CN114937369B - Autonomous agent parking method, system, vehicle, parking lot end, device and medium - Google Patents
Autonomous agent parking method, system, vehicle, parking lot end, device and medium Download PDFInfo
- Publication number
- CN114937369B CN114937369B CN202210353726.8A CN202210353726A CN114937369B CN 114937369 B CN114937369 B CN 114937369B CN 202210353726 A CN202210353726 A CN 202210353726A CN 114937369 B CN114937369 B CN 114937369B
- Authority
- CN
- China
- Prior art keywords
- precision map
- vehicle
- parking lot
- lot end
- sub
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/40—High definition maps
-
- 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
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
Abstract
The application relates to an autonomous agent parking method, an autonomous agent parking system, a vehicle, a parking lot end, a device and a medium, wherein the autonomous agent parking method comprises the following steps: generating a high-precision map acquisition instruction according to a storage path of the high-precision map, and sending the high-precision map acquisition instruction to a parking lot end; receiving a high-precision map fed back by a parking lot end according to a high-precision map acquisition instruction; and carrying out autonomous passenger-riding parking according to the high-precision map. Through the application, the high-precision map of the parking lot end can be transmitted to the vehicle in time, so that the vehicle is not required to obtain the high-precision map from the cloud, and the applicability of the autonomous passenger-riding parking function of the vehicle is improved.
Description
Technical Field
The application relates to the technical field of intelligent driving, in particular to an autonomous passenger-riding parking method, an autonomous passenger-riding parking system, an autonomous passenger-riding parking vehicle, a parking lot end, a parking lot device and a parking medium.
Background
With the continuous development of intelligent driving technology, automatic Valet Parking (AVP) is also gradually developed, in the automatic valet Parking, a driver only needs to drive a vehicle to a designated passenger falling area of a Parking lot and starts an automatic passenger Parking program, the vehicle can automatically drive to the Parking lot for Parking, the automatic Parking of the vehicle is realized, and when the driver needs to leave, the vehicle can automatically drive out of the Parking lot through remote control. The autonomous passenger-riding parking-assistant realization method has the advantages that the autonomous passenger-riding parking-assistant realization method can not leave the high-precision map, the high-precision map contains rich road traffic elements, the road information such as the shape of a road, the number of lanes, the gradient, the curvature, the course and the side inclination of each lane can be accurately described, and the automatic parking of vehicles based on the accurate map information is facilitated.
At present, in autonomous valet parking, when a vehicle travels to a position near a parking lot, the vehicle usually downloads a high-precision map from a cloud, and further performs path planning based on the downloaded high-precision map, so that an autonomous valet parking function is realized. According to the method, the specific position of the vehicle is determined by comparing and matching perception information acquired by a sensor of the vehicle with high-precision map information, the positioning information completely depends on the characteristic information of a high-precision map in a cloud, if the environment of a parking lot changes, a parking lot end does not upload an updated high-precision map to the cloud in time, or the high-precision map of the parking lot end cannot be transmitted to the cloud due to the authority of a map provider, the vehicle cannot download the high-precision map from the cloud, and further, the vehicle cannot perform autonomous parking according to the characteristic information of the high-precision map, so that the applicability of the autonomous parking function is influenced.
Therefore, how to transmit the high-precision map of the parking lot end to the vehicle in time is to improve the applicability of the autonomous valet parking function.
Disclosure of Invention
The embodiment provides an autonomous valet parking method, an autonomous valet parking system, a vehicle, a parking lot end, a device and a medium, and a high-precision map of the parking lot end is timely transmitted to the vehicle, so that the applicability of an autonomous valet parking function is improved.
In a first aspect, in the present embodiment, there is provided an autonomous valet parking method applied to a vehicle, including:
generating a high-precision map acquisition instruction according to a storage path of the high-precision map, and sending the high-precision map acquisition instruction to a parking lot end, wherein the parking lot end stores the high-precision map;
receiving a high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction;
and carrying out autonomous passenger-riding parking according to the high-precision map.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a direct communication interface, and before the generating the high-precision map obtaining instruction according to the storage path of the high-precision map, the method further includes:
and receiving the storage path sent by the parking lot end through the direct connection communication interface.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a cellular network communication interface, and the generating a high-precision map obtaining instruction according to a storage path of a high-precision map and sending the high-precision map obtaining instruction to the parking lot end includes:
generating a high-precision map acquisition instruction according to a storage path of a high-precision map, and sending the high-precision map acquisition instruction to the parking lot end through the cellular network communication interface;
the receiving of the high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction comprises the following steps:
and receiving a high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction through the cellular network communication interface.
In some embodiments, the dividing the high-precision map of the parking lot end into a plurality of sub high-precision maps, and the receiving the high-precision map fed back by the parking lot end according to the high-precision map obtaining instruction comprises:
and receiving each sub high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction.
In some embodiments, after receiving each sub high-precision map fed back by the parking lot end according to the high-precision map obtaining instruction, the method further comprises:
judging whether each sub high-precision map is successfully acquired, if not, generating a sub high-precision map missing instruction;
and sending the sub high-precision map missing instruction to a parking lot end so that the parking lot end resends the missing sub high-precision map based on the sub high-precision map missing instruction.
In a second aspect, in the present embodiment, there is provided an autonomous passenger parking method, where the autonomous passenger parking method is applied to a parking lot terminal, where a high-precision map is stored, and the autonomous passenger parking method includes:
receiving a high-precision map acquisition instruction sent by a vehicle;
and sending the high-precision map to the vehicle according to the high-precision map acquisition instruction so as to enable the vehicle to carry out autonomous passenger-riding parking according to the high-precision map.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a direct connection communication interface, and before the receiving the high-precision map acquisition instruction sent by the vehicle, the method further includes:
and sending the storage path of the high-precision map to the vehicle through the direct communication interface so that the vehicle generates a high-precision map acquisition instruction according to the storage path.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a cellular communication interface, and the receiving a high-precision map obtaining instruction sent by the vehicle includes: receiving a high-precision map acquisition instruction sent by a vehicle through the cellular network communication interface;
the sending the high-precision map to the vehicle includes: and sending a high-precision map to the vehicle through the cellular network communication interface.
In some embodiments, the sending a high-precision map to the vehicle according to the high-precision map obtaining instruction includes:
dividing the high-precision map of the parking lot end into a plurality of sub high-precision maps;
and sending each sub high-precision map to the vehicle according to the high-precision map acquisition instruction.
