CN116153128A - Vehicle positioning and parking guiding method and system for parking lot - Google Patents
Vehicle positioning and parking guiding method and system for parking lot Download PDFInfo
- Publication number
- CN116153128A CN116153128A CN202211671147.4A CN202211671147A CN116153128A CN 116153128 A CN116153128 A CN 116153128A CN 202211671147 A CN202211671147 A CN 202211671147A CN 116153128 A CN116153128 A CN 116153128A
- Authority
- CN
- China
- Prior art keywords
- parking
- target vehicle
- vehicle
- information
- target
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
- G08G1/141—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
- G08G1/096805—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route
- G08G1/096811—Systems involving transmission of navigation instructions to the vehicle where the transmitted instructions are used to compute a route where the route is computed offboard
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Traffic Control Systems (AREA)
Abstract
The invention discloses a vehicle positioning and parking guiding method and system for a parking lot. By adopting the technical means of the invention, the tracking and positioning of the vehicle can be realized without depending on a high-precision map or a parking space memory function of the vehicle for learning and building the map in advance, thereby being beneficial to accurately guiding the parking of the vehicle according to the intersection and the lane where the vehicle is located, providing an automatic bus-substituting parking function for the user and improving the use experience of the user.
Description
Technical Field
The invention relates to the technical field of parking, in particular to a method and a system for vehicle positioning and parking guidance of a parking lot.
Background
With the continuous development of social economy and vehicle technology, vehicles become indispensable traffic equipment in people's life, and the appearance of automatic parking function provides great convenience for many vehicle drivers, and the requirement of users on automatic parking function is also higher and higher. The automatic bus-substituting parking system is a novel full-automatic parking auxiliary driving system, is widely applied to large-scale parking lots of markets, hotels and houses and the like, and is very popular with consumers and automobile manufacturers.
Most of the passenger parking schemes in the current market rely on a high-precision map or a parking space memory function of a vehicle for learning and building the map in advance to plan a driving route for the vehicle so as to drive the vehicle to travel according to the planned route. However, the inventors found that the prior art has at least the following problems: once the parking lot does not have the condition of creating a high-precision map or the user arrives at the parking lot for the first time, tracking and positioning of the vehicle and parking guidance cannot be realized, an automatic bus-substituting parking function cannot be provided for the user, and bad use experience is caused for the user.
Disclosure of Invention
The embodiment of the invention aims to provide a vehicle positioning and parking guiding method and system for a parking lot, which can effectively realize tracking and positioning of vehicles, are beneficial to providing parking guidance for users and improve the use experience of the users.
In order to achieve the above object, an embodiment of the present invention provides a vehicle positioning method for a parking lot, including:
determining identity information of a target vehicle;
acquiring image information identified by a camera of each parking lot; the parking lot cameras are arranged at each intersection of the parking lot;
tracking the target vehicle according to the identity information and the image information, and determining the current position information of the target vehicle; the current position information comprises an intersection where the target vehicle is located and a lane where the target vehicle runs at the intersection.
As an improvement of the above solution, the tracking the target vehicle according to the identity information and the image information, and determining the location information of the target vehicle specifically includes:
performing distortion correction processing on all the image information to obtain all BEV views;
performing image semantic recognition on the BEV view, and determining the BEV view containing the identity information of the target vehicle as a target BEV view to obtain an intersection at which the target vehicle is located;
image segmentation is carried out on the target BEV view, and each lane driving area is obtained through division;
and tracking the target vehicle, and determining a lane driving area where the target vehicle is located in the target BEV view so as to obtain a lane where the target vehicle is driven.
As an improvement of the above-described aspect, the identification information includes at least one of a license plate number, a vehicle identification code, and a vehicle model number.
As an improvement of the above scheme, the object vehicle is tracked by adopting a SORT tracking algorithm.
The embodiment of the invention also provides a parking guidance method of the parking lot, which comprises the following steps:
when a target vehicle runs to a parking lot entrance, a target parking space is allocated for the target vehicle;
generating a parking running path according to the parking lot entrance where the target vehicle is located and the target parking space;
determining current position information of a target vehicle by adopting the vehicle positioning method of the parking lot according to any one of the above in the process of driving the target vehicle to a target parking space;
and generating parking guide information for the target vehicle according to the parking driving path and the current position information of the target vehicle, and sending the parking guide information to the target vehicle.
