embodiment of the invention provides an automatic parking method and an automatic parking auxiliary system, which are used for solving the problems that in the prior art, an auxiliary parking system is installed in each parking space to assist a driver in driving, or a vehicle-mounted receiving antenna is accurately aligned by moving a transmitting antenna, each parking space is provided with a set of equipment, the equipment investment is large, and a large amount of space is occupied by equipment laying.
In order to solve the technical problems, the invention adopts the following technical scheme:
an automatic parking method is applied to an automatic parking assist system and comprises the following steps:
acquiring a first position coordinate of a target vehicle and a second position coordinate of a target location;
calculating a driving route according to the first position coordinate and the second position coordinate;
sending the driving route to the target vehicle so that the target vehicle drives to a target area according to the driving route;
receiving a parking assistance request sent by the target vehicle, and calculating a first parking assistance guiding line;
and sending the first parking assistant guiding line to the target vehicle so that the target vehicle can park according to the first parking assistant guiding line.
Further, before the obtaining the first position coordinates of the target vehicle and the second position coordinates of the target location, the method further includes:
receiving a parking demand sent by the target vehicle;
and selecting the target place according to the parking requirement.
Further, the selecting the target location according to the parking demand includes:
if the parking requirement is parking, the target place is an idle parking space;
if the parking requirement is wired charging, the target place is an idle parking space provided with a charging pile;
and if the parking requirement is wireless charging, the target place is an idle parking space provided with a wireless charging system.
Further, the acquiring the first position coordinates of the target vehicle and the second position coordinates of the target location includes:
the ultra-wideband communication UWB receiver of the automatic parking auxiliary system acquires a first position coordinate sent by a first ultra-wideband communication UWB transmitter of the target vehicle and a second position coordinate sent by a second ultra-wideband communication UWB transmitter of the target location.
Further, according to the first position coordinate and the second position coordinate, calculating a driving route, including:
and determining the driving track information required when the target vehicle reaches an idle position with a distance smaller than a preset distance from the target position as the driving route according to the first position coordinate and the second position coordinate.
Further, receiving a parking assist request transmitted from the target vehicle, and calculating a first parking assist guiding line, includes:
receiving a parking assistance request sent by the target vehicle, and acquiring a third position coordinate of the target vehicle of a UWB transmitter of the target vehicle; and calculating a first parking auxiliary guiding line according to the third position coordinate and the second position coordinate.
Further, the automatic parking method further comprises the following steps:
receiving, by an ultra-wideband communication UWB receiver of the automatic parking assist system, fourth position coordinates of the target vehicle from a UWB transmitter of the target vehicle;
comparing the fourth position coordinate with the second position coordinate;
and if the difference value between the fourth position coordinate and the second position coordinate in the two coordinate directions is less than or equal to a preset value, the target vehicle stops at the target location, otherwise, the target vehicle does not stop at the target location.
Further, if the target vehicle is not parked at the target location, the method further comprises:
acquiring a fifth position coordinate of the target vehicle by an ultra-wideband communication UWB receiver of the automatic parking assist system through a UWB transmitter of the target vehicle;
and calculating a second parking auxiliary guiding line according to the fifth position coordinate and the second position coordinate, and sending the second parking auxiliary guiding line to the target vehicle.
An embodiment of the present invention further provides an automatic parking assist system, including:
the acquisition module is used for acquiring a first position coordinate of a target vehicle and a second position coordinate of a target location;
the calculation module is used for calculating a driving route according to the first position coordinate and the second position coordinate;
the first sending module is used for sending the driving route to the target vehicle so that the target vehicle can drive to a target area according to the driving route;
the receiving module is used for receiving a parking assistance request sent by the target vehicle and calculating a first parking assistance guiding line;
and the second sending module is used for sending the first parking assistant guiding line to the target vehicle so that the target vehicle can park according to the first parking assistant guiding line.
Further, the obtaining module is further configured to:
the ultra-wideband communication UWB receiver of the automatic parking auxiliary system acquires a first position coordinate sent by a first ultra-wideband communication UWB transmitter of the target vehicle and a second position coordinate sent by a second ultra-wideband communication UWB transmitter of the target location.
