CN113920770A - Passenger-riding parking control method, device, equipment and vehicle - Google Patents
Passenger-riding parking control method, device, equipment and vehicle Download PDFInfo
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- CN113920770A CN113920770A CN202010646332.2A CN202010646332A CN113920770A CN 113920770 A CN113920770 A CN 113920770A CN 202010646332 A CN202010646332 A CN 202010646332A CN 113920770 A CN113920770 A CN 113920770A
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- 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
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Abstract
The invention provides a passenger-riding parking control method, a passenger-riding parking control device, passenger-riding parking control equipment and a vehicle, wherein the passenger-riding parking control method comprises the following steps: receiving a passenger-replacing parking mode instruction; when entering a traversing parking space searching mode according to the passenger-replacing parking mode instruction, starting a plurality of parking space detection devices to respectively detect different types of parking spaces; determining a target parking space according to a matching result of the parking space detected by the parking space detection device and the parking space in the map; determining the parking space coordinates of the target parking space in a vehicle coordinate system; and controlling the vehicle to run to the target parking space according to the parking space coordinates. The parking stall of the different grade type that this scheme can detect parking stall detection equipment and the parking stall in the map are fused the matching, have increased the input source of parking stall, have promoted the compliance and the accuracy of parking stall search, have improved the success rate of riding instead of walk to park.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a passenger-substitute parking control method, a passenger-substitute parking control device, passenger-substitute parking equipment and a vehicle.
Background
With the rise of intelligent driving technology, intelligent Parking technology has become popular and is accepted by more and more people, and on the basis of the technology, importance and attention are paid to Autonomous Valet Parking (AVP). The passenger-instead parking is the main development direction of the intelligent parking technology at present, is also the basis of the unmanned technology, provides a solution for the problem of a driving terminal of intelligent driving, effectively reduces the parking difficulty, saves the parking time, improves the parking experience of users, and the future parking system is certainly developed to a more intelligent passenger-instead parking system.
At present, the passenger car Parking has the following advantages compared with the traditional Automatic Parking (APA): the traditional automatic parking target parking space searching method is characterized in that the traditional automatic parking target parking space searching method depends on ultrasonic radar, a look-around camera or fusion of two sensors for judgment, the target parking space searched by the passenger-replacing parking system is not only from the ultrasonic radar and the look-around camera, but also from a high-precision map, and under certain scene modes, parking spaces pushed by remote links in a parking lot are provided, so that a plurality of input sources are provided.
In the traditional automatic parking process of 'parking space searching-parking space confirming-parking', a driver can judge whether the parking space searched by a search system can be used for parking in a vehicle. In the process of 'searching parking spaces, confirming parking spaces and parking', a driver is not in the vehicle and cannot finish the final judgment on whether the searched parking spaces can be used for parking, so that the requirements on the accuracy and the compliance of parking space searching are higher.
Disclosure of Invention
The embodiment of the invention provides a passenger-assistant parking control method, a passenger-assistant parking control device, passenger-assistant parking equipment and a passenger-assistant parking vehicle, which are used for solving the problems that in the prior art, parking space searching accuracy and compliance are low, and the success rate of passenger-assistant parking is low.
In order to solve the above technical problem, an embodiment of the present invention provides the following technical solutions:
an embodiment of a first aspect of the present invention provides a method for controlling a valet parking, including:
receiving a passenger-replacing parking mode instruction;
when entering a traversing parking space searching mode according to the passenger-replacing parking mode instruction, starting a plurality of parking space detection devices to respectively detect different types of parking spaces;
determining a target parking space according to a matching result of the parking space detected by the parking space detection device and the parking space in the map;
determining the parking space coordinates of the target parking space in a vehicle coordinate system;
and controlling the vehicle to run to the target parking space according to the parking space coordinates.
Optionally, before the receiving the valet parking mode instruction, the method further includes:
and acquiring a high-precision map of the target parking lot and parking space information in the map.
Optionally, the starting the multiple parking space detection devices to detect the parking spaces of different types respectively includes:
and starting the look-around camera to detect the line parking space and starting the ultrasonic detection radar to detect the space parking space.
Optionally, the determining a target parking space according to a matching result between the parking space detected by the parking space detection device and a parking space in a map includes:
if at least one of the line parking space and the space parking space meets a matching condition with the parking space in the map, determining the parking space matched in the map as the target parking space;
and if the line parking space and the parking spaces in the map do not reach the matching condition, determining that the line parking space is the target parking space.
