CN114724354A - Automatic calling method for vehicle in indoor parking lot, vehicle-mounted terminal and automatic calling system for vehicle in indoor parking lot - Google Patents
Automatic calling method for vehicle in indoor parking lot, vehicle-mounted terminal and automatic calling system for vehicle in indoor parking lot Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
- G01C21/32—Structuring or formatting of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
- G01S13/867—Combination of radar systems with cameras
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0125—Traffic data processing
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/0969—Systems involving transmission of navigation instructions to the vehicle having a display in the form of a map
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/003—Locating users or terminals or network equipment for network management purposes, e.g. mobility management locating network equipment
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- Engineering & Computer Science (AREA)
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- Remote Sensing (AREA)
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- Computer Networks & Wireless Communication (AREA)
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Abstract
The invention discloses an automatic calling method for vehicles in an indoor parking lot, a vehicle-mounted terminal and an automatic calling system for vehicles in the indoor parking lot, wherein the automatic calling method for the vehicles in the indoor parking lot comprises the following steps: receiving an automatic calling instruction sent by a user terminal, wherein the automatic calling instruction comprises position information of the user terminal; determining current location information of the vehicle by communicating with the indoor parking lot location tag; and generating a driving path according to the position information of the user terminal, the current position information of the vehicle and a pre-acquired map of the indoor parking lot, and controlling the vehicle to drive to the position of the user terminal according to the driving path. According to the automatic vehicle calling method for the indoor parking lot, the position information of the user and the position information of the vehicle can be accurately determined, so that the vehicle can be accurately called, the pain that the user is difficult to find the vehicle is solved, and the use experience of the user is greatly improved.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to an automatic calling method for vehicles in an indoor parking lot, a vehicle-mounted terminal and an automatic calling system for vehicles in the indoor parking lot.
Background
At present, the more complex the indoor parking lot becomes, the more difficult the car owner faces to find the trouble of the car after parking. Automated car-call in an indoor parking lot is one of the solutions to this problem. The scheme adopted by the current automatic calling of the vehicle in the indoor parking lot is mainly based on a scheme combining Bluetooth positioning and a parking lot high-precision map, and the problems of low positioning precision, high-precision map acquisition cost and the like exist.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, one purpose of the invention is to provide an automatic calling method for vehicles in an indoor parking lot, which can accurately determine the position information of a user and the position information of the vehicle, so as to accurately call the vehicle, solve the pain of the user who is difficult to find the vehicle, and greatly improve the use experience of the user.
The invention also provides a computer readable storage medium.
The invention further provides the vehicle-mounted terminal.
The invention also provides an automatic calling system for the vehicles in the indoor parking lot.
The automatic vehicle calling method for the indoor parking lot comprises at least the following steps: receiving an automatic calling instruction sent by a user terminal, wherein the automatic calling instruction comprises position information of the user terminal; determining current location information of the vehicle by communicating with the indoor parking lot location tag; and generating a driving path according to the position information of the user terminal, the current position information of the vehicle and a pre-acquired map of the indoor parking lot, and controlling the vehicle to drive to the position of the user terminal according to the driving path.
According to the automatic vehicle calling method for the parking lot, the first position information where the user is located and the second position information where the vehicle is located can be accurately determined by arranging the positioning module, so that the vehicle can obtain a route from the second position to the first position according to the map of the parking lot obtained in advance, the vehicle can accurately move to the position where the user is located, the pain point that the user is difficult to find the vehicle is solved, and the use feeling of the user is greatly improved.
According to one embodiment of the invention, acquiring the indoor parking lot map comprises the following steps: and in the driving process that the vehicle enters the indoor parking lot, carrying out sensing scanning on the environment of the indoor parking lot to obtain a sensing scanning result, and carrying out map construction on the environment of the indoor parking lot according to the sensing scanning result to obtain the map of the indoor parking lot.
According to one embodiment of the invention, the environment of the indoor parking lot is perceptively scanned by a look-around camera and a 4D millimeter wave radar arranged on the vehicle, and the indoor parking lot map is constructed by adopting a VSLAM algorithm.
According to one embodiment of the invention, the position information of the user terminal is determined according to the communication between the user terminal and the indoor parking lot positioning tag.
According to one embodiment of the invention, the indoor parking lot positioning tag is a UWB positioning tag.
A computer-readable storage medium on which an indoor parking lot vehicle automatic calling program is stored, which when executed by a processor implements the above-described indoor parking lot vehicle automatic calling method.