The invention has the beneficial effects that:
according to the automatic parking method, the ultra-wideband communication technology is applied, the target vehicle interacts with the positioning system, the positioning system calculates and plans the driving route, the driving route is further corrected when the target vehicle runs to the target area, and the parking auxiliary guiding line is calculated, so that the vehicle can be accurately parked at the target position, and high guarantee is provided for accurate connection of a wireless charging receiver of the vehicle and a wireless charging emitter of a parking space. The automatic parking method provided by the embodiment of the invention can be used for simultaneously positioning and guiding a plurality of vehicles to hundreds of vehicles in real time, the positioning server and the path planning server are shared, and the method has obvious cost advantage and construction advantage compared with a positioning system laid in each parking space. And (4) allocating a positioning system server framework according to the system calculation amount, namely the number of parking spaces, and optimizing the cost. Can provide idle wireless charging parking stall, idle stake of charging guide etc. for the car owner, provide convenient service for the car owner.
Drawings
FIG. 1 is a schematic diagram illustrating the steps of an automatic parking method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an ultra-wideband communication UWB positioning technique according to an embodiment of the invention;
FIG. 3 is a logic diagram of an automatic parking method according to an embodiment of the present invention;
fig. 4 shows a block diagram of an automated parking assist system according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The invention provides an automatic parking method and an automatic parking auxiliary system, aiming at the problems that in the prior art, an auxiliary parking system is arranged at each parking space to assist a driver in driving, or a vehicle-mounted receiving antenna is accurately aligned by moving a transmitting antenna, and each parking space is provided with a set of equipment, so that the equipment investment is large and a large amount of space is occupied by equipment laying.
As shown in fig. 1, an embodiment of the present invention provides an automatic parking method, which is applied to an automatic parking assist system, and includes:
and step 15, sending the first parking assistant guiding line to the target vehicle so that the target vehicle can park according to the first parking assistant guiding line.
It should be noted that there are many software and methods available at present for calculating the driving route, and a numerical optimization algorithm may be adopted to lay a series of path points at the starting point and the ending point, and coordinate values are used to express the positions of the path points, so that the vehicle can follow the form of the points. In selecting the path points, an objective function is defined, e.g. shortest path length, or least turns of the route, etc. The planning process also needs to take into account constraints, such as that the path points must be on an existing road. Then, by means of some modern numerical optimization algorithms, such as a particle swarm optimization algorithm, the area which can possibly lay path points is continuously explored, and finally, the objective function is determined to be optimal.
The automatic parking method provided by the embodiment of the invention can be used for simultaneously positioning and guiding a plurality of vehicles to hundreds of vehicles in real time, the positioning server and the path planning server are shared, and the method has obvious cost advantage and construction advantage compared with a positioning system laid in each parking space. And (4) allocating a positioning system server framework according to the system calculation amount, namely the number of parking spaces, and optimizing the cost. Can provide idle wireless charging parking stall, idle stake of charging guide etc. for the car owner, provide convenient service for the car owner.
Optionally, before the obtaining the first position coordinate of the target vehicle and the second position coordinate of the target location, the method further includes:
receiving a parking demand sent by the target vehicle;
and selecting the target place according to the parking requirement.
Optionally, the selecting the target location according to the parking demand includes:
if the parking requirement is parking, the target place is an idle parking space;
if the parking requirement is wired charging, the target place is an idle parking space provided with a charging pile;
and if the parking requirement is wireless charging, the target place is an idle parking space provided with a wireless charging system.
The parking requirements can be various, and the target location corresponding to each parking requirement is different. The target place corresponding to the parking requirement of only parking is a free parking space; parking and searching for an idle parking space provided with a charging pile at a target place corresponding to a parking demand charged by the charging pile; the target place corresponding to the parking requirement that the parking needs to be wirelessly charged is an idle parking space paved with a wireless power slave receiver.