Optionally, the method further comprises:
and when the difference value between the abscissa of the near-end angular point of the parking space in the map and the line parking space or the space parking space is smaller than a set first threshold value, and the difference value between the ordinate is smaller than a set second threshold value, determining that the matching condition is reached.
Optionally, the determining that the line parking space is the target parking space includes:
for a vertical line parking space, if the area of the space parking space corresponding to the vertical line parking space is larger than that of the vertical line parking space, determining that the vertical line parking space is the target parking space;
aiming at the parallel line parking spaces, if the parallel line parking spaces meet the parking space size requirement, the parallel line parking spaces are determined to be the target parking spaces.
Optionally, the method further comprises:
if the parallel line parking stall does not satisfy parking stall size requirement, nevertheless with parallel line parking stall corresponds the space parking stall satisfies parking stall size requirement, just the length of parallel line parking stall is greater than automobile body length, it is right parallel line parking stall carries out virtual inflation to satisfying parking stall size requirement, after will virtual inflation parallel line parking stall is determined to the target parking stall.
Optionally, the method further comprises:
and when the length of the parallel line parking space is greater than or equal to the sum of the length of the vehicle body and a set third threshold value, determining that the parallel line parking space meets the parking space size requirement.
Optionally, the method further comprises:
entering a fixed parking space mode according to the passenger-replacing parking mode instruction;
determining fixed parking spaces distributed in a target parking area, and judging whether obstacles exist in the fixed parking spaces;
if the parking space does not exist, determining the fixed parking space as the target parking space; and if so, entering the traversing parking space searching mode to determine the target parking space.
Optionally, the controlling the vehicle to travel to the target parking space according to the parking space coordinates includes:
acquiring the position of a parked vehicle between the vehicle and the target parking space and closest to the target parking space;
according to the position of the vehicle and the position of the parked vehicle, acquiring a first distance from the parked vehicle to one side, close to the target parking space, of the parked vehicle in the front-rear direction by using parking space detection equipment; and
acquiring a second distance from the stopped vehicle in the left-right direction of the vehicle;
and under the vehicle coordinate system, according to the first distance, the second distance and the parking space coordinate, planning a parking track and controlling the vehicle to run to the target parking space.
An embodiment of a second aspect of the present invention provides a passenger-assistant parking control device, including:
the instruction receiving module is used for receiving a passenger-riding parking mode instruction;
the parking space detection module is used for starting a plurality of parking space detection devices to respectively detect different types of parking spaces when entering a traversal parking space searching mode according to the passenger-riding parking mode instruction;
the target parking space determining module is used for determining a target parking space according to a matching result of the parking space detected by the parking space detecting equipment and the parking space in the map;
the parking space coordinate determination module is used for determining the parking space coordinates of the target parking space in a vehicle coordinate system;
and the control module is used for controlling the vehicle to run to the target parking space according to the parking space coordinates.
Optionally, the apparatus further comprises:
the acquisition module is used for acquiring a high-precision map of a target parking lot and parking space information in the map.
Optionally, the parking space detection module includes:
and the detection unit is used for starting the look-around camera to detect the line parking space and starting the ultrasonic detection radar to detect the space parking space.
Optionally, the target parking space determining module includes:
the target parking space determining unit is used for determining that the parking space matched in the map is the target parking space if at least one of the line parking space and the space parking space meets the matching condition with the parking space in the map;
and if the line parking space and the parking spaces in the map do not reach the matching condition, determining that the line parking space is the target parking space.
Optionally, the target parking space determining module further includes:
and the matching condition judging unit is used for determining that the matching condition is met when the difference value between the abscissa of the near-end angular point of the line parking space or the space parking space and the corresponding parking space in the map is smaller than a set first threshold value and the difference value between the ordinate is smaller than a set second threshold value.
Optionally, the target parking space determining unit is specifically configured to determine, for a vertical line parking space, that the vertical line parking space is the target parking space if the area of the space parking space corresponding to the vertical line parking space is larger than the area of the vertical line parking space;
aiming at the parallel line parking spaces, if the parallel line parking spaces meet the parking space size requirement, the parallel line parking spaces are determined to be the target parking spaces.
