CN115171421A - Intelligent parking lot system based on vehicle-road cooperation and parking and departure implementation method thereof - Google Patents
Intelligent parking lot system based on vehicle-road cooperation and parking and departure implementation method thereof Download PDFInfo
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- 238000004891 communication Methods 0.000 claims description 4
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
- G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
- G08G1/148—Management of a network of parking areas
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096833—Systems involving transmission of navigation instructions to the vehicle where different aspects are considered when computing the route
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L67/00—Network arrangements or protocols for supporting network services or applications
- H04L67/01—Protocols
- H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
Abstract
The invention provides an intelligent parking lot system based on vehicle-road cooperation and a parking and departure realization method thereof, wherein the intelligent parking lot system comprises a task issuing module, a vehicle yard planning module, an information interaction module and a vehicle intelligent advancing module; the task issuing module issues a task instruction of the vehicle; the parking lot planning module receives a task instruction of the task issuing module and plans a vehicle traveling planning path of the vehicle in the parking lot; the information interaction module matches the traveling information according to the vehicle traveling planning path of the parking lot planning module; and the vehicle intelligent traveling module receives the vehicle traveling planning path of the parking lot planning module and combines the traveling information of the information interaction module to realize the functions of autonomous parking/autonomous leaving of the vehicle in the parking lot. The development from a traditional parking lot to an intelligent parking lot is realized, and particularly, the system has a remarkable effect on the application of a vehicle with an AVP/unmanned function.
Description
Technical Field
The invention relates to an intelligent parking technology, in particular to an intelligent parking lot system based on vehicle-road cooperation and a parking and departure implementation method thereof.
Background
The vehicle-road cooperation is a safe, efficient and environment-friendly road traffic system which adopts the advanced wireless communication, new generation internet and other technologies, implements vehicle-road dynamic real-time information interaction in all directions, develops vehicle active safety control and road cooperative management on the basis of full-time dynamic traffic information acquisition and fusion, fully realizes effective cooperation of human and vehicle roads, ensures traffic safety and improves traffic efficiency.
Most of the existing intelligent parking lots only relate to the management and other aspects of the intelligent parking/intelligent parking lots, and the mode of the intelligent parking lot in cooperation with the vehicle and the road is rarely related, so that the intelligent parking lot in cooperation with the unmanned vehicle and the road is less. For example, patent document CN2021101501040 discloses an intelligent parking lot traffic management system based on the internet of things and an implementation method thereof, and the invention belongs to the field of the internet of things and relates to an intelligent parking technology; the invention does not relate to a vehicle-road cooperation mode, and can not realize various prompting functions and decision-making capabilities of the vehicle-road cooperation.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent parking lot system based on vehicle-road cooperation and a parking and departure implementation method thereof, so that the development from a traditional parking lot to an intelligent parking lot is realized, and particularly, the system has a remarkable effect in the application of a vehicle with an AVP/unmanned function.
The invention provides an intelligent parking lot system based on vehicle-road cooperation, which comprises a task issuing module, a parking lot planning module, an information interaction module and a vehicle intelligent advancing module, wherein the task issuing module is used for issuing a task to a vehicle;
the task issuing module issues a task instruction of the vehicle;
the yard planning module receives the task instruction of the task issuing module and plans a vehicle traveling planning path of the vehicle in the yard;
the information interaction module is used for matching the traveling information according to the vehicle traveling planning path of the parking lot planning module;
the vehicle intelligent traveling module receives the vehicle traveling planning path of the parking lot planning module and combines the traveling information of the information interaction module to realize the functions of autonomous parking/autonomous leaving of the vehicle in the parking lot.
