WO2020151659A1 - Système de commande pour valet de stationnement - Google Patents

Système de commande pour valet de stationnement Download PDF

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Publication number
WO2020151659A1
WO2020151659A1 PCT/CN2020/073225 CN2020073225W WO2020151659A1 WO 2020151659 A1 WO2020151659 A1 WO 2020151659A1 CN 2020073225 W CN2020073225 W CN 2020073225W WO 2020151659 A1 WO2020151659 A1 WO 2020151659A1
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WIPO (PCT)
Prior art keywords
vehicle
information
parking space
parking
current vehicle
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Application number
PCT/CN2020/073225
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English (en)
Chinese (zh)
Inventor
安淑苗
张凯
张瀛
高崇桂
杜康
张召强
Original Assignee
长城汽车股份有限公司
Priority date (The priority date 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 date listed.)
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Publication date
Priority claimed from CN201910075012.3A external-priority patent/CN110782696B/zh
Priority claimed from CN201910073461.4A external-priority patent/CN110796889A/zh
Application filed by 长城汽车股份有限公司 filed Critical 长城汽车股份有限公司
Publication of WO2020151659A1 publication Critical patent/WO2020151659A1/fr

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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06Q—INFORMATION AND COMMUNICATION TECHNOLOGY [ICT] SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES; SYSTEMS OR METHODS SPECIALLY ADAPTED FOR ADMINISTRATIVE, COMMERCIAL, FINANCIAL, MANAGERIAL OR SUPERVISORY PURPOSES, NOT OTHERWISE PROVIDED FOR
    • G06Q10/00—Administration; Management
    • G06Q10/04—Forecasting or optimisation specially adapted for administrative or management purposes, e.g. linear programming or "cutting stock problem"
    • 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
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems

Definitions

  • the present invention relates to the field of automatic driving technology, in particular to a control system for valet parking.
  • the current scheme of controlling vehicles in the parking lot mainly involves the following two methods:
  • the heavy-duty end, light-vehicle end, and the end of the field use a variety of acquisition technologies, and the vehicle end does not require sensing functions.
  • the disadvantage of this solution is that the parking lot needs to be modified, and multiple collections at the end of the field need to be carried out all the time, cost and equipment
  • the maintenance cost is very high in the later period, and the promotion is difficult.
  • the heavy vehicle end and the light field end are equipped with a variety of acquisition technologies at the vehicle end, but in some special scenes, such as too bright or dark light, turning and fewer feature points, etc., the positioning method based on the vehicle end acquisition technology Can't work accurately all the time.
  • the present invention aims to propose a control system for valet parking, so as to at least realize parking space determination and path planning in the parking lot.
  • the control system for valet parking includes a field-side management device, the field-side management device includes a field-side server, and the field-side server includes a parking space determination device , Used to determine whether there is a target parking space corresponding to the current vehicle in response to receiving a valet parking request; if the target parking space does not exist, determine the corresponding target parking space for the current vehicle; location information determination A device for determining at least the location information of the current vehicle; a path planning device for determining the current location information according to the location information of the target parking space, the location information of the current vehicle, and the map information of the parking lot; The vehicle plans a route to the target parking spot; and uses the planned route as the navigation information of the current vehicle; and a sending device for sending the location information of the target parking spot and the navigation information.
  • control system for valet parking has the following advantages:
  • the parking space determination device dynamically determines the parking space for the vehicle, which can effectively save the parking space of the parking lot.
  • the path that is finally sent to the current vehicle is determined by combining the path length and the path congestion state, so that the current vehicle can be the shortest Drive to the target parking spot with the least fuel or power consumption in the most time.
  • Figure 1 shows a structural block diagram of a control system for valet parking according to an embodiment of the present invention
  • FIG. 2 shows a schematic diagram of the work flow of a parking space determining device according to an embodiment of the present invention
  • Figure 3 shows a schematic diagram of the coordinate information of parking spaces
  • Fig. 4 shows a schematic diagram of a working flow of a path planning device according to an embodiment of the present invention
  • Figure 5 shows a schematic diagram of path planning according to an embodiment of the present invention
  • Figure 6 shows a schematic diagram of a vehicle driving according to an embodiment of the present invention
  • FIG. 7 shows a schematic layout diagram of a vehicle positioning device according to an embodiment of the present invention.
  • FIG. 8A shows a schematic structural diagram of a vehicle-mounted positioning device according to an embodiment of the present invention
  • FIG. 8B shows a schematic diagram of the installation position of a vehicle-mounted camera according to an embodiment of the present invention
  • FIG. 9A shows a schematic diagram of a continuous turning scene according to an embodiment of the present invention.
  • FIG. 9B shows a control flowchart of a continuous turning scene according to an embodiment of the present invention.
  • FIG. 9C shows a control flow chart of a scene with too dark or too bright light according to an embodiment of the present invention.
  • FIG. 9D shows a schematic diagram of a scene with insufficient feature points according to an embodiment of the present invention.
  • FIG. 9E shows a control flow chart of a scene with insufficient feature points according to an embodiment of the present invention.
  • FIGS 10A-10B show schematic diagrams of obstacle avoidance scenarios provided by an embodiment of the present invention.
  • Fig. 1 shows a structural block diagram of a control system for valet parking according to an embodiment of the present invention.
  • the control system for valet parking may include a field management device 100, a vehicle management device 200, and a client management device 300.
  • the vehicle management device 200 may be installed on the current vehicle.