Optionally, the target parking space determining unit is further configured to perform virtual expansion on the parallel line parking space until the parking space size requirement is met, and determine the parallel line parking space after the virtual expansion as the target parking space, if the parallel line parking space is not met, but corresponds to the parallel line parking space, where the space parking space meets the parking space size requirement, and the length of the parallel line parking space is greater than the length of the vehicle body.
Optionally, the target parking space determining unit is further specifically configured to determine that the parallel line parking space meets the parking space size requirement when the length of the parallel line parking space is greater than or equal to the sum of the length of the vehicle body and a set third threshold.
Optionally, the apparatus further comprises:
the fixed parking space module is used for entering a fixed parking space mode according to the passenger-riding parking mode instruction;
the system comprises a judging module, a parking area judging module and a parking area judging module, wherein the judging module is used for determining fixed parking spaces distributed in a target parking area and judging whether barriers exist in the fixed parking spaces;
if the parking space does not exist, determining the fixed parking space as the target parking space; and if so, entering the traversing parking space searching mode to determine the target parking space.
Optionally, the control module comprises:
the vehicle acquisition unit is used for acquiring the position of a parked vehicle which is closest to the target parking space between the vehicle and the target parking space;
the distance acquisition unit is used for acquiring a first distance between the vehicle and one side of the parked vehicle, which is close to the target parking space, in the front-rear direction by using parking space detection equipment according to the position of the vehicle and the position of the parked vehicle; and
acquiring a second distance from the stopped vehicle in the left-right direction of the vehicle;
and the parking track planning unit is used for planning a parking track according to the first distance, the second distance and the parking space coordinate in the vehicle coordinate system and controlling the vehicle to run to the target parking space.
An embodiment of a third aspect of the present invention provides a valet parking control apparatus, including: the parking control system comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the program realizes the passenger car parking control method when being executed by the processor.
A fourth aspect of the invention provides a vehicle that includes the above-described valet parking control apparatus.
The invention has the beneficial effects that:
according to the scheme, a passenger-replacing parking mode instruction is received, when a traversing parking space searching mode is entered according to the passenger-replacing parking mode instruction, a plurality of parking space detection devices are started to respectively detect different types of parking spaces, and a target parking space is determined according to matching results of the parking spaces detected by the parking space detection devices and the parking spaces in a map; and determining the parking space coordinates of the target parking space in a vehicle coordinate system, and controlling the vehicle to run to the target parking space according to the parking space coordinates. By adopting the scheme, the parking spaces of different types detected by the parking space detection equipment can be fused and matched with the parking spaces in the map, so that the input sources of the parking spaces are increased, the compliance and the accuracy of parking space searching are improved, and the success rate of parking by a passenger is improved.
Drawings
Fig. 1 is a flowchart illustrating a passenger transportation control method according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a vertical line parking space according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a parallel line parking space according to an embodiment of the present invention;
FIG. 4 is a schematic diagram illustrating detection of vehicle range provided by an embodiment of the present invention;
FIG. 5 is a flow chart illustrating a valet parking process provided by an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a valet parking control device 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 a passenger-assistant parking control method, a device, equipment and a vehicle, aiming at the problems of low parking space searching accuracy and compliance and low success rate of passenger-assistant parking in the prior art.
As shown in fig. 1, an embodiment of a first aspect of the present invention provides a method for controlling a valet parking, including:
s101: and receiving a passenger-replacing parking mode instruction.
It should be noted that the passenger-assistant parking mode instruction is a remote instruction, and different passenger-assistant parking modes are entered according to different remote instructions.
Before the receiving the valet parking mode instruction, the method further comprises:
and acquiring a high-precision map of the target parking lot and parking space information in the map.
It should be noted that, before the passenger-assisted parking mode is received, the high-precision map of the target parking lot and the parking space information in the map are already stored, and after the passenger-assisted parking mode is received, the stored high-precision map of the target parking lot and the parking space information in the map are loaded, and vehicle positioning is completed.
S102: and when entering a traversing parking space searching mode according to the passenger-replacing parking mode instruction, starting a plurality of parking space detection devices to respectively detect different types of parking spaces.
The detection that starts a plurality of parking stall detection equipment and carry out the parking stall of different grade type respectively includes:
and starting the look-around camera to detect the line parking space and starting the ultrasonic detection radar to detect the space parking space.