As an improvement of the above-described aspect, the parking guidance information includes a traveling direction and a traveling distance of the target vehicle at a current intersection.
As an improvement of the above-described aspect, after generating the parking travel path and determining the position information of the target vehicle, the method further includes:
matching the parking travel path with the position information of the target vehicle, and judging whether the target vehicle is on the parking travel path or not;
when the target vehicle is on the parking travel path, performing the steps of: generating parking guide information for the target vehicle according to the parking travel path and the position information of the target vehicle, and sending the parking guide information to the target vehicle;
and when the target vehicle is not on the parking driving path, generating yaw alarm information and sending the yaw alarm information to the target vehicle.
As an improvement of the above, after generating yaw warning information and transmitting the yaw warning information to the target vehicle when the target vehicle is not on the parking travel path, the method further includes:
and re-planning the parking driving path according to the current position information of the target vehicle and the target parking space so as to update the parking driving path.
The embodiment of the invention also provides a parking guidance system of the parking lot, which comprises the parking lot, a parking lot camera and a parking guidance device, wherein the parking lot camera is arranged at each intersection of the parking lot, and the parking guidance device is used for executing the parking guidance method of the parking lot according to any one of the above.
Compared with the prior art, the vehicle positioning and parking guiding method and system of the parking lot, disclosed by the invention, have the advantages that the parking lot cameras are arranged at each intersection of the parking lot, the identity information of the target vehicle is determined in the tracking and positioning process of the vehicle, the image information recognized by each parking lot camera is acquired in real time, the target vehicle is tracked according to the identity information and the image information, and the intersection where the target vehicle is located and the lane where the intersection is located are determined. By adopting the technical means of the embodiment of the invention, the tracking and positioning of the vehicle can be realized without depending on a high-precision map or a parking space memory function of the vehicle for learning and building the map in advance, thereby being beneficial to accurately guiding the parking of the vehicle according to the intersection and the lane where the vehicle is located, providing an automatic bus-substituting parking function for the user and improving the use experience of the user.
Drawings
Fig. 1 is a flow chart of a vehicle positioning method of a parking lot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of local map information of a parking lot in an embodiment of the present invention;
fig. 3 is a schematic flow chart of a parking guidance method for a parking lot according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a parking guidance system of a parking lot according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, a flow chart of a vehicle positioning method for a parking lot according to an embodiment of the present invention is shown. The embodiment of the invention provides a vehicle positioning method of a parking lot, which is executed by a controller at the parking lot end and specifically comprises the following steps S11 to S13:
s11, determining identity information of a target vehicle;
s12, acquiring image information identified by cameras of each parking lot; the parking lot cameras are arranged at each intersection of the parking lot;
s13, tracking the target vehicle according to the identity information and the image information, and determining the current position information of the target vehicle; the current position information comprises an intersection where the target vehicle is located and a lane where the target vehicle runs at the intersection.
According to the embodiment of the invention, a high-definition looking-around parking lot camera is arranged at each intersection in advance according to a parking lot map, wherein the intersections refer to places where roads are branched in the parking lot, namely, the intersections are communicated with at least two roads, and the types of the intersections comprise T-shaped intersections, Y-shaped intersections, crossroads, X-shaped intersections, L-shaped intersections, misplacement intersections and the like.
When the vehicle is required to be tracked and positioned, the identity information of the vehicle (namely the target vehicle) required to be tracked and positioned is determined, so that the tracking and positioning of the target vehicle are realized according to the identity information. Preferably, the identity information includes at least one of a license plate number, a vehicle identification code, and a vehicle model number.
Specifically, in the tracking and positioning process, image information shot by a parking lot camera at each intersection in the parking lot is acquired in real time, wherein the image information comprises an area formed by the intersection where the parking lot camera is located, and vehicles, obstacles and the like in the area. When the target vehicle passes through the intersection, the camera of the parking lot can capture image information containing identity information of the target vehicle, and then the parking lot performs image processing on the image information through identity information such as license plate numbers, vehicle identification codes and/or vehicle models of the vehicle, so that tracking and positioning of the target vehicle are realized, and therefore, which intersection of the parking lot where the target vehicle is specifically located is determined, which lane the target vehicle runs on when the target vehicle reaches the intersection is determined, and the running direction of the vehicle when entering the intersection area can be known according to the specific lane where the target vehicle is located, and the follow-up parking guidance is facilitated for the vehicle.
As an example, referring to fig. 2, which is a schematic diagram of local map information of a parking lot in an embodiment of the present invention, two intersections of the parking lot are shown, which are an intersection and a T-shaped intersection, the intersection is connected with four roads, the T-shaped intersection is connected with three roads, and each road is divided into a left lane and a right lane. And a parking lot camera is arranged above the crossroad and the T-shaped intersection respectively, and the two intersection areas are obtained by taking the image range shot by the parking lot camera as a boundary. It is assumed that when a target vehicle arrives at the T-intersection area, a parking lot camera provided at the intersection can capture image information including the target vehicle, and according to the identity information of the target vehicle and the image information, it can be determined that the target vehicle is located at the T-intersection area, and according to the image information of the front and rear frames, the target vehicle is tracked, and further it is determined on which lane in the T-intersection area the target vehicle is traveling.
The embodiment of the invention provides a vehicle positioning method of a parking lot, which is characterized in that a parking lot camera is arranged at each intersection of the parking lot, the identity information of a target vehicle is determined in the tracking and positioning process of the vehicle, the image information recognized by each parking lot camera is acquired in real time, the target vehicle is tracked according to the identity information and the image information, and the intersection where the target vehicle is located and the lane where the intersection is located are determined. By adopting the technical means of the embodiment of the invention, the tracking and positioning of the vehicle can be realized without depending on a high-precision map or a parking space memory function of the vehicle for learning and building the map in advance, thereby being beneficial to accurately guiding the parking of the vehicle according to the intersection and the lane where the vehicle is located, providing an automatic bus-substituting parking function for the user and improving the use experience of the user.
As a preferred implementation manner, the embodiment of the present invention is further implemented on the basis of the foregoing embodiment, and step S13, that is, the tracking the target vehicle according to the identity information and the image information, determines the current location information of the target vehicle, specifically includes steps S131 to S134:
s131, performing distortion correction processing on all the image information to obtain all BEV views;
s132, carrying out image semantic recognition on the BEV view, and determining the BEV view containing the identity information of the target vehicle as a target BEV view to obtain an intersection where the target vehicle is located;
s133, performing image segmentation on the target BEV view, and dividing to obtain each lane driving area;
s134, tracking the target vehicle, and determining a lane driving area where the target vehicle is located in the target BEV view so as to obtain a lane where the target vehicle is driven.
In the embodiment of the invention, distortion correction processing is carried out on the surrounding image information shot by each parking lot camera to obtain BEV (bird's eye view) views, and then image semantic recognition processing is carried out on each BEV view to identify whether identity information such as license plate numbers of target vehicles exists or not so as to judge whether the BEV views containing the target vehicles exist or not, and when the identity information of the target vehicles is detected in a certain BEV view, the condition that the target vehicles are currently located in intersection areas corresponding to the BEV views is judged so as to determine and obtain intersection areas where the target vehicles are located.
Further, image segmentation is carried out on the target BEV view, each lane driving area is obtained through division, and each lane driving area corresponds to one lane. And tracking and positioning the target vehicle by adopting a preset tracking algorithm to determine which lane driving area the target vehicle is in, so as to determine the lane on which the target vehicle is driving.
Preferably, the target vehicle is tracked using a SORT tracking algorithm.
It should be noted that the SORT (Simple Online and Realtime Tracking) tracking algorithm combines the kalman filtering and the hungarian matching algorithm, so as to achieve the purpose of rapidly completing matching and tracking. In the embodiment of the invention, when the target vehicle passes through the intersection, semantic recognition is carried out on the target vehicle according to characteristics such as license plates and the like, the target vehicle is positioned and tracked by utilizing an SORT algorithm, after tracking and positioning information is obtained, the position of the target vehicle on an image is judged according to the positioning information, and if the target vehicle is in a corresponding lane driving area on the image at the moment, the target vehicle is judged to be on the lane, so that the lane on which the target vehicle is driven in the BEV view is judged.