In some embodiments, after the sending each sub high-precision map to the vehicle, the method further includes:
receiving a sub high-precision map missing instruction sent by the vehicle;
and retransmitting the missing sub high-precision map based on the sub high-precision map missing instruction.
In a third aspect, there is provided in the present embodiment a vehicle comprising:
the system comprises a first sending module, a second sending module and a parking lot end, wherein the first sending module is used for generating a high-precision map obtaining instruction according to a storage path of a high-precision map and sending the high-precision map obtaining instruction to the parking lot end, and the parking lot end stores the high-precision map;
the first receiving module is used for receiving a high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction;
and the autonomous passenger-riding parking module is used for performing autonomous passenger-riding parking according to the high-precision map.
In a fourth aspect, there is provided in this embodiment a parking lot end comprising:
the second receiving module is used for receiving a high-precision map acquisition instruction sent by a vehicle;
and the second sending module is used for sending the high-precision map to the vehicle according to the high-precision map acquisition instruction so as to enable the vehicle to carry out autonomous passenger-riding parking according to the high-precision map.
In a fifth aspect, in the present embodiment, there is provided an autonomous valet parking system, including: the system comprises a parking lot end and a vehicle, wherein the vehicle generates a high-precision map acquisition instruction according to a storage path of a high-precision map and sends the high-precision map acquisition instruction to the parking lot end, and the parking lot end stores the high-precision map;
the parking lot end receives a high-precision map acquisition instruction sent by a vehicle, and sends a high-precision map to the vehicle according to the high-precision map acquisition instruction;
and the vehicle receives the high-precision map and carries out autonomous passenger-riding parking according to the high-precision map.
In a sixth aspect, in this embodiment, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor executes the computer program to implement the autonomous parking method according to the first aspect or the second aspect.
In a seventh aspect, in the present embodiment, a storage medium is provided, on which a computer program is stored, which when executed by a processor, implements the autonomous valet parking method according to the first or second aspect.
Compared with the prior art, according to the autonomous agent parking method, the system, the vehicle, the parking lot end, the device and the medium provided by the embodiment, the vehicle generates the high-precision map acquisition instruction according to the storage path of the high-precision map, and sends the high-precision map acquisition instruction to the parking lot end, further, the vehicle receives the high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction, so that the real-time transmission of the high-precision map between the parking lot end and the vehicle is realized, the vehicle can effectively acquire the high-precision map of any parking lot through the method, and further, autonomous agent parking is performed according to the high-precision map, so that the application range of the autonomous agent parking function is expanded.
The details of one or more embodiments of the application are set forth in the accompanying drawings and the description below to provide a more thorough understanding of the application.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a block diagram of a hardware structure of a terminal of an autonomous valet parking method according to an embodiment of the present disclosure;
fig. 2 is a flowchart of an autonomous valet parking method applied to a vehicle according to an embodiment of the present disclosure;
fig. 3 is a flowchart of an autonomous valet parking method applied to a parking lot end according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a high-precision map storage location provided in an embodiment of the present application;
fig. 5 is a schematic diagram of a sub-high-precision map obtaining state according to an embodiment of the present application;
fig. 6 is a schematic diagram of another sub-high-precision map obtaining state provided in the embodiment of the present application;
fig. 7 is a schematic diagram of an autonomous valet parking system according to an embodiment of the present disclosure;
fig. 8 is a flowchart illustrating interaction between a parking lot end and a vehicle in an autonomous valet parking system according to an embodiment of the present disclosure;
FIG. 9 is a block diagram of a vehicle according to an embodiment of the present disclosure;
fig. 10 is a block diagram of a parking lot end structure provided in an embodiment of the present application.
Detailed Description
For a clearer understanding of the objects, technical solutions and advantages of the present application, reference is made to the following description and accompanying drawings.
Unless defined otherwise, technical or scientific terms used herein shall have the same general meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The use of the terms "a" and "an" and "the" and similar referents in the context of describing the invention (including a reference to the context of the specification and claims) are to be construed to cover both the singular and the plural, as well as the singular and plural. The terms "comprises," "comprising," "has," "having," and any variations thereof, as referred to in this application, are intended to cover non-exclusive inclusions; for example, a process, method, and system, article, or apparatus that comprises a list of steps or modules (elements) is not limited to the listed steps or modules, but may include other steps or modules (elements) not listed or inherent to such process, method, article, or apparatus. Reference throughout this application to "connected," "coupled," and the like is not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. Reference to "a plurality" in this application means two or more. "and/or" describes an association relationship of associated objects, meaning that three relationships may exist, for example, "A and/or B" may mean: a exists alone, A and B exist simultaneously, and B exists alone. In general, the character "/" indicates a relationship in which the objects associated before and after are an "or". The terms "first," "second," "third," and the like in this application are used for distinguishing between similar items and not necessarily for describing a particular sequential or chronological order.
The method embodiments provided in the present embodiment may be executed in a terminal, a computer, or a similar computing device. For example, the method is executed on a terminal, and fig. 1 is a hardware structure block diagram of the terminal of the autonomous parking assistant method according to the embodiment of the present disclosure. As shown in fig. 1, the terminal may include one or more processors 101 (only one is shown in fig. 1) and a memory 102, wherein the processor 101 may include, but is not limited to, a processing device such as a central processing unit CPU, a microprocessor MCU, or a programmable logic device FPGA, the memory 102 may include a read only memory ROM and/or a random access memory RAM, and the processor 101 may perform various suitable actions and processes according to computer program instructions stored in the ROM or computer program instructions loaded into the RAM from the storage unit 107. In the RAM, various programs and data required for the operation of the terminal may also be stored. The processor 101 and the memory 102 are connected to each other by a bus 103. An input/output interface 104 is also connected to the bus 103.
A number of components in the terminal are connected to the input/output interface 104, including: an input unit 105 such as a keyboard, a mouse, and a touch panel; an output unit 106 such as various types of displays, speakers, and the like; a storage unit 107 such as a magnetic disk, an optical disk, or the like; and a communication unit 108, such as a network card, modem, wireless communication transceiver, etc. The communication unit 108 allows the terminal to exchange information/data with other devices through a computer network such as the internet and/or various telecommunication networks.
It should be noted that the terminal may be a terminal device in a vehicle, and may also be a drive test terminal device at a parking lot end, which is not limited herein.
The various processes and processes of the method embodiments provided in this embodiment may be performed by the processor 101. For example, in some embodiments, the methods provided in the present embodiments may be implemented as a computer software program tangibly embodied in a machine-readable medium, such as storage unit 107. In some embodiments, part or all of the computer program may be loaded and/or installed onto the terminal via the ROM and/or the communication unit 108. The steps of the method provided in the present embodiment may be performed when the computer program is loaded into the RAM and executed by the CPU.