It should be noted that, in this embodiment, the parking space detection device refers to a sensor located on a vehicle, and includes a look-around camera and an ultrasonic radar, and when entering a traverse parking space search mode and detecting different types of parking spaces, the look-around camera is used to search a line parking space, and the ultrasonic radar is used to search a space parking space.
As shown in fig. 2, the linear parking space is a parking space drawn by a solid line in the parking lot, and the spatial parking space is a parking space formed in a spatial region between two parked vehicles in the parking lot that are closest to each other.
In some specific scenarios, the input source of the parking space further includes pushed parking spaces of the parking lot via the remote link.
S103: and determining a target parking space according to the matching result of the parking space detected by the parking space detection equipment and the parking space in the map.
It should be noted that, when entering the traverse parking space searching mode, after the vehicle reaches the target parking area, the vehicle starts to search for the parking space, and there are three input sources of the parking space, which respectively include: looking around the linear parking space searched by the camera, the spatial parking space searched by the ultrasonic radar and the parking space in the map obtained based on the high-precision map of the target parking lot, and performing fusion judgment on the three parking spaces to obtain the target parking space. The method expands the input sources of the parking places, and improves the accuracy and the compliance of the parking places by fusing and judging the three parking places.
The determining a target parking space according to the matching result of the parking space detected by the parking space detection device and the parking space in the map includes:
and if at least one of the line parking space and the space parking space meets the matching condition with the parking space in the map, determining the parking space matched in the map as the target parking space.
The method further comprises the following steps:
and when the difference value between the abscissa of the near-end angular point of the parking space in the map and the line parking space or the space parking space is smaller than a set first threshold value, and the difference value between the ordinate is smaller than a set second threshold value, determining that the matching condition is reached.
It should be noted that, when the parking space searched by the parking space detection device and the parking space in the high-precision map can meet the matching condition, the following three conditions are mainly included: firstly, matching conditions of the line parking spaces and the space parking spaces with parking spaces in a map are achieved; secondly, matching conditions of the line parking spaces searched independently and parking spaces in the map are met; and thirdly, matching the space parking spaces searched separately with the parking spaces in the map. And when the parking space detected by the parking space detection equipment and the parking space in the high-precision map cannot meet the matching condition, if the line parking space can be detected, taking the line parking space as the target parking space.
If the parking space information is fed back from the high-precision map, but the parking space detection equipment does not search the line parking space or the space parking space, it is judged that the line parking space or the space parking space is provided with the obstacle, and the line parking space or the space parking space is not an effective parking space.
The matching result of the target parking space is shown in the following table 1.
TABLE 1 matching result table of target parking spaces
| Linear parking space (A) | √ | √ | √ | × | √ | × | × |
| Space parking space (B) | √ | √ | × | √ | × | √ | × |
| Map parking space (C) | √ | × | √ | √ | × | × | √ |
| Target parking space | (C) | (A) | (C) | (C) | (A) | × | × |
And when the line parking space and the space parking space searched by the parking space detection device reach the matching condition with the parking spaces in the map at the same time, or when one of the searched line parking space or the searched space parking space and the parking spaces in the map reach the matching condition, taking the parking spaces in the map as target parking spaces. The parking spaces in the map are the most accurate, because no person confirms the parking space information in the vehicle in the process of passenger-riding parking, in order to avoid mistakenly identified line parking spaces or space parking spaces, such as intersections, access doors and the like, effective parking spaces which can be matched with the searched different types of parking spaces and meet the requirements of parking lots are required to be adopted, and therefore the parking spaces in the map are used as target parking spaces.