By adopting the technical means of the embodiment of the invention, the determination of the position information of the intersection where the target vehicle is located and the lane where the intersection is driven is accurately and effectively realized by means of distortion correction processing, image semantic recognition processing, SORT tracking algorithm and the like, and the positioning effect of the vehicle is improved.
Referring to fig. 3, which is a schematic flow chart of a parking guidance method of a parking lot provided by an embodiment of the present invention, the embodiment of the present invention provides a parking guidance method of a parking lot, where the method is executed by a controller at a parking lot end, and the parking guidance method specifically includes the following steps S21 to S24:
s21, when a target vehicle runs to a parking lot entrance, a target parking space is allocated for the target vehicle;
s22, generating a parking running path according to the parking lot entrance where the target vehicle is and the target parking space;
s23, determining current position information of the target vehicle by adopting the vehicle positioning method of the parking lot provided by the embodiment in the process of driving the target vehicle to the target parking space;
s24, generating parking guide information for the target vehicle according to the parking running path and the current position information of the target vehicle, and sending the parking guide information to the target vehicle.
In the embodiment of the invention, the parking guidance of the target vehicle is realized on the basis of the vehicle positioning method provided in the embodiment. Specifically, a high-definition looking-around camera is installed at each intersection of the parking lot, and a guiding route of each parking space is confirmed in advance according to a map of the parking lot. The map of the parking lot is simpler than a high-precision mapping map, for example, the map of the parking lot can be formed on the basis of digitally processing a construction map of the parking lot. The parking lot is provided with one or more parking lot entrances, and identity information of the target vehicle is collected when the target vehicle runs to the parking lot entrances. By way of example, a monitoring camera is provided at each parking lot entrance for collecting and recording vehicle information, respectively. And when the target vehicle runs to the entrance of the parking lot, acquiring identity information of the target vehicle through the monitoring camera.
Further, a target parking space is allocated for the target vehicle. As an example, a monitoring camera is arranged in a parking lot and used for collecting parking space information of the parking lot, and the monitoring camera recognizes and records the number and boundary line of the parking space in the collected image information through a deep learning algorithm to obtain and feed back the state information of the parking space in real time, such as the occupied parking space or available parking space. In one embodiment, the parking lot randomly selects or selects a parking space nearest to the parking lot entrance where the target vehicle is located from available parking spaces as the target parking space; in another embodiment, the parking lot sends all available parking space information to the vehicle end, one of the parking spaces is selected as a target parking space by the user and returned, and the parking lot end confirms the target parking space.
Then, a parking lot end generates a parking travel path according to the parking lot map, the parking lot entrance and the target parking space, wherein the parking travel path is a travelable path formed between the parking lot entrance and the position of the target parking space on the parking lot map. The parking lot end acquires image information shot by the parking lot camera in real time, and determines the current position information of the target vehicle by adopting the vehicle positioning method provided in the embodiment according to the identity information of the target vehicle and the image information. For a vehicle end, after entering the parking lot entrance, before encountering the next intersection, the vehicle is controlled to move forward according to the positioning navigation system of the vehicle end; when the vehicle appears in the next intersection area, the target vehicle is identified by a parking lot end, and the parking lot end determines the next driving direction of the target vehicle according to the intersection where the target vehicle is and the lane where the target vehicle is driven at the intersection, and combines the parking driving path to generate parking guide information for the target vehicle, and sends the parking guide information to the target vehicle to guide the target vehicle to drive to the next intersection. The vehicle is guided to travel to the target parking space by transmitting parking guidance information to the target vehicle at each intersection.
Preferably, the parking guidance information includes a traveling direction and a traveling distance of the target vehicle at a current intersection, the traveling direction including straight, right turn, left turn, and turning around. As an example, the parking guidance information is "10 meters straight at the current intersection", "10 meters right turn parallel at the current intersection", or the like.
Preferably, after obtaining the target BEV view, the method further comprises:
according to the target BEV view, obstacle information of the intersection where the target vehicle is located is determined;
generating parking guidance information for the target vehicle according to the parking travel path and the current position information of the target vehicle, wherein the method specifically comprises the following steps:
and generating parking guide information for the target vehicle according to the parking driving path, the current position information of the target vehicle and the obstacle information.
In the embodiment of the invention, in the process of positioning the target vehicle, after the target BEV view containing the identity information of the target vehicle is determined, the target BEV view is further subjected to image processing, and each obstacle information in the lane driving area in the target BEV view is determined, so that in the process of generating the parking guide information of the target vehicle, the influence of the obstacle information on the vehicle driving process is considered, and more refined stopping guide information is generated, so that the vehicle can avoid the obstacle information in the driving process, and the parking experience of a user is improved.
The embodiment of the invention provides a parking guiding method of a parking lot, which is used for distributing a target parking space for a target vehicle when the target vehicle runs to a parking lot entrance; generating a parking driving path according to a preset parking lot map, the parking lot entrance and the target parking space; determining the current position information of a target vehicle according to the identity information of the target vehicle and the image information identified by a camera of a parking lot; and generating parking guide information for the target vehicle according to the parking driving path and the current position information of the target vehicle, and sending the parking guide information to the target vehicle. By adopting the technical means of the embodiment of the invention, the tracking and positioning of the vehicle and the parking guidance can be effectively realized, the automatic bus-substituting parking function is provided for the user, the parking space memory function of learning the map in advance by depending on a high-precision map or the vehicle is not needed, excessive hardware investment is not needed to be added, the cost is low, the parking efficiency and the parking reliability can be effectively improved, and the use experience of the user is improved.
As a preferred implementation manner, the embodiment of the present invention is further implemented on the basis of the above embodiment, and after steps S22 and S23, that is, generating a parking travel path, and determining the current position information of the target vehicle, the method further includes steps S31 to S33:
s31, matching the parking travel path with the current position information of the target vehicle, and judging whether the target vehicle is on the parking travel path;
s32, when the target vehicle is on the parking travel path, executing step S24: generating parking guide information for the target vehicle according to the parking travel path and the current position information of the target vehicle, and sending the parking guide information to the target vehicle;
s33, when the target vehicle is not on the parking running path, yaw alarm information is generated, and the yaw alarm information is sent to the target vehicle.
In the embodiment of the invention, whether yaw occurs in the process of driving the target vehicle to the target parking space is monitored. Specifically, after determining a parking travel path of a target vehicle, when a parking lot monitors the target vehicle at each intersection, that is, acquires current position information of the target vehicle, the parking travel path is matched with the current position information of the target vehicle, whether the intersection where the target vehicle is located is on the parking travel path is determined, and whether a lane where the target vehicle is traveling at the intersection is on the parking travel path is determined, thereby determining whether the target vehicle is off-course. If the yaw does not exist, parking guide information such as the next running direction, the running distance and the like is sent to the target vehicle according to the actual situation; if the yaw is already generated, yaw alarm information is sent to the target vehicle to remind the user that the yaw is currently generated. By sending yaw alarm information, the method is beneficial to controlling the vehicle to stop temporarily, triggering rescheduling and other operations.
Preferably, in step S33, that is, after generating yaw warning information when the target vehicle is not on the parking travel path and transmitting the yaw warning information to the target vehicle, the method further includes step S34:
and S34, re-planning the parking running path according to the current position information of the current target vehicle and the target parking space so as to update the parking running path.
In the embodiment of the invention, when the vehicle has yaw, yaw alarm information is sent to the vehicle so as to enable the vehicle end to temporarily stop. And the parking lot end regenerates a new parking running path according to the current position information of the current vehicle and the target parking space, and updates the original parking running path. And then, the parking lot regenerates new parking guide information according to the updated parking driving path and the current position information of the current target vehicle and sends the new parking guide information to the vehicle. In the following process, the parking lot tracks and positions the vehicle according to the new parking driving path and the image information detected at the intersection, generates parking guide information and sends the parking guide information to the target vehicle so that the vehicle end smoothly drives to the target parking space.