With the continuous development of intelligent driving technology, autonomous Valet Parking (AVP) is also developed gradually, the implementation of autonomous valet Parking is not separated from a high-precision map, the high-precision map is a new map data format for an autonomous driving automobile, the absolute precision position of the map data format is close to 1m, the relative position precision is in the centimeter level and can reach 10-20cm, the map data format comprises static and dynamic maps and rich road traffic elements, the road information such as the shape, the number of lanes, the gradient, the curvature, the course and the heeling of a road can be accurately described, and the automatic Parking of the automobile based on accurate map information is facilitated.
At present, in autonomous valet parking, when a vehicle travels to a position near a parking lot, the vehicle usually downloads a high-precision map from a cloud, and further performs path planning based on the downloaded high-precision map, so that an autonomous valet parking function is realized. The autonomous valet parking function completely depends on the characteristic information of the high-precision map in the cloud, if the environment of the parking lot changes, the parking lot end does not upload the updated high-precision map to the cloud in time, or the high-precision map of the parking lot end cannot be transmitted to the cloud due to the authority of a map provider, the accurate characteristic information of the high-precision map cannot be provided for the vehicle, and therefore the applicability of the autonomous valet parking function is influenced.
When the vehicle cannot obtain the high-precision map from the cloud, how to transmit the high-precision map of the parking lot end to the vehicle is achieved, and therefore the applicability of the autonomous passenger-riding parking function is improved.
In the present embodiment, an autonomous valet parking method is provided, and fig. 2 is a flowchart of an autonomous valet parking method applied to a vehicle according to an embodiment of the present application, and as shown in fig. 2, the flowchart includes the following steps:
and step S201, generating a high-precision map acquisition instruction according to the storage path of the high-precision map, and sending the high-precision map acquisition instruction to a parking lot terminal.
Wherein, the parking lot end stores high-precision maps.
Illustratively, the parking lot terminal stores the latest version of the high-precision map of the parking lot, the vehicle stores the storage route of the parking lot terminal in advance, and when the vehicle travels to a designated passenger drop area of the parking lot, the vehicle generates a high-precision map acquisition instruction according to the storage route of the high-precision map and transmits the high-precision map acquisition instruction to the parking lot terminal.
It should be noted that the vehicle in the embodiment of the present application may be an intelligent driving vehicle with an autonomous valet parking function, and the storage path may also be a domain name or a communication address of a device that stores a high-precision map at a parking lot end, which is not limited herein.
And step S202, receiving a high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction.
Illustratively, after the parking lot end receives the high-precision map acquisition instruction, the high-precision map is fed back to the vehicle, and further, the vehicle receives the high-precision map fed back by the parking lot end.
And step S203, carrying out autonomous passenger-generation parking according to the high-precision map.
Illustratively, after the vehicle receives a high-precision map of a parking lot end, path planning is carried out according to the received high-precision map, and autonomous passenger-generation parking is further carried out.
In the implementation process, the vehicle generates a high-precision map acquisition instruction according to the storage path of the high-precision map and sends the high-precision map acquisition instruction to the parking lot end, so that the vehicle can conveniently download the high-precision map from the parking lot end according to the storage path of the high-precision map, namely, the parking lot end feeds the high-precision map back to the vehicle according to the high-precision map acquisition instruction, and therefore real-time transmission of the high-precision map between the parking lot end and the vehicle is achieved.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a direct communication interface, and before generating the high-precision map obtaining instruction according to the storage path of the high-precision map, the method further includes: and receiving a storage path sent by the parking lot end through the direct connection communication interface.
Communication between the Vehicle and the parking lot end is realized by Vehicle-to-Vehicle wireless communication technology (V2X), and particularly, short-distance communication between the Vehicle and the parking lot is realized by a direct communication interface (such as a PC 5) in the V2X.
Specifically, when the vehicle travels to a designated landing area of the parking lot, the parking lot end recognizes that the vehicle enters the landing area through a sensing device such as a sensor or a camera, further, the parking lot end transmits the storage path of the high-precision map to the vehicle through the PC5, and further, the vehicle receives the storage path transmitted by the parking lot end through the PC 5.
As another example, a high-precision map of a parking lot end is stored in the vehicle, the parking lot end recognizes that the vehicle enters a drop-off area specified by the parking lot by a sensing device such as a sensor or a camera when the vehicle travels to the drop-off area, and further, the parking lot end transmits attribute information of the high-precision map, which includes version information of the high-precision map stored by the parking lot end and a storage path of the high-precision map, to the vehicle through the PC 5.
Further, the vehicle receives the attribute information sent by the parking lot end through the PC5, and further, the vehicle analyzes the attribute information to obtain the version information of the high-precision map stored by the parking lot end and the storage path of the high-precision map, the vehicle compares the received version information with the version information of the high-precision map stored by the vehicle itself according to the received version information, if the version information received by the vehicle is the same as the version information of the high-precision map stored by the vehicle itself, the vehicle can perform autonomous valet parking according to the high-precision map stored by the vehicle itself, and if the version information received by the vehicle is different from the version information of the high-precision map stored by the vehicle itself, step S201 is executed, the vehicle generates a high-precision map acquisition instruction according to the storage path of the received high-precision map, and sends the high-precision map acquisition instruction to the parking lot end, so that the vehicle can download the latest high-precision map.
In the implementation process, when a vehicle runs to a parking lot landing zone, the parking lot end sends the storage path of the high-precision map to the vehicle through the PC5, and further, the vehicle receives the storage path sent by the parking lot end through the PC5, so that short-distance communication between the vehicle and the parking lot end is realized, the PC5 has the characteristics of low time delay, high capacity and high reliability, the parking lot end sends data with small data volume such as the storage path of the high-precision map to the vehicle through the PC5, the storage path of the high-precision map can be sent to the vehicle in time, the vehicle is further facilitated to download the high-precision map according to the storage path, and therefore the transmission efficiency of the high-precision map between the parking lot end and the vehicle is improved.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a cellular network communication interface, generates the high-precision map obtaining instruction according to the storage path of the high-precision map, and sends the high-precision map obtaining instruction to the parking lot end, including: generating a high-precision map acquisition instruction according to a storage path of the high-precision map, and sending the high-precision map acquisition instruction to a parking lot end through a cellular network communication interface; receive high-accuracy map that parking lot end obtained order feedback according to high-accuracy map, include: and receiving the high-precision map fed back by the parking lot terminal according to the high-precision map acquisition instruction through a cellular network communication interface.