  • the vehicle management device 200 may include a vehicle server and a vehicle device.
  • the vehicle-end device may receive an instruction about valet parking input by the user on the touch screen of the vehicle, and in response to receiving the instruction, may generate a valet parking request for the current vehicle, for example, the valet parking request may be Including information such as the license plate number of the current vehicle.
  • the vehicle-side device may send the valet parking request to the vehicle-side server, and the vehicle-side server may send the valet parking request to the field-side management device 100.
  • the field-side management equipment 100 may include a field-side server, and the field-side server may include: a location information determination device, a parking space determination device, a path planning device, a sending device, and the like.
  • a parking space determination device for determining whether there is a target parking space corresponding to the current vehicle in response to receiving a valet parking request, and if there is no target parking space, then determining the target parking space corresponding to the current vehicle.
  • the location information if the target parking space is available, the location information of the target parking space is acquired. For example, after receiving a valet parking request, it can be determined whether there is a reserved parking space or a fixed parking space corresponding to the current vehicle. If there is a reserved parking space or a fixed parking space, the reserved parking space or fixed parking space As the target parking space and obtain the position information of the reserved parking space or the fixed parking space, otherwise, determine the corresponding target parking space for the current vehicle. For example, if the parking lot is a residential parking lot or a work area parking lot, a fixed parking space for the current vehicle can be pre-stored in the field server, which can be entered offline or entered by the user on the client Information on fixed parking spaces.
  • the location information determining device may be used to determine at least the location information of the current vehicle.
  • the path planning device is configured to: plan a path for the current vehicle to reach the target parking space according to the location information of the target parking space, the location information of the current vehicle, and the map information of the parking lot; and plan The route is used as the navigation information of the current vehicle.
  • the sending device is used to send the location information of the target parking space and the navigation information to the vehicle management device 200, or send the location information of the target parking space and the navigation information to the vehicle management device 200
  • the device 200 and the client management device 300 The car-side server of the car-side management device 200 is also used to receive the location information of the target parking space and the navigation information, and the car-side device can also be used to control the current vehicle according to the information sent by the field-side management device.
  • the location information of the target parking space and the navigation information perform automatic parking.
  • any two or three of the client server, the farm server, and the vehicle server of the client management device may be the same server.
  • the communication steps between the servers can be omitted.
  • vehicle-end equipment can also perform precise positioning of the current vehicle and perform obstacle avoidance functions during the control of the current vehicle.
  • the field-side management device 100 may further include a field-side positioning device.
  • the location information determining device may determine the location information of the current vehicle according to the information collected by the field-side positioning device, or may also receive the location information of the current vehicle sent by the field-side management device 200.
  • the field end positioning device may include a plurality of field end positioning units, and the plurality of field end positioning units are used to collect information related to the current position of the vehicle and/or information related to the position of an obstacle.
  • the field end positioning unit may be a lidar or an infrared camera, and the shape of the lidar arranged at the field end may be columnar, so that it can be embedded in a wall or fixed on a building through a structure.
  • the field-side positioning unit can be set anywhere in the parking lot. In order to save costs, the field-side positioning unit can only be set at a basic fixed position (that is, the position where the on-board positioning unit cannot accurately locate and avoid obstacles). It is set in all places, for example, it is only set in the area around the turn, the area around the corner, the area around the transparent glass, or the area where the feature points are insufficient for the vehicle positioning device to correctly locate the vehicle.
  • the location information determining device in the field-side server can obtain the coordinates of the plurality of field-side positioning units according to the IDs of the plurality of field-side positioning units; and according to the coordinates of the plurality of field-side positioning units and the vehicle
  • the position-related information of and/or the information related to the position of the obstacle obtains the position coordinates of the vehicle and/or the position coordinates of the obstacle as field end positioning information.
  • the field-side management device may send field-side positioning information corresponding to the current vehicle to the vehicle-side management device.
  • the field end positioning unit can predict the danger well, and the field end positioning unit installed at the field end transmits the collected image information to the background server at a certain frame rate.
  • the coordinates of the field end positioning unit are debugged and fixed at the beginning of installation, and the coordinates are fixed.
  • the back-end field server obtains the distance between the vehicle and the field end positioning unit based on the results of the previous calibration, calculates the relative coordinates between the vehicle and the field end positioning unit, and completes the absolute coordinate conversion through a certain algorithm.
  • the field end is preferably accurately positioned by ⁇ 3 field end positioning units.
  • the coordinate information of other field end positioning units can be obtained, and positioning can be realized through algorithms.
  • Obstacles (pedestrians, vehicles, small animals, etc.) information at the corner can be obtained through the field-side positioning unit and transmitted to the field-side server in the background.
  • the location information determining device of the field-side server in the background can process and output the field-side positioning information such as the type, size, coordinates, and driving trajectory of the obstacle, and transmit it to the car-side management equipment through wireless transmission, and the main control device of the car-side management equipment Make control decisions, that is, position and/or avoid obstacles.
  • the position information determining device in the field-side server can use the vehicle position coordinates in the field-side positioning information as the current vehicle position information, or it can obtain the current vehicle position information in real time from the car-side management equipment, that is, the vehicle can send information to The vehicle-side server sends its real-time position information, and the vehicle-side server can be set to send the vehicle position information to the field-side server in real time.
  • the client management device 300 may include a client and a client server.
  • the user can download the client and register with the client in advance.
  • the client terminal can prompt the user to fill in parameter information of the vehicle, and the parameter information may include, for example, a license plate number, vehicle type, and so on.
  • the user's registration information at the client can be sent to the client server, and the client server can send the user's registration information at the client to the farm server, and the farm server can store the user's registration information at the client for the current vehicle.
  • the user When the user needs to park in the parking lot, he can make a selection in the client in advance. For example, the user can select the parking lot closest to the destination in advance to park.
  • the parking lot In response to receiving a parking reservation instruction for the parking lot input by the user, if the parking lot allows the user to reserve a specific parking space, the user is asked whether to reserve a specific parking space. If the parking spaces of the parking lot are divided and fixed, the parking lot may allow users to reserve specific parking spaces, and if there are no lines in the parking lot, the parking lot may not allow users to reserve specific parking spaces.
  • the following steps can be performed: display the vehicle parking information of the parking lot, and receive the information of the specific parking space selected by the user, and generate a vehicle reservation including the parking lot and the target parking space A parking request, wherein the specific parking space is used as the target parking space; and the vehicle parking reservation request is sent to the client server.
  • the user chooses not to reserve a specific parking space or if the parking lot does not allow the user to reserve a specific parking space, perform the following steps: generate a vehicle reservation parking request including the parking lot; and send the vehicle reservation parking request to all The client server.
  • the client server can send the vehicle reservation request to the field server.
  • the field-side server may further include a reserved parking management device, and when the vehicle reserved parking request includes a target parking space, the target parking space is stored for the current vehicle. In the case that the vehicle reservation request does not include the target parking space, the corresponding target parking space is determined for the current vehicle, and the determined target parking space is stored for the current vehicle.
  • the working principle of the parking space determination device determining the corresponding target parking space for the current vehicle is similar to the working principle of the reserved parking management device determining the corresponding target parking space for the current vehicle.
  • an unreserved and unparked empty parking space may be directly allocated to the current vehicle.
  • the allocation may be random, for example.
  • the working flow diagram of the parking space determining device or the reserved parking management device determining the corresponding target parking space for the current vehicle is shown in FIG. 2, which may include step S210 to step S220.
  • step S210 the size information of the current vehicle is acquired.
  • the size information of the current vehicle may include at least width information and length information of the current vehicle, the width information may be the maximum width of the vehicle, and the length information may be, for example, the maximum length of the vehicle.
  • the parking space determining device or the reserved parking management device determines the corresponding target parking space for the current vehicle, it can search the storage library for the vehicle type and license plate number corresponding to the current vehicle.
  • the storage library of the field server can also pre-store the size information of the vehicle corresponding to each vehicle type. Therefore, the parking space determination device or the reserved parking management device can determine the vehicle type corresponding to the current vehicle from the storage
  • the library determines the size information corresponding to the vehicle type. In other words, the parking space determining device or the reserved parking management device can obtain at least size information corresponding to the current vehicle from the storage library.
  • step S220 the location information of the target parking space corresponding to the size information of the current vehicle is determined based on the area information of the currently unallocated parking space of the parking lot.
  • the position information of the parking space may, for example, include the position coordinates of the four corner points of the parking space. As shown in FIG. 3, the position coordinates of the four corners may be (x1, y1), (x2, y2), (x3, y3), (x4, y4), for example.
  • the area information of the currently unallocated parking space refers to the information of the area where the vehicle is not currently parked and not reserved.
  • W1 is the width of the current vehicle
  • L0 is the determined length of the parking space
  • L1 is the length of the current vehicle.
  • d1 and d2 depend on the maximum value of the positioning error of the system itself. In the traditional surround view parking vision solution, the lateral error is about 20cm, so d1 and d2 are about 40cm.
  • d1 and d2 can be reduced to no more than 20 cm.
  • the vehicle can realize a fully automatic parking function, there is no need for the driver to get on and off the vehicle, so that the rear-view mirror can be folded, which can further save parking space.
  • an area whose length and width both meet the above conditions can be selected from the area of the parking lot where no parking spaces are currently allocated. For example, it is possible to traverse all unallocated areas in the parking lot and determine whether the width and length of the area meet the following two conditions: (1) the width is greater than or equal to W1+d1; (2) the length is greater than or equal to L1+d2. If both conditions are met, a sub-area with a width equal to W1+d1 and a length equal to L1+d2 can be selected from the unallocated parking spaces that meet the two conditions, and the position information of the sub-area is taken as the target Location information of parking spaces.
  • step S220 multiple parking spaces corresponding to the size information of the current vehicle may be determined in step S220.
  • the reserved parking management device can randomly select a parking space from the determined multiple parking spaces as the target parking space.
  • the parking space determining device may send the position information of the parking space closest to the vehicle among the multiple parking spaces to the current vehicle.
  • the location information determining device can obtain the current vehicle location information in real time.
  • the parking space determining device can send the position information of the parking space closest to the current vehicle position among the determined multiple parking spaces to the current vehicle, so that the parking time of the current vehicle can be saved.
  • the client when the parking space determination device needs to perform parking space determination, the client can remind the user whether to use the current location as the pick-up location. If the user chooses yes, the parking space determination device can set the distance to the current location of the vehicle. The nearest empty parking space is used as the target parking space. Or, when the parking space determination device or the reserved parking management device needs to perform parking space determination, the client can remind the user to select an exit from the listed exits as the pick-up location. After the user selects the exit, the client can select the selected exit The information of the pickup location is sent to the server. The parking space determining device can use the parking space closest to the car pickup location selected by the user among the determined multiple parking spaces as the target parking space. In this way, the time for car pickup can be saved.
  • Dynamically determine the parking space for the vehicle through the parking space determination device or the reserved parking management device which can effectively save the parking space of the parking lot, and because there is no need to identify the parking space line, it can reduce the processing capacity of the automatic driving controller recognition part of the vehicle, and make nothing
  • the human-driven parking lot does not need to divide the parking space line, which reduces the construction and subsequent maintenance costs of the parking lot.
  • it can be applied to old parking lots with unmarked or unclear parking spaces and special types of parking spaces (for example, fishbone parking spaces or rainbow parking spaces) to solve the technical problem of parking difficulties in such parking lots.
  • FIG. 4 The schematic diagram of the work flow of the path planning device is shown in FIG. 4, which may include step S410 and step S420.
  • Step S410 Plan one or more paths for the current vehicle to reach the target parking space according to the location information of the target parking space, the location information of the current vehicle, and the map information of the parking lot.
  • Step S420 Determine the shortest path in the non-congested state among the planned one or more paths as navigation information.
  • the path planning device can plan one or more paths according to the feasible path between the lane where the current vehicle is located and the lane adjacent to the target parking space.
  • the path planning device can plan a series of coordinate points along the center of the lane according to the stored parking lot plan.
  • the interval between adjacent coordinate points can be set according to the actual situation. It can be 20cm to 50cm.
  • the distance traveled by each path can be calculated based on the planned series of coordinate points.
  • the path planning device may also further determine whether the planned path is in a congested state. If the path satisfies at least one of the following: there are more vehicles on the path than the first predetermined number, the path is under construction, and there are stationary obstacles on the path. It may be determined that the path is in a congested state, otherwise, it may be determined that the path is in a non-congested state, and the first predetermined number ranges from 3 to 5, for example, it may be 3.
  • the path planning device can obtain the location of any vehicle on the lane in the parking lot through the location information determining device. Based on this, the server can determine the number of vehicles on each planned path. The server can know in advance whether the route is under construction.
  • the staff can store the construction information on the server before the route is under construction.
  • the stationary obstacle may be a stationary or faulty vehicle on the path.
  • the predetermined time range may be, for example, 5 min to 15 min, then The vehicle is determined to be a stationary obstacle.
  • the path planning device may start from the shortest path among the planned multiple paths to determine whether it is in a congested state. If the shortest path is not in a congested state, the shortest path can be sent to the current vehicle. If the shortest path is in a congested state, it is determined whether the path with the second shortest path length is in a congested state. If the second short path is not in a congested state, the second short path can be sent to the current vehicle. If the second shortest path is in a congested state, it is determined whether the path with the third shortest path length is in a congested state. By analogy, until the shortest path in the non-congested state among the planned multiple paths is determined. Then, the information of the shortest path in the non-congested state among the multiple paths is used as the navigation information.
  • the route information with the shortest route length may be used as the navigation information.
  • Fig. 5 shows a schematic diagram of path planning according to an embodiment of the present invention.
  • the current vehicle is located at the entrance and the target parking space is parking space P. It is assumed that the parking lot does not involve cross-story parking.
  • the map information of the parking lot it is planned that there are three paths from the current position of the current vehicle to the target parking space P, which are path 1, path 2 and path 3 in Fig. 5 respectively.
  • the server plans a series of coordinate points along the center of the lane according to the stored parking lot plan, for example, coordinate points (Xm, Ym), (Xn, Yn), etc. Then calculate the length of the three paths according to the planned coordinate points.
  • Path 1Length L ⁇ Y1+ ⁇ X1+ ⁇ Y2, where ⁇ Y1 is the difference between the Y coordinate of the farthest point in the path of the current vehicle and the Y coordinate of the current position of the vehicle, and ⁇ X1 is the distance to the target parking space. The difference between the far X coordinate value and the X coordinate value of the vehicle's current position, ⁇ Y2 is the difference between the farthest Y coordinate in the path where the current vehicle is located and the target Y coordinate. Path 2 is 2* ⁇ X2 longer than path 1, and path 3 is longer than path 2 by ⁇ X2.
  • the field-side server of the parking lot management system detects that there are no vehicles on the path 1 or the number of vehicles is not more than the first predetermined number, and there are no stationary obstacles, the path 1 is determined to be in a non-congested state, and the path 1 is regarded as the final arrival
  • the path of the target parking space P is pushed to the vehicle as navigation information, and a series of coordinate points can be sent to the vehicle terminal for automatic vehicle control. If it is detected that the path 1 is under construction, or there is a stationary obstacle (such as a stationary vehicle or a faulty vehicle, etc.), or the number of vehicles on the path 1 is more than the first predetermined number, it is determined that the path 1 is in a congested state.
  • the path 2 It is necessary to further determine whether the path 2 is in a congested state. If not, the path 2 is used as the final path to the target parking space P and pushed to the vehicle as navigation information. If the path 2 is also under construction or there are relatively large obstacles (such as stationary vehicles or faulty vehicles, etc.), or there are more vehicles than the first predetermined number, it is determined that the path 2 is in a congested state. It is necessary to further determine whether the path 3 is in a congested state, and so on. Optionally, if the three planned routes are all in a congested state, the route with the shortest route length can be sent to the current vehicle as navigation information.
  • the parking lot shown in Figure 5 is a non-span-floor parking lot.
  • the path length in addition to calculating the above-mentioned plane distance, the calculation of the cross-floor distance needs to be added.
  • the path finally sent to the current vehicle is determined by combining the path length and the path congestion state, so that the current vehicle can travel to the target parking space in the shortest time and with the least fuel or power consumption.
  • the path planning device in the embodiment of the present invention may also perform local planning of the path.
  • the path planning device can also detect whether the path ahead of the path the vehicle is traveling is in a congested state. For example, when the current vehicle reaches a predetermined distance before the intersection, it can be detected whether the path ahead of the vehicle is in a congested state.
  • the predetermined distance may be a preset fixed value, for example, the range of the predetermined distance may be 3m. Up to 7m, for example, 5m, etc., or the length of the predetermined distance can be adjusted according to the current vehicle speed. The greater the current vehicle speed, the longer the predetermined distance.
  • the detection period can be set to any suitable value according to the specific situation, for example, according to different vehicles. Set different detection cycles.
  • Whether the path ahead of the current vehicle is in a congested state can be determined according to the road conditions ahead detected by the sensors installed on the current vehicle, or it can be detected according to sensors such as lidar and cameras installed in the parking lot. Congestion state.
  • the sensors installed in the current vehicle or parking lot can determine whether the path ahead has more than a second predetermined number of obstacles, and whether the path ahead is under construction, wherein the second predetermined number and the first The predetermined number may be the same, and the construction state may be a sudden construction state.
  • the path planning device can determine whether the path ahead is in a congested state. If the front path has more than the second predetermined number of obstacles and/or the front path is in a construction state, it is determined that the front path is in a congested state, otherwise, it is determined that the front path is in a non-congested state.
  • the path planning device can re-plan for the current vehicle to reach the target parking from the current location based on the location information of the target parking space, the current location information of the current vehicle, and the map information of the parking lot.
  • Bit path. Path re-planning is similar to the path planning method described above. First, one or more paths to the target parking space are planned according to the location information of the target parking space, the current location information of the current vehicle, and the map information of the parking lot. , And then send the shortest path in the non-congested state among the planned one or more paths to the current vehicle. After the current vehicle receives the route newly sent by the server, it can drive along the new route.
  • the vehicle can avoid the sudden congestion path during the driving process, and quickly reach the target parking space.
  • the path planning device in the embodiment of the present invention may also be used to: send location information and vehicle speed information of vehicles on other paths that cross the path sent to the current vehicle to the
  • the location information and speed information of other vehicles can be sent to the server in real time by other vehicles, or they can be detected and determined by field-side positioning devices (such as lidar, camera, etc. sensors) installed in the parking lot.
  • This step can be executed in real time while the vehicle is running.
  • the current vehicle After the current vehicle receives the location information of other vehicles on other routes, it can calculate the prohibited area, coordination area and warning area of other vehicles, so that the current vehicle can avoid obstacles in advance, thereby ensuring the safety of the current vehicle.
  • Fig. 6 shows a schematic diagram of a vehicle driving according to an embodiment of the present invention.
  • the current vehicle 6 is traveling along the path 2.
  • the server can send the position information and speed information of the first other vehicle 3 and the second other vehicle 4 on the path 1 that crosses the path 2 in advance.
  • the current vehicle 6 After the current vehicle 6 receives the position information and speed information of the first other vehicle 3 and the second other vehicle 4, it can calculate the forbidden area, the coordination area and the warning area of the first other vehicle 3 and the second other vehicle 4 for early avoidance. Therefore, the driving safety of the current vehicle 6 is ensured.
  • the sending device can send the location information of the target parking space determined by the parking space determining device and the navigation information planned by the route planning device to the vehicle management system, and the vehicle management system can perform automatic parking according to the location information of the target parking space and the navigation information. car.
  • the sending device can also send the newly planned navigation information of the route planning device using the dynamic local planning function to the car-end management equipment, so that the vehicle can avoid the sudden congestion route during driving and quickly reach the target parking space.
  • the vehicle-end equipment may include a vehicle positioning device, a vehicle positioning device, and a main control device.
  • the vehicle positioning device may include: at least two communication units arranged on the vehicle and configured to receive signals from the plurality of signal transmitting units, wherein the at least two communication units have a distance between them; and a processing unit for : Determine each of the at least two communication units according to the time when each of the at least two communication units receives the signal of each of the plurality of signal transmission units and the coordinates of each signal transmission unit The coordinates of the communication unit are calculated based on the coordinates of any one of the at least two communication units and the installation position on the vehicle to calculate the position information of the current vehicle. Generally, the coordinates of the vehicle are based on the coordinates of the midpoint of the rear axle of the vehicle.
  • the distance between the communication unit and the midpoint of the rear axle of the vehicle can be obtained, so as to calculate according to the coordinates of the communication unit
  • the coordinates of the midpoint of the rear axle of the vehicle can be obtained.
  • the processing unit of the vehicle positioning device in the embodiment of the present invention may also determine the heading angle of the vehicle according to the coordinates of each communication unit.
  • multiple signal transmitting units may be base stations.
  • four signal transmitting units are preferably provided, and the four signal transmitting units can form a square area.
  • At least two communication units receive signals sent by multiple signal transmission units, and the processing unit can determine the distance between the two according to the time when each communication unit receives the signal sent by each signal transmission unit, so as to determine the distance between the two Coordinates, determine the coordinates of each communication unit. Since there is a distance between each communication unit, and the distance is known, and the installation position of each communication unit is also known, it is easy to obtain the direction of the vehicle, and thus the heading angle of the vehicle.