Furthermore, the yard planning module comprises a request instruction access unit, a path planning unit in the planning library, a scheduling sequence unit, a scheduling planning unit and an instruction sending unit;
the request instruction access unit receives a task instruction of the task issuing module;
the path unit in the planning garage realizes the planning of the traveling path of the vehicle in the garage;
the scheduling sequence unit schedules vehicles in the yard according to the in-garage travelling path planned by the path planning unit in the planning garage, and lists vehicle scheduling sequences side by side;
the scheduling planning unit plans a vehicle traveling planning path of a vehicle in the garage according to the in-garage traveling path of the path unit in the planning garage and the vehicle scheduling sequence of the scheduling sequence unit;
the instruction sending unit is used for sending the vehicle traveling planning path of the scheduling planning unit to the vehicle intelligent traveling module and the information interaction module.
Further, the information interaction module comprises cloud garage navigation information, road end information, field end navigation information and field end dynamic and static information;
the cloud garage navigation information acquires vehicle navigation information from the outside of the parking lot to the parking lot garage opening, and intelligent movement of the vehicle between the outside of the parking lot and the parking lot garage opening is realized;
the road side information acquires road side vehicle information, and the safety of intelligent movement of vehicles outside a parking lot and a parking lot garage opening is ensured;
the field end navigation information acquires map information in the vehicle field and provides field end service for vehicles in the field;
the dynamic and static information at the field end acquires dynamic and static information in the parking lot, and the safety of intelligent movement of vehicles in the parking lot is ensured.
Further, the vehicle intelligent traveling module comprises an instruction receiving unit, an intelligent traveling unit and a parking unit;
the instruction receiving unit receives a vehicle traveling planning path of the yard planning module and traveling information of the information interaction module;
the intelligent traveling unit starts an intelligent traveling mode of the vehicle according to the information received by the instruction receiving unit, so that the vehicle can move intelligently in a parking lot;
the parking unit realizes the function of parking/leaving the parking space.
Further, the task instructions comprise vehicle entering the parking lot, vehicle leaving the parking lot, vehicle finding and service reservation.
Further, the yard is provided with a plurality of different parking areas.
Further, the system realizes communication through a V2X protocol.
Furthermore, the request instruction access unit also comprises vehicle information access, and the vehicle traveling planned path is analyzed and judged according to the vehicle position, the vehicle speed, the course angle and the acceleration information accessed by the vehicle information.
The invention also provides an autonomous parking implementation method of the intelligent parking lot system based on vehicle-road cooperation, which adopts the intelligent parking lot system based on vehicle-road cooperation and further comprises the following steps:
s1, when a vehicle arrives at a POI place, people in the vehicle get off the vehicle in advance, an autonomous parking task is issued, and the vehicle enters an autonomous parking state;
s2, the vehicle planning module receives an entrance request instruction of a vehicle;
s3, planning an in-warehouse path unit to plan an in-warehouse path, and planning a scheduling sequence by a scheduling sequence unit;
s4, scheduling and planning units schedule vehicles in the garage to cooperate according to the scheduling sequence;
s5, the vehicle planning module sends a vehicle traveling planning path to the request vehicle;
s6, the vehicle receives the information from the information interaction module, and the vehicle intelligent traveling module drives the vehicle to travel to a garage for storage
S7, updating the vehicle state and the field end dynamic and static information in real time in the vehicle field;
s8, the vehicle receives the field terminal navigation information and automatically drives to a parking space according to the vehicle advancing planning path;
and S9, backing up the vehicle and storing the vehicle in a warehouse, and finishing parking.
The invention also provides an autonomous leaving implementation method of the intelligent parking lot system based on vehicle-road cooperation, which adopts the intelligent parking lot system based on vehicle-road cooperation and further comprises the following steps:
step1, calling the vehicle by one key of the owner;
the Step2 vehicle planning module receives a departure request of the vehicle;
step3, planning an off-warehouse path by a path unit in the warehouse, and planning a scheduling sequence by a scheduling sequence unit;
the Step4 scheduling planning unit schedules other vehicles to cooperate according to the scheduling sequence;
step5, the vehicle planning module sends a vehicle traveling planned path to the request vehicle;
the Step6 vehicle receives information from the information interaction module, and the intelligent vehicle traveling module drives the vehicle to travel away from the parking space;
step7, updating the vehicle state and the field end dynamic and static information in real time in the vehicle field;
step8, the vehicle receives the field end navigation information and automatically drives to a specified place according to the planned route of the vehicle;
and Step9, the vehicle arrives, and the vehicle owner gets on the vehicle.
Compared with the prior art, the invention has the following beneficial effects:
1. the intelligent parking lot system with the cooperation of the vehicle and the road can realize unmanned AVP autonomous parking, one-key parking and one-key recall.
2. The intelligent parking lot system with the cooperative vehicle and road can realize various functions of parking reservation, AR parking space guidance and the like.
3. The intelligent parking lot system with the cooperative vehicle and road can realize reverse vehicle searching and solve the problem of forgetting parking spaces.
4. The intelligent parking lot system with the cooperative vehicle and road can realize regional parking linkage and fully and reasonably distribute resources.
5. The intelligent parking lot system with the cooperation of the vehicle and the road can realize the congestion evacuation of the garage and solve the problems of unfamiliarity at an exit and congestion and queuing after the exit.
6. The intelligent parking lot system with the vehicle-road cooperation comprises the functions of unmanned AVP, AR parking space guidance, reverse vehicle searching, parking reservation, regional parking linkage, garage congestion evacuation, beyond-visual-range danger early warning, autonomous charging, one-key parking, one-key recall and the like.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic logic flow diagram of an intelligent parking lot system based on vehicle-road cooperation according to the present invention;
FIG. 2 is a comparison of different intelligent parking lot systems;
fig. 3 is a logic flow diagram of a method for implementing an intelligent parking lot with vehicle-road coordination in an AVP/unmanned vehicle parking scene.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the concept of the invention. All falling within the scope of the invention.
The invention provides an intelligent parking lot system based on vehicle-road cooperation, which comprises a task issuing module, a vehicle yard planning module, an information interaction module and a vehicle intelligent advancing module, wherein the task issuing module is used for issuing a task to a vehicle; the task issuing module issues a task instruction of the vehicle; the parking lot planning module receives a task instruction of the task issuing module and plans a vehicle traveling planning path of the vehicle in the parking lot; the information interaction module matches the traveling information according to the vehicle traveling planning path of the parking lot planning module; the intelligent vehicle traveling module receives a vehicle traveling planning path of the parking lot planning module and combines the traveling information of the information interaction module to realize the functions of autonomous parking/autonomous leaving of the vehicle in the parking lot. Specifically, the task instructions include, but are not limited to, vehicle entering the yard, vehicle leaving the yard, vehicle finding, service reservation. The task issuing module, the parking lot planning module, the information interaction module and the vehicle intelligent advancing module are respectively provided with different devices, a multi-device cooperation mode is realized, and communication among the devices is realized through a V2X protocol.
Particularly, the intelligent parking lot system based on vehicle-road cooperation can realize multiple prompt functions and decision-making capability, the prompt functions comprise information such as vehicle position, vehicle speed, course angle and acceleration, and can be realized through multi-device cooperation, the multi-device cooperation comprises a vehicle-mounted OBU terminal and a road side RSU, and even can be provided with transaction equipment such as electronic payment, so that the multifunctional combined intelligent parking lot is really realized. Meanwhile, the decision can be made by analyzing and judging according to the information of the vehicle position, the vehicle speed, the course angle, the acceleration and the like, such as vehicle traveling planning path setting, forward collision early warning, intersection collision early warning, reverse overtaking early warning and the like in a vehicle yard.