Illustratively, the communication interface between the vehicle and the parking lot end comprises a cellular network communication interface (such as UU), and after the vehicle generates the high-precision map acquisition instruction according to the storage path of the high-precision map, the vehicle sends the high-precision map acquisition instruction to the parking lot end through the cellular network communication interface, and receives the high-precision map fed back by the parking lot end through the cellular network communication interface.
The data volume of the high-precision map is huge due to the richness of the description information of the high-precision map, and the high-precision map is transmitted through a cellular network communication interface in the implementation process, so that the transmission of large data volumes such as the high-precision map is realized, and the reliability of the data transmission of the high-precision map is ensured.
In some embodiments, the high-precision map of the parking lot end is divided into a plurality of sub high-precision maps, and the receiving of the high-precision map fed back by the parking lot end according to the high-precision map obtaining instruction comprises: and receiving each sub high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction.
Illustratively, the high-precision map of the parking lot end is divided into a plurality of sub high-precision maps, after the vehicle sends the high-precision map acquisition command to the parking lot end, the parking lot end sends each sub high-precision map to the vehicle, and further, the vehicle receives each sub high-precision map sent by the parking lot end, so that the vehicle acquires the global high-precision map of the parking lot end.
Specifically, each sub high-precision map corresponds to one sub storage path, the parking lot end sends each sub storage path to the vehicle, the vehicle generates a corresponding sub high-precision map acquisition instruction according to each sub storage path and sends each sub high-precision map acquisition instruction to the parking lot end, and the parking lot end sends the corresponding sub high-precision map to the vehicle according to each high-precision map acquisition instruction.
In the implementation process, the high-precision map of the parking lot end is divided into a plurality of sub high-precision maps, and the sub high-precision maps are transmitted between the vehicle and the parking lot end, so that the transmission efficiency of the high-precision maps can be improved.
In some embodiments, after receiving each sub high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction, the method further comprises the following steps:
step 1: and judging whether each sub high-precision map is successfully acquired, and if not, generating a sub high-precision map missing instruction.
And 2, sending the missing sub high-precision map instruction to the parking lot end so that the parking lot end resends the missing sub high-precision map based on the missing sub high-precision map instruction.
Illustratively, after the vehicle receives the high-precision map, whether each sub high-precision map is successfully acquired is judged, specifically, whether the byte number of each sub high-precision map reaches a preset byte number is judged, if the byte number of the sub high-precision map is smaller than the preset byte number, it is determined that the sub high-precision map is unsuccessfully acquired, a sub high-precision map acquisition instruction is generated according to a sub storage path of the sub high-precision map, and the sub high-precision map acquisition instruction is sent to the parking lot end, so that the parking lot end resends the missing sub high-precision map based on the sub high-precision map missing instruction.
It should be noted that, in the present application, it is only determined whether the sub high-precision map is successfully acquired by determining whether the number of bytes of the sub high-precision map reaches the preset number of bytes, and in practical applications, the vehicle may also determine whether the sub high-precision map is successfully acquired according to whether a response signal of the sub high-precision map is received, and may also determine in other manners, which is not limited herein.
In the implementation process, whether the sub high-precision map is successfully acquired or not is judged, and when the sub high-precision map is not successfully acquired, a sub high-precision map acquisition instruction is generated and sent to the parking lot end, so that the parking lot end can send the missing sub high-precision map from the new sub high-precision map according to the sub high-precision map acquisition instruction, and the integrity of the high-precision map acquired by the vehicle is guaranteed.
In some embodiments, after receiving each sub high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction, the method further comprises the following steps: and receiving the updated sub high-precision map sent by the parking lot end, and updating the original sub high-precision map in the vehicle according to the updated sub high-precision map.
In the implementation process, the parking lot end sends the updated sub high-precision map to the vehicle, further, the vehicle updates the original sub high-precision map according to the updated sub high-precision map, and when the high-precision map needs to be updated, the vehicle only updates the sub high-precision map which needs to be updated, so that the updating efficiency of the high-precision map is improved.
In the embodiment, another autonomous valet parking method is also provided, and the method is applied to a parking lot end. Fig. 3 is a flowchart of an autonomous valet parking method applied to a parking lot end according to an embodiment of the present application, and as shown in fig. 3, the flowchart includes the following steps:
step S301, receiving a high-precision map acquisition instruction sent by a vehicle.
Illustratively, the vehicle generates a high-precision map acquisition instruction according to the storage path of the high-precision map and sends the high-precision map acquisition instruction to the parking lot end, and the parking lot end receives the high-precision map acquisition instruction sent by the vehicle.
And step S302, sending the high-precision map to the vehicle according to the high-precision map acquisition instruction so that the vehicle can carry out autonomous passenger-riding parking according to the high-precision map.
Exemplarily, after the parking lot end receives the high-precision map acquisition instruction, the parking lot end sends the high-precision map stored by the parking lot end to the vehicle, and the vehicle can conduct autonomous passenger-riding parking according to the high-precision map.
In the implementation process, the parking lot end sends the high-precision map of the parking lot end to the vehicle according to the high-precision map acquisition instruction sent by the vehicle, so that the high-precision map is transmitted between the parking lot end and the vehicle in real time.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a direct connection communication interface, and before receiving the high-precision map obtaining instruction sent by the vehicle, the method further includes: and sending the storage path of the high-precision map to the vehicle through the direct connection communication interface so that the vehicle generates a high-precision map acquisition instruction according to the storage path.
Illustratively, when the vehicle travels to a designated landing area of the parking lot, the parking lot end recognizes that the vehicle enters the landing area through a sensing device such as a sensor or a camera, and further, the parking lot end transmits a storage path of the high-precision map to the vehicle through the PC5, so that the vehicle generates a high-precision map acquisition instruction according to the storage path.
In the implementation process, the parking lot end sends the storage path of the high-precision map to the vehicle through the PC5, so that short-distance communication between the vehicle and the parking lot end is achieved, data with small data volume such as the storage path can be sent to the vehicle, and timeliness of data transmission is improved.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a cellular communication interface, and the receiving of the high-precision map acquisition instruction sent by the vehicle includes: receiving a high-precision map acquisition instruction sent by a vehicle through a cellular network communication interface; sending a high-precision map to a vehicle, comprising: and transmitting the high-precision map to the vehicle through the cellular network communication interface.
Illustratively, after the vehicle sends the high-precision map acquisition instruction to the parking lot end through the cellular network communication interface, the parking lot end receives the high-precision map acquisition instruction sent by the vehicle through the cellular network communication interface, and further sends the high-precision map to the vehicle through the cellular network communication interface.
In the implementation process, the cellular network communication interface transmits the data of the high-precision map, so that the transmission of large data quantity such as the high-precision map is realized, and the reliability of the data transmission of the high-precision map is ensured.
In some embodiments, sending the high-precision map to the vehicle according to the high-precision map obtaining instruction may include:
step 1: and dividing the high-precision map at the parking lot end into a plurality of sub high-precision maps.
Illustratively, the parking lot end divides the high-precision map into a plurality of sub high-precision maps, respectively and correspondingly stores the sub high-precision maps in a plurality of sub storage paths, and sends each sub storage path to the vehicle.
Step 2: and sending each sub high-precision map to the vehicle according to the high-precision map acquisition instruction.
Illustratively, after the parking lot terminal sends each sub storage path to the vehicle, the vehicle generates a corresponding sub high-precision map acquisition instruction according to each sub storage path, and sends each sub high-precision map acquisition instruction to the parking lot terminal, and further, the parking lot terminal sends each sub high-precision map to the vehicle according to each sub high-precision map acquisition instruction.
In the implementation process, the high-precision map of the parking lot end is divided into a plurality of sub high-precision maps, and the sub high-precision maps are transmitted between the vehicle and the parking lot end, so that the transmission efficiency of the high-precision maps can be improved.
In some embodiments, after each sub high-precision map is sent to the vehicle, the following steps may be further included:
step 1: and receiving a sub high-precision map missing instruction sent by the vehicle.
Illustratively, when the vehicle judges that the sub high-precision map fails to be acquired, a sub high-precision map missing instruction is generated, and further, the parking lot end receives the sub high-precision map missing instruction sent by the vehicle.
Step 2: and retransmitting the missing sub high-precision map based on the sub high-precision map missing instruction.
Illustratively, the parking lot terminal resends the missing sub high-precision map to the vehicle according to the received sub high-precision map missing instruction.
As a specific embodiment, as shown in fig. 4, fig. 4 is a schematic diagram of a high-precision map storage location provided in this embodiment of the present application, a 10M high-precision map at a parking lot end is divided into 10 sub high-precision maps, the data size of each sub high-precision map is 1M, and the sub high-precision maps correspond to the locations stored in 1 to 10 shown in fig. 4, specifically, the data of each sub high-precision map may be recorded in the locations 1 to 10 shown in fig. 4 by using a bitmap format. Specifically, after the vehicle receives each sub high-precision map, the obtaining status of each sub high-precision map is labeled, as shown in fig. 5, fig. 5 is a schematic diagram of the obtaining status of the sub high-precision map provided in the embodiment of the present application, where 0 represents that the sub high-precision map at the corresponding position of the vehicle has failed to be obtained, 1 represents that the sub high-precision map at the corresponding position of the vehicle has succeeded to be obtained, as shown in fig. 5, the sub high-precision maps at the 3 rd position and the 8 th position of the vehicle have failed to be obtained, and the sub high-precision maps at the remaining positions of the vehicle have succeeded to be obtained, further, the vehicle generates a sub high-precision map obtaining instruction at the 3 rd position and a sub high-precision map obtaining instruction at the 8 th position respectively, and sending the sub high-precision map at the 3 rd position and the sub high-precision map at the 8 th position to the vehicle by the parking lot end according to the sub high-precision map obtaining instruction at the 3 rd position and the sub high-precision map obtaining instruction at the 8 th position, so that the vehicle receives the missing sub high-precision map and modifies the obtaining state of the corresponding sub high-precision map to be successful, as shown in fig. 6, fig. 6 is another sub high-precision map obtaining state schematic diagram provided by the embodiment of the application, and in fig. 6, the sub high-precision maps at the corresponding positions of the vehicle in 1 to 10 are successfully obtained, so that the vehicle obtains a complete high-precision map.
In the implementation process, the parking lot end sends the sub high-precision map to the vehicle again according to the sub high-precision map missing instruction, so that the completeness of the high-precision map obtained by the vehicle is guaranteed, in addition, only the missing sub high-precision map is transmitted between the parking lot end and the vehicle, the complete high-precision map is prevented from being transmitted due to the missing of part of the high-precision map, and the transmission efficiency of the high-precision map is improved.
The embodiment also provides an autonomous passenger-riding parking system, which comprises a parking lot terminal and a vehicle, wherein the vehicle generates a high-precision map acquisition instruction according to a storage path of the high-precision map and sends the high-precision map acquisition instruction to the parking lot terminal, and the parking lot terminal stores the high-precision map; the parking lot end receives a high-precision map acquisition instruction sent by the vehicle, and sends the high-precision map to the vehicle according to the high-precision map acquisition instruction; and the vehicle receives the high-precision map and carries out autonomous passenger-riding parking according to the high-precision map.
Exemplarily, as shown in fig. 7, fig. 7 is a schematic diagram of an autonomous valet parking system according to an embodiment of the present application, and a parking lot end shown in fig. 7 includes a drive test calculation unit 701 and a drive test communication unit 702, where the drive test calculation unit 701 includes a storage module for storing a high-precision map of the parking lot end, and dividing the high-precision map into a plurality of sub high-precision maps to be stored respectively. The drive test calculation unit 701 further includes a vehicle communication module, which may be a V2X communication module, for communicating with a vehicle. In addition, fig. 7 also includes a vehicle communication device 703 and a base station 704, and specifically, the vehicle communication device 703 may be an OBU provided in a vehicle.
Specifically, as shown in fig. 8, fig. 8 is an interactive flowchart of a parking lot end and a vehicle in an autonomous passenger parking system provided in an embodiment of the present application, a high-precision map of the parking lot end is stored in a storage module in a drive test calculation unit 701, when the vehicle travels to a designated passenger drop area in a parking lot, the drive test calculation unit 701 sends a storage path 81 of a high-precision map to a drive test communication unit 702 through a vehicle communication module, specifically, the drive test calculation unit 701 sends the sub storage paths of each sub high-precision map to the drive test communication unit 702, further, the drive test communication unit 702 sends the storage path 81 to vehicle communication devices 703 in a plurality of vehicles through a PC5, specifically, the drive test communication unit 702 sends each sub storage path to the vehicle communication devices 703 in the plurality of vehicles through the PC5, when a vehicle requiring autonomous parking receives the storage path 81, the vehicle generates the high-precision map acquisition instruction 82, sends the map acquisition instruction 704 to a base station through the base station, further, sends the acquisition instruction 82 to a UU communication device 703 in the autonomous passenger parking system, and further, the map acquisition unit receives the map 704, the UU communication module receives the map 704, and forwards the map acquisition instruction to the UU communication unit 701 through the UU communication module, so that the map 704, thereby, the map 701, the map calculation unit 701 further, the map calculation unit calculates the UU calculation unit 701 and then, so that the map 704 obtains the map 704.
