WO2017080178A1 - 自动泊车系统 - Google Patents

自动泊车系统 Download PDF

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Publication number
WO2017080178A1
WO2017080178A1 PCT/CN2016/083364 CN2016083364W WO2017080178A1 WO 2017080178 A1 WO2017080178 A1 WO 2017080178A1 CN 2016083364 W CN2016083364 W CN 2016083364W WO 2017080178 A1 WO2017080178 A1 WO 2017080178A1
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WIPO (PCT)
Prior art keywords
vehicle
data
central processing
unit
processing unit
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PCT/CN2016/083364
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English (en)
French (fr)
Inventor
李文锐
徐勇
邹禹
陈昆盛
林伟
刘鹏
李丹
勾晓菲
Original Assignee
乐视控股（北京）有限公司
乐卡汽车智能科技（北京）有限公司
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Publication of WO2017080178A1 publication Critical patent/WO2017080178A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/06—Automatic manoeuvring for parking
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
    • G05D1/0291—Fleet control
    • G05D1/0297—Fleet control by controlling means in a control room
    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096708—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control
    • G08G1/096725—Systems involving transmission of highway information, e.g. weather, speed limits where the received information might be used to generate an automatic action on the vehicle control where the received information generates an automatic action on the vehicle control
    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096733—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place
    • G08G1/096741—Systems involving transmission of highway information, e.g. weather, speed limits where a selection of the information might take place where the source of the transmitted information selects which information to transmit to each vehicle
    • 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
    • G08G1/0967—Systems involving transmission of highway information, e.g. weather, speed limits
    • G08G1/096766—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission
    • G08G1/096775—Systems involving transmission of highway information, e.g. weather, speed limits where the system is characterised by the origin of the information transmission where the origin of the information is a central station
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/14—Traffic control systems for road vehicles indicating individual free spaces in parking areas
    • G08G1/145—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas
    • G08G1/146—Traffic control systems for road vehicles indicating individual free spaces in parking areas where the indication depends on the parking areas where the parking area is a limited parking space, e.g. parking garage, restricted space
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/408—Radar; Laser, e.g. lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2556/00—Input parameters relating to data
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/20—Steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/24—Direction of travel
    • G—PHYSICS
    • G07—CHECKING-DEVICES
    • G07B—TICKET-ISSUING APPARATUS; FARE-REGISTERING APPARATUS; FRANKING APPARATUS
    • G07B15/00—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points
    • G07B15/02—Arrangements or apparatus for collecting fares, tolls or entrance fees at one or more control points taking into account a variable factor such as distance or time, e.g. for passenger transport, parking systems or car rental systems

Definitions

  • Embodiments of the present invention relate to the field of vehicle technologies, and in particular, to an automatic parking system.
  • Automatic parking means that the car is parked automatically and does not require manual control.
  • an automatic parking system is installed on a vehicle, and generally includes a data acquisition unit, a central processing unit, and a vehicle control unit.
  • the data collection unit collects environmental data around the vehicle, and the central processing unit analyzes the collected data, and the vehicle control unit automatically controls the vehicle according to the analysis result, so that the vehicle enters the designated parking space to realize the automatic parking function.
  • the prior art has at least the following problems: since each vehicle needs to be installed with an automatic parking system to realize the automatic parking function, the parking cost is high.
  • Embodiments of the present invention provide an automatic parking system to reduce parking costs.
  • an embodiment of the present invention provides an automatic parking system including a data collection unit, a central processing unit, and a vehicle control unit, wherein: the data collection unit and the central processing unit are disposed in a parking lot, a vehicle control unit is disposed on the vehicle, the central processing unit is in communication with the data collection unit and the vehicle control unit, respectively; the data collection a unit for collecting environmental data around the vehicle and transmitting the environmental data to the central processing unit; the vehicle control unit configured to send a parking request to the central processing unit, and according to the receiving The control unit controls the vehicle; the central processing unit is configured to receive the parking request and the environmental data, and generate the control command according to the environmental data to send to the vehicle control unit.
  • the automatic parking system provided by the invention can realize automatic parking because only the vehicle control unit needs to be installed on each vehicle, thereby reducing the parking cost for the vehicle user and, in addition, the data set in the parking lot.
  • the acquisition unit and the central processing unit can centrally manage several or even dozens of parking spaces without the need to provide multiple data acquisition units and central processing units, thus reducing parking for vehicle users and parking operators as a whole. cost.
  • FIG. 1 is a structural block diagram of an embodiment of an automatic parking system provided by the present invention.
  • FIG. 2 is a schematic diagram of a scene of the automatic parking system of the embodiment shown in FIG. 1.
  • FIG. 2 is a schematic diagram of a scene of the automatic parking system of the embodiment shown in FIG. 1.
  • FIG. 1 is a structural block diagram of an embodiment of an automatic parking system provided by the present invention
  • FIG. 2 is a schematic diagram of a scenario of an automatic parking system of the embodiment shown in FIG. 1.
  • the automatic parking system of the embodiment of the present invention may specifically include a data collection unit 11, a central processing unit 12, and a vehicle control unit 13. among them:
  • the data collection unit 11 and the central processing unit 12 are disposed in a parking lot 14, and the vehicle control unit 13 is disposed on the vehicle 15, and the central processing unit 12 is communicatively coupled to the data collection unit 11 and the vehicle control unit 13, respectively.
  • the central processing unit 12 and the data collection unit 11 and the vehicle control unit 13 can be communicatively connected by wire or wirelessly.
  • the data collection unit 11 and the central processing unit 12 serve as the infrastructure of the parking lot 14.
  • Each vehicle 15 only needs to install the vehicle control unit 13 to realize automatic parking, which greatly reduces the parking cost for the vehicle user.
  • Field operators come It is said that although the central processing unit 12 and the data collection unit 11 are added to increase the partial cost, since the data collection unit 11 and the central processing unit 12 can perform centralized management on several or even dozens of parking spaces, it is not necessary to provide multiple data acquisition units. 11 and the central processing unit 12, thus reducing the parking cost for the vehicle user and the parking lot operator as a whole.
  • the data collection unit 11 is configured to collect environmental data around the vehicle 15 and send the environmental data to the central processing unit 12.
  • the vehicle control unit 13 is configured to transmit a parking request to the central processing unit 12 and control the vehicle 15 according to the received control command.
  • the central processing unit 12 is configured to receive the parking request and the environmental data, and send the control command to the vehicle control unit 13 according to the environmental data.
  • the automatic parking system of the embodiment of the present invention implements the automatic parking function as follows: After the vehicle 15 enters the parking lot 14, the parking request is transmitted to the central processing unit 12 through the vehicle control unit 13.
  • the data collection unit 11 collects environmental data around the vehicle 15 in real time and transmits the environmental data to the central processing unit 12 in real time.
  • the central processing unit 12 receives the parking request sent by the vehicle control unit 13 and the environmental data sent by the data collecting unit 11, and performs unified processing on the environmental data to plan an optimal parking space, and generates a control command according to the environmental data to be sent to the vehicle control unit. 13.
  • the vehicle control unit 13 receives the control command transmitted by the central processing unit 12, analyzes the control command, and performs corresponding control of the vehicle 15 in accordance with the control command. The above process is repeated, and the environmental data is updated and the control command is continuously changed during the process, and the vehicle 15 is stopped at a desired parking space a little bit to realize the automatic parking function.
  • the environmental data collected by the data collection unit 11 may specifically include, but is not limited to, location data of the vehicle 15, parking space idle data, distance data of the vehicle 15 from surrounding objects, and/or traffic indication flag data.
  • the traffic indication flag data may specifically include, but is not limited to, parking space boundary line data and/or left and right steering indication data.
  • control command generated by the central processing unit 12 may specifically include, but is not limited to, a forward command, a reverse command, a left turn command, a right turn command, a steering wheel rotation angle command, and/or a vehicle speed command.
  • the data collection unit 11 may specifically include sensor devices such as a radar 21 (shown in FIG. 2) and/or a camera 22 (shown in FIG. 2). Since the radar 21 is relatively expensive, the data collection unit 11 is disposed in the parking lot 14 to greatly reduce the parking cost. Data acquisition unit 11 is disposed in the parking lot 14, so that the installation position and height of the radar 21 and/or the camera 22 are no longer limited by the height of the vehicle 15, which is more flexible and can provide a better view, thereby providing better parking in place. Guide the route to avoid paralysis during automatic parking.
  • sensor devices such as a radar 21 (shown in FIG. 2) and/or a camera 22 (shown in FIG. 2). Since the radar 21 is relatively expensive, the data collection unit 11 is disposed in the parking lot 14 to greatly reduce the parking cost. Data acquisition unit 11 is disposed in the parking lot 14, so that the installation position and height of the radar 21 and/or the camera 22 are no longer limited by the height of the vehicle 15, which is more flexible and can provide a better view, thereby providing better parking
  • vehicle control unit 13 may specifically include at least one electronic control unit (ECU), which is also commonly referred to as a “driving computer”, an “on-board computer”, and the like.
  • ECU electronice control unit
  • the automatic parking system of the embodiment of the present invention can realize automatic parking because only the vehicle control unit needs to be installed on each vehicle, thereby reducing the parking cost for the vehicle user and, in addition, being installed in the parking lot.
  • the data acquisition unit and the central processing unit can centrally manage several or even dozens of parking spaces without the need to provide multiple data acquisition units and central processing units, thus reducing the overall parking for vehicle users and parking operators. Car cost.
  • the aforementioned program can be stored in a computer readable storage medium.
  • the program when executed, performs the steps including the foregoing method embodiments; and the foregoing storage medium includes various media that can store program codes, such as a ROM, a RAM, a magnetic disk, or an optical disk.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Atmospheric Sciences (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Traffic Control Systems (AREA)