  • FIG. 7 shows a schematic diagram of the layout of a vehicle positioning device according to an embodiment of the present invention.
  • UWB technology is taken as an example for the convenience of description.
  • Bluetooth or Wifi or other wireless technologies can also be used instead of UWB technology.
  • UWB is a non-carrier communication technology that uses non-sinusoidal narrow pulses ranging from nanoseconds to picoseconds to transmit data. By transmitting extremely low-power signals over a wide frequency spectrum, UWB can achieve data transmission rates of hundreds of Mbit/s to several Gbit/s within a range of about 10 meters. This technology can achieve a positioning accuracy of up to 10 cm.
  • UWB indoor positioning features 1.
  • the frequency band is 3.1-10.6GHz, and the bandwidth is greater than 500MHz; 2.
  • the time domain is expressed as an extremely short pulse ( ⁇ 2nS); 3. Good coexistence with other wireless devices; 4. Low power consumption , The launching duty cycle is low, 5 is not sensitive to Rayleigh fading; 6, the penetration is strong, and the positioning accuracy is high.
  • each communication unit may include a communication tag and an antenna.
  • the vehicle positioning device can adopt the tag-side solution method. After the antenna receives the signals from multiple signal transmitting units, it is transmitted to the tag for synchronization algorithm to obtain time information. The time information is transmitted to the solution unit through the serial port or CAN (not shown) The coordinate value is calculated, and the coordinate value is sent to the processing unit through CAN or serial port or other wired or wireless transmission methods, or the solving unit can also be integrated with the processing unit, and the calculation is performed in the processing unit.
  • the antenna and the tag can be integrated together or arranged separately. Antenna 1 and antenna 2 can be installed in one structure or separately. However, the two antennas need to have a certain distance.
  • the coordinates of the vehicle can be calculated according to the relative coordinate position of the antenna (which can be As the vehicle's position information) and heading angle, heading angle, so as to further control the vehicle's wire control system, such as steering angle.
  • Fig. 8A is a schematic structural diagram of a vehicle-mounted positioning device according to an embodiment of the present invention.
  • the vehicle positioning device may mainly include at least one of the following: a camera 31, a laser radar 32, a millimeter wave radar 33, an ultrasonic radar 34, a vehicle speed sensor 35, a wheel angular velocity sensor 36 and an inertial sensor 37.
  • the millimeter wave radar 33 is mainly used for obstacle avoidance, and the ultrasonic radar 34 is mainly realized by the cooperation of parking and visual positioning solutions.
  • the vehicle speed sensor 35, the wheel angular velocity sensor 36, and the inertial sensor 37 can obtain various states of the vehicle, such as vehicle speed, wheel speed, acceleration, tilt, shock, vibration, rotation, and multi-degree-of-freedom motion.
  • Fig. 8B is a schematic diagram of an installation position of a vehicle-mounted camera according to an embodiment of the present invention.
  • the vehicle-mounted camera 31 may mainly include a surround-view camera 311 and a front-view camera 312, etc., to comprehensively capture images around the vehicle.
  • the main control unit 2 applies high-precision maps and/or semantic maps collected by vehicle sensors and surround-view cameras. 311.
  • the front-view camera 312, the visual positioning scheme uses the vision-based synchronous positioning and map construction (VSLAM) to generate a semantic map and a high-precision map.
  • VSLAM vision-based synchronous positioning and map construction
  • the vehicle-mounted camera 31 recognizes and collects the VSLAM feature points for matching, and combines the inertial sensor 37 (IMU ) Information to realize vehicle positioning and obtain vehicle-end positioning information.
  • SLAM simultaneous localization and mapping, SLAM refers to the process of constructing an environmental map while calculating its own position based on the information of the sensor, to solve the problem of positioning and map construction when moving in an unknown environment.
  • VSLAM, or Vision SLAM is based on vision positioning and mapping, which is more accurate and rapid.
  • the main control device can determine the distance of the current vehicle from the set area in real time. Specifically, when the at least two communication units of the vehicle positioning device receive the signals from the multiple signal transmitting devices, use the position information of the current vehicle calculated by the vehicle positioning device to determine the current vehicle Distance from the set area; and in the case that any one of the at least two communication units does not receive a signal from any one of the multiple signal transmitting devices, it means that the vehicle positioning device will not be able to accurately obtain the current vehicle The position information of the current vehicle output by the on-board positioning device is used to determine the distance of the current vehicle from the set area.
  • the main control device may be further configured to: if the distance between the current vehicle and the set area is not greater than the set distance, send a field end location information acquisition request to the field end management device; receive the field end location information , Wherein the field end positioning information includes the position coordinates of the vehicle and/or the position coordinates of obstacles; and the field end positioning information is used for positioning and/or obstacle avoidance. If the distance of the current vehicle from the set area is greater than the set distance, the vehicle end positioning information is used for positioning and/or obstacle avoidance.
  • the above-mentioned setting area can be used in a variety of scenarios (for example, too bright or too dark, turning, and insufficient feature points), and switching between vehicle positioning and field-side positioning is performed according to whether the vehicle enters the setting area.
  • the scenes of too bright or too dark, turning and insufficient feature points can also be switched between on-board positioning and field end positioning through the following control methods.
  • FIG. 9A shows a schematic diagram of a continuous turning scene according to an embodiment of the present invention.
  • the vehicle-mounted positioning device is used to collect current scene images; the main control device is used to: determine the drivable area according to the current scene image; during the vehicle driving, the drivable area performs When the size changes alternately, send a field-side positioning information acquisition request, where the field-side positioning information includes the position coordinates of the vehicle and/or the position coordinates of obstacles; receive the field-side positioning information; and use the field-side positioning Information for positioning and/or obstacle avoidance.
  • Fig. 9B shows a control flow chart of a continuous turning scene according to an embodiment of the present invention.
  • the current scene image is first collected, and then the drivable area is determined according to the current scene image; during the driving of the vehicle, it is determined whether the drivable area changes in size alternately;
  • the size of the drivable area changes alternately send field-side positioning information, and then receive the field-side positioning information, and use the field-side positioning information for positioning and/or obstacle avoidance; no operation in the drivable area
  • the vehicle-end positioning information obtained by the shown vehicle-mounted positioning unit 1 is used for positioning and/or obstacle avoidance.
  • the continuous turning scene may also be a spiral staircase.
  • the vehicle is driving on a spiral staircase, wherein the preset The value can be 30 cm, and the preset number of times is for example 1, but the present invention does not limit this.
  • the preset The value can be 30 cm, and the preset number of times is for example 1, but the present invention does not limit this.
  • the vehicle can be driven to the left to perform obstacle avoidance maneuvers to avoid danger.
  • obstacle avoidance methods will be detailed below.
  • the vehicle-mounted positioning device is used to collect the current scene image; the main control device is used to: send a field end positioning information acquisition request when the pixel gray value of the current scene image is not within the preset range , Wherein the field end positioning information includes the position coordinates of the vehicle and/or the position coordinates of the obstacle; receiving the field end positioning information; and using the field end positioning information for positioning and/or obstacle avoidance.
  • the camera installed on the vehicle will affect the feature recognition due to overexposure. If the confidence level is set, the confidence level of the positioning device on the vehicle will be reduced (that is, the positioning is not accurate).
  • the confidence level of the positioning device on the vehicle will be reduced (that is, the positioning is not accurate).
  • the ROI pixel of the collected scene The gray value is determined, if the gray value of the ROI pixel is not in the preset range (the end point a or b of the preset range is obtained by actual calibration, preferably a is between 180-255, and b is between 0-70).
  • the confidence level of the positioning result of the vehicle-mounted positioning device is low. In this case, you can request to obtain field-side positioning information, and use the field-side positioning information for positioning and/or obstacle avoidance.
  • Fig. 9C shows a control flow chart of a scene with too dark or too bright light according to an embodiment of the present invention.
  • the current scene image is collected first, and then it is judged whether the pixel gray value of the current scene image is within the preset range.
  • the pixel gray value of the current scene image is within the preset range, use the The vehicle-side positioning information obtained by the vehicle-mounted positioning device performs positioning and/or obstacle avoidance; when the pixel gray value of the current scene image is not within the preset range, a field-side positioning information acquisition request is sent; and the field-side positioning is received After the information, the field end positioning information is used for positioning and/or obstacle avoidance.
  • FIG. 9D shows a schematic diagram of a scene with insufficient feature points according to an embodiment of the present invention. As shown in Figure 9D, for the scene with insufficient feature points.
  • the vehicle-mounted positioning device is used to generate and output vehicle-side positioning information;
  • the main control device is used to: perform one of the following steps: 1) Obtain according to the vehicle's direction, vehicle speed, and initial positioning information Expected positioning information; when the vehicle-side positioning information differs from the expected positioning information is greater than or equal to a preset value during the driving of the vehicle, a field-side positioning information acquisition request is sent; 2) during the driving of the vehicle When the update frequency of the vehicle-side positioning information within a predetermined time is less than or equal to the preset frequency, send a field-side positioning information acquisition request; then, receive the field-side positioning information; and use the field-side positioning information for positioning and/ Or obstacle avoidance.
  • the field end positioning information includes the position coordinates of the vehicle and/or the position coordinates of the obstacle.
  • Fig. 9E shows a control flowchart of a scene with insufficient feature points according to an embodiment of the present invention. As shown in Figure 9E, first the vehicle-mounted positioning device generates and outputs vehicle-side positioning information, and then the main control device can make two judgments:
  • the first one is: during the driving of the vehicle, it is determined whether the update frequency of the vehicle-side positioning information within a predetermined time is less than or equal to the preset frequency; when the update frequency of the vehicle-end positioning information within the predetermined time is less than or equal to the preset frequency Send a field-side positioning information acquisition request, receive the field-side positioning information, and use the field-side positioning information for positioning and/or obstacle avoidance; when the update frequency of the vehicle positioning information is greater than a preset value within a predetermined time, Use the vehicle terminal positioning information for positioning and/or obstacle avoidance.
  • the vehicle positioning device generally relies on the feature points in the environment for positioning.
  • the vehicle positioning device may not output vehicle positioning information within a predetermined time (for example, 1 second, but not limited to this), and it cannot be updated at that time Vehicle positioning information. Therefore, it can be judged whether the vehicle enters a scene with insufficient feature points based on the condition of whether to output vehicle-end positioning information at a predetermined time.
  • a predetermined time for example, 1 second, but not limited to this
  • the second is: first obtain the expected positioning information according to the vehicle's direction, vehicle speed, and initial positioning information; then, during the driving of the vehicle, determine whether the deviation between the vehicle end positioning information and the expected positioning information is greater than or equal to The preset value, when the deviation between the vehicle-side positioning information and the expected positioning information is greater than or equal to the preset value, send a field-side positioning information acquisition request, receive the field-side positioning information, and use the field-side positioning information to perform Positioning and/or obstacle avoidance; when the deviation between the vehicle positioning information and the expected positioning information is less than a preset value, the vehicle end positioning information is used for positioning and/or obstacle avoidance.