Further, the vehicle communication device 703 may also send the high-precision map 83 to a domain controller in the vehicle, and further, the domain controller performs autonomous valet parking according to the high-precision map.
In the implementation process, the parking lot end sends the storage path corresponding to the high-precision map to the vehicle through the direct connection communication interface PC5, so that low-delay communication between the parking lot end and the vehicle is achieved, the vehicle generates a high-precision map acquisition instruction according to the storage path, the high-precision map acquisition instruction is transmitted to the parking lot end through the cellular network communication interface UU, the parking lot end transmits the high-precision map to the vehicle through the cellular network communication interface UU, real-time transmission of high-capacity data such as the high-precision map between the parking lot end and the vehicle is achieved, further, the vehicle performs autonomous parking according to the received high-precision map, and applicability of an autonomous parking function of the vehicle is improved.
It should be noted that the steps illustrated in the above-described flow diagrams or in the flow diagrams of the figures may be performed in a computer system, such as a set of computer-executable instructions, and that, although a logical order is illustrated in the flow diagrams, in some cases, the steps illustrated or described may be performed in an order different than here.
In this embodiment, a vehicle is further provided, and the vehicle is used for implementing the embodiment and the preferred embodiment shown in fig. 2, which have already been described and are not described again. The terms "module," "unit," "sub-unit," and the like as used below may implement a combination of software and/or hardware of predetermined functions. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware or a combination of software and hardware is also possible and contemplated.
Fig. 9 is a structural block diagram of a vehicle according to an embodiment of the present application, and as shown in fig. 9, the vehicle includes:
the first sending module 901 is configured to generate a high-precision map obtaining instruction according to a storage path of the high-precision map, and send the high-precision map obtaining instruction to a parking lot end, where the parking lot end stores the high-precision map.
The first receiving module 902 is configured to receive a high-precision map fed back by a parking lot end according to a high-precision map acquisition instruction.
And the autonomous passenger-riding parking module 903 is used for performing autonomous passenger-riding parking according to the high-precision map.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a direct communication interface, and before generating the high-precision map obtaining instruction according to the storage path of the high-precision map, the first receiving module 902 is further configured to: and receiving a storage path sent by the parking lot end through the direct connection communication interface.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a cellular communication interface, and the first sending module 901 is specifically configured to: and generating a high-precision map acquisition instruction according to the storage path of the high-precision map, and sending the high-precision map acquisition instruction to the parking lot terminal through the cellular network communication interface.
The first receiving module 902 is specifically configured to: and receiving the high-precision map fed back by the parking lot terminal according to the high-precision map acquisition instruction through a cellular network communication interface.
In some embodiments, the high-precision map at the parking lot end is divided into a plurality of sub high-precision maps, and the first receiving module 902 is specifically configured to: and receiving each sub high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction.
In some embodiments, after receiving each sub high-precision map fed back by the parking lot end according to the high-precision map obtaining instruction, the first receiving module 902 is further configured to: judging whether each sub high-precision map is successfully acquired, if not, generating a sub high-precision map missing instruction; and sending the sub high-precision map missing instruction to the parking lot end so that the parking lot end resends the missing sub high-precision map based on the sub high-precision map missing instruction.
In this embodiment, a parking lot end is further provided, and the parking lot end is used for implementing the embodiment and the preferred embodiment shown in fig. 3, which have already been described and are not described again. The terms "module," "unit," "subunit," and the like as used below may implement a combination of software and/or hardware for a predetermined function. Although the means described in the embodiments below are preferably implemented in software, an implementation in hardware or a combination of software and hardware is also possible and contemplated.
In this embodiment, a parking lot end is further provided, and fig. 10 is a structural block diagram of a parking lot end according to an embodiment of the present application, and as shown in fig. 10, the vehicle includes:
and the second receiving module 111 is used for receiving the high-precision map obtaining instruction sent by the vehicle.
And the second sending module 112 is configured to send the high-precision map to the vehicle according to the high-precision map obtaining instruction, so that the vehicle performs autonomous valet parking according to the high-precision map.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a direct communication interface, and the second sending module 112 is further configured to: and sending the storage path of the high-precision map to the vehicle through the direct connection communication interface so that the vehicle generates a high-precision map acquisition instruction according to the storage path.
In some embodiments, the communication interface between the vehicle and the parking lot end includes a cellular communication interface, and the second receiving module 111 is specifically configured to: and receiving a high-precision map acquisition instruction sent by the vehicle through a cellular network communication interface.
The second sending module 112 is specifically configured to: and transmitting the high-precision map to the vehicle through the cellular network communication interface.
In some embodiments, the second sending module 112 is specifically configured to:
dividing a high-precision map of a parking lot end into a plurality of sub high-precision maps;
and sending each sub high-precision map to the vehicle according to the high-precision map acquisition instruction.
In some of these embodiments, after sending each sub high-precision map to the vehicle, the second sending module 112 is further configured to:
receiving a sub high-precision map missing instruction sent by a vehicle;
and retransmitting the missing sub high-precision map based on the sub high-precision map missing instruction.
The above modules may be functional modules or program modules, and may be implemented by software or hardware. For a module implemented by hardware, the modules may be located in the same processor; or the modules can be respectively positioned in different processors in any combination.
There is also provided in this embodiment an electronic device comprising a memory having a computer program stored therein and a processor arranged to run the computer program to perform the steps of any of the above method embodiments.
Optionally, the electronic apparatus may further include a transmission device and an input/output device, wherein the transmission device is connected to the processor, and the input/output device is connected to the processor.
Optionally, in this embodiment, the processor may be configured to execute the following steps by a computer program:
the method comprises the following steps of S1, generating a high-precision map acquisition instruction according to a storage path of a high-precision map, and sending the high-precision map acquisition instruction to a parking lot end, wherein the parking lot end stores the high-precision map;
s2, receiving a high-precision map fed back by a parking lot end according to a high-precision map acquisition instruction;
and S3, carrying out autonomous passenger-riding parking according to the high-precision map.
Alternatively, the processor may be configured to execute the following steps by a computer program:
s1, receiving a high-precision map acquisition instruction sent by a vehicle;
and S2, according to the high-precision map acquisition instruction, sending the high-precision map to the vehicle, so that the vehicle can carry out autonomous passenger-riding parking according to the high-precision map.
It should be noted that, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiment and optional implementation manners, and details are not described in this embodiment again.
In addition, in combination with the autonomous valet parking method provided in the foregoing embodiment, a storage medium may also be provided in this embodiment. The storage medium having stored thereon a computer program; the computer program is executed by a processor to implement any one of the autonomous valet parking methods in the above embodiments.
It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to be limiting. All other embodiments, which can be derived by a person skilled in the art from the examples provided herein without any inventive step, shall fall within the scope of protection of the present application.
It is obvious that the drawings are only examples or embodiments of the present application, and it is obvious to those skilled in the art that the present application can be applied to other similar cases according to the drawings without creative efforts. Moreover, it should be appreciated that in the development of any such actual implementation, as in any engineering or design project, numerous implementation-specific decisions must be made to achieve the developers' specific goals, such as compliance with system-related and business-related constraints, which may vary from one implementation to another.
The term "embodiment" is used herein to mean that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the present application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is to be expressly and implicitly understood by one of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the patent protection. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.
Claims (11)
1. An autonomous valet parking method, applied to a vehicle, comprising:
generating a high-precision map acquisition instruction according to a storage path of the high-precision map, and sending the high-precision map acquisition instruction to a parking lot end, wherein the parking lot end stores the high-precision map;
receiving a high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction;
the high-precision map of the parking lot end is divided into a plurality of sub high-precision maps, and the receiving of the high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction comprises the following steps: receiving each sub high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction;
after receiving each sub high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction, the method further comprises the following steps: judging whether each sub high-precision map is successfully acquired, if not, generating a sub high-precision map missing instruction; sending the sub high-precision map missing instruction to a parking lot end so that the parking lot end resends the missing sub high-precision map based on the sub high-precision map missing instruction;
and carrying out autonomous passenger-riding parking according to the high-precision map.
2. The autonomous valet parking method according to claim 1, wherein the communication interface between the vehicle and the parking lot end comprises a direct connection communication interface, and before generating the high-precision map obtaining instruction according to the storage path of the high-precision map, the method further comprises:
and receiving the storage path sent by the parking lot end through the direct connection communication interface.
3. The autonomous valet parking method according to claim 1, wherein a communication interface between the vehicle and the parking lot end includes a cellular communication interface, and the generating a high-precision map obtaining instruction according to a storage path of a high-precision map and sending the high-precision map obtaining instruction to the parking lot end includes:
generating a high-precision map acquisition instruction according to a storage path of a high-precision map, and sending the high-precision map acquisition instruction to the parking lot end through the cellular network communication interface;
the receiving of the high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction comprises the following steps:
and receiving a high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction through the cellular network communication interface.
4. An autonomous valet parking method is applied to a parking lot terminal, a high-precision map is stored in the parking lot terminal, and the autonomous valet parking method comprises the following steps:
receiving a high-precision map acquisition instruction sent by a vehicle;
according to the high-precision map acquisition instruction, sending a high-precision map to the vehicle so as to enable the vehicle to carry out autonomous passenger-riding parking according to the high-precision map;
wherein, according to the high-precision map acquisition instruction, send high-precision map to the vehicle, include: dividing the high-precision map of the parking lot end into a plurality of sub high-precision maps; sending each sub high-precision map to the vehicle according to the high-precision map acquisition instruction;
after the sending each sub high-precision map to the vehicle, further comprising: receiving a sub high-precision map missing instruction sent by the vehicle; and retransmitting the missing sub high-precision map based on the sub high-precision map missing instruction.
5. The autonomous valet parking method according to claim 4, wherein the communication interface between the vehicle and the parking lot end comprises a direct connection communication interface, and before the receiving of the high-precision map acquisition instruction sent by the vehicle, the method further comprises:
and sending the storage path of the high-precision map to the vehicle through the direct communication interface so that the vehicle generates a high-precision map acquisition instruction according to the storage path.
6. The method of autonomous valet parking of claim 4 wherein the communication interface between the vehicle and the parking lot end comprises a cellular communication interface,
the receiving vehicle sends a high-precision map acquisition instruction, and the receiving vehicle comprises: receiving a high-precision map acquisition instruction sent by a vehicle through the cellular network communication interface;
the sending the high-precision map to the vehicle includes: and sending a high-precision map to the vehicle through the cellular network communication interface.
7. A vehicle, characterized by comprising:
the system comprises a first sending module, a second sending module and a parking lot end, wherein the first sending module is used for generating a high-precision map obtaining instruction according to a storage path of a high-precision map and sending the high-precision map obtaining instruction to the parking lot end, and the parking lot end stores the high-precision map;
the first receiving module is used for receiving a high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction;
the high-precision map of the parking lot end is divided into a plurality of sub high-precision maps, and the first receiving module is specifically used for: receiving each sub high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction;
the first receiving module is further configured to: judging whether each sub high-precision map is successfully acquired, if not, generating a sub high-precision map missing instruction; sending the sub high-precision map missing instruction to a parking lot end so that the parking lot end resends the missing sub high-precision map based on the sub high-precision map missing instruction;
and the autonomous passenger-riding parking module is used for carrying out autonomous passenger-riding parking according to the high-precision map.
8. A parking lot end, comprising:
the second receiving module is used for receiving a high-precision map acquisition instruction sent by the vehicle;
the second sending module is used for sending the high-precision map to the vehicle according to the high-precision map acquisition instruction so as to enable the vehicle to carry out autonomous passenger-substitute parking according to the high-precision map;
the second sending module is specifically configured to: dividing the high-precision map of the parking lot end into a plurality of sub high-precision maps; sending each sub high-precision map to the vehicle according to the high-precision map acquisition instruction;
the second sending module is further configured to: receiving a sub high-precision map missing instruction sent by the vehicle; and retransmitting the missing sub high-precision map based on the sub high-precision map missing instruction.
9. An autonomous valet parking system, comprising: a parking lot end and a vehicle,
the vehicle generates a high-precision map acquisition instruction according to a storage path of the high-precision map and sends the high-precision map acquisition instruction to the parking lot end, wherein the parking lot end stores the high-precision map;
the parking lot end receives a high-precision map acquisition instruction sent by the vehicle and sends a high-precision map to the vehicle according to the high-precision map acquisition instruction;
wherein, the parking lot end is specifically used for: dividing the high-precision map of the parking lot end into a plurality of sub high-precision maps; sending each sub high-precision map to the vehicle according to the high-precision map acquisition instruction;
the vehicle receives the high-precision map and carries out autonomous passenger-riding parking according to the high-precision map;
the vehicle is specifically configured to: receiving each sub high-precision map fed back by the parking lot end according to the high-precision map acquisition instruction; judging whether each sub high-precision map is successfully acquired, if not, generating a sub high-precision map missing instruction; sending the sub high-precision map missing instruction to a parking lot end;
the parking lot end is further configured to: receiving a sub high-precision map missing instruction sent by the vehicle; and retransmitting the missing sub high-precision map based on the sub high-precision map missing instruction.
10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the autonomous valet parking method according to any of claims 1 to 6.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method for autonomous valet parking according to one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210353726.8A CN114937369B (en) | 2022-04-06 | 2022-04-06 | Autonomous agent parking method, system, vehicle, parking lot end, device and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210353726.8A CN114937369B (en) | 2022-04-06 | 2022-04-06 | Autonomous agent parking method, system, vehicle, parking lot end, device and medium |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114937369A CN114937369A (en) | 2022-08-23 |
| CN114937369B true CN114937369B (en) | 2023-04-04 |
Family
ID=82861925
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210353726.8A Active CN114937369B (en) | 2022-04-06 | 2022-04-06 | Autonomous agent parking method, system, vehicle, parking lot end, device and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114937369B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102226933A (en) * | 2011-05-25 | 2011-10-26 | 电信科学技术研究院 | Parking route guidance method and device |
| CN105185145A (en) * | 2015-10-04 | 2015-12-23 | 陈燕 | Intelligent dynamic road condition map navigation system and method |
| CN105225486A (en) * | 2015-10-09 | 2016-01-06 | 哈尔滨工业大学深圳研究生院 | Fill up the method and system of disappearance floating car data |
| CN110823210A (en) * | 2019-09-23 | 2020-02-21 | 惠州学院 | Navigation map presetting system for indoor parking lot and real-time updating method thereof |
| CN113506459A (en) * | 2021-06-11 | 2021-10-15 | 上海追势科技有限公司 | Crowdsourcing map acquisition method for underground parking lot |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110466502B (en) * | 2018-05-11 | 2020-12-08 | 广州汽车集团股份有限公司 | Passenger-riding parking method and device |
| CN109612475A (en) * | 2018-10-31 | 2019-04-12 | 百度在线网络技术（北京）有限公司 | Update method, device and the readable storage medium storing program for executing of high-precision electronic map |
| CN111583709A (en) * | 2020-05-29 | 2020-08-25 | 济南浪潮高新科技投资发展有限公司 | Airport long-term parking lot booking method and system based on C-V2X technology |
| CN112037567A (en) * | 2020-09-04 | 2020-12-04 | 中国第一汽车股份有限公司 | Passenger-riding parking method, device, equipment and storage medium |
| CN112950972B (en) * | 2021-01-25 | 2022-07-01 | 广州小鹏自动驾驶科技有限公司 | Parking lot map construction method, device, equipment and medium |
| CN113724525B (en) * | 2021-06-07 | 2023-01-20 | 云度新能源汽车有限公司 | Automatic passenger-replacing patrol type parking method and system based on big data platform and storage device |
| CN113479195A (en) * | 2021-08-11 | 2021-10-08 | 戴姆勒股份公司 | Method for automatic valet parking and system for carrying out said method |
| CN113903185A (en) * | 2021-08-24 | 2022-01-07 | 刘鹏 | AVP automatic passenger-riding-substituting parking scheduling control system and method |
-
2022
- 2022-04-06 CN CN202210353726.8A patent/CN114937369B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102226933A (en) * | 2011-05-25 | 2011-10-26 | 电信科学技术研究院 | Parking route guidance method and device |
| CN105185145A (en) * | 2015-10-04 | 2015-12-23 | 陈燕 | Intelligent dynamic road condition map navigation system and method |
| CN105225486A (en) * | 2015-10-09 | 2016-01-06 | 哈尔滨工业大学深圳研究生院 | Fill up the method and system of disappearance floating car data |
| CN110823210A (en) * | 2019-09-23 | 2020-02-21 | 惠州学院 | Navigation map presetting system for indoor parking lot and real-time updating method thereof |
| CN113506459A (en) * | 2021-06-11 | 2021-10-15 | 上海追势科技有限公司 | Crowdsourcing map acquisition method for underground parking lot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114937369A (en) | 2022-08-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20210108943A1 (en) | Map data updating method, apparatus, system and storage medium | |
| EP4044024A1 (en) | Software upgrade method, apparatus and system | |
| CN102929669A (en) | Embedded software upgrading method, system and device | |
| CN113132183B (en) | Data transmission test method, device, electronic equipment and medium | |
| WO2022134365A1 (en) | Vehicle scheduling method, apparatus, and system, device, and storage medium | |
| CN111699449A (en) | Simulation test method and system for automatic driving vehicle, storage medium and vehicle | |
| CN115167182A (en) | Automatic driving simulation test method, device, equipment and computer readable medium | |
| KR20200075626A (en) | Wireless update system and method capable of ecu update of vehicle | |
| CN110187904B (en) | Device and method for updating vehicle controller firmware | |
| EP4246844A1 (en) | Data packet processing method and apparatus | |
| CN114937369B (en) | Autonomous agent parking method, system, vehicle, parking lot end, device and medium | |
| Alvear et al. | Validation of a vehicle emulation platform supporting OBD-II communications | |
| CN111031142B (en) | Software upgrading method, device and medium | |
| CN110430553B (en) | Interaction method and device between vehicles, storage medium and control terminal | |
| CN113535873B (en) | Method, apparatus, device and readable storage medium for processing data | |
| CN114567552A (en) | Vehicle-mounted V2X equipment upgrading method and device, computer equipment and storage medium | |
| CN112118529A (en) | Mobile terminal positioning method, vehicle-mounted terminal and mobile terminal | |
| CN115756544A (en) | Equipment updating method and device, electronic equipment and storage medium | |
| CN115755923A (en) | Intelligent vehicle map interaction method, device, equipment and storage medium | |
| CN104848850A (en) | Method and system for sharing map data | |
| CN115795845A (en) | Construction method, device, equipment and storage medium of integrated test simulation platform | |
| CN114969223A (en) | Map updating method, device and system | |
| CN111123727B (en) | Unmanned vehicle simulation building method, device, equipment and computer readable medium | |
| CN115905247A (en) | High-precision map updating method, system, medium, terminal and server | |
| CN112422496A (en) | TAAS for delay-tolerant blockchain networks |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |