CN115116265A - Parking method, device and storage medium for three-dimensional parking garage - Google Patents
Parking method, device and storage medium for three-dimensional parking garage Download PDFInfo
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- 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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- 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
- B60W30/06—Automatic manoeuvring for parking
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- 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
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Abstract
The invention discloses a parking method, a parking device and a storage medium for a three-dimensional parking garage. Wherein, the method comprises the following steps: acquiring positioning data of a target vehicle, wherein the target vehicle is used for representing a vehicle to be parked in an idle parking space, and the positioning data is used for representing the direction of the target vehicle entering a three-dimensional parking garage in which the idle parking space is located; determining map information of free parking spaces with the distance between the three-dimensional parking garage and the target vehicle within a preset distance threshold value range on the basis of the positioning data; determining a running track of the target vehicle based on the positioning data, the map information of the free parking spaces and sensor data of the target vehicle, wherein the sensor data is used for representing obstacle information recognized by the target vehicle in the running process; and stopping the target vehicle to the idle parking space based on the running track, the positioning data, the sensor data and the map information of the idle parking space. The invention solves the technical problem of low parking success rate when parking in the stereo garage.
Description
Technical Field
The invention relates to the field of vehicles, in particular to a parking method, a parking device and a storage medium for a three-dimensional parking garage.
Background
At present, when a three-dimensional parking garage parks, a common method is to identify the three-dimensional parking garage through a self-vehicle sensor such as a look-around sensor or an ultrasonic wave sensor to park, however, the three-dimensional parking garage usually has no vehicle line, a narrow parking space and more obstacles around the parking space, the existing full-automatic parking is difficult to automatically identify the three-dimensional parking garage, and even if the existing full-automatic parking can be identified, the success rate of automatic parking is low.
Aiming at the problems of parking in a stereo garage and low parking success rate, an effective solution is not provided at present.
Disclosure of Invention
The embodiment of the invention provides a parking method and device of a three-dimensional parking garage and a storage medium, which at least solve the technical problem of low parking success rate when parking in the three-dimensional parking garage.
According to an aspect of an embodiment of the present invention, a parking method, an apparatus and a storage medium for a stereo parking garage are provided. Wherein, the method comprises the following steps: acquiring positioning data of a target vehicle, wherein the target vehicle is used for representing a vehicle to be parked in an idle parking space, and the positioning data is used for representing the direction of the target vehicle entering a three-dimensional parking garage in which the idle parking space is located; determining map information of free parking spaces with the distance between the target vehicle and the target vehicle within a preset distance threshold range in the three-dimensional parking garage based on the positioning data, wherein the map information is used for at least representing identification information of the free parking spaces of the three-dimensional parking garage, and the identification information is used for identifying the free parking spaces; determining a running track of the target vehicle based on the positioning data, the map information of the free parking spaces and sensor data of the target vehicle, wherein the sensor data is used for representing obstacle information recognized by the target vehicle in the running process; and stopping the target vehicle to the idle parking space based on the running track, the positioning data, the sensor data and the map information of the idle parking space.
Optionally, before the obtaining of the positioning data of the target vehicle, the method further comprises: responding to a positioning request of a target vehicle, and acquiring positioning response information of a positioning base station of the stereo parking garage; and acquiring positioning data of the target vehicle based on the positioning response information.
Optionally, determining the driving track of the target vehicle based on the positioning data, the map information of the free parking space and the sensor data of the target vehicle, includes: and carrying out linear processing on the positioning data, the map information of the idle parking spaces and the sensor data of the target vehicle to obtain the running track of the target vehicle.
Optionally, the map information of the free parking space includes at least one of: the parking space management system comprises road boundary information of the idle parking space, the size of the idle parking space, the boundary of the idle parking space, obstacles around the idle parking space, the gradient of the idle parking space connected with the road, the position of a limiter of the idle parking space, the unoccupied idle parking space, the position of the idle parking space and identification information of the idle parking space.
Optionally, the method further comprises: and allowing the running track of the target vehicle to be determined based on the identification information of the free parking space.
Optionally, based on the driving track, the positioning data, the sensor data, and the map information of the free parking space, the target vehicle is parked, including: increasing an engine torque of the target vehicle in response to a road-connected grade at which the target vehicle travels to an idle spot; or reducing the engine torque of the target vehicle in response to the target vehicle driving to the position of the stopper of the vacant parking space.
Optionally, after the target vehicle is parked based on the driving track, the positioning data, the sensor data and the map information of the free parking space, the method further includes: and when the error between the position of the target vehicle and the position of the free parking space is smaller than a preset threshold value, determining that the target vehicle stops.
According to another aspect of the embodiments of the present invention, there is also provided an apparatus for parking in a stereo parking garage, including: the system comprises an acquisition unit, a storage unit and a display unit, wherein the acquisition unit is used for acquiring positioning data of a target vehicle, the target vehicle is used for representing a vehicle to be parked in an idle parking space, and the positioning data is used for representing the direction of the target vehicle entering a three-dimensional parking garage in which the idle parking space is located; the system comprises a first determining unit, a second determining unit and a third determining unit, wherein the first determining unit is used for determining map information of free parking spaces, the distance between the first determining unit and a target vehicle is within a preset distance threshold range, the map information is used for at least representing identification information of the free parking spaces of the three-dimensional parking garage, and the identification information is used for identifying the free parking spaces; the second determination unit is used for determining the running track of the target vehicle based on the positioning data, the map information of the free parking spaces and the sensor data of the target vehicle, wherein the sensor data is used for representing the obstacle information recognized by the target vehicle in the running process; and the first processing unit is used for stopping the target vehicle to the free parking space based on the running track, the positioning data, the sensor data and the map information of the free parking space.
According to another aspect of the embodiments of the present invention, there is also provided a computer-readable storage medium. The computer readable storage medium includes a stored program, wherein when the program runs, the apparatus where the computer readable storage medium is located is controlled to execute the parking method of the stereo parking garage according to the embodiment of the present invention.
According to another aspect of the embodiments of the present invention, there is also provided a processor. The processor is used for executing the program, wherein the program executes the parking method of the three-dimensional parking garage of the embodiment of the invention when running.
According to another aspect of the embodiments of the present invention, there is also provided a vehicle for performing the parking method of a stereo parking garage according to the embodiments of the present invention.
In the embodiment of the invention, the positioning data of a target vehicle is acquired, wherein the target vehicle is used for representing the vehicle to be parked in an idle parking space, and the positioning data is used for representing the direction of the target vehicle entering the stereo parking garage where the idle parking space is located; determining map information of free parking spaces with the distance between the target vehicle and the target vehicle within a preset distance threshold range in the three-dimensional parking garage based on the positioning data, wherein the map information is used for at least representing identification information of the free parking spaces of the three-dimensional parking garage, and the identification information is used for identifying the free parking spaces; determining a running track of the target vehicle based on the positioning data, the map information of the free parking spaces and sensor data of the target vehicle, wherein the sensor data is used for representing obstacle information recognized by the target vehicle in the running process; and stopping the target vehicle to the free parking space based on the running track, the positioning data, the sensor data and the map information of the free parking space. That is to say, in the embodiment of the present invention, first, the positioning data of the target vehicle is obtained, the map information of the vacant parking space closest to the positioning data is obtained according to the positioning data, the map information of the vacant parking space and the sensor data of the target vehicle, then, the driving track of the target vehicle is obtained according to the positioning data, the map information of the vacant parking space and the sensor data of the target vehicle, and finally, the target vehicle is parked in the vacant parking space according to the driving track, the positioning data, the sensor data and the map information of the vacant parking space.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without limiting the invention. In the drawings:
fig. 1 is a flow chart of a parking method of a stereo parking garage according to an embodiment of the present invention;
fig. 2 is a schematic view of an automatic parking system applied to a stereo garage according to an embodiment of the present invention;
fig. 3 is a flowchart of an automatic parking control applied to a stereo garage according to an embodiment of the invention;
fig. 4 is a schematic view of a stereo garage positioning system according to an embodiment of the present invention;
fig. 5 is a schematic view of a stereo garage and road connecting area ramp according to an embodiment of the invention;
fig. 6 is a schematic view of a parking apparatus of a stereo parking garage according to an embodiment of the present invention.
Detailed Description
In order to make the technical solutions of the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
In accordance with an embodiment of the present invention, there is provided a method of determining a safe distance for a vehicle, it being noted that the steps illustrated in the flowchart of the drawings may be carried out in a computer system such as a set of computer executable instructions and that, although a logical order is illustrated in the flowchart, in some cases the steps illustrated or described may be carried out in an order different than that set forth herein.
Fig. 1 is a flowchart of a parking method of a stereo parking garage according to an embodiment of the present invention, as shown in fig. 1, the method may include the following steps:
step S101, positioning data of a target vehicle is acquired, wherein the target vehicle is used for representing a vehicle to be parked in an idle parking space, and the positioning data is used for representing the direction of the target vehicle entering a three-dimensional parking garage where the idle parking space is located.
In the technical solution provided by step S101 of the present invention, the positioning data of the target vehicle in the stereo parking garage is obtained, where the target vehicle may be a host vehicle, and the positioning data may be a specific position and a specific heading of the host vehicle in the stereo parking garage.
And S102, determining map information of the free parking spaces with the distance between the target vehicle and the target vehicle within a preset distance threshold range in the three-dimensional parking garage based on the positioning data, wherein the map information is used for at least representing the identification information of the free parking spaces of the three-dimensional parking garage, and the identification information is used for identifying the free parking spaces.
In the technical solution provided in step S102 of the present invention, according to the specific position and the heading of the target vehicle, map information of an empty parking space closest to the target vehicle is determined in the stereo parking garage, where the map information of the empty parking space includes empty parking space information, road information, obstacle information, stopper information, identification information of the empty parking space, and the like, and the identification information is used to identify the empty parking space, where the identification information may be a blue frame identification, and is not specifically limited here.
Step S103, determining a running track of the target vehicle based on the positioning data, the map information of the free parking space and sensor data of the target vehicle, wherein the sensor data is used for representing obstacle information recognized by the target vehicle in the running process.
In the technical solution provided in step S103 of the present invention, an arc straight line method is used for the positioning data, the map information of the free parking space, and the sensor data of the target vehicle, so as to obtain a moving track of the target vehicle from the starting position to the nearest free parking space position in the parking process, where the moving track may be a curve, and is not specifically limited herein.
And step S104, stopping the target vehicle to the free parking space based on the driving track, the positioning data, the sensor data and the map information of the free parking space.
In the technical solution provided in step S104 of the present invention, the target vehicle is stopped in the vacant parking space according to the driving track from the starting position to the vacant parking space position of the target vehicle, the positioning data of the target vehicle, the obstacle information obtained by the sensor of the target vehicle, and the map information of the nearest vacant parking space.
In the present application, in the steps S101 to S104, positioning data of a target vehicle is obtained, where the target vehicle is used to indicate a vehicle that is about to stop in an idle parking space, and the positioning data is used to indicate a direction of the target vehicle entering a stereo parking garage in which the idle parking space is located; determining map information of free parking spaces with the distance between the target vehicle and the target vehicle within a preset distance threshold range in the three-dimensional parking garage based on the positioning data, wherein the map information is used for at least representing identification information of the free parking spaces of the three-dimensional parking garage, and the identification information is used for identifying the free parking spaces; determining a running track of the target vehicle based on the positioning data, the map information of the free parking spaces and sensor data of the target vehicle, wherein the sensor data is used for representing obstacle information recognized by the target vehicle in the running process; and stopping the target vehicle to the idle parking space based on the running track, the positioning data, the sensor data and the map information of the idle parking space. According to the embodiment of the invention, the positioning data of the self-vehicle is firstly obtained, the map information of the nearest free parking space from the self-vehicle is obtained according to the positioning data, the map information of the free parking space and the sensor data of the self-vehicle, the running track of the self-vehicle is determined, and the self-vehicle is stopped at the free parking space in the three-dimensional parking garage according to the running track of the self-vehicle, the positioning data, the map information of the free parking space and the sensor data of the self-vehicle, so that the technical problem of low parking success rate when the three-dimensional parking garage is parked is solved, and the technical effect of high parking success rate when the three-dimensional parking garage is parked is realized.
The above-described method of this embodiment is further described below.
As an alternative embodiment, in step S101, before acquiring the positioning data of the target vehicle, the method further includes: responding to a positioning request of a target vehicle, and acquiring positioning response information of a positioning base station of the stereo parking garage; and acquiring positioning data of the target vehicle based on the positioning response information.
In this embodiment, a plurality of positioning base stations in the stereo parking garage receive positioning request information sent by the vehicle target vehicle, and the vehicle target vehicle determines positioning data of the vehicle target vehicle according to the time difference obtained by the positioning request information.
As an alternative embodiment, step S102, determining a driving track of the target vehicle based on the positioning data, the map information of the free parking space, and the sensor data of the target vehicle, includes: and performing linear processing on the positioning data, the map information of the free parking spaces and the sensor data of the target vehicle to obtain the running track of the target vehicle, wherein the sensor data of the target vehicle is used for representing the obstacle information of the target vehicle in the parking process.
In the embodiment, the positioning data, the map information of the free parking space and the sensor data of the target vehicle are processed by adopting an arc straight line method to obtain a running track from the initial position of the target vehicle to the position of the free parking space, and the running track is displayed on a display screen of the target vehicle, so that the target vehicle runs according to the running track.
For example, the positioning data, the map information of the free parking space and the sensor data of the vehicle are processed by an arc straight line method to obtain a driving track from the starting position of the vehicle to the position of the free parking space, the driving track can be a curve and is displayed on a display screen of the vehicle, and the vehicle can automatically stop according to the curve.
As an optional embodiment, in step S101, the map information of the free parking space includes at least one of the following: the parking space management system comprises road boundary information of the idle parking space, the size of the idle parking space, the boundary of the idle parking space, obstacles around the idle parking space, the gradient of the idle parking space connected with the road, the position of a limiter of the idle parking space, the unoccupied idle parking space, the position of the idle parking space and identification information of the idle parking space.
In this embodiment, the road boundary information of the vacant parking space may include a width of a road of the vacant parking space (for example, two meters wide on the road), a size of the vacant parking space may be a size of the vacant parking space (for example, the vacant parking space is 5.5 meters long and 2.5 meters wide), a boundary of the vacant parking space may be a boundary line of the vacant parking space, a peripheral obstacle of the vacant parking space may be a bicycle, a person, or the like beside the vacant parking space, a slope of the vacant parking space connected to the road may include a smooth slope or a large slope of the vacant parking space connected to the road, a stopper of the vacant parking space may stop a target vehicle from the vehicle to the vacant stopper, the vacant parking space may not be occupied to park the vacant parking space, and a position of the vacant parking space may be a specific position of the vacant parking space.
As an alternative embodiment, step S101 allows determining the driving track of the target vehicle based on the identification information of the free parking space.
In this embodiment, according to the blue mark frame of the free parking space displayed on the display screen of the target vehicle, the target vehicle is determined to start planning the track of the blue mark frame to which the target vehicle drives, the blue mark frame is superimposed on the free parking space (the free parking space is identified by the green mark frame) obtained by the sensor of the target vehicle when the target vehicle just enters the stereo parking garage, and the target vehicle first selects the blue mark frame as the final free parking space to which the target vehicle stops.
As an alternative embodiment, step S104, based on the driving track, the positioning data, the sensor data and the map information of the vacant parking space, the method for parking the target vehicle includes: increasing an engine torque of the target vehicle in response to a road-connected grade at which the target vehicle travels to an idle spot; or reducing the engine torque of the target vehicle in response to the target vehicle driving to the position of the stopper of the vacant parking space.
In the embodiment, when the target vehicle runs to the slope of the connection between the idle parking space and the road, the engine torque of the target vehicle is increased, so that the target vehicle runs to the idle parking space; or when the target vehicle runs to the position of the stopper of the idle parking space, reducing the engine torque of the target vehicle to stop the target vehicle.
For example, when the target vehicle runs to the slope where the idle parking space is connected with the road, the rotating speed of the target vehicle is increased from 20 kilometers per hour to 40 kilometers per hour, the target vehicle is made to run to the idle parking space, and when the target vehicle runs to the position of the stopper of the idle parking space, the rotating speed of the target vehicle is decreased from 40 kilometers per hour to 20 kilometers per hour, and the target vehicle is made to stop running.
As an alternative embodiment, in step S104, after the target vehicle is parked based on the driving track, the positioning data, the sensor data and the map information of the free parking space, the method further includes: and when the error between the position of the target vehicle and the position of the free parking space is smaller than a preset threshold value, determining that the target vehicle stops.
In the embodiment, when the error between the position of the target vehicle and the position of the vacant parking space is less than 10cm, the target vehicle finishes parking, and when the error between the position of the target vehicle and the position of the vacant parking space is greater than or equal to 10cm, the vehicle system reports that the target vehicle fails to park, and the target vehicle is manually taken over for parking.
In this embodiment, by responding to a positioning request of a target vehicle, obtaining positioning response information of a positioning base station of a stereo parking garage, obtaining positioning data of the target vehicle according to the positioning response information, and determining map information of an idle parking space in the stereo parking garage, where a distance between the idle parking space and the target vehicle is within a preset distance threshold range, according to the positioning data, where the map information of the idle parking space includes at least one of: the method comprises the steps of allowing a target vehicle to determine a driving track of the target vehicle based on identification information of free parking spaces, processing positioning data, map information of the free parking spaces and sensor data of the target vehicle by adopting an arc straight line method to obtain the driving track of the target vehicle, increasing engine torque of the target vehicle in response to the gradient of the road connection of the target vehicle driving to the free parking spaces or reducing the engine torque of the target vehicle in response to the position of a stopper of the free parking spaces, and when an error between the position of the target vehicle and the position of the free parking spaces is smaller than a preset threshold value, the parking of the target vehicle is determined to be completed, the technical problem that the parking success rate is low when the stereo garage parks is solved, and the technical effect that the parking success rate is high when the stereo garage parks is achieved.
Example 2
The technical solutions of the embodiments of the present invention will be illustrated below with reference to preferred embodiments.
In 2021, the automobile holding capacity of China exceeds 3 hundred million, the parking space resources are seriously deficient, and the parking space is more tense especially in the places with dense people flow, such as hospitals, large business supermarkets, transportation hubs and the like. The stereo garage is an effective measure for relieving the shortage of parking space resources. The stereo garage often has the characteristics of no parking space line, narrow parking space, more barriers around the parking space and the like, and the existing L2-level automatic parking system is difficult to cover the scene, so that a full-automatic parking system and a full-automatic parking method applied to the stereo garage are urgently needed to be developed.
Therefore, in order to overcome the above problems, in a related technology, an intelligent stereo garage parking lot suitable for an unmanned automobile is provided, and the intelligent stereo garage parking lot comprises a parking lot comprising an intelligent stereo garage, an intelligent parking lot control system, an intelligent parking lot management network platform and a client side, wherein the intelligent parking lot control system can send various instructions to the unmanned automobile and guide and control the unmanned automobile to park according to the instructions, and the process of fully-automatic parking is not involved.
In another related art, an automatic parking method, an apparatus, a system and a terminal are provided, where the automatic parking method includes: the method comprises the steps of obtaining parking image information around a vehicle, displaying the parking image information on a preset interface, receiving a parking space selection instruction triggered by a user on the preset interface, determining a target parking space according to the parking space selection instruction, and controlling the vehicle to park in the target parking space. The invention can select the parking space manually on the preset interface to automatically park in a special environment, so that the parking is more flexible and reliable.
In another related technology, an automatic parking method, an automatic parking device and a storage medium based on fusion positioning are provided, when a vehicle needs to determine an available positioning mode for automatic parking at a target position, first positioning configuration information for describing resources which the vehicle has for realizing an automatic parking function can be sent to a server, the server can determine at least one available positioning mode of the vehicle at the target position from a plurality of preset positioning modes according to the first positioning configuration information and second positioning configuration information of the pre-stored target position, and send a data set corresponding to the at least one available positioning mode to the vehicle, so that the vehicle can automatically park at the target position by using the fusion positioning technology based on the data set, and the flexibility of vehicle positioning and automatic parking is improved.
However, the embodiment of the invention provides a full-automatic parking system applied to a stereo garage and a control method, when a vehicle enters a road around the stereo garage, the vehicle sends a positioning request to the stereo garage system and completes high-precision positioning of the vehicle; after the positioning is finished, the vehicle receives the information of the idle parking places, the road information, the obstacle information, the limiter information and the like sent by the stereo garage system, and under the support of high-precision positioning data, the task of automatically parking in the stereo garage is finished, and the automatic parking success rate and the parking efficiency are improved.
In order to implement full-automatic parking in a stereo garage, a system diagram of a parking method in the stereo garage is shown in fig. 2, and the system diagram mainly includes four parts, namely a stereo garage system 21, an intelligent vehicle system 22, a positioning base station 23, and an Application program (APP) 24 of a mobile terminal.
The stereo garage system 21 includes a garage management module 211 and a garage communication module 212. The garage management module 212 stores an electronic map of an entrance and exit layer garage (the entrance and exit layer garage refers to a garage which is connected with a road in a multi-layer garage and can store and take vehicles), the electronic map includes road information (road boundary information), parking space size, parking space boundary, obstacles around the parking space, gradient of connection between the parking space and the road, position of a stopper, whether the parking space occupies and other information, and the information in the electronic map is transmitted to the intelligent vehicle system 22 in a wireless communication mode (4G/V2X/5G and the like) through a garage communication module.
The intelligent Vehicle system comprises a Vehicle-end communication module 221, a Vehicle-end positioning module 222, a parking controller 223, an In-Vehicle interaction system 224 (IVI), a sensing system 225, a steering system 226 and a driving and braking system 227, wherein the Vehicle-end communication module 221 receives map information sent by the garage system and sends the parking task state of the Vehicle to the stereo garage system, the parking task state comprises five types including non-start of parking, In-process of parking, parking pause, parking completion and parking failure, the Vehicle-end positioning module 222 comprises an Ultra Wide Band (UWB) tag and can send a positioning request to a positioning base station and complete real-time high-precision positioning of the Vehicle, and the parking controller 223 can obtain obstacle information according to the map information sent by the stereo garage system 21, the high-precision positioning data of the Vehicle-end positioning module 222 and the sensing system, planning a parking path and controlling the transverse motion and the longitudinal motion of a vehicle, displaying a traditional around-looking parking space searching picture by the IVI224, simultaneously overlaying the received free parking space information in the electronic map on the picture, and representing the information by colors different from the conventionally searched parking spaces (for example, the traditionally searched parking spaces are represented by green, and the parking spaces received from a garage are represented by blue), activating automatic parking by clicking a confirmation key on the IVI224 by a user, sensing obstacles around the vehicle in real time by a sensor system 225 comprising an ultrasonic sensor, a panoramic image sensor, a radar sensor and the like, and executing transverse motion and longitudinal motion commands sent by a parking controller by the steering system 226 and a driving and braking system 227 respectively.
The positioning base station can be UWB positioning equipment and sends a response signal after receiving a positioning request sent by the vehicle-end positioning module.
The APP of the mobile terminal is a control terminal, the starting and the pause of the parking task are controlled in the automatic parking process, and the parking task state signal can be received.
Further, an embodiment of the present invention further provides a method for determining parking of a three-dimensional parking garage, and fig. 3 is a flowchart of another method for determining parking of a three-dimensional parking garage according to an embodiment of the present invention, as shown in fig. 3, the method may include the following steps:
fig. 4 is a three-dimensional parking garage according to an embodiment of the present invention, wherein four layers of the parking garage can be used for parking vehicles, and the five-pointed star in fig. 4 represents a vehicle.
Step S301, a positioning request is sent.
When a user drives a vehicle into a parking lot and starts an automatic parking function, a UWB positioning tag on the vehicle automatically sends a positioning request to a UWB positioning base station, and the positioning base station sends a positioning response signal after receiving the request.
Step S302, waiting for positioning success.
And the vehicle-end positioning module automatically calculates the real-time position data of the vehicle according to the positioning response signal, wherein the real-time position data comprises global coordinates x and y and a course alpha of the vehicle in the electronic map, when the positioning is successful, the step 303 is executed, and when the positioning is failed, the step 308 is executed.
And step S303, receiving the information of the free parking space, and displaying the information at the IVI end.
The method comprises the steps of receiving map information of an idle garage sent by a parking garage, displaying the map information on an IVI (automatic parking area identification), establishing communication connection between a vehicle end communication module and a garage communication module after a vehicle is successfully positioned, sending the information of the idle garage closest to the vehicle by a garage management system according to a vehicle pose coordinate, displaying the information on the IVI, converting global coordinates in an electronic map into local coordinates with a vehicle center as an original point when the position data of the idle garage is displayed on the IVI, and displaying the received idle garage by the IVI in a display color different from the conventional display color when the parking space is automatically identified.
And step S304, touching the confirmation button, and planning a parking path by the parking controller.
The method comprises the steps that a user clicks a confirming key on an IVI (interactive voice guidance), a parking controller starts to plan a parking track, a planning module generates a feasible parking track by using an arc straight line method according to map information of an idle garage, real-time sensor data and high-precision positioning data, a parking terminal point is the position of a stopper because an electronic map comprises a stopper coordinate, and the electronic map comprises gradient information of the connection between the parking position and a road, so that a speed planning value on a connection road section can be properly reduced, wherein the speed planning value is 1.5 km/h.
In step S305, the planning is successful.
When the parking trajectory planning is successful, step 306 is executed, and when the parking trajectory planning is failed, step 308 is executed.
In step S306, the vehicle is controlled to start parking.
When a user gets off the vehicle, the mobile phone controls the vehicle to start parking, the parking controller controls the vehicle to move transversely and longitudinally along the planned track, and the control parameters are adjusted according to the real-time positioning data, as shown in fig. 5. Fig. 5 is a schematic diagram of a ramp of a connection area between a stereo garage and a road according to an embodiment of the present invention, wherein a five-pointed star in fig. 5 represents a vehicle to be parked, a circle represents a stopper, and a rectangle represents the stereo garage. When the vehicle passes through a ramp road section connected with the parking space and the road, the running speed of the vehicle is increased, and the vehicle is ensured to smoothly pass through the connection road section; when the vehicle reaches the limiter, the running speed of the vehicle is reduced, in the whole parking process, the vehicle sends the parking state to the garage system to be in the process of parking, and at the moment, the garage management system cannot broadcast the garage to other vehicles.
And step S307, judging whether parking and warehousing are successful.
When the parking and warehousing is successful, step 309 is started, and when the parking and warehousing is failed, step 308 is started.
And step S308, touching a manual driving button.
When the positioning failure, the path planning failure and the parking and warehousing failure are waited for, and the parking position is larger than a threshold value (for example, 10cm), the manual driving button is touched, the vehicle is taken over manually, and the parking failure and the failure reason are reported to the mobile phone APP.
And step S309, locking the vehicle and turning off the light.
After parking is finished, whether the error between the pose of the vehicle and the position of the target parking space is smaller than a threshold value (for example, 10cm) or not is judged, and when the error is smaller than the threshold value, the vehicle is controlled to be hung in a parking gear, a hand brake is pulled up, the vehicle is locked and flameout, and the parking state is reported as the completion of parking.
In step S310, the vehicle function ends.
Step S311, the idle information is sent to the next vehicle.
After parking is finished, waiting for the stereo garage to transfer and vacate the bottom layer garage; at this point, the vacant garage may be rebroadcast to other vehicles.
In the embodiment, after a vehicle drives into a parking lot, a user starts an automatic parking function, the vehicle sends a positioning request, waits for successful positioning, receives information of idle parking spaces, displays the information at an IVI (integrated vehicle identification) end, clicks and confirms by the user, a parking controller plans a parking path, plans successfully, the user gets off the vehicle, controls the vehicle to start parking through a mobile phone or an electronic key, locks the vehicle and extinguishes when the parking is successful, vacates a bottom garage, and sends idle information to a next vehicle.
Example 3
According to the embodiment of the invention, the invention further provides a device for parking the three-dimensional parking garage. It should be noted that the device for parking a three-dimensional parking garage can be used to perform the method for parking a three-dimensional parking garage according to embodiment 1.
Fig. 6 is a schematic view of a parking apparatus of a stereo parking garage according to an embodiment of the present invention. As shown in fig. 6, the apparatus 600 for parking a stereo parking garage may include: a first acquisition unit 601, a first determination unit 602, a second determination unit 603, and a first processing unit 604.
The first obtaining unit 601 is configured to obtain positioning data of a target vehicle, where the target vehicle is used to represent a vehicle that is about to stop in an empty parking space, and the positioning data is used to represent a position of the target vehicle entering a stereo parking garage in which the empty parking space is located.
A first determining unit 602, configured to determine, in the stereo parking garage, map information of a free parking space whose distance to the target vehicle is within a preset distance threshold range based on the positioning data, where the map information is used to indicate at least identification information of the free parking space of the stereo parking garage, and the identification information is used to identify the free parking space.
A second determining unit 603, configured to determine a driving track of the target vehicle based on the positioning data, the map information of the free parking space, and sensor data of the target vehicle, where the sensor data is used to indicate obstacle information recognized by the target vehicle during driving.
The first processing unit 604 is configured to stop the target vehicle to an idle parking space based on the driving track, the positioning data, the sensor data, and the map information of the idle parking space.
Wherein, the device still includes: a second obtaining unit 605, configured to obtain, in response to the location request of the target vehicle, location response information of a location base station of the stereo parking garage before obtaining location data of the target vehicle.
Wherein, the device still includes: a third obtaining processing unit 606, configured to obtain the positioning data of the target vehicle based on the positioning response information before obtaining the positioning data of the target vehicle.
Alternatively, the second determining unit 602 may include: and the first processing module is used for carrying out linear processing on the positioning data, the map information of the idle parking spaces and the sensor data of the target vehicle to obtain the running track of the target vehicle.
Alternatively, the second determining unit 602 may include: the map information of the free parking space comprises at least one of the following information: the parking space management system comprises road boundary information of the idle parking space, the size of the idle parking space, the boundary of the idle parking space, obstacles around the idle parking space, the gradient of the idle parking space connected with the road, the position of a limiter of the idle parking space, the unoccupied idle parking space, the position of the idle parking space and identification information of the idle parking space.
Wherein, the device still includes: the second processing unit 606 allows determining the driving track of the target vehicle based on the identification information of the free parking space.
Optionally, the first processing unit 604 may include: and the second processing module is used for responding to the gradient connected with the road when the target vehicle runs to the idle parking space and increasing the engine torque of the target vehicle. Based on the safe distance data, safe distance assessment data is determined.
Optionally, the first processing unit 604 may include: and the third processing module is used for responding to the position of the limiter of the idle parking space when the target vehicle runs, and reducing the engine torque of the target vehicle.
The device also includes: and a third determining unit 607, configured to determine that the target vehicle stops when an error between the position of the target vehicle and the position of the vacant parking space is smaller than a preset threshold value after the target vehicle stops based on the driving track, the positioning data, the sensor data, and the map information of the vacant parking space.
In the embodiment, positioning data of a target vehicle is acquired through a first acquisition unit, wherein the target vehicle is used for representing a vehicle to be parked in an idle parking space, and the positioning data is used for representing the direction of the target vehicle entering a three-dimensional parking garage in which the idle parking space is located; the first determining unit determines map information of free parking spaces, the distance between the first determining unit and a target vehicle is within a preset distance threshold range, in the three-dimensional parking garage, based on the positioning data, wherein the map information is used for at least representing identification information of the free parking spaces of the three-dimensional parking garage, and the identification information is used for identifying the free parking spaces; the second determination unit determines the running track of the target vehicle based on the positioning data, the map information of the free parking space and sensor data of the target vehicle, wherein the sensor data is used for representing obstacle information recognized by the target vehicle in the running process; the first processing unit stops the target vehicle to the free parking space based on the driving track, the positioning data, the sensor data and the map information of the free parking space, so that the technical problem of low parking success rate when the stereo garage parks is solved, and the technical effect of high parking success rate when the stereo garage parks is realized.