Abstract

一种自动泊车系统，该系统包括数据采集单元（11）、中央处理单元（12）和车辆控制单元（13），其中：所述数据采集单元（11）和所述中央处理单元（12）设置于停车场（14）中，所述车辆控制单元（13）设置于车辆（15）上，所述中央处理单元（12）分别与所述数据采集单元（11）和所述车辆控制单元（13）通信连接；所述数据采集单元（11）采集车辆（15）周围的环境数据，并将环境数据发送至中央处理单元（12）；所述车辆控制单元（13）将停车请求发送至中央处理单元（12）并根据接收到的控制指令对所述车辆（15）进行控制；所述中央处理单元（12）接收所述停车请求和所述环境数据并根据所述环境数据生成所述控制指令发送至车辆控制单元（13）。所述自动泊车系统，对车辆使用者来说或者对车辆使用者和停车场经营者整体来说降低了泊车成本。

Description

自动泊车系统
交叉引用
本申请引用于2015年11月9日提交的专利名称为“自动泊车系统”的第2015107606750号中国专利申请，其通过引用被全部并入本申请。
技术领域
本发明的实施例涉及车辆技术领域，尤其涉及一种自动泊车系统。
背景技术
对于驾驶员而言，由于大城市停车空间有限，如何将汽车快速、准确的驶入狭小的空间已成为一项必备技能。停车技能较差可能导致交通阻塞、神经疲惫和车辆剐蹭等。随着技术的进步，出现了自动泊车功能。自动泊车是指汽车自动泊车入位，不需要人工控制。
现有技术中，自动泊车系统安装在车辆上，通常包括数据采集单元、中央处理单元和车辆控制单元三部分。其中，数据采集单元采集车辆周围的环境数据，中央处理单元对采集到的数据进行分析，车辆控制单元根据分析结果对车辆进行自动控制，使车辆驶入指定的停车位，实现自动泊车功能。
但现有技术至少存在如下问题：由于每台车辆均需安装一套自动泊车系统才能实现自动泊车功能，因此泊车成本较高。
发明内容
本发明的实施例提供一种自动泊车系统，以降低泊车成本。
为达到上述目的，本发明的实施例采用如下技术方案：
一方面，本发明的实施例提供一种自动泊车系统，包括数据采集单元、中央处理单元和车辆控制单元，其中：所述数据采集单元和所述中央处理单元设置于停车场中，所述车辆控制单元设置于车辆上，所述中央处理单元分别与所述数据采集单元和所述车辆控制单元通信连接；所述数据采集 单元，用于采集所述车辆周围的环境数据，并将所述环境数据发送至所述中央处理单元；所述车辆控制单元，用于将停车请求发送至所述中央处理单元，并根据接收到的控制指令对所述车辆进行控制；所述中央处理单元，用于接收所述停车请求和所述环境数据，并根据所述环境数据生成所述控制指令发送至所述车辆控制单元。
本发明提供的自动泊车系统，由于每台车辆上仅需安装车辆控制单元即可实现自动泊车，因此对车辆使用者来说降低了泊车成本，另外，由于设置于停车场中的数据采集单元和中央处理单元可以对数个甚至数十个车位进行集中式管理，无需设置多个数据采集单元和中央处理单元，因此对车辆使用者和停车场经营者整体来说也降低了泊车成本。
附图说明
图1为本发明提供的自动泊车系统一个实施例的结构框图；
图2为图1所示实施例的自动泊车系统的场景示意图。
具体实施方式
下面结合附图对本发明实施例的自动泊车系统进行详细描述。
实施例一
图1为本发明提供的自动泊车系统一个实施例的结构框图，图2为图1所示实施例的自动泊车系统的场景示意图。如图1、图2所示，本发明实施例的自动泊车系统具体可包括数据采集单元11、中央处理单元12和车辆控制单元13。其中：
数据采集单元11和中央处理单元12设置于停车场14中，车辆控制单元13设置于车辆15上，中央处理单元12分别与数据采集单元11和车辆控制单元13通信连接。
具体的，中央处理单元12与数据采集单元11和车辆控制单元13可通过有线或无线方式通信连接。数据采集单元11和中央处理单元12作为停车场14的基础设施，每台车辆15仅需安装车辆控制单元13即可实现自动泊车，对车辆使用者来说大大降低了泊车成本，对于停车场经营者来 说，设置中央处理单元12与数据采集单元11虽然增加了部分成本，但由于数据采集单元11和中央处理单元12可以对数个甚至数十个车位进行集中式管理，无需设置多个数据采集单元11和中央处理单元12，因此对车辆使用者和停车场经营者整体来说，也降低了泊车成本。
进一步的，数据采集单元11，用于采集车辆15周围的环境数据，并将环境数据发送至中央处理单元12。车辆控制单元13，用于将停车请求发送至中央处理单元12，并根据接收到的控制指令对车辆15进行控制。中央处理单元12，用于接收停车请求和环境数据，并根据环境数据生成控制指令发送至车辆控制单元13。
具体的，本发明实施例的自动泊车系统实现自动泊车功能的过程如下：车辆15进入停车场14后，通过车辆控制单元13将停车请求发送至中央处理单元12。数据采集单元11实时采集车辆15周围的环境数据，并将环境数据实时发送至中央处理单元12。中央处理单元12接收车辆控制单元13发送的停车请求和数据采集单元11发送的环境数据，并对环境数据进行统一处理，规划出最佳停车位，并根据环境数据生成控制指令发送至车辆控制单元13。车辆控制单元13接收中央处理单元12发送的控制指令，并对控制指令进行解析，并按照控制指令对车辆15进行相应的控制。重复上述过程，在过程中不断进行环境数据的更新和控制指令的更改，将车辆15一点点的停进期望的车位，实现自动泊车功能。
进一步的，数据采集单元11采集的环境数据具体可包括但不限于车辆15的位置数据、车位空闲数据、车辆15与周围物体的距离数据和/或交通指示标志数据。其中，交通指示标志数据具体可包括但不限于车位边界线数据和/或左右转向指示数据。
进一步的，中央处理单元12生成的控制指令具体可包括但不限于前进指令、后退指令、左转指令、右转指令、方向盘转动角度指令和/或车速指令。
进一步的，数据采集单元11具体可包括雷达21(如图2所示)和/或摄像头22(如图2所示)等传感器设备。由于雷达21比较昂贵，因此数据采集单元11设置于停车场14中可大大降低泊车成本。数据采集单元 11设置于停车场14中，使得雷达21和/或摄像头22的安装位置和高度不再受车辆15高度的限制，更加灵活，可以提供更好的视野，从而可以提供更好的停车入位的引导路线，避免自动泊车过程中出现剐蹭现象。
进一步的，车辆控制单元13具体可包括至少一个电子控制单元(Electronic Control Unit，简称ECU)，电子控制单元ECU通常也被称为“行车电脑”、“车载电脑”等。
本发明实施例的自动泊车系统，由于每台车辆上仅需安装车辆控制单元即可实现自动泊车，因此对车辆使用者来说降低了泊车成本，另外，由于设置于停车场中的数据采集单元和中央处理单元可以对数个甚至数十个车位进行集中式管理，无需设置多个数据采集单元和中央处理单元，因此对车辆使用者和停车场经营者整体来说也降低了泊车成本。
本领域普通技术人员可以理解：实现上述各方法实施例的全部或部分步骤可以通过程序指令相关的硬件来完成。前述的程序可以存储于一计算机可读取存储介质中。该程序在执行时，执行包括上述各方法实施例的步骤；而前述的存储介质包括：ROM、RAM、磁碟或者光盘等各种可以存储程序代码的介质。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (6)