The decision method for forward collision early warning comprises the following steps:
the assumption is that the vehicle A and the vehicle B are on the same lane, the heading angles are the same, and the relative width is 2 meters, so that the precondition of collision is met. The minimum safe distance is calculated, assuming that the reaction time of a driver is T, the braking coordination time is T1, the deceleration increase time is T2, and the safe distance is d when the driver is stationary, according to the automobile braking dynamics, the minimum safe distance calculation formula is as follows:
V S 、V F respectively the speed of the main vehicle and the remote vehicle, a is the acceleration of the braking safety of the vehicle, the minimum safety distance of the vehicle is calculated, then the minimum safety distance is compared with the actual distance of the vehicle, and if the minimum safety distance is greater than the actual distance of the vehicle, the forward collision early warning is triggered.
The train yard planning module comprises a request instruction access unit, a path unit in a planning library, a scheduling sequence unit, a scheduling planning unit and an instruction sending unit; the request instruction access unit receives a task instruction of the task issuing module; the path planning unit in the garage realizes the planning of the traveling path of the vehicle in the garage; the scheduling sequence unit schedules vehicles in the parking lot according to the in-garage traveling path planned by the path planning unit in the planning garage, and lists vehicle scheduling sequences side by side; the scheduling and planning unit plans a vehicle traveling planning path of the vehicle in the garage according to the in-garage traveling path of the path unit in the planning garage and the vehicle scheduling sequence of the scheduling sequence unit; and the instruction sending unit is used for sending the vehicle traveling planning path of the scheduling planning unit to the vehicle intelligent traveling module and the information interaction module. Specifically, the request instruction access unit further comprises vehicle information access, and the vehicle traveling planned path is analyzed and judged according to vehicle position, vehicle speed, course angle and acceleration information accessed by the vehicle information.
Particularly, the common parking lot problems of overlong waiting for parking in line, difficulty in finding parking spaces, congestion in line when leaving a warehouse, unfamiliarity with exits and the like can be effectively solved through the setting of the vehicle scheduling sequence and the vehicle traveling planning path.
The information interaction module comprises cloud garage navigation information, road end information, field end navigation information and field end dynamic and static information; the cloud garage navigation information acquires vehicle navigation information from the outside of the parking lot to the parking lot garage opening, and intelligent movement of the vehicle between the outside of the parking lot and the parking lot garage opening is realized; specifically, the cloud garage navigation information provides cloud services, such as navigation, reservation, and the like. Road side vehicle information is acquired by the road side information, and the safety of intelligent movement of vehicles outside a parking lot and a parking lot garage opening is ensured; specifically, the road end information comprises road side vehicle information which is derived from road side sensing equipment such as a laser radar and a millimeter wave radar, and the sensing function is realized through real-time point cloud data and an AI algorithm. The field terminal navigation information acquires map information in the vehicle field, and provides field terminal service for vehicles in the field; in particular, field-side services, map navigation, etc. The dynamic and static information at the field end acquires the dynamic and static information in the vehicle field, and the safety of intelligent movement of the vehicles in the field is ensured.
The intelligent vehicle advancing module comprises an instruction receiving unit, an intelligent advancing unit and a parking unit; the instruction receiving unit receives a vehicle traveling planning path of the yard planning module and traveling information of the information interaction module; the intelligent advancing unit starts an intelligent advancing mode of the vehicle according to the information received by the instruction receiving unit, so that the intelligent movement of the vehicle in the parking lot is realized; the parking unit realizes the function of parking/leaving the parking space.
The parking lot can be set into a plurality of different parking lot areas which can be on the ground or underground, and linkage of the different parking lot areas is realized through an intelligent parking lot system based on vehicle-road cooperation. Through regional parking linkage, resources are fully and reasonably distributed.
In an application scenario specifically related to autonomous parking and autonomous departure, the following specific implementation methods related to the system are provided:
an autonomous parking implementation method of an intelligent parking lot system based on vehicle-road cooperation adopts the intelligent parking lot system based on vehicle-road cooperation, and further comprises the following steps:
s1, when a vehicle arrives at a POI place, people in the vehicle get off the vehicle in advance, an autonomous parking task is issued, and the vehicle enters an autonomous parking state;
s2, the vehicle planning module receives an entrance request instruction of a vehicle;
s3, planning a path unit in the warehouse to plan a warehouse entry path, and planning a scheduling sequence by a scheduling sequence unit;
s4, scheduling and planning units schedule vehicles in the garage to cooperate according to the scheduling sequence; through vehicle in the rational allocation storehouse, can rational utilization parking area space, follow the short distance and remove the principle. The control method can be realized by an external intelligent vehicle mobile device, and can also be realized by directly controlling the vehicle which has obtained the control right. Through the reasonable dispatch to the vehicle in the parking lot, can effectual solution park the nonconformity, burn that the oil vehicle occupies similar bad parking behaviors such as electric pile, standardize parking area management.
S5, the vehicle planning module sends a vehicle traveling planning path to the request vehicle;
s6, the vehicle receives the information from the information interaction module, and the intelligent vehicle traveling module drives the vehicle to travel to the garage for storage
S7, updating the vehicle state and the field end dynamic and static information in real time in the vehicle field;
s8, the vehicle receives the field terminal navigation information and automatically drives to a parking space according to the vehicle advancing planning path;
and S9, backing up the vehicle and storing the vehicle in a warehouse, and finishing parking.
The autonomous leaving implementation method of the intelligent parking lot system based on the vehicle-road cooperation further comprises the following steps of:
step1, calling the vehicle by one key of the owner;
the Step2 vehicle planning module receives a departure request of the vehicle;
step3, planning an off-warehouse path by a path unit in the warehouse, and planning a scheduling sequence by a scheduling sequence unit;
the Step4 scheduling planning unit schedules other vehicles to cooperate according to the scheduling sequence;
step5, the vehicle planning module sends a vehicle traveling planned path to the request vehicle;
the Step6 vehicle receives information from the information interaction module, and the intelligent vehicle traveling module drives the vehicle to travel away from the parking space;
step7, updating the vehicle state and the field end dynamic and static information in real time in the vehicle field;
step8, the vehicle receives the site end navigation information and automatically drives to a specified place according to the vehicle traveling planned path;
and Step9, the vehicle arrives, and the vehicle owner gets on the vehicle.
The working principle of the invention is as follows:
description of vehicle-road cooperative intelligent parking lot-parking scene, as shown in fig. 2:
1. traditional parking scene: when a traditional vehicle drives into the garage, the vehicle is guided to the parking place according to the APP parking place, and the vehicle is backed and enters the garage
2. Intelligent networked parking scene: when the intelligent internet vehicle drives into the garage, the automatic/driver drives to the parking space according to the HMI information (HMI holographic image of the vehicle end + over-the-horizon danger warning + AR navigation + automatic driving), and automatically backs and enters the garage
3. AVP/unmanned vehicle parking scenario: when the vehicle has the AVP/unmanned function, passengers can get off the vehicle at the accessories of the POI places, the vehicle can safely and accurately automatically drive to the parking places according to the real-time information and the navigation information of the field ends, and the vehicle can automatically back to the parking places for storage
The intelligent parking place is designed aiming at the intelligent parking place with cooperative vehicle paths under the AVP/unmanned vehicle parking scene. The following is a detailed description of the implementation of the present system in two scenarios, as shown in fig. 3.
1. Arriving at POI venue scene
1. When the vehicle arrives at the POI place, the passengers get off the vehicle in advance, and the vehicle enters an autonomous parking state
2. Vehicle access request received by intelligent parking lot
3. Planning the warehousing path and the scheduling sequence
4. Dispatching other vehicle engagements
5. Sending a navigation path to a requesting vehicle
6. The vehicle runs to the garage for storage
7. Real-time updating of vehicle state and field end dynamic and static information by vehicle and road side equipment
8. The vehicle receives the site end information and automatically drives to the parking space according to the information
9. The vehicle is backed up and put in storage, and the parking is finished
2. away-POI venue scenario
1. Vehicle with one-key calling function
2. Vehicle road cooperative intelligent parking lot receives departure request of vehicle
3. Planning off-warehouse path and planning scheduling sequence
4. Dispatching other vehicle engagements
5. Sending a navigation path to a requesting vehicle
6. Vehicle driving away parking space
7. Real-time updating of vehicle state and field end dynamic and static information by vehicle and road side equipment in cooperation
8. The vehicle receives the site end information and automatically drives to the appointed place according to the information
9. The vehicle arrives and the owner gets on
To sum up, the advantage that wisdom parking area system compares in other parking area systems based on vehicle access is as follows:
1. can realize unmanned AVP autonomous parking, one-key parking and one-key recall
2. Parking reservation, AR parking space guidance
3. Reverse car searching, solving the problem of forgetting parking space
4. And (3) linkage of regional parking, full and reasonable resource distribution: the multiple parking lots can realize regional linkage, and the system realizes interaction
5. The congestion dredging of the garage solves the problems of familiarity at the exit part and congestion and queuing during exiting the garage
Specifically, the following steps are carried out: specific meanings of POI sites are: a POI is an abbreviation of Point of Interest, i.e., "Point of Interest," and in a geographic information system, a POI location may refer to a destination location in which a user is interested, such as a mall, an office building, a parking lot, an exhibition hall, and the like. The method is mainly applied to large buildings and municipal facilities which need to be accessed by multiple network systems, such as large-scale exhibition halls, subways, railway stations, airports, government office offices and other places.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. An intelligent parking lot system based on vehicle-road cooperation is characterized by comprising a task issuing module, a parking lot planning module, an information interaction module and a vehicle intelligent advancing module;
the task issuing module issues a task instruction of the vehicle;
the yard planning module receives the task instruction of the task issuing module and plans a vehicle traveling planning path of the vehicle in the yard;
the information interaction module matches the traveling information according to the vehicle traveling planning path of the yard planning module;
the vehicle intelligent traveling module receives the vehicle traveling planning path of the parking lot planning module and combines the traveling information of the information interaction module to realize the functions of autonomous parking/autonomous leaving of the vehicle in the parking lot.
2. The intelligent parking lot system based on vehicle-road cooperation according to claim 1, wherein the yard planning module comprises a request instruction access unit, a path in planning library unit, a scheduling sequence unit, a scheduling planning unit and an instruction sending unit;
the request instruction access unit receives a task instruction of the task issuing module;
the path unit in the planning garage realizes the planning of the traveling path of the vehicle in the garage;
the scheduling sequence unit schedules vehicles in the yard according to the in-garage travelling path planned by the path planning unit in the planning garage, and lists vehicle scheduling sequences side by side;
the scheduling planning unit plans a vehicle traveling planning path of a vehicle in the garage according to the in-garage traveling path of the path unit in the planning garage and the vehicle scheduling sequence of the scheduling sequence unit;
the instruction sending unit is used for sending the vehicle traveling planning path of the scheduling planning unit to the vehicle intelligent traveling module and the information interaction module.
3. The intelligent parking lot system based on vehicle-road cooperation according to claim 1, wherein the information interaction module comprises cloud garage navigation information, road end information, field end navigation information, and field end dynamic and static information;
the cloud garage navigation information acquires vehicle navigation information from the outside of the parking lot to the parking lot garage opening, and intelligent movement of the vehicle between the outside of the parking lot and the parking lot garage opening is realized;
the road end information acquires road side vehicle information, and the safety of intelligent movement of vehicles outside a parking lot and between parking lot garage openings is guaranteed;
the field end navigation information acquires map information in the vehicle field and provides field end service for vehicles in the field;
the dynamic and static information at the field end acquires dynamic and static information in the parking lot, and the safety of intelligent movement of vehicles in the parking lot is ensured.
4. The intelligent parking lot system based on vehicle-road cooperation according to claim 1, wherein the vehicle intelligent traveling module comprises an instruction receiving unit, an intelligent traveling unit, a parking unit;
the instruction receiving unit receives a vehicle traveling planning path of the yard planning module and traveling information of the information interaction module;
the intelligent advancing unit starts an intelligent advancing mode of the vehicle according to the information received by the instruction receiving unit, so that the intelligent movement of the vehicle in the parking lot is realized;
the parking unit realizes the function of parking/leaving the parking space.
5. The intelligent vehicle-road coordination-based parking lot system according to claim 1, wherein the task instruction comprises vehicle entering a parking lot, vehicle leaving the parking lot, vehicle finding, service reservation.
6. The intelligent vehicle-road-cooperation-based parking lot system as claimed in claim 1, wherein the parking lot is provided with a plurality of different parking lot areas.
7. The intelligent vehicle-road coordination-based parking lot system according to claim 1, wherein the system realizes communication through a V2X protocol.
8. The intelligent parking lot system based on vehicle-road cooperation as claimed in claim 2, wherein the request command access unit further comprises vehicle information access, and the planned vehicle traveling path is analyzed and judged according to vehicle position, vehicle speed, course angle and acceleration information accessed by the vehicle information.
9. An autonomous parking implementation method of an intelligent parking lot system based on vehicle-road coordination, characterized in that the intelligent parking lot system based on vehicle-road coordination according to any one of claims 1-8 is adopted, and the method further comprises the following steps:
s1, when a vehicle arrives at a POI place, people in the vehicle get off the vehicle in advance, an autonomous parking task is issued, and the vehicle enters an autonomous parking state;
s2, the vehicle planning module receives an entrance request instruction of a vehicle;
s3, planning a path unit in the warehouse to plan a warehouse entry path, and planning a scheduling sequence by a scheduling sequence unit;
s4, scheduling and planning units schedule vehicles in the garage to cooperate according to the scheduling sequence;
s5, the vehicle planning module sends a vehicle traveling planning path to the request vehicle;
s6, the vehicle receives the information from the information interaction module, and the intelligent vehicle traveling module drives the vehicle to travel to the garage for storage
S7, updating the vehicle state and the field end dynamic and static information in real time in the vehicle field;
s8, the vehicle receives the field terminal navigation information and automatically drives to a parking space according to the vehicle advancing planning path;
and S9, backing up the vehicle and storing the vehicle in a warehouse, and finishing parking.
10. An autonomous departure implementation method of an intelligent parking lot system based on vehicle-road coordination, characterized in that the intelligent parking lot system based on vehicle-road coordination of any one of claims 1 to 8 is adopted, and further comprising the following steps:
step1, calling the vehicle by one key of the owner;
the Step2 vehicle planning module receives a departure request of the vehicle;
step3, planning an off-warehouse path by a path unit in the warehouse, and planning a scheduling sequence by a scheduling sequence unit;
the Step4 scheduling planning unit schedules other vehicles to cooperate according to the scheduling sequence;
step5, the vehicle planning module sends a vehicle traveling planned path to the request vehicle;
the Step6 vehicle receives information from the information interaction module, and the intelligent vehicle traveling module drives the vehicle to travel away from the parking space;
step7, updating the vehicle state and the field end dynamic and static information in real time in the parking lot;
step8, the vehicle receives the site end navigation information and automatically drives to a specified place according to the vehicle traveling planned path;
and Step9, the vehicle arrives, and the vehicle owner gets on the vehicle.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210711101.4A CN115171421A (en) | 2022-06-22 | 2022-06-22 | Intelligent parking lot system based on vehicle-road cooperation and parking and departure implementation method thereof |
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| CN202210711101.4A Pending CN115171421A (en) | 2022-06-22 | 2022-06-22 | Intelligent parking lot system based on vehicle-road cooperation and parking and departure implementation method thereof |
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| CN116959289A (en) * | 2023-09-21 | 2023-10-27 | 山东通维信息工程有限公司 | Intelligent parking system and method based on vehicle-road cooperation technology |
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