Example 4
According to an embodiment of the present invention, there is also provided a computer-readable storage medium including a stored program, wherein the program performs the parking method of the stereo parking garage of embodiment 1.
Example 5
According to an embodiment of the present invention, there is also provided a processor for executing the program, wherein the program executes the parking method of the stereo parking garage according to embodiment 1.
Example 6
According to an embodiment of the present invention, there is also provided a vehicle for performing the parking method of the stereo parking garage according to any one of claims 1 to 7.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, a division of a unit may be a division of a logic function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or may not be executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that it is obvious to those skilled in the art that various modifications and improvements can be made without departing from the principle of the present invention, and these modifications and improvements should also be considered as the protection scope of the present invention.
Claims (10)
1. A parking method of a three-dimensional parking garage is characterized by comprising the following steps:
acquiring positioning data of a target vehicle, wherein the target vehicle is used for representing a vehicle to be parked in an idle parking space, and the positioning data is used for representing the direction of the target vehicle entering a three-dimensional parking garage in which the idle parking space is located;
determining map information of the free parking spaces with the distance between the target vehicle and the stereo parking garage within a preset distance threshold range based on the positioning data, wherein the map information is used for at least representing identification information of the free parking spaces of the stereo parking garage, and the identification information is used for identifying the free parking spaces;
determining a running track of the target vehicle based on the positioning data, the map information of the free parking spaces and sensor data of the target vehicle, wherein the sensor data is used for representing obstacle information recognized by the target vehicle in the running process;
and stopping the target vehicle to the vacant parking space based on the running track, the positioning data, the sensor data and the map information of the vacant parking space.
2. The method of claim 1, wherein prior to obtaining the location data for the target vehicle, the method further comprises:
responding to the positioning request of the target vehicle, and acquiring positioning response information of a positioning base station of the stereo parking garage;
and acquiring the positioning data of the target vehicle based on the positioning response information.
3. The method of claim 1, wherein determining the travel trajectory of the target vehicle based on the positioning data, the map information of the free slot, and the sensor data of the target vehicle comprises:
and carrying out linear processing on the positioning data, the map information of the vacant parking spaces and the sensor data of the target vehicle to obtain the running track of the target vehicle.
4. The method of claim 1, wherein the map information of the free parking space comprises at least one of: the road boundary information of idle parking stall, the size of idle parking stall, the boundary of idle parking stall, the barrier all around of idle parking stall, the slope of idle parking stall and road connection, the stopper position of idle parking stall, idle parking stall does not occupy, the position of idle parking stall the identification information of idle parking stall.
5. The method of claim 1, further comprising:
and allowing the running track of the target vehicle to be determined based on the identification information of the free parking space.
6. The method of claim 1, wherein parking the target vehicle based on the travel track, the positioning data, the sensor data, and the map information of the vacant parking spaces comprises:
increasing an engine torque of the target vehicle in response to the target vehicle traveling to a road-connected gradient of the vacant parking space, or decreasing the engine torque of the target vehicle in response to the target vehicle traveling to a stopper position of the vacant parking space.
7. The method of claim 1, wherein after parking the target vehicle based on the travel track, the positioning data, the sensor data, and the map information of the vacant parking spaces, the method further comprises:
and when the error between the position of the target vehicle and the position of the free parking space is smaller than a preset threshold value, determining that the parking of the target vehicle is finished.
8. A device for parking a stereo parking garage, comprising:
the parking system comprises a first acquisition unit, a second acquisition unit and a third acquisition unit, wherein the first acquisition unit is used for acquiring positioning data of a target vehicle, the target vehicle is used for representing a vehicle to be parked in an idle parking space, and the positioning data is used for representing the direction of the target vehicle entering a three-dimensional parking garage in which the idle parking space is located;
a first determining unit, configured to determine, in the stereo parking garage, map information of the free parking space, where a distance between the target vehicle and the target vehicle is within a preset distance threshold range, based on the positioning data, where the map information is used to at least represent identification information of the free parking space of the stereo parking garage, and the identification information is used to identify the free parking space;
a second determination unit, configured to determine a driving track of the target vehicle based on the positioning data, the map information of the free parking space, and sensor data of the target vehicle, where the sensor data is used to represent obstacle information recognized by the target vehicle during driving;
and the first processing unit is used for stopping the target vehicle to the free parking space based on the running track, the positioning data, the sensor data and the map information of the free parking space.
9. A computer-readable storage medium, comprising a stored program, wherein the program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the method of any one of claims 1 to 7.
10. A vehicle for performing a method of parking a stereo parking garage according to any of claims 1 to 7.
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| CN202210751447.7A CN115116265A (en) | 2022-06-29 | 2022-06-29 | Parking method, device and storage medium for three-dimensional parking garage |
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