  1. 一种自动泊车系统，其特征在于，包括数据采集单元、中央处理单元和车辆控制单元，其中：
    所述数据采集单元和所述中央处理单元设置于停车场中，所述车辆控制单元设置于车辆上，所述中央处理单元分别与所述数据采集单元和所述车辆控制单元通信连接；
    所述数据采集单元，用于采集所述车辆周围的环境数据，并将所述环境数据发送至所述中央处理单元；
    所述车辆控制单元，用于将停车请求发送至所述中央处理单元，并根据接收到的控制指令对所述车辆进行控制；
    所述中央处理单元，用于接收所述停车请求和所述环境数据，并根据所述环境数据生成所述控制指令发送至所述车辆控制单元。
  2. 根据权利要求1所述的系统，其特征在于，所述环境数据包括所述车辆的位置数据、车位空闲数据、所述车辆与周围物体的距离数据和/或交通指示标志数据。
  3. 根据权利要求2所述的系统，其特征在于，所述交通指示标志数据包括车位边界线数据和/或左右转向指示数据。
  4. 根据权利要求1所述的系统，其特征在于，所述控制指令包括前进指令、后退指令、左转指令、右转指令、方向盘转动角度指令和/或车速指令。
  5. 根据权利要求1-4任一项所述的系统，其特征在于，所述数据采集单元包括雷达和/或摄像头。
  6. 根据权利要求1-4任一项所述的系统，其特征在于，所述车辆控制单元包括至少一个电子控制单元ECU。
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