By adopting the technical means of the embodiment of the invention, the parking lot end can detect whether the vehicle deviates from the planned path in real time, and re-plan the path when yaw occurs, thereby realizing accurate monitoring and guiding in the parking process of the vehicle, ensuring that the parking process is successfully completed and improving the use experience of users.
Referring to fig. 4, which is a schematic structural diagram of a parking guidance system of a parking lot according to an embodiment of the present invention, the embodiment of the present invention provides a parking guidance system 40 of a parking lot, which includes a parking lot 41, a parking lot camera 42, and a parking guidance device 43, where the parking lot camera 42 is disposed at each intersection of the parking lot, and the parking guidance device 43 is configured to execute the parking guidance method of the parking lot according to any one of the embodiments.
By adopting the technical means of the embodiment of the invention, the tracking and positioning of the vehicle can be realized without depending on a high-precision map or a parking space memory function of the vehicle for learning and building the map in advance, thereby being beneficial to accurately guiding the parking of the vehicle according to the intersection and the lane where the vehicle is located, providing an automatic bus-substituting parking function for the user and improving the use experience of the user.
It should be noted that, the parking guidance device in the embodiment of the present invention is configured to execute all the flow steps of the parking guidance method in the parking lot in the above embodiment, and the working principles and beneficial effects of the two correspond to each other one by one, so that the description is omitted.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
While the foregoing is directed to the preferred embodiments of the present invention, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the invention, such changes and modifications are also intended to be within the scope of the invention.
Claims (9)
1. A vehicle positioning method of a parking lot, characterized by comprising:
determining identity information of a target vehicle;
acquiring image information identified by a camera of each parking lot; the parking lot cameras are arranged at each intersection of the parking lot;
tracking the target vehicle according to the identity information and the image information, and determining the current position information of the target vehicle; the current position information comprises an intersection where the target vehicle is located and a lane where the target vehicle runs at the intersection.
2. The vehicle positioning method of claim 1, wherein the tracking the target vehicle according to the identity information and the image information, determining the current location information of the target vehicle, specifically includes:
performing distortion correction processing on all the image information to obtain all BEV views;
performing image semantic recognition on the BEV view, and determining the BEV view containing the identity information of the target vehicle as a target BEV view to obtain an intersection at which the target vehicle is located;
image segmentation is carried out on the target BEV view, and each lane driving area is obtained through division;
and tracking the target vehicle, and determining a lane driving area where the target vehicle is located in the target BEV view so as to obtain a lane where the target vehicle is driven.
3. The vehicle positioning method of claim 1, wherein the identity information includes at least one of a license plate number, a vehicle identification code, and a vehicle model number.
4. The vehicle positioning method of claim 1, wherein the target vehicle is tracked using a SORT tracking algorithm.
5. A parking guidance method of a parking lot, characterized by comprising:
when a target vehicle runs to a parking lot entrance, a target parking space is allocated for the target vehicle;
generating a parking running path according to the parking lot entrance where the target vehicle is located and the target parking space;
determining current position information of a target vehicle during driving of the target vehicle to a target parking space by using the vehicle positioning method of the parking lot according to any one of claims 1 to 4;
and generating parking guide information for the target vehicle according to the parking driving path and the current position information of the target vehicle, and sending the parking guide information to the target vehicle.
6. The parking guidance method of claim 5, wherein the parking guidance information includes a traveling direction and a traveling distance of the target vehicle at a current intersection.
7. The parking guidance method of the parking lot according to claim 5, wherein after generating a parking travel path and determining current position information of the target vehicle, the method further comprises:
matching the parking travel path with the current position information of the target vehicle, and judging whether the target vehicle is on the parking travel path or not;
when the target vehicle is on the parking travel path, performing the steps of: generating parking guide information for the target vehicle according to the parking travel path and the current position information of the target vehicle, and sending the parking guide information to the target vehicle;
and when the target vehicle is not on the parking driving path, generating yaw alarm information and sending the yaw alarm information to the target vehicle.
8. The parking guidance method of a parking lot according to claim 7, wherein after generating yaw warning information and transmitting the yaw warning information to the target vehicle when the target vehicle is not on the parking travel path, the method further comprises:
and re-planning the parking driving path according to the current position information of the current target vehicle and the target parking space so as to update the parking driving path.