When judging whether the line parking space or the space parking space meets the matching condition with the parking space in the map, the method is carried out based on the vehicle coordinate system, at the moment, a certain position of the vehicle body is defined as a coordinate origin, and coordinates of the line parking space based on four angular points of the vehicle coordinate system are defined as (X)1a，Y1a)、(X1b，Y1b)、(X1c，Y1C)、(X1d，Y1d) The space parking space is based on the coordinates of four angular points of a vehicle coordinate system as (X)2a，Y2a)、(X2b，Y2b)、(X2c，Y2C)、(X2d，Y2d) Passing the parking space information in the high-precision map through a conversion matrix (delta X)a，ΔYa)、(ΔXb，ΔYb)、(ΔXc，ΔYC)、(ΔXd，ΔYd) Converting the global coordinate system into a vehicle coordinate system to obtain coordinates (X) of four corner points of the parking space in the map3a，Y3a)、(X3b，Y3b)、(X3c，Y3C)、(X3d，Y3d) Calculating by the coordinates of the four angular points, and calculating the difference value (delta X) between the coordinates of the angular points of the near ends of the current parking space or the space parking space and the parking space in the mapaa，ΔYaa)、(ΔXbb，ΔYbb) When the value is less than the set limit value, the matching condition is considered to be reached. When judging whether the matching condition is met, considering the recognition precision and the accuracy of the pre-estimated coordinates, the matching between the coordinates of the corner points at the far end needs to be ignored.
Since the line parking space or the space parking space obtained based on the parking space detection device is local coordinate information and cannot be converted into the global coordinate system, when it is determined whether the matching condition is met, calculation needs to be performed based on the vehicle coordinate system.
And if the line parking space and the parking spaces in the map do not reach the matching condition, determining that the line parking space is the target parking space.
It should be noted that when the parking space detection device detects a line parking space but does not match parking space information in the high-precision map, the line parking space is determined as a target parking space.
The determining that the line parking space is the target parking space comprises:
for a vertical line parking space, if the area of the space parking space corresponding to the vertical line parking space is larger than that of the vertical line parking space, determining that the vertical line parking space is the target parking space;
it should be noted that, the current line parking space mainly includes two forms: vertical line parking space and parallel line parking space.
As shown in fig. 2, for a vertical linear parking space, since a driver is not in the vehicle and does not participate in the final confirmation of a target parking space in the process of passenger-assisted parking, under the environment of a parking lot, it is required to ensure that the parking position of the vehicle does not affect the getting on or off of people on surrounding parked vehicles and also does not affect the normative parking of subsequent vehicles, and therefore, when the area of the spatial parking space corresponding to the vertical linear parking space is larger than that of the vertical linear parking space, the vertical linear parking space is determined to be the target parking space.
Aiming at the parallel line parking spaces, if the parallel line parking spaces meet the parking space size requirement, the parallel line parking spaces are determined to be the target parking spaces.
The method further comprises the following steps:
if the run-in line parking stall is unsatisfied the parking stall size requirement, nevertheless with the run-in line parking stall corresponds the space parking stall satisfies the parking stall size requirement, just the length of run-in line parking stall is greater than automobile body length, it is right the run-in line parking stall carries out virtual inflation to satisfying the parking stall size requirement, after will virtual inflation the run-in line parking stall is determined to target parking stall size requirement
The method further comprises the following steps:
and when the length of the parallel line parking space is greater than or equal to the sum of the length of the vehicle body and a set third threshold value, determining that the parallel line parking space meets the parking space size requirement.
It should be noted that, as shown in fig. 3, when parking is performed in a parallel line parking space, there is no need to get on or off the vehicle by a person having a peripheral parked vehicle, and when the parallel line parking space meets the parking space size requirement, the parallel line parking space is determined to be the target parking space.
Length X of the parallel line parking space1Greater than or equal to the vehicle body length X0In addition to the third threshold value set, for example, the third threshold value set is Δ XmWhen X is1≥X0+ΔXmAnd then determining that the parallel line parking space meets the parking space size requirement.
If the length of the parallel line parking space does not meet the parking space size requirement, namely X1＜X0+ΔXmBut the length X of the space car space corresponding to the parallel line car space2Satisfy the parking space size requirement, namely X2≥X0+ΔXmAnd the length of the parallel line parking space is greater than the length of the vehicle body, the parallel line parking space can be judged to be an effective parking space, at the moment, the parallel line parking space is subjected to virtual expansion until the size requirement of the parking space is met, then the driving track planning is carried out according to the parallel line parking space subjected to virtual expansion, and the final parking target takes the parallel line parking space as a reference.
In the process of passenger-replacing parking, no person participates in the selection of the final parking space, and due to the randomness and uncertainty of the space parking space, the confidence coefficient of the space parking space is reduced, and the accuracy and the rationality of parking can be ensured.