The vehicle-mounted terminal comprises a memory, a processor and an automatic calling program of the vehicle in the indoor parking lot, wherein the automatic calling program of the vehicle in the indoor parking lot is stored in the memory and can run on the processor, and when the processor executes the automatic calling program of the vehicle in the indoor parking lot, the automatic calling method of the vehicle in the indoor parking lot is realized.
An automatic calling system for vehicles in an indoor parking lot is characterized by comprising an indoor parking lot positioning tag, a user terminal and a vehicle-mounted terminal, wherein the user terminal is communicated with the indoor parking lot positioning tag to determine position information of the user terminal and sends an automatic calling instruction with the position information of the user terminal to the vehicle-mounted terminal; the vehicle-mounted terminal is used for receiving an automatic calling instruction sent by the user terminal, communicating with the indoor parking lot positioning tag to determine current position information of a vehicle, generating a driving path according to the position information of the user terminal, the current position information of the vehicle and a pre-acquired indoor parking lot map, and controlling the vehicle to drive to the position of the user terminal according to the driving path.
According to an embodiment of the invention, the vehicle-mounted terminal is further configured to, during a driving process of the vehicle entering the indoor parking lot, perform sensing scanning on the environment of the indoor parking lot to obtain a sensing scanning result, and perform map construction on the environment of the indoor parking lot according to the sensing scanning result to obtain the map of the indoor parking lot.
According to one embodiment of the invention, the vehicle-mounted terminal senses and scans the environment of the indoor parking lot through a look-around camera and a 4D millimeter wave radar which are arranged on the vehicle, and a VSLAM algorithm is adopted to construct the map of the indoor parking lot.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a flow chart of a method for automatic vehicle summoning according to the present invention;
fig. 2 is a schematic diagram of an automatic vehicle summoning system according to the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
An automatic vehicle summoning method for an indoor parking lot according to an embodiment of the present invention is described below with reference to fig. 1-2.
The automatic vehicle calling method for the indoor parking lot comprises at least the following steps:
receiving an automatic calling instruction sent by a user terminal, wherein the automatic calling instruction comprises position information of the user terminal;
determining current location information of the vehicle by communicating with the indoor parking lot location tag;
and generating a driving path according to the position information of the user terminal, the current position information of the vehicle and the pre-acquired map of the indoor parking lot, and controlling the vehicle to drive to the position of the user terminal according to the driving path.
The indoor parking lot positioning tag can confirm the current position of the vehicle more accurately, and compared with the vehicle positioning method which adopts a vehicle-mounted GPS or vehicle-mounted Bluetooth, the indoor parking lot positioning tag is specially arranged, so that the position information of the vehicle is more accurate.
After the accurate vehicle position information and the position information of the user terminal are obtained, a driving path can be generated according to the indoor parking lot map which is obtained in advance, and therefore the vehicle can drive to the position of the user terminal from the current position according to the driving path.
According to the automatic calling method for the vehicle in the indoor parking lot, the position of the vehicle can be accurately determined by setting the positioning label of the indoor parking lot, so that the driving route can be determined according to the map of the parking lot, the current position of the vehicle and the position of the user terminal, which are acquired in advance, and the vehicle can move to the position of the user along an accurate road. The automatic calling method for the vehicle in the indoor parking lot solves the problem that a user is difficult to find the vehicle, and greatly improves the use experience of the user.
In some embodiments of the present invention, obtaining the indoor parking lot map comprises: in the driving process that a vehicle enters an indoor parking lot, sensing scanning is carried out on the environment of the indoor parking lot to obtain a sensing scanning result, and map construction is carried out on the environment of the indoor parking lot according to the sensing scanning result to obtain an indoor parking lot map.
Specifically, the environment of the indoor parking lot can be perceived and scanned through a look-around camera and a 4D millimeter wave radar arranged on the vehicle, and a VSLAM (simultaneous localization and mapping) algorithm is adopted to construct the map of the indoor parking lot. Therefore, in the driving process of the vehicle, the all-round camera can obtain more useful information, the 4D millimeter wave radar can also sense the distance information between the vehicle and the object in the indoor parking lot more accurately, more useful information can be obtained, and the map construction precision is improved.
In some embodiments of the present invention, the location information of the user terminal is determined based on the user terminal communicating with the indoor parking lot location tag. That is, the present invention does not rely on the positioning function or bluetooth function of the user terminal to determine the position of the user terminal, but uses the indoor parking lot positioning tag to position the position of the user and the position of the vehicle.
Specifically, after the user terminal sends the automatic calling instruction, the user terminal can be perceived by a nearby indoor parking lot positioning tag, the indoor parking lot positioning tag can accurately position the user terminal and the user, then the indoor parking lot positioning tag can send the automatic calling instruction and the position of the user terminal to a vehicle-mounted terminal of a vehicle, after the vehicle-mounted terminal receives the automatic calling instruction of the user, the vehicle-mounted terminal communicates with the parking lot positioning tag to obtain position information of the vehicle, therefore, the vehicle-mounted terminal obtains the accurate position of the user terminal and the accurate position of the position information of the vehicle, and then the vehicle-mounted terminal can plan a route from the current position to the position of the user terminal by combining a pre-obtained map of the parking lot, so that the route is automatically opened to the position of the user.
Further, the indoor parking lot positioning tag is a UWB positioning tag. The UWB positioning tag may be plural, with the plural UWB positioning tags spaced apart. It should be noted that there are at least two UWB positioning tags, so that the location of the user terminal and the location of the vehicle can be accurately determined. The UWB positioning tags for determining the position of the user terminal and the UWB positioning tags for determining the position of the vehicle may be the same, and certainly, the UWB positioning tags for determining the position of the user terminal and the UWB positioning tags for determining the position of the vehicle may be different from each other, so long as it is ensured that the UWB positioning tags for determining the position of the user and the UWB positioning tags for determining the position of the vehicle can be in communication connection, and an automatic calling instruction and position information sent by the user terminal are transmitted.
The computer-readable storage medium in the embodiments of the present invention is briefly described below.
According to the computer-readable storage medium of the embodiment of the invention, the automatic calling program of the vehicle in the indoor parking lot is stored on the computer-readable storage medium, and when the automatic calling program of the vehicle in the indoor parking lot is executed by the processor, the automatic calling method of the vehicle in the indoor parking lot of the embodiment is realized. Therefore, the computer-readable storage medium of the embodiment of the invention can enable the vehicle to accurately determine the positions of the user terminal and the vehicle after receiving the automatic calling instruction, and automatically generate the driving path according to the indoor parking lot map so as to automatically drive to the position of the user terminal.
The following briefly describes the vehicle-mounted terminal according to the embodiment of the present invention, which includes a memory, a processor, and an automatic calling program stored in the memory and operable on the processor, and when the processor executes the automatic calling program, the automatic calling method for the vehicle in the indoor parking lot according to the embodiment is implemented. Therefore, after receiving the automatic calling instruction, the vehicle-mounted terminal can accurately determine the positions of the user terminal and the vehicle, and automatically generate a driving path according to the indoor parking lot map so as to automatically drive to the position of the user terminal.
The automatic vehicle calling system for an indoor parking lot in the embodiment of the invention is briefly described below.
The automatic vehicle calling system for the indoor parking lot comprises an indoor parking lot positioning label, a user terminal and a vehicle-mounted terminal. The user terminal is communicated with the indoor parking lot positioning tag to determine the position information of the user terminal, and an automatic calling instruction with the position information of the user terminal is sent to the vehicle-mounted terminal; it should be noted that the automatic call instruction may be directly sent to the vehicle-mounted terminal, or may be indirectly sent to the vehicle-mounted terminal through the indoor parking lot location tag.
The vehicle-mounted terminal is used for receiving an automatic calling instruction sent by the user terminal, communicating with the indoor parking lot positioning tag to determine the current position information of the vehicle, generating a driving path according to the position information of the user terminal, the current position information of the vehicle and a pre-acquired indoor parking lot map, and controlling the vehicle to drive to the position of the user terminal according to the driving path.
Furthermore, the vehicle-mounted terminal is also used for sensing and scanning the environment of the indoor parking lot to obtain a sensing and scanning result in the driving process of the vehicle entering the indoor parking lot, and carrying out map construction on the environment of the indoor parking lot according to the sensing and scanning result to obtain an indoor parking lot map.
Furthermore, the vehicle-mounted terminal senses and scans the environment of the indoor parking lot through a look-around camera and a 4D millimeter wave radar which are arranged on the vehicle, and a VSLAM algorithm is adopted to construct an indoor parking lot map. Therefore, in the driving process of the vehicle, the all-round camera can obtain more useful information, the 4D millimeter wave radar can also sense the distance information between the vehicle and the object in the indoor parking lot more accurately, more useful information can be obtained, and the map construction precision is improved.
In some embodiments of the invention, the automatic call instruction includes identity information of the current user. Thus, not everyone can summon the vehicle to the front using the user terminal. After receiving the automatic calling instruction, the vehicle-mounted terminal firstly confirms whether the identity information is matched or not, and further operation can be carried out only after the identity information is matched, so that the vehicle can be accurately moved to the front of a vehicle owner.
In some embodiments of the invention, after the vehicle enters the parking lot, the vehicle-mounted terminal receives the map information of the parking lot, which is sent by the user terminal. After a vehicle enters a parking lot, an accurate map of the parking lot can be actively or automatically acquired, for example, map information can be stored in a two-dimensional code on a wall of the parking lot, a vehicle owner can scan the two-dimensional code through a mobile phone to further acquire the map of the current parking lot, and then the map information can be sent to a vehicle-mounted terminal of the vehicle through the mobile phone.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (10)
1. An automatic calling method for vehicles in an indoor parking lot is characterized by comprising the following steps:
receiving an automatic calling instruction sent by a user terminal, wherein the automatic calling instruction comprises position information of the user terminal;
determining current location information of the vehicle by communicating with the indoor parking lot location tag;
and generating a driving path according to the position information of the user terminal, the current position information of the vehicle and a pre-acquired map of the indoor parking lot, and controlling the vehicle to drive to the position of the user terminal according to the driving path.
2. The method for automatically calling vehicles in an indoor parking lot according to claim 1, wherein acquiring the map of the indoor parking lot comprises:
and in the driving process that the vehicle enters the indoor parking lot, carrying out sensing scanning on the environment of the indoor parking lot to obtain a sensing scanning result, and carrying out map construction on the environment of the indoor parking lot according to the sensing scanning result to obtain the map of the indoor parking lot.
3. The method for automatically calling vehicles in an indoor parking lot according to claim 2, wherein the environment of the indoor parking lot is perceptually scanned by a look-around camera and a 4D millimeter wave radar provided on the vehicle, and the map of the indoor parking lot is constructed by using a VSLAM algorithm.
4. The method according to any one of claims 1 to 3, wherein the position information of the user terminal is determined based on the communication of the user terminal with the indoor parking lot location tag.
5. The method for automatically calling vehicles in an indoor parking lot according to claim 4, wherein the indoor parking lot location tag is a UWB location tag.
6. A computer-readable storage medium, on which an indoor parking lot vehicle automatic call program is stored, which when executed by a processor implements the indoor parking lot vehicle automatic call method according to any one of claims 1 to 5.
7. An in-vehicle terminal, characterized by comprising a memory, a processor and an indoor parking lot vehicle automatic calling program stored on the memory and capable of running on the processor, wherein when the processor executes the indoor parking lot vehicle automatic calling program, the in-vehicle terminal realizes the indoor parking lot vehicle automatic calling method according to any one of claims 1-5.
8. An automatic calling system for vehicles in an indoor parking lot is characterized by comprising an indoor parking lot positioning label, a user terminal and a vehicle-mounted terminal, wherein,
the user terminal is communicated with the indoor parking lot positioning tag to determine self position information and sends an automatic calling instruction with the self position information to the vehicle-mounted terminal;
the vehicle-mounted terminal is used for receiving an automatic calling instruction sent by the user terminal, communicating with the indoor parking lot positioning tag to determine current position information of a vehicle, generating a driving path according to the position information of the user terminal, the current position information of the vehicle and a pre-acquired indoor parking lot map, and controlling the vehicle to drive to the position of the user terminal according to the driving path.
9. The system according to claim 8, wherein the vehicle-mounted terminal is further configured to, during a driving process of the vehicle entering the indoor parking lot, perform sensing scanning on the environment of the indoor parking lot to obtain a sensing scanning result, and perform mapping on the environment of the indoor parking lot according to the sensing scanning result to obtain the map of the indoor parking lot.
10. The system for automatically calling vehicles at an indoor parking lot according to claim 9, wherein the vehicle-mounted terminal perceptively scans the environment of the indoor parking lot through a look-around camera and a 4D millimeter wave radar provided on the vehicle, and constructs the map of the indoor parking lot using a VSLAM algorithm.
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| CN115083200B (en) * | 2022-07-15 | 2024-04-16 | 广州小鹏自动驾驶科技有限公司 | Vehicle positioning method, vehicle, server, system and storage medium |
| CN117109592A (en) * | 2023-10-18 | 2023-11-24 | 北京集度科技有限公司 | Vehicle navigation method, device, computer equipment and storage medium |
| CN117109592B (en) * | 2023-10-18 | 2024-01-12 | 北京集度科技有限公司 | Vehicle navigation method, device, computer equipment and storage medium |
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