9. A parking guidance system of a parking lot, characterized by comprising a parking lot, a parking lot camera provided at each intersection of the parking lot, and a parking guidance device for performing the parking guidance method of the parking lot according to any one of claims 5 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211671147.4A CN116153128A (en) | 2022-12-26 | 2022-12-26 | Vehicle positioning and parking guiding method and system for parking lot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211671147.4A CN116153128A (en) | 2022-12-26 | 2022-12-26 | Vehicle positioning and parking guiding method and system for parking lot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116153128A true CN116153128A (en) | 2023-05-23 |
Family
ID=86359209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211671147.4A Pending CN116153128A (en) | 2022-12-26 | 2022-12-26 | Vehicle positioning and parking guiding method and system for parking lot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116153128A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117022028A (en) * | 2023-08-31 | 2023-11-10 | 重庆跃达新能源有限公司 | Intelligent management system and method for charging pile |
| CN117218851A (en) * | 2023-09-26 | 2023-12-12 | 深圳市纵停科技有限公司 | Vehicle safety intelligent supervision system and method based on Internet of things |
| CN117022028B (en) * | 2023-08-31 | 2024-06-04 | 重庆跃达新能源有限公司 | Intelligent management system and method for charging pile |
-
2022
- 2022-12-26 CN CN202211671147.4A patent/CN116153128A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117022028A (en) * | 2023-08-31 | 2023-11-10 | 重庆跃达新能源有限公司 | Intelligent management system and method for charging pile |
| CN117022028B (en) * | 2023-08-31 | 2024-06-04 | 重庆跃达新能源有限公司 | Intelligent management system and method for charging pile |
| CN117218851A (en) * | 2023-09-26 | 2023-12-12 | 深圳市纵停科技有限公司 | Vehicle safety intelligent supervision system and method based on Internet of things |
| CN117218851B (en) * | 2023-09-26 | 2024-05-03 | 深圳市纵停科技有限公司 | Vehicle safety intelligent supervision system and method based on Internet of things |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111696373B (en) | Motorcade cooperative sensing method, motorcade cooperative control method and motorcade cooperative control system | |
| EP2826687B1 (en) | Technique for lane assignment in a vehicle | |
| CN112721952B (en) | Complex road section driving control method and device for L3-grade automatic driving automobile, automobile and computer storage medium | |
| CN110751847B (en) | Decision-making method and system for automatically driving vehicle behaviors | |
| CN105774806A (en) | Vehicle travelling control device | |
| CN109686031A (en) | Identification follower method based on security protection | |
| CN112394725B (en) | Prediction and reaction field of view based planning for autopilot | |
| CN113071487B (en) | Automatic driving vehicle control method and device and cloud equipment | |
| CN113799770B (en) | Data processing method and device based on automatic driving | |
| CN112141114B (en) | Narrow passage auxiliary system and method | |
| CN113785252A (en) | Method of parking an autonomously driven vehicle for autonomous charging | |
| CN110733504A (en) | Driving method of automatic driving vehicle with backup path | |
| CN116153128A (en) | Vehicle positioning and parking guiding method and system for parking lot | |
| CN108995646A (en) | A kind of lane keeping method and device applied to automatic driving vehicle | |
| EP3994666A1 (en) | Object localization for autonomous driving by visual tracking and image reprojection | |
| CN112512885B (en) | Driving assisting method and device and automobile | |
| CN113176778A (en) | Control method and control device for unmanned vehicle and unmanned vehicle | |
| CN117184126A (en) | Automatic driving method and device and computer readable storage medium | |
| EP4125061A1 (en) | Road model generation method and device | |
| EP4019351A1 (en) | Vehicle control method and device, vehicle and storage medium | |
| CN116095270A (en) | Method, device, system and storage medium for infrastructure-supported assistance of a motor vehicle | |
| CN116373863A (en) | Method and device for assisting a vehicle in driving at a rotary | |
| CN114572250A (en) | Method for automatically driving through intersection and storage medium | |
| CN112644487A (en) | Automatic driving method and device | |
| CN116394980B (en) | Vehicle control method, automatic driving prompting method and related devices |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |