CN113665565A - Automatic parking method, automobile and storage medium - Google Patents

Automatic parking method, automobile and storage medium Download PDF

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Publication number
CN113665565A
CN113665565A CN202110997116.7A CN202110997116A CN113665565A CN 113665565 A CN113665565 A CN 113665565A CN 202110997116 A CN202110997116 A CN 202110997116A CN 113665565 A CN113665565 A CN 113665565A
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parking
parking lot
vehicle
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target
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CN113665565B (en
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刘胜军
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Shanghai Jidu Automobile Co Ltd
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Jidu Automobile Co ltd
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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
    • 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks

Abstract

The invention discloses an automatic parking method, an automobile and a storage medium. The method comprises the following steps: when the vehicle meets a preset condition, acquiring a parking lot list, wherein the preset condition is that the vehicle runs to a destination position and a first type of AVP mode for automatic valet parking is started; setting a first parking lot in the parking lot list as a target parking lot, and acquiring a target driving route; automatically driving to a target parking lot according to the target driving route, and judging whether the target parking lot can be successfully parked; if the judgment result is yes, parking according to the AVP mode of the first type, and sending successful parking information to the terminal equipment; if the judgment result is negative, setting the next parking lot in the parking lot list as the target parking lot, and returning to execute the step of obtaining the target driving route until the vehicle is parked successfully or the next parking lot does not exist in the parking lot list. The scheme can effectively solve the problem of difficulty in parking.

Description

Automatic parking method, automobile and storage medium
Technical Field
The embodiment of the invention relates to the technical field of automobiles, in particular to an automatic parking method, an automobile and a storage medium.
Background
With the continuous development of automobile technology, the unmanned technology is not new, and the vehicle can realize the operations of automatic driving, automatic parking, autonomous avoidance of vehicles and pedestrians and the like according to the unmanned control module. The Automatic Valet Parking (AVP) technology greatly reduces the Parking trouble of the car owner, and the car owner can find the Parking lot for Parking only by selecting automatic Parking, so that the automatic valet Parking is very convenient.
However, the existing AVP technology usually only allows a vehicle to go to a designated parking lot for parking, and if the vehicle needs to be parked in another parking lot, the vehicle owner still needs to drive the vehicle to go to another parking lot to complete automatic parking, and complete automation cannot be realized; and the vehicle only supports the recall operation within 1 kilometer during the return trip, so that the vehicle is difficult to adapt to more parking scenes and requirements.
Disclosure of Invention
The invention provides an automatic parking method, an automobile and a storage medium, which can realize full-automatic parking and effectively solve the problem of difficult parking.
In a first aspect, an embodiment of the present invention provides an automatic parking method, including:
when the vehicle meets a preset condition, acquiring a parking lot list, wherein the preset condition is that the vehicle runs to a destination position and a first type of AVP mode for automatic valet parking is started, the parking lot list comprises N parking lots which are positioned in a preset range and support the first type of AVP mode for parking, and N is a positive integer;
setting a first parking lot in the parking lot list as a target parking lot, and acquiring a target driving route, wherein the target driving route is a route from a position where a vehicle is located at the current moment to the target parking lot;
automatically driving to a target parking lot according to the target driving route, and judging whether the target parking lot can be successfully parked;
if the judgment result is yes, parking according to the AVP mode of the first type, and sending successful parking information to the terminal device, wherein the successful parking information is used for indicating that the vehicle successfully parks according to the AVP mode of the first type;
if the judgment result is negative, setting the next parking lot in the parking lot list as the target parking lot, and returning to execute the step of obtaining the target driving route until the vehicle is parked successfully or the next parking lot does not exist in the parking lot list.
Optionally, the method further includes:
when the vehicle runs to the destination position, judging whether the destination position supports the vehicle to start a first type of AVP mode;
if the judgment result is yes, starting the AVP mode of the first type;
if the judgment result is negative, the second type AVP mode is started, and parking is carried out according to the second type AVP mode.
Optionally, after the first type of AVP mode is started, if the parking lot list cannot be obtained, parking failure information is sent to the terminal device, where the parking failure information is used to indicate that the vehicle fails to park according to the first type of AVP mode.
Optionally, acquiring the parking lot list includes:
acquiring all parking lots within a preset range from a preset map;
and sequentially calculating the score of each parking lot in all the parking lots, and selecting the N parking lots with the highest scores to generate a parking lot list.
Optionally, for any parking lot of all parking lots, the score of the parking lot is S ═ S (Sa + Sb + Sc + Sd + Se + Sf) × Sg;
wherein, Sa marks score for the driver of the parking lot, Sb recommends score for the user of the parking lot, Sc is the parking space allowance score of the parking lot, Sd is the peripheral traffic condition score of the parking lot, Se is the charging condition score of the parking lot, Sf is the parking success rate score of the parking lot, and Sg is the wireless communication condition score of the parking lot.
Optionally, the preset range is a circular range with the target position as a center of a circle and the preset distance as a radius, and the preset distance is greater than or equal to 10 kilometers.
Optionally, the successful parking information includes: at least one of a parking lot name, a parking location, and a number of parking attempts.
Optionally, after sending the successful parking information to the terminal device, the method further includes:
and pulling up the electronic hand brake and automatically powering down.
Optionally, after sending the successful parking information to the terminal device, the method further includes:
acquiring awakening information sent by terminal equipment, wherein the awakening information at least comprises a vehicle receiving position of a driver;
acquiring a recalling driving route according to the awakening information, wherein the recalling driving route is a route from a target parking lot to a driver pickup position;
and automatically driving to a vehicle receiving position of a driver according to the recalled driving route.
Optionally, after the retrieval of the recalled driving route, the method further includes:
sending awakening feedback information to the terminal equipment, wherein the awakening feedback information comprises the time when the vehicle is expected to reach the position of the driver;
and receiving time planning information sent by the terminal equipment, wherein the time planning information comprises the time when the driver expects the vehicle to reach the driver position.
Optionally, after automatically driving to the driver and receiving the parking stall according to the recalling driving route, still include:
the first type of AVP mode is exited.
In a second aspect, an embodiment of the present invention further provides an automobile, including: a processor; the processor is adapted to implement the method of any of the above embodiments when executing the computer program.
In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium, which stores a computer program, and when the computer program is executed by a processor, the computer program implements the method of any one of the above embodiments.
The invention provides an automatic parking method, an automobile and a storage medium. The method comprises the steps that a vehicle obtains N parking lots supporting the AVP mode of the first type to park in the preset range by starting the AVP mode of the first type, and tries to park in the AVP mode of the first type according to the sequence until the vehicle parks successfully, and the vehicle does not need a driver to participate in the whole parking process, so that full-automatic parking is realized. Meanwhile, the scheme can try to park in a plurality of parking lots, and the parking lots are not bound to the designated parking lots any more, so that the success rate of parking is greatly improved, and the problem of difficulty in parking is effectively solved.
Drawings
Fig. 1 is a schematic flow chart of an automatic parking method according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating another method for automatic parking according to an embodiment of the present invention;
fig. 3 is a schematic diagram illustrating a parking lot score calculation according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a vehicle seeking a parking lot according to an embodiment of the present invention;
FIG. 5 is a schematic flow chart diagram illustrating a method for automatically recalling a vehicle in accordance with an embodiment of the present invention;
fig. 6 is a schematic structural diagram of an automatic parking device according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of an automobile according to an embodiment of the present invention;
fig. 8 is a schematic top view of an intelligent vehicle according to an embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that the following embodiments of the present invention may be implemented individually, or may be implemented in combination with each other, and the embodiments of the present invention are not limited in this respect. Reference to "and/or" in embodiments of the invention is intended to include any and all combinations of one or more of the associated listed items. In the embodiments of the present invention, the various components are described by "first", "second", and the like, but these components should not be limited by these terms. These terms are only used to distinguish one component from another. Also, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The following embodiments of the present invention may be implemented individually, or in combination with each other, and the embodiments of the present invention are not limited in this respect.
With the continuous development of automobile technology, the holding capacity of automobiles is more and more, and the problems related to parking also appear. For example, some cities have insufficient planning foresight in the early period or too large pedestrian volume, so that insufficient parking spaces are not available, and the urban traffic efficiency is affected; users who need to take a subway, get on or off a work on a high-speed rail or go out cannot select to arrive at a station by self-driving due to difficulty in parking.
At present, the unmanned technology is not new, and the vehicle can realize the operations of automatic driving, automatic parking, autonomous vehicle and pedestrian avoidance and the like according to the unmanned control module. The AVP technology greatly reduces the trouble of parking for car owners, and the car owners only need to select automatic parking, so that the car can find the parking lot for parking, and the parking is very convenient. However, the existing AVP techniques generally have the following problems:
1. only allowing a vehicle to go to a designated parking lot for parking (namely only allowing the vehicle to park in an internal area of the parking lot), and not supporting parking lot search, if the vehicle needs to park in other parking lots, the vehicle owner is still required to drive the vehicle to go to other parking lots to finish automatic parking, and full automation cannot be realized;
2. the vehicle only supports the recall operation within 1 kilometer during the return trip, and is difficult to adapt to more parking scenes and requirements;
3. and the parking fee is not supported to be paid under an unmanned scene.
Therefore, the invention provides an automatic parking method, an automobile and a storage medium, wherein the automobile obtains N parking lots supporting the AVP mode of the first type for parking in a preset range by starting the AVP mode of the first type, and tries to park by adopting the AVP mode of the first type in sequence until the parking is successful, and the full-automatic parking is realized without the participation of a driver in the whole parking process. Meanwhile, the scheme can try to park in a plurality of parking lots, and the parking lots are not bound to the designated parking lots any more, so that the success rate of parking is greatly improved, and the problem of difficulty in parking is effectively solved.
Fig. 1 is a schematic flow chart illustrating an automatic parking method according to an embodiment of the present invention. The method is suitable for automobiles (such as intelligent automobiles, new energy intelligent automobiles and the like), and comprises the following steps as shown in figure 1.
S110, when the vehicle meets a preset condition, a parking lot list is obtained, wherein the preset condition is that the vehicle runs to a destination position, a first type of AVP mode for automatic valet parking is started, the parking lot list comprises N parking lots which are located in a preset range and support the first type of AVP mode for parking, and N is a positive integer.
Wherein, the target position is the position of the driver for getting off the vehicle. That is, when the vehicle travels to the destination location, the driver gets off the vehicle, and the vehicle executes the automatic parking process.
In the present invention, the automatic parking method involves a first type of AVP mode and a second type of AVP mode. The second type of AVP mode may also be referred to as a normal AVP mode or a basic AVP mode, which only supports vehicle travel on an interior road (i.e., inside a parking lot); the first type of AVP mode may be referred to as a SuperAVP mode or an advanced AVP mode, and this mode may support not only the vehicle traveling on any road. That is, the AVP mode of the first type can be applied to more parking scenes than the AVP mode of the second type.
In step S110, after the vehicle travels to the destination location and the first type AVP mode is turned on, the vehicle may acquire a parking lot list from a preset map. The preset map is loaded on the vehicle, can be a special map of a first type AVP mode, and supports functions of marking, data sharing, big data calculation, parking lot memory and search, autonomous learning and the like.
The parking lot list comprises N parking lots which are positioned in a preset range and support the AVP mode of the first type for parking. The preset range is a circular range taking the target position as the center of a circle and a preset distance as a radius, and the preset distance is greater than or equal to 10 kilometers. The number of N can be designed according to actual needs, and N can be 10 in general. It should be noted that, assuming that N is 10, when the total number of parking lots that support the AVP mode of the first type to park on the preset map is less than 10, all parking lots that support the AVP mode of the first type to park on the preset map are taken.
And S120, setting the first parking lot in the parking lot list as a target parking lot by the vehicle.
The parking lots in the parking lot list can be arranged according to a certain rule.
S130, the vehicle acquires a target driving route, wherein the target driving route is a route from the position where the vehicle is located to the target parking lot at the current moment.
Specifically, the method for acquiring the target driving route by the vehicle may include any one of the following two ways:
the method comprises the following steps that 1, a vehicle directly reads a planned target driving route from a preset map;
and 2, the preset map requests a target driving route from the cloud server, receives the target driving route planned by the cloud server, and then the vehicle reads the planned target driving route from the preset map.
The difference between the mode 1 and the mode 2 is that whether the preset map needs to be networked to plan the target driving route or not, and when the mode 1 is adopted to obtain the target driving route (namely the preset map does not need to be networked), the vehicle can quickly obtain the target driving route; when the target driving route is acquired by the method 2 (namely the preset map needs to be networked), the target driving route acquired by the vehicle can be more suitable for the current road condition (such as congestion avoidance and the like).
And S140, the vehicle automatically drives to the target parking lot according to the target driving route.
S150, the vehicle judges whether the target parking lot can be parked successfully or not.
And S160, if the judgment result is yes, the vehicle parks according to the AVP mode of the first type, and successful parking information is sent to the terminal device, wherein the successful parking information is used for indicating that the vehicle parks successfully according to the AVP mode of the first type.
In one embodiment, the successful parking information includes: at least one of a parking lot name, a parking location, and a number of parking attempts.
And S170, if the judgment result is negative, the vehicle sets the next parking lot in the parking lot list as the target parking lot, and returns to execute the step S103 until the vehicle parks successfully or the next parking lot does not exist in the parking lot list.
On the basis of the above embodiment, fig. 2 shows a flow chart of another automatic parking method provided by the embodiment of the invention. As shown in fig. 2, the method includes the following steps.
S201, when the vehicle runs to the destination position, judging whether the destination position supports the vehicle to start the first type AVP mode.
Wherein, the target position is the position of the driver for getting off the vehicle. That is, when the vehicle travels to the destination location, the driver gets off the vehicle, and the vehicle executes the automatic parking process.
In the present invention, the automatic parking method involves a first type of AVP mode and a second type of AVP mode. The second type of AVP mode may also be referred to as a normal AVP mode or a basic AVP mode, which only supports vehicle travel on an interior road (i.e., inside a parking lot); the first type of AVP mode may be referred to as a SuperAVP mode or an advanced AVP mode, and this mode may support not only the vehicle traveling on any road. That is, the AVP mode of the first type can be applied to more parking scenes than the AVP mode of the second type.
The AVP patterns supported by different locations differ. For example, in a location with better road conditions and better wireless communication quality, the AVP mode of the first type may be supported; in locations with poor road conditions and/or poor wireless communication quality, only the second type of AVP mode can be supported.
S202, if the judgment result is negative, the vehicle starts the second type AVP mode, and parking is carried out according to the second type AVP mode.
The method for parking the vehicle according to the second type of AVP mode may be: after the driver drives the vehicle from the destination position to the inner road of the parking lot, the vehicle starts the second type AVP mode, and automatic parking is carried out according to the second type AVP mode.
And S203, if the judgment result is yes, the vehicle starts the AVP mode of the first type.
After the vehicle starts the first type of AVP mode, the driver can get off the vehicle at the destination position directly, so that the vehicle can automatically park according to the first type of AVP mode.
And S204, judging whether the parking lot list can be acquired by the vehicle.
In step S204, the vehicle determining whether the parking lot list can be acquired means: the vehicle determines whether or not a parking lot that supports the first type of AVP mode for parking is present near the destination location. If a parking lot supporting the first type of AVP mode for parking exists near the destination location, the following step S206 is continuously executed; if there is no parking lot for parking in support of the first type AVP mode near the destination location, the following step S205 is continuously executed.
And S205, if the judgment result is negative, the vehicle sends parking failure information to the terminal device, wherein the parking failure information is used for indicating that the vehicle fails to park according to the AVP mode of the first type.
A terminal device may also be referred to as a terminal, User Equipment (UE), a mobile station, a mobile terminal, etc. The terminal equipment can be a mobile phone, a tablet computer, a computer with a wireless transceiving function, virtual reality terminal equipment, augmented reality terminal equipment, an intelligent bracelet and the like. The embodiment of the present invention does not limit the specific technology and the specific device form adopted by the terminal device.
The parking failure information reminds a driver of the vehicle of failing to park according to the AVP mode of the first type, so that the driver can drive the vehicle to an internal road of a parking lot from a destination position and then park by himself; or after the driver drives the vehicle to an internal road of a parking lot from the destination position, the driver enables the vehicle to start the second type of AVP mode and automatically parks the vehicle according to the second type of AVP mode; or after the driver drives the vehicle to an inner road of a parking lot from the destination position, the parking lot is set as a target parking lot and returns to the destination position, the vehicle is enabled to start the first type AVP mode, and automatic parking is carried out according to the first type AVP mode.
And S206, if the judgment result is yes, the vehicle acquires all parking lots in the preset range from the preset map.
The preset map is loaded on the vehicle, can be a special map of a first type AVP mode, and supports functions of marking, data sharing, big data calculation, parking lot memory and search, autonomous learning and the like.
For example, the preset map allows the driver to mark parking lots, i.e., designate some parking lots to be recorded in the preset map for supporting parking lot memory and search functions; the preset map can be networked with the cloud server to upload parking lot information (including but not limited to parking lot vacancy, parking lot position and the like), and a driver can recommend a parking lot through the preset map and realize a data sharing function based on big data calculation; the preset map can continuously perform autonomous learning optimization along with the increase of data quantity, and the recommendation/search accuracy is improved.
In an embodiment, the preset range is a circular range with the target position as a center and the preset distance as a radius, and the preset distance is greater than or equal to 10 kilometers.
Preferably, the preset distance is equal to 10 km. A distance of 10 km is suitable for more parking scenarios and requirements than the second type of AVP mode only supports recall operations within 1 km.
And S207, sequentially calculating the score of each parking lot in all the parking lots by the vehicle, and selecting the N parking lots with the highest scores to generate a parking lot list.
The parking lot list comprises N parking lots which are positioned in a preset range and support the AVP mode of the first type for parking. The number of N can be designed according to actual needs, and N can be 10 in general. It should be noted that, assuming that N is 10, when the total number of parking lots that support the AVP mode of the first type to park on the preset map is less than 10, all parking lots that support the AVP mode of the first type to park on the preset map are taken.
Fig. 3 is a schematic diagram illustrating a calculation of a parking lot score according to an embodiment of the present invention. As shown in fig. 3, for any parking lot among all the parking lots, the score of the parking lot is (Sa + Sb + Sc + Sd + Se + Sf) × Sg;
wherein, Sa marks score for the driver of the parking lot, Sb recommends score for the user of the parking lot, Sc is the parking space allowance score of the parking lot, Sd is the peripheral traffic condition score of the parking lot, Se is the charging condition score of the parking lot, Sf is the parking success rate score of the parking lot, and Sg is the wireless communication condition score of the parking lot.
Specifically, Sa is a S1A is a weighting coefficient of the score of the driver mark of the parking lot S when the parking lot is marked by the driver 11, when the parking lot is not marked by the driver S1Taking 0;
Sb＝b*S2b is a weighting coefficient of the user recommendation score of the parking lot, and S is the time when the parking lot has no user recommendation 20 is taken, and S is recommended by 1-9 users in the parking lot2Taking 0.5, the parking lot has 10-50 recommended S times20.8 is taken, and S is recommended by more than 50 users in the parking lot2Taking 1;
Sc＝c*S3c is the weighting coefficient of the parking space allowance score of the parking lot, and S is the time when the parking lot is not recorded by the driver that the parking space is sufficient30 is taken, and S is recorded by the driver when the number of times the parking lot has enough parking spaces is 1-4 times3Taking 0.3, the number of times that the parking lot is recorded by the driver that the parking space is sufficient is S when the number of times is 5-1930.6 is taken, and S is carried out when the number of times that the parking lot is recorded by the driver that the parking space is sufficient is more than 203Taking 1;
Sd＝d*S4d is a weighting coefficient of the score of the surrounding traffic condition of the parking lot, and S is the time when the parking lot is not recorded by the driver that the surrounding traffic condition is good40 is taken, and S is the time when the number of times that the surrounding traffic condition of the parking lot is recorded by the driver is 1 to 44Taking 0.3, the number of times that the driver records that the surrounding traffic condition is good in the parking lot is 5-19 times S4Taking 0.6, the number of times that the surrounding traffic condition of the parking lot is recorded by the driver is more than 20 times S4 Taking 1;
Se＝e*S5e is a weighting coefficient of the charging condition score of the parking lot, and S is a weighting coefficient of the charging condition score of the parking lot when the charging condition of the parking lot is good5Get 1, theParking lot charging condition is not good enough S5Taking 0; the charging condition of the parking lot includes but is not limited to whether the charging of the parking lot is reasonable or not and whether the payment is convenient or not;
Sf＝f*S6f is a weighting coefficient of the parking success rate score of the parking lot, and S is the time when the number of times of failure of parking in the parking lot is more than 106Taking 0, and S when the number of times of failure of the driver to park in the parking lot is 2-10 times60.2 is taken, and S is the time when the number of times of parking failure of the driver in the parking lot is 160.5 is taken, and S is the time when the number of times of parking failure of the driver in the parking lot is 06 Taking 1;
Sg＝g*S7g is a weighting coefficient of the score of the wireless communication condition of the parking lot, and S is a weighting coefficient of the score of the wireless communication condition of the parking lot when the parking lot supports wireless communication7Get 1, S when the parking lot does not support wireless communication7Taking 0;
wherein a + b + c + d + e + f is 1, and g is 1.
Optionally, the values of a, b, c, d, e, and f may be set according to the importance of different attributes. Generally, the value of a is larger than the values of b and c, and the values of b and c are larger than the values of d, e and f.
In addition, the invention can also allocate star levels to the parking lots according to the scores of the parking lots: when the score S of the parking lot is 1, the parking lot is marked as a five-star parking lot; when the score of the parking lot is more than or equal to 0.7 and less than 1, the parking lot is marked as a four-star parking lot; when the score of the parking lot is more than or equal to 0.4 and less than 0.7, the parking lot is marked as a samsung parking lot; when the score of the parking lot is more than or equal to 0.1 and less than 0.4, the parking lot is marked as a two-star parking lot; when the score of the parking lot is 0 < S < 0.1, the parking lot is marked as a star parking lot.
It should be noted that when the score of the parking lot is 0, the parking lot is not written in the parking lot list.
The parking lots in the parking lot list can be arranged according to a certain rule. For example, the parking lots in the parking lot list are arranged in order of the star ranks of the parking lots from large to small. It can be understood that the parking lots on the same star level are arranged in the order of the parking lot scores from large to small.
TABLE 1 parking lot List
Name of parking lot Parking lot location Star grade of parking lot
Parking lot A XXX Five stars
Parking lot B XXX Five stars
Parking lot C XXX Five stars
Parking lot D XXX Four stars
Parking lot E XXX Four stars
Parking lot F XXX Three stars
Parking lot G XXX Three stars
Parking lot H XXX Two stars
Parking lot I XXX One star
Parking lot J XXX One star
And S208, the vehicle sets the first parking lot in the parking lot list as a target parking lot.
S209, the vehicle acquires a target driving route, wherein the target driving route is a route from the position where the vehicle is located to the target parking lot at the current moment.
Specifically, the method for acquiring the target driving route by the vehicle may include any one of the following two ways:
the method comprises the following steps that 1, a vehicle directly reads a planned target driving route from a preset map;
and 2, the preset map requests a target driving route from the cloud server, receives the target driving route planned by the cloud server, and then the vehicle reads the planned target driving route from the preset map.
The difference between the mode 1 and the mode 2 is that whether the preset map needs to be networked to plan the target driving route or not, and when the mode 1 is adopted to obtain the target driving route (namely the preset map does not need to be networked), the vehicle can quickly obtain the target driving route; when the target driving route is acquired by the method 2 (namely the preset map needs to be networked), the target driving route acquired by the vehicle can be more suitable for the current road condition (such as congestion avoidance and the like).
And S210, the vehicle automatically drives to a target parking lot according to the target driving route.
Fig. 4 shows a schematic diagram of a vehicle finding parking lot according to an embodiment of the present invention. As shown in fig. 4 and table 1, when the vehicle starts to park according to the first type AVP mode, the vehicle is located at the destination position, and the target driving route (i.e., the route from the destination position to the parking lot a) is planned by first setting the first parking lot (i.e., the parking lot a) in the parking lot list as the target parking lot. The vehicle automatically travels to the target parking lot (i.e., parking lot a) according to the target driving route.
S211, the vehicle judges whether the target parking lot can be parked successfully or not.
If the target parking lot (i.e., parking lot a) can successfully park, the following steps S212 to S213 are performed; if the target parking lot (i.e., the parking lot a) cannot successfully park, the following step S214 is performed.
And S212, if the judgment result is yes, the vehicle parks according to the AVP mode of the first type, and successful parking information is sent to the terminal device, wherein the successful parking information is used for indicating that the vehicle parks successfully according to the AVP mode of the first type.
In one embodiment, the successful parking information includes: at least one of a parking lot name, a parking location, and a number of parking attempts.
And S213, the vehicle pulls up the electronic hand brake and automatically powers off.
And S214, if the judgment result is negative, the vehicle sets the next parking lot in the parking lot list as the target parking lot, and returns to execute the step S209 until the vehicle successfully parks or the next parking lot does not exist in the parking lot list.
If the target parking lot (i.e., parking lot a) cannot successfully park, the vehicle makes the next parking lot (i.e., parking lot B) in the parking lot list the target parking lot, and plans the target driving route (i.e., the route from parking lot a to parking lot B). The vehicle automatically drives to the target parking lot (namely, the parking lot B) according to the target driving route to try parking again until the vehicle is parked successfully or the parking lots A-J cannot park successfully.
It should be noted that, if the vehicle tries to park in all the parking lots in the parking lot list, the vehicle may notify the terminal device of the parking failure and return the vehicle to the location specified by the terminal device.
On the basis of the above embodiments, fig. 5 shows a flowchart of a method for automatically recalling a vehicle according to an embodiment of the present invention. As shown in fig. 5, after the method provided by the present embodiment is applied to the execution of step S170 or S214, the method further includes the following steps.
S301, the vehicle acquires the awakening information sent by the terminal equipment, wherein the awakening information at least comprises a vehicle receiving position of the driver.
The vehicle receiving position of the driver may be a destination position, or may be any other position, which is not specifically limited in this embodiment of the present invention.
S302, the vehicle is automatically powered on, and a recalling route is obtained according to the awakening information, wherein the recalling route is a route from the target parking lot to the driver pick-up position.
Specifically, the method for acquiring the recall driving route by the vehicle may include any one of the following two ways:
the method comprises the following steps that 1, a vehicle directly reads a planned recalling driving route from a preset map;
and 2, the preset map firstly requests the cloud server for a recall driving route, receives the recall driving route planned by the cloud server, and then the vehicle reads the planned recall driving route from the preset map.
The difference between the mode 1 and the mode 2 is that whether the preset map needs to be networked to plan the recalling route, and when the mode 1 is adopted to obtain the recalling route (namely the preset map does not need to be networked), the vehicle can quickly obtain the recalling route; when the method 2 is adopted to obtain the recalling route (namely the preset map needs to be networked), the recalling route obtained by the vehicle can be more suitable for the current road condition (such as congestion avoidance and the like).
And S303, the vehicle sends awakening feedback information to the terminal equipment, wherein the awakening feedback information comprises the time when the vehicle is expected to reach the position of the driver.
S304, the vehicle receives the time planning information sent by the terminal equipment, wherein the time planning information comprises the time when the driver expects the vehicle to reach the position of the driver.
Steps S303 and S304 are optional steps, and are intended to further refine the time the driver expects to pick up the vehicle, and improve the user experience.
S305, the vehicle judges whether the target parking lot needs to be paid or not.
And S306, if the judgment result is negative, the vehicle directly drives away from the target parking lot and automatically drives to the vehicle receiving position of the driver according to the recalled driving route.
And S307, if the judgment result is yes, the vehicle judges whether the charge of the target parking lot is reasonable.
And S308, if the judgment result is yes, the vehicle automatically pays the parking fee and automatically drives to the vehicle receiving position of the driver according to the vehicle calling-back route.
S309, if the judgment result is negative, the vehicle sends payment information to the terminal device, pays parking fee after receiving payment confirmation information sent by the terminal device, and automatically drives to a vehicle receiving position of a driver according to the vehicle calling-back route.
S310, the vehicle sends first reminding information to the terminal equipment in the first 5 minutes before the vehicle reaches the position of the driver.
And S311, the vehicle sends second reminding information to the terminal equipment in the first 1 minute before the vehicle reaches the position of the driver.
And S312, when the vehicle reaches the position of the driver, the vehicle sends third reminding information to the terminal equipment.
Steps S310 to S312 are optional steps, and are aimed at reminding the driver to pick up the vehicle, so as to avoid traffic inconvenience caused by road congestion or late non-pick-up of the driver.
S313, the vehicle exits the first type of AVP mode.
After the driver takes over the vehicle, the vehicle automatically exits the first type of AVP mode and is taken over by the driver.
The embodiment of the invention provides an automatic parking method, which comprises the following steps: when the vehicle meets a preset condition, acquiring a parking lot list, wherein the preset condition is that the vehicle runs to a destination position and a first type of AVP mode for automatic valet parking is started, the parking lot list comprises N parking lots which are positioned in a preset range and support the first type of AVP mode for parking, and N is a positive integer; setting a first parking lot in the parking lot list as a target parking lot, and acquiring a target driving route, wherein the target driving route is a route from a position where a vehicle is located at the current moment to the target parking lot; automatically driving to a target parking lot according to the target driving route, and judging whether the target parking lot can be successfully parked; if the judgment result is yes, parking according to the AVP mode of the first type, and sending successful parking information to the terminal device, wherein the successful parking information is used for indicating that the vehicle successfully parks according to the AVP mode of the first type; if the judgment result is negative, setting the next parking lot in the parking lot list as the target parking lot, and returning to execute the step of obtaining the target driving route until the vehicle is parked successfully or the next parking lot does not exist in the parking lot list. The method comprises the steps that a vehicle obtains N parking lots supporting the AVP mode of the first type to park in the preset range by starting the AVP mode of the first type, and tries to park in the AVP mode of the first type according to the sequence until the vehicle parks successfully, and the vehicle does not need a driver to participate in the whole parking process, so that full-automatic parking is realized. Meanwhile, the scheme can try to park in a plurality of parking lots, and the parking lots are not bound to the designated parking lots any more, so that the success rate of parking is greatly improved, and the problem of difficulty in parking is effectively solved.
Fig. 6 is a schematic structural diagram illustrating an automatic parking apparatus according to an embodiment of the present invention. As shown in fig. 6, includes: an acquisition module 10, a processing module 11 and a parking module 12.
The system comprises an obtaining module 10, a parking lot list and a control module, wherein the obtaining module is used for obtaining the parking lot list when a vehicle meets a preset condition, the preset condition is that the vehicle runs to a destination position, and a first type of automatic valet parking AVP mode is started, the parking lot list comprises N parking lots which are located in a preset range and support the first type of AVP mode to park, and N is a positive integer;
the processing module 11 is configured to set a first parking lot in the parking lot list as a target parking lot, and acquire a target driving route, where the target driving route is a route from a position where the vehicle is located at the current time to the target parking lot; automatically driving to a target parking lot according to the target driving route, and judging whether the target parking lot can be successfully parked;
the parking module 12 is configured to, if the determination result is yes, perform parking according to the first type of AVP mode, and send successful parking information to the terminal device, where the successful parking information is used to indicate that the vehicle performs successful parking according to the first type of AVP mode;
the processing module 11 is further configured to set a next parking lot in the parking lot list as the target parking lot if the determination result is negative, and return to the step of obtaining the target driving route until the vehicle is parked successfully or the next parking lot does not exist in the parking lot list.
The automatic parking device provided in this embodiment is an automatic parking method for implementing the above embodiment, and the implementation principle and technical effects of the automatic parking device provided in this embodiment are similar to those of the above embodiment, and are not described herein again.
Optionally, the processing module 11 is further configured to determine whether the destination position supports the vehicle to start the first type of AVP mode when the vehicle travels to the destination position; if the judgment result is yes, starting the AVP mode of the first type; if the judgment result is negative, the second type AVP mode is started, and parking is carried out according to the second type AVP mode.
Optionally, the processing module 11 is further configured to send parking failure information to the terminal device after the first type of AVP mode is started, if the parking lot list cannot be obtained, where the parking failure information is used to indicate that the vehicle fails to park according to the first type of AVP mode.
Optionally, the obtaining module 10 is specifically configured to obtain all parking lots in a preset range from a preset map; and sequentially calculating the score of each parking lot in all the parking lots, and selecting the N parking lots with the highest scores to generate a parking lot list.
Optionally, for any parking lot of all parking lots, the score of the parking lot is S ═ S (Sa + Sb + Sc + Sd + Se + Sf) × Sg;
wherein, Sa marks score for the driver of the parking lot, Sb recommends score for the user of the parking lot, Sc is the parking space allowance score of the parking lot, Sd is the peripheral traffic condition score of the parking lot, Se is the charging condition score of the parking lot, Sf is the parking success rate score of the parking lot, and Sg is the wireless communication condition score of the parking lot.
Optionally, the preset range is a circular range with the target position as a center of a circle and the preset distance as a radius, and the preset distance is greater than or equal to 10 kilometers.
Optionally, the successful parking information includes: at least one of a parking lot name, a parking location, and a number of parking attempts.
Optionally, the parking module 12 is further configured to pull up the electronic handbrake and automatically power down.
Optionally, the processing module 11 is further configured to acquire wake-up information sent by the terminal device, where the wake-up information at least includes a vehicle-receiving position of the driver; acquiring a recalling driving route according to the awakening information, wherein the recalling driving route is a route from a target parking lot to a driver pickup position; and automatically driving to a vehicle receiving position of a driver according to the recalled driving route.
Optionally, the processing module 11 is further configured to send wake-up feedback information to the terminal device, where the wake-up feedback information includes a time when the vehicle is expected to reach the driver position; and receiving time planning information sent by the terminal equipment, wherein the time planning information comprises the time when the driver expects the vehicle to reach the driver position.
Optionally, the processing module 11 is further configured to exit the AVP mode of the first type.
Fig. 7 is a schematic structural diagram of an automobile according to an embodiment of the present invention. As shown in fig. 7, the automobile includes a processor 30, a memory 31, and a communication interface 32; the number of processors 30 in the vehicle may be one or more, and one processor 30 is taken as an example in fig. 7; the processor 30, the memory 31 and the communication interface 32 in the automobile can be connected through a bus or other means, and the bus connection is taken as an example in fig. 7. A bus represents one or more of any of several types of bus structures, including a memory bus or memory controller, a peripheral bus, an accelerated graphics port, and a processor or local bus using any of a variety of bus architectures.
The memory 31, which is a computer-readable storage medium, may be configured to store software programs, computer-executable programs, and modules, such as program instructions/modules corresponding to the methods in the embodiments of the present invention. The processor 30 executes at least one functional application of the vehicle and data processing by executing software programs, instructions and modules stored in the memory 31, thereby implementing the above-described method.
The memory 31 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the automobile, and the like. Further, the memory 31 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory 31 may include memory located remotely from the processor 30, which may be connected to the automobile over a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The communication interface 32 may be configured for the reception and transmission of data.
Fig. 8 shows a schematic top view of an intelligent automobile according to an embodiment of the present invention. As shown in fig. 8, cameras and radars are installed around the smart car, and the radars may include laser radar, millimeter wave radar, and ultrasonic radar.
The laser radar is a radar system that emits a laser beam to detect a characteristic quantity such as a position and a velocity of a target, and is also called an optical radar. The working principle is to transmit a detection signal (laser beam) to a target, then compare the received signal (target echo) reflected from the target with the transmitted signal, and after appropriate processing, obtain the relevant information of the target, such as target distance, azimuth, height, speed, attitude, even shape and other parameters.
The millimeter wave radar is a radar (the use range is 30-300 GHz frequency domain, the wavelength is 1-10 mm) which works in the millimeter wave band for detection, and the wavelength of the millimeter wave is between microwave and centimeter wave, so the millimeter wave radar has some advantages of both the microwave radar and the photoelectric radar.
The ultrasonic radar measures the distance by sending out ultrasonic waves through an ultrasonic transmitting device and then receiving the time difference of the reflected ultrasonic waves by a receiver. The ultrasonic radar is easily affected by weather conditions, the propagation speeds of different weather are different, the error is larger when the vehicle speed is higher, and in addition, the ultrasonic scattering angle is large, so that the propagation of a recovery signal at a longer distance is not facilitated; but it also has the advantages of low cost, strong penetrability, water resistance, dust resistance and the like.
Besides the cameras and radars arranged around the intelligent automobile, the intelligent automobile can be provided with a vehicle-terminal equipment interaction module, a human-computer interaction interface, a payment interface and the like.
Embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method provided in any embodiment of the present invention.
Computer storage media for embodiments of the invention may employ any combination of one or more computer-readable media. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. Computer-readable storage media include (a non-exhaustive list): an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a Read-Only Memory (ROM), an erasable programmable Read-Only Memory (EPROM), a flash Memory, an optical fiber, a portable Compact Disc Read-Only Memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, Radio Frequency (RF), etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present disclosure may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + +, Ruby, Go, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of Network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It will be clear to a person skilled in the art that the term user terminal covers any suitable type of wireless user equipment, such as a mobile phone, a portable data processing device, a portable web browser or a car mounted mobile station.
In general, the various embodiments of the invention may be implemented in hardware or special purpose circuits, software, logic or any combination thereof. For example, some aspects may be implemented in hardware, while other aspects may be implemented in firmware or software which may be executed by a controller, microprocessor or other computing device, although the invention is not limited thereto.
Embodiments of the invention may be implemented by a data processor of a mobile device executing computer program instructions, for example in a processor entity, or by hardware, or by a combination of software and hardware. The computer program instructions may be assembly instructions, Instruction Set Architecture (ISA) instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages.
Any logic flow block diagrams in the figures of the present invention may represent program steps, or may represent interconnected logic circuits, modules, and functions, or may represent a combination of program steps and logic circuits, modules, and functions. The computer program may be stored on a memory. The memory may be of any type suitable to the local technical environment and may be implemented using any suitable data storage technology, such as, but not limited to, Read Only Memory (ROM), Random Access Memory (RAM), optical storage devices and systems (digital versatile disks, DVDs, or CD discs), etc. The computer readable medium may include a non-transitory storage medium. The data processor may be of any type suitable to the local technical environment, such as but not limited to general purpose computers, special purpose computers, microprocessors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Programmable logic devices (FGPAs), and processors based on a multi-core processor architecture.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.

Claims (13)

1. An automatic parking method, comprising:
when a vehicle meets a preset condition, acquiring a parking lot list, wherein the preset condition is that the vehicle runs to a destination position and a first type of AVP (automatic parking assistant) mode is started, the parking lot list comprises N parking lots which are positioned in a preset range and support the first type of AVP mode to park, and N is a positive integer;
setting a first parking lot in the parking lot list as a target parking lot, and acquiring a target driving route, wherein the target driving route is a route from a position where the vehicle is located at the current moment to the target parking lot;
automatically driving to the target parking lot according to the target driving route, and judging whether the target parking lot can be successfully parked or not;
if the judgment result is yes, parking according to the AVP mode of the first type, and sending successful parking information to the terminal device, wherein the successful parking information is used for indicating that the vehicle successfully parks according to the AVP mode of the first type;
if the judgment result is negative, setting the next parking lot in the parking lot list as the target parking lot, and returning to execute the step of obtaining the target driving route until the vehicle is parked successfully or the next parking lot does not exist in the parking lot list.
2. The automatic parking method according to claim 1, further comprising:
when the vehicle runs to the destination position, judging whether the destination position supports the vehicle to start the first type of AVP mode;
if the judgment result is yes, starting the AVP mode of the first type;
and if the judgment result is negative, starting the AVP mode of the second type, and parking according to the AVP mode of the second type.
3. The automatic parking method according to claim 1 or 2, wherein after the first type of AVP mode is turned on, if the parking lot list cannot be obtained, parking failure information is sent to the terminal device, wherein the parking failure information is used to indicate that the vehicle fails to park according to the first type of AVP mode.
4. The automatic parking method according to claim 1, wherein the acquiring a parking lot list includes:
acquiring all parking lots within the preset range from a preset map;
and sequentially calculating the score of each parking lot in all the parking lots, and selecting N parking lots with the highest scores to generate the parking lot list.
5. The automatic parking method according to claim 4, wherein the parking lot is rated as S ═ Sj (Sa + Sb + Sc + Sd + Se + Sf) × Sg for any of the all parking lots;
wherein, Sa marks score for the driver of the parking lot, Sb recommends score for the user of the parking lot, Sc is the parking space allowance score of the parking lot, Sd is the peripheral traffic condition score of the parking lot, Se is the charging condition score of the parking lot, Sf is the parking success rate score of the parking lot, and Sg is the wireless communication condition score of the parking lot.
6. The automatic parking method according to any one of claims 1 and 4 to 5, wherein the preset range is a circular range centered on the destination position and having a preset distance as a radius, and the preset distance is greater than or equal to 10 km.
7. The automatic parking method according to claim 1, wherein the successful parking information includes: at least one of a parking lot name, a parking location, and a number of parking attempts.
8. The automatic parking method according to claim 1 or 7, further comprising, after transmitting the successful parking information to the terminal device:
and pulling up the electronic hand brake and automatically powering down.
9. The automatic parking method according to claim 1, further comprising, after sending the successful parking information to the terminal device:
acquiring awakening information sent by the terminal equipment, wherein the awakening information at least comprises a vehicle receiving position of a driver;
acquiring a recalling driving route according to the awakening information, wherein the recalling driving route is a route from the target parking lot to the driver pickup position;
and automatically driving to the vehicle receiving position of the driver according to the recalled vehicle route.
10. The automatic parking method according to claim 9, further comprising, after acquiring the recall route:
sending awakening feedback information to the terminal equipment, wherein the awakening feedback information comprises the time when the vehicle is expected to reach the position of the driver;
receiving time planning information sent by the terminal equipment, wherein the time planning information comprises time when a driver expects the vehicle to reach the position of the driver.
11. The automatic parking method according to claim 9, further comprising, after automatically traveling to the driver-parking position according to the recall route:
exiting the first type of AVP mode.
12. An automobile, comprising: processor for implementing the automatic parking method according to one of claims 1 to 11 when executing a computer program.
13. A computer-readable storage medium, in which a computer program is stored, which, when being executed by a processor, implements the automatic parking method according to any one of claims 1 to 11.
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CN112721918A (en) * 2021-01-08 2021-04-30 上海寅家电子科技股份有限公司 Automatic parking payment device and method

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CN114373320A (en) * 2022-01-12 2022-04-19 广州小鹏自动驾驶科技有限公司 Passenger-riding parking method, vehicle-mounted terminal and readable storage medium
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