Optionally, the acquiring the first position coordinate of the target vehicle and the second position coordinate of the target location includes:
the ultra-wideband communication UWB receiver of the automatic parking auxiliary system acquires a first position coordinate sent by a first ultra-wideband communication UWB transmitter of the target vehicle and a second position coordinate sent by a second ultra-wideband communication UWB transmitter of the target location.
It should be noted that, as shown in fig. 2, an alternative implementation of the ultra-wideband communication positioning technology is that the ultra-wideband communication positioning technology is composed of 4 base stations with known positions and a tag card installed on a vehicle, coordinate position interaction is performed between the 4 base stations with known positions and the tag card on the vehicle, the vehicle is positioned through the positioning server 1, and then the driving path of the vehicle is calculated through the path planning server 2. The UWB measurement accuracy can reach 3cm, and the positioning of the central point of the receiving antenna can be realized by placing the tag card at the vehicle roof part opposite to the center of the receiving antenna. A driving route is calculated and planned according to the position of a known ground wireless charging antenna and the position of a vehicle, meanwhile, driving route data are transmitted to an auxiliary parking system which is realized by a vehicle backing auxiliary guiding line, a driver is assisted in parking operation, and the driving route is corrected in time by measuring the real-time position of the vehicle in the driving process.
Utilize UWB accurate positioning technique, erect one set of positioning system in the parking area and can carry out centimetre level real-time location to many vehicles to accessible UWB communication guide vehicle traveles idle parking stall, realizes the inside navigation in parking area, and the position distance of real-time location vehicle and ground antenna, realizes assisting parking.
Optionally, calculating a driving route according to the first position coordinate and the second position coordinate includes:
and determining the driving track information required when the target vehicle reaches an idle position with a distance smaller than a preset distance from the target position as the driving route according to the first position coordinate and the second position coordinate.
Here, the free position having a distance from the target location smaller than the preset distance refers to a position near the target location, for example, the target location is a parking space, and the free position having a distance from the target location smaller than the preset distance refers to a position near the parking space smaller than the preset distance.
Optionally, the receiving a parking assistance request sent by the target vehicle, and calculating a first parking assistance guiding line includes:
receiving a parking assistance request sent by the target vehicle, and acquiring a third position coordinate of the target vehicle of a UWB transmitter of the target vehicle; and calculating a first parking auxiliary guiding line according to the third position coordinate and the second position coordinate.
At this time, the target vehicle is already beside the target location, and the driving route needs to be further accurately planned, so that the target vehicle can be accurately parked at the target location.
Optionally, the automatic parking method further includes:
receiving, by an ultra-wideband communication UWB receiver of the automatic parking assist system, fourth position coordinates of the target vehicle from a UWB transmitter of the target vehicle;
comparing the fourth position coordinate with the second position coordinate;
and if the difference value between the fourth position coordinate and the second position coordinate in the two coordinate directions is less than or equal to a preset value, the target vehicle stops at the target location, otherwise, the target vehicle does not stop at the target location.
By judging the parking position of the target vehicle, the target vehicle can be parked more accurately, the accuracy of the target vehicle can reach the centimeter level, and higher guarantee is provided for accurate connection of the wireless charging transmitter and the wireless charging receiver.
Optionally, if the target vehicle is not parked at the target location, the method further includes:
acquiring a fifth position coordinate of the target vehicle by an ultra-wideband communication UWB receiver of the automatic parking assist system through a UWB transmitter of the target vehicle;
and calculating a second parking auxiliary guiding line according to the fifth position coordinate and the second position coordinate, and sending the second parking auxiliary guiding line to the target vehicle.
Here, the target vehicle that has not achieved the required parking accuracy is further adjusted so that the vehicle is accurately parked at the target position.
Fig. 3 is a logic diagram of an automatic parking method according to an embodiment of the present invention. When the vehicle runs to the parking lot, the ultra-wideband communication UWB positioning system starts to be accessed, and the position coordinates of the vehicle are sent in real time. The positioning system calculates a driving route according to the position coordinates of the vehicle and the known coordinate information of the idle parking space, sends the driving route to the vehicle, the vehicle automatically drives to the position near the idle parking space or a driver drives to the position near the idle parking space according to the driving route, corrects the driving route according to the current position coordinates of the vehicle and the accurate coordinates of the idle parking space, calculates a parking auxiliary guiding line, stops the vehicle according to the parking auxiliary guiding line, compares the position coordinates of the vehicle at the moment with the accurate coordinates of the idle parking space, judges whether the vehicle stops accurately or not, further corrects the driving route if the vehicle does not stop accurately, and finally enables the vehicle to stop accurately at the idle vehicle, wherein the accuracy can reach the centimeter level. The vehicle and the base station can interact through a wireless positioning network, and the base station and the positioning server and the path planning server can transmit information through a wired data network.
According to the automatic parking method, the ultra-wideband communication technology is applied, the target vehicle interacts with the positioning system, the positioning system calculates and plans the driving route, the driving route is further corrected when the target vehicle runs to the target area, and the parking auxiliary guiding line is calculated, so that the vehicle can be accurately parked at the target position, and high guarantee is provided for accurate connection of a wireless charging receiver of the vehicle and a wireless charging emitter of a parking space. The automatic parking method provided by the embodiment of the invention can be used for simultaneously positioning and guiding a plurality of vehicles to hundreds of vehicles in real time, the positioning server and the path planning server are shared, and the method has obvious cost advantage and construction advantage compared with a positioning system laid in each parking space. And (4) allocating a positioning system server framework according to the system calculation amount, namely the number of parking spaces, and optimizing the cost. Can provide idle wireless charging parking stall, idle stake of charging guide etc. for the car owner, provide convenient service for the car owner.
As shown in fig. 4, an embodiment of the present invention further provides an automatic parking assist system, including:
an obtaining module 41, configured to obtain a first position coordinate of a target vehicle and a second position coordinate of a target location;
the calculating module 42 is configured to calculate a driving route according to the first position coordinate and the second position coordinate;
a first sending module 43, configured to send the driving route to the target vehicle, so that the target vehicle travels to a target area according to the driving route;
a receiving module 44, configured to receive a parking assistance request sent by the target vehicle, and calculate a first parking assistance guiding line;
and a second sending module 45, configured to send the first parking assistance guiding line to the target vehicle, so that the target vehicle is parked according to the first parking assistance guiding line.
Optionally, the obtaining module is further configured to:
the ultra-wideband communication UWB receiver of the automatic parking auxiliary system acquires a first position coordinate sent by a first ultra-wideband communication UWB transmitter of the target vehicle and a second position coordinate sent by a second ultra-wideband communication UWB transmitter of the target location.
According to the automatic parking method, the ultra-wideband communication technology is applied, the target vehicle interacts with the positioning system, the positioning system calculates and plans the driving route, the driving route is further corrected when the target vehicle runs to the target area, and the parking auxiliary guiding line is calculated, so that the vehicle can be accurately parked at the target position, and high guarantee is provided for accurate connection of a wireless charging receiver of the vehicle and a wireless charging emitter of a parking space. The automatic parking method provided by the embodiment of the invention can be used for simultaneously positioning and guiding a plurality of vehicles to hundreds of vehicles in real time, the positioning server and the path planning server are shared, and the method has obvious cost advantage and construction advantage compared with a positioning system laid in each parking space. And (4) allocating a positioning system server framework according to the system calculation amount, namely the number of parking spaces, and optimizing the cost. Can provide idle wireless charging parking stall, idle stake of charging guide etc. for the car owner, provide convenient service for the car owner. While the preferred embodiments of the present invention have been described, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (10)
1. An automatic parking method is applied to an automatic parking assist system, and comprises the following steps:
acquiring a first position coordinate of a target vehicle and a second position coordinate of a target location;
calculating a driving route according to the first position coordinate and the second position coordinate;
sending the driving route to the target vehicle so that the target vehicle drives to a target area according to the driving route;
receiving a parking assistance request sent by the target vehicle, and calculating a first parking assistance guiding line;
and sending the first parking assistant guiding line to the target vehicle so that the target vehicle can park according to the first parking assistant guiding line.
2. The automated parking method according to claim 1, wherein before the acquiring the first position coordinates of the target vehicle and the second position coordinates of the target point, further comprising:
receiving a parking demand sent by the target vehicle;
and selecting the target place according to the parking requirement.
3. The automated parking method according to claim 2, wherein said selecting the target location according to the parking demand comprises:
if the parking requirement is parking, the target place is an idle parking space;
if the parking requirement is wired charging, the target place is an idle parking space provided with a charging pile;
and if the parking requirement is wireless charging, the target place is an idle parking space provided with a wireless charging system.
4. The automated parking method of claim 1, wherein said obtaining first position coordinates of the target vehicle and second position coordinates of the target location comprises:
the ultra-wideband communication UWB receiver of the automatic parking auxiliary system acquires a first position coordinate sent by a first ultra-wideband communication UWB transmitter of the target vehicle and a second position coordinate sent by a second ultra-wideband communication UWB transmitter of the target location.
5. The automated parking method according to claim 4, wherein calculating a driving route from the first position coordinates and the second position coordinates comprises:
and determining the driving track information required when the target vehicle reaches an idle position with a distance smaller than a preset distance from the target position as the driving route according to the first position coordinate and the second position coordinate.
6. The automatic parking method according to claim 4, wherein receiving a parking assistance request transmitted from the target vehicle and calculating a first parking assistance guide line includes:
receiving a parking assistance request sent by the target vehicle, and acquiring a third position coordinate of the target vehicle of a UWB transmitter of the target vehicle; and calculating a first parking auxiliary guiding line according to the third position coordinate and the second position coordinate.
7. The automatic parking method according to claim 1, further comprising:
receiving, by an ultra-wideband communication UWB receiver of the automatic parking assist system, fourth position coordinates of the target vehicle from a UWB transmitter of the target vehicle;
comparing the fourth position coordinate with the second position coordinate;
and if the difference value between the fourth position coordinate and the second position coordinate in the two coordinate directions is less than or equal to a preset value, the target vehicle stops at the target location, otherwise, the target vehicle does not stop at the target location.
8. The automatic parking method according to claim 7, further comprising, if the target vehicle is not parked at the target spot:
acquiring a fifth position coordinate of the target vehicle by an ultra-wideband communication UWB receiver of the automatic parking assist system through a UWB transmitter of the target vehicle;
and calculating a second parking auxiliary guiding line according to the fifth position coordinate and the second position coordinate, and sending the second parking auxiliary guiding line to the target vehicle.
9. An automated parking assist system, comprising:
the acquisition module is used for acquiring a first position coordinate of a target vehicle and a second position coordinate of a target location;
the calculation module is used for calculating a driving route according to the first position coordinate and the second position coordinate;
the first sending module is used for sending the driving route to the target vehicle so that the target vehicle can drive to a target area according to the driving route;
the receiving module is used for receiving a parking assistance request sent by the target vehicle and calculating a first parking assistance guiding line;
and the second sending module is used for sending the first parking assistant guiding line to the target vehicle so that the target vehicle can park according to the first parking assistant guiding line.
10. The automated parking assist system of claim 9, wherein the acquisition module is further configured to:
the ultra-wideband communication UWB receiver of the automatic parking auxiliary system acquires a first position coordinate sent by a first ultra-wideband communication UWB transmitter of the target vehicle and a second position coordinate sent by a second ultra-wideband communication UWB transmitter of the target location.
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| CN202010381812.0A CN113619566A (en) | 2020-05-08 | 2020-05-08 | Automatic parking method and automatic parking auxiliary system |
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| CN202010381812.0A CN113619566A (en) | 2020-05-08 | 2020-05-08 | Automatic parking method and automatic parking auxiliary system |
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Cited By (1)
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| CN114179663A (en) * | 2021-11-30 | 2022-03-15 | 济宁市海富电子科技有限公司 | Automatic charging method and automatic charging system for new energy vehicle |
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