WO2020233726A1 - 环境主动感知型停车场自动泊车系统 - Google Patents
环境主动感知型停车场自动泊车系统 Download PDFInfo
- Publication number
- WO2020233726A1 WO2020233726A1 PCT/CN2020/093825 CN2020093825W WO2020233726A1 WO 2020233726 A1 WO2020233726 A1 WO 2020233726A1 CN 2020093825 W CN2020093825 W CN 2020093825W WO 2020233726 A1 WO2020233726 A1 WO 2020233726A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- vehicle
- module
- parking lot
- parking
- information
- Prior art date
Links
- 238000012937 correction Methods 0.000 claims abstract description 6
- 238000012545 processing Methods 0.000 claims abstract description 5
- 230000009977 dual effect Effects 0.000 claims description 22
- 230000008447 perception Effects 0.000 claims description 15
- 238000004891 communication Methods 0.000 claims description 10
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000006870 function Effects 0.000 claims description 5
- 230000007613 environmental effect Effects 0.000 claims description 4
- 238000007500 overflow downdraw method Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 238000009434 installation Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 206010033799 Paralysis Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
Images
Classifications
-
- 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/06—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of combustion engines
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
- G06V20/586—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads of parking 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/18—Conjoint control of vehicle sub-units of different type or different function including control of braking 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
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of 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
- 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
-
- 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
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/024—Other means for determination of steering angle without directly measuring it, e.g. deriving from wheel speeds on different sides of the car
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/027—Parking aids, e.g. instruction means
- B62D15/0285—Parking performed automatically
-
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
- G05D1/028—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal
- G05D1/0282—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle using a RF signal generated in a local control room
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/14—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation using light without selection of wavelength, e.g. sensing reflected white light
- G06K7/1404—Methods for optical code recognition
- G06K7/1408—Methods for optical code recognition the method being specifically adapted for the type of code
- G06K7/1417—2D bar codes
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/20—Image preprocessing
- G06V10/22—Image preprocessing by selection of a specific region containing or referencing a pattern; Locating or processing of specific regions to guide the detection or recognition
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V10/00—Arrangements for image or video recognition or understanding
- G06V10/94—Hardware or software architectures specially adapted for image or video understanding
- G06V10/95—Hardware or software architectures specially adapted for image or video understanding structured as a network, e.g. client-server architectures
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/52—Surveillance or monitoring of activities, e.g. for recognising suspicious objects
- G06V20/54—Surveillance or monitoring of activities, e.g. for recognising suspicious objects of traffic, e.g. cars on the road, trains or boats
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
- G08G1/0108—Measuring and analyzing of parameters relative to traffic conditions based on the source of data
- G08G1/0116—Measuring and analyzing of parameters relative to traffic conditions based on the source of data from roadside infrastructure, e.g. beacons
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/01—Detecting movement of traffic to be counted or controlled
- G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
-
- 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
-
- 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
- G08G1/14—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
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/168—Driving aids for parking, e.g. acoustic or visual feedback on parking space
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/90—Arrangement of cameras or camera modules, e.g. multiple cameras in TV studios or sports stadiums
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- 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
- B60W2540/00—Input parameters relating to occupants
- B60W2540/18—Steering angle
-
- 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
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/06—Combustion engines, Gas turbines
- B60W2710/0605—Throttle position
-
- 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
- B60W2710/18—Braking system
-
- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/08—Detecting or categorising vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V2201/00—Indexing scheme relating to image or video recognition or understanding
- G06V2201/10—Recognition assisted with metadata
-
- 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
- G08G1/143—Traffic control systems for road vehicles indicating individual free spaces in parking areas with means giving the indication of available parking spaces inside the vehicles
Definitions
- Autonomous driving technology is the core of the future intelligent transportation technology.
- the parking lot adopts unmanned vehicle technology.
- the high cost of unmanned vehicles and related sensors on the market makes it difficult for ordinary users.
- the popularity of unmanned vehicles is still low, and the environment of underground parking lots is poor.
- the accuracy of sensors such as lidar on unmanned vehicles will be greatly reduced. It may happen that vehicles cannot perceive the environment of the parking lot, or even Accidents such as scratches and collisions have occurred.
- the multi-sensor positioning module receives vehicle information collected by the vehicle information module, and locates the vehicle position;
- the parking space status judgment module is used to determine whether there is a car or not in the parking space, and obtain parking space status information;
- the manually driven vehicle is equipped with a two-dimensional code, a mechanical power unit, and a dual flywheel steering device on the roof, and uses the moment of inertia of the dual flywheel and the coordinated control of the two flywheels to rotate the steering wheel to realize automatic parking of the manually driven vehicle;
- f is the focal length of the camera
- the coordinates of the left and right cameras are (xl, yl), (xr, yr)
- the height values of the two cameras are the same
- B is the baseline distance of the two cameras
- d is on the left
- the automatic parking system with active environmental perception type parking lot also includes a feedback self-correction module, which is used to locate the current position of the vehicle by identifying the two-dimensional code on the roof when the vehicle deviates from the originally planned path , And calculate the error between this position and the correct position, and then correct the vehicle position and attitude through the PID feedback control algorithm.
- a feedback self-correction module which is used to locate the current position of the vehicle by identifying the two-dimensional code on the roof when the vehicle deviates from the originally planned path , And calculate the error between this position and the correct position, and then correct the vehicle position and attitude through the PID feedback control algorithm.
- the left and right flywheels When receiving a right turn command, the left and right flywheels start to accelerate in the clockwise direction.
- the rotation of the two flywheels makes the steering wheel obtain the moment of inertia that rotates to the left; the first motor controls the connecting rod to press the brake pedal, and the second motor controls the connecting rod Raise the brake pedal to keep the car body at a certain turning speed.
- the left and right flywheels When receiving a straight forward command, the left and right flywheels keep rotating at a constant speed, so that the front of the car maintains the original posture; the first motor controls the connecting rod to press down the accelerator pedal, and the second motor controls the connecting rod to raise the brake pedal, so that the vehicle obtains a certain forward speed.
- the present invention adopts a method of actively perceiving vehicle information by the environment instead of the traditional method of vehicle recognizing the environment. Using this method of environment perception can greatly reduce the cost of unmanned vehicles. It is not necessary to install sensors on each vehicle. Only by installing sensors in the environment, multiple vehicles can be positioned and reused.
- Figure 2 is a control logic diagram of dual flywheel steering device and mechanical power device
- FIG. 3 is a flowchart of the parking lot of the present invention.
- Figure 5 is a schematic diagram of the internal structure and parking spaces of the parking lot of the present invention.
- Entrance Install a QR code or polarized light receiver, communication device, mechanical power unit and dual flywheel steering device for the vehicle to obtain the identity information of the vehicle to be parked.
- the identity information includes information such as location, license plate number and time. ; Assign an ID to the vehicle;
Landscapes
- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Multimedia (AREA)
- Combustion & Propulsion (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- Signal Processing (AREA)
- Electromagnetism (AREA)
- Artificial Intelligence (AREA)
- Health & Medical Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Computer Vision & Pattern Recognition (AREA)
- Toxicology (AREA)
- Mathematical Physics (AREA)
- Remote Sensing (AREA)
- Life Sciences & Earth Sciences (AREA)
- Atmospheric Sciences (AREA)
- Analytical Chemistry (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Software Systems (AREA)
- Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Traffic Control Systems (AREA)
- Navigation (AREA)
- Steering Controls (AREA)
Abstract
Description
Claims (10)
- 一种环境主动感知型停车场自动泊车系统,其特征在于,该系统包括采集及识别车辆信息模块、多传感器定位模块、建筑信息模型模块、分类处理模块、路径规划及导航模块、车位状态判断模块、双飞轮转向装置和机械动力装置;所述采集及识别车辆信息模块包括安装在停车场中的若干个摄像头以及安装在车顶上的二维码;通过采集及识别车辆信息模块获取车辆的信息,并为每个车辆分配唯一ID;所述多传感器定位模块接收采集及识别车辆信息模块采集的车辆信息,并定位车辆位置;所述建筑信息模型模块用于对停车场的建筑信息建立空间模型,并生成GIS电子地图,并将停车场中的车位以及车辆位置标注在电子地图中;所述车位状态判断模块用于判断车位上有车无车,得到车位状态信息;所述路径规划及导航模块用于根据场地内的车辆分布和车位状态信息,规划最优路径,对车辆进行导航进入停车位。所述双飞轮转向装置安装在方向盘上的最大直径处,双飞轮装置内含陀螺仪传感器,利用双飞轮的转动惯量以及两飞轮处的速度差能够使得方向盘按指定方向以及角度进行转动,通过两个飞轮的高度差,以及方向盘所在平面与水平面的夹角为和方向盘的直径,计算出方向盘的偏转角;所述机械动力装置包括第一电机和第二电机,所述第一电机用于控制油门踏板上抬或者下压,所述第二电机用于控制刹车踏板上抬或者下压。所述分类处理模块将采集的车辆信息分为三类,分别为手动驾驶车辆、半自动驾驶车辆以及全自动驾驶车辆;所述手动驾驶车辆在车顶安装二维码、机械动力装置以及双飞轮转向装置,利用双飞轮的转动惯量以及两个飞轮的协调控制转动方向盘,实现手动驾驶车辆的自动泊车;所述半自动驾驶车辆具有自动驾驶的动力装置以及控制装置,在车顶安装二维码,实现停车场与车辆间的位置信息以及环境信息的通讯,再利用车辆本身的半自动驾驶设备,即可实现自动泊车功能。所述全自动驾驶车辆拥有完整的动力、控制装置以及可识别环境的传感器,停车场与该类车辆建立通讯,将路径规划、车位状态信息、车辆分布等信息发送给车辆,即可实现自动泊车功能。
- 根据权利要求1所述的环境主动感知型停车场自动泊车系统,其特征在于,所述采集及识别车辆信息模块采集的车辆信息包括:车辆的进入时间、车牌号等信息,根据车牌号为 每个车辆分配唯一ID,采集及识别车辆信息模块的若干个摄像头能够无死角地采集并识别停车场内各个角落的车辆信息。
- 根据权利要求1所述的环境主动感知型停车场自动泊车系统,其特征在于,所述采集及识别车辆信息模块中,还可以在车辆的四周安装偏振光接收装置,代替车顶上的二维码。
- 根据权利要求1所述的环境主动感知型停车场自动泊车系统,其特征在于,该系统还包括WIFi、蓝牙和ZigBee等通讯装置,进行辅助定位。
- 根据权利要求1所述的环境主动感知型停车场自动泊车系统,其特征在于,所述多传感器定位模块还可以为多目摄像头,车辆上的二维码被多个摄像头铺捉到,可采用多传感器融合的方法进行平差计算得到车辆的真实坐标值。
- 根据权利要求1所述的环境主动感知型停车场自动泊车系统,其特征在于,所述路径规划及导航模块计算各条路线上的车辆密度情况,再结合上广度优先算法,计算出待停车辆的最优路径;根据每辆车的最优路径信息生成相应的控制算法,再将控制指令通过远程通信发送至车辆中的双飞轮转向装置和机械动力装置,对车辆进行导航。
- 根据权利要求1所述的环境主动感知型停车场自动泊车系统,其特征在于,该系统还包括反馈自校正模块,用于在车辆偏离了原规划的路径时,通过对车顶的二维码的识别,定位出车辆此时的位置,并计算出此位置与正确位置间的误差,再通过PID反馈控制算法进行车辆位置、姿态的矫正。
- 根据权利要求1所述的环境主动感知型停车场自动泊车系统,其特征在于,所述机械动力装置用于控制车辆移动和停止,并将车速和方向的信号反馈给反馈自校正模块。
Priority Applications (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020568550A JP7236749B2 (ja) | 2019-06-24 | 2020-06-02 | 環境アクティブセンシングタイプの駐車場自動駐車システム |
US17/368,802 US20210331666A1 (en) | 2019-06-24 | 2021-07-06 | Environment active sensing-type automatic parking system in parking lot |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201910549396.8A CN110304049B (zh) | 2019-06-24 | 2019-06-24 | 环境主动感知型停车场自动泊车系统 |
CN201910549396.8 | 2019-06-24 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US17/368,802 Continuation US20210331666A1 (en) | 2019-06-24 | 2021-07-06 | Environment active sensing-type automatic parking system in parking lot |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2020233726A1 true WO2020233726A1 (zh) | 2020-11-26 |
Family
ID=68077472
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/CN2020/093825 WO2020233726A1 (zh) | 2019-06-24 | 2020-06-02 | 环境主动感知型停车场自动泊车系统 |
Country Status (4)
Country | Link |
---|---|
US (1) | US20210331666A1 (zh) |
JP (1) | JP7236749B2 (zh) |
CN (1) | CN110304049B (zh) |
WO (1) | WO2020233726A1 (zh) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113112854A (zh) * | 2021-03-26 | 2021-07-13 | 中国联合网络通信集团有限公司 | 自动泊车控制方法及装置 |
CN115273530A (zh) * | 2022-07-11 | 2022-11-01 | 上海交通大学 | 一种基于协同感知的停车场定位与感知系统 |
CN115862364A (zh) * | 2022-11-22 | 2023-03-28 | 深圳市华睿智兴信息科技有限公司 | 基于大数据分析的智能停车场服务管理系统及方法 |
CN116466382A (zh) * | 2023-04-24 | 2023-07-21 | 贵州一招信息技术有限公司 | 一种基于gps的高精度实时定位系统 |
Families Citing this family (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP6753374B2 (ja) * | 2017-07-26 | 2020-09-09 | 株式会社デンソー | 駐車管理システムおよび駐車管理方法 |
US11965754B2 (en) * | 2019-03-13 | 2024-04-23 | Sony Semiconductor Solutions Corporation | Information processing apparatus, information processing method, and mobile body apparatus |
CN110304049B (zh) * | 2019-06-24 | 2020-11-24 | 浙江大学 | 环境主动感知型停车场自动泊车系统 |
CN112987710A (zh) * | 2019-11-29 | 2021-06-18 | 深圳市大富科技股份有限公司 | 一种导航服务器、agv、导航系统及方法 |
JP7172973B2 (ja) | 2019-12-06 | 2022-11-16 | トヨタ自動車株式会社 | 自動駐車システム |
JP7188372B2 (ja) | 2019-12-06 | 2022-12-13 | トヨタ自動車株式会社 | 自動駐車システム |
CN111326001A (zh) * | 2020-02-26 | 2020-06-23 | 中国联合网络通信集团有限公司 | 自动驾驶的方法和装置 |
CN111524347B (zh) * | 2020-04-13 | 2022-05-06 | 东风柳州汽车有限公司 | 一种预介入的远程遥控泊车控制方法 |
CN111619553A (zh) * | 2020-05-26 | 2020-09-04 | 三一专用汽车有限责任公司 | 工程车辆和工程车辆的泊车控制方法 |
CN112477679B (zh) * | 2020-11-17 | 2022-08-02 | 湖南大学 | 一种可自主移动的电动汽车电池组、电池系统及控制方法 |
US11451955B2 (en) * | 2021-09-01 | 2022-09-20 | Autonomous Roadway Intelligence, Llc | V2X and vehicle localization by local map exchange in 5G or 6G |
CN114001745B (zh) * | 2021-10-25 | 2023-11-24 | 东南大学 | 一种电动汽车泊车引导系统及其位置检测评价方法 |
CN113910955A (zh) * | 2021-10-29 | 2022-01-11 | 河北省机电一体化中试基地有限公司 | 一种用于立体车库的电动汽车自动充电系统 |
US20240051519A1 (en) * | 2022-08-09 | 2024-02-15 | Aptiv Technologies Limited | Vehicle Localization Based on Pose Corrections from Remote Cameras |
CN115418996B (zh) * | 2022-09-01 | 2023-09-26 | 云南电网有限责任公司曲靖供电局 | 一种低功耗的智能车位锁及其使用方法 |
CN115752480B (zh) * | 2022-12-09 | 2023-11-21 | 佛山市稚蒙环境科技有限公司 | 一种基于物联网的采样装置管理系统及方法 |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070146166A1 (en) * | 2005-12-28 | 2007-06-28 | Aisin Seiki Kabushiki Kaisha | Parking assist apparatus |
KR101043957B1 (ko) * | 2009-10-23 | 2011-06-24 | (주) 엔네비솔루션 | 주차 유도 방법 및 장치 |
US20160171894A1 (en) * | 2015-02-01 | 2016-06-16 | Thomas Danaher Harvey | Methods to operate autonomous vehicles to pilot vehicles in groups or convoys |
CN106251687A (zh) * | 2016-08-22 | 2016-12-21 | 重庆交通大学 | 一种车库智能泊车管理系统 |
CN108121345A (zh) * | 2017-12-20 | 2018-06-05 | 东风汽车集团有限公司 | 一种适用于停车场的车位寻址系统及方法 |
CN109741617A (zh) * | 2018-11-12 | 2019-05-10 | 浙江吉利汽车研究院有限公司 | 一种停车场泊车导航方法及装置 |
US20190184982A1 (en) * | 2015-07-13 | 2019-06-20 | Magna Electronics Inc. | Method for automated parking of a vehicle |
CN110304049A (zh) * | 2019-06-24 | 2019-10-08 | 浙江大学 | 环境主动感知型停车场自动泊车系统 |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102014226458A1 (de) * | 2014-12-18 | 2016-06-23 | Volkswagen Aktiengesellschaft | Verfahren und System zur Steuerung eines autonom bewegbaren, datentechnisch mit einem Fahrzeug gekoppelten Flugkörpers |
US20180257720A1 (en) * | 2015-09-15 | 2018-09-13 | Daewoo Kim | Vehicle control device and method using gyroscope |
CN209142009U (zh) * | 2018-11-20 | 2019-07-23 | 广州市利仕达汽车零部件有限公司 | 一种无线方向盘的智能化led灯控制系统 |
-
2019
- 2019-06-24 CN CN201910549396.8A patent/CN110304049B/zh active Active
-
2020
- 2020-06-02 JP JP2020568550A patent/JP7236749B2/ja active Active
- 2020-06-02 WO PCT/CN2020/093825 patent/WO2020233726A1/zh active Application Filing
-
2021
- 2021-07-06 US US17/368,802 patent/US20210331666A1/en active Pending
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20070146166A1 (en) * | 2005-12-28 | 2007-06-28 | Aisin Seiki Kabushiki Kaisha | Parking assist apparatus |
KR101043957B1 (ko) * | 2009-10-23 | 2011-06-24 | (주) 엔네비솔루션 | 주차 유도 방법 및 장치 |
US20160171894A1 (en) * | 2015-02-01 | 2016-06-16 | Thomas Danaher Harvey | Methods to operate autonomous vehicles to pilot vehicles in groups or convoys |
US20190184982A1 (en) * | 2015-07-13 | 2019-06-20 | Magna Electronics Inc. | Method for automated parking of a vehicle |
CN106251687A (zh) * | 2016-08-22 | 2016-12-21 | 重庆交通大学 | 一种车库智能泊车管理系统 |
CN108121345A (zh) * | 2017-12-20 | 2018-06-05 | 东风汽车集团有限公司 | 一种适用于停车场的车位寻址系统及方法 |
CN109741617A (zh) * | 2018-11-12 | 2019-05-10 | 浙江吉利汽车研究院有限公司 | 一种停车场泊车导航方法及装置 |
CN110304049A (zh) * | 2019-06-24 | 2019-10-08 | 浙江大学 | 环境主动感知型停车场自动泊车系统 |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN113112854A (zh) * | 2021-03-26 | 2021-07-13 | 中国联合网络通信集团有限公司 | 自动泊车控制方法及装置 |
CN115273530A (zh) * | 2022-07-11 | 2022-11-01 | 上海交通大学 | 一种基于协同感知的停车场定位与感知系统 |
CN115862364A (zh) * | 2022-11-22 | 2023-03-28 | 深圳市华睿智兴信息科技有限公司 | 基于大数据分析的智能停车场服务管理系统及方法 |
CN115862364B (zh) * | 2022-11-22 | 2024-04-26 | 北京智享出行科技发展有限公司 | 基于大数据分析的智能停车场服务管理系统及方法 |
CN116466382A (zh) * | 2023-04-24 | 2023-07-21 | 贵州一招信息技术有限公司 | 一种基于gps的高精度实时定位系统 |
CN116466382B (zh) * | 2023-04-24 | 2024-07-02 | 北京中软政通信息技术有限公司 | 一种基于gps的高精度实时定位系统 |
Also Published As
Publication number | Publication date |
---|---|
US20210331666A1 (en) | 2021-10-28 |
JP2021527586A (ja) | 2021-10-14 |
CN110304049A (zh) | 2019-10-08 |
JP7236749B2 (ja) | 2023-03-10 |
CN110304049B (zh) | 2020-11-24 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2020233726A1 (zh) | 环境主动感知型停车场自动泊车系统 | |
JP6724059B2 (ja) | 交差点を通過する車両を制御するための方法、装置およびシステム | |
CN206532138U (zh) | 一种无人车自动驾驶智能系统 | |
CN111415523B (zh) | 一种自主代客泊车方法及代客泊车系统 | |
US11099561B1 (en) | Control of an autonomous vehicle in unmapped regions | |
CN108928343A (zh) | 一种全景融合自动泊车系统及方法 | |
CN109131317A (zh) | 基于多段式规划与机器学习的自动垂直泊车系统及方法 | |
JP6169544B2 (ja) | 走行支援制御装置 | |
CA3043211A1 (en) | Dynamic routing for autonomous vehicles | |
JP6047083B2 (ja) | 駐車支援システム | |
US10787172B2 (en) | Driving assistance device and driving assistance method | |
JP2015096411A (ja) | 駐車支援システム | |
US11840215B2 (en) | Automated valet parking system | |
WO2019176083A1 (ja) | 移動体制御装置 | |
CN112406903A (zh) | 自动驾驶系统 | |
CN108459600A (zh) | 一种agv小车的视觉导航系统 | |
US20210122361A1 (en) | Automated valet parking system | |
CN205294284U (zh) | 集装箱码头流动设备自动化行走系统 | |
CN113223326A (zh) | 基于路侧的多车多控多源低速辅助停车系统 | |
WO2022148068A1 (zh) | 一种车辆检测方法和车辆检测装置 | |
US12002359B2 (en) | Communication method for vehicle dispatch system, vehicle dispatch system, and communication device | |
CN112836551B (zh) | 一种确定定位误差的方法及装置 | |
JP2021149824A (ja) | 駐車車両管理システム、駐車車両管理方法、駐車車両管理プログラムおよび自動運転車両 | |
US10332402B2 (en) | Movement assistance system and movement assistance method | |
CN208264099U (zh) | 一种汽车转向灯自动控制系统 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2020568550 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 20809793 Country of ref document: EP Kind code of ref document: A1 |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20809793 Country of ref document: EP Kind code of ref document: A1 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 20809793 Country of ref document: EP Kind code of ref document: A1 |