  • the expected position of the vehicle can be obtained according to the initial position, combined with information such as vehicle speed, direction, and driving time, which is more commonly used and will not be repeated here.
  • the deviation of the car-side positioning information from the expected positioning information may be greater than or equal to the preset value.
  • the car-side positioning information output by the car-mounted positioning device may be very inaccurate, or the output car-side Positioning information is a set of random coordinates.
  • the confidence level of the vehicle-side positioning information output by the vehicle-mounted positioning device may also be low (for example, less than 80%), essentially because the vehicle-side positioning information has a large deviation from the expected positioning information. Therefore, when the deviation between the terminal positioning information and the expected positioning information is greater than or equal to the preset value, it can be determined whether the vehicle is driving into a scene with insufficient feature points.
  • FIGS. 10A-10B are schematic diagrams of obstacle avoidance scenarios provided by an embodiment of the present invention.
  • Figure 10A for example, at a turn, you may encounter a vehicle coming from another direction, and obstacle avoidance is required at this time. Because the vehicle traveling in the other direction is blocked, the on-board camera cannot detect it in time. Therefore, it is necessary to use the field-side positioning information provided by the field-side positioning device (shown as a circle in Figure 10A) to avoid obstacles.
  • the obstacle avoidance process is: according to the position of the obstacle (here, a vehicle traveling in another direction) Coordinates, determining that the area formed by the preset distance around the position coordinates of the obstacle is a dangerous area; controlling the vehicle to avoid the dangerous area.
  • the dangerous area and the warning area formed by the obstacle can be firstly demarcated.
  • the preset distance around the position coordinates of the obstacle (which can be set according to the actual situation) is the dangerous area, and the distance from the dangerous area
  • the area formed by a certain distance (also can be set according to the actual situation, such as 0-50m) is the early warning area.
  • vehicle B is the own vehicle, combined with high-precision map and positioning result information, when the vehicle is outside the warning area, the vehicle realizes obstacle recognition and positioning through the on-board positioning unit 1, and when the vehicle enters the warning area, it will pass
  • the Internet of Vehicles system receives information about all obstacles (vehicle A and pedestrian/animal C) in the early warning area.
  • vehicle B avoids the dangerous area formed by the obstacle (that is, stays away from the obstacle).
  • the field end positioning device is the main one.
  • the coordinates of the early warning area are matched with the coordinates of the high-precision map.
  • the area size is finally determined according to the actual test results.
  • the vehicle management equipment accurately locates the current vehicle location information and executes effective obstacle avoidance strategies, so that the autonomous vehicle can quickly and safely reach the target parking space.
  • the communication between the vehicle management equipment and the server, the communication between the client and the server, and/or the communication between the field-side positioning device and the server may adopt 5G, 4G, 3G, Wifi, UWB, NB-IOT, Lora or other wireless communication technology.
  • the embodiment of the present invention applies a low-cost vehicle terminal combined with a low-cost field terminal solution, by increasing the area around the corner, the area around the corner, the area around the transparent glass, and the feature points that are not sufficient for the vehicle positioning device to correctly locate the vehicle.
  • the field-end equipment predicts what is about to happen (people or cars) and feeds it back to the car end, which is equivalent to enhancing the vehicle's perception ability, realizing the effect of vehicle external information exchange (V2X), and improving system security.
  • This solution can only add field-end equipment at necessary intersections or scenes, reducing system costs and making the system easier to land.
  • the program is stored in a storage medium and includes several instructions to enable the single-chip microcomputer, chip or processor (processor) Execute all or part of the steps of the method described in each embodiment of this application.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program code .

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Abstract

La présente invention concerne un système de commande de valet de stationnement se rapportant au domaine technique de la conduite automatique. Le système de commande de valet de stationnement selon la présente invention comprend un dispositif de gestion côté aire de stationnement comprenant un serveur côté aire de stationnement. Le serveur côté aire de stationnement comprend: un dispositif de détermination d'emplacement, utilisé pour déterminer s'il existe une place de stationnement cible dédiée pour un véhicule en réponse à une demande de valet de stationnement reçue, et déterminer une place de stationnement cible correspondant pour le véhicule s'il n'y a pas de place de stationnement cible dédiée; un dispositif de détermination d'informations de position, utilisé pour déterminer les informations de position du véhicule; un dispositif de planification de trajectoire, utilisé pour planifier une trajectoire pour que le véhicule arrive à la place de stationnement cible en fonction des informations de position de la place de stationnement cible, des informations de position du véhicule et des informations de carte du parc de stationnement, et pour transformer la trajectoire planifiée en informations de navigation ; et un dispositif d'envoi, utilisé pour envoyer les informations de position de place de stationnement cible et les informations de navigation. Le système de commande permet à un véhicule d'arriver à une place de stationnement cible rapidement et en toute sécurité.
PCT/CN2020/073225 2019-01-25 2020-01-20 Système de commande pour valet de stationnement WO2020151659A1 (fr)

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CN201910075012.3A CN110782696B (zh) 2019-01-25 2019-01-25 用于代客泊车的控制系统
CN201910075012.3 2019-01-25
CN201910073461.4 2019-01-25
CN201910073461.4A CN110796889A (zh) 2019-01-25 2019-01-25 用于代客泊车的车位确定方法及装置

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