The method further comprises the following steps:
entering a fixed parking space mode according to the passenger-replacing parking mode instruction;
determining fixed parking spaces distributed in a target parking area, and judging whether obstacles exist in the fixed parking spaces;
if the parking space does not exist, determining the fixed parking space as the target parking space; and if so, entering the traversing parking space searching mode to determine the target parking space.
It should be noted that, in the fixed parking space mode, a parking space searching process is obviously different from automatic parking, after entering the fixed parking space mode according to the instruction of the passenger parking mode, the allocated fixed parking space already provides coordinates of four angular points of the fixed parking space, and then it is determined whether an obstacle exists in the fixed parking space, if no obstacle exists, the fixed parking space is an effective parking space, and the fixed parking space is determined as a target parking space, if an obstacle exists in the fixed parking space, the fixed parking space is not an effective parking space, and the traversal search parking space mode is entered to determine the target parking space.
S104: and determining the parking space coordinates of the target parking space in a vehicle coordinate system.
It should be noted that after the target parking space is determined in the traversal search parking space mode or the fixed parking space mode, a certain position on the vehicle body is defined as an origin of coordinates, and the parking space coordinates of the target parking space are determined in the vehicle coordinate system.
S105: and controlling the vehicle to run to the target parking space according to the parking space coordinates.
The controlling the vehicle to travel to the target parking space according to the parking space coordinates comprises:
acquiring the position of a parked vehicle between the vehicle and the target parking space and closest to the target parking space;
according to the position of the vehicle and the position of the parked vehicle, acquiring a first distance from the parked vehicle to one side, close to the target parking space, of the parked vehicle in the front-rear direction by using parking space detection equipment; and
acquiring a second distance from the stopped vehicle in the left-right direction of the vehicle;
and under the vehicle coordinate system, according to the first distance, the second distance and the parking space coordinate, planning a parking track and controlling the vehicle to run to the target parking space.
It should be noted that, when planning the driving track, the position of the parked vehicle closest to the target parking space between the vehicle and the target parking space is determined, and then, as shown in fig. 4, a first distance L from the parked vehicle to a side close to the target parking space in the front-rear direction of the vehicle is detected by using a parking space detection device on the vehicle body0And detecting a second distance D of the vehicle from the stopped vehicle in a left-right direction0. The first distance L0And said second distance D0Conversion is carried out in a vehicle coordinate system according to the first distance L0And said second distance D0And the parking space coordinates are used for planning a parking track, and the vehicle runs to the target parking space according to the parking track.
In the parking process, as the vehicle approaches the target parking space, the errors of the parking space information, the obstacle information and the like sensed by the parking space detection device are smaller and smaller, and the confidence coefficient is higher and higher. In the parking process, the target parking space is tracked based on the perceived parking space information, the parking track is planned in real time, and meanwhile, the correction of the vehicle posture is supported.
As shown in fig. 5, the flow of the valet parking includes:
the method comprises the steps of firstly loading a high-precision map of a target parking lot, then receiving a passenger-replacing parking mode instruction, entering a traversal parking space searching mode or a fixed parking space mode according to the passenger-replacing parking mode instruction, if the passenger-replacing parking mode instruction enters the traversal parking space searching mode, reaching a target parking area to search a parking space, determining a target parking space, if the fixed parking space mode instruction enters the fixed parking space mode, reaching the fixed parking space and judging whether the target parking space is available, if the fixed parking space is available, determining the fixed parking space as the target parking space, if the fixed parking space is unavailable, entering the traversal parking space searching mode to determine the target parking space, after the target parking space is determined, carrying out coordinate conversion under a vehicle coordinate system to carry out parking track planning, and carrying out parking and parking space tracking according to the parking track.
According to the embodiment of the invention, by receiving a passenger-replacing parking mode instruction, when a traversing parking space searching mode is entered according to the passenger-replacing parking mode instruction, a plurality of parking space detection devices are started to respectively detect different types of parking spaces, and a target parking space is determined according to a matching result of the parking space detected by the parking space detection devices and the parking space in a map; and determining the parking space coordinates of the target parking space in a vehicle coordinate system, and controlling the vehicle to run to the target parking space according to the parking space coordinates. By adopting the scheme, the parking spaces of different types detected by the parking space detection equipment can be fused and matched with the parking spaces in the map, so that the input sources of the parking spaces are increased, the compliance and the accuracy of parking space searching are improved, and the success rate of passenger-assisted parking is improved.
As shown in fig. 6, an embodiment of a second aspect of the present invention provides a valet parking control device, including:
the instruction receiving module 601 is used for receiving a passenger-riding parking mode instruction;
a parking space detection module 602, configured to start multiple parking space detection devices to detect different types of parking spaces respectively when entering a traverse parking space searching mode according to the passenger-riding parking mode instruction;
a target parking space determining module 603, configured to determine a target parking space according to a matching result between the parking space detected by the parking space detecting device and a parking space in a map;
a parking space coordinate determination module 604, configured to determine a parking space coordinate of the target parking space in a vehicle coordinate system;
and the control module 605 is configured to control the vehicle to travel to the target parking space according to the parking space coordinate.
The device further comprises:
the acquisition module is used for acquiring a high-precision map of a target parking lot and parking space information in the map.
The parking space detection module 602 includes:
and the detection unit is used for starting the look-around camera to detect the line parking space and starting the ultrasonic detection radar to detect the space parking space.
The target parking space determination module 603 includes:
the target parking space determining unit is used for determining that the parking space matched in the map is the target parking space if at least one of the line parking space and the space parking space meets the matching condition with the parking space in the map;
and if the line parking space and the parking spaces in the map do not reach the matching condition, determining that the line parking space is the target parking space.
The target parking space determination module 603 further includes:
and the matching condition judging unit is used for determining that the matching condition is met when the difference value between the abscissa of the near-end angular point of the line parking space or the space parking space and the corresponding parking space in the map is smaller than a set first threshold value and the difference value between the ordinate is smaller than a set second threshold value.
The target parking space determining unit is specifically configured to determine, for a vertical line parking space, that the vertical line parking space is the target parking space if the area of the space parking space corresponding to the vertical line parking space is larger than the area of the vertical line parking space;
aiming at the parallel line parking spaces, if the parallel line parking spaces meet the parking space size requirement, the parallel line parking spaces are determined to be the target parking spaces.
The unit is confirmed to the target parking stall specifically still be used for if parallel form line parking stall is unsatisfied parking stall size requirement, nevertheless with parallel form line parking stall corresponds the space parking stall satisfies parking stall size requirement, just the length of parallel form line parking stall is greater than automobile body length, right parallel form line parking stall carries out virtual inflation to satisfying parking stall size requirement, behind the virtual inflation parallel form line parking stall is determined to the target parking stall.
The target parking space determining unit is further specifically configured to determine that the parallel line parking space meets the parking space size requirement when the length of the parallel line parking space is greater than or equal to the sum of the length of the vehicle body and a set third threshold.
The device further comprises:
the fixed parking space module is used for entering a fixed parking space mode according to the passenger-riding parking mode instruction;
the system comprises a judging module, a parking area judging module and a parking area judging module, wherein the judging module is used for determining fixed parking spaces distributed in a target parking area and judging whether barriers exist in the fixed parking spaces;
if the parking space does not exist, determining the fixed parking space as the target parking space; and if so, entering the traversing parking space searching mode to determine the target parking space.
The control module 605 includes:
the vehicle acquisition unit is used for acquiring the position of a parked vehicle which is closest to the target parking space between the vehicle and the target parking space;
the distance acquisition unit is used for acquiring a first distance between the vehicle and one side of the parked vehicle, which is close to the target parking space, in the front-rear direction by using parking space detection equipment according to the position of the vehicle and the position of the parked vehicle; and
acquiring a second distance from the stopped vehicle in the left-right direction of the vehicle;
and the parking track planning unit is used for planning a parking track according to the first distance, the second distance and the parking space coordinate in the vehicle coordinate system and controlling the vehicle to run to the target parking space.
An embodiment of a third aspect of the present invention provides a valet parking control apparatus, including: the parking control system comprises a processor, a memory and a program which is stored on the memory and can run on the processor, wherein the program realizes the passenger car parking control method when being executed by the processor.
A fourth aspect of the invention provides a vehicle that includes the above-described valet parking control apparatus.
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 (13)
1. A passenger-ride parking control method, characterized by comprising:
receiving a passenger-replacing parking mode instruction;
when entering a traversing parking space searching mode according to the passenger-replacing parking mode instruction, starting a plurality of parking space detection devices to respectively detect different types of parking spaces;
determining a target parking space according to a matching result of the parking space detected by the parking space detection device and the parking space in the map;
determining the parking space coordinates of the target parking space in a vehicle coordinate system;
and controlling the vehicle to run to the target parking space according to the parking space coordinates.
2. A valet parking control method according to claim 1, wherein before the receiving a valet parking mode instruction, the method further comprises:
and acquiring a high-precision map of the target parking lot and parking space information in the map.
3. The method for controlling pick-up parking according to claim 1, wherein the step of starting the plurality of parking space detection devices to detect different parking spaces comprises:
and starting the look-around camera to detect the line parking space and starting the ultrasonic detection radar to detect the space parking space.
4. The method for controlling a car parking ride according to claim 3, wherein the determining a target car space according to the matching result between the car space detected by the car space detection device and the car space in the map comprises:
if at least one of the line parking space and the space parking space meets a matching condition with the parking space in the map, determining the parking space matched in the map as the target parking space;
and if the line parking space and the parking spaces in the map do not reach the matching condition, determining that the line parking space is the target parking space.
5. The valet parking control method according to claim 4, further comprising:
and when the difference value between the abscissa of the near-end angular point of the parking space in the map and the line parking space or the space parking space is smaller than a set first threshold value, and the difference value between the ordinate is smaller than a set second threshold value, determining that the matching condition is reached.
6. The valet parking control method according to claim 4, wherein the determining that the linear parking space is the target parking space includes:
for a vertical line parking space, if the area of the space parking space corresponding to the vertical line parking space is larger than that of the vertical line parking space, determining that the vertical line parking space is the target parking space;
aiming at the parallel line parking spaces, if the parallel line parking spaces meet the parking space size requirement, the parallel line parking spaces are determined to be the target parking spaces.
7. The valet parking control method according to claim 6, further comprising:
if the parallel line parking stall does not satisfy parking stall size requirement, nevertheless with parallel line parking stall corresponds the space parking stall satisfies parking stall size requirement, just the length of parallel line parking stall is greater than automobile body length, it is right parallel line parking stall carries out virtual inflation to satisfying parking stall size requirement, after will virtual inflation parallel line parking stall is determined to the target parking stall.
8. The valet parking control method according to claim 6, further comprising:
and when the length of the parallel line parking space is greater than or equal to the sum of the length of the vehicle body and a set third threshold value, determining that the parallel line parking space meets the parking space size requirement.
9. The valet parking control method according to claim 1, further comprising:
entering a fixed parking space mode according to the passenger-replacing parking mode instruction;
determining fixed parking spaces distributed in a target parking area, and judging whether obstacles exist in the fixed parking spaces;
if the parking space does not exist, determining the fixed parking space as the target parking space; and if so, entering the traversing parking space searching mode to determine the target parking space.
10. The valet parking control method according to claim 1, wherein the controlling of the vehicle to travel to the target parking space according to the parking space coordinates includes:
acquiring the position of a parked vehicle between the vehicle and the target parking space and closest to the target parking space;
according to the position of the vehicle and the position of the parked vehicle, acquiring a first distance from the parked vehicle to one side, close to the target parking space, of the parked vehicle in the front-rear direction by using parking space detection equipment; and
acquiring a second distance from the stopped vehicle in the left-right direction of the vehicle;
and under the vehicle coordinate system, according to the first distance, the second distance and the parking space coordinate, planning a parking track and controlling the vehicle to run to the target parking space.
11. A valet parking control device, comprising:
the instruction receiving module is used for receiving a passenger-riding parking mode instruction;
the parking space detection module is used for starting a plurality of parking space detection devices to respectively detect different types of parking spaces when entering a traversal parking space searching mode according to the passenger-riding parking mode instruction;
the target parking space determining module is used for determining a target parking space according to a matching result of the parking space detected by the parking space detecting equipment and the parking space in the map;
the parking space coordinate determination module is used for determining the parking space coordinates of the target parking space in a vehicle coordinate system;
and the control module is used for controlling the vehicle to run to the target parking space according to the parking space coordinates.
12. A valet parking control apparatus, characterized by comprising: a processor, a memory, and a program stored on and executable on the memory, the program, when executed by the processor, implementing the valet parking control method according to any one of claims 1 to 10.
13. A vehicle characterized by comprising the valet parking control apparatus according to